ChK/appRobotRender
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chk
2026-05-30 07:52:59 +02:00
parent dd95d56790
commit 452501467e
40 changed files with 40057 additions and 108 deletions
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14
pipeline/run_pipeline_multiview.bat
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@@ -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 ^