Multiview v1.5

check_constraints.py

@@ -0,0 +1,123 @@
+import json
+import math
+
+# Load robot.json
+with open(r'robot.json') as f:
+    robot = json.load(f)
+
+# Extract markers by link
+markers_by_link = {}
+for link_name, link_data in robot['links'].items():
+    markers = link_data.get('markers', [])
+    if markers:
+        markers_by_link[link_name] = markers
+
+print("=" * 70)
+print("MARKER DISTRIBUTION BY LINK")
+print("=" * 70)
+for link, markers in markers_by_link.items():
+    print(f"\n{link}: {len(markers)} markers")
+    for m in markers:
+        pos = m['position']
+        print(f"  ID {m['id']:3d}: pos={pos}")
+
+# Check rigid body constraints: distances within each link
+print("\n" + "=" * 70)
+print("RIGID BODY CONSTRAINT CHECK (Arm1, Ellbow, Arm2)")
+print("=" * 70)
+
+for link_name in ['Arm1', 'Ellbow', 'Arm2']:
+    if link_name not in markers_by_link:
+        continue
+    
+    markers = markers_by_link[link_name]
+    positions = [(m['position'][0], m['position'][1], m['position'][2]) for m in markers]
+    
+    print(f"\n{link_name}:")
+    if len(positions) > 1:
+        for i in range(len(positions)):
+            for j in range(i+1, len(positions)):
+                dx = positions[i][0] - positions[j][0]
+                dy = positions[i][1] - positions[j][1]
+                dz = positions[i][2] - positions[j][2]
+                dist = math.sqrt(dx*dx + dy*dy + dz*dz)
+                print(f"  Marker {markers[i]['id']:3d} <-> {markers[j]['id']:3d}: {dist:7.2f} mm")
+    else:
+        print(f"  Only {len(positions)} marker(s)")
+
+# Check X-distances between links
+print("\n" + "=" * 70)
+print("X-POSITION CONSTRAINT CHECK (Link relationships)")
+print("=" * 70)
+
+# Get marker positions per link
+link_x_positions = {}
+for link_name in ['Board', 'Base', 'Arm1', 'Ellbow', 'Arm2']:
+    if link_name in markers_by_link:
+        x_vals = [m['position'][0] for m in markers_by_link[link_name]]
+        link_x_positions[link_name] = {
+            'min_x': min(x_vals),
+            'max_x': max(x_vals),
+            'count': len(x_vals)
+        }
+
+print("\nX-position ranges by link (local coords):")
+for link, data in link_x_positions.items():
+    print(f"  {link:10s}: x in [{data['min_x']:7.2f}, {data['max_x']:7.2f}] mm  ({data['count']} markers)")
+
+# Check X-distance between Arm1 and Ellbow
+print("\nKey constraint analysis:")
+arm1_x = [m['position'][0] for m in markers_by_link['Arm1']]
+ellbow_x = [m['position'][0] for m in markers_by_link['Ellbow']]
+print(f"  Arm1 local X: {arm1_x}")
+print(f"  Ellbow local X: {ellbow_x}")
+print(f"  => BOTH rotate around X-axis, so X-spread within each link is FIXED")
+print(f"  => X-distance between links is FIXED in world (different local X values)")
+
+# Check Arm2 structure
+print("\n" + "=" * 70)
+print("ARM2 KINEMATIC CHECK (sin(a) dependency)")
+print("=" * 70)
+
+arm2_markers = markers_by_link['Arm2']
+print(f"\nArm2 has {len(arm2_markers)} markers")
+print("Arm2 marker positions (local coords, before 'a' rotation around Y):")
+for m in arm2_markers:
+    pos = m['position']
+    print(f"  ID {m['id']:3d}: x={pos[0]:8.2f}, y={pos[1]:8.2f}, z={pos[2]:8.2f}")
+
+print("\nWhen Arm2 rotates around Y-axis (variable 'a'):")
+print("  Rotation matrix Ry(a) acts on [x_local, y_local, z_local]:")
+print("  X_world = 90 + x_local * cos(a) - z_local * sin(a)")
+print("  Y_world = y_local (unchanged)")
+print("  Z_world = x_local * sin(a) + z_local * cos(a)")
+print("\n=> X_world DEPENDS on sin(a) and z_local values!")
+
+# Verify: X differences between Arm2 markers
+arm2_x_vals = [m['position'][0] for m in arm2_markers]
+arm2_z_vals = [m['position'][2] for m in arm2_markers]
+print(f"\nArm2 local X values: {sorted(set(arm2_x_vals))}")
+print(f"Arm2 local Z values: {sorted(set(arm2_z_vals))}")
+if len(set(arm2_z_vals)) > 1:
+    print(f"=> Multiple Z values present: X_world will differ by sin(a) contributions")
+
+print("\n" + "=" * 70)
+print("SUMMARY: WHICH CONSTRAINTS MAKE SENSE?")
+print("=" * 70)
+print("""
+1. RIGID BODY DISTANCES within Arm1/Ellbow/Arm2:
+   ✓ VALID - Fixed distances between markers on same rigid link
+   ✓ HELPS with: Preventing deformation, reducing degrees of freedom
+   
+2. X-DISTANCES between links (Arm1, Ellbow, Base):
+   ✓ VALID - Both rotate around X-axis, so relative X is fixed
+   ✓ HELPS with: Preventing sliding along links
+   
+3. X-POSITION of Arm2 dependent on sin(a):
+   ⚠ PARTIALLY VALID - Different markers have different dependencies
+   ✓ HELPS with: Constraining the a variable from Z-spread observation
+   
+IMPLEMENTATION RECOMMENDATION:
+- Start with constraints 1 & 2 (rigid body + inter-link X)
+- Use constraint 3 as a sanity check on 'a' estimation
+""")

pipeline/2_Multiview.py

@@ -41,6 +41,87 @@ from scipy.optimize import least_squares
 
 STATE_KEYS = ["x", "y", "z", "a", "b", "c", "e"]
 
+# ------------------------------------------------------------------
+# Constraint definitions and validation
+# ------------------------------------------------------------------
+
+class ConstraintResult:
+    """Result of validating/applying a single constraint"""
+    def __init__(self, name: str, enabled: bool, reason: str = ""):
+        self.name = name
+        self.enabled = enabled
+        self.reason = reason
+        self.residuals = []
+
+    def __str__(self) -> str:
+        status = "✓ ENABLED" if self.enabled else "✗ DISABLED"
+        return f"{self.name:40s} {status:12s}  {self.reason}"
+
+
+def validate_constraints(robot: Dict[str, Any], robot_markers: Dict[int, Dict[str, Any]]) -> Dict[str, ConstraintResult]:
+    """
+    Validate which constraints can be applied based on robot geometry.
+    Returns a dict of constraint_name -> ConstraintResult
+    """
+    results = {}
+
+    # --- Constraint 1: Rigid body distances within each link ---
+    rigid_body_result = ConstraintResult("RigidBodyDistances", False)
+    try:
+        rigid_body_count = 0
+        for link_name in ['Arm1', 'Ellbow', 'Arm2']:
+            link_markers = [m for m in robot_markers.values() if m['link_name'] == link_name]
+            if len(link_markers) >= 2:
+                rigid_body_count += 1
+        if rigid_body_count >= 2:
+            rigid_body_result.enabled = True
+            rigid_body_result.reason = f"Found {rigid_body_count} links with 2+ markers each"
+        else:
+            rigid_body_result.reason = "Not enough rigid links with multiple markers"
+    except Exception as e:
+        rigid_body_result.reason = f"Error: {str(e)}"
+    results['RigidBodyDistances'] = rigid_body_result
+
+    # --- Constraint 2: Fixed X-distances between links (rotation around X-axis) ---
+    inter_link_x_result = ConstraintResult("InterLinkXDistances", False)
+    try:
+        links_with_markers = set(m['link_name'] for m in robot_markers.values())
+        x_rotated_links = []
+        for link_name in ['Arm1', 'Ellbow']:
+            if link_name in links_with_markers:
+                link_markers = [m for m in robot_markers.values() if m['link_name'] == link_name]
+                if len(link_markers) >= 1:
+                    x_rotated_links.append(link_name)
+        if len(x_rotated_links) >= 2:
+            inter_link_x_result.enabled = True
+            inter_link_x_result.reason = f"Found {len(x_rotated_links)} X-rotation links: {', '.join(x_rotated_links)}"
+        else:
+            inter_link_x_result.reason = "Not enough X-rotation links"
+    except Exception as e:
+        inter_link_x_result.reason = f"Error: {str(e)}"
+    results['InterLinkXDistances'] = inter_link_x_result
+
+    # --- Sanity check (not a hard constraint): Arm2 sin(a) dependency ---
+    arm2_sina_result = ConstraintResult("Arm2SinADependency", True, "Sanity check only (not enforced)")
+    try:
+        arm2_markers = [m for m in robot_markers.values() if m['link_name'] == 'Arm2']
+        if len(arm2_markers) >= 2:
+            z_values = set(m['position_m'][2] for m in arm2_markers)
+            if len(z_values) > 1:
+                arm2_sina_result.enabled = True
+                arm2_sina_result.reason = "Multiple Z-values detected; sin(a) dependency confirmed"
+            else:
+                arm2_sina_result.enabled = False
+                arm2_sina_result.reason = "No Z-variation in Arm2 markers (cannot use sin(a) constraint)"
+        else:
+            arm2_sina_result.enabled = False
+            arm2_sina_result.reason = "Not enough Arm2 markers"
+    except Exception as e:
+        arm2_sina_result.reason = f"Error: {str(e)}"
+    results['Arm2SinADependency'] = arm2_sina_result
+
+    return results
+
 
 # ------------------------------------------------------------------
 # JSON helpers