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Claude: Normelen durchziehen

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chk
2026-06-01 18:34:31 +02:00
parent 6655fc6f02
commit a38886ce03
19 changed files with 799 additions and 307 deletions
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340
data/evaluations/Scene9/aruco_positions_initial.json
View File

@@ -1,11 +1,11 @@
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340
data/evaluations/Scene9/aruco_positions_optimized.json
View File

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58
data/evaluations/Scene9/render_a_aruco_detection.json
View File

@@ -1,6 +1,6 @@
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data/evaluations/Scene9/render_a_camera_pose.json
View File

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View File

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2
data/evaluations/Scene9/render_b_camera_pose.json
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18
data/evaluations/Scene9/render_c_aruco_detection.json
View File

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2
data/evaluations/Scene9/render_c_camera_pose.json
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32
data/evaluations/Scene9/render_d_aruco_detection.json
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data/evaluations/Scene9/render_d_camera_pose.json
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62
data/evaluations/Scene9/render_e_aruco_detection.json
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View File

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2
data/evaluations/Scene9/render_f_camera_pose.json
View File

@@ -1,6 +1,6 @@
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72
data/evaluations/Scene9/render_g_aruco_detection.json
View File

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@@ -1828,7 +1828,7 @@
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@@ -1882,7 +1882,7 @@
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2
data/evaluations/Scene9/render_g_camera_pose.json
View File

@@ -1,6 +1,6 @@
{ {
"schema_version": "1.0", "schema_version": "1.0",
"created_utc": "2026-05-31T20:34:19Z", "created_utc": "2026-06-01T16:29:15Z",
"source": { "source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json", "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"

2
data/evaluations/Scene9/robot_state.json
View File

@@ -1,7 +1,7 @@
{ {
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"method": "deterministic_geometric_sequential_prefix", "method": "deterministic_geometric_sequential_prefix",
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12
pipeline/3_multiview_bundle_adjustment_v4.py
View File

@@ -1201,6 +1201,14 @@ def print_observation_weight_summary(obs_weights: Dict[Tuple[int, int], float])
) )
def serialize_vec3(v: Any) -> List[float]:
arr = np.asarray(v, dtype=np.float64).reshape(3)
n = np.linalg.norm(arr)
if n > 1e-12:
arr = arr / n
return [float(x) for x in arr]
# =================================================================== # ===================================================================
# Main # Main
# =================================================================== # ===================================================================
@@ -1310,12 +1318,14 @@ def main() -> None:
initial_output_markers = [] initial_output_markers = []
for marker_id, position in sorted(initial_pos.items()): for marker_id, position in sorted(initial_pos.items()):
normal = marker_meta.get(marker_id, {}).get("normal", None)
initial_output_markers.append( initial_output_markers.append(
{ {
"marker_id": int(marker_id), "marker_id": int(marker_id),
"position_m": [float(x) for x in position], "position_m": [float(x) for x in position],
"position_mm": [float(x * 1000.0) for x in position], "position_mm": [float(x * 1000.0) for x in position],
"link": marker_to_link.get(marker_id, "unknown"), "link": marker_to_link.get(marker_id, "unknown"),
"normal": serialize_vec3(normal) if normal is not None else None,
} }
) )
@@ -1370,12 +1380,14 @@ def main() -> None:
output_markers = [] output_markers = []
for marker_id, position in sorted(optimized_pos.items()): for marker_id, position in sorted(optimized_pos.items()):
normal = marker_meta.get(marker_id, {}).get("normal", None)
output_markers.append( output_markers.append(
{ {
"marker_id": int(marker_id), "marker_id": int(marker_id),
"position_m": [float(x) for x in position], "position_m": [float(x) for x in position],
"position_mm": [float(x * 1000.0) for x in position], "position_mm": [float(x * 1000.0) for x in position],
"link": marker_to_link.get(marker_id, "unknown"), "link": marker_to_link.get(marker_id, "unknown"),
"normal": serialize_vec3(normal) if normal is not None else None,
} }
) )

2
run/run_pipeline.bat
View File

@@ -83,7 +83,7 @@ for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
set POSE_ARGS=!POSE_ARGS! -pose "%%F" set POSE_ARGS=!POSE_ARGS! -pose "%%F"
) )
python3 "..\pipeline\3_multiview_bundle_adjustment_v5.py" ^ python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
-robot "%ROBOT_JSON%" ^ -robot "%ROBOT_JSON%" ^
-lambdaWeight 100.0 ^ -lambdaWeight 100.0 ^
!DET_ARGS! ^ !DET_ARGS! ^