weitere Analysen
This commit is contained in:
chk
1466
pipeline/3_multiview_bundle_adjustment_v3.py
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1466
pipeline/3_multiview_bundle_adjustment_v3.py
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1462
pipeline/3_multiview_bundle_adjustment_v4.py
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1462
pipeline/3_multiview_bundle_adjustment_v4.py
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1182
pipeline/4_robotState_estimation_seq.py
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1182
pipeline/4_robotState_estimation_seq.py
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1330
pipeline/4_robotState_estimation_v5.py
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1330
pipeline/4_robotState_estimation_v5.py
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1217
pipeline/4_robotState_estimation_v6.py
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1217
pipeline/4_robotState_estimation_v6.py
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73
pipeline/9_poseEvaluation.py
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73
pipeline/9_poseEvaluation.py
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@@ -0,0 +1,73 @@
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import json
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import math
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import argparse
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def calculate_distance(point1, point2):
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"""Berechnet den euklidischen Abstand zwischen zwei 3D-Punkten."""
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return math.sqrt(sum([(a - b) ** 2 for a, b in zip(point1, point2)]))
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def analyze_marker_detection(detected_markers_file, original_markers_file):
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"""Analysiert die Markererkennung und gibt Erkennungsrate und Genauigkeit aus."""
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with open(detected_markers_file, 'r') as f:
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detected_data = json.load(f)
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with open(original_markers_file, 'r') as f:
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original_data = json.load(f)
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detected_marker_ids = {marker['marker_id'] for marker in detected_data['markers']}
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original_marker_ids = {marker['id'] for marker in original_data}
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# Erkannte und nicht erkannte Marker
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recognized_markers = len(detected_marker_ids.intersection(original_marker_ids))
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missing_markers = len(original_marker_ids.difference(detected_marker_ids))
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# Distanzen berechnen
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distances = []
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for original_marker in original_data:
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marker_id = original_marker['id']
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# Gefundener Marker suchen
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detected_marker = next((m for m in detected_data['markers'] if m['marker_id'] == marker_id), None)
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if detected_marker:
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distance = calculate_distance(original_marker['position_m'], detected_marker['position_m'])
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distances.append(distance)
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if not distances:
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print("Keine gemeinsamen Marker gefunden, um die Genauigkeit zu bewerten.")
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return
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# Statistiken berechnen
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distances.sort()
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mean_distance = sum(distances) / len(distances)
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# 90%-Radius
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n = len(distances)
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index_90 = int(0.9 * n) - 1
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radius_90 = distances[index_90]
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# 80%-Radius
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index_80 = int(0.8 * n) - 1
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radius_80 = distances[index_80]
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# Schlechtester Abstand
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worst_distance = distances[-1]
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print(f"Erkannte Marker: {recognized_markers}")
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print(f"Nicht erkannte Marker: {missing_markers}")
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print(f"Gesamtzahl der Original-Marker: {len(original_marker_ids)}")
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print(f"Erkennungsrate: {recognized_markers / len(original_marker_ids) * 100:.2f}%")
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print(f"Gemittelter 3D-Abstand: {mean_distance:.4f}m")
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print(f"90%-Radius: {radius_90:.4f}m")
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print(f"80%-Radius: {radius_80:.4f}m")
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print(f"Schlechtester Abstand: {worst_distance:.4f}m")
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Analysiert die Markererkennung.")
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parser.add_argument("detected_file", help="Pfad zur JSON-Datei mit den erkannten Markern.")
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parser.add_argument("original_file", help="Pfad zur JSON-Datei mit den originalen Markern.")
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args = parser.parse_args()
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analyze_marker_detection(args.detected_file, args.original_file)
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@@ -1,11 +1,11 @@
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{
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"schema_version": "1.1",
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"schema_version": "1.2",
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"stage": "initial_triangulation",
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"created_utc": "2026-05-29T11:11:53Z",
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"created_utc": "2026-05-29T17:30:29Z",
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"summary": {
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"num_cameras": 3,
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"num_markers": 8,
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"num_constraints": 31
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"num_constraints": 25
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},
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"markers": [
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{
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@@ -1,121 +1,121 @@
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{
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"schema_version": "1.1",
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"created_utc": "2026-05-29T11:11:54Z",
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"schema_version": "1.2",
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"created_utc": "2026-05-29T17:30:30Z",
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"summary": {
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"num_cameras": 3,
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"num_markers": 8,
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"num_constraints": 31
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"num_constraints": 25
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},
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"markers": [
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{
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"marker_id": 122,
|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
],
|
||||
"position_mm": [
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
],
|
||||
"link": "Arm2"
|
||||
},
|
||||
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|
||||
"marker_id": 198,
|
||||
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||||
"link": "Arm1"
|
||||
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|
||||
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|
||||
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||||
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],
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||||
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||||
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||||
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||||
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||||
],
|
||||
"link": "Arm1"
|
||||
}
|
||||
|
||||
95
pipeline/aruco_positions_optimized_Set1_v1.json
Normal file
95
pipeline/aruco_positions_optimized_Set1_v1.json
Normal file
@@ -0,0 +1,95 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-05-29T17:28:02Z",
|
||||
"summary": {
|
||||
"num_cameras": 2,
|
||||
"num_markers": 6,
|
||||
"num_constraints": 124
|
||||
},
|
||||
"markers": [
|
||||
{
|
||||
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|
||||
"position_m": [
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||||
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"position_mm": [
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||||
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||||
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||||
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||||
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|
||||
"link": "Arm2"
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||||
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||||
{
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"link": "Board"
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||||
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|
||||
{
|
||||
"marker_id": 243,
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
],
|
||||
"link": "Arm1"
|
||||
}
|
||||
]
|
||||
}
|
||||
95
pipeline/aruco_positions_optimized_Set1_v3.json
Normal file
95
pipeline/aruco_positions_optimized_Set1_v3.json
Normal file
@@ -0,0 +1,95 @@
|
||||
{
|
||||
"schema_version": "1.2",
|
||||
"created_utc": "2026-05-29T17:27:22Z",
|
||||
"summary": {
|
||||
"num_cameras": 2,
|
||||
"num_markers": 6,
|
||||
"num_constraints": 25
|
||||
},
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 101,
|
||||
"position_m": [
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||||
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||||
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||||
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||||
],
|
||||
"position_mm": [
|
||||
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|
||||
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|
||||
206.75746626010996
|
||||
],
|
||||
"link": "Arm2"
|
||||
},
|
||||
{
|
||||
"marker_id": 124,
|
||||
"position_m": [
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||||
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||||
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||||
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||||
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||||
"position_mm": [
|
||||
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||||
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||||
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||||
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|
||||
"link": "Arm2"
|
||||
},
|
||||
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|
||||
"marker_id": 211,
|
||||
"position_m": [
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||||
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||||
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||||
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||||
"position_mm": [
|
||||
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||||
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||||
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||||
],
|
||||
"link": "Board"
|
||||
},
|
||||
{
|
||||
"marker_id": 215,
|
||||
"position_m": [
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||||
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||||
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||||
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||||
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||||
"position_mm": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"link": "Board"
|
||||
},
|
||||
{
|
||||
"marker_id": 217,
|
||||
"position_m": [
|
||||
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||||
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||||
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||||
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||||
"position_mm": [
|
||||
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||||
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||||
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|
||||
],
|
||||
"link": "Board"
|
||||
},
|
||||
{
|
||||
"marker_id": 243,
|
||||
"position_m": [
|
||||
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||||
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||||
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||||
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|
||||
"position_mm": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"link": "Arm1"
|
||||
}
|
||||
]
|
||||
}
|
||||
95
pipeline/aruco_positions_optimized_Set1_v4.json
Normal file
95
pipeline/aruco_positions_optimized_Set1_v4.json
Normal file
@@ -0,0 +1,95 @@
|
||||
{
|
||||
"schema_version": "1.2",
|
||||
"created_utc": "2026-05-29T17:25:57Z",
|
||||
"summary": {
|
||||
"num_cameras": 2,
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||||
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123
pipeline/aruco_positions_optimized_Set3_v1.json
Normal file
123
pipeline/aruco_positions_optimized_Set3_v1.json
Normal file
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123
pipeline/aruco_positions_optimized_Set3_v2.json
Normal file
123
pipeline/aruco_positions_optimized_Set3_v2.json
Normal file
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123
pipeline/aruco_positions_optimized_Set3_v3.json
Normal file
123
pipeline/aruco_positions_optimized_Set3_v3.json
Normal file
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123
pipeline/aruco_positions_optimized_Set3_v3_ohneConstraints.json
Normal file
123
pipeline/aruco_positions_optimized_Set3_v3_ohneConstraints.json
Normal file
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
}
|
||||
123
pipeline/aruco_positions_optimized_Set3_v4.json
Normal file
123
pipeline/aruco_positions_optimized_Set3_v4.json
Normal file
@@ -0,0 +1,123 @@
|
||||
{
|
||||
"schema_version": "1.2",
|
||||
"created_utc": "2026-05-29T17:29:56Z",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
1593
pipeline/arucos_state.json
Normal file
1593
pipeline/arucos_state.json
Normal file
File diff suppressed because it is too large
Load Diff
799
pipeline/arucos_state_set3.json
Normal file
799
pipeline/arucos_state_set3.json
Normal file
@@ -0,0 +1,799 @@
|
||||
{
|
||||
"schema_version": "2.0",
|
||||
"created_utc": "2026-05-29T18:13:32Z",
|
||||
"source": {
|
||||
"marker_positions_file": "aruco_positions_optimized_Set3_v4.json",
|
||||
"robot_file": "..\\robot.json"
|
||||
},
|
||||
"summary": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"success": true,
|
||||
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|
||||
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|
||||
"nfev": 4,
|
||||
"njev": 4
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
"success": true,
|
||||
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|
||||
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|
||||
"nfev": 1,
|
||||
"njev": 1
|
||||
}
|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"world_pose": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
"value_deg": 9.0,
|
||||
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|
||||
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|
||||
},
|
||||
"e": {
|
||||
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|
||||
"value_mm": 1.0,
|
||||
"joint_type": "linear",
|
||||
"link": "FingerB"
|
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652
pipeline/render_3positinSet.json
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652
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|
||||
204.70373332500458,
|
||||
-295.4392731189728,
|
||||
179.90505695343018
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9744254350662231,
|
||||
-0.20712058246135712,
|
||||
-0.08525115996599197,
|
||||
0.018120698630809784
|
||||
],
|
||||
"normal": [
|
||||
-0.1736481487751007,
|
||||
0.40055757761001587,
|
||||
0.8996666669845581
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "aruco_101",
|
||||
"id": 101,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.23908136785030365,
|
||||
-0.31593865156173706,
|
||||
0.13386270403862
|
||||
],
|
||||
"position_mm": [
|
||||
239.08136785030365,
|
||||
-315.93865156173706,
|
||||
133.86270403862
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.4516582787036896,
|
||||
-0.09600294381380081,
|
||||
0.8676275014877319,
|
||||
-0.18441995978355408
|
||||
],
|
||||
"normal": [
|
||||
0.8191521167755127,
|
||||
-0.23329465091228485,
|
||||
-0.5239881277084351
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "aruco_102",
|
||||
"id": 102,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.18963702023029327,
|
||||
-0.31948474049568176,
|
||||
0.1258980929851532
|
||||
],
|
||||
"position_mm": [
|
||||
189.63702023029327,
|
||||
-319.48474049568176,
|
||||
125.8980929851532
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.2941346764564514,
|
||||
-0.06252026557922363,
|
||||
-0.93287593126297,
|
||||
0.1982889324426651
|
||||
],
|
||||
"normal": [
|
||||
-0.5735765099525452,
|
||||
-0.33317920565605164,
|
||||
-0.7483325600624084
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "aruco_124",
|
||||
"id": 124,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.17503933608531952,
|
||||
-0.3439647853374481,
|
||||
0.1618829369544983
|
||||
],
|
||||
"position_mm": [
|
||||
175.03933608531952,
|
||||
-343.9647853374481,
|
||||
161.8829369544983
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.6287412643432617,
|
||||
-0.13364310562610626,
|
||||
-0.749304473400116,
|
||||
0.15926963090896606
|
||||
],
|
||||
"normal": [
|
||||
-0.9848078489303589,
|
||||
-0.07062903046607971,
|
||||
-0.15863528847694397
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "aruco_219",
|
||||
"id": 219,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.24496068060398102,
|
||||
-0.33895012736320496,
|
||||
0.17314603924751282
|
||||
],
|
||||
"position_mm": [
|
||||
244.96068060398102,
|
||||
-338.95012736320496,
|
||||
173.14603924751282
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.749304473400116,
|
||||
-0.15926964581012726,
|
||||
0.6287412643432617,
|
||||
-0.13364310562610626
|
||||
],
|
||||
"normal": [
|
||||
0.9848078489303589,
|
||||
0.0706290453672409,
|
||||
0.15863528847694397
|
||||
]
|
||||
}
|
||||
]
|
||||
@@ -1,10 +0,0 @@
|
||||
|
||||
python3 1_detect_aruco_observations.py --image render_3a.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
|
||||
python3 1_detect_aruco_observations.py --image render_3b.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
|
||||
python3 1_detect_aruco_observations.py --image render_3c.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
|
||||
|
||||
|
||||
|
||||
python3 2_estimate_camera_from_observations.py --robot ../robot.json --i render_3a_aruco_detection.json --outDir "C:/Users/kech/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/pipeline/"
|
||||
python3 2_estimate_camera_from_observations.py --robot ../robot.json --i render_3b_aruco_detection.json --outDir "C:/Users/kech/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/pipeline/"
|
||||
python3 2_estimate_camera_from_observations.py --robot ../robot.json --i render_3c_aruco_detection.json --outDir "C:/Users/kech/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/pipeline/"
|
||||
@@ -11,20 +11,22 @@ set ROBOT_JSON=..\robot.json
|
||||
set OUT_DIR=.
|
||||
|
||||
REM Camera 1
|
||||
set IMG_1=render_3c.png
|
||||
set IMG_1=render_1a.png
|
||||
set NPZ_1=render.npz
|
||||
set CAM_ID_1=cam1
|
||||
|
||||
REM Camera 2 (example - you need actual second camera image)
|
||||
set IMG_2=render_3b.png
|
||||
set IMG_2=render_1b.png
|
||||
set NPZ_2=render.npz
|
||||
set CAM_ID_2=cam2
|
||||
|
||||
REM Camera 3 (example)
|
||||
set IMG_3=render_3a.png
|
||||
set IMG_3=render_1c.png
|
||||
set NPZ_3=render.npz
|
||||
set CAM_ID_3=cam3
|
||||
|
||||
|
||||
|
||||
echo [STEP 1] Detect ArUco markers from all cameras
|
||||
python 1_detect_aruco_observations.py -i %IMG_1% -npz %NPZ_1% -robot %ROBOT_JSON% -cameraId %CAM_ID_1% -outDir %OUT_DIR%
|
||||
python 1_detect_aruco_observations.py -i %IMG_2% -npz %NPZ_2% -robot %ROBOT_JSON% -cameraId %CAM_ID_2% -outDir %OUT_DIR%
|
||||
@@ -32,13 +34,13 @@ python 1_detect_aruco_observations.py -i %IMG_3% -npz %NPZ_3% -robot %ROBOT_JSON
|
||||
|
||||
echo.
|
||||
echo [STEP 2] Estimate camera poses from detections
|
||||
python 2_estimate_camera_from_observations.py -i render_3c_aruco_detection.json -robot %ROBOT_JSON% -outDir %OUT_DIR%
|
||||
python 2_estimate_camera_from_observations.py -i render_3b_aruco_detection.json -robot %ROBOT_JSON% -outDir %OUT_DIR%
|
||||
python 2_estimate_camera_from_observations.py -i render_3a_aruco_detection.json -robot %ROBOT_JSON% -outDir %OUT_DIR%
|
||||
python 2_estimate_camera_from_observations.py -i render_3b_aruco_detection.json -robot %ROBOT_JSON% -outDir %OUT_DIR%
|
||||
python 2_estimate_camera_from_observations.py -i render_3c_aruco_detection.json -robot %ROBOT_JSON% -outDir %OUT_DIR%
|
||||
|
||||
echo.
|
||||
echo [STEP 3] Triangulate marker positions from multi-view observations
|
||||
python 3_multiview_bundle_adjustment_v2.py ^
|
||||
python 3_multiview_bundle_adjustment_v6.py ^
|
||||
-det render_3a_aruco_detection.json ^
|
||||
-det render_3b_aruco_detection.json ^
|
||||
-det render_3c_aruco_detection.json ^
|
||||
|
||||
Reference in New Issue
Block a user