fixed commetn from songxiao

2026-09-25 17:46:37 +08:00
parent 6effe74172
commit 12781854ca
56 changed files with 4935 additions and 419 deletions
@@ -0,0 +1,191 @@
+{
+  "design_dir": "D:\\orisys_ws\\orisys-sensor-design\\build\\export\\finger\\r01\\compute",
+  "sensor_dir": "D:\\orisys_ws\\orisys-sdk\\sensors\\finger\\assets\\30fps-0703",
+  "vertices": 1032,
+  "fit": {
+    "scale_design_unit_to_sensor_mm": 0.01838845151146365,
+    "rotation_row_convention": [
+      [
+        8.005154792182337e-08,
+        0.9999999999999964,
+        -4.310626667257856e-08
+      ],
+      [
+        4.169177018082366e-08,
+        -4.310626975245822e-08,
+        -0.999999999999999
+      ],
+      [
+        -0.9999999999999958,
+        8.005154632977046e-08,
+        -4.169177398834113e-08
+      ]
+    ],
+    "rotation_transposed_column_convention": [
+      [
+        8.005154792182337e-08,
+        4.169177018082366e-08,
+        -0.9999999999999958
+      ],
+      [
+        0.9999999999999964,
+        -4.310626975245822e-08,
+        8.005154632977046e-08
+      ],
+      [
+        -4.310626667257856e-08,
+        -0.999999999999999,
+        -4.169177398834113e-08
+      ]
+    ],
+    "translation_sensor_mm": [
+      4.555480057606443,
+      -0.18626088406372004,
+      8.49151750616984
+    ],
+    "rms_sensor_mm": 5.97442703083736e-07,
+    "rms_sensor_m": 5.97442703083736e-10,
+    "diagonal_sensor_mm": 23.047642302706198,
+    "relative_of_diagonal": 2.5922074598215443e-08,
+    "tolerance": 0.0001
+  },
+  "unit_statement": {
+    "meters_per_source_unit": 1.8388451511463648e-05,
+    "one_design_unit_is_mm": 0.01838845151146365,
+    "one_sensor_mm_is_design_units": 54.381958120648946
+  },
+  "rigid_transform_sensor_from_design_m": [
+    [
+      8.005154792182337e-08,
+      4.169177018082366e-08,
+      -0.9999999999999958,
+      0.004555480057606444
+    ],
+    [
+      0.9999999999999964,
+      -4.310626975245822e-08,
+      8.005154632977046e-08,
+      -0.00018626088406372004
+    ],
+    [
+      -4.310626667257856e-08,
+      -0.999999999999999,
+      -4.169177398834113e-08,
+      0.008491517506169841
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "scale_bearing_matrix_sensor_mm_from_design": [
+    [
+      1.4720240073780576e-09,
+      0.018388451511463583,
+      -7.926574945489324e-10,
+      4.555480057606443
+    ],
+    [
+      7.66647094397162e-10,
+      -7.926575511831501e-10,
+      -0.018388451511463632,
+      -0.18626088406372004
+    ],
+    [
+      -0.018388451511463573,
+      1.47202397810267e-09,
+      -7.666471644115123e-10,
+      8.49151750616984
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "extent_design_units": [
+    815.7294616699219,
+    407.8647003173828,
+    859.7575836181641
+  ],
+  "extent_sensor_mm": [
+    15.809610366821289,
+    15.000001430511475,
+    7.499999523162842
+  ],
+  "extent_compiled_m": [
+    0.01580961036682129,
+    0.015000001430511474,
+    0.007499999523162842
+  ],
+  "rotation_orthonormality_error": 1.5543122344752192e-15,
+  "rotation_determinant": 1.0000000000000013,
+  "verification": {
+    "design_route": {
+      "extent_m": [
+        0.01580961048603058,
+        0.015000001527369022,
+        0.007499999832361937
+      ],
+      "low_m": [
+        -0.01580961048603058,
+        -0.007500000763684511,
+        -2.6377949824407665e-10
+      ],
+      "high_m": [
+        -1.61737203491219e-11,
+        0.007500000763684511,
+        0.007499999366700649
+      ],
+      "max_abs_difference_from_sdk_route_m": 2.7939677238464355e-09,
+      "rms_difference_from_sdk_route_m": 7.126150500418507e-10,
+      "bitwise_identical_to_sdk_route": false
+    },
+    "sdk_route_extent_m": [
+      0.01580961048603058,
+      0.015000000596046448,
+      0.007499999366700649
+    ],
+    "trap_stored_matrix_as_transform": "refused: geometry_mismatch: transform is not a rigid rotation (its rows are not orthonormal): it would scale the geometry as well",
+    "trap_double_scale_if_forced": {
+      "extent_m": [
+        0.00013791339792046386,
+        0.0002907142510321925,
+        0.00027582680075788346
+      ],
+      "low_m": [
+        4.5554982900546195,
+        -0.1866353665546318,
+        8.49137616772656
+      ],
+      "high_m": [
+        4.55563620345254,
+        -0.18634465230359962,
+        8.491651994527318
+      ],
+      "note": "the stated unit already carries the 1/54.38 fit scale and the matrix carries it again; the translation is sensor-mm added to a metre-scale result, so the extent collapses to the fit residual and the surface sits ~4.5 m from the origin"
+    },
+    "trap_design_unit_called_a_millimetre": {
+      "extent_m": [
+        0.8597576022148132,
+        0.8157294988632202,
+        0.40786468982696533
+      ],
+      "low_m": [
+        -1.1029380559921265,
+        -0.39792177081108093,
+        -0.4532938599586487
+      ],
+      "high_m": [
+        -0.24318045377731323,
+        0.4178076982498169,
+        -0.04542917385697365
+      ],
+      "factor_too_large": 54.3819580078125,
+      "note": "compiles cleanly and is wrong by the fit scale; the validator cannot see it"
+    }
+  }
+}