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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
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88
data/evaluations/Scene9/render_b_aruco_detection.json
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data/evaluations/Scene9/render_c_aruco_detection.json
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data/evaluations/Scene9/render_e_aruco_detection.json
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data/evaluations/Scene9/render_f_camera_pose.json
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data/evaluations/Scene9/render_g_aruco_detection.json
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"created_utc": "2026-06-01T16:29:12Z",
"vision_config": {
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@@ -46,7 +46,7 @@
},
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{
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@@ -100,7 +100,7 @@
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@@ -154,7 +154,7 @@
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@@ -370,7 +370,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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{
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@@ -586,7 +586,7 @@
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{
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@@ -640,7 +640,7 @@
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@@ -694,7 +694,7 @@
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@@ -748,7 +748,7 @@
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{
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@@ -802,7 +802,7 @@
"confidence": 0.39662908657084783
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{
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{
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@@ -910,7 +910,7 @@
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@@ -1018,7 +1018,7 @@
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@@ -1072,7 +1072,7 @@
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@@ -1126,7 +1126,7 @@
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{
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@@ -1180,7 +1180,7 @@
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{
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@@ -1234,7 +1234,7 @@
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},
{
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@@ -1288,7 +1288,7 @@
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{
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@@ -1342,7 +1342,7 @@
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{
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@@ -1396,7 +1396,7 @@
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{
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@@ -1450,7 +1450,7 @@
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{
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@@ -1504,7 +1504,7 @@
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{
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@@ -1558,7 +1558,7 @@
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{
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@@ -1612,7 +1612,7 @@
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{
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@@ -1666,7 +1666,7 @@
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{
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@@ -1720,7 +1720,7 @@
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{
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@@ -1774,7 +1774,7 @@
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{
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@@ -1828,7 +1828,7 @@
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{
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@@ -1882,7 +1882,7 @@
"confidence": 0.08171792300897739
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{
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"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,

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

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-05-31T20:34:19Z",
"created_utc": "2026-06-01T16:29:15Z",
"source": {
"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"

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

@@ -1,7 +1,7 @@
{
"schema_version": "1.0",
"method": "deterministic_geometric_sequential_prefix",
"created_utc": "2026-05-31T20:34:20Z",
"created_utc": "2026-06-01T16:30:02Z",
"root_pose": {
"translation_m": [
0.0024976453548978816,

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
# ===================================================================
@@ -1310,12 +1318,14 @@ def main() -> None:
initial_output_markers = []
for marker_id, position in sorted(initial_pos.items()):
normal = marker_meta.get(marker_id, {}).get("normal", None)
initial_output_markers.append(
{
"marker_id": int(marker_id),
"position_m": [float(x) for x in position],
"position_mm": [float(x * 1000.0) for x in position],
"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 = []
for marker_id, position in sorted(optimized_pos.items()):
normal = marker_meta.get(marker_id, {}).get("normal", None)
output_markers.append(
{
"marker_id": int(marker_id),
"position_m": [float(x) for x in position],
"position_mm": [float(x * 1000.0) for x in position],
"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"
)
python3 "..\pipeline\3_multiview_bundle_adjustment_v5.py" ^
python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
-robot "%ROBOT_JSON%" ^
-lambdaWeight 100.0 ^
!DET_ARGS! ^