+ !`Tj( Rt^RIt^RIt^RIt^RIt^RIt^RIt]PP^]PP]PP]PP] 4444^RI Ht^RIHtHt^RIHtHt^RIHtHt^RIHt^RIHtHtHtHt^RIH t H!t!R t"R t#]$R 8Xd ]#!4R#R#) aLive real-vs-sim AR overlay with two render layers, two named cameras. Cameras are referenced by role: "scene" (third-person, top row) and "wrist" (UMI wrist cam, bottom row), resolved via cameras.json. Each uses its saved intrinsics from calibrate_camera.py (frames are undistorted and the pose solved with the calibrated K); if a camera has no saved intrinsics yet, it falls back to a live single-view focal estimate. Grid per frame (posed by the live calibrated servos): scene row: [ rgb | scene render | umi render (if UMI board seen) ] wrist row: [ rgb | scene render (if base board seen) | blank ] Usage: python arview.py --config arm [--scene-index N] [--wrist-index N] [--width 640] [--port ...] N)Bus)CONFIGS calib_path) detect_boardsestimate_focal)ARM_BASEUMI_V2) CALIB_BOARD)Layerlabelblank blend_cell) open_namedload_intrinsicsc/pVFVp\P!\\V444pTP 4FwrETP YE4K KX V# \dKji;iN)jsonloadopenrFileNotFoundErroritems setdefault)configsoutcdatasides* ar_view/arview.py merged_calibr!sh C  99T*Q-01DjjlFC NN3 "#  J !   s(A!! A0/A0c\P!4pVPRRR7VPR\^R7VPR\^R7VPR\RR7VPRR R .R R R 7VPR RRR7VPR\^ R7VPR\RRR7VPRRR7VP 4pVP P R4Uu0uF*q"P4'gKVP4kK, pp\VP4p\R4pV'gV'g\P!R4\R4VPR 8Xdu\PP!\PP#\PP%\&44RR4p\)RV\*R R4pM0\)R\,VP,R,\.R R!4p\)R"\,R,R,\0R#R$4pWx.p VP3V4VP3V4V FKp \R%V P4 R&V P6R' R(V P8UU u.uFwpqNK up p 24KM VP:'d\=VP:4M \=4p \?\AV4\AV4,Uu0uFp\V4kK up4p V Uu.uFqPCV4'gKVNK ppVFpV PEVR)4K \R*V 24/pRVPF3R+VPH33Fwpp\KVV4wppp Vf\R%V R,24K+VV9dRM \MV4pR-VR.VR/VR0R/VV&VV9d"\R%V R1V R2VPN R324KtVf\R%V R1V R4V R5V R62 4K\R%V R1V R7VR8,R' R9VR:, R;VR<, R62 4K V'g\P!R=4V U u.uFqPPNK pp \\SVPT^,^, 44p\VPX!R>\VPZ4RV ^,PP/p\AV4EFpVV9dK VV,pVP]V\.4p\R?VPN R@V RAVRB, RC24.Rpp\_V4VPN8EdVR-,Pa4wppV'dVfKCVPb^,VPb^,3p\e\VPf!V\VPh4V.4pVRB,V9d VPkVVRB,,4\VPl!VVPT\\SVPb^,VPT,VPb^,, 4434p \VPn!R>\5V RDV REV^, R;V^, RF\_V4 RGVPN 2 R[44\VPp!^4^,^8XgEK\_V4^8db\sVVRH\uV4,RI7wVR0&p p!\R%V RJV^, R;V^, RKVR0,R\,RL RMV!R' RN2 4EKt\R%V RO24EK \RP4/p"VFpV PwV4p#V#fKV#V"V&K! V Fp V PyV"4K .p$VP{4EF0wppVR-,Pa4wppV'dVfv\VVPTV RQVR., 24p%V$Pk\P!V%\VVPT4\VVPT4.44KVPb^,VPb^,p'p&\e\VPf!V\VPh4V4p(VR/,pVewVR0,flV&\VR:,4, pVR0,P4VR0&VR0,^;;,V,uu&VR0,^;;,V,uu&VfYVR0,fNV('dF\uV(P4RRRS7p)\sV).V&V'3RH\uV&V'4,RI7wVR0&p VPTp*\\SV'V*,V&, 44p+\VPl!VV*V+34p,VR0,eN^\P!\P!V'RT, VR0,R],, 44,MRUp-V ^,V ^,p/p.\5V,P4V RVV& R;V' 24.p0V0Pk\V.V(VR0,V,V-44T0PkVR8Xd\V/V(VR0,V,V-4M \V+V*RW44V$Pk\P!V044EK3 V$'Ed3\uRXV$44p1V$U2u.uFDp2\VP!V2^^^V1V2Pb^,, \VP4NKF p$p2\P!V$4p3V3Pb^,VP8dVPV3Pb^,, p4\VPl!V3VP\\SV3Pb^,V4,443\VPRY7p3\VPn!R>V34\VPp!^4^,\RZ48XgEKTP4FpTR-,P4K T Fp T P4K \VP!4T P4R#uupiuup piuupiuupiuup i \|d R)RppELi;iuup2i TP4FpTR-,P4K T Fp T P4K \VP!4T P4i;i)^z--configarm)defaultz --scene-index)typer"z --wrist-indexz--widthiz--boardarm_basecalibzUscene-localization board: the large calib board (default) or the small arm-base board)choicesr"helpz --live-calibsceneucomma-sep camera roles to intrinsic-calibrate live at startup instead of loading a saved file (default: scene — e.g. the iPhone, whose intrinsics drift))r"r'z--calib-framesz --max-displayi@zDcap the montage width for display (detection is full-res regardless))r#r"r'z--portN,gripperz3No calibration found. Run calibrate_servo.py first.z(Measuring board frames (loop closure)...calib_board_modelzcalib_board.xmlcV#rjns&rmain..JsSUmodelarmboardcV#rr-r.s&rr0r1Lsbdr2umiar_backcVR9dR#R#)jawN)r9 gripper_jawr-r.s&rr0r1Ns"0F*F!PD!Pr2z z: board reproj z.2fzpx, posed servos Fz Live servos: wristu: no camera — skippingcapidxintrKz: index z-, will live-calibrate intrinsics at startup (z frames)uK, NO saved intrinsics — estimating live (run: python calibrate_camera.py z --index )z, intrinsics loaded (rms rmszpx @ widthxheightuUNo cameras opened — check connections / cameras.json / --scene-index/--wrist-index.zAR view (q to quit)z Hold on, recording the first z) frames for intrinsic calibration of the z camera (point it at the namez board)...z calibrating z @ z: /g?)f_guessz live intrinsics @ z: f=z.0fz px, reproj pxuB: not enough board views — falling back to single-frame estimateuI (window opening — if you don't see it, cmd-tab to the python process)u: no frame — check camera c&\V^,4#))len)vs&rr0r1s C!Ir2)keyg@gN@z rgb zumi n/a in wrist viewc3F"TFqP^,xK R#5i)N)shape).0rs& r main..s4t!771::ts!) interpolationq)rJ)rJrJ)rOrO)QargparseArgumentParser add_argumentint parse_args live_calibsplitstriprconfigsysexitprintboardospathjoindirnameabspath__file__r r rrr build_posingr reprojposingportrsortedlistpingtorque scene_index wrist_indexrr calib_frames board_specroundrBcv2 namedWindowWINDOW_AUTOSIZEgetrKreadrPrcvtColorCOLOR_BGR2GRAYappendresizeimshowwaitKeyrmaxread_posposer Exceptionr nphstackfloatcopyvaluesdegreesarctanr copyMakeBorderBORDER_CONSTANTvstack max_display INTER_AREAordreleaseclosedestroyAllWindows)5apasr^ arm_calib grip_calib scene_model scene_layer umi_layerlayersL_busall_sidsrlivecamsroleovrr<r=r>specsHdefboard_for_rolecamspecviewsnatokframeddisperrticksprowsphnatWnatHdetsviewWHrealfovyscene_Lumi_LcolswmaxrRmontscs5 rmainr-sY  "BOOJO.OOO#qO9OOO#qO9OOICO5OOI G'+>?vay334NT  z ! 4j!!$1 //?@v6tF|nJP Qs%j1>>)E )IB;;q>5;;q>2Ccll5#2D2DEvNAF|q  QtF|_-::eaggs5Q!''9QTYT_T_`aTb9b3c/d%efD JJ,T\$s3q6(!CF82cRWj\YZ[\[i[iZj#k*, -{{1~$* u:?-eS#C.Q CHa Btf/AxqQSXc]SVDWWbcfgjbkkmn o Btf^_ `58 UV@ELL%=!"E#Ju D!ZZ\ c, #E  1IBU]tQWW6RSVW\S]R^._`BKK 2uT177/CU4QRQXQXEY*Z [\"[[^U[[^d$S\\%9K9K%LeT6{#C(8uT']33A#Cy~~/CHHQK1$KHQK1$K9uE'u)F+uu+A u5C:u5u>u uuuA.w__main__)%__doc__rYrrfrbnumpyrryrginsertrirjrk feetech_busrrrr calib_utilsrr aruco_boardsrr calib_boardr render_corer r r r camerasrrrr__name__r-r2rrs   277??277??277??83L#MNO'5)#77/ fR zFr2