• 项目第一次测试 笔记

检测模型加载

  • 配置信息 
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    // ubuntu20 nvidia 1060 pcl-1.10 
// m_conf = "@--detector-models@/home/user/Models/1060/DETECT.conf@xxx@yyyy@--detector-type@1@--detector-gap@0@--detector-fps@5@--detector-thresholds@0.4@--tracker-type@2@--trace-cast";
// ubuntu18 nvidia 1080 pcl-1.8
m_conf = "@--detector-models@/mnt/remote/190-mnt/zhangjunyi/Models/VCR/1080/DETECT.conf@xxx@yyyy@--detector-type@1@--detector-gap@0@--detector-fps@5@--detector-thresholds@0.4@--tracker-type@2@--trace-cast";
m_delim = "@";

up point

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{"CartInfo":[0.353194388192167,-0.10033157494496286,0.40744718607270736,0.02938279743204051,3.133624706650053,1.5444991951029357],"JointInfo":[0.027419906583455837,-0.3977803930585953,0.476348971538113,-0.6668981475332825,1.5771719344445463,0.05392901207410457],"STATUS":"SUCCESS"}

home point

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{"CartInfo":[0.23740232049909404,-0.10542376048823923,0.44859222317800673,0.033165380670144955,3.137015033216626,1.5373627994942176],"JointInfo":[0.02051699303797045,-0.007909588437535336,0.7251894174729369,-0.8043332387479116,1.5735766669729392,0.05407282277296885],"STATUS":"SUCCESS"}

up store point

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{"CartInfo":[-0.10274955484731818,-0.23871582100087116,0.4485220628285385,-3.10837918586184,0.00457861348147879,3.119424490945755],"JointInfo":[-1.5390620992455124,-0.008149272935642469,0.7254770388706654,-0.8037579959524546,1.5735766669729392,0.054024885873347424],"STATUS":"SUCCESS"}

存放点

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"point":[
            -0.3107980310302541,
            0.005474609033723757,
            0.1660736583718917,
            0.14187905419997576,
            -3.0985265129810493,
            0.07320095015205874
        ]

正解

  • 输入 
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    {
      "joint": [1,2,3,4,5,6]
}
## joint: 输入的关节角
  • 输出 
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    {
      "cart": [1,2,3,4,5,6]
}
## cart: 与输入对应的笛卡尔工具中心点位置

逆解

  • 输入 
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    {
      "cart": [1,2,3,4,5,6]
      "jointRef": [0,0,1.5708,0,1.5708,0]
}
## cart: 笛卡尔工具中心点位置
## jointRef: 参考关节角，将作为迭代的起点。若不设置，将使用机器人当前关节角。
  • 输出 
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    {
      "joint": [1,2,3,4,5,6]
}
## joint: 与输入对应的关节角