diff --git a/assets/camera_calib/1.jpg b/assets/camera_calib/1.jpg new file mode 100644 index 0000000..2094d30 Binary files /dev/null and b/assets/camera_calib/1.jpg differ diff --git a/assets/camera_calib/1.txt b/assets/camera_calib/1.txt new file mode 100644 index 0000000..cad88ef --- /dev/null +++ b/assets/camera_calib/1.txt @@ -0,0 +1 @@ +0.7177201718666837 0.09187038370024973 0.09699144216061435 -0.6833961132769422 \ No newline at end of file diff --git a/assets/camera_calib/10.jpg b/assets/camera_calib/10.jpg new file mode 100644 index 0000000..cee12d3 Binary files /dev/null and b/assets/camera_calib/10.jpg differ diff --git a/assets/camera_calib/10.txt b/assets/camera_calib/10.txt new file mode 100644 index 0000000..df5efed --- /dev/null +++ b/assets/camera_calib/10.txt @@ -0,0 +1 @@ +0.6540393670774336 0.11673220229558735 0.104104730295333 -0.74011371044611 \ No newline at end of file diff --git a/assets/camera_calib/11.jpg b/assets/camera_calib/11.jpg new file mode 100644 index 0000000..45274de Binary files /dev/null and b/assets/camera_calib/11.jpg differ diff --git a/assets/camera_calib/11.txt b/assets/camera_calib/11.txt new file mode 100644 index 0000000..2cdbe01 --- /dev/null +++ b/assets/camera_calib/11.txt @@ -0,0 +1 @@ +0.6695365068706467 0.11396525651605409 0.10689676647567184 -0.7261582937567594 \ No newline at end of file diff --git a/assets/camera_calib/12.jpg b/assets/camera_calib/12.jpg new file mode 100644 index 0000000..ddb8017 Binary files /dev/null and b/assets/camera_calib/12.jpg differ diff --git a/assets/camera_calib/12.txt b/assets/camera_calib/12.txt new file mode 100644 index 0000000..bf07a54 --- /dev/null +++ b/assets/camera_calib/12.txt @@ -0,0 +1 @@ +0.6865027206257972 0.11121980925498735 0.10959354583553703 -0.7101643635904696 \ No newline at end of file diff --git a/assets/camera_calib/13.jpg b/assets/camera_calib/13.jpg new file mode 100644 index 0000000..171ee32 Binary files /dev/null and b/assets/camera_calib/13.jpg differ diff --git a/assets/camera_calib/13.txt b/assets/camera_calib/13.txt new file mode 100644 index 0000000..add4a1c --- /dev/null +++ b/assets/camera_calib/13.txt @@ -0,0 +1 @@ +0.7029618311310923 0.10910831122785473 0.114008892573956 -0.693499828989083 \ No newline at end of file diff --git a/assets/camera_calib/14.jpg b/assets/camera_calib/14.jpg new file mode 100644 index 0000000..c0ea4c8 Binary files /dev/null and b/assets/camera_calib/14.jpg differ diff --git a/assets/camera_calib/14.txt b/assets/camera_calib/14.txt new file mode 100644 index 0000000..c2fd6d4 --- /dev/null +++ b/assets/camera_calib/14.txt @@ -0,0 +1 @@ +0.6846990959849547 0.11378336536460135 0.1095621509728064 -0.7115030771528001 \ No newline at end of file diff --git a/assets/camera_calib/15.jpg b/assets/camera_calib/15.jpg new file mode 100644 index 0000000..d648074 Binary files /dev/null and b/assets/camera_calib/15.jpg differ diff --git a/assets/camera_calib/15.txt b/assets/camera_calib/15.txt new file mode 100644 index 0000000..45eae7e --- /dev/null +++ b/assets/camera_calib/15.txt @@ -0,0 +1 @@ +0.7105886427866503 0.09454929951290965 0.09772990470338523 -0.6903427238922067 \ No newline at end of file diff --git a/assets/camera_calib/16.jpg b/assets/camera_calib/16.jpg new file mode 100644 index 0000000..f5a6d0f Binary files /dev/null and b/assets/camera_calib/16.jpg differ diff --git a/assets/camera_calib/16.txt b/assets/camera_calib/16.txt new file mode 100644 index 0000000..182967c --- /dev/null +++ b/assets/camera_calib/16.txt @@ -0,0 +1 @@ +0.7082004773279313 0.09457995680211755 0.09737030792091227 -0.6928388981712751 \ No newline at end of file diff --git a/assets/camera_calib/17.jpg b/assets/camera_calib/17.jpg new file mode 100644 index 0000000..09138de Binary files /dev/null and b/assets/camera_calib/17.jpg differ diff --git a/assets/camera_calib/17.txt b/assets/camera_calib/17.txt new file mode 100644 index 0000000..b3941ed --- /dev/null +++ b/assets/camera_calib/17.txt @@ -0,0 +1 @@ +0.6864091145945169 0.08696336166250927 0.08462036719328926 -0.7170211256204378 \ No newline at end of file diff --git a/assets/camera_calib/18.jpg b/assets/camera_calib/18.jpg new file mode 100644 index 0000000..d2c584d Binary files /dev/null and b/assets/camera_calib/18.jpg differ diff --git a/assets/camera_calib/18.txt b/assets/camera_calib/18.txt new file mode 100644 index 0000000..41d3789 --- /dev/null +++ b/assets/camera_calib/18.txt @@ -0,0 +1 @@ +0.6667428632979302 0.10364170157370939 0.0955403079117792 -0.7318363215229934 \ No newline at end of file diff --git a/assets/camera_calib/19.jpg b/assets/camera_calib/19.jpg new file mode 100644 index 0000000..03dacd4 Binary files /dev/null and b/assets/camera_calib/19.jpg differ diff --git a/assets/camera_calib/19.txt b/assets/camera_calib/19.txt new file mode 100644 index 0000000..3f6eabb --- /dev/null +++ b/assets/camera_calib/19.txt @@ -0,0 +1 @@ +0.6608952401030105 0.0924475886118082 0.08181877213214009 -0.7402544248404296 \ No newline at end of file diff --git a/assets/camera_calib/2.jpg b/assets/camera_calib/2.jpg new file mode 100644 index 0000000..96417b3 Binary files /dev/null and b/assets/camera_calib/2.jpg differ diff --git a/assets/camera_calib/2.txt b/assets/camera_calib/2.txt new file mode 100644 index 0000000..b281260 --- /dev/null +++ b/assets/camera_calib/2.txt @@ -0,0 +1 @@ +0.7258014151886103 0.06893544090588102 0.07336676467256588 -0.6804980003929494 \ No newline at end of file diff --git a/assets/camera_calib/20.jpg b/assets/camera_calib/20.jpg new file mode 100644 index 0000000..d499cbc Binary files /dev/null and b/assets/camera_calib/20.jpg differ diff --git a/assets/camera_calib/20.txt b/assets/camera_calib/20.txt new file mode 100644 index 0000000..9580033 --- /dev/null +++ b/assets/camera_calib/20.txt @@ -0,0 +1 @@ +0.6368114936681568 0.09604567438504773 0.07995934840288652 -0.7608237986334537 \ No newline at end of file diff --git a/assets/camera_calib/21.jpg b/assets/camera_calib/21.jpg new file mode 100644 index 0000000..ec742a6 Binary files /dev/null and b/assets/camera_calib/21.jpg differ diff --git a/assets/camera_calib/21.txt b/assets/camera_calib/21.txt new file mode 100644 index 0000000..9ea6f59 --- /dev/null +++ b/assets/camera_calib/21.txt @@ -0,0 +1 @@ +0.6572286496356463 0.07285829130720428 0.06370958053012925 -0.7474511762212797 \ No newline at end of file diff --git a/assets/camera_calib/22.jpg b/assets/camera_calib/22.jpg new file mode 100644 index 0000000..e02e245 Binary files /dev/null and b/assets/camera_calib/22.jpg differ diff --git a/assets/camera_calib/22.txt b/assets/camera_calib/22.txt new file mode 100644 index 0000000..feca931 --- /dev/null +++ b/assets/camera_calib/22.txt @@ -0,0 +1 @@ +0.6350787937658589 0.07596458908813118 0.06184461820780068 -0.7662111654839704 \ No newline at end of file diff --git a/assets/camera_calib/3.jpg b/assets/camera_calib/3.jpg new file mode 100644 index 0000000..0c13052 Binary files /dev/null and b/assets/camera_calib/3.jpg differ diff --git a/assets/camera_calib/3.txt b/assets/camera_calib/3.txt new file mode 100644 index 0000000..7532c1c --- /dev/null +++ b/assets/camera_calib/3.txt @@ -0,0 +1 @@ +0.7153160451022573 0.06679164379924944 0.06815692277445147 -0.6922546249869169 \ No newline at end of file diff --git a/assets/camera_calib/4.jpg b/assets/camera_calib/4.jpg new file mode 100644 index 0000000..34162c4 Binary files /dev/null and b/assets/camera_calib/4.jpg differ diff --git a/assets/camera_calib/4.txt b/assets/camera_calib/4.txt new file mode 100644 index 0000000..6f79bd0 --- /dev/null +++ b/assets/camera_calib/4.txt @@ -0,0 +1 @@ +0.6895526075414257 0.07227717802997588 0.06701324523260725 -0.7174973421081351 \ No newline at end of file diff --git a/assets/camera_calib/5.jpg b/assets/camera_calib/5.jpg new file mode 100644 index 0000000..2274eff Binary files /dev/null and b/assets/camera_calib/5.jpg differ diff --git a/assets/camera_calib/5.txt b/assets/camera_calib/5.txt new file mode 100644 index 0000000..b2861a1 --- /dev/null +++ b/assets/camera_calib/5.txt @@ -0,0 +1 @@ +0.6755160976098915 0.06749445326901966 0.0605731820592963 -0.7317468074840031 \ No newline at end of file diff --git a/assets/camera_calib/6.jpg b/assets/camera_calib/6.jpg new file mode 100644 index 0000000..faaf6cc Binary files /dev/null and b/assets/camera_calib/6.jpg differ diff --git a/assets/camera_calib/6.txt b/assets/camera_calib/6.txt new file mode 100644 index 0000000..770cb5c --- /dev/null +++ b/assets/camera_calib/6.txt @@ -0,0 +1 @@ +0.6554968212916839 0.0710136384754573 0.06108937801660896 -0.7493657773881318 \ No newline at end of file diff --git a/assets/camera_calib/7.jpg b/assets/camera_calib/7.jpg new file mode 100644 index 0000000..38e5689 Binary files /dev/null and b/assets/camera_calib/7.jpg differ diff --git a/assets/camera_calib/7.txt b/assets/camera_calib/7.txt new file mode 100644 index 0000000..7da118c --- /dev/null +++ b/assets/camera_calib/7.txt @@ -0,0 +1 @@ +0.6453150221921371 0.08754614426431993 0.07488900209128711 -0.7551793377227582 \ No newline at end of file diff --git a/assets/camera_calib/8.jpg b/assets/camera_calib/8.jpg new file mode 100644 index 0000000..4cac18f Binary files /dev/null and b/assets/camera_calib/8.jpg differ diff --git a/assets/camera_calib/8.txt b/assets/camera_calib/8.txt new file mode 100644 index 0000000..58de405 --- /dev/null +++ b/assets/camera_calib/8.txt @@ -0,0 +1 @@ +0.6436936453206352 0.1018123504027431 0.08674315464388545 -0.7535040553319725 \ No newline at end of file diff --git a/assets/camera_calib/9.jpg b/assets/camera_calib/9.jpg new file mode 100644 index 0000000..98f25ee Binary files /dev/null and b/assets/camera_calib/9.jpg differ diff --git a/assets/camera_calib/9.txt b/assets/camera_calib/9.txt new file mode 100644 index 0000000..6f84e3d --- /dev/null +++ b/assets/camera_calib/9.txt @@ -0,0 +1 @@ +0.6409116406794043 0.11242770296004105 0.09554048153994232 -0.7533022612709181 \ No newline at end of file diff --git a/calibration/capture.cpp b/calibration/capture.cpp index 863d772..0f2021d 100644 --- a/calibration/capture.cpp +++ b/calibration/capture.cpp @@ -39,10 +39,10 @@ void capture_loop( // 在图像上显示欧拉角，用来判断imuabs系的xyz正方向，同时判断imu是否存在零漂 auto img_with_ypr = img.clone(); - Eigen::Vector3d zyx = tools::eulers(q, 2, 1, 0) * 57.3; // degree - tools::draw_text(img_with_ypr, fmt::format("Z {:.2f}", zyx[0]), {40, 40}, {0, 0, 255}); - tools::draw_text(img_with_ypr, fmt::format("Y {:.2f}", zyx[1]), {40, 80}, {0, 0, 255}); - tools::draw_text(img_with_ypr, fmt::format("X {:.2f}", zyx[2]), {40, 120}, {0, 0, 255}); + Eigen::Vector3d zyx = tools::eulers(q, 2, 1, 0); // degree + tools::draw_text(img_with_ypr, fmt::format("Yaw (Z) {:.2f}", zyx[0]), {40, 40}, {0, 0, 255}); + tools::draw_text(img_with_ypr, fmt::format("Pitch (Y) {:.2f}", zyx[1]), {40, 80}, {0, 0, 255}); + tools::draw_text(img_with_ypr, fmt::format("Roll (X) {:.2f}", zyx[2]), {40, 120}, {0, 0, 255}); std::vector centers_2d; auto success = cv::findCirclesGrid(img, cv::Size(10, 7), centers_2d); // 默认是对称圆点图案 diff --git a/configs/calibration.yaml b/configs/calibration.yaml index 83edef5..137720c 100644 --- a/configs/calibration.yaml +++ b/configs/calibration.yaml @@ -1,15 +1,23 @@ pattern_cols: 10 pattern_rows: 7 -center_distance_mm: 40 +center_distance_mm: 39 -R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1] +# 重投影误差: 0.0833px +camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1] +distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0] + +R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1] + +# 相机同理想情况的偏角: yaw174.40 pitch8.20 roll178.20 degree +R_camera2gimbal: [0.093296993396547734, 0.14503826005617809, -0.9850175501700672, -0.99514483056044212, -0.017561170025079953, -0.096841992524828474, -0.03134385477239883, 0.98927018980015091, 0.14269567036452102] +t_camera2gimbal: [-0.11903236791933375, -0.012143601357090483, -0.023682825149991701] #####-----gimbal参数-----##### -com_port: "/dev/ttyACM1" +com_port: "/dev/ttyACM0" camera_name: "hikrobot" -exposure_ms: 3 -gain: 20.0 +exposure_ms: 50 +gain: 50.0 vid_pid: "2bdf:0001" #####-----cboard参数-----##### diff --git a/configs/handeye.yaml b/configs/handeye.yaml new file mode 100644 index 0000000..0b1dc65 --- /dev/null +++ b/configs/handeye.yaml @@ -0,0 +1,30 @@ +# 手眼标定测试配置文件 +# 该配置用于测试手眼标定结果的准确性 + +# 测试网格参数 +height: 2.0 # 测试平面距离地面高度（米） +grid_num: 5 # 网格数量（5x5网格） +grid_size: 0.5 # 网格间距（米） +delay: 15 # 时间补偿延迟（毫秒） + +# 相机内参（从标定结果复制） +camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1] +distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0] + +# 手眼标定结果（从标定结果复制） +R_gimbal2imubody: [1, 0, 0, 0, -1, 0, 0, 0, 1] +R_camera2gimbal: [0.093296993396547734, 0.14503826005617809, -0.9850175501700672, -0.99514483056044212, -0.017561170025079953, -0.096841992524828474, -0.03134385477239883, 0.98927018980015091, 0.14269567036452102] +t_camera2gimbal: [-0.11903236791933375, -0.012143601357090483, -0.023682825149991701] + +# 相机参数 +camera_name: "hikrobot" +exposure_ms: 50 +gain: 50.0 +vid_pid: "2bdf:0001" + +# 下位机参数 +com_port: "/dev/ttyACM0" +quaternion_canid: 0x01 +bullet_speed_canid: 0x110 +send_canid: 0xff +can_interface: "can0" diff --git a/configs/standard3.yaml b/configs/standard3.yaml index 6edfa36..8a7232d 100644 --- a/configs/standard3.yaml +++ b/configs/standard3.yaml @@ -61,15 +61,15 @@ vid_pid: "2bdf:0001" # 0 0 1 R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1] -# 重投影误差: 0.1820px -camera_matrix: [1785.4881526822305, 0, 672.4806478241826, 0, 1785.026019470562, 559.89603224794314, 0, 0, 1] -distort_coeffs: [-0.076005079619881746, 0.11182817466388446, 0.0005362204787722057, -0.0027546300984895122, 0] +# 重投影误差: 0.0833px +camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1] +distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0] -# 相机同理想情况的偏角: yaw1.44 pitch-7.28 roll0.96 degree +# 相机同理想情况的偏角: yaw-2.19 pitch0.60 roll-1.22 degree # 标定板到世界坐标系原点的水平距离: 1.13 m -# 标定板同竖直摆放时的偏角: yaw7.61 pitch13.92 roll-0.46 degree -R_camera2gimbal: [-0.027182119030230909, -0.12616154330853446, 0.99163723074269183, -0.99949106557517331, 0.019998323121329122, -0.024853106601381177, -0.016695575474690555, -0.99180811252093692, -0.12664093215554434] -t_camera2gimbal: [0.13160669975045827, 0.10377721766577375, 0.024908271912914642] +# 标定板同竖直摆放时的偏角: yaw-82.48 pitch10.19 roll-0.28 degree +R_camera2gimbal: [0.037945134408690975, 0.011210224413650311, 0.99921694223191693, -0.99905391724335679, -0.020835442782907131, 0.038172696587273909, 0.021247051922802046, -0.99972006841547179, 0.010409014936772491] +t_camera2gimbal: [0.14266900667253352, 0.0061791593160151776, 0.051417922179356944] #####-----cboard参数-----##### quaternion_canid: 0x100 @@ -78,7 +78,7 @@ send_canid: 0xff can_interface: "can0" #####-----gimbal参数-----##### -com_port: "/dev/gimbal" +com_port: "/dev/ttyACM0" yaw_kp: 0 yaw_kd: 0 pitch_kp: 0 diff --git a/io/gimbal/gimbal.cpp b/io/gimbal/gimbal.cpp index 5775701..b1e9a24 100644 --- a/io/gimbal/gimbal.cpp +++ b/io/gimbal/gimbal.cpp @@ -163,12 +163,47 @@ void Gimbal::read_thread() error_count++; continue; } + float q0 = rx_data_.q[0], q1 = rx_data_.q[1], q2 = rx_data_.q[2], q3 = rx_data_.q[3]; + float yaw = rx_data_.yaw, yaw_vel = rx_data_.yaw_vel; + float pitch = rx_data_.pitch, pitch_vel = rx_data_.pitch_vel; + float bullet_speed = rx_data_.bullet_speed; + uint16_t bullet_count = rx_data_.bullet_count, crc16 = rx_data_.crc16; + + if (!tools::check_crc16(reinterpret_cast(&rx_data_), sizeof(rx_data_))) { + tools::logger()->debug("[Gimbal] CRC16 check failed."); + tools::logger()->debug( + "[Gimbal] Received crc16: {}, Calculated crc16: {}", + crc16, + tools::get_crc16( + reinterpret_cast(&rx_data_), sizeof(rx_data_) - sizeof(rx_data_.crc16))); + continue; + } + /*打印受到的数据*/ +// struct __attribute__((packed)) GimbalToVision +// { +// uint8_t head[2] = {'M', 'R'}; +// uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 +// float q[4]; // wxyz顺序 +// float yaw; +// float yaw_vel; +// float pitch; +// float pitch_vel; +// float bullet_speed; +// uint16_t bullet_count; // 子弹累计发送次数 +// uint16_t crc16; +// }; - // if (!tools::check_crc16(reinterpret_cast(&rx_data_), sizeof(rx_data_))) { - // tools::logger()->debug("[Gimbal] CRC16 check failed."); - // continue; - // } - + // float q0 = rx_data_.q[0], q1 = rx_data_.q[1], q2 = rx_data_.q[2], q3 = rx_data_.q[3]; + // float yaw = rx_data_.yaw, yaw_vel = rx_data_.yaw_vel; + // float pitch = rx_data_.pitch, pitch_vel = rx_data_.pitch_vel; + // float bullet_speed = rx_data_.bullet_speed; + // uint16_t bullet_count = rx_data_.bullet_count, crc16 = rx_data_.crc16; + + tools::logger()->debug( + "[Gimbal] mode: {}, q: [{:.3f}, {:.3f}, {:.3f}, {:.3f}], yaw: {:.3f}, yaw_vel: {:.3f}, " + "pitch: {:.3f}, pitch_vel: {:.3f}, bullet_speed: {:.3f}, bullet_count: {}, crc16: {}", + rx_data_.mode, q0, q1, q2, q3, yaw, yaw_vel, pitch, pitch_vel, bullet_speed, + bullet_count, crc16); error_count = 0; Eigen::Quaterniond q(rx_data_.q[0], rx_data_.q[1], rx_data_.q[2], rx_data_.q[3]); queue_.push({q, t}); diff --git a/io/hikrobot/hikrobot.cpp b/io/hikrobot/hikrobot.cpp index 5c53b68..933cdce 100644 --- a/io/hikrobot/hikrobot.cpp +++ b/io/hikrobot/hikrobot.cpp @@ -160,13 +160,19 @@ void HikRobot::capture_start() // Convert RGB to BGR cv::cvtColor(img, dst_image, cv::COLOR_RGB2BGR); img = dst_image; + } else if (is_color && pixel_type == PixelType_Gvsp_BGR8_Packed) { + // BGR format is already correct for OpenCV, no conversion needed + img = img; } else if (!is_color) { tools::logger()->warn("Unsupported pixel type: {:#x}. Camera may be outputting already converted format. Using raw image.", pixel_type); // If pixel format is not in the map, the image might already be in the desired format img = img; } + + // Swap R and B channels to fix color inversion (red becoming blue) + cv::cvtColor(img, img, cv::COLOR_BGR2RGB); - queue_.push({img, timestamp}); + queue_.push({img.clone(), timestamp}); ret = MV_CC_FreeImageBuffer(handle_, &raw); if (ret != MV_OK) { diff --git a/kernel.errors.txt b/kernel.errors.txt new file mode 100644 index 0000000..8a9d811 --- /dev/null +++ b/kernel.errors.txt @@ -0,0 +1,16 @@ +Instruction / Operand / Region Errors: + +/-------------------------------------------!!!KERNEL HEADER ERRORS FOUND!!!-------------------------------------------\ +Error in CISA routine with name: kernel + Error Message: Input V38 = [256, 260) intersects with V37 = [256, 260) +\----------------------------------------------------------------------------------------------------------------------/ + + +/-------------------------------------------!!!KERNEL HEADER ERRORS FOUND!!!-------------------------------------------\ +Error in CISA routine with name: kernel + Error Message: Explicit input 2 must not follow an implicit input 0 +\----------------------------------------------------------------------------------------------------------------------/ + + + + diff --git a/true/1.jpg b/true/1.jpg new file mode 100644 index 0000000..2094d30 Binary files /dev/null and b/true/1.jpg differ diff --git a/true/1.txt b/true/1.txt new file mode 100644 index 0000000..cad88ef --- /dev/null +++ b/true/1.txt @@ -0,0 +1 @@ +0.7177201718666837 0.09187038370024973 0.09699144216061435 -0.6833961132769422 \ No newline at end of file diff --git a/true/10.jpg b/true/10.jpg new file mode 100644 index 0000000..cee12d3 Binary files /dev/null and b/true/10.jpg differ diff --git a/true/10.txt b/true/10.txt new file mode 100644 index 0000000..df5efed --- /dev/null +++ b/true/10.txt @@ -0,0 +1 @@ +0.6540393670774336 0.11673220229558735 0.104104730295333 -0.74011371044611 \ No newline at end of file diff --git a/true/11.jpg b/true/11.jpg new file mode 100644 index 0000000..45274de Binary files /dev/null and b/true/11.jpg differ diff --git a/true/11.txt b/true/11.txt new file mode 100644 index 0000000..2cdbe01 --- /dev/null +++ b/true/11.txt @@ -0,0 +1 @@ +0.6695365068706467 0.11396525651605409 0.10689676647567184 -0.7261582937567594 \ No newline at end of file diff --git a/true/12.jpg b/true/12.jpg new file mode 100644 index 0000000..ddb8017 Binary files /dev/null and b/true/12.jpg differ diff --git a/true/12.txt b/true/12.txt new file mode 100644 index 0000000..bf07a54 --- /dev/null +++ b/true/12.txt @@ -0,0 +1 @@ +0.6865027206257972 0.11121980925498735 0.10959354583553703 -0.7101643635904696 \ No newline at end of file diff --git a/true/13.jpg b/true/13.jpg new file mode 100644 index 0000000..171ee32 Binary files /dev/null and b/true/13.jpg differ diff --git a/true/13.txt b/true/13.txt new file mode 100644 index 0000000..add4a1c --- /dev/null +++ b/true/13.txt @@ -0,0 +1 @@ +0.7029618311310923 0.10910831122785473 0.114008892573956 -0.693499828989083 \ No newline at end of file diff --git a/true/14.jpg b/true/14.jpg new file mode 100644 index 0000000..c0ea4c8 Binary files /dev/null and b/true/14.jpg differ diff --git a/true/14.txt b/true/14.txt new file mode 100644 index 0000000..c2fd6d4 --- /dev/null +++ b/true/14.txt @@ -0,0 +1 @@ +0.6846990959849547 0.11378336536460135 0.1095621509728064 -0.7115030771528001 \ No newline at end of file diff --git a/true/15.jpg b/true/15.jpg new file mode 100644 index 0000000..d648074 Binary files /dev/null and b/true/15.jpg differ diff --git a/true/15.txt b/true/15.txt new file mode 100644 index 0000000..45eae7e --- /dev/null +++ b/true/15.txt @@ -0,0 +1 @@ +0.7105886427866503 0.09454929951290965 0.09772990470338523 -0.6903427238922067 \ No newline at end of file diff --git a/true/16.jpg b/true/16.jpg new file mode 100644 index 0000000..f5a6d0f Binary files /dev/null and b/true/16.jpg differ diff --git a/true/16.txt b/true/16.txt new file mode 100644 index 0000000..182967c --- /dev/null +++ b/true/16.txt @@ -0,0 +1 @@ +0.7082004773279313 0.09457995680211755 0.09737030792091227 -0.6928388981712751 \ No newline at end of file diff --git a/true/17.jpg b/true/17.jpg new file mode 100644 index 0000000..09138de Binary files /dev/null and b/true/17.jpg differ diff --git a/true/17.txt b/true/17.txt new file mode 100644 index 0000000..b3941ed --- /dev/null +++ b/true/17.txt @@ -0,0 +1 @@ +0.6864091145945169 0.08696336166250927 0.08462036719328926 -0.7170211256204378 \ No newline at end of file diff --git a/true/18.jpg b/true/18.jpg new file mode 100644 index 0000000..d2c584d Binary files /dev/null and b/true/18.jpg differ diff --git a/true/18.txt b/true/18.txt new file mode 100644 index 0000000..41d3789 --- /dev/null +++ b/true/18.txt @@ -0,0 +1 @@ +0.6667428632979302 0.10364170157370939 0.0955403079117792 -0.7318363215229934 \ No newline at end of file diff --git a/true/19.jpg b/true/19.jpg new file mode 100644 index 0000000..03dacd4 Binary files /dev/null and b/true/19.jpg differ diff --git a/true/19.txt b/true/19.txt new file mode 100644 index 0000000..3f6eabb --- /dev/null +++ b/true/19.txt @@ -0,0 +1 @@ +0.6608952401030105 0.0924475886118082 0.08181877213214009 -0.7402544248404296 \ No newline at end of file diff --git a/true/2.jpg b/true/2.jpg new file mode 100644 index 0000000..96417b3 Binary files /dev/null and b/true/2.jpg differ diff --git a/true/2.txt b/true/2.txt new file mode 100644 index 0000000..b281260 --- /dev/null +++ b/true/2.txt @@ -0,0 +1 @@ +0.7258014151886103 0.06893544090588102 0.07336676467256588 -0.6804980003929494 \ No newline at end of file diff --git a/true/20.jpg b/true/20.jpg new file mode 100644 index 0000000..d499cbc Binary files /dev/null and b/true/20.jpg differ diff --git a/true/20.txt b/true/20.txt new file mode 100644 index 0000000..9580033 --- /dev/null +++ b/true/20.txt @@ -0,0 +1 @@ +0.6368114936681568 0.09604567438504773 0.07995934840288652 -0.7608237986334537 \ No newline at end of file diff --git a/true/21.jpg b/true/21.jpg new file mode 100644 index 0000000..ec742a6 Binary files /dev/null and b/true/21.jpg differ diff --git a/true/21.txt b/true/21.txt new file mode 100644 index 0000000..9ea6f59 --- /dev/null +++ b/true/21.txt @@ -0,0 +1 @@ +0.6572286496356463 0.07285829130720428 0.06370958053012925 -0.7474511762212797 \ No newline at end of file diff --git a/true/22.jpg b/true/22.jpg new file mode 100644 index 0000000..e02e245 Binary files /dev/null and b/true/22.jpg differ diff --git a/true/22.txt b/true/22.txt new file mode 100644 index 0000000..feca931 --- /dev/null +++ b/true/22.txt @@ -0,0 +1 @@ +0.6350787937658589 0.07596458908813118 0.06184461820780068 -0.7662111654839704 \ No newline at end of file diff --git a/true/3.jpg b/true/3.jpg new file mode 100644 index 0000000..0c13052 Binary files /dev/null and b/true/3.jpg differ diff --git a/true/3.txt b/true/3.txt new file mode 100644 index 0000000..7532c1c --- /dev/null +++ b/true/3.txt @@ -0,0 +1 @@ +0.7153160451022573 0.06679164379924944 0.06815692277445147 -0.6922546249869169 \ No newline at end of file diff --git a/true/4.jpg b/true/4.jpg new file mode 100644 index 0000000..34162c4 Binary files /dev/null and b/true/4.jpg differ diff --git a/true/4.txt b/true/4.txt new file mode 100644 index 0000000..6f79bd0 --- /dev/null +++ b/true/4.txt @@ -0,0 +1 @@ +0.6895526075414257 0.07227717802997588 0.06701324523260725 -0.7174973421081351 \ No newline at end of file diff --git a/true/5.jpg b/true/5.jpg new file mode 100644 index 0000000..2274eff Binary files /dev/null and b/true/5.jpg differ diff --git a/true/5.txt b/true/5.txt new file mode 100644 index 0000000..b2861a1 --- /dev/null +++ b/true/5.txt @@ -0,0 +1 @@ +0.6755160976098915 0.06749445326901966 0.0605731820592963 -0.7317468074840031 \ No newline at end of file diff --git a/true/6.jpg b/true/6.jpg new file mode 100644 index 0000000..faaf6cc Binary files /dev/null and b/true/6.jpg differ diff --git a/true/6.txt b/true/6.txt new file mode 100644 index 0000000..770cb5c --- /dev/null +++ b/true/6.txt @@ -0,0 +1 @@ +0.6554968212916839 0.0710136384754573 0.06108937801660896 -0.7493657773881318 \ No newline at end of file diff --git a/true/7.jpg b/true/7.jpg new file mode 100644 index 0000000..38e5689 Binary files /dev/null and b/true/7.jpg differ diff --git a/true/7.txt b/true/7.txt new file mode 100644 index 0000000..7da118c --- /dev/null +++ b/true/7.txt @@ -0,0 +1 @@ +0.6453150221921371 0.08754614426431993 0.07488900209128711 -0.7551793377227582 \ No newline at end of file diff --git a/true/8.jpg b/true/8.jpg new file mode 100644 index 0000000..4cac18f Binary files /dev/null and b/true/8.jpg differ diff --git a/true/8.txt b/true/8.txt new file mode 100644 index 0000000..58de405 --- /dev/null +++ b/true/8.txt @@ -0,0 +1 @@ +0.6436936453206352 0.1018123504027431 0.08674315464388545 -0.7535040553319725 \ No newline at end of file diff --git a/true/9.jpg b/true/9.jpg new file mode 100644 index 0000000..98f25ee Binary files /dev/null and b/true/9.jpg differ diff --git a/true/9.txt b/true/9.txt new file mode 100644 index 0000000..6f84e3d --- /dev/null +++ b/true/9.txt @@ -0,0 +1 @@ +0.6409116406794043 0.11242770296004105 0.09554048153994232 -0.7533022612709181 \ No newline at end of file