16MPixel Bilder + Arbeiten an Statistik

run/run_evaluateMarker.bat

@@ -0,0 +1,41 @@
+
+
+
+
+REM Wenn kein Argument übergeben wurde
+if "%1"=="" (
+    echo.
+    echo [INFO] Aufruf fehlt!
+    echo Beispiel: .\run_evaluateMarker.bat ../data/evaluations/Scene4/
+    echo.
+    exit /b
+)
+
+
+set "IMAGES=%~1"
+
+REM trailing slash entfernen
+if "%IMAGES:~-1%"=="\" set "IMAGES=%IMAGES:~0,-1%"
+if "%IMAGES:~-1%"=="/" set "IMAGES=%IMAGES:~0,-1%"
+
+
+set BASE_SIM=C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation
+
+REM ✅ richtigen Namen extrahieren
+for %%I in ("%IMAGES%") do set "SCENE_NAME=%%~nxI"
+
+
+set ORIGINAL=%BASE_SIM%\%SCENE_NAME%\render_a.json
+
+
+ECHO ====================================
+ECHO INITIAL: 
+python3 ../pipeline/9_evaluateMarker.py ^
+    "%IMAGES%\aruco_positions_initial.json" ^
+    "%ORIGINAL%"
+
+ECHO ====================================
+ECHO OPTIMIZED: 
+python3 ../pipeline/9_evaluateMarker.py ^
+    "%IMAGES%\aruco_positions_optimized.json" ^
+    "%ORIGINAL%"

run/run_pipeline.bat

@@ -8,14 +8,32 @@ REM                  run_pipeline.bat ../data/simulation/Scene4
 
 
 
-set IMAGES=%~1
+REM Wenn kein Argument übergeben wurde
+if "%1"=="" (
+    echo.
+    echo [INFO] Aufruf fehlt!
+    echo Beispiel: .\run_pipeline.bat ../data/simulation/Scene4
+    echo.
+    exit /b
+)
 
 
+set "IMAGES=%~1"
+
+REM trailing slash entfernen
+if "%IMAGES:~-1%"=="\" set "IMAGES=%IMAGES:~0,-1%"
+if "%IMAGES:~-1%"=="/" set "IMAGES=%IMAGES:~0,-1%"
+
 set ROBOT_JSON=..\data\robot\robot.json
 set BASE_OUT_DIR=C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\evaluations
-set SCENE_NAME=%~nx1
+
+REM ✅ richtigen Namen extrahieren
+for %%I in ("%IMAGES%") do set "SCENE_NAME=%%~nxI"
+
 set OUT_DIR=%BASE_OUT_DIR%\%SCENE_NAME%
 
+
+
 echo.
 echo [STEP 1] Detect ArUco markers from all cameras in the folder %IMAGES%
 
@@ -65,13 +83,18 @@ for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
     set POSE_ARGS=!POSE_ARGS! -pose "%%F"
 )
 
-REM Debug-Ausgabe
-echo DET_ARGS: !DET_ARGS!
-echo POSE_ARGS: !POSE_ARGS!
-
-REM EINMAL Python aufrufen
-python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
+python3 "..\pipeline\3_multiview_bundle_adjustment_v5.py" ^
     -robot "%ROBOT_JSON%" ^
     -lambdaWeight 100.0 ^
     !DET_ARGS! ^
     !POSE_ARGS!
+
+
+echo.
+echo [STEP 4] Robotics Pose calculation of angles and joint positions
+
+
+python3 "..\pipeline\4_robotState_estimation_v6.py" ^
+    "%OUT_DIR%\aruco_positions_optimized.json" ^
+    -robot "%ROBOT_JSON%" ^
+    -out "%OUT_DIR%\robot_state.json"