board rotation - fix 0

scripts/2_estimate_camera_from_observations.py

@@ -212,13 +212,15 @@ def get_marker_rotation(marker: Dict[str, Any]) -> np.ndarray:
     return np.eye(3, dtype=np.float32)
 
 
-def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
+def load_marker_lookup(robot_json_path: str, ref_set: Optional[str] = None) -> Dict[int, Dict[str, Any]]:
     """
     Supports the new format:
         robot_data["links"]["Board"]["markers"]
 
     Fallback:
         robot_data["Marker"]
+
+    ref_set: wenn angegeben, werden nur Marker mit passendem "set"-Feld als Referenz verwendet.
     """
     robot_json_path = resolve_path(robot_json_path)
     with open(robot_json_path, "r", encoding="utf-8") as f:
@@ -248,6 +250,10 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
         if marker_id < 0:
             continue
 
+        # Referenz-Set-Filter: nur Marker mit passendem set-Wert verwenden
+        if ref_set and str(marker.get("set", "")) != ref_set:
+            continue
+
         if "position" not in marker:
             continue
 
@@ -583,13 +589,18 @@ def main() -> None:
     parser.add_argument("--maxRmsPx", type=float, default=None,
                         help="Optional soft warning threshold for final reprojection RMS in pixels")
     parser.add_argument("--epsJac", type=float, default=1e-6, help="Finite-difference epsilon")
+    parser.add_argument("--refSet", default=None,
+                        help="Nur Marker dieses Sets als Referenz verwenden (z.B. 'A0', 'rail'). "
+                             "Leer = alle Marker aus links.Board.")
     args = parser.parse_args()
 
     detection_path = resolve_path(args.input)
     robot_path = resolve_path(args.robot)
 
     detection = load_json(detection_path)
-    marker_lookup = load_marker_lookup(robot_path)
+    marker_lookup = load_marker_lookup(robot_path, ref_set=args.refSet)
+    if args.refSet:
+        print(f"[INFO] Referenz-Set: '{args.refSet}' → {len(marker_lookup)} Referenz-Marker")
 
     K, D = load_intrinsics_from_detection(detection)