Claude: über nacht arbeiten. Pipeline verbessern

run/robot_viewer.html

@@ -796,6 +796,7 @@ function rebuild() {
   }
 
   const errors = [];
+  const normalErrors = [];
   for (const [midStr, {pos: opos, nor: oNor}] of Object.entries(obs)) {
     const mid  = parseInt(midStr);
     const mpos = modelPositions[mid];
@@ -811,11 +812,20 @@ function rebuild() {
 
     gObserved.add(makeSphere(op, 0.006, col));
 
-    // observed normal arrow — orange if available
+    // observed normal arrow — coloured by angular deviation from the model normal
     if (oNor) {
       try {
-          const obsArrow = makeNormalArrow(op, oNor, 0.018, 0xffaa00);
-          gObsNormals.add(obsArrow);
+          let normCol = 0xffaa00;                 // no model to compare -> orange
+          const mn = modelNormals[mid];
+          if (mn) {
+            const dot = (oNor[0]*mn[0] + oNor[1]*mn[1] + oNor[2]*mn[2]) /
+                        ((Math.hypot(oNor[0],oNor[1],oNor[2]) * Math.hypot(mn[0],mn[1],mn[2])) || 1);
+            let a = Math.acos(Math.max(-1, Math.min(1, dot))) * 180 / Math.PI;
+            a = Math.min(a, 180 - a);              // flip-invariant
+            normalErrors.push(a);
+            normCol = a < 2 ? 0x3ecf6b : a < 5 ? 0xf59e0b : 0xff4f4f;
+          }
+          gObsNormals.add(makeNormalArrow(op, oNor, 0.018, normCol));
         } catch (e) {
           console.warn('Invalid normal for marker', mid, oNor, e);
         }
@@ -833,12 +843,13 @@ function rebuild() {
   }
 
   // ── stats ──
-  updateStats(errors, Object.keys(obs).length, Object.keys(modelPositions).length);
+  updateStats(errors, normalErrors, Object.keys(obs).length, Object.keys(modelPositions).length);
 }
 
 // ─── statistics panel ──────────────────────────────────────────
-function updateStats(errArr, nObs, nModel) {
+function updateStats(errArr, normArr, nObs, nModel) {
   const el = document.getElementById('stats-content');
+  normArr = normArr || [];
   if (errArr.length === 0) {
     el.innerHTML = `<div class="stat-line"><span>Observed:</span><span class="stat-val">${nObs}</span></div>
                     <div class="stat-line"><span>Model:</span><span class="stat-val">${nModel}</span></div>
@@ -854,6 +865,15 @@ function updateStats(errArr, nObs, nModel) {
 
   const cls = v => v < 2 ? 'stat-ok' : v < 5 ? 'stat-warn' : 'stat-err';
 
+  let normHtml = '';
+  if (normArr.length) {
+    const nmean = normArr.reduce((s,v)=>s+v,0) / normArr.length;
+    const nmax  = Math.max(...normArr);
+    const ncls  = v => v < 2 ? 'stat-ok' : v < 5 ? 'stat-warn' : 'stat-err';
+    normHtml = `<div class="stat-line" style="margin-top:4px"><span>Normal mean:</span><span class="${ncls(nmean)}">${nmean.toFixed(1)}&deg;</span></div>
+    <div class="stat-line"><span>Normal max:</span><span class="${ncls(nmax)}">${nmax.toFixed(1)}&deg;</span></div>`;
+  }
+
   el.innerHTML = `
     <div class="stat-line"><span>Observed:</span><span class="stat-val">${nObs}</span></div>
     <div class="stat-line"><span>Matched:</span><span class="stat-val">${errArr.length}</span></div>
@@ -862,8 +882,9 @@ function updateStats(errArr, nObs, nModel) {
     <div class="stat-line"><span>Median:</span><span class="${cls(p50)}">${p50.toFixed(1)} mm</span></div>
     <div class="stat-line"><span>p90:</span><span class="${cls(p90)}">${p90.toFixed(1)} mm</span></div>
     <div class="stat-line"><span>Max:</span><span class="${cls(max)}">${max.toFixed(1)} mm</span></div>
+    ${normHtml}
     <div style="margin-top:6px;font-size:10px;color:var(--muted)">
-      🟢 &lt;2mm &nbsp; 🟡 2–5mm &nbsp; 🔴 &gt;5mm</div>`;
+      🟢 &lt;2mm/° &nbsp; 🟡 2–5 &nbsp; 🔴 &gt;5</div>`;
 }
 
 function setStatus(msg) {

run/run_pipeline.bat

@@ -91,10 +91,17 @@ python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
 
 
 echo.
-echo [STEP 4] Robotics Pose calculation of angles and joint positions
+echo [STEP 3b] Corner-based marker poses (position + measured normal)
+
+python3 "..\pipeline\3b_corner_marker_poses.py" ^
+    --evalDir "%OUT_DIR%" ^
+    --robot "%ROBOT_JSON%"
 
 
-python3 "..\pipeline\4_robotState_estimation_v6.py" ^
-    "%OUT_DIR%\aruco_positions_initial.json" ^
+echo.
+echo [STEP 4] Robot pose estimation (joint angles) from marker poses
+
+python3 "..\pipeline\pose_estimation.py" ^
+    "%OUT_DIR%\aruco_marker_poses.json" ^
     -robot "%ROBOT_JSON%" ^
     -out "%OUT_DIR%\robot_state.json"