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robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
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TS3 - ver110fa4ts3r1 - e5728a06-aa78-4806-8bea-4d736c92e99f #155

Open m3d opened 3 years ago

m3d commented 3 years ago

Dve CoRo Pam drony v TS3, ktere maji ale spousta nepresnych detekci. Pritom jsou artefakty bocnich kamer pekne detekovany (resp. vsechny 3 kamery reportuji jenom spravne artefakty) saveX-0000 saveX-0001

m3d commented 3 years ago

Detekce:

0:01:16.292705 received: ['TYPE_DRILL', [15772, 1260, 8906], 'A200L', False]
0:01:20.943689 received: ['TYPE_DRILL', [18811, 1081, 5855], 'A200L', False]
0:01:28.434571 received: ['TYPE_DRILL', [23089, 647, 3262], 'A200L', True]
0:22:50.444129 received: ['TYPE_RESCUE_RANDY', [36044, 40312, 8800], 'A200L', None]
0:22:50.444129 received: ['TYPE_RESCUE_RANDY', [38303, 41138, 5585], 'A200L', None]
0:22:50.444129 received: ['TYPE_RESCUE_RANDY', [42269, 41108, 3181], 'A200L', None]
0:22:50.444129 received: ['TYPE_PHONE', [104992, -57606, -671], 'A200L', None]
0:22:50.444129 received: ['TYPE_RESCUE_RANDY', [49375, 39798, 8818], 'A200L', False]
0:22:50.444129 received: ['TYPE_RESCUE_RANDY', [46115, 39784, 5371], 'A200L', None]
0:23:23.650500 received: ['TYPE_RESCUE_RANDY', [38303, 41138, 5585], 'A200L', False]
0:23:23.828793 received: ['TYPE_RESCUE_RANDY', [36044, 40312, 8800], 'A200L', False]
0:23:23.829976 received: ['TYPE_RESCUE_RANDY', [42269, 41108, 3181], 'A200L', True]
0:23:23.831437 received: ['TYPE_PHONE', [104992, -57606, -671], 'A200L', False]
0:23:23.832745 received: ['TYPE_RESCUE_RANDY', [46115, 39784, 5371], 'A200L', False]
0:23:42.275209 received: ['TYPE_DRILL', [29553, -653, 6209], 'A200L', False]

left:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/tunnel/TS3/ver110fa4/A200L.log --stream detector_left.localized_artf
0:01:15.726111 59 ['TYPE_DRILL', [22.45118411724504, 0.9672532107691659, 2.903230523733378]]
0:01:16.955868 59 ['TYPE_DRILL', [23.089154999162957, 0.6472557040431198, 3.2616469265353696]]
0:01:18.483433 59 ['TYPE_DRILL', [23.899328366597455, 0.0014631392792180953, 3.1659339796767316]]
0:03:22.857496 59 ['TYPE_RESCUE_RANDY', [42.1176780940141, 41.16288570147764, 3.213236670976783]]
0:03:23.070866 59 ['TYPE_RESCUE_RANDY', [42.26880938984846, 41.10841177044638, 3.1808046599150384]]
0:03:23.323828 59 ['TYPE_RESCUE_RANDY', [42.36939621091664, 41.050041203927336, 3.1250335443969464]]
0:03:23.534147 59 ['TYPE_RESCUE_RANDY', [42.56736197107621, 41.00368156165875, 3.090658570430371]]
0:03:23.769592 59 ['TYPE_RESCUE_RANDY', [42.73188879509798, 40.97037209033065, 3.091468765448565]]
0:03:24.087944 59 ['TYPE_RESCUE_RANDY', [42.90065365781938, 40.935590831231295, 3.081686182138327]]
0:03:24.368622 59 ['TYPE_RESCUE_RANDY', [43.09666448393178, 40.85022603175022, 3.0880508129536635]]
0:03:24.655498 59 ['TYPE_RESCUE_RANDY', [43.23451441404656, 40.76540704314847, 3.083963975911617]]
0:03:24.956120 59 ['TYPE_RESCUE_RANDY', [43.42655559093247, 40.65488782444132, 3.0885826270994583]]
0:03:25.144519 59 ['TYPE_RESCUE_RANDY', [43.52469292721067, 40.58205273899204, 3.0918214463945786]]
0:03:25.354672 59 ['TYPE_RESCUE_RANDY', [43.60716647172114, 40.48467884609497, 3.0857458932459547]]
0:03:25.622020 59 ['TYPE_RESCUE_RANDY', [43.69257684894746, 40.37687803969067, 3.0767357531583177]]
0:03:25.811078 59 ['TYPE_RESCUE_RANDY', [43.81060796831765, 40.30726399493097, 3.0817649752928267]]
0:03:26.037742 59 ['TYPE_RESCUE_RANDY', [43.96969036070412, 40.24500622335886, 3.097845169454141]]
0:03:26.313309 59 ['TYPE_RESCUE_RANDY', [44.12873733554274, 40.203817816151634, 3.1101665681631525]]
0:03:26.583386 59 ['TYPE_RESCUE_RANDY', [44.34252283623801, 40.076299840379804, 3.1292629242678913]]
0:03:26.810365 59 ['TYPE_RESCUE_RANDY', [44.478480728219964, 40.038571253405166, 3.133871559107376]]
0:03:27.021803 59 ['TYPE_RESCUE_RANDY', [44.59684474995754, 39.9905633287005, 3.155178139055133]]
0:16:09.258302 59 ['TYPE_PHONE', [106.6781568999988, -57.80259631186691, -1.7906480505990647]]
0:16:10.036037 59 ['TYPE_PHONE', [106.19552535181924, -57.83648453101097, -1.8805958998054]]

right

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/tunnel/TS3/ver110fa4/A200L.log --stream detector_left.localized_artf
0:01:15.726111 59 ['TYPE_DRILL', [22.45118411724504, 0.9672532107691659, 2.903230523733378]]
0:01:16.955868 59 ['TYPE_DRILL', [23.089154999162957, 0.6472557040431198, 3.2616469265353696]]
0:01:18.483433 59 ['TYPE_DRILL', [23.899328366597455, 0.0014631392792180953, 3.1659339796767316]]
0:03:22.857496 59 ['TYPE_RESCUE_RANDY', [42.1176780940141, 41.16288570147764, 3.213236670976783]]
0:03:23.070866 59 ['TYPE_RESCUE_RANDY', [42.26880938984846, 41.10841177044638, 3.1808046599150384]]
0:03:23.323828 59 ['TYPE_RESCUE_RANDY', [42.36939621091664, 41.050041203927336, 3.1250335443969464]]
0:03:23.534147 59 ['TYPE_RESCUE_RANDY', [42.56736197107621, 41.00368156165875, 3.090658570430371]]
0:03:23.769592 59 ['TYPE_RESCUE_RANDY', [42.73188879509798, 40.97037209033065, 3.091468765448565]]
0:03:24.087944 59 ['TYPE_RESCUE_RANDY', [42.90065365781938, 40.935590831231295, 3.081686182138327]]
0:03:24.368622 59 ['TYPE_RESCUE_RANDY', [43.09666448393178, 40.85022603175022, 3.0880508129536635]]
0:03:24.655498 59 ['TYPE_RESCUE_RANDY', [43.23451441404656, 40.76540704314847, 3.083963975911617]]
0:03:24.956120 59 ['TYPE_RESCUE_RANDY', [43.42655559093247, 40.65488782444132, 3.0885826270994583]]
0:03:25.144519 59 ['TYPE_RESCUE_RANDY', [43.52469292721067, 40.58205273899204, 3.0918214463945786]]
0:03:25.354672 59 ['TYPE_RESCUE_RANDY', [43.60716647172114, 40.48467884609497, 3.0857458932459547]]
0:03:25.622020 59 ['TYPE_RESCUE_RANDY', [43.69257684894746, 40.37687803969067, 3.0767357531583177]]
0:03:25.811078 59 ['TYPE_RESCUE_RANDY', [43.81060796831765, 40.30726399493097, 3.0817649752928267]]
0:03:26.037742 59 ['TYPE_RESCUE_RANDY', [43.96969036070412, 40.24500622335886, 3.097845169454141]]
0:03:26.313309 59 ['TYPE_RESCUE_RANDY', [44.12873733554274, 40.203817816151634, 3.1101665681631525]]
0:03:26.583386 59 ['TYPE_RESCUE_RANDY', [44.34252283623801, 40.076299840379804, 3.1292629242678913]]
0:03:26.810365 59 ['TYPE_RESCUE_RANDY', [44.478480728219964, 40.038571253405166, 3.133871559107376]]
0:03:27.021803 59 ['TYPE_RESCUE_RANDY', [44.59684474995754, 39.9905633287005, 3.155178139055133]]
0:16:09.258302 59 ['TYPE_PHONE', [106.6781568999988, -57.80259631186691, -1.7906480505990647]]
0:16:10.036037 59 ['TYPE_PHONE', [106.19552535181924, -57.83648453101097, -1.8805958998054]]
m3d commented 3 years ago

Paradoxne to vypada, ze chyba je v dopredne kamere:

osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/tunnel/TS3/ver110fa4/A200L.log --stream detector.localized_artf
0:01:04.457529 71 ['TYPE_DRILL', [15.67118895735476, 1.2424649606344933, 9.194226882783356]]
0:01:04.795195 71 ['TYPE_DRILL', [15.772497629016843, 1.2600971715684275, 8.905798531399814]]
0:01:05.121365 71 ['TYPE_DRILL', [16.073095094803914, 1.1611533090747375, 8.790536454140542]]
0:01:06.624372 71 ['TYPE_DRILL', [16.786941370512803, 1.240164863693439, 7.81894096207069]]
0:01:06.974681 71 ['TYPE_DRILL', [17.19842771467522, 1.158503581811034, 7.562298628297019]]
0:01:07.298232 71 ['TYPE_DRILL', [17.55075145182465, 1.0512205594123265, 6.898116344756177]]
0:01:07.623692 71 ['TYPE_DRILL', [17.712716717282795, 1.0490854575135231, 7.237563862291338]]
0:01:08.820287 71 ['TYPE_DRILL', [18.163782371524935, 1.2214567797479794, 6.1795295195031015]]
0:01:09.170372 71 ['TYPE_DRILL', [18.449096039004512, 1.1573459816755565, 6.093734046340145]]
0:01:09.492898 71 ['TYPE_DRILL', [18.810746825848064, 1.0806201810395144, 5.855006741556857]]
0:01:09.668016 71 ['TYPE_DRILL', [18.862371561062716, 1.0751068144848244, 5.846798429609595]]
0:01:09.882970 71 ['TYPE_DRILL', [19.011551668957303, 1.0657665886844843, 5.829271163145761]]
0:01:10.079546 71 ['TYPE_DRILL', [19.124422068329604, 1.039477215456432, 5.665293389311241]]
0:01:10.257854 71 ['TYPE_DRILL', [19.23273564934049, 1.0793817744707659, 5.518120961777858]]
0:01:10.421741 71 ['TYPE_DRILL', [19.274596650015013, 1.0803185015573233, 5.344691066881041]]
0:01:10.660677 71 ['TYPE_DRILL', [19.30939989179784, 1.1411342349380136, 5.17375541979384]]
0:01:10.876428 71 ['TYPE_DRILL', [19.358470626240063, 1.207562157139489, 4.994539207970271]]
0:01:11.087793 71 ['TYPE_DRILL', [19.472204694948395, 1.213708890179714, 4.833001757858247]]
0:01:11.291626 71 ['TYPE_DRILL', [19.693768484819344, 1.181658463188331, 4.7177241431299075]]
0:01:11.545983 71 ['TYPE_DRILL', [19.818261407366283, 1.1602357209252716, 4.75514486571232]]
0:01:11.741265 71 ['TYPE_DRILL', [20.033520128656175, 1.0936730734765547, 4.538109459575566]]
0:01:11.894716 71 ['TYPE_DRILL', [20.099028892802977, 1.0953530129271474, 4.506293597209786]]
0:01:12.107384 71 ['TYPE_DRILL', [20.22880078591333, 1.0888419693957228, 4.394011424480487]]
0:01:12.325266 71 ['TYPE_DRILL', [20.341778474492145, 1.0910829643305504, 4.265453834263683]]
0:01:12.600365 71 ['TYPE_DRILL', [20.45208607372234, 1.1036787580439624, 4.134683175013626]]
0:01:12.792432 71 ['TYPE_DRILL', [20.58278637446103, 1.048328860693943, 3.923834015807963]]
0:03:10.550766 71 ['TYPE_RESCUE_RANDY', [35.88391595549789, 40.305948564830366, 8.895269320128445]]
0:03:10.758236 71 ['TYPE_RESCUE_RANDY', [36.04385729593835, 40.31218186788166, 8.800229843392037]]
0:03:11.024019 71 ['TYPE_RESCUE_RANDY', [36.14611205427631, 40.33933089060101, 8.681946137814997]]
0:03:11.200415 71 ['TYPE_RESCUE_RANDY', [36.093785909490855, 40.462017611759684, 8.551765775736204]]
0:03:11.433093 71 ['TYPE_RESCUE_RANDY', [36.034828124320725, 40.554051357561484, 8.402458425196537]]
0:03:11.674089 71 ['TYPE_RESCUE_RANDY', [36.018288135085115, 40.65222396148019, 8.24906467082189]]
0:03:11.925652 71 ['TYPE_RESCUE_RANDY', [36.07358988266351, 40.726661198944825, 8.110193840208042]]
0:03:12.111839 71 ['TYPE_RESCUE_RANDY', [36.23314398131553, 40.72945704260151, 7.99655297676831]]
0:03:12.367756 71 ['TYPE_RESCUE_RANDY', [36.3595423186947, 40.730329073927514, 7.885551171705815]]
0:03:12.606693 71 ['TYPE_RESCUE_RANDY', [36.5037443494559, 40.706019879440255, 7.7652336338615084]]
0:03:12.804047 71 ['TYPE_RESCUE_RANDY', [36.64040522132719, 40.72043592204078, 7.66795395649023]]
0:03:12.974225 71 ['TYPE_RESCUE_RANDY', [36.72576190166357, 40.70333623633614, 7.612699346867665]]
0:03:13.172930 71 ['TYPE_RESCUE_RANDY', [36.86732047282283, 40.71698341848273, 7.50492668776126]]
0:03:13.372917 71 ['TYPE_RESCUE_RANDY', [36.97393342448012, 40.729538597000825, 7.4060387547093915]]
0:03:13.578974 71 ['TYPE_RESCUE_RANDY', [36.97887213932495, 40.80345736868596, 7.2383524106292345]]
0:03:13.789552 71 ['TYPE_RESCUE_RANDY', [37.006722893569695, 40.89478710150156, 7.083593783735303]]
0:03:13.979690 71 ['TYPE_RESCUE_RANDY', [36.974850448995454, 40.959433123163194, 7.0049160139397815]]
0:03:14.177297 71 ['TYPE_RESCUE_RANDY', [37.0789295092852, 40.96569118038853, 6.881770692740895]]
0:03:14.380012 71 ['TYPE_RESCUE_RANDY', [37.2586746147154, 40.97427684325735, 6.77165028467644]]
0:03:14.637731 71 ['TYPE_RESCUE_RANDY', [37.409689091786866, 40.945741548822575, 6.677424078228224]]
0:03:14.861168 71 ['TYPE_RESCUE_RANDY', [37.54250857081539, 40.95843729704884, 6.5436909293806265]]
0:03:15.066673 71 ['TYPE_RESCUE_RANDY', [37.67042388992618, 40.96950741358569, 6.4342621971408995]]
0:03:15.267381 71 ['TYPE_RESCUE_RANDY', [37.81401647482746, 40.96001377455805, 6.315315064307843]]
0:03:15.546777 71 ['TYPE_RESCUE_RANDY', [37.91375986526817, 40.95102722463235, 6.206434260531471]]
0:03:15.743426 71 ['TYPE_RESCUE_RANDY', [38.00465372751441, 40.98932539801381, 6.061496047593617]]
0:03:15.956551 71 ['TYPE_RESCUE_RANDY', [38.01996134785423, 41.07342898954266, 5.900390679891473]]
0:03:16.167316 71 ['TYPE_RESCUE_RANDY', [38.07866200604966, 41.17955097963274, 5.741009728080605]]
0:03:16.356973 71 ['TYPE_RESCUE_RANDY', [38.19131526972296, 41.18839457636795, 5.626099131316837]]
0:03:16.544591 71 ['TYPE_RESCUE_RANDY', [38.30314315639079, 41.13787463537353, 5.584899358982851]]
0:03:16.758943 71 ['TYPE_RESCUE_RANDY', [38.47247512572741, 41.09929869703586, 5.502390805460783]]
0:03:16.968008 71 ['TYPE_RESCUE_RANDY', [38.66033605971179, 41.10371164417675, 5.414684592688424]]
0:03:17.217292 71 ['TYPE_RESCUE_RANDY', [38.790042236924975, 41.08566704037719, 5.300462733478389]]
0:03:17.476376 71 ['TYPE_RESCUE_RANDY', [38.89923571250113, 41.05031634924556, 5.184305766629168]]
0:03:17.683331 71 ['TYPE_RESCUE_RANDY', [39.04488738157971, 41.093058282857996, 5.062940127733186]]
0:03:17.880642 71 ['TYPE_RESCUE_RANDY', [39.156973645534435, 41.07941725423766, 4.952134781960549]]
0:03:18.088407 71 ['TYPE_RESCUE_RANDY', [39.21610445917551, 41.14142832423182, 4.789215260417443]]
0:03:18.297625 71 ['TYPE_RESCUE_RANDY', [39.28050298317207, 41.1734093241673, 4.6336709949904655]]
0:03:18.476443 71 ['TYPE_RESCUE_RANDY', [39.331375710968345, 41.19697088180762, 4.549844944037554]]
0:03:18.701130 71 ['TYPE_RESCUE_RANDY', [39.46632089974842, 41.1959759958273, 4.437253364878311]]
0:03:18.916561 71 ['TYPE_RESCUE_RANDY', [39.63163796814024, 41.16601213547271, 4.356850271344134]]
0:03:19.180862 71 ['TYPE_RESCUE_RANDY', [39.802580280933775, 41.12449379052524, 4.26135339800067]]
0:03:19.400227 71 ['TYPE_RESCUE_RANDY', [39.955377620413394, 41.1287782355049, 4.175192765947243]]
0:03:19.593161 71 ['TYPE_RESCUE_RANDY', [40.07866462254409, 41.1065704278239, 4.062144534505772]]
0:03:19.835614 71 ['TYPE_RESCUE_RANDY', [40.164004761901026, 41.15957187469906, 3.9156540383408744]]
0:03:20.163419 71 ['TYPE_RESCUE_RANDY', [40.28789685672466, 41.169519317679644, 3.7902575193235877]]
0:03:20.415350 71 ['TYPE_RESCUE_RANDY', [40.47474789473927, 41.10991522126925, 3.6691737966613847]]
0:03:20.626116 71 ['TYPE_RESCUE_RANDY', [40.5374539843602, 41.15164655414522, 3.618950624226222]]
0:03:20.822329 71 ['TYPE_RESCUE_RANDY', [40.64328001455859, 41.15676118547247, 3.518338577409682]]
0:03:21.027433 71 ['TYPE_RESCUE_RANDY', [40.79570963484956, 41.1382705098129, 3.4345350868032223]]
0:08:34.153277 71 ['TYPE_PHONE', [104.87148097370192, -57.69844426043353, -0.6192398021929382]]
0:08:34.301684 71 ['TYPE_PHONE', [104.99185047689348, -57.605504371731996, -0.6709938843316321]]
0:08:34.443218 71 ['TYPE_PHONE', [105.03401609381075, -57.569253412902924, -0.6838800296662564]]
0:08:34.895360 71 ['TYPE_PHONE', [105.27411346117252, -57.4996835843486, -1.0387470149513707]]
0:16:04.820152 71 ['TYPE_PHONE', [108.19614755361565, -55.93238290771986, -0.13308361193253226]]
0:16:05.518316 71 ['TYPE_PHONE', [107.99659705923399, -56.21958352740197, -0.5479658364665552]]
0:16:05.863802 71 ['TYPE_PHONE', [107.91185878966185, -56.35500191440712, -0.7050467104570179]]
0:16:06.297701 71 ['TYPE_PHONE', [107.79622620447432, -56.518206979183724, -1.0751689405597369]]
0:16:06.888778 71 ['TYPE_PHONE', [107.65366032427137, -56.718039888656904, -1.3881104119961032]]
0:16:07.123442 71 ['TYPE_PHONE', [107.66263746870995, -56.770150478927924, -1.4168703079787703]]
0:21:36.520580 71 ['TYPE_RESCUE_RANDY', [49.7774825446714, 39.839886805366284, 9.089640579134223]]
0:21:37.164826 71 ['TYPE_RESCUE_RANDY', [49.375436341081155, 39.79803266402988, 8.81828445361518]]
0:21:37.733016 71 ['TYPE_RESCUE_RANDY', [49.061682563583894, 39.81384190709385, 8.396178602429751]]
0:21:38.065245 71 ['TYPE_RESCUE_RANDY', [48.798726861125736, 39.81119366158987, 8.220399798240878]]
0:21:38.382353 71 ['TYPE_RESCUE_RANDY', [48.59794749450613, 39.784875726495386, 8.072618361041151]]
0:21:38.729029 71 ['TYPE_RESCUE_RANDY', [48.42200892863026, 39.7684216765354, 7.764160869534275]]
0:21:40.259687 71 ['TYPE_RESCUE_RANDY', [47.46338456922972, 39.74668472225114, 6.844305795567262]]
0:21:40.593946 71 ['TYPE_RESCUE_RANDY', [47.296050107410174, 39.753084741832, 6.5121599522143425]]
0:21:40.875985 71 ['TYPE_RESCUE_RANDY', [47.05872465674827, 39.7431355882581, 6.385325406462824]]
0:21:42.103328 71 ['TYPE_RESCUE_RANDY', [46.333516792426316, 39.747171077848144, 5.624584840154182]]
0:21:42.442597 71 ['TYPE_RESCUE_RANDY', [46.114550272097105, 39.78374836934947, 5.3706373680055925]]
0:21:42.790331 71 ['TYPE_RESCUE_RANDY', [45.8731267946125, 39.77557924096701, 5.192515443803773]]
0:21:43.103253 71 ['TYPE_RESCUE_RANDY', [45.697368799083876, 39.77367310093905, 4.959970957828223]]
0:21:44.309793 71 ['TYPE_RESCUE_RANDY', [44.94543423026491, 39.78068386103842, 4.18436707330513]]
0:21:44.666427 71 ['TYPE_RESCUE_RANDY', [44.724164328559894, 39.78040179704183, 3.970107498023583]]
0:21:44.992431 71 ['TYPE_RESCUE_RANDY', [44.52262610832555, 39.7775983032445, 3.7582500349805334]]
0:21:45.290978 71 ['TYPE_RESCUE_RANDY', [44.34947461996008, 39.794198935801035, 3.61568135901401]]
0:23:40.302816 71 ['TYPE_DRILL', [25.01240236364312, -1.3349529985748094, 4.910185823076044]]
0:23:40.519510 71 ['TYPE_DRILL', [25.034492004602384, -1.2674937070040817, 4.897397350207254]]
0:23:40.727316 71 ['TYPE_DRILL', [25.05555431780758, -1.200799895635192, 4.970999421498083]]
0:23:40.983294 71 ['TYPE_DRILL', [25.04303604608396, -1.1135447364797415, 5.065978859864731]]
0:23:41.172715 71 ['TYPE_DRILL', [25.065093181266295, -1.0293384548006768, 5.10141470531869]]
0:23:41.386487 71 ['TYPE_DRILL', [25.072219398129807, -0.9793489705489802, 5.188273293581549]]
0:23:41.687594 71 ['TYPE_DRILL', [25.081055335957235, -0.9072049418401692, 5.264986742497298]]
0:23:41.885591 71 ['TYPE_DRILL', [25.08279554993912, -0.8550219085860459, 5.296226867899504]]
0:23:42.102378 71 ['TYPE_DRILL', [25.123852676918595, -0.8254939681077871, 5.378644629303953]]
0:23:42.290885 71 ['TYPE_DRILL', [25.210484341293135, -0.8491314779468193, 5.419456185990484]]
0:23:42.585637 71 ['TYPE_DRILL', [25.25942316154011, -0.8644950544315679, 5.486616467346712]]
0:23:42.773486 71 ['TYPE_DRILL', [25.268379186633247, -0.8182948266700856, 5.4701484844195996]]
0:23:42.979622 71 ['TYPE_DRILL', [25.249219954611217, -0.6896267773976845, 5.541406426248866]]
0:23:43.460139 71 ['TYPE_DRILL', [25.209774810223852, -0.4808811470774026, 5.569822129341305]]
0:23:43.662998 71 ['TYPE_DRILL', [25.204652469041303, -0.4331179137918444, 5.425532662781839]]
0:23:43.958464 71 ['TYPE_DRILL', [25.170623364524797, -0.3327236809748154, 5.474735133510873]]
0:23:44.171619 71 ['TYPE_DRILL', [25.160748417327525, -0.31680900704808446, 5.388282590759005]]
0:23:44.370062 71 ['TYPE_DRILL', [25.121794986342767, -0.32996340362082344, 5.345971078799214]]
0:23:44.590325 71 ['TYPE_DRILL', [25.068751593339677, -0.35545166531990624, 5.319933368042748]]
0:23:44.789154 71 ['TYPE_DRILL', [24.996730105461836, -0.41416980195088005, 5.237401446638998]]
0:23:44.995393 71 ['TYPE_DRILL', [24.92471046331335, -0.47105280877806194, 5.140756762393325]]
0:23:45.171895 71 ['TYPE_DRILL', [24.88735871839977, -0.4900634634724523, 5.057844208389606]]
0:23:45.387256 71 ['TYPE_DRILL', [24.782585742715813, -0.5383344657331279, 4.974813250633785]]
0:23:45.596015 71 ['TYPE_DRILL', [24.6715872502909, -0.5592651527176242, 4.859181100516749]]
0:23:45.779549 71 ['TYPE_DRILL', [24.55857711572412, -0.583978295007533, 4.716353248398184]]
0:23:46.004990 71 ['TYPE_DRILL', [24.428737946479828, -0.5474033728857319, 4.591029668729513]]
0:23:46.185437 71 ['TYPE_DRILL', [24.380561236328273, -0.5227322783792588, 4.489836635493216]]
0:23:46.407871 71 ['TYPE_DRILL', [24.250278356425024, -0.5067307578812579, 4.3795515477342715]]
0:23:46.611593 71 ['TYPE_DRILL', [24.11382910105942, -0.4828750069270141, 4.239903081829102]]
0:23:46.812309 71 ['TYPE_DRILL', [24.000787114798225, -0.4386436661811606, 4.102870898582956]]
0:23:47.093354 71 ['TYPE_DRILL', [23.879427091554156, -0.4058077848044799, 3.9939444586702297]]
0:23:47.268538 71 ['TYPE_DRILL', [23.794489993493993, -0.3975977557690352, 3.781543338087096]]
m3d commented 3 years ago

Tak ono to asi bude spatne vsechno, ale ostatni se vejdou do 5m tolerance:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python subt/tools/ignstate.py -a /data/aws/tunnel/TS3/ver110fa4/state.tlog
drill           [24, 2, 0]
extinguisher    [32, -25, 0]
phone           [107.8, -60, -5]
rescue_randy    [44, 42.2, 0]
m3d commented 3 years ago

Pozice pri detekci rescue randy z leve kamery:

[[43.98616401026957, 40.40245798928663, 1.4290351656830622], [-0.0021911612148588526, 0.014366088372037395, -0.008896659154013446, 0.9998548213482369]]

tj. drona leti 1.4m nad zemi? (spodni lidar rika neco jako 1.5m, mozno pak upresnit)

m3d commented 3 years ago

leva kamera pozice 0:01:15.727262 [[0.01, 0.1, -0.115], [0.7071067812590627, 7.251488298720687e-11, 0.7071067811140325, -7.25151050318118e-11]] https://www.andre-gaschler.com/rotationconverter/

odpovida podle ZYX [ x: 0, y: -90, z: -180 ]

m3d commented 3 years ago

dopredna kamera ma 0:01:04.458711 [[0.105, 0.0, -0.115], [0.5, -0.5, 0.5000000000000001, 0.49999999999999994]] coz odpovida ZYX [ x: 0, y: -90, z: 90 ] ale melo by to byt [0, 0, 0]

m3d commented 3 years ago

prava kamera: 0:08:38.848768 [[0.01, -0.1, -0.115], [-7.251529932084111e-11, -0.7071067812590626, -7.251507727623618e-11, 0.7071067811140326]] Euler ZYX [ x: 0, y: -90, z: 0 ]

m3d commented 3 years ago

Pridal jsem do detector*.stdout vypis camera_pose pro snazsi debug, tj. original je:

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.29.14.log --stream detector_left.stdout
0:00:03.304858 62 [[6]
 [7]]
0:00:15.280911 62 Image resolution (640, 360, 3)
0:00:15.282205 62 Camera pose [[0.01, 0.1, -0.115], [0.7071067812590627, 7.251488298720687e-11, 0.7071067811140325, -7.25151050318118e-11]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.29.14.log --stream detector_right.stdout
0:00:03.219969 74 [[6]
 [7]]
0:00:15.453649 74 Image resolution (640, 360, 3)
0:00:15.456151 74 Camera pose [[0.01, -0.1, -0.115], [-7.251529932084111e-11, -0.7071067812590626, -7.251507727623618e-11, 0.7071067811140326]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.29.14.log --stream detector.stdout
0:00:03.269049 68 [[6]
 [7]]
0:00:15.042900 68 Image resolution (360, 640, 3)
0:00:15.043304 68 Camera pose [[0.105, 0.0, -0.115], [0.5, -0.5, 0.5000000000000001, 0.49999999999999994]]
m3d commented 3 years ago

Pokud misto puvodni transformace necham identitu, tak dostanu:

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.29.14.log --stream detector.stdout
0:00:03.269049 68 [[6]
 [7]]
0:00:15.042900 68 Image resolution (360, 640, 3)
0:00:15.043304 68 Camera pose [[0.105, 0.0, -0.115], [0.5, -0.5, 0.5000000000000001, 0.49999999999999994]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.36.00.log --stream detector_right.stdout
0:00:03.539877 62 [[6]
 [7]]
0:00:14.951841 62 Image resolution (640, 360, 3)
0:00:14.953596 62 Camera pose [[0.01, -0.1, -0.115], [1.4503023781919921e-10, 0.7071067811865475, -0.7071067811865477, -1.6653345369377348e-16]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.36.00.log --stream detector.stdout
0:00:03.367773 68 [[6]
 [7]]
0:00:14.617453 68 Image resolution (360, 640, 3)
0:00:14.618555 68 Camera pose [[0.105, 0.0, -0.115], [-0.5, 0.4999999999999999, -0.5, 0.5000000000000001]]

To by odpovidala dopredna kamera ZYX [ x: -90, y: 0, z: -90 ]

m3d commented 3 years ago

pro inverzni/transponovanou matici:

                    [[ 0, -1, 0, 0],
                     [ 0,  0,-1, 0],
                     [ 1,  0, 0, 0],
                     [ 0,  0, 0, 1]])

to vychazi

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.45.13.log --stream detector_left.stdout
0:00:03.466646 74 [[6]
 [7]]
0:00:15.099163 74 Image resolution (640, 360, 3)
0:00:15.099649 74 Camera pose [[0.01, 0.1, -0.115], [7.251521605411426e-11, 7.251499400950934e-11, 0.7071067812590626, 0.7071067811140326]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.45.13.log --stream detector_right.stdout
0:00:03.434700 62 [[6]
 [7]]
0:00:15.477154 62 Image resolution (640, 360, 3)
0:00:15.478013 62 Camera pose [[0.01, -0.1, -0.115], [7.251491074278249e-11, -7.251513278738742e-11, -0.7071067812590628, 0.7071067811140324]]

root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.45.13.log --stream detector.stdout
0:00:03.444395 68 [[6]
 [7]]
0:00:15.449123 68 Image resolution (360, 640, 3)
0:00:15.449655 68 Camera pose [[0.105, 0.0, -0.115], [0.0, -1.1102230246251565e-16, 1.1102230246251565e-16, 1.0]]

coz na prvni pohled u dopredne kamery vypada jako identita

leva pak ZYX: [ x: 0, y: 0, z: 90 ] prava: [ x: 0, y: 0, z: -90 ] za mne OK :)

m3d commented 3 years ago

Lokalni beh (preruseny)

oot@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.57.04.log | grep artf             
 1              reporter.artf_cmd       76 |     2 |   0.0Hz
 2              reporter.artf_all      150 |     5 |   0.0Hz
 4                 radio.artf_xyz      150 |     5 |   0.0Hz
16       artifact_filter.artf_xyz       67 |     2 |   0.0Hz
52    gas_detector.localized_artf        0 |     0 |   0.0Hz
59        detector.localized_artf      489 |    11 |   0.0Hz
65  detector_right.localized_artf        0 |     0 |   0.0Hz
71   detector_left.localized_artf      141 |     3 |   0.0Hz
root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.57.04.log --stream detector_left.localized_artf
0:07:09.846988 71 ['TYPE_RESCUE_RANDY', [43.50263092903829, 42.45918716720462, 0.6917334037748546]]
0:07:13.204082 71 ['TYPE_RESCUE_RANDY', [43.99725428381866, 42.30802360018176, 0.7833616900384106]]
0:07:16.570818 71 ['TYPE_RESCUE_RANDY', [44.314163400878435, 42.30693549029604, 0.75525139367304]]
root@md-ThinkPad-P50:/osgar-ws/src/osgar# /osgar-ws/env/bin/python3 -m osgar.logger /osgar-ws/logs/coro_pam-2021-07-17T18.57.04.log --stream detector.localized_artf     
0:02:33.767601 59 ['TYPE_DRILL', [23.98645750702261, 1.4075755230041478, 0.5242620331316831]]
0:02:37.627596 59 ['TYPE_DRILL', [24.64705946666205, 1.5401099175453832, 0.45981649073239717]]
0:02:40.932326 59 ['TYPE_DRILL', [24.357504172104484, 1.4630368475740687, 0.5085946909029319]]
0:02:44.474628 59 ['TYPE_DRILL', [24.298095714929552, 1.497428786192991, 0.5661602629341587]]
0:06:45.320506 59 ['TYPE_RESCUE_RANDY', [43.982280265874635, 41.78545222729738, 0.5681596500903617]]
0:06:49.302620 59 ['TYPE_RESCUE_RANDY', [43.954493659776276, 41.68239163076486, 0.6768504289307138]]
0:06:52.632398 59 ['TYPE_RESCUE_RANDY', [43.93214127982214, 41.62651179175795, 0.708125652836166]]
0:06:56.226442 59 ['TYPE_RESCUE_RANDY', [43.88297607932824, 41.600123621982135, 0.7479232230321016]]
0:06:59.246719 59 ['TYPE_RESCUE_RANDY', [43.89497588180584, 41.578296025712504, 0.6964592987752637]]
0:07:02.139927 59 ['TYPE_RESCUE_RANDY', [43.90665914609744, 41.575404815745806, 0.7150254732214018]]
0:07:06.003973 59 ['TYPE_RESCUE_RANDY', [44.156413436555034, 41.56665247366271, 0.8053118628042298]]
m3d commented 3 years ago

rekl bych, ze fixed (28dbd089-1007-4db6-bdd8-52e4dbc9d20b) Screenshot from 2021-07-17 21-23-42