Scene Roadmap

2026-06-10 07:13:19 +02:00
parent f7358cea8d
commit 773e32c51c
10 changed files with 4959 additions and 68 deletions
--- a/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet223.json
+++ b/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet223.json
@@ -0,0 +1,33 @@
+{
+  "page_format": "A3",
+  "orientation": "portrait",
+  "page_size_mm": {
+    "width": 297.0,
+    "height": 420.0
+  },
+  "seed": 223,
+  "num_arucos": 10,
+  "aruco_size_mm": 50.0,
+  "aruco_dictionary": "DICT_4X4_250",
+  "aruco_start_id": 46,
+  "page_border_margin_mm": 20.0,
+  "forbidden_rectangle_mm": {
+    "x": 143.5,
+    "y": 205.0,
+    "w": 10.0,
+    "h": 10.0
+  },
+  "forbidden_rectangle_margin_mm": 30.0,
+  "placements": [
+    {"id": 46, "position": [96.26, 119.02, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 47, "position": [158.68, 110.29, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 48, "position": [-43.31, 5.63, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 49, "position": [63.52, -4.25, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 50, "position": [27.77, 149.72, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 51, "position": [-98.03, 38.72, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 52, "position": [-120.71, 148.79, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 53, "position": [72.76, 59.77, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 54, "position": [-156.67, 34.05, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 55, "position": [-110.82, 93.01, -27.3], "normal": [0, 0, 1], "spin": 90}
+  ]
+}
--- a/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet223.pdf
+++ b/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet223.pdf
@@ -0,0 +1,74 @@
+%PDF-1.3
+%“Œ‹ž ReportLab Generated PDF document http://www.reportlab.com
+1 0 obj
+<<
+/F1 2 0 R /F2 3 0 R
+>>
+endobj
+2 0 obj
+<<
+/BaseFont /Helvetica /Encoding /WinAnsiEncoding /Name /F1 /Subtype /Type1 /Type /Font
+>>
+endobj
+3 0 obj
+<<
+/BaseFont /Times-Roman /Encoding /WinAnsiEncoding /Name /F2 /Subtype /Type1 /Type /Font
+>>
+endobj
+4 0 obj
+<<
+/Contents 8 0 R /MediaBox [ 0 0 841.8898 1190.551 ] /Parent 7 0 R /Resources <<
+/Font 1 0 R /ProcSet [ /PDF /Text /ImageB /ImageC /ImageI ]
+>> /Rotate 0 /Trans <<
+
+>> 
+  /Type /Page
+>>
+endobj
+5 0 obj
+<<
+/PageMode /UseNone /Pages 7 0 R /Type /Catalog
+>>
+endobj
+6 0 obj
+<<
+/Author (OpenAI) /CreationDate (D:20260609100839+02'00') /Creator (ReportLab PDF Library - www.reportlab.com) /Keywords () /ModDate (D:20260609100839+02'00') /Producer (ReportLab PDF Library - www.reportlab.com) 
+  /Subject (A0 poster with random ArUco placement) /Title (A3_10Arucos_50mm_Seet223) /Trapped /False
+>>
+endobj
+7 0 obj
+<<
+/Count 1 /Kids [ 4 0 R ] /Type /Pages
+>>
+endobj
+8 0 obj
+<<
+/Filter [ /ASCII85Decode /FlateDecode ] /Length 2256
+>>
+stream
+Gasb^c)r<L%#+HM.C+V0R+R8eZUFpRXJ"GN0h@+g"WLbi='*AObm`^/.uekT^TKc`,iq!cbphBh5QC]L;bGq3dW[or@S)WAM(@-Kpc8<BGdBd2p\,bJT:b>G9Ol;/QtIaGHgCFun\\R[^AH)LDaL5K<a5F@5#HBrhRP!S9Uqq+)0EU[0C8;F^@>8hc6K6Q-e17IqXj](D4N^H9n1io5//-oU((jsCT;e\51G!$RnTZ;p57s"r=ne@2]#of7ERf;T(gFg`c@q3Mg:nHfM!N+P>$DsH3q.!3+"eSYI0L5WMthC6fq'?W/5'@0@#\6[V+To(cr+Jm>A-jSP#LkC\&faD@kR&*@VQ3F(gseG:WuLoc.FaHNRCE#&%so`Eirncr^:LCP^ZGJV@\d\#ea#Yb#dWDS<i2QX1QY$At)ei4K'%ceHsl`k5ka%LB[e!*C=QKO&X3@6KC%I4bki`j$jaC=eVV8,6=O/>>dH*Ak<JH@/?BeFma*r0\TJ%ba#eQ*3'7qR.B&alPF)V(sa3=n-*YcmdI:JQV#'Ei]QQ>:,?d"k'VQ@&n=r-B\F^/o(IQee!"-6Su;1[96Cg4Mjqtcn,8XX\5l:QUPiGQ#;QK_uSBM!YSb@Q+39DR2O0O:nJ.N]<)+8>6?]5CL^I>_h^+!]OhU<XpALd'*-Ao5_Ok,di,u"?Y>gUfIV;Kbl1Kp=d8KARCY8Sok8%=?Q*/1mAplQ`VSF$Ti5[jA:t\helFKE<i[Rf"@=qi$ECNdQr"+ilIKEfb6?2WEf6#u^T3_S(I6TF!N8)<ffa!KlR;fP4G>mgVa;g4kXm!f[kiPWB7PZsXGpt]DRlh:XoVst#(YMJRVcJuDqQXH"MN5Pco&iDG,G>ESjLAM-2-!JT+YocXgZQ*QIt_*@V;T$m(9?GDcVtSIHn7&c_Ek/I:juH@p:mc1*G.ABs/'uXMiSR@"@&nBX&kl@Q=FiH]-RZ2eKO*Yta#<]2a4D"]uj*J9>c1lf/be4,93Z3Fpm_oo.u4Yats4H4D[A]u@(".mqD#(h*q>Qa7NOYq`htWi[Dl+K[B`>%;X`!e@Ga(o'0D!0+%!/!mtb)ZqP^XN'k.)J^dta$%mhB)6B&Wh&p`mKboFfrbEnbOsZE+KUNCLPN+VkN3N,]4+SUrZa3EL7$fJ!7p65)OB/f0d!_:OUJBWC,*?&!N]K-1b<FqF<B*c+ua,C>_$t-J;-^7*JLTR\\#.q,QQEW,4)lf&9_2DoIaoo>O^g>,JY55Y#,;R*<X*'$ioTJ6u5t:>L&R'l_AM_mj`"".C-hN]Lb,Aou5=U7*b\e#i"'Yru5Ce4R[b%Cfr]`&[q?'r\pRfF5Uk-;m7iV3<6.-MqP3K3:G9W7].I%[`r!%&U*CB=P&J$fCdkGhfHj1`iRJkKQXtY#1m(c204)!Y,Mo(So0@%@km8_@KCA))qB+])e=ppN-YO[l3W.-:*<"hJH--pV@5W\okEl!O["aNs/.Z\lSI^dk-R*dPoUm/MEkhs[]cVC5[1tjVZWlfpX9/KT(g\7V=))K8^4^T]01\3h6m<,W<FQWggb3_JOojo,p>ae"L3^]fL$g=`U&luY\PQck]-m+F_B8:Q"ZYqS,o]u%5GIn!8(ilOKbgGUG%S7?C*O&?.K#,XWadI7qXP[f<_d`NM#pjIL1Dil1<G:b%m>XNj[t\9s(h![GJ(7=bqiTLc*3t=,]#[<SDuUD@Q4-F"E!8NEXXA@<W40BZP$HkV:#S4,ZrP)kpPP/qfcO!<%kbW`q]:2a;^u!HbjWd%rQg[oPY`D<P73oV"TRQOpK-6TH4,'MJVEHFNt@klU4_C(Ss;LtJp5Q)^0=<`86%cO*WX.o98]=u7tgY.3Bg(.r,#FDVSi@L[J#fREaIbRf:V7e#qh1k`7]rV/r(U;:ol]bC.pc%>*iZWf)u\m@Y>euOMsrkY^t"i0t:`9]R(0tY-<)R_RtHJ\XQk1s.Xm*6bdG7Gen/r,hM3Q)hZ%_5HImH*6e&@4HRR,'cUloT.UH'c!#K\HB1:%sCHb8\;NDZK*5N3FgfOH$a*>qUuYeu!HS]'Duq0?3W]Mf&9qoe,:u1:6/>jp&(j1?AU(fP3o5=,:_LL/TdL)D\?[hE6R.?]a_pN-Gge]Cc6,lNK,T?@,>+(W]\YXH*P#\i5.^D_^S7`j@5I_VY/M('*ZH&U*D-1q6km$)M6-Dp3).^j04<eZd=Dg0C0e@b0]P_QLG%YW`g&lT%@Lr1hUo08[Yk$ESR)7"&,Me(_W<Reju~>endstream
+endobj
+xref
+0 9
+0000000000 65535 f 
+0000000073 00000 n 
+0000000114 00000 n 
+0000000221 00000 n 
+0000000330 00000 n 
+0000000533 00000 n 
+0000000601 00000 n 
+0000000936 00000 n 
+0000000995 00000 n 
+trailer
+<<
+/ID 
+[<292de92922b99d411f4915f95f3215c2><292de92922b99d411f4915f95f3215c2>]
+% ReportLab generated PDF document -- digest (http://www.reportlab.com)
+
+/Info 6 0 R
+/Root 5 0 R
+/Size 9
+>>
+startxref
+3342
+%%EOF
--- a/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet224.json
+++ b/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet224.json
@@ -0,0 +1,33 @@
+{
+  "page_format": "A3",
+  "orientation": "portrait",
+  "page_size_mm": {
+    "width": 297.0,
+    "height": 420.0
+  },
+  "seed": 224,
+  "num_arucos": 10,
+  "aruco_size_mm": 50.0,
+  "aruco_dictionary": "DICT_4X4_250",
+  "aruco_start_id": 46,
+  "page_border_margin_mm": 10.0,
+  "forbidden_rectangle_mm": {
+    "x": 143.5,
+    "y": 205.0,
+    "w": 10.0,
+    "h": 10.0
+  },
+  "forbidden_rectangle_margin_mm": 30.0,
+  "placements": [
+    {"id": 46, "position": [-103.49, -14.02, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 47, "position": [17.33, -11.06, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 48, "position": [14.91, 182.28, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 49, "position": [-133.58, 94.98, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 50, "position": [82.51, 132.7, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 51, "position": [147.43, 136.07, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 52, "position": [159.13, -7.87, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 53, "position": [-151.21, 155.25, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 54, "position": [80.2, 56.76, -27.3], "normal": [0, 0, 1], "spin": 90},
+    {"id": 55, "position": [94.41, -7.18, -27.3], "normal": [0, 0, 1], "spin": 90}
+  ]
+}
--- a/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet224.pdf
+++ b/setup/generateTabletopPDF/A3_10Arucos_50mm_Seet224.pdf
@@ -0,0 +1,74 @@
+%PDF-1.3
+%“Œ‹ž ReportLab Generated PDF document http://www.reportlab.com
+1 0 obj
+<<
+/F1 2 0 R /F2 3 0 R
+>>
+endobj
+2 0 obj
+<<
+/BaseFont /Helvetica /Encoding /WinAnsiEncoding /Name /F1 /Subtype /Type1 /Type /Font
+>>
+endobj
+3 0 obj
+<<
+/BaseFont /Times-Roman /Encoding /WinAnsiEncoding /Name /F2 /Subtype /Type1 /Type /Font
+>>
+endobj
+4 0 obj
+<<
+/Contents 8 0 R /MediaBox [ 0 0 841.8898 1190.551 ] /Parent 7 0 R /Resources <<
+/Font 1 0 R /ProcSet [ /PDF /Text /ImageB /ImageC /ImageI ]
+>> /Rotate 0 /Trans <<
+
+>> 
+  /Type /Page
+>>
+endobj
+5 0 obj
+<<
+/PageMode /UseNone /Pages 7 0 R /Type /Catalog
+>>
+endobj
+6 0 obj
+<<
+/Author (OpenAI) /CreationDate (D:20260609100923+02'00') /Creator (ReportLab PDF Library - www.reportlab.com) /Keywords () /ModDate (D:20260609100923+02'00') /Producer (ReportLab PDF Library - www.reportlab.com) 
+  /Subject (A0 poster with random ArUco placement) /Title (A3_10Arucos_50mm_Seet224) /Trapped /False
+>>
+endobj
+7 0 obj
+<<
+/Count 1 /Kids [ 4 0 R ] /Type /Pages
+>>
+endobj
+8 0 obj
+<<
+/Filter [ /ASCII85Decode /FlateDecode ] /Length 2250
+>>
+stream
+Gasb_c&UjC%#"*@'L!jj:dg/icS[tN92<UA6')NeAET%I?9_ED,.k)fZS91([ejia<Cs'$fgA9\++!k^a-Yi]nbr7AB0)t2n"1-M`5hbYa%u/BqNCjUqq'TC"!('LN&_BBR?NH@p#kl@dp%:6qqEcB-&p',g[UnbJoaSu;a4ehU0RIA,Frc-0DbM%hrpOOVid%+B4;qBq""25\"5W<3W@E%ID!:i6lW*_ie.,%H)^[!2C[0;g+/JMe5$Z`I<.!)H7dZS4-0:3lcN+#F]S/t7j9gMYc[!98*<Od'up'm,PsA6/6%ZZ=X@]TZDLYp(B<J9M2u/tP_h8?J0es0eQ*fYF"/pf%FhE'PDlcA-WuW8?p0:n&f2:8j:JYh"2L?aJ2M7"le\q=#.`P2f>[l"9gd-nL7tLL%>OEW=N_Lh[pFT-]cp&?4m9C1lc6,l-KdJAF,3uF!FYX=,OD"c#\uFglsimhX_UXuWEi/K^.R#B6+'u28J9RVaHtpKDVlQ)Iin-O(B&5p/\IjcTp8Eg\.-!tQ76h9%^AH#7ZYa(19@4.Ye?j\o7YaFC!6X`Q@fC=\MkoAK\bJrG'cU/m1!IZ>LOn#n85krj+ae8+_G#4cH?.M2Lp/UehR>0di5WrQaD@GP8DUSYVmR'f";$bH&Ghs`^@?Y\R-Sj2h^".#@Vfd#eP.CfUYCN`q>PkP,R9q7/C%Nqb-m(l?UlO7pCCecpR;c,T,9Y(jdnI4*BAJ'4Q;kVlHnj#g99U</@q%6n^]t5%`u.YhL,4RU5'bVH5E6U-?Th!pgseKJd[&CZC/RQ33erEmP=cI@'$qYa.Z#\i5-sDh&&`7Pj>A>Q_d1L6sh-XFjem&<\]`mX,UicSL*Z*"[;V&@,`HD6mI[os-nTjK,cLV:O3];I+,ZjXR8#?-gF"DU"Rg`9J0s.N#3r<%;CZXrBaS6&=%s\IXLEb(1u6Ed)ssjUecd/S8:,aI:sG7\ZCXU).84\0:54L9Q$[&9d4:Yb"5Bo0Z%Y!,FRpXQ9Gdjt13$RpHpr_F(s:XEanMdi5WrQhhR*U).330>Q:D!3FF:J@-@@2QY*GE_4J8Yq?Gt?(N]lR>4+MXViG?_id-FU("<7,cQC#dLo+fLt+A[pBe)V=2"U,L9Qt2S`/FmjaaSi)o.nKJ9AOggiIPM!5$8\@Ei$#]!n&LD\DKK\R'eD]eSi!A(L=URkOMaQ]D<cRU1O#k68Z4\!V;V=g+c:_n6#ON>oZ:%KL9)`2r,5Z!jaL.At*>H5a,]4g=#!>!"_Rk4LSVog-&NBI%I)A%ABt7Y02=WDggh0iP38p+U$"h+U`a@QfLS\LeK<!FX/VbduYu28/>TVUW6/`8h!`<Z@e\2F^tflZt>C?&H/C(u6tk7U9ec\lNDp11_YN*+:F%J2LsoldfOr^$.t2>8s6V5QInI!3hak^fh4&lT%@L>W3U-'"&L92X4F(l(r9XQ:;HLXn1i(j_jo.Bre<52T/Wk\]kJddWL6dN#e^pW\/o(>BJtpCDd9-*Q'r;S@;M6@R/R_%:Dm_^m\NU-=]3>Jk1]#QOpJM5tANPPnfN#^m\MYh3.kIh-/$k253L8A(CX'T+_KG0uU.tMqMt7EAr;_W<1W^G$@>dD%0qJ#Qq0I&@1gH/ubbeT%EqfGu`/\;E8=U;Ok@og;hh"Mkb_b,)2b+O5eq6NR7@r<Bdl16^4ViaTFi:[A]oEkYhPoe?jM1a7g96a?CK"=dL(CE4ssrkM$[3l*qo6FPM"+;"!bD5E0U&533?^XuFq9p!.\EYhjT%He\VP1a'gr%Jlc]kH/(>!3eOlJ@0b:G+V&+CH4e!I/euU,uM#fCPb2);15E37E\Y:\"U?GUFE[!>?]6K>E:99CgGek]jU3\>+R8VgGm<$WYJsom=WGhYCJRT5o[OEDstAa%Pd9q!S6lE)ReK`b5'O=0GXr+`r]\Y2h^#D!7nht/'6rY8iRRdlT"sHjT)NN"2J(MJ2bY;>GTYapWPaTR.VF!eoCamo*4D9Dq]H%F7V!W(:3E<@*KY+g)'pnjUe\*%Bm11'$JdiRH`G?jO`_eCM0i2W<N>$l1^o&6%r/6k.KDr!#=%u\pXQ!23l_Ya(WT<3[(F*cpS]>qo=hC!&84d6e%reW(C9E=&S2:G)hU`^tK>"X;Qq!G8@MsNJ;U/rDnLZ"2LA\R!#qo]B-1O98;4Zs!AOi9`i,!">,A7<D3J0mYQS#Hf?17*XRAi(a9a*U6\HHE2'f?@VaLZH)cG9g])/R!CZ~>endstream
+endobj
+xref
+0 9
+0000000000 65535 f 
+0000000073 00000 n 
+0000000114 00000 n 
+0000000221 00000 n 
+0000000330 00000 n 
+0000000533 00000 n 
+0000000601 00000 n 
+0000000936 00000 n 
+0000000995 00000 n 
+trailer
+<<
+/ID 
+[<544804e2078c10a71a717f7cd03ded29><544804e2078c10a71a717f7cd03ded29>]
+% ReportLab generated PDF document -- digest (http://www.reportlab.com)
+
+/Info 6 0 R
+/Root 5 0 R
+/Size 9
+>>
+startxref
+3336
+%%EOF
--- a/setup/generateTabletopPDF/a3_aruco.py
+++ b/setup/generateTabletopPDF/a3_aruco.py
@@ -0,0 +1,417 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import json
+import random
+from dataclasses import dataclass
+from pathlib import Path
+from typing import List, Tuple
+
+from reportlab.pdfgen import canvas
+from reportlab.lib.units import mm
+from reportlab.pdfbase import pdfmetrics
+
+try:
+    import cv2
+except ImportError as exc:
+    raise SystemExit(
+        "OpenCV ist erforderlich. Installiere es mit: pip install opencv-contrib-python"
+    ) from exc
+
+
+# =========================
+# Header / Parameter
+# =========================
+
+PAGE_FORMAT = "A3"            # z.B. A0, A1, A2, A3, A4
+ORIENTATION = "portrait"      # "portrait" oder "landscape"
+
+NUM_ARUCOS = 10
+ARUCO_SIZE_MM = 50.0
+ARUCO_START_ID = 46          # erster Marker aus DICT_4X4_250
+SEED = 224                    # Zufalls-Seed für reproduzierbare Verteilung
+
+PAGE_BORDER_MARGIN_MM = 10.0  # Abstand aller Marker vom Seitenrand
+
+FORBIDDEN_RECT_W_MM = 10.0
+FORBIDDEN_RECT_H_MM = 10.0
+FORBIDDEN_RECT_MARGIN_MM = 30.0   # keine ArUcos innerhalb dieses Abstands
+
+LINE_WIDTH_MM = 1.0           # Linienstärke des Rechtecks
+TEXT_FONT = "Times-Roman"
+TEXT_SIZE_PT = 8
+TEXT_GAP_MM = 4.0
+
+OUTPUT_BASENAME = f"{PAGE_FORMAT}_{NUM_ARUCOS}Arucos_{int(ARUCO_SIZE_MM)}mm_Seet{SEED}"
+
+
+# =========================
+# DIN-Formate
+# =========================
+
+DIN_SIZES_MM = {
+    "A0": (841.0, 1189.0),
+    "A1": (594.0, 841.0),
+    "A2": (420.0, 594.0),
+    "A3": (297.0, 420.0),
+    "A4": (210.0, 297.0),
+}
+
+
+@dataclass(frozen=True)
+class RectMM:
+    x: float
+    y: float
+    w: float
+    h: float
+
+    def intersects(self, other: "RectMM") -> bool:
+        return not (
+            self.x + self.w <= other.x
+            or other.x + other.w <= self.x
+            or self.y + self.h <= other.y
+            or other.y + other.h <= self.y
+        )
+
+
+def mm_to_pt(value_mm: float) -> float:
+    return value_mm * mm
+
+
+def get_page_size_mm(page_format: str, orientation: str) -> Tuple[float, float]:
+    if page_format not in DIN_SIZES_MM:
+        raise ValueError(f"Unbekanntes Format: {page_format}. Unterstützt: {sorted(DIN_SIZES_MM)}")
+
+    w_mm, h_mm = DIN_SIZES_MM[page_format]
+    if orientation.lower() == "portrait":
+        return w_mm, h_mm
+    if orientation.lower() == "landscape":
+        return h_mm, w_mm
+    raise ValueError("ORIENTATION muss 'portrait' oder 'landscape' sein.")
+
+
+def centered_rect(page_w_mm: float, page_h_mm: float, rect_w_mm: float, rect_h_mm: float) -> RectMM:
+    return RectMM(
+        x=(page_w_mm - rect_w_mm) / 2.0,
+        y=(page_h_mm - rect_h_mm) / 2.0,
+        w=rect_w_mm,
+        h=rect_h_mm,
+    )
+
+
+def expand_rect(rect: RectMM, margin_mm: float) -> RectMM:
+    return RectMM(
+        x=rect.x - margin_mm,
+        y=rect.y - margin_mm,
+        w=rect.w + 2.0 * margin_mm,
+        h=rect.h + 2.0 * margin_mm,
+    )
+
+
+def get_aruco_dictionary():
+    # DICT_4X4_250 hat IDs 0..249
+    return cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_250)
+
+
+def marker_module_pattern(marker_id: int) -> List[List[int]]:
+    """
+    Liefert ein 6x6-Raster (inkl. schwarzem Rand).
+    1 = schwarz, 0 = weiss
+    """
+    aruco_dict = get_aruco_dictionary()
+    img = cv2.aruco.generateImageMarker(aruco_dict, marker_id, 600)  # nur zum Abtasten
+    modules = 6
+    cell = img.shape[0] // modules
+
+    pattern: List[List[int]] = []
+    for r in range(modules):
+        row: List[int] = []
+        for c in range(modules):
+            cy = int((r + 0.5) * cell)
+            cx = int((c + 0.5) * cell)
+            pixel = int(img[cy, cx])  # 0 = schwarz, 255 = weiss
+            row.append(1 if pixel < 128 else 0)
+        pattern.append(row)
+    return pattern
+
+
+def draw_aruco_vector(
+    c: canvas.Canvas,
+    x_mm: float,
+    y_mm: float,
+    size_mm: float,
+    marker_id: int,
+    page_h_mm: float,
+) -> None:
+    """
+    Zeichnet den Marker als Vektor-Rechtecke.
+    x_mm, y_mm = linke obere Ecke in mm.
+    """
+    pattern = marker_module_pattern(marker_id)
+    modules = len(pattern)
+    cell_mm = size_mm / modules
+
+    for r in range(modules):
+        for col in range(modules):
+            if pattern[r][col] == 1:
+                cell_x_mm = x_mm + col * cell_mm
+                #cell_y_mm = y_mm + (modules - 1 - r) * cell_mm
+                cell_y_mm = y_mm + r * cell_mm
+                c.rect(
+                    mm_to_pt(cell_x_mm),
+                    mm_to_pt(page_h_mm - cell_y_mm - cell_mm),
+                    mm_to_pt(cell_mm),
+                    mm_to_pt(cell_mm),
+                    stroke=0,
+                    fill=1,
+                )
+
+
+def draw_aruco_label(
+    c: canvas.Canvas,
+    x_mm: float,
+    y_mm: float,
+    size_mm: float,
+    page_h_mm: float,
+    marker_id: int,
+) -> None:
+    c.setFont(TEXT_FONT, TEXT_SIZE_PT)
+    text = str(marker_id)
+    text_width_pt = pdfmetrics.stringWidth(text, TEXT_FONT, TEXT_SIZE_PT)
+    text_x_pt = mm_to_pt(x_mm + size_mm / 2.0) - text_width_pt / 2.0
+    font = pdfmetrics.getFont(TEXT_FONT)
+    ascent_mm = (font.face.ascent / 1000.0) * TEXT_SIZE_PT * 0.352777777777778
+    text_baseline_y_mm = y_mm + size_mm + TEXT_GAP_MM + ascent_mm
+    c.drawString(text_x_pt, mm_to_pt(page_h_mm - text_baseline_y_mm), text)
+
+
+def place_markers(
+    page_w_mm: float,
+    page_h_mm: float,
+    num_markers: int,
+    marker_size_mm: float,
+    border_margin_mm: float,
+    forbidden_area: RectMM,
+    forbidden_margin_mm: float,
+    seed: int,
+) -> List[dict]:
+    rng = random.Random(seed)
+    placed: List[RectMM] = []
+    result: List[dict] = []
+
+    allowed_x_min = border_margin_mm
+    allowed_y_min = border_margin_mm
+    allowed_x_max = page_w_mm - border_margin_mm - marker_size_mm
+    allowed_y_max = page_h_mm - border_margin_mm - marker_size_mm
+
+    if allowed_x_max < allowed_x_min or allowed_y_max < allowed_y_min:
+        raise RuntimeError("Das Poster ist zu klein für Randabstand und Markergrösse.")
+
+    excluded = expand_rect(forbidden_area, forbidden_margin_mm)
+
+    attempts = 0
+    max_attempts = 200000
+
+    while len(result) < num_markers and attempts < max_attempts:
+        attempts += 1
+        x = rng.uniform(allowed_x_min, allowed_x_max)
+        y = rng.uniform(allowed_y_min, allowed_y_max)
+        candidate = RectMM(x=x, y=y, w=marker_size_mm, h=marker_size_mm)
+
+        if any(candidate.intersects(other) for other in placed):
+            continue
+        if candidate.intersects(excluded):
+            continue
+
+        placed.append(candidate)
+        result.append(
+            {
+                "id": ARUCO_START_ID + len(result),
+                "x_mm": round(x, 2),
+                "y_mm": round(y, 2),
+                "size_mm": marker_size_mm,
+            }
+        )
+
+    if len(result) < num_markers:
+        raise RuntimeError(
+            f"Nicht alle Marker konnten platziert werden: {len(result)} von {num_markers} "
+            f"(nach {attempts} Versuchen)."
+        )
+
+    return result
+
+
+def main() -> None:
+    page_w_mm, page_h_mm = get_page_size_mm(PAGE_FORMAT, ORIENTATION)
+
+    if ARUCO_START_ID < 0 or ARUCO_START_ID + NUM_ARUCOS > 250:
+        raise ValueError("ARUCO_START_ID + NUM_ARUCOS muss in den Bereich 0..249 von DICT_4X4_250 fallen.")
+
+    forbidden_rect = centered_rect(page_w_mm, page_h_mm, FORBIDDEN_RECT_W_MM, FORBIDDEN_RECT_H_MM)
+
+    # Neues lokales Koordinatensystem
+    origin_x_mm = forbidden_rect.x + forbidden_rect.w - 90.0
+    origin_y_mm = forbidden_rect.y
+
+    placements = place_markers(
+        page_w_mm=page_w_mm,
+        page_h_mm=page_h_mm,
+        num_markers=NUM_ARUCOS,
+        marker_size_mm=ARUCO_SIZE_MM,
+        border_margin_mm=PAGE_BORDER_MARGIN_MM,
+        forbidden_area=forbidden_rect,
+        forbidden_margin_mm=FORBIDDEN_RECT_MARGIN_MM,
+        seed=SEED,
+    )
+
+    pdf_path = Path(f"{OUTPUT_BASENAME}.pdf")
+    json_path = Path(f"{OUTPUT_BASENAME}.json")
+
+    c = canvas.Canvas(str(pdf_path), pagesize=(mm_to_pt(page_w_mm), mm_to_pt(page_h_mm)))
+    c.setTitle(pdf_path.stem)
+    c.setAuthor("OpenAI")
+    c.setSubject("A0 poster with random ArUco placement")
+
+    # Weisser Hintergrund
+    c.setFillColorRGB(1, 1, 1)
+    c.rect(0, 0, mm_to_pt(page_w_mm), mm_to_pt(page_h_mm), stroke=0, fill=1)
+
+    # Rechteck mit 1 mm schwarzer Linie
+    c.setStrokeColorRGB(0, 0, 0)
+    c.setLineWidth(mm_to_pt(LINE_WIDTH_MM))
+    c.rect(
+        mm_to_pt(forbidden_rect.x),
+        mm_to_pt(page_h_mm - forbidden_rect.y - forbidden_rect.h),
+        mm_to_pt(forbidden_rect.w),
+        mm_to_pt(forbidden_rect.h),
+        stroke=1,
+        fill=0,
+    )
+
+    # Koordinatensystem
+
+    ARROW_LEN_MM = 50.0
+
+    # X-Achse (rot, nach unten)
+    c.setStrokeColorRGB(1, 0, 0)
+    c.setLineWidth(mm_to_pt(1.0))
+
+    c.line(
+        mm_to_pt(origin_x_mm),
+        mm_to_pt(page_h_mm - origin_y_mm),
+        mm_to_pt(origin_x_mm),
+        mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM)),
+    )
+
+    # Pfeilspitze
+    c.line(
+        mm_to_pt(origin_x_mm),
+        mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM)),
+        mm_to_pt(origin_x_mm - 4),
+        mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM - 4)),
+    )
+    c.line(
+        mm_to_pt(origin_x_mm),
+        mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM)),
+        mm_to_pt(origin_x_mm + 4),
+        mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM - 4)),
+    )
+
+    # Y-Achse (grün, nach rechts)
+    c.setStrokeColorRGB(0, 0.7, 0)
+
+    c.line(
+        mm_to_pt(origin_x_mm),
+        mm_to_pt(page_h_mm - origin_y_mm),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
+        mm_to_pt(page_h_mm - origin_y_mm),
+    )
+
+    # Pfeilspitze
+    c.line(
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
+        mm_to_pt(page_h_mm - origin_y_mm),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM - 4),
+        mm_to_pt(page_h_mm - origin_y_mm - 4),
+    )
+    c.line(
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
+        mm_to_pt(page_h_mm - origin_y_mm),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM - 4),
+        mm_to_pt(page_h_mm - origin_y_mm + 4),
+    )
+
+    c.setStrokeColorRGB(0, 0, 0)
+
+    # ArUcos zeichnen
+    c.setFillColorRGB(0, 0, 0)
+    for item in placements:
+        draw_aruco_vector(
+            c=c,
+            x_mm=item["x_mm"],
+            y_mm=item["y_mm"],
+            size_mm=item["size_mm"],
+            marker_id=item["id"],
+            page_h_mm=page_h_mm,
+        )
+        draw_aruco_label(
+            c=c,
+            x_mm=item["x_mm"],
+            y_mm=item["y_mm"],
+            size_mm=item["size_mm"],
+            page_h_mm=page_h_mm,
+            marker_id=item["id"],
+        )
+
+    c.showPage()
+    c.save()
+
+    # JSON mit Positionen
+    with json_path.open("w", encoding="utf-8") as f:
+        meta = {
+            "page_format": PAGE_FORMAT,
+            "orientation": ORIENTATION,
+            "page_size_mm": {"width": page_w_mm, "height": page_h_mm},
+            "seed": SEED,
+            "num_arucos": NUM_ARUCOS,
+            "aruco_size_mm": ARUCO_SIZE_MM,
+            "aruco_dictionary": "DICT_4X4_250",
+            "aruco_start_id": ARUCO_START_ID,
+            "page_border_margin_mm": PAGE_BORDER_MARGIN_MM,
+            "forbidden_rectangle_mm": {
+                "x": round(forbidden_rect.x, 2),
+                "y": round(forbidden_rect.y, 2),
+                "w": forbidden_rect.w,
+                "h": forbidden_rect.h,
+            },
+            "forbidden_rectangle_margin_mm": FORBIDDEN_RECT_MARGIN_MM,
+        }
+
+        f.write(json.dumps(meta, indent=2, ensure_ascii=False)[:-2])
+        f.write(',\n  "placements": [\n')
+
+        for index, p in enumerate(placements):
+            item = {
+                "id": p["id"],
+                "position": [
+                    round((p["y_mm"] + ARUCO_SIZE_MM / 2) - origin_y_mm, 2),
+                    -1*round(origin_x_mm - (p["x_mm"] + ARUCO_SIZE_MM / 2), 2),
+                    -27.3,
+                ],
+                "normal": [0, 0, 1],
+                "spin": 90,
+            }
+            line = json.dumps(item, ensure_ascii=False)
+            if index < len(placements) - 1:
+                line += ","
+            f.write(f"    {line}\n")
+
+        f.write("  ]\n}\n")
+
+    print(f"PDF geschrieben:  {pdf_path.resolve()}")
+    print(f"JSON geschrieben:  {json_path.resolve()}")
+
+
+if __name__ == "__main__":
+    main()