arbeiten am callibration
This commit is contained in:
chk
@@ -0,0 +1,20 @@
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||||
marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
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0,Board,rail,2,493.98,-96.39,-8.97,-0.00886,0.04951,0.99873,494.12,-100.21,-9.76,3.908,0.794,23.35
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50,Board,A0,2,576.77,208.61,-25.71,0.06252,0.0994,0.99308,578.55,209.43,-26.11,1.995,0.397,25.08
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55,Board,A0,2,277.19,-258.42,-29.07,0.00488,-0.03269,0.99945,277.76,-258.03,-29.52,0.823,0.45,23.98
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62,Board,A0,2,399.27,-174.12,-27.58,0.01876,0.03279,0.99929,400.76,-173.44,-28.11,1.717,0.526,23.1
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79,Board,A0,2,306.77,-156.23,-28.44,-0.02974,0.00922,0.99952,308.77,-155.27,-29.18,2.337,0.74,23.06
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101,Board,A0,2,123.4,305.1,-30.43,-0.05779,0.03321,0.99778,125.05,306.96,-31.31,2.64,0.882,23.2
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197,unknown,,2,133.85,89.2,297.08,-0.99892,0.04634,-0.00288,,,,,,24.59
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201,unknown,,3,82.03,56.25,90.01,-0.99863,-0.01609,0.04969,,,,,,24.11
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204,unknown,,3,117.59,128.98,111.27,0.02638,0.04121,0.9988,,,,,,24.3
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211,Board,rail,2,321.33,-1.22,-9.18,0.05719,-0.04545,0.99733,321.45,-2.7,-10.7,2.127,1.522,22.73
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215,Board,rail,2,322.26,-90.67,-11.82,0.01124,-0.02807,0.99954,318.76,-92.52,-11.4,3.976,-0.422,24.6
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218,unknown,,2,237.95,75.51,408.78,-0.90327,0.41967,0.08937,,,,,,24.53
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219,unknown,,3,245.24,50.43,509.71,-0.91875,0.39116,0.05377,,,,,,24.43
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242,unknown,,2,187.54,55.65,288.93,0.02295,-0.99479,-0.09934,,,,,,23.94
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camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
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cam0,-718.06,-492.09,666.56,0.85634,0.40766,-0.31702
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cam1,-262.59,-550.95,834.39,0.50249,0.63431,-0.5875
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cam2,-583.76,-45.55,423.16,0.98358,-0.02341,-0.17892
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@@ -0,0 +1,683 @@
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BIN
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BIN
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Load Diff
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BIN
test/y-axis-finder-examples/20260612_190019/cam2_debug.jpg
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BIN
test/y-axis-finder-examples/20260612_190019/cam2_debug.jpg
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BIN
test/y-axis-finder-examples/20260612_190104/cam0.jpg
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BIN
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Load Diff
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BIN
test/y-axis-finder-examples/20260612_190104/cam2_debug.jpg
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BIN
test/y-axis-finder-examples/20260612_190104/cam2_debug.jpg
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After Width: | Height: | Size: 436 KiB |
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BIN
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BIN
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||||
9.493094275808272e-09,
|
||||
-8.085072055721008e-08,
|
||||
7.892937004578959e-08,
|
||||
3.892827698330227e-08,
|
||||
3.1591150566853695e-08,
|
||||
6.726641142991001e-08
|
||||
]
|
||||
],
|
||||
"parameter_std": {
|
||||
"rvec_std_deg": [
|
||||
0.03564324029978236,
|
||||
0.04499838227408881,
|
||||
0.06654461188792467
|
||||
],
|
||||
"tvec_std_m": [
|
||||
0.000404648270022829,
|
||||
0.00030383735413966497,
|
||||
0.0002593576901306572
|
||||
]
|
||||
},
|
||||
"camera_center_std_m": [
|
||||
0.0004457946862661493,
|
||||
0.0011402536193186525,
|
||||
0.0007659183648344579
|
||||
],
|
||||
"camera_center_std_mm": [
|
||||
0.44579468626614926,
|
||||
1.1402536193186525,
|
||||
0.7659183648344579
|
||||
],
|
||||
"orientation_std_deg": {
|
||||
"roll": 0.32271501459803387,
|
||||
"pitch": 0.0438516150160676,
|
||||
"yaw": 0.2927085898600246
|
||||
}
|
||||
}
|
||||
},
|
||||
"observations": {
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 73,
|
||||
"observed_center_px": [
|
||||
282.5,
|
||||
1029.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
282.4800720214844,
|
||||
1029.4407958984375
|
||||
],
|
||||
"reprojection_error_px": 0.06246799156001437,
|
||||
"confidence": 0.2701424963760343
|
||||
},
|
||||
{
|
||||
"marker_id": 55,
|
||||
"observed_center_px": [
|
||||
1210.0,
|
||||
1005.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1210.1278076171875,
|
||||
1005.594482421875
|
||||
],
|
||||
"reprojection_error_px": 0.3674274431666911,
|
||||
"confidence": 0.207
|
||||
},
|
||||
{
|
||||
"marker_id": 97,
|
||||
"observed_center_px": [
|
||||
1345.0,
|
||||
993.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1345.4345703125,
|
||||
994.0352783203125
|
||||
],
|
||||
"reprojection_error_px": 0.5198413955685609,
|
||||
"confidence": 0.20393069134818181
|
||||
},
|
||||
{
|
||||
"marker_id": 79,
|
||||
"observed_center_px": [
|
||||
1052.75,
|
||||
981.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
1052.5294189453125,
|
||||
980.861083984375
|
||||
],
|
||||
"reprojection_error_px": 0.26067923025084894,
|
||||
"confidence": 0.1916197164388369
|
||||
},
|
||||
{
|
||||
"marker_id": 86,
|
||||
"observed_center_px": [
|
||||
426.0,
|
||||
931.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
426.3905334472656,
|
||||
930.916015625
|
||||
],
|
||||
"reprojection_error_px": 0.3994618238046201,
|
||||
"confidence": 0.19005709083159952
|
||||
},
|
||||
{
|
||||
"marker_id": 47,
|
||||
"observed_center_px": [
|
||||
1227.25,
|
||||
964.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1227.119384765625,
|
||||
963.7993774414062
|
||||
],
|
||||
"reprojection_error_px": 0.46917057640522797,
|
||||
"confidence": 0.1675788732801165
|
||||
},
|
||||
{
|
||||
"marker_id": 54,
|
||||
"observed_center_px": [
|
||||
1289.5,
|
||||
966.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1289.375,
|
||||
966.7219848632812
|
||||
],
|
||||
"reprojection_error_px": 0.12810092851096067,
|
||||
"confidence": 0.16892695477612363
|
||||
},
|
||||
{
|
||||
"marker_id": 96,
|
||||
"observed_center_px": [
|
||||
1083.5,
|
||||
943.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1083.2991943359375,
|
||||
943.6123657226562
|
||||
],
|
||||
"reprojection_error_px": 0.2434463165043125,
|
||||
"confidence": 0.1512620506350408
|
||||
},
|
||||
{
|
||||
"marker_id": 53,
|
||||
"observed_center_px": [
|
||||
578.5,
|
||||
864.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
578.3684692382812,
|
||||
865.16064453125
|
||||
],
|
||||
"reprojection_error_px": 0.43119516732431823,
|
||||
"confidence": 0.10091914651675944
|
||||
},
|
||||
{
|
||||
"marker_id": 50,
|
||||
"observed_center_px": [
|
||||
604.0,
|
||||
825.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
603.8051147460938,
|
||||
824.8560180664062
|
||||
],
|
||||
"reprojection_error_px": 0.2423036512137169,
|
||||
"confidence": 0.0777460225423177
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
BIN
test/y-axis-finder-examples/20260612_190241/cam2_debug.jpg
Normal file
BIN
test/y-axis-finder-examples/20260612_190241/cam2_debug.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 427 KiB |
170
test/yAxisRotation.test.js
Normal file
170
test/yAxisRotation.test.js
Normal file
@@ -0,0 +1,170 @@
|
||||
/**
|
||||
* Unit-Test für scripts/4_yAxis_rotation_reconstruction.py
|
||||
*
|
||||
* Das Python-Skript wird via child_process aufgerufen.
|
||||
* stdout enthält das JSON-Ergebnis (letzte Zeile – davor ggf. Leerzeilen).
|
||||
* stderr enthält menschenlesbare Zusammenfassung (wird ignoriert).
|
||||
*
|
||||
* Test-Daten: test/y-axis-finder-examples/ (drei Timestamps → Arm1-Bogen)
|
||||
*
|
||||
* Erwartete Werte stammen aus verifiziertem Lauf (2026-06-12):
|
||||
* Marker 197, 218, 219 → rotieren (12 Punkte, 3 × 4 Ecken)
|
||||
* Marker 201, 204 → gefiltert (Bewegung < 10 mm)
|
||||
* axisDir ≈ [0.9995, 0.029, -0.015] (fast reine X-Achse des Roboters)
|
||||
*/
|
||||
|
||||
const { execFileSync } = require('child_process');
|
||||
const path = require('path');
|
||||
|
||||
const SCRIPT = path.join(__dirname, '..', 'scripts', '4_yAxis_rotation_reconstruction.py');
|
||||
const EXAMPLES = path.join(__dirname, 'y-axis-finder-examples');
|
||||
const POS_A = path.join(EXAMPLES, '20260612_190019');
|
||||
const POS_B = path.join(EXAMPLES, '20260612_190104');
|
||||
const POS_C = path.join(EXAMPLES, '20260612_190241');
|
||||
|
||||
// ── Hilfsfunktion ──────────────────────────────────────────────────────────────
|
||||
const { spawnSync } = require('child_process');
|
||||
|
||||
/**
|
||||
* Ruft das Python-Skript auf und gibt das geparste JSON zurück.
|
||||
* Verwendet spawnSync (statt execFileSync) damit ein Fehler-Exit-Code (ok:false)
|
||||
* nicht sofort eine Exception auslöst – wir parsen das stdout trotzdem.
|
||||
* stdout kann mehrere Zeilen haben – JSON ist die letzte nicht-leere Zeile.
|
||||
*/
|
||||
function runScript(posA, posB, posC, extraArgs = []) {
|
||||
const proc = spawnSync('python3', [SCRIPT, posA, posB, posC, ...extraArgs], {
|
||||
encoding: 'utf-8',
|
||||
// stderr läuft zum Terminal durch → menschenlesbarer Summary sichtbar
|
||||
});
|
||||
if (proc.error) throw proc.error; // z. B. python3 nicht gefunden
|
||||
|
||||
const stdout = proc.stdout || '';
|
||||
const lastJsonLine = stdout
|
||||
.trim()
|
||||
.split('\n')
|
||||
.filter(l => l.trim().startsWith('{'))
|
||||
.at(-1);
|
||||
|
||||
if (!lastJsonLine) {
|
||||
throw new Error(
|
||||
`Kein JSON in stdout.\nstdout: ${stdout}\nstderr: ${proc.stderr}`
|
||||
);
|
||||
}
|
||||
return JSON.parse(lastJsonLine);
|
||||
}
|
||||
|
||||
// ── Haupt-Test-Suite ──────────────────────────────────────────────────────────
|
||||
describe('4_yAxis_rotation_reconstruction.py – Arm1-Testdaten (190019 / 190104 / 190241)', () => {
|
||||
|
||||
/** Einmalig ausführen – dauert ca. 1 s */
|
||||
let r;
|
||||
beforeAll(() => {
|
||||
r = runScript(POS_A, POS_B, POS_C);
|
||||
});
|
||||
|
||||
// ── Grundstatus ───────────────────────────────────────────────────────────
|
||||
test('Berechnung erfolgreich (ok: true)', () => {
|
||||
expect(r.ok).toBe(true);
|
||||
});
|
||||
|
||||
// ── Marker-Anzahlen ───────────────────────────────────────────────────────
|
||||
test('5 gemeinsame fremd-Marker erkannt', () => {
|
||||
expect(r.numMarkersCommon).toBe(5);
|
||||
expect(r.commonMarkerIds).toEqual([197, 201, 204, 218, 219]);
|
||||
});
|
||||
|
||||
test('3 Marker tatsächlich genutzt (197, 218, 219)', () => {
|
||||
expect(r.numMarkersUsed).toBe(3);
|
||||
expect(r.usedMarkerIds).toEqual([197, 218, 219]);
|
||||
});
|
||||
|
||||
test('12 Punkte (3 Marker × 4 Ecken)', () => {
|
||||
expect(r.numPoints).toBe(12);
|
||||
});
|
||||
|
||||
// ── Filterung ─────────────────────────────────────────────────────────────
|
||||
test('2 Marker wegen zu geringer Bewegung gefiltert (201, 204)', () => {
|
||||
expect(r.skipped).toHaveLength(2);
|
||||
|
||||
const skippedIds = r.skipped.map(s => s.marker_id).sort((a, b) => a - b);
|
||||
expect(skippedIds).toEqual([201, 204]);
|
||||
|
||||
// Beide mit korrektem Grund
|
||||
r.skipped.forEach(s => {
|
||||
expect(s.reason).toMatch(/Bewegung zu gering/);
|
||||
expect(s.max_movement_mm).toBeLessThan(10.0); // unter dem Threshold
|
||||
});
|
||||
});
|
||||
|
||||
// ── Residuen ──────────────────────────────────────────────────────────────
|
||||
test('Abstandsresiduen: Mittelwert < 10 mm', () => {
|
||||
expect(r.residual_dist_mean_mm).toBeLessThan(10);
|
||||
});
|
||||
|
||||
test('Abstandsresiduen: Maximum < 15 mm', () => {
|
||||
expect(r.residual_dist_max_mm).toBeLessThan(15);
|
||||
});
|
||||
|
||||
test('Winkelresiduen: Mittelwert < 5°', () => {
|
||||
expect(r.residual_angle_mean_deg).toBeLessThan(5);
|
||||
});
|
||||
|
||||
test('Winkelresiduen: Maximum < 7°', () => {
|
||||
expect(r.residual_angle_max_deg).toBeLessThan(7);
|
||||
});
|
||||
|
||||
// ── Achsenrichtung ────────────────────────────────────────────────────────
|
||||
test('axisDir ist ein Einheitsvektor (|axisDir| ≈ 1)', () => {
|
||||
const [ax, ay, az] = r.axisDir;
|
||||
const len = Math.sqrt(ax * ax + ay * ay + az * az);
|
||||
expect(len).toBeCloseTo(1.0, 4); // ≤ 0.00005 Abweichung
|
||||
});
|
||||
|
||||
test('Achse liegt fast auf X-Achse des Roboters (axisDir[0] > 0.99)', () => {
|
||||
// Physikalisch: Arm1 schwingt auf/ab → Drehachse = X-Richtung
|
||||
expect(r.axisDir[0]).toBeGreaterThan(0.99);
|
||||
});
|
||||
|
||||
test('axisDir hat 3 Komponenten', () => {
|
||||
expect(r.axisDir).toHaveLength(3);
|
||||
});
|
||||
|
||||
test('axisPoint_mm hat 3 Komponenten', () => {
|
||||
expect(r.axisPoint_mm).toHaveLength(3);
|
||||
});
|
||||
|
||||
// ── Marker-Ergebnis-Struktur ──────────────────────────────────────────────
|
||||
test('markerResults enthält genau 3 Einträge (verwendete Marker)', () => {
|
||||
expect(r.markerResults).toHaveLength(3);
|
||||
});
|
||||
|
||||
test('jeder Marker-Eintrag hat n_points_used === 4', () => {
|
||||
r.markerResults.forEach(mr => {
|
||||
expect(mr.n_points_used).toBe(4);
|
||||
expect(mr.circumcenter_mean_mm).toHaveLength(3);
|
||||
});
|
||||
});
|
||||
});
|
||||
|
||||
// ── Parametertest: benutzerdefinierter min-movement-Threshold ─────────────────
|
||||
describe('4_yAxis_rotation_reconstruction.py – min-movement-Parameter', () => {
|
||||
|
||||
test('mit --min-movement 0 werden alle 5 Marker genutzt (kein Filter)', () => {
|
||||
const r = runScript(POS_A, POS_B, POS_C, ['--min-movement', '0']);
|
||||
// Alle 5 gemeinsamen Marker werden versucht; Ergebnis ist schlechter
|
||||
expect(r.ok).toBe(true);
|
||||
expect(r.numMarkersUsed).toBe(5);
|
||||
expect(r.numMarkersCommon).toBe(5);
|
||||
// skipped enthält nur noch ggf. degenerierte Punkte (keine Bewegungs-Skips)
|
||||
const movementSkips = r.skipped.filter(s => s.reason && s.reason.includes('Bewegung zu gering'));
|
||||
expect(movementSkips).toHaveLength(0);
|
||||
});
|
||||
|
||||
test('mit --min-movement 1000 werden alle Marker gefiltert → ok: false', () => {
|
||||
// Die rotierenden Marker (197, 218, 219) bewegen sich >100 mm,
|
||||
// erst ab 1000 mm werden auch sie herausgefiltert.
|
||||
const r = runScript(POS_A, POS_B, POS_C, ['--min-movement', '1000']);
|
||||
expect(r.ok).toBe(false);
|
||||
expect(r.error).toBeDefined();
|
||||
});
|
||||
});
|
||||
Reference in New Issue
Block a user