246 lines
14 KiB
YAML
246 lines
14 KiB
YAML
%YAML:1.0
|
|
---
|
|
points_3d: !!opencv-matrix
|
|
rows: 37
|
|
cols: 1
|
|
dt: "3f"
|
|
data: [ 4.88525391e-01, 2.47873688e+01, 1.67312012e+03,
|
|
1.22474976e+01, 2.18349838e+01, 1.97462830e+03, 2.49857788e+01,
|
|
2.87172699e+00, 1.61326587e+03, 1.36334229e+01, 2.09110413e+01,
|
|
1.62405481e+03, 2.42474365e+01, -3.77336121e+00, 1.89544653e+03,
|
|
2.43739014e+01, -2.63442230e+00, 1.90076318e+03, 2.43780518e+01,
|
|
-2.59759521e+00, 1.92509753e+03, 2.41894531e+01, -4.29500580e+00,
|
|
1.93037842e+03, 9.79180908e+00, 2.27360992e+01, 1.97532788e+03,
|
|
2.49146729e+01, 2.23305511e+00, 1.61396436e+03, 2.42513428e+01,
|
|
-3.73847198e+00, 1.92996802e+03, 2.43582153e+01, -2.77577972e+00,
|
|
1.92538892e+03, 1.35559082e+01, 2.09627151e+01, 1.62484790e+03,
|
|
2.47534180e+01, 7.81143188e-01, 1.61714111e+03, 5.08734131e+00,
|
|
2.41303864e+01, 1.67106287e+03, 1.97830200e+01, 1.53252945e+01,
|
|
1.61025159e+03, 2.43659058e+01, -2.70689392e+00, 1.89897192e+03,
|
|
2.04432373e+01, -1.43351822e+01, 1.74548975e+03, 2.42261353e+01,
|
|
-3.96479797e+00, 1.89527673e+03, 2.45347290e+01, -1.18742371e+00,
|
|
1.61138794e+03, 1.08264771e+01, 2.23912125e+01, 1.97386377e+03,
|
|
2.48465576e+01, 1.61859131e+00, 1.61463635e+03, -7.90649414e-01,
|
|
2.49701004e+01, 1.67281409e+03, 2.02167969e+01, 1.46746597e+01,
|
|
1.60896912e+03, 1.41023560e+01, 2.05984268e+01, 1.62514062e+03,
|
|
1.07338867e+01, 2.24220657e+01, 1.97468176e+03, 2.48078003e+01,
|
|
1.27033234e+00, 1.61539771e+03, 1.88132324e+01, -1.67800827e+01,
|
|
1.74545557e+03, 2.01268921e+01, 1.48095703e+01, 1.60845813e+03,
|
|
2.13165283e+01, 1.30251465e+01, 1.71909045e+03, 9.69268799e+00,
|
|
-2.27691116e+01, 1.75271497e+03, 2.45469360e+01, -1.07765961e+00,
|
|
1.61568005e+03, 7.96844482e+00, 2.33438721e+01, 1.97694214e+03,
|
|
2.05461426e+01, 1.41807480e+01, 1.60815076e+03, 1.80011597e+01,
|
|
-1.79982681e+01, 1.74722986e+03, 2.44183350e+01, -2.23512268e+00,
|
|
1.61529980e+03, 6.20239258e-01, 2.47685318e+01, 1.98427112e+03 ]
|
|
points_2d: !!opencv-matrix
|
|
rows: 37
|
|
cols: 1
|
|
dt: "2f"
|
|
data: [ 523., 614., 667., 438., 468., 637., 489., 645., 623., 456.,
|
|
626., 454., 636., 443., 637., 440., 6.67200012e+02,
|
|
4.39200012e+02, 4.68000031e+02, 636., 6.37200012e+02,
|
|
4.40400024e+02, 636., 4.42800018e+02, 4.89600006e+02,
|
|
6.44400024e+02, 4.69200012e+02, 6.32400024e+02, 522.,
|
|
6.13200012e+02, 4.75200012e+02, 6.50400024e+02, 6.25200012e+02,
|
|
4.54800018e+02, 5.41200012e+02, 5.32800049e+02, 6.22800049e+02,
|
|
4.56000031e+02, 4.63200012e+02, 636., 6.66720032e+02,
|
|
4.39200012e+02, 4.68000031e+02, 6.35040039e+02, 5.22720032e+02,
|
|
6.14880005e+02, 4.73760010e+02, 6.50880005e+02, 4.89600006e+02,
|
|
6.43680054e+02, 6.67008057e+02, 4.38912048e+02, 4.68288055e+02,
|
|
6.34176086e+02, 5.39136047e+02, 5.32224060e+02, 4.73472046e+02,
|
|
6.51456055e+02, 5.46048035e+02, 5.65056030e+02, 5.37408081e+02,
|
|
5.28768066e+02, 4.66560059e+02, 6.32448059e+02, 6.67699280e+02,
|
|
4.39603271e+02, 4.72780853e+02, 6.51110474e+02, 5.39136047e+02,
|
|
5.30841675e+02, 4.65315948e+02, 6.32033447e+02, 6.69358215e+02,
|
|
4.40432739e+02 ]
|
|
keypoints:
|
|
- [ 523., 614., 31., 1.9246069335937500e+02, 6.4549769740551710e-04,
|
|
0, -1 ]
|
|
- [ 667., 438., 31., 1.6557937622070312e+02, 5.5457139387726784e-04,
|
|
0, -1 ]
|
|
- [ 468., 637., 31., 7.4945988655090332e+00, 5.1852426258847117e-04,
|
|
0, -1 ]
|
|
- [ 489., 645., 31., 2.6939471435546875e+02, 4.3936347356066108e-04,
|
|
0, -1 ]
|
|
- [ 623., 456., 31., 3.4948913574218750e+02, 4.0110276313498616e-04,
|
|
0, -1 ]
|
|
- [ 626., 454., 31., 3.3892520141601562e+02, 4.6215971815399826e-04,
|
|
0, -1 ]
|
|
- [ 636., 443., 31., 3.2570553588867188e+02, 3.9313704473897815e-04,
|
|
0, -1 ]
|
|
- [ 637., 440., 31., 3.3771942138671875e+02, 4.0902025648392737e-04,
|
|
0, -1 ]
|
|
- [ 6.6720001220703125e+02, 4.3920001220703125e+02,
|
|
3.7200000762939453e+01, 1.6041653442382812e+02,
|
|
6.2979257199913263e-04, 1, -1 ]
|
|
- [ 4.6800003051757812e+02, 636., 3.7200000762939453e+01,
|
|
3.3510327148437500e+02, 5.2400917047634721e-04, 1, -1 ]
|
|
- [ 6.3720001220703125e+02, 4.4040002441406250e+02,
|
|
3.7200000762939453e+01, 3.3415765380859375e+02,
|
|
2.8748260228894651e-04, 1, -1 ]
|
|
- [ 636., 4.4280001831054688e+02, 3.7200000762939453e+01,
|
|
3.3537222290039062e+02, 2.9280726448632777e-04, 1, -1 ]
|
|
- [ 4.8960000610351562e+02, 6.4440002441406250e+02,
|
|
3.7200000762939453e+01, 2.6790136718750000e+02,
|
|
3.8669348577968776e-04, 1, -1 ]
|
|
- [ 4.6920001220703125e+02, 6.3240002441406250e+02,
|
|
3.7200000762939453e+01, 3.0746395874023438e+02,
|
|
3.8140470860525966e-04, 1, -1 ]
|
|
- [ 522., 6.1320001220703125e+02, 3.7200000762939453e+01,
|
|
1.7800202941894531e+02, 4.6598628978244960e-04, 1, -1 ]
|
|
- [ 4.7520001220703125e+02, 6.5040002441406250e+02,
|
|
3.7200000762939453e+01, 2.3199052429199219e+02,
|
|
2.7731497539207339e-04, 1, -1 ]
|
|
- [ 6.2520001220703125e+02, 4.5480001831054688e+02,
|
|
3.7200000762939453e+01, 3.3708227539062500e+02,
|
|
3.0911780777387321e-04, 1, -1 ]
|
|
- [ 5.4120001220703125e+02, 5.3280004882812500e+02,
|
|
3.7200000762939453e+01, 1.7547966003417969e+02,
|
|
2.8911724803037941e-04, 1, -1 ]
|
|
- [ 6.2280004882812500e+02, 4.5600003051757812e+02,
|
|
3.7200000762939453e+01, 3.3574053955078125e+02,
|
|
3.0724305543117225e-04, 1, -1 ]
|
|
- [ 4.6320001220703125e+02, 636., 3.7200000762939453e+01,
|
|
3.3990390014648438e+02, 2.6176858227699995e-04, 1, -1 ]
|
|
- [ 6.6672003173828125e+02, 4.3920001220703125e+02,
|
|
4.4640003204345703e+01, 1.5947851562500000e+02,
|
|
4.3488218216225505e-04, 2, -1 ]
|
|
- [ 4.6800003051757812e+02, 6.3504003906250000e+02,
|
|
4.4640003204345703e+01, 2.9021337890625000e+02,
|
|
4.7929497668519616e-04, 2, -1 ]
|
|
- [ 5.2272003173828125e+02, 6.1488000488281250e+02,
|
|
4.4640003204345703e+01, 1.7043550109863281e+02,
|
|
3.6664702929556370e-04, 2, -1 ]
|
|
- [ 4.7376000976562500e+02, 6.5088000488281250e+02,
|
|
4.4640003204345703e+01, 2.3361553955078125e+02,
|
|
2.8794683748856187e-04, 2, -1 ]
|
|
- [ 4.8960000610351562e+02, 6.4368005371093750e+02,
|
|
4.4640003204345703e+01, 2.6551748657226562e+02,
|
|
2.8152286540716887e-04, 2, -1 ]
|
|
- [ 6.6700805664062500e+02, 4.3891204833984375e+02,
|
|
5.3568004608154297e+01, 1.6067962646484375e+02,
|
|
2.8939323965460062e-04, 3, -1 ]
|
|
- [ 4.6828805541992188e+02, 6.3417608642578125e+02,
|
|
5.3568004608154297e+01, 2.8366876220703125e+02,
|
|
4.0976807940751314e-04, 3, -1 ]
|
|
- [ 5.3913604736328125e+02, 5.3222406005859375e+02,
|
|
5.3568004608154297e+01, 1.8832716369628906e+02,
|
|
2.1978691802360117e-04, 3, -1 ]
|
|
- [ 4.7347204589843750e+02, 6.5145605468750000e+02,
|
|
5.3568004608154297e+01, 2.3863340759277344e+02,
|
|
2.2692952188663185e-04, 3, -1 ]
|
|
- [ 5.4604803466796875e+02, 5.6505603027343750e+02,
|
|
5.3568004608154297e+01, 2.2762553405761719e+02,
|
|
1.9636655633803457e-04, 3, -1 ]
|
|
- [ 5.3740808105468750e+02, 5.2876806640625000e+02,
|
|
5.3568004608154297e+01, 1.9274822998046875e+02,
|
|
2.0102472626604140e-04, 3, -1 ]
|
|
- [ 4.6656005859375000e+02, 6.3244805908203125e+02,
|
|
6.4281608581542969e+01, 2.7613494873046875e+02,
|
|
2.8205863782204688e-04, 4, -1 ]
|
|
- [ 6.6769927978515625e+02, 4.3960327148437500e+02,
|
|
6.4281608581542969e+01, 1.5838557434082031e+02,
|
|
2.2572468151338398e-04, 4, -1 ]
|
|
- [ 4.7278085327148438e+02, 6.5111047363281250e+02,
|
|
6.4281608581542969e+01, 2.4149501037597656e+02,
|
|
1.6348648932762444e-04, 4, -1 ]
|
|
- [ 5.3913604736328125e+02, 5.3084167480468750e+02,
|
|
6.4281608581542969e+01, 1.9384011840820312e+02,
|
|
1.5715128392912447e-04, 4, -1 ]
|
|
- [ 4.6531594848632812e+02, 6.3203344726562500e+02,
|
|
7.7137939453125000e+01, 2.6909301757812500e+02,
|
|
2.0883142133243382e-04, 5, -1 ]
|
|
- [ 6.6935821533203125e+02, 4.4043273925781250e+02,
|
|
7.7137939453125000e+01, 1.6453366088867188e+02,
|
|
1.1636369163170457e-04, 5, -1 ]
|
|
descriptors: !!opencv-matrix
|
|
rows: 37
|
|
cols: 32
|
|
dt: u
|
|
data: [ 7, 66, 188, 179, 45, 45, 232, 216, 143, 57, 145, 66, 252, 248,
|
|
121, 171, 205, 1, 63, 111, 131, 97, 75, 209, 197, 91, 235, 180,
|
|
156, 255, 89, 129, 158, 43, 59, 179, 182, 205, 191, 81, 31, 236,
|
|
85, 35, 61, 205, 123, 1, 254, 59, 23, 215, 246, 187, 40, 255, 251,
|
|
209, 175, 161, 149, 15, 149, 251, 52, 161, 90, 138, 214, 195, 163,
|
|
237, 78, 37, 233, 2, 2, 200, 108, 0, 218, 11, 2, 81, 18, 59, 30,
|
|
245, 57, 20, 135, 127, 213, 11, 245, 166, 121, 108, 114, 77, 68,
|
|
155, 226, 82, 117, 0, 254, 74, 187, 25, 148, 116, 122, 172, 46,
|
|
74, 200, 182, 229, 235, 214, 236, 34, 0, 111, 153, 98, 164, 46,
|
|
231, 98, 202, 215, 147, 238, 125, 85, 136, 93, 198, 104, 201, 189,
|
|
132, 126, 168, 151, 238, 192, 179, 12, 223, 50, 76, 165, 137, 127,
|
|
190, 248, 181, 34, 207, 115, 218, 247, 145, 190, 246, 213, 132,
|
|
120, 167, 40, 140, 167, 132, 110, 251, 130, 214, 214, 187, 44,
|
|
255, 62, 30, 20, 227, 87, 159, 228, 205, 125, 213, 117, 229, 246,
|
|
15, 79, 53, 65, 232, 219, 106, 87, 57, 152, 97, 118, 230, 60, 125,
|
|
249, 250, 85, 156, 252, 234, 165, 208, 46, 186, 208, 33, 249, 112,
|
|
217, 205, 44, 22, 70, 156, 67, 234, 180, 70, 211, 17, 209, 246,
|
|
83, 204, 60, 110, 233, 102, 253, 170, 166, 189, 39, 188, 62, 250,
|
|
250, 41, 158, 137, 99, 251, 181, 195, 127, 241, 29, 224, 80, 147,
|
|
61, 223, 48, 33, 254, 187, 19, 251, 123, 189, 56, 255, 251, 218,
|
|
142, 64, 54, 141, 181, 248, 44, 252, 178, 218, 253, 173, 147, 206,
|
|
222, 25, 120, 31, 182, 217, 97, 12, 217, 58, 3, 17, 2, 43, 90,
|
|
183, 105, 20, 23, 122, 218, 88, 213, 171, 241, 235, 216, 197, 46,
|
|
30, 70, 180, 65, 170, 182, 70, 83, 49, 156, 246, 114, 196, 28,
|
|
110, 237, 242, 205, 168, 182, 175, 103, 52, 46, 187, 216, 13, 121,
|
|
217, 83, 229, 38, 14, 110, 180, 65, 96, 90, 74, 95, 49, 16, 229,
|
|
54, 244, 60, 106, 201, 184, 212, 173, 181, 234, 101, 84, 46, 186,
|
|
209, 41, 41, 110, 83, 95, 85, 191, 230, 86, 117, 2, 122, 74, 170,
|
|
137, 149, 244, 120, 174, 134, 138, 200, 186, 197, 235, 54, 188,
|
|
18, 0, 107, 218, 226, 140, 160, 160, 152, 219, 220, 249, 176, 207,
|
|
95, 51, 112, 58, 132, 152, 100, 232, 201, 27, 130, 16, 54, 62, 74,
|
|
211, 12, 148, 18, 127, 148, 88, 221, 142, 180, 193, 204, 161, 44,
|
|
9, 78, 168, 207, 180, 156, 10, 215, 73, 89, 2, 74, 192, 111, 111,
|
|
76, 33, 95, 176, 222, 216, 199, 61, 52, 187, 88, 0, 5, 164, 27,
|
|
249, 242, 166, 47, 120, 60, 11, 67, 80, 213, 243, 40, 88, 119,
|
|
125, 63, 170, 48, 213, 136, 78, 253, 174, 171, 196, 160, 227, 161,
|
|
161, 162, 143, 107, 218, 246, 177, 190, 235, 93, 68, 120, 231, 40,
|
|
236, 183, 132, 254, 107, 131, 198, 246, 170, 46, 255, 46, 29, 166,
|
|
139, 85, 207, 244, 221, 30, 14, 227, 204, 183, 114, 222, 82, 133,
|
|
206, 222, 163, 104, 239, 183, 230, 255, 241, 157, 162, 168, 131,
|
|
32, 238, 179, 125, 143, 139, 167, 247, 52, 127, 35, 143, 106, 222,
|
|
252, 177, 174, 235, 93, 140, 92, 230, 104, 232, 182, 164, 127,
|
|
250, 151, 139, 182, 170, 46, 255, 62, 95, 175, 139, 215, 238, 252,
|
|
205, 55, 236, 35, 136, 213, 231, 235, 234, 23, 237, 88, 11, 48,
|
|
156, 119, 36, 249, 234, 19, 157, 250, 186, 52, 254, 125, 30, 157,
|
|
234, 213, 77, 116, 238, 158, 153, 119, 250, 133, 199, 239, 245,
|
|
29, 66, 209, 18, 127, 215, 56, 165, 250, 187, 151, 234, 123, 156,
|
|
59, 255, 187, 218, 214, 66, 62, 12, 245, 190, 182, 180, 212, 195,
|
|
207, 123, 210, 201, 75, 191, 185, 58, 74, 120, 94, 15, 185, 212,
|
|
119, 51, 62, 103, 201, 210, 31, 30, 85, 127, 205, 107, 222, 134,
|
|
252, 71, 97, 228, 92, 77, 79, 248, 81, 174, 176, 78, 83, 75, 217,
|
|
209, 120, 196, 31, 106, 104, 103, 233, 138, 243, 201, 229, 188,
|
|
55, 185, 84, 96, 149, 198, 158, 89, 146, 6, 107, 254, 60, 11, 106,
|
|
80, 84, 227, 168, 80, 119, 109, 46, 234, 176, 213, 0, 78, 249,
|
|
174, 39, 196, 160, 177, 161, 161, 41, 238, 90, 95, 212, 159, 230,
|
|
247, 124, 11, 122, 70, 51, 200, 180, 208, 120, 170, 134, 14, 207,
|
|
186, 68, 127, 54, 47, 50, 1, 105, 216, 234, 137, 150, 149, 87,
|
|
223, 173, 243, 76, 239, 157, 210, 214, 50, 126, 255, 44, 173, 251,
|
|
187, 63, 162, 121, 239, 123, 255, 187, 218, 223, 66, 31, 120, 244,
|
|
182, 182, 50, 181, 130, 239, 107, 146, 200, 91, 191, 177, 127, 78,
|
|
248, 109, 138, 251, 213, 231, 115, 60, 103, 139, 194, 24, 214, 69,
|
|
127, 213, 127, 71, 199, 246, 31, 111, 222, 238, 80, 191, 240, 157,
|
|
206, 213, 183, 104, 239, 183, 71, 206, 243, 191, 231, 244, 79, 46,
|
|
238, 122, 114, 238, 139, 23, 255, 181, 245, 133, 222, 94, 93, 210,
|
|
38, 47, 246, 116, 170, 106, 86, 81, 163, 161, 81, 117, 204, 42,
|
|
236, 160, 221, 17, 110, 124, 174, 167, 68, 169, 240, 161, 169, 58,
|
|
79, 110, 237, 129, 90, 93, 55, 133, 76, 254, 163, 43, 47, 166,
|
|
247, 110, 246, 173, 230, 76, 137, 37, 137, 243, 249, 208, 145, 51,
|
|
252, 236, 126, 167, 31, 111, 158, 236, 133, 191, 120, 141, 92,
|
|
221, 183, 228, 237, 183, 75, 206, 107, 23, 231, 228, 35, 74, 251,
|
|
118, 24, 234, 171, 29, 255, 181, 223, 244, 96, 218, 162, 174, 75,
|
|
210, 200, 155, 178, 177, 171, 79, 220, 105, 139, 255, 213, 239,
|
|
115, 12, 103, 138, 160, 152, 211, 69, 127, 229, 59, 89, 3, 147,
|
|
221, 254, 252, 173, 119, 244, 239, 223, 19, 242, 18, 120, 250, 44,
|
|
235, 249, 243, 62, 194, 125, 239, 123, 243, 191, 255, 223, 78,
|
|
157, 121, 240, 14, 9, 29, 90, 221, 210, 166, 175, 247, 116, 138,
|
|
106, 70, 113, 163, 161, 80, 121, 110, 34, 172, 241, 152, 17, 110,
|
|
124, 175, 247, 0, 169, 240, 225, 152, 230, 158, 111, 156, 236, 4,
|
|
189, 251, 156, 222, 210, 247, 212, 239, 181, 75, 255, 125, 55,
|
|
167, 241, 71, 162, 200, 120, 58, 239, 154, 5, 232, 117, 241, 252,
|
|
97, 222, 166, 206, 75, 87, 200, 131, 244, 181, 171, 87, 221, 107,
|
|
11, 58, 253, 111, 115, 73, 103, 154, 136, 250, 193, 101, 61, 109,
|
|
59, 126, 82, 71, 217, 156, 255, 172, 134, 254, 174, 222, 18, 218,
|
|
2, 245, 250, 97, 107, 201, 247, 59, 195, 107, 72, 219, 225, 237,
|
|
250, 223, 13, 152, 121, 185, 138 ]
|
|
training_image_path: "/media/psf/freelancing/ant_robotics/flann_based/stereo_image782.jpeg"
|