zufallsfund iter 120

pipeline/multiview_pose.json

@@ -1,11 +1,11 @@
 {
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pipeline/multiview_pose_ohne_confidence.json

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pipeline/multiview_pose_summary.json

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pipeline/render_1a_aruco_detection.json

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pipeline/render_1b_aruco_detection.json

@@ -1,6 +1,6 @@
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     },
     {
-      "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,

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,

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

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,
+  "size_factor": 0.01,
-  "aspect_factor": 1.0,
+  "aspect_factor": 0.01,
-  "border_factor": 1.0,
+  "border_factor": 0.01,
-  "center_factor": 1.0,
+  "center_factor": 0.01,
-  "sharpness_factor": 1.0,
+  "sharpness_factor": 0.01,
-  "homography_factor": 1.0,
+  "homography_factor": 0.01,
-  "normal_visibility_factor": 1.0,
+  "normal_visibility_factor": 0.01,
-  "spin_factor": 1.0,
+  "spin_factor": 0.01,
   "weight_floor": 0.01
   },
   "movements": {