merge vom thinkcentre > reconstruct

run/run_analyze.bat

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+@echo off
+REM run_analyze.bat
+REM Aggregiert die Kamera-Studie: Genauigkeit je Kameraanzahl (3, 4 ... k)
+REM ueber alle berechneten Szenen und Subsets.
+REM
+REM Aufruf:
+REM   run_analyze.bat                        (Finger-Fehler in mm, Standard)
+REM   run_analyze.bat --metric wrist_error_mm
+REM   run_analyze.bat --metric mean_abs_deg
+
+cd /d "%~dp0.."
+python benchmark\camera_count\analyze.py %*

run/run_camera_study.bat

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+@echo off
+REM run_camera_study.bat
+REM Untersucht wie viele Kameras fuer die Pose-Schaetzung benoetigt werden.
+REM
+REM Einfacher Aufruf (alle Szenen mit pose.json, 10 Samples pro k):
+REM   run_camera_study.bat
+REM
+REM Mit Optionen:
+REM   run_camera_study.bat --scenes Scene7 Scene9 --k-min 3 --k-max 5 --samples 15
+REM   run_camera_study.bat --force
+REM   run_camera_study.bat --clean
+REM   run_camera_study.bat --clean --scenes Scene10
+REM
+REM Auswertung danach:
+REM   python benchmark\camera_count\analyze.py
+
+cd /d "%~dp0.."
+python benchmark\camera_count\run_camera_study.py %*

run/run_eval_pose.bat

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+@echo off
+REM run_eval_pose.bat
+REM Wertet eine geschaetzte Pose gegen die Ground Truth aus.
+REM Gibt Gelenkwinkelfehler (deg/mm) sowie Handgelenk- und Finger-Abstand (mm) aus.
+REM
+REM Aufruf:
+REM   run_eval_pose.bat data\evaluations\Scene8
+REM   run_eval_pose.bat data\camera_study\Scene10\k3_abc
+
+cd /d "%~dp0.."
+
+if "%1"=="" (
+    echo.
+    echo [INFO] Aufruf fehlt!
+    echo Beispiel: run_eval_pose.bat data\evaluations\Scene8
+    echo.
+    exit /b 1
+)
+
+set "EVAL_DIR=%~1"
+if "%EVAL_DIR:~-1%"=="\" set "EVAL_DIR=%EVAL_DIR:~0,-1%"
+
+for %%I in ("%EVAL_DIR%") do set "SCENE_NAME=%%~nxI"
+
+set "ROBOT_STATE=%EVAL_DIR%\robot_state.json"
+set "GT=data\simulation\%SCENE_NAME%\pose.json"
+set "ROBOT=data\robot\robot.json"
+
+python benchmark\eval_pose.py "%ROBOT_STATE%" "%GT%" --robot "%ROBOT%"

run/run_eval_pose.sh

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+#!/usr/bin/env bash
+# run_eval_pose.sh
+# Wertet eine geschätzte Pose gegen die Ground Truth aus.
+# Gibt Gelenkwinkelfehler (deg/mm) sowie Handgelenk- und Finger-Abstand (mm) aus.
+#
+# Aufruf:
+#   ./run/run_eval_pose.sh data/evaluations/Scene8
+#   ./run/run_eval_pose.sh data/camera_study/Scene10/k3_abc
+
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+if [[ $# -eq 0 ]]; then
+    echo
+    echo "[INFO] Aufruf fehlt!"
+    echo "Beispiel: ./run/run_eval_pose.sh data/evaluations/Scene8"
+    echo
+    exit 1
+fi
+
+EVAL_DIR="${1%/}"
+SCENE_NAME="$(basename "$EVAL_DIR")"
+
+python3 "$ROOT/benchmark/eval_pose.py" \
+    "$ROOT/$EVAL_DIR/robot_state.json" \
+    "$ROOT/data/simulation/$SCENE_NAME/pose.json" \
+    --robot "$ROOT/data/robot/robot.json"

run/run_evaluateMarker.sh

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+#!/usr/bin/env bash
+# run_evaluateMarker.sh
+# Vergleicht triangulierte Marker-Positionen (initial und optimiert) mit der
+# Blender-Grundwahrheit (render_a.json der Simulationsszene).
+#
+# Aufruf:
+#   ./run_evaluateMarker.sh ../data/evaluations/Scene8
+
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROOT="$(dirname "$SCRIPT_DIR")"
+
+if [[ $# -eq 0 ]]; then
+    echo
+    echo "[INFO] Aufruf fehlt!"
+    echo "Beispiel: ./run_evaluateMarker.sh ../data/evaluations/Scene8"
+    echo
+    exit 1
+fi
+
+EVAL_DIR="${1%/}"                          # trailing slash entfernen
+SCENE_NAME="$(basename "$EVAL_DIR")"
+ORIGINAL="$ROOT/data/simulation/$SCENE_NAME/render_a.json"
+
+echo "===================================="
+echo "INITIAL:"
+python3 "$ROOT/pipeline/9_evaluateMarker.py" \
+    "$EVAL_DIR/aruco_positions_initial.json" \
+    "$ORIGINAL"
+
+echo "===================================="
+echo "OPTIMIZED:"
+python3 "$ROOT/pipeline/9_evaluateMarker.py" \
+    "$EVAL_DIR/aruco_positions_optimized.json" \
+    "$ORIGINAL"