Neubau auf Abrufe

2026-06-08 16:53:14 +02:00
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+# appRobotBodyTrack
+
+3D-Body-Tracking für Roboter aus Mehrkamera-ArUco-Bildern.
+
+**Input**  
+- Bilder: `render_*.png`  
+- Intrinsics: `render_*.npz`  
+- Konfiguration: `robot.json`  
+
+**Output**  
+- Gelenke **R⁷** → `{x, y, z, a, b, c, e}` (mm / Grad)
+
+---
+
+## Interfaces
+
+Eine Logik, drei Zugänge:
+
+- **Python**
+- **CLI**
+- **REST (FastAPI)**
+
+---
+
+## Quickstart
+
+### Python
+
+```python
+from scripts import estimate_from_dir
+
+result = estimate_from_dir("data/Scene8", robot_json="robot.json")
+
+print(result.joints)
+print(result.confidence)
+```
+
+---
+
+### CLI
+
+```bash
+pip install -e .
+
+python -m scripts data/Scene8 --robot robot.json
+python -m scripts data/Scene8 --robot robot.json --cameras a,b,d
+```
+
+---
+
+### REST API
+
+```bash
+docker compose up
+```
+
+**Request:**
+
+```python
+import requests
+
+resp = requests.post(
+    "http://localhost:8446/v1/estimate",
+    files=[
+        ("images", ("render_a.png", open("render_a.png", "rb"))),
+        ("intrinsics", ("render_a.npz", open("render_a.npz", "rb"))),
+    ],
+)
+
+print(resp.json()["joints"])
+```
+
+---
+
+## API
+
+| Endpoint | Methode | Zweck |
+|----------|--------|------|
+| `/v1/estimate` | POST | Bilder → Gelenke |
+| `/v1/health` | GET | Status |
+| `/v1/config` | GET | aktive Konfiguration |
+
+**Response:**
+
+```json
+{
+  "joints": {"x": 50.2, "y": -2.1, "z": 94.8, "a": 20.1},
+  "confidence": {"x": "high", "b": "low"},
+  "residual_rms": 1.45,
+  "n_markers": 56,
+  "processing_ms": 1240
+}
+```
+
+---
+
+## Struktur
+
+```
+.
+├── scripts/
+├── config/robot.json
+├── tests/
+└── docker-compose.yaml
+```
+
+---
+
+## Deployment (Docker / Portainer)
+
+**Volume:**
+```yaml
+- /opt/approbot/config/robot.json:/config/robot.json:ro
+```
+
+**Healthcheck:**
+```bash
+curl http://<host>:8446/v1/health
+```
+
+---
+
+## Konfiguration
+
+Zentrale Datei: **`robot.json`**
+
+Verwendete Bereiche:
+- `links`
+- `pose_estimation`
+- `vision_config`
+- `movements`
+- `units`
+
+---
+
+## Stack (minimal)
+
+- numpy  
+- scipy  
+- opencv (aruco)  
+- fastapi + uvicorn  
+
+---
+
+## Naming
+
+- **BodyTrack** → Tracking (dynamisch) ✅  
+- **BodyMap** → Modell / Repräsentation  
+- **BodySense** → Wahrnehmung (low-level)