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Claude: Abweichungen bei 3 Kameras zählen

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chk
2026-06-03 06:34:26 +02:00
parent 6964f19b28
commit 5c71c00fb4
1397 changed files with 11773 additions and 11317 deletions
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README.md
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@@ -167,6 +167,11 @@ cd run
.\run_pipeline.bat ..\data\simulation\Scene8
```
Nur eine Teilmenge der Kameras verwenden (für Experimente / die Kamera-Studie):
```bash
python pipeline/run_pipeline.py data/simulation/Scene8 --cameras a,c,f
```
**Einzelne Stufen** (zum Experimentieren):
```bash
python pipeline/3b_corner_marker_poses.py --evalDir data/evaluations/Scene8 --robot data/robot/robot.json
@@ -176,11 +181,20 @@ python pipeline/pose_estimation.py data/evaluations/Scene8/aruco_marker_poses.js
**Validierung & Benchmark:**
```bash
python benchmark/eval_pose.py data/evaluations/Scene8/robot_state.json data/simulation/Scene8/pose.json
python benchmark/eval_pose.py data/evaluations/Scene8/robot_state.json data/simulation/Scene8/pose.json --robot data/robot/robot.json
python benchmark/run_benchmark.py --scenes 4 5 6 7 8 9 9a 9b 11 12
python benchmark/stage0_corner_normals.py --evalDir data/evaluations/Scene5 --gt data/simulation/Scene5/render_a.json
python pipeline/9_evaluateMarker.py data/evaluations/Scene8/aruco_marker_poses.json data/simulation/Scene8/render_a.json
```
Mit `--robot` ergänzt `eval_pose.py` FK-basierte Positionsfehler in mm (Handgelenk
und Finger getrennt; unbeobachtbare Punkte werden als unbekannt gewertet).
**Kamera-Anzahl-Studie** (Wie viele Kameras braucht es? — eigener Unterordner):
```bash
run\run_camera_study.bat # alle Szenen, k = 3..alle
python benchmark/camera_count/analyze.py # Tabelle + Boxplot (mm)
```
Details: [`benchmark/camera_count/README.md`](benchmark/camera_count/README.md).
**Szenengenerator** (Blender → Bilder + npz + Grundwahrheit):
```bat
@@ -196,8 +210,9 @@ Normale, eingefärbt nach Abweichung zur Modellnormale (grün <2° / gelb 2–5
| Pfad | Inhalt |
|---|---|
| `pipeline/` | Pipeline-Stufen 1–4, `robot_fk.py`, `pose_estimation.py` |
| `pipeline/` | Pipeline-Stufen 1–4, `robot_fk.py`, `pose_estimation.py`, `run_pipeline.py` (mit `--cameras`) |
| `benchmark/` | `stage0_corner_normals.py`, `eval_pose.py`, `run_benchmark.py` |
| `benchmark/camera_count/` | Kamera-Anzahl-Studie (`run_camera_study.py`, `analyze.py`, eigene README) |
| `run/` | `.bat`-Starter, `robot_viewer.html` |
| `setup/generateSets/` | Blender-Szenengenerator (`render_Loop.py`, `render_robot.py`) |
| `data/robot/robot.json` | Modell + Konfiguration |