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chk
2026-05-29 08:04:12 +02:00
parent 24f35a1201
commit 2aaab15f34
8 changed files with 327 additions and 623 deletions
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11
pipeline/2_estimate_camera_from_observations.py
View File

@@ -224,6 +224,13 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
with open(robot_json_path, "r", encoding="utf-8") as f:
robot_data = json.load(f)
length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
length_scale = 1.0
if length_units in ("mm", "millimeter", "millimeters"):
length_scale = 1.0 / 1000.0
elif length_units in ("cm", "centimeter", "centimeters"):
length_scale = 1.0 / 100.0
marker_lookup: Dict[int, Dict[str, Any]] = {}
links = robot_data.get("links", {})
@@ -254,7 +261,7 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
rotation = get_marker_rotation(marker)
marker_lookup[marker_id] = {
"position": np.array(pos, dtype=np.float32),
"position": np.array(pos, dtype=np.float32) * np.float32(length_scale),
"rotation": rotation,
"on": marker.get("on", "unknown"),
}
@@ -690,7 +697,7 @@ def main() -> None:
# B ≈ R A + t -> world = R * camera + t
R_cw_init, t_cw_init = rigid_transform_no_scale(marker_cam_centers, X_world)
R_wc_init = R_cw_init.T
t_wc_init = (-R_wc_init @ t_cw_init).reshape(3)
t_wc_init = -(R_wc_init @ t_cw_init).reshape(3)
omega_init = cv2.Rodrigues(R_wc_init)[0].reshape(3)
theta0 = pack_params(omega_init, t_wc_init)

10
pipeline/2_estimate_camera_pose_from_aruco_json.py
View File

@@ -126,7 +126,13 @@ def build_marker_lookup(robot_data):
marker_lookup = {}
length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
length_scale = 1.0
if length_units in ("mm", "millimeter", "millimeters"):
length_scale = 1.0 / 1000.0
elif length_units in ("cm", "centimeter", "centimeters"):
length_scale = 1.0 / 100.0
markers = []
# Neues Format: links -> Board -> markers
@@ -169,7 +175,7 @@ def build_marker_lookup(robot_data):
"position": np.array(
pos,
dtype=np.float32
),
) * np.float32(length_scale),
"rotation": rotation,
"on": marker.get("on", "unknown")
}

22
pipeline/render_3a_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-29T05:34:15Z",
"created_utc": "2026-05-29T06:03:07Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
"detections": [
{
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"observation_id": "f95b7df5-d56a-4e50-baae-ed98245255b0",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.6862086405991146
},
{
"observation_id": "549a7c31-573c-47d5-906d-2abdaf0e2163",
"observation_id": "d6a89cdb-43b2-4494-84c8-47d5de39baa8",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -154,7 +154,7 @@
"confidence": 0.953171926139578
},
{
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"observation_id": "05209fc7-239c-43ca-8cf8-7566f456041d",
"type": "aruco",
"marker_id": 122,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.5964639370258038
},
{
"observation_id": "4462ae69-6f30-4281-9ace-bc8cac13cb07",
"observation_id": "52848f64-67df-4213-91b2-ffdfe9064ee2",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -262,7 +262,7 @@
"confidence": 0.3578323322772018
},
{
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"observation_id": "7bc13599-644e-4dbd-8ad2-ad5f80056d8c",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -316,7 +316,7 @@
"confidence": 0.4396423002158715
},
{
"observation_id": "cfdcf058-d469-4ba1-92bf-b86c9ae9c486",
"observation_id": "41826dad-da5d-4fb1-87e4-757a2c21171a",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -370,7 +370,7 @@
"confidence": 0.23718801109435655
},
{
"observation_id": "7908f25a-83ca-43b4-a7e9-17a6b3dd00d6",
"observation_id": "f354d0f3-34a9-428e-887d-a4364525a2b0",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -424,7 +424,7 @@
"confidence": 0.27797680859006363
},
{
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"observation_id": "447b944c-8faf-41e5-b724-af8f221c64fc",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
@@ -478,7 +478,7 @@
"confidence": 0.19676029488014599
},
{
"observation_id": "46c80ca9-5820-4672-8b09-34c7d7d2051f",
"observation_id": "51c410f3-45e5-4d70-9bd8-535c1306e4cf",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.23511362818048806
},
{
"observation_id": "66327b90-f891-4c45-9a90-e469527a527d",
"observation_id": "61058f2a-9c08-4073-a43e-7a907cf8fb75",
"type": "aruco",
"marker_id": 207,
"marker_size_m": 0.025,

228
pipeline/render_3a_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-29T05:34:16Z",
"created_utc": "2026-05-29T06:03:09Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
@@ -52,57 +52,17 @@
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@@ -112,158 +72,138 @@
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20
pipeline/render_3b_aruco_detection.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-29T05:34:15Z",
"created_utc": "2026-05-29T06:03:08Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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@@ -100,7 +100,7 @@
"confidence": 0.8522257252911212
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@@ -154,7 +154,7 @@
"confidence": 0.2874514216623714
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@@ -208,7 +208,7 @@
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@@ -262,7 +262,7 @@
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@@ -316,7 +316,7 @@
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@@ -478,7 +478,7 @@
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329
pipeline/render_3b_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
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"created_utc": "2026-05-29T06:03:10Z",
"source": {
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
@@ -51,97 +51,15 @@
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24
pipeline/render_3c_aruco_detection.json
View File

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