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scripts/3b_corner_marker_poses.py

@@ -77,6 +77,7 @@ def load_marker_info(robot_path: str) -> Dict[int, dict]:
             if mid >= 0:
                 out[mid] = {
                     "link": link_name,
+                    "set":  mk.get("set", ""),           # z.B. "A0"
                     "position_mm": mk.get("position"),  # [x_mm, y_mm, z_mm] robot coords
                 }
     return out
@@ -158,6 +159,7 @@ def main() -> None:
         markers_out.append({
             "marker_id": int(mid),
             "link": marker_info.get(mid, {}).get("link", "unknown"),
+            "set":  marker_info.get(mid, {}).get("set",  ""),
             "position_m": [float(v) for v in center],
             "position_mm": [float(v * 1000.0) for v in center],
             "normal": [float(v) for v in normal],
@@ -195,7 +197,7 @@ def main() -> None:
     with open(csv_path, "w", newline="", encoding="utf-8") as fcsv:
         w = csv.writer(fcsv)
         # Marker-Tabelle
-        w.writerow(["marker_id", "link", "num_cameras",
+        w.writerow(["marker_id", "link", "set", "num_cameras",
                     "x_mm", "y_mm", "z_mm",
                     "nx", "ny", "nz",
                     "model_x_mm", "model_y_mm", "model_z_mm",
@@ -219,7 +221,7 @@ def main() -> None:
                 row_model = ["", "", "", "", ""]
 
             w.writerow([
-                mid, link, m["num_cameras"],
+                mid, link, m.get("set", ""), m["num_cameras"],
                 round(px, 2), round(py, 2), round(pz, 2),
                 round(mnx, 5), round(mny, 5), round(mnz, 5),
                 *row_model,