remote-run-everything 2.0.7__tar.gz → 2.0.8__tar.gz

{remote_run_everything-2.0.7/remote_run_everything.egg-info → remote_run_everything-2.0.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: remote_run_everything
-Version: 2.0.7
+Version: 2.0.8
 Summary: Deploy Tools
 Author-email: Wang Qi <wangmarkqi@gmail.com>
 License-Expression: MIT
@@ -27,7 +27,7 @@ from remote_run_everything import cherrypy_in_daemon,ByHttpServer
 cherrypy_in_daemon(ByHttpServer,8888,"/deploy")
 
 # 上推代码
-from remote_run_everything import ByHttp 
+from remote_run_everything import ByHttp ,BySftp
 def test_up():
     host = "http://x.x.x.x:8888/deploy"
     local = "D://project/demand/shop"
@@ -35,6 +35,13 @@ def test_up():
     db = "D://wq/temp/shop.db"
     bh = ByHttp(host, local, remote, db)
     bh.up(['node_modules', ".pyc", ".idea"])
+def test_up2():
+    host = "http://x.x.x.x:8888/deploy"
+    local = "D://project/demand/shop"
+    remote = "/data/mypy/shop"
+    db = "D://wq/temp/shop.db"
+    by=BySftp(host,22,'root','pwd',local,remote,db)
+    by.up(['node_modules', ".pyc", ".idea", ".pdf", ".docx", ".pickle", ".png", ".jpg",".venv","target","dist","build"])
 
 # 下拉代码
 def test_down():
@@ -94,6 +101,7 @@ db.drop_db()
 ```
 ## 进程管理
 ```python
+import os
 class ProcessManage:
     # nosql is instance of Nosql or Nosqlmysql or Nqsqlpg
     def __init__(self, nosql):
@@ -107,3 +115,33 @@ class ProcessManage:
         self.col.insert_one(dic)
 
 ```
+##  缓存装饰器
+```python
+from remote_run_everything import cache_by_1starg,cache_by_name,cache_by_rkey,cache_by_nth_arg
+@cache_by_name("asdf", 1)
+def test_dec():
+    print("运行了函数!!!!!!!!!!!!!!!!")
+    return {"a": "adaf"}
+
+
+```
+
+## 关系型 数据库
+```python
+from remote_run_everything import Crud,CrudeDuck
+# 详情参见类方法
+```
+
+##  双目测距
+```python
+from remote_run_everything.binocular.relative_pos import RelativePos,CamTool
+import numpy as np
+unit=0.006240084611316764
+l=[[3838.36767578125, 50.56350326538086], [2636.24072265625, 88.38832092285156], [511.72705078125, 95.95327758789062], [2303.57666015625, 107.30072784423828], [2159.92626953125, 111.08320617675781], [2001.15478515625, 114.86569213867188], ]
+r=[[3743.86083984375, 31.651092529296875], [2424.54541015625, 65.69342803955078], [231.98681640625, 69.47590637207031], [2076.76025390625, 84.6058349609375], [1921.76904296875, 88.38832092285156], [1759.21728515625, 92.1707992553711]]
+l=np.array(l)
+r=np.array(r)
+path="./nik_insinc.txt"
+dic = RelativePos(path,path,unit,unit).rel_one(l, r)
+print (dic)
+```

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8}/README.md

@@ -12,7 +12,7 @@ from remote_run_everything import cherrypy_in_daemon,ByHttpServer
 cherrypy_in_daemon(ByHttpServer,8888,"/deploy")
 
 # 上推代码
-from remote_run_everything import ByHttp 
+from remote_run_everything import ByHttp ,BySftp
 def test_up():
     host = "http://x.x.x.x:8888/deploy"
     local = "D://project/demand/shop"
@@ -20,6 +20,13 @@ def test_up():
     db = "D://wq/temp/shop.db"
     bh = ByHttp(host, local, remote, db)
     bh.up(['node_modules', ".pyc", ".idea"])
+def test_up2():
+    host = "http://x.x.x.x:8888/deploy"
+    local = "D://project/demand/shop"
+    remote = "/data/mypy/shop"
+    db = "D://wq/temp/shop.db"
+    by=BySftp(host,22,'root','pwd',local,remote,db)
+    by.up(['node_modules', ".pyc", ".idea", ".pdf", ".docx", ".pickle", ".png", ".jpg",".venv","target","dist","build"])
 
 # 下拉代码
 def test_down():
@@ -79,6 +86,7 @@ db.drop_db()
 ```
 ## 进程管理
 ```python
+import os
 class ProcessManage:
     # nosql is instance of Nosql or Nosqlmysql or Nqsqlpg
     def __init__(self, nosql):
@@ -92,3 +100,33 @@ class ProcessManage:
         self.col.insert_one(dic)
 
 ```
+##  缓存装饰器
+```python
+from remote_run_everything import cache_by_1starg,cache_by_name,cache_by_rkey,cache_by_nth_arg
+@cache_by_name("asdf", 1)
+def test_dec():
+    print("运行了函数!!!!!!!!!!!!!!!!")
+    return {"a": "adaf"}
+
+
+```
+
+## 关系型 数据库
+```python
+from remote_run_everything import Crud,CrudeDuck
+# 详情参见类方法
+```
+
+##  双目测距
+```python
+from remote_run_everything.binocular.relative_pos import RelativePos,CamTool
+import numpy as np
+unit=0.006240084611316764
+l=[[3838.36767578125, 50.56350326538086], [2636.24072265625, 88.38832092285156], [511.72705078125, 95.95327758789062], [2303.57666015625, 107.30072784423828], [2159.92626953125, 111.08320617675781], [2001.15478515625, 114.86569213867188], ]
+r=[[3743.86083984375, 31.651092529296875], [2424.54541015625, 65.69342803955078], [231.98681640625, 69.47590637207031], [2076.76025390625, 84.6058349609375], [1921.76904296875, 88.38832092285156], [1759.21728515625, 92.1707992553711]]
+l=np.array(l)
+r=np.array(r)
+path="./nik_insinc.txt"
+dic = RelativePos(path,path,unit,unit).rel_one(l, r)
+print (dic)
+```

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "remote_run_everything"
-version = "2.0.7"
+version = "2.0.8"
 authors = [
   { name="Wang Qi", email="wangmarkqi@gmail.com" },
 ]
@@ -19,5 +19,5 @@ Homepage = 'https://github.com/wangmarkqi/remote_run_everything'
 Issues = "https://github.com/wangmarkqi/remote_run_everything/issues"
 
 [build-system]
-requires = ["setuptools>=40.8.0", "wheel","sqlalchemy","arrow","duckdb","requests","paramiko"]
+requires = ["setuptools>=40.8.0", "wheel","numpy","sqlalchemy","arrow","duckdb","requests","paramiko"]
 build-backend = "setuptools.build_meta"

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8}/remote_run_everything/__init__.py

@@ -14,3 +14,4 @@ from remote_run_everything.nosql.no_sql import Nosql
 from remote_run_everything.nosql.no_sql_pg import NosqlPg
 from remote_run_everything.nosql.no_sql_mysql import NosqlMysql
 from remote_run_everything.vsconf.core import VsConf
+from remote_run_everything.binocular.relative_pos import RelativePos

remote_run_everything-2.0.8/remote_run_everything/binocular/ba_front.py

@@ -0,0 +1,72 @@
+import numpy as np
+from remote_run_everything.binocular.back_tool import BackTool
+from remote_run_everything.binocular.front_tool import FrontTool
+from remote_run_everything.binocular.cam_tool import CamTool
+
+#   4.213158  0.669677 -3.907534 -0.750835   60  0  -60
+# 内方位元素：f，x0，y0  单位mm
+
+class BaFront:
+    def __init__(self, f1, f2, s1, s2, angle1, angle2, u1, v1, u2, v2):
+        # 内方位元素：f，x0，y0  单位mm
+        self.f1 = f1
+        self.f2 = f2
+        # 左右像片外方位元素  单位mm
+        self.S1 = s1
+        self.S2 = s2
+        self.angle1 = angle1
+        self.angle2 = angle2
+        self.u1 = u1
+        self.v1 = v1
+        self.u2 = u2
+        self.v2 = v2
+        self.ftool = FrontTool()
+        self.btool1 = BackTool(self.f1, u1, v1)
+        self.btool2 = BackTool(self.f2, u2, v2)
+        self.max_step = 1000000
+
+    def first_cpt(self):
+        # 计算基线分量，L.R为左右像片线元素
+        B = self.S2 - self.S1
+        R1 = CamTool().calcR(*self.angle1)
+        R2 = CamTool().calcR(*self.angle2)
+        XYZ1 = self.ftool.coordinate(R1, self.u1, self.v1, self.f1)  # 左片像空间辅助坐标
+        XYZ2 = self.ftool.coordinate(R2, self.u2, self.v2, self.f2)  # 右片像空间辅助坐标
+        N = self.ftool.genN(B, XYZ1, XYZ2)
+        XYZ = self.ftool.xyz(self.S1, XYZ1, N)
+        # CamTool().view_pcd(gp)
+        return XYZ
+
+    def refine(self, XYZ, which):
+        X = XYZ[:, 0]
+        Y = XYZ[:, 1]
+        Z = XYZ[:, 2]
+        if which == 1:
+            btool = self.btool1
+            X0, Y0, Z0 = self.S1.tolist()
+            phi, omega, kappa = self.angle1
+        else:
+            btool = self.btool2
+            X0, Y0, Z0 = self.S2.tolist()
+            phi, omega, kappa = self.angle2
+        for i in range(self.max_step):
+            L = btool.genL(X, Y, Z, phi, omega, kappa, X0, Y0, Z0)
+            A, B = btool.genAB(X, Y, Z, phi, omega, kappa, X0, Y0, Z0)
+            dxyz = btool.genDxyz(B, L)
+
+            # ex[dxs,dys,dzs,dphi,domega,dkappa]
+            X += dxyz[0]
+            Y += dxyz[1]
+            Z += dxyz[2]
+
+            limit = 0.00001
+            if np.abs(dxyz[0]) < limit or np.abs(dxyz[1]) < limit or np.abs(dxyz[2]) < limit:
+                err = np.mean(np.abs(dxyz))
+                return XYZ, err
+
+    def refine_all(self, XYZ):
+        xyz1, err1 = self.refine(XYZ, 1)
+        xyz2, err2 = self.refine(XYZ, 2)
+        xyz = (xyz1 + xyz2) / 2
+        return xyz, (err1 + err2) / 2
+

remote_run_everything-2.0.8/remote_run_everything/binocular/back_tool.py

@@ -0,0 +1,123 @@
+"""
+后方交会代码
+作者：Dash
+version:0.1
+without any optimization
+"""
+import numpy as np
+
+
+class BackTool(object):
+    def __init__(self, f, u, v):
+        self.f = f
+        self.u = u
+        self.v = v
+        self.max_step = 1000000
+
+    def init_param(self, X, Y, Z, scale):
+        n = len(X)
+        # initial line paras
+        Z0 = scale * self.f + (1 / n) * np.sum(Z)
+        X0 = (1 / n) * np.sum(X)
+        Y0 = (1 / n) * np.sum(Y)
+        return X0, Y0, Z0
+
+    def genL(self, X, Y, Z, phi, omega, kappa, X0, Y0, Z0):
+        R = CamTool().calcR(phi, omega, kappa)
+        a1, a2, a3, b1, b2, b3, c1, c2, c3 = [i for l in R.tolist() for i in l]
+        L = []
+        for j in range(len(self.u)):
+            numerator_x = self.f * (a1 * (X[j] - X0) + b1 * (Y[j] - Y0) + c1 * (Z[j] - Z0))
+            numerator_y = self.f * (a2 * (X[j] - X0) + b2 * (Y[j] - Y0) + c2 * (Z[j] - Z0))
+            denomanator = (a3 * (X[j] - X0) + b3 * (Y[j] - Y0) + c3 * (Z[j] - Z0))
+            lx = self.u[j] + numerator_x / denomanator
+            ly = self.v[j] + numerator_y / denomanator
+            L.append(lx)
+            L.append(ly)
+        L = np.array(L,dtype=np.float32)
+        return L
+
+    def genAB(self, X, Y, Z, phi, omega, kappa, X0, Y0, Z0):
+        R = CamTool().calcR(phi, omega, kappa)
+        a1, a2, a3, b1, b2, b3, c1, c2, c3 = [i for l in R.tolist() for i in l]
+        num_of_samples = len(self.u)
+
+        a11 = np.zeros(num_of_samples, dtype=np.float32)
+        a12 = np.zeros(num_of_samples, dtype=np.float32)
+        a13 = np.zeros(num_of_samples, dtype=np.float32)
+
+        a14 = np.zeros(num_of_samples, dtype=np.float32)
+        a15 = np.zeros(num_of_samples, dtype=np.float32)
+        a16 = np.zeros(num_of_samples, dtype=np.float32)
+
+        a21 = np.zeros(num_of_samples, dtype=np.float32)
+        a22 = np.zeros(num_of_samples, dtype=np.float32)
+        a23 = np.zeros(num_of_samples, dtype=np.float32)
+        a24 = np.zeros(num_of_samples, dtype=np.float32)
+        a25 = np.zeros(num_of_samples, dtype=np.float32)
+        a26 = np.zeros(num_of_samples, dtype=np.float32)
+
+        for j in range(num_of_samples):
+            z_bar = a3 * (X[j] - X0) + b3 * (Y[j] - Y0) + c3 * (Z[j] - Z0)
+            a11[j] = (a1 * self.f + a3 * self.u[j]) / z_bar
+            a12[j] = (b1 * self.f + b3 * self.u[j]) / z_bar
+            a13[j] = (c1 * self.f + c3 * self.u[j]) / z_bar
+            a14[j] = (self.v[j] * np.sin(omega)) - (self.u[j] * (
+                    self.u[j] * np.cos(kappa) - self.v[j] * np.sin(kappa)) / self.f + self.f * np.cos(
+                kappa)) * np.cos(omega)
+            a15[j] = -self.f * np.sin(kappa) - (self.u[j] / self.f) * (
+                    self.u[j] * np.sin(kappa) + self.v[j] * np.cos(kappa))
+            a16[j] = self.v[j]
+
+            a21[j] = (a2 * self.f + a3 * self.v[j]) / z_bar
+            a22[j] = (b2 * self.f + b3 * self.v[j]) / z_bar
+            a23[j] = (c2 * self.f + c3 * self.v[j]) / z_bar
+            a24[j] = -self.u[j] * np.sin(omega) - (self.v[j] / self.f) * (
+                    (self.u[j] * np.cos(kappa) - self.v[j] * np.sin(kappa)) - self.f * np.sin(
+                kappa)) * np.cos(omega)
+            a25[j] = -self.f * np.cos(kappa) - (self.v[j] / self.f) * (
+                    self.u[j] * np.sin(kappa) + self.v[j] * np.cos(kappa))
+            a26[j] = -self.u[j]
+
+        A = np.zeros((2 * num_of_samples, 6), dtype=np.float32)
+        B = np.zeros((2 * num_of_samples, 3), dtype=np.float32)
+        for j in range(num_of_samples):
+            A[2 * j:2 * j + 2, :] = np.array([
+                [a11[j], a12[j], a13[j], a14[j], a15[j], a16[j]],
+                [a21[j], a22[j], a23[j], a24[j], a25[j], a26[j]]
+            ], dtype=np.float32)
+            B[2 * j:2 * j + 2, :] = np.array([
+                [-a11[j], -a12[j], -a13[j]],
+                [-a21[j], -a22[j], -a23[j]]
+            ], dtype=np.float32)
+        return A, B
+
+    def genT_noba(self, A, L):
+
+        AtA = np.dot(A.T, A)
+        inverse_AtA = np.linalg.inv(AtA)
+        print(333, inverse_AtA)
+        combine = np.dot(inverse_AtA, A.T)
+        X = np.dot(combine, L)
+        return X
+
+    def genT(self, A, B, L):
+        N11 = A.T @ A
+        N12 = A.T @ B
+        N21 = B.T @ A
+        N22 = B.T @ B
+        M1 = A.T @ L
+        M2 = B.T @ L
+        right = M1 - N12 @ np.linalg.inv(N22) @ M2
+        left = N11 - N12 @ np.linalg.inv(N22) @ N21
+        print("begin inv")
+        left_inv = np.linalg.inv(left)
+        print("inv", left_inv)
+        t = np.dot(left_inv, right)
+        return t
+
+    def genDxyz(self, B, L):
+        inverse_BtB = np.linalg.inv(np.dot(B.T, B))
+        combine = np.dot(inverse_BtB, B.T)
+        X = np.dot(combine, L)
+        return X

remote_run_everything-2.0.8/remote_run_everything/binocular/cam_tool.py

@@ -0,0 +1,26 @@
+import os
+import numpy as np
+
+class CamTool:
+    def calcR(self, phi, omega, kappa):
+        a1 = np.cos(phi) * np.cos(kappa) - np.sin(phi) * np.sin(omega) * np.sin(kappa)
+        a2 = -np.cos(phi) * np.sin(kappa) - np.sin(phi) * np.sin(omega) * np.cos(kappa)
+        a3 = -np.sin(phi) * np.cos(omega)
+        b1 = np.cos(omega) * np.sin(kappa)
+        b2 = np.cos(omega) * np.cos(kappa)
+        b3 = -np.sin(omega)
+        c1 = np.sin(phi) * np.cos(kappa) + np.cos(phi) * np.sin(omega) * np.sin(kappa)
+        c2 = -np.sin(phi) * np.sin(kappa) + np.cos(phi) * np.sin(omega) * np.cos(kappa)
+        c3 = np.cos(phi) * np.cos(omega)
+        arr = np.array([[a1, a2, a3], [b1, b2, b3], [c1, c2, c3]])
+        return arr
+
+    def intrisinc(self,path):
+        path=os.path.abspath(path)
+        return  np.loadtxt(path, delimiter=',')
+    def cx_cy(self,path):
+        ins=self.intrisinc(path)
+        return ins[0, 2],ins[1, 2]
+    def fx(self,path):
+        ins=self.intrisinc(path)
+        return ins[0,0]

remote_run_everything-2.0.8/remote_run_everything/binocular/front_tool.py

@@ -0,0 +1,39 @@
+import numpy as np
+
+
+#   4.213158  0.669677 -3.907534 -0.750835   60  0  -60
+# 内方位元素：f，x0，y0  单位mm
+
+class FrontTool:
+    def coordinate(self, R, u, v, f):  # 计算所求点的像空间辅助坐标系,xyz--> XYZ,R为旋转矩阵,P所求点像空间坐标,f为主距
+        XYZ = []
+        for i in range(len(u)):
+            xyz = np.array([[u[i]], [v[i]], [-f]])
+            XYZ.append(np.dot(R, xyz))
+        return XYZ
+
+    def projection_index(self, B, XYZ1, XYZ2):  # 投影系数计算
+        bu = B[0]
+        bw = B[2]
+        u1 = XYZ1[0]
+        w1 = XYZ1[2]
+        u2 = XYZ2[0]
+        w2 = XYZ2[2]
+        N1 = (bu * w2 - bw * u2) / (u1 * w2 - u2 * w1)
+        N2 = (bu * w1 - bw * u1) / (u1 * w2 - u2 * w1)
+        return [N1[0], N2[0]]
+
+    def genN(self, B, XYZ1, XYZ2):
+        N = []
+        for i in range(len(XYZ1)):
+            N.append(self.projection_index(B, XYZ1[i], XYZ2[i]))
+        return N
+
+    def xyz(self, S1, XYZ1, N):
+        l = []
+        for i in range(len(XYZ1)):
+            XYZ = XYZ1[i].reshape((3,))
+            # 地面控制点坐标计算
+            res = S1 + N[i][0] * XYZ
+            l.append(res)
+        return np.array(l)

remote_run_everything-2.0.8/remote_run_everything/binocular/relative_pos.py

@@ -0,0 +1,142 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Fri Apr 24 12:23:35 2020
+@author: 陨星落云
+"""
+import numpy as np
+from numpy import linalg
+from remote_run_everything.binocular.cam_tool import CamTool
+import copy
+from remote_run_everything.binocular.ba_front import BaFront
+
+
+class RelativePos:
+    def __init__(self, pathl,pathr,unitl,unitr):
+        self.pathl=pathl
+        self.pathr=pathr
+        self.unitl=unitl
+        self.unitr=unitr
+        self.cam=CamTool()
+        self.f=self.cam.fx(self.pathl)*self.unitl
+        self.fi = 0
+        self.omega = 0
+        self.kapa = 0
+        self.u_bv = 0
+        self.r_bw = 0
+
+
+    def rel_one(self, l0, r0):
+        cxcyl = self.cam.cx_cy(self.pathl)
+        cxcyr = self.cam.cx_cy(self.pathr)
+        # 像素坐标换相平面坐标 输入同名像素点 [(u,v),]
+        l = self.uv_process(self.unitl, cxcyl[0], cxcyl[1], copy.deepcopy(l0))
+        r = self.uv_process(self.unitr, cxcyr[0], cxcyr[1], copy.deepcopy(r0))
+        # 后方交汇 改写右边-->左边的旋角,u,v,返回使用到的像素点index
+        new_match = self.back_intersect(l, r)
+        if new_match is None:
+            print("can not solve relative pos")
+            return None
+        a1 = [0, 0, 0]
+        a2 = [self.fi, self.omega, self.kapa]
+        S1 = np.array([0., 0., 0.])
+        S2 = np.array([1, self.u_bv, self.r_bw])
+        l = l[new_match, :]
+        r = r[new_match, :]
+        fl=self.cam.fx(self.pathl)*self.unitl
+        fr=self.cam.fx(self.pathr)*self.unitr
+        f = BaFront(fl, fr, S1, S2, a1, a2, l[:, 0], l[:, 1], r[:, 0],
+                    r[:, 1])
+        # 前方交汇
+        pcd = f.first_cpt()
+        d = {"pcd": pcd, "T": S2, "angle": a2, "match": new_match
+             # "match": np.concatenate([i['l'][new_match, :], i['r'][new_match, :]], axis=1),
+             }
+        return d
+
+    def uv_process(self, unit, cx, cy, l):
+        l[:, 0] = unit * (l[:, 0] - cx)
+        l[:, 1] = unit * (cy - l[:, 1])
+        return l
+
+    def cptaq(self, i, l, r):
+        # 计算旋转矩阵
+        R = CamTool().calcR(self.fi, self.omega, self.kapa)
+        # 比例尺  怎么都无所谓
+        bu = l[0][0] - r[0][0]
+        bv = bu * self.u_bv
+        bw = bu * self.r_bw
+        # 左片相对摄影测量坐标
+        u1 = l[i][0]
+        v1 = l[i][1]
+        w1 = -self.f
+        # 计算相对摄影测量坐标
+        mr = np.dot(R, np.array([r[i][0], r[i][1], -self.f]))
+        # 右片相对摄影测量坐标
+        u2 = mr[0]
+        v2 = mr[1]
+        w2 = mr[2]
+        # 计算N1,N2
+        N1 = (bu * w2 - bw * u2) / (u1 * w2 - u2 * w1)
+        N2 = (bu * w1 - bw * u1) / (u1 * w2 - u2 * w1)
+        # 计算每个点Q
+        Q = N1 * v1 - N2 * v2 - bv
+        a = -u2 * v2 * N2 / w2
+        b = -N2 * (w2 + v2 * v2 / w2)
+        c = u2 * N2
+        d = bu
+        e = -v2 * bu / w2
+        return np.array([a, b, c, d, e]), Q
+
+    def back_intersect(self, l, r):
+        n = l.shape[0]
+        countx, countj = (0, 0)
+        # 误差方程参数
+        # 右片相对相空间坐标，相对摄影测量坐标
+        # 迭代运算
+        while True:
+            Al = []
+            Ll = []
+            new_match = []
+
+            # 计算每个点参数，组成法方程矩阵
+            for i in range(n):
+                ai, Q = self.cptaq(i, l, r)
+                if np.isnan(Q):
+                    continue
+                new_match.append(i)
+                Al.append(ai)
+                Ll.append(Q)
+                # A[i, :] = ai
+                # L[i] = Q
+            # 求解X
+            A = np.array(Al)
+            L = np.array(Ll)
+            try:
+                inv = linalg.inv(np.dot(A.T, A))
+            except:
+                return None
+            X = np.dot(np.dot(inv, A.T), L)
+            # 累加五参数
+            self.fi += X[0]
+            self.omega += X[1]
+            self.kapa += X[2]
+            self.u_bv += X[3]
+            self.r_bw += X[4]
+            # 循环次数＋
+            countx += 1
+            # 判断是否收敛
+            if countx > 1000:
+                return None
+
+            if (np.abs(X) < 0.00003).all():
+                print("五参数", self.fi, self.omega, self.kapa, self.u_bv, self.r_bw)
+                # 精度评定
+                V = np.dot(A, X.T) - L
+                c1 = np.sqrt(np.dot(V.T, V) / n)
+                print("相对定向精度：", c1)
+                print("相对定向迭代次数：", countx)
+                print("新的配对长度：", len(new_match))
+                return new_match
+
+
+

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8}/remote_run_everything/tools/common1.py

@@ -1,7 +1,5 @@
-import jinja2, requests, os
 import pandas as pd
-import base64
-import os, signal, glob, arrow, uuid, hashlib
+import jinja2, os,base64,struct, glob, arrow, uuid, hashlib
 
 
 class Common1:
@@ -98,6 +96,27 @@ class Common1:
         hex_string = hashlib.md5(s.encode("UTF-8")).hexdigest()
         return str(uuid.UUID(hex=hex_string))
 
+    def ascii2hex(self,l):
+        tu = [i.replace("0x", "") for i in l]
+        tu = [self.prefix_zero(2, i) for i in tu]
+        return  "".join(tu)
+
+    def ascii2int(self,l,big):
+        s=self.ascii2hex(l)
+        b = bytes.fromhex(s)
+        if big:
+            return int.from_bytes(b, byteorder='big')
+        return int.from_bytes(b, byteorder='little')
+
+    def ascii2float(self,l,big):
+        s=self.ascii2hex(l)
+        if big:
+            return struct.unpack('>f', bytes.fromhex(s))[0]
+        return struct.unpack('<f', bytes.fromhex(s))[0]
+
+
+
+
 
 if __name__ == '__main__':
     g = Common1()

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8/remote_run_everything.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: remote_run_everything
-Version: 2.0.7
+Version: 2.0.8
 Summary: Deploy Tools
 Author-email: Wang Qi <wangmarkqi@gmail.com>
 License-Expression: MIT
@@ -27,7 +27,7 @@ from remote_run_everything import cherrypy_in_daemon,ByHttpServer
 cherrypy_in_daemon(ByHttpServer,8888,"/deploy")
 
 # 上推代码
-from remote_run_everything import ByHttp 
+from remote_run_everything import ByHttp ,BySftp
 def test_up():
     host = "http://x.x.x.x:8888/deploy"
     local = "D://project/demand/shop"
@@ -35,6 +35,13 @@ def test_up():
     db = "D://wq/temp/shop.db"
     bh = ByHttp(host, local, remote, db)
     bh.up(['node_modules', ".pyc", ".idea"])
+def test_up2():
+    host = "http://x.x.x.x:8888/deploy"
+    local = "D://project/demand/shop"
+    remote = "/data/mypy/shop"
+    db = "D://wq/temp/shop.db"
+    by=BySftp(host,22,'root','pwd',local,remote,db)
+    by.up(['node_modules', ".pyc", ".idea", ".pdf", ".docx", ".pickle", ".png", ".jpg",".venv","target","dist","build"])
 
 # 下拉代码
 def test_down():
@@ -94,6 +101,7 @@ db.drop_db()
 ```
 ## 进程管理
 ```python
+import os
 class ProcessManage:
     # nosql is instance of Nosql or Nosqlmysql or Nqsqlpg
     def __init__(self, nosql):
@@ -107,3 +115,33 @@ class ProcessManage:
         self.col.insert_one(dic)
 
 ```
+##  缓存装饰器
+```python
+from remote_run_everything import cache_by_1starg,cache_by_name,cache_by_rkey,cache_by_nth_arg
+@cache_by_name("asdf", 1)
+def test_dec():
+    print("运行了函数!!!!!!!!!!!!!!!!")
+    return {"a": "adaf"}
+
+
+```
+
+## 关系型 数据库
+```python
+from remote_run_everything import Crud,CrudeDuck
+# 详情参见类方法
+```
+
+##  双目测距
+```python
+from remote_run_everything.binocular.relative_pos import RelativePos,CamTool
+import numpy as np
+unit=0.006240084611316764
+l=[[3838.36767578125, 50.56350326538086], [2636.24072265625, 88.38832092285156], [511.72705078125, 95.95327758789062], [2303.57666015625, 107.30072784423828], [2159.92626953125, 111.08320617675781], [2001.15478515625, 114.86569213867188], ]
+r=[[3743.86083984375, 31.651092529296875], [2424.54541015625, 65.69342803955078], [231.98681640625, 69.47590637207031], [2076.76025390625, 84.6058349609375], [1921.76904296875, 88.38832092285156], [1759.21728515625, 92.1707992553711]]
+l=np.array(l)
+r=np.array(r)
+path="./nik_insinc.txt"
+dic = RelativePos(path,path,unit,unit).rel_one(l, r)
+print (dic)
+```

{remote_run_everything-2.0.7 → remote_run_everything-2.0.8}/remote_run_everything.egg-info/SOURCES.txt

@@ -7,6 +7,11 @@ remote_run_everything.egg-info/PKG-INFO
 remote_run_everything.egg-info/SOURCES.txt
 remote_run_everything.egg-info/dependency_links.txt
 remote_run_everything.egg-info/top_level.txt
+remote_run_everything/binocular/ba_front.py
+remote_run_everything/binocular/back_tool.py
+remote_run_everything/binocular/cam_tool.py
+remote_run_everything/binocular/front_tool.py
+remote_run_everything/binocular/relative_pos.py
 remote_run_everything/db/__init__.py
 remote_run_everything/db/backup.py
 remote_run_everything/db/crud_sqlalchemy.py
@@ -29,4 +34,5 @@ remote_run_everything/tools/decorators.py
 remote_run_everything/tools/sqlacodegen_go_struct.py
 remote_run_everything/vsconf/conf_txt.py
 remote_run_everything/vsconf/core.py
-test/test.py
+test/test.py
+test/test_binocular.py

remote_run_everything-2.0.8/test/test_binocular.py

@@ -0,0 +1,14 @@
+
+l=[[3838.36767578125, 50.56350326538086], [2636.24072265625, 88.38832092285156], [511.72705078125, 95.95327758789062], [2303.57666015625, 107.30072784423828], [2159.92626953125, 111.08320617675781], [2001.15478515625, 114.86569213867188], [1849.94384765625, 118.6481704711914], [1596.66552734375, 122.43064880371094], [1683.61181640625, 122.43064880371094], [1528.62060546875, 126.213134765625], [1354.72802734375, 129.99562072753906], [1192.17626953125, 133.77809143066406], [1010.72314453125, 137.56057739257812], [2556.85498046875, 141.3430633544922], [840.61083984375, 145.1255340576172], [515.50732421875, 156.47299194335938], [523.06787109375, 251.03501892089844], [2553.07470703125, 262.3824768066406], [2303.57666015625, 266.1649475097656], [2152.36572265625, 269.94744873046875], [2001.15478515625, 277.51239013671875], [1846.16357421875, 281.2948913574219], [3093.65380859375, 288.8598327636719], [1691.17236328125, 292.642333984375], [1528.62060546875, 296.4248046875], [1362.28857421875, 300.207275390625], [523.06787109375, 303.9897766113281], [1192.17626953125, 307.7722473144531], [1022.06396484375, 315.33721923828125], [848.17138671875, 319.11968994140625], [526.84814453125, 334.2496337890625], [530.62841796875, 360.72698974609375], [2549.29443359375, 364.50946044921875], [3104.99462890625, 383.421875], [530.62841796875, 390.9868469238281], [1025.84423828125, 390.9868469238281], [1161.93408203125, 398.55181884765625], [1097.66943359375, 406.11676025390625], [530.62841796875, 421.2467041015625], [2152.36572265625, 436.3766174316406], [2299.79638671875, 436.3766174316406], [2001.15478515625, 447.72406005859375], [1846.16357421875, 451.5065612792969], [534.40869140625, 459.0715026855469], [1691.17236328125, 459.0715026855469], [2545.51416015625, 462.85400390625], [1528.62060546875, 466.636474609375], [1366.06884765625, 474.2014465332031], [534.40869140625, 477.9839172363281], [1199.73681640625, 485.54888916015625], [3127.67626953125, 485.54888916015625], [1029.62451171875, 489.33135986328125], [855.73193359375, 500.6788024902344], [3089.87353515625, 500.6788024902344], [538.18896484375, 512.0262451171875], [541.96923828125, 557.416015625], [541.96923828125, 576.3284301757812], [2296.01611328125, 587.6759033203125], [541.96923828125, 595.2408447265625], [2152.36572265625, 599.0233154296875], [473.92431640625, 606.5883178710938], [2001.15478515625, 606.5883178710938], [390.75830078125, 610.3707885742188], [545.74951171875, 614.1532592773438], [1846.16357421875, 614.1532592773438], [1691.17236328125, 629.283203125], [1532.40087890625, 636.84814453125], [428.56103515625, 640.630615234375], [1369.84912109375, 644.4130859375], [2859.27685546875, 644.4130859375], [549.52978515625, 651.9780883789062], [1207.29736328125, 655.7605590820312], [1037.18505859375, 663.3255004882812], [1109.01025390625, 663.3255004882812], [594.89306640625, 667.1079711914062], [383.19775390625, 670.8905029296875], [553.31005859375, 670.8905029296875], [848.17138671875, 670.8905029296875], [867.07275390625, 670.8905029296875], [655.37744140625, 674.6729736328125], [2840.37548828125, 674.6729736328125], [553.31005859375, 689.8029174804688], [2537.95361328125, 693.5853881835938], [2855.49658203125, 727.627685546875], [2537.95361328125, 731.4102172851562], [553.31005859375, 735.1926879882812], [2288.45556640625, 754.1051025390625], [557.09033203125, 757.8875732421875], [2148.58544921875, 757.8875732421875], [2001.15478515625, 765.4525146484375], [2530.39306640625, 776.7999877929688], [557.09033203125, 780.5824584960938], [1849.94384765625, 780.5824584960938], [1694.95263671875, 791.9298706054688], [2530.39306640625, 795.71240234375], [1090.10888671875, 803.27734375], [1536.18115234375, 803.27734375], [1373.62939453125, 810.84228515625], [560.87060546875, 814.624755859375], [1211.07763671875, 822.1897583007812], [2534.17333984375, 825.9722290039062], [1044.74560546875, 833.5371704101562], [560.87060546875, 844.8846435546875], [927.55712890625, 844.8846435546875], [2534.17333984375, 844.8846435546875], [874.63330078125, 848.6671142578125], [2534.17333984375, 863.7970581054688], [564.65087890625, 871.3619995117188], [1271.56201171875, 878.9269409179688], [2288.45556640625, 901.6218872070312], [564.65087890625, 909.1868286132812], [2148.58544921875, 916.7517700195312], [1997.37451171875, 928.0992431640625], [568.43115234375, 931.8817138671875], [1849.94384765625, 939.4466552734375], [1694.95263671875, 950.7941284179688], [1539.96142578125, 962.1415405273438], [568.43115234375, 969.70654296875], [1377.40966796875, 977.271484375], [572.21142578125, 988.6189575195312], [1214.85791015625, 992.4014282226562], [1048.52587890625, 999.9663696289062], [817.92919921875, 1003.7488403320312], [882.19384765625, 1015.0963134765625], [572.21142578125, 1018.8787841796875], [1600.44580078125, 1030.2261962890625], [572.21142578125, 1049.138671875], [2284.67529296875, 1060.486083984375], [2144.80517578125, 1068.051025390625], [575.99169921875, 1079.3984375], [1997.37451171875, 1083.1810302734375], [2522.83251953125, 1083.1810302734375], [1849.94384765625, 1094.5284423828125], [579.77197265625, 1098.3109130859375], [1694.95263671875, 1109.6583251953125], [1596.66552734375, 1117.2232666015625], [1543.74169921875, 1124.788330078125], [1384.97021484375, 1139.918212890625], [583.55224609375, 1151.265625], [1222.41845703125, 1151.265625], [1135.47216796875, 1158.83056640625], [1056.08642578125, 1166.3956298828125], [583.55224609375, 1173.9605712890625], [2522.83251953125, 1177.7430419921875], [889.75439453125, 1185.3079833984375], [587.33251953125, 1204.2203369140625], [2280.89501953125, 1204.2203369140625], [507.94677734375, 1215.56787109375], [780.12646484375, 1215.56787109375], [2144.80517578125, 1219.350341796875], [1997.37451171875, 1234.480224609375], [2519.05224609375, 1242.045166015625], [1849.94384765625, 1249.610107421875], [2447.22705078125, 1249.610107421875], [2413.20458984375, 1257.1751708984375], [511.72705078125, 1260.9576416015625], [1698.73291015625, 1264.7401123046875], [1634.46826171875, 1268.5225830078125], [1543.74169921875, 1279.8699951171875], [591.11279296875, 1291.2174072265625], [2261.99365234375, 1291.2174072265625], [2522.83251953125, 1291.2174072265625], [477.70458984375, 1295.0], [2239.31201171875, 1295.0], [1388.75048828125, 1298.782470703125], [2178.82763671875, 1298.782470703125], [2220.41064453125, 1298.782470703125], [2197.72900390625, 1302.56494140625], [591.11279296875, 1310.1298828125], [1226.19873046875, 1310.1298828125], [1933.10986328125, 1310.1298828125], [1997.37451171875, 1313.912353515625], [1150.59326171875, 1325.259765625], [1849.94384765625, 1325.259765625], [2129.68408203125, 1325.259765625], [1063.64697265625, 1329.042236328125], [523.06787109375, 1332.82470703125], [1993.59423828125, 1332.82470703125], [897.31494140625, 1344.1722412109375], [2133.46435546875, 1347.9547119140625], [594.89306640625, 1355.5196533203125], [3577.52880859375, 1355.5196533203125], [1694.95263671875, 1363.0845947265625], [1929.32958984375, 1363.0845947265625], [507.94677734375, 1366.8670654296875], [3626.67236328125, 1366.8670654296875], [1555.08251953125, 1370.6495361328125], [3596.43017578125, 1370.6495361328125], [3577.52880859375, 1374.4320068359375], [1460.57568359375, 1381.9970703125], [1834.82275390625, 1381.9970703125], [1392.53076171875, 1389.56201171875], [1350.94775390625, 1393.344482421875], [3577.52880859375, 1393.344482421875], [783.90673828125, 1397.126953125], [1127.91162109375, 1400.909423828125], [1229.97900390625, 1400.909423828125], [598.67333984375, 1412.2568359375], [1067.42724609375, 1412.2568359375], [1350.94775390625, 1412.2568359375], [742.32373046875, 1416.039306640625], [1388.75048828125, 1416.039306640625], [1029.62451171875, 1419.82177734375], [2738.30810546875, 1419.82177734375], [1256.44091796875, 1423.6043701171875], [1630.68798828125, 1423.6043701171875], [935.11767578125, 1431.1693115234375], 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2091.0]]
+
+from remote_run_everything.binocular.relative_pos import RelativePos,CamTool
+import numpy as np
+
+unit=0.006240084611316764
+l=np.array(l)
+r=np.array(r)
+path="./nik_insinc.txt"
+dic = RelativePos(path,path,unit,unit).rel_one(l, r)
+print (dic)