Claude: Kameras in Vizual
This commit is contained in:
chk
@@ -1,11 +1,139 @@
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@@ -1,11 +1,139 @@
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"observation_id": "c0c8702b-f8f4-44d1-8889-9e7ba6e2c9b8",
|
||||
"type": "aruco",
|
||||
"marker_id": 59,
|
||||
"marker_size_m": 0.025,
|
||||
@@ -1612,7 +1612,7 @@
|
||||
"confidence": 0.3170967427530611
|
||||
},
|
||||
{
|
||||
"observation_id": "10c76166-3fc9-4980-9109-338dbdc4e802",
|
||||
"observation_id": "ac21e6c4-5305-4d78-aa43-2b8df6a9de2e",
|
||||
"type": "aruco",
|
||||
"marker_id": 113,
|
||||
"marker_size_m": 0.025,
|
||||
@@ -1666,7 +1666,7 @@
|
||||
"confidence": 0.07975517738094284
|
||||
},
|
||||
{
|
||||
"observation_id": "28060a2c-5c51-460a-b704-bc555cf4c689",
|
||||
"observation_id": "25d32ff0-77fe-4cd0-bad9-fc1b6eb1bc81",
|
||||
"type": "aruco",
|
||||
"marker_id": 48,
|
||||
"marker_size_m": 0.025,
|
||||
@@ -1720,7 +1720,7 @@
|
||||
"confidence": 0.17828567290874034
|
||||
},
|
||||
{
|
||||
"observation_id": "03fa5394-a5fb-4441-8a32-f20f622a3ab7",
|
||||
"observation_id": "1b5d8b3f-96f1-4461-906f-ce26071a0ee3",
|
||||
"type": "aruco",
|
||||
"marker_id": 57,
|
||||
"marker_size_m": 0.025,
|
||||
@@ -1774,7 +1774,7 @@
|
||||
"confidence": 0.3167426670523156
|
||||
},
|
||||
{
|
||||
"observation_id": "1f56f17a-56fe-4e30-96bc-7138bfddeeb2",
|
||||
"observation_id": "ca1df5ea-dc2a-463d-b6d0-dc52e4a8580d",
|
||||
"type": "aruco",
|
||||
"marker_id": 63,
|
||||
"marker_size_m": 0.025,
|
||||
@@ -1828,7 +1828,7 @@
|
||||
"confidence": 0.15449597168691093
|
||||
},
|
||||
{
|
||||
"observation_id": "ad23479c-f3bd-4090-a23f-afede230b015",
|
||||
"observation_id": "9a5f6c06-afa7-4077-805d-d15d98eb1195",
|
||||
"type": "aruco",
|
||||
"marker_id": 71,
|
||||
"marker_size_m": 0.025,
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T18:36:49Z",
|
||||
"created_utc": "2026-06-02T05:06:55Z",
|
||||
"source": {
|
||||
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_g_aruco_detection.json",
|
||||
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
|
||||
|
||||
@@ -1,51 +1,58 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-01T22:46:29Z",
|
||||
"created_utc": "2026-06-02T05:07:09Z",
|
||||
"method": "hybrid",
|
||||
"movements": {
|
||||
"x": {
|
||||
"value": 50.23762313178657,
|
||||
"value": 50.19702884143383,
|
||||
"unit": "mm",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 3
|
||||
},
|
||||
"y": {
|
||||
"value": -2.0715535295906213,
|
||||
"value": -2.085226948673948,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 3
|
||||
},
|
||||
"z": {
|
||||
"value": 95.00502796543306,
|
||||
"value": 94.94715440460612,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "high",
|
||||
"n_markers": 4
|
||||
},
|
||||
"a": {
|
||||
"value": 20.08372242828676,
|
||||
"value": 20.301658023887335,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "high",
|
||||
"n_markers": 4
|
||||
},
|
||||
"b": {
|
||||
"value": 59.80270869998456,
|
||||
"value": 59.335494423176975,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 4
|
||||
},
|
||||
"c": {
|
||||
"value": 9.103676463803527,
|
||||
"value": 8.567498988785404,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 4
|
||||
},
|
||||
"e": {
|
||||
"value": 3.010531327944808,
|
||||
"value": 2.9307576101641413,
|
||||
"unit": "mm",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 4
|
||||
}
|
||||
},
|
||||
"residual_rms": 0.47469462889119596,
|
||||
"residual_rms": 1.5005838046235978,
|
||||
"num_markers": 56
|
||||
}
|
||||
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|
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@@ -1324,6 +1324,21 @@ def main() -> None:
|
||||
out_dir = args.outDir or os.path.dirname(args.detections[0]) or "."
|
||||
os.makedirs(resolve_path(out_dir), exist_ok=True)
|
||||
|
||||
# camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
|
||||
cameras_section = []
|
||||
for idx, (K, D, R_wc, t_wc) in enumerate(cameras):
|
||||
C = -R_wc.T @ t_wc
|
||||
cam_id = str(idx)
|
||||
base = os.path.basename(str(obs_metadata[idx].get("pose_file", ""))) if idx < len(obs_metadata) else ""
|
||||
if base.startswith("render_") and "_camera_pose" in base:
|
||||
cam_id = base[len("render_"):base.index("_camera_pose")]
|
||||
cameras_section.append({
|
||||
"camera_id": cam_id,
|
||||
"position_m": [float(v) for v in C],
|
||||
"position_mm": [float(v * 1000.0) for v in C],
|
||||
"direction": [float(v) for v in R_wc[2]],
|
||||
})
|
||||
|
||||
initial_output_markers = []
|
||||
for marker_id, position in sorted(initial_pos.items()):
|
||||
normal = marker_meta.get(marker_id, {}).get("normal", None)
|
||||
@@ -1346,6 +1361,7 @@ def main() -> None:
|
||||
"num_markers": len(initial_pos),
|
||||
"num_constraints": len(constraints),
|
||||
},
|
||||
"cameras": cameras_section,
|
||||
"markers": initial_output_markers,
|
||||
}
|
||||
initial_out_file = os.path.join(out_dir, "aruco_positions_initial.json")
|
||||
@@ -1407,6 +1423,7 @@ def main() -> None:
|
||||
"num_markers": len(optimized_pos),
|
||||
"num_constraints": len(constraints),
|
||||
},
|
||||
"cameras": cameras_section,
|
||||
"markers": output_markers,
|
||||
}
|
||||
out_file = os.path.join(out_dir, "aruco_positions_optimized.json")
|
||||
|
||||
@@ -160,12 +160,25 @@ def main() -> None:
|
||||
"edge_length_mm": edge_mm,
|
||||
})
|
||||
|
||||
# camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
|
||||
cameras_out = []
|
||||
for cid in sorted(cams.keys()):
|
||||
cam = cams[cid]
|
||||
C = -cam["R"].T @ cam["t"]
|
||||
cameras_out.append({
|
||||
"camera_id": cid,
|
||||
"position_m": [float(v) for v in C],
|
||||
"position_mm": [float(v * 1000.0) for v in C],
|
||||
"direction": [float(v) for v in cam["R"][2]],
|
||||
})
|
||||
|
||||
out_path = args.out or os.path.join(args.evalDir, "aruco_marker_poses.json")
|
||||
output = {
|
||||
"schema_version": "1.0",
|
||||
"schema_version": "1.1",
|
||||
"stage": "corner_marker_poses",
|
||||
"created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
|
||||
"summary": {"num_cameras": len(cams), "num_markers": len(markers_out)},
|
||||
"cameras": cameras_out,
|
||||
"markers": markers_out,
|
||||
}
|
||||
json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2)
|
||||
|
||||
Binary file not shown.
@@ -267,6 +267,10 @@
|
||||
<span class="toggle-label">Board plane</span>
|
||||
<label class="toggle"><input type="checkbox" id="tBoard" checked><span class="slider-track"></span></label>
|
||||
</div>
|
||||
<div class="toggle-row">
|
||||
<span class="toggle-label">Cameras</span>
|
||||
<label class="toggle"><input type="checkbox" id="tCameras" checked><span class="slider-track"></span></label>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- stats -->
|
||||
@@ -543,7 +547,8 @@ const gObserved = new THREE.Group();
|
||||
const gObsNormals= new THREE.Group();
|
||||
const gErrors = new THREE.Group();
|
||||
const gBoard = new THREE.Group();
|
||||
scene.add(gSkeleton, gModel, gNormals, gObserved, gObsNormals, gErrors, gBoard);
|
||||
const gCameras = new THREE.Group();
|
||||
scene.add(gSkeleton, gModel, gNormals, gObserved, gObsNormals, gErrors, gBoard, gCameras);
|
||||
|
||||
// ─── toggle wiring ────────────────────────────────────────────
|
||||
const toggles = {
|
||||
@@ -554,6 +559,7 @@ const toggles = {
|
||||
tObsNormals:gObsNormals,
|
||||
tErrors: gErrors,
|
||||
tBoard: gBoard,
|
||||
tCameras: gCameras,
|
||||
};
|
||||
for (const [id, grp] of Object.entries(toggles)) {
|
||||
document.getElementById(id).addEventListener('change', e => {
|
||||
@@ -568,6 +574,7 @@ for (const [id, grp] of Object.entries(toggles)) {
|
||||
let robotData = null;
|
||||
let arucoData = null;
|
||||
let solutionData = null;
|
||||
let cameraData = [];
|
||||
const joints = { x:0, y:0, z:0, a:0, b:0, c:0, e:0 };
|
||||
|
||||
// ─── slider setup ─────────────────────────────────────────────
|
||||
@@ -651,7 +658,13 @@ document.getElementById('fRobot').addEventListener('change', async e => {
|
||||
document.getElementById('fAruco').addEventListener('change', async e => {
|
||||
if (!e.target.files[0]) return;
|
||||
arucoData = await readJSON(e.target.files[0]);
|
||||
setStatus('aruco/markers.json loaded');
|
||||
// Kamera-Posen aus derselben Datei übernehmen (falls vorhanden) → Frusta
|
||||
cameraData = (arucoData.cameras || []).map(c => ({
|
||||
pos_mm: c.position_mm || (c.position_m ? c.position_m.map(v => v * 1000) : null),
|
||||
dir: c.direction,
|
||||
id: c.camera_id
|
||||
})).filter(c => c.pos_mm && c.dir);
|
||||
setStatus('aruco geladen' + (cameraData.length ? ` (+ ${cameraData.length} Kameras)` : ''));
|
||||
rebuild();
|
||||
});
|
||||
|
||||
@@ -759,6 +772,24 @@ function r2vDir(rx, ry, rz) {
|
||||
return new THREE.Vector3(rx, rz, -ry).normalize();
|
||||
}
|
||||
|
||||
// ═══════════════════════════════════════════════════════════════
|
||||
// Camera frustum (halbtransparente Pyramide, Spitze = Linse)
|
||||
// ═══════════════════════════════════════════════════════════════
|
||||
function makeCameraFrustum(posThree, dirThree, size, hexColor) {
|
||||
const geo = new THREE.ConeGeometry(size * 0.6, size, 4);
|
||||
geo.translate(0, -size / 2, 0); // Spitze (Linse) an den lokalen Ursprung
|
||||
geo.rotateY(Math.PI / 4); // Pyramidenkanten ausrichten
|
||||
const mat = new THREE.MeshPhongMaterial({
|
||||
color: hexColor, transparent: true, opacity: 0.28,
|
||||
side: THREE.DoubleSide, depthWrite: false
|
||||
});
|
||||
const m = new THREE.Mesh(geo, mat);
|
||||
m.position.copy(posThree);
|
||||
const d = dirThree.clone().normalize();
|
||||
if (d.lengthSq() > 1e-9) m.quaternion.setFromUnitVectors(new THREE.Vector3(0, -1, 0), d);
|
||||
return m;
|
||||
}
|
||||
|
||||
function rebuild() {
|
||||
clearGroup(gSkeleton);
|
||||
clearGroup(gModel);
|
||||
@@ -767,6 +798,12 @@ function rebuild() {
|
||||
clearGroup(gObsNormals);
|
||||
clearGroup(gErrors);
|
||||
clearGroup(gBoard);
|
||||
clearGroup(gCameras);
|
||||
|
||||
// Kamera-Frusta hängen nicht vom Roboterzustand ab
|
||||
for (const cam of cameraData) {
|
||||
gCameras.add(makeCameraFrustum(r2vArr(cam.pos_mm), r2vDir(...cam.dir), 0.05, 0x9b7bff));
|
||||
}
|
||||
|
||||
if (!robotData) return;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user