diff --git a/pipeline/__pycache__/2_Multiview.cpython-311.pyc b/pipeline/__pycache__/2_Multiview.cpython-311.pyc deleted file mode 100644 index 92ecbda..0000000 Binary files a/pipeline/__pycache__/2_Multiview.cpython-311.pyc and /dev/null differ diff --git a/pipeline/multiview_pose.json b/pipeline/multiview_pose.json index 11a79d5..519d8e5 100644 --- a/pipeline/multiview_pose.json +++ b/pipeline/multiview_pose.json @@ -1,11 +1,11 @@ { "schema_version": "1.0", - "created_utc": "2026-05-28T21:18:54.942233Z", - "source_robot_json": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json", + "created_utc": "2026-05-28T21:28:35.973154Z", + "source_robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json", "source_detections": [ - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json" + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json" ], "robot_pose": { "state": { @@ -39,7 +39,7 @@ "camera_poses": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ -16.343352953589292, @@ -86,7 +86,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ -57.84264421184561, @@ -133,7 +133,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ 0.3512702688674852, @@ -196,7 +196,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.5673043275049208, "confidence_weighted": 0.556048533067895, @@ -242,7 +242,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.7813266383036261, "confidence_weighted": 0.7686240953581938, @@ -288,7 +288,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.7506792079160973, "confidence_weighted": 0.740052892399461, @@ -350,7 +350,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.6412317666518965, "confidence_weighted": 0.6305246964757232, @@ -412,7 +412,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.7952557920267838, "confidence_weighted": 0.7849458403437536, @@ -458,7 +458,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.826449608683203, "confidence_weighted": 0.8145154649875572, @@ -520,7 +520,7 @@ "observations": [ { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.6041252446922665, "confidence_weighted": 0.5924337979452556, @@ -582,7 +582,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.6280424706698967, "confidence_weighted": 0.6179064007574118, @@ -644,7 +644,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.33820423087105295, "confidence_weighted": 0.33185586633646474, @@ -706,7 +706,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.28724459014346065, "confidence_weighted": 0.2820948444008322, @@ -768,7 +768,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.27228561618555186, "confidence_weighted": 0.2656859333164099, @@ -830,7 +830,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.35596573288593486, "confidence_weighted": 0.3494362969135403, @@ -892,7 +892,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.20150745250271476, "confidence_weighted": 0.19749969171522036, @@ -938,7 +938,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.13153339231482716, "confidence_weighted": 0.12828129248032266, @@ -1000,7 +1000,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.26810902547334975, "confidence_weighted": 0.2630164795315655, @@ -1046,7 +1046,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.18684041285479083, "confidence_weighted": 0.18189594986573623, @@ -1123,7 +1123,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.8899728634608616, "confidence_weighted": 0.8780472636948905, @@ -1169,7 +1169,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.9132502955127223, "confidence_weighted": 0.8990944567220429, @@ -1215,7 +1215,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.9491420540234864, "confidence_weighted": 0.9333711325257503, @@ -1307,7 +1307,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.8015179238063419, "confidence_weighted": 0.7895911927962278, @@ -1353,7 +1353,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.7581700566520715, "confidence_weighted": 0.7467269698455701, @@ -1399,7 +1399,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.4780463267147134, "confidence_weighted": 0.46848012776799536, @@ -1461,7 +1461,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.8796777163094818, "confidence_weighted": 0.8670496997853304, @@ -1507,7 +1507,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.7448005120854795, "confidence_weighted": 0.7340842516844052, @@ -1553,7 +1553,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.5106218488640142, "confidence_weighted": 0.5018972444025696, @@ -1615,7 +1615,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.34091855704160245, "confidence_weighted": 0.33488305339370045, @@ -1661,7 +1661,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.4804167810936165, "confidence_weighted": 0.46824268209690245, @@ -1723,7 +1723,7 @@ "observations": [ { "view_index": 0, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence_detector": 0.18665602922528673, "confidence_weighted": 0.18263714689166236, @@ -1769,7 +1769,7 @@ }, { "view_index": 1, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.9456847621099602, "confidence_weighted": 0.9281720009504786, @@ -1815,7 +1815,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.5749326438029929, "confidence_weighted": 0.5626256970953559, @@ -1892,7 +1892,7 @@ "observations": [ { "view_index": 0, - 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"source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence_detector": 0.8913851020933449, "confidence_weighted": 0.880139786945703, @@ -2046,7 +2046,7 @@ }, { "view_index": 2, - "source_file": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", + "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence_detector": 0.7012635429952238, "confidence_weighted": 0.6887430573994738, diff --git a/pipeline/multiview_pose_Weighted.json b/pipeline/multiview_pose_Weighted.json deleted file mode 100644 index 4538c77..0000000 --- a/pipeline/multiview_pose_Weighted.json +++ /dev/null @@ -1,966 +0,0 @@ -{ - 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"observation_count": 0, - "mean_confidence": null, - "mean_reprojection_error_px": null, - "observations": [] - } - ] -} \ No newline at end of file diff --git a/pipeline/multiview_pose_summary.json b/pipeline/multiview_pose_summary.json index 60c6c42..2970ee6 100644 --- a/pipeline/multiview_pose_summary.json +++ b/pipeline/multiview_pose_summary.json @@ -1,11 +1,11 @@ { "schema_version": "1.0", - "created_utc": "2026-05-28T21:18:54.942233Z", - "source_robot_json": "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json", + "created_utc": "2026-05-28T21:28:35.973154Z", + "source_robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json", "source_detections": [ - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", - "c:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json" + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", + "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json" ], "solver": { "final_cost": 26976.87543820547, diff --git a/pipeline/render_1a_aruco_detection.json b/pipeline/render_1a_aruco_detection.json index be039ab..109cc21 100644 --- a/pipeline/render_1a_aruco_detection.json +++ b/pipeline/render_1a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-28T21:11:29Z", + "created_utc": "2026-05-28T21:28:20Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e4f9bd9f-a867-4d2d-b0d3-c438f92fa01f", + "observation_id": "492f34d0-5512-4bf1-9f5c-2e70826f2e71", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9494437061622057 }, { - "observation_id": "3669c72d-6c64-46a9-9041-e0f332ed19a3", + "observation_id": "f517029a-9c63-4593-a583-51bbc9991930", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8899728634608616 }, { - "observation_id": "920dccb3-6db8-43fb-b0b3-036af4ed6acb", + "observation_id": "7f05752e-d8d5-48c1-a9de-1d9fe78d34fc", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5673043275049208 }, { - "observation_id": "858fbb79-58d9-436a-9147-96b0a15fd61e", + "observation_id": "0f6019cf-ae79-4c58-b42f-454ad8a49b2c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8796777163094818 }, { - "observation_id": "cafb1327-eefa-457c-9b1e-ed2d2ad78a8c", + "observation_id": "b6afa073-1316-4e40-b067-4ae58fa88bca", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8015179238063419 }, { - "observation_id": "cb014fcc-1cbe-4e59-afaa-6ea599b7f5ac", + "observation_id": "5b95720f-f38f-4b70-b5a7-2a8407410850", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3325004465415643 }, { - "observation_id": "a59f4cec-6038-48f8-b124-11a1b6e89cf3", + "observation_id": "7dc93dc7-2686-48f6-bae4-c32d18d8a7a8", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.7952557920267838 }, { - "observation_id": "0d4d4912-7df5-4189-80d0-cc1066edd2e1", + "observation_id": "94d6d6ac-b481-4d2d-a193-1451736ecf89", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.34091855704160245 }, { - "observation_id": "47b5571d-68d0-4738-93c5-06c45c91168f", + "observation_id": "7da58bb6-8abb-4cb8-b93a-f19e3b30bab5", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.26810902547334975 }, { - "observation_id": "3a5f11f4-1233-41b7-9ce8-db0acaa2855e", + "observation_id": "c1447225-65f9-4e8e-ac4a-9913fbd3fa4a", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.18665602922528673 }, { - "observation_id": "76947529-1679-4274-b547-56c7d61dde94", + "observation_id": "c6bf9790-b7cd-4781-addf-593b43be010a", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.20150745250271476 }, { - "observation_id": "7a157cbe-69a0-4f8d-b89d-af82d8470779", + "observation_id": "ea51fd97-3cc1-450e-8f88-341da29d24fd", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6412317666518965 }, { - "observation_id": "19c6229a-77c2-4846-86c2-2fe3cabd5ace", + "observation_id": "0f91cfb9-9382-456b-9fe7-2cc966a1fc59", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6280424706698967 }, { - "observation_id": "cf1fe906-7f6e-459b-96cc-a983a15d58b7", + "observation_id": "bc4bcbaf-41ff-477e-a495-f1682dcf7c10", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.35596573288593486 }, { - "observation_id": "249e0b3c-e2b1-40e4-baf8-073d85acc08c", + "observation_id": "a11c0669-5498-40dd-ab5d-944be3d29f37", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.33820423087105295 }, { - "observation_id": "152dc984-1ca4-4ca0-aad7-1bbbd8aba04f", + "observation_id": "d0910683-77ca-4ce7-9533-6cffa7f371ab", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.28724459014346065 }, { - "observation_id": "66ce6541-9898-4bfc-9201-0d05fa7e6e62", + "observation_id": "4b7bdee0-6a52-452c-b260-7eea65ad36c2", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, diff --git a/pipeline/render_1b_aruco_detection.json b/pipeline/render_1b_aruco_detection.json index ed0a67f..672b1b3 100644 --- a/pipeline/render_1b_aruco_detection.json +++ b/pipeline/render_1b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-28T21:11:29Z", + "created_utc": "2026-05-28T21:28:21Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e57e88d8-4e83-459d-aacb-54dfb3d1a39f", + "observation_id": "0c8f6caa-0447-4f7c-99c4-2d30e31d30d6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8913851020933449 }, { - "observation_id": "3bb219ef-c7ff-4f0b-8cfa-284ead393c38", + "observation_id": "2df4a132-33c5-4ebf-b29f-dcc52478335b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4804167810936165 }, { - "observation_id": "26604964-f6c1-492f-964c-850826bc69cf", + "observation_id": "ba6b5ed9-6a18-47e7-a843-af281c19c30f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9132502955127223 }, { - "observation_id": "5feff871-616f-43e8-b817-f5d67116b577", + "observation_id": "f27e2575-2b8b-497b-be0a-b993197fd894", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.9456847621099602 }, { - "observation_id": "957db844-bb09-47b0-95a9-c2703a9f8a07", + "observation_id": "a2356407-9a0c-460e-a2af-812ffddaddbf", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7448005120854795 }, { - "observation_id": "ce61eb47-425e-45a1-8079-a8da9414a07b", + "observation_id": "e37d03aa-9079-465a-8278-e568958327fc", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7581700566520715 }, { - "observation_id": "408b46a0-047b-4718-bc75-25fe6edef9ed", + "observation_id": "64462f28-959c-436f-9e7a-7b7e2c180bb7", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.826449608683203 }, { - "observation_id": "e971c366-cf09-4c98-8aba-6778415b54e2", + "observation_id": "23c3a60a-e454-4ac1-9ba7-13505aa8ffb7", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7813266383036261 }, { - "observation_id": "898e0c56-a4d2-4cbf-945e-1fa1cbec6ad5", + "observation_id": "977958d8-7446-4234-ab37-604bb459f146", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18684041285479083 }, { - "observation_id": "87adf180-14ed-459f-8d33-64e48ff2b517", + "observation_id": "28ae43e2-3bd3-4829-87d0-e9cb9526e304", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, diff --git a/pipeline/render_1c_aruco_detection.json b/pipeline/render_1c_aruco_detection.json index 9aadc56..8c47c7b 100644 --- a/pipeline/render_1c_aruco_detection.json +++ b/pipeline/render_1c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-28T21:11:30Z", + "created_utc": "2026-05-28T21:28:21Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "55dad250-7787-4d70-b26b-51bf9c63187f", + "observation_id": "56c7970c-3fdc-437a-82dd-918ef861ac60", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7012635429952238 }, { - "observation_id": "5af894e7-68a0-4872-ada4-689be1d630b6", + "observation_id": "4166196c-2e75-4461-97c1-378b70b0754f", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5749326438029929 }, { - "observation_id": "47253afe-906c-444d-af3f-db6e99351519", + "observation_id": "1e515a3c-1477-4fc5-b2e9-4a5c759201dc", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9491420540234864 }, { - "observation_id": "4b090e16-a2e9-4cb6-81e4-307a04f04820", + "observation_id": "1549938d-da8e-4883-9239-92b88fc508c9", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.4780463267147134 }, { - "observation_id": "8d0cb44f-1cd1-41a3-a6bc-c39527148ec7", + "observation_id": "634d2ef2-2e64-4009-8d92-c16368d1b20a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5106218488640142 }, { - "observation_id": "cde0d217-048d-42a3-88bd-52c1d620984f", + "observation_id": "e96b7926-73c9-42c3-9c6e-e7bd66a0b4b7", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6041252446922665 }, { - "observation_id": "1e6148fd-0380-48d2-93f9-b4a546a35a7c", + "observation_id": "c57683ff-d5c4-412c-b893-95d36298186f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, diff --git a/pipeline/run_pipeline.bat b/pipeline/run_pipeline.bat index 26a5ea4..d4c0207 100644 --- a/pipeline/run_pipeline.bat +++ b/pipeline/run_pipeline.bat @@ -3,4 +3,4 @@ python3 1_detect_aruco_observations.py --image render_1a.png -npz render.npz -ro python3 1_detect_aruco_observations.py --image render_1b.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir . python3 1_detect_aruco_observations.py --image render_1c.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir . -python3 2_Multiview_ersteVersion.py --robot ../robot.json --detections render_1a_aruco_detection.json render_1b_aruco_detection.json render_1c_aruco_detection.json --outDir . +python3 2_Multiview.py --robot ../robot.json --detections render_1a_aruco_detection.json render_1b_aruco_detection.json render_1c_aruco_detection.json --outDir . --write-summary --max-iter 120 diff --git a/robot.json b/robot.json index cbbde2f..5b0cd24 100644 --- a/robot.json +++ b/robot.json @@ -99,17 +99,17 @@ "combine_mode": "mean", "size_ref_px": 50.0, "border_ref_px": 120.0, - "center_ref_norm": 1.0, + "center_ref_norm": 0.01, "sharpness_ref": 2500.0, "homography_ref": 0.18, - "size_factor": 1.0, - "aspect_factor": 1.0, - "border_factor": 1.0, - "center_factor": 1.0, - "sharpness_factor": 1.0, - "homography_factor": 1.0, - "normal_visibility_factor": 1.0, - "spin_factor": 1.0, + "size_factor": 0.01, + "aspect_factor": 0.01, + "border_factor": 0.01, + "center_factor": 0.01, + "sharpness_factor": 0.01, + "homography_factor": 0.01, + "normal_visibility_factor": 0.01, + "spin_factor": 0.01, "weight_floor": 0.01 }, "movements": {