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calculate scenes

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chk
2026-05-31 10:22:19 +02:00
parent a6bdbf98f7
commit ca98774657
281 changed files with 50608 additions and 85815 deletions
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pipeline/2_Multiview_Trial/2_Multiview.py
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{
"schema_version": "1.0",
"created_utc": "2026-05-28T21:58:12.453984Z",
"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_2a_aruco_detection.json",
"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2b_aruco_detection.json",
"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2c_aruco_detection.json",
"C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_2d_aruco_detection.json"
],
"solver": {
"final_cost": 22931.22178571188,
"status": 0,
"message": "The maximum number of function evaluations is exceeded."
},
"robot_pose": {
"state": {
"x": 6.55912456537666,
"y": 4.460952073670867,
"z": 30.7175200969605,
"a": 11.566185446462232,
"b": 1.999999999999993,
"c": 8.999999999999904,
"e": 0.9999999999999776
},
"uncertainty": {
"x_mm": 3481.5587672468964,
"y_mm": 1721.1687436205234,
"z_mm": 230.0328185419544,
"a_deg": 559.8212894814748,
"b_deg": 10506.72751291286,
"c_deg": 10506.727245747321,
"e_mm": 105067.37089893252
},
"confidence": {
"x": 6.278037366676565e-152,
"y": 1.7807019001431863e-75,
"z": 1.0228256841704706e-10,
"a": 4.8671004844006695e-25,
"b": 0.0,
"c": 0.0,
"e": 0.36787944117144233
}
},
"statistics": {
"observation_count": 40,
"camera_count": 4,
"marker_count": 23,
"observed_marker_count": 21,
"mean_detector_confidence": 0.46546541612214093,
"mean_weighted_confidence": 0.42464863675174713,
"mean_reprojection_error_px": 189.61546736162268,
"quality_means": {
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"aspect": 0.8417551598015706,
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"homography": 0.8064378287982054
},
"quality_config": {
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"center_ref_norm": 0.01,
"sharpness_ref": 2500.0,
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"size_factor": 0.3,
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"border_factor": 0.01,
"center_factor": 0.01,
"sharpness_factor": 0.5,
"homography_factor": 0.2
}
}
}

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pipeline/2_Multiview_Trial/robot_1_control.json
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{
"coordinateSystem": {
"handedness": "right",
"x": "right",
"y": "backward",
"z": "up"
},
"units": {
"length": "mm",
"rotation": "degree"
},
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"renderingInfo": {
"width": 1280,
"height": 720,
"cameraPosition": [-200, -900, 200],
"cameraTarget": [210, -180, 180],
"cameraUpVector": [0, 0, 1],
"lightPosition": [-500, -500, 500],
"lightTarget": [0, 0, 0],
"lightUpVector": [0, 0, 1],
"metric": "mm",
"showSkeleton": true,
"showMarkers": true,
"backgroundColor": [0.70, 0.85, 1.0],
"backgroundStrength": 0.20,
"sunEnergy": 0.35,
"areaEnergy": 120,
"exposure": -1.5,
"materials": {
"wood": {
"baseColor": [0.72, 0.52, 0.33],
"roughness": 0.85,
"metallic": 0.0
},
"plaWhite": {
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"roughness": 0.45,
"metallic": 0.0
},
"steel": {
"baseColor": [0.72, 0.72, 0.75],
"roughness": 0.25,
"metallic": 1.0
},
"powderCoatBlue": {
"baseColor": [0.15, 0.25, 0.7],
"roughness": 0.55,
"metallic": 0.0
},
"defaultPlastic": {
"baseColor": [0.95, 0.95, 0.95],
"roughness": 0.4,
"metallic": 0.0
},
"skeletonRed": {
"baseColor": [0.85, 0.20, 0.20],
"roughness": 0.35,
"metallic": 0.0
},
"markerBlack": {
"baseColor": [0.04, 0.04, 0.04],
"roughness": 0.80,
"metallic": 0.0
}
},
"skeletonDefaults": {
"radius": 4,
"color": [0.85, 0.20, 0.20]
},
"markerDefaults": {
"size": 25,
"thickness": 1,
"color": [0.04, 0.04, 0.04]
}
},
"defaultPosition": {
"x": 100,
"y": 30,
"z": -30,
"a": -120,
"b": 22,
"c": 91,
"e": 10
},
"recognized": {
"x": null,
"y": null,
"z": null,
"a": null,
"b": null,
"c": null,
"e": null
},
"multiview_calculation": {
"combine_mode": "mean",
"size_ref_px": 50.0,
"border_ref_px": 120.0,
"center_ref_norm": 0.01,
"sharpness_ref": 2500.0,
"homography_ref": 0.18,
"size_factor": 0.3,
"aspect_factor": 0.3,
"border_factor": 0.01,
"center_factor": 0.01,
"sharpness_factor": 0.5,
"homography_factor": 0.2,
"normal_visibility_factor": 0.01,
"spin_factor": 0.3,
"weight_floor": 0.3
},
"movements": {
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"y": null,
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"a": null,
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},
"links": {
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"parent": null,
"size": [1000, 200, 25],
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"skeleton": {
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"to": [1000, 0, 16],
"radius": 4,
"color": [0.85, 0.20, 0.20]
},
"markers":[
{"id":210,"position":[20, -20, 0.3], "normal":[0,0,1]},
{"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]},
{"id":215,"position":[250, -90, 0.3], "normal":[0,0,1]},
{"id":214,"position":[350, -10, 0.3], "normal":[0,0,1]},
{"id":208,"position":[350, -90, 0.3], "normal":[0,0,1]},
{"id":206,"position":[650, -10, 0.3], "normal":[0,0,1]},
{"id":205,"position":[750, -90, 0.3], "normal":[0,0,1]},
{"id":207,"position":[750, -10, 0.3], "normal":[0,0,1]},
{"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]}
],
"model": [
{
"stlFile": "surfaces/Board.stl",
"originOfModel": [0, 0, 0],
"rotationOfModelDegree": [0, 0, -90],
"material": "wood"
},
{
"stlFile": "surfaces/BoardRail.stl",
"originOfModel": [0, 0, 0],
"rotationOfModelDegree": [0, 0, -90],
"material": "steel"
}
]
},
"Base": {
"parent": "Board",
"size": [150, 200, 150],
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Slider",
"type": "linear",
"axis": [1, 0, 0],
"origin": [0, 0, 16],
"rotation": [0, 0, 0],
"variable": "x"
},
"skeleton": {
"from": [0, 108, 45],
"to": [110, 108, 45],
"radius": 4,
"color": [0.20, 0.80, 0.20]
},
"markers": [
],
"model": [
{
"stlFile": "surfaces/Base.stl",
"originOfModel": [-30, 0, -35],
"rotationOfModelDegree": [0, 0, 0],
"material": "plaWhite"
}
]
},
"Arm1": {
"parent": "Base",
"size": [70, 250, 70],
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Joint1",
"type": "revolute",
"axis": [-1, 0, 0],
"origin": [110, 108, 45],
"rotation": [0, 0, 0],
"variable": "y"
},
"skeleton": {
"from": [0, 0, 0],
"to": [0, -250, 0],
"radius": 4,
"color": [0.20, 0.20, 0.90]
},
"markers": [
{
"id": 198,
"name": "aruco_198",
"position": [0, -160, 35],
"normal": [0, 0, 1],
"size": 25,
"spin": 0
},
{
"id": 229,
"name": "aruco_229",
"position": [0, -250, 35],
"normal": [0, 0, 1],
"size": 25,
"spin": 0
},
{
"id": 242,
"name": "aruco_242",
"position": [0, -250, -35],
"normal": [0, 0, -1],
"size": 25,
"spin": 0
},
{
"id": 243,
"name": "aruco_243",
"position": [0, -285, 0],
"normal": [0, -1, 0],
"size": 25,
"spin": 0
}
],
"model": [
{
"stlFile": "surfaces/Holm.stl",
"originOfModel__": [-25,29,-28.5],
"originOfModel": [-29,25,28.5],
"rotationOfModelDegree__": [0, 0, 0],
"rotationOfModelDegree": [180, 0, -90],
"material": "powderCoatBlue"
}
]
},
"Ellbow": {
"parent": "Arm1",
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Joint2",
"type": "revolute",
"axis": [-1, 0, 0],
"origin": [0, -250, 0],
"rotation": [0, 0, 0],
"variable": "z"
},
"skeleton": {
"from": [0, 0, 0],
"to": [90, 0, 0],
"radius": 4,
"color": [0.90, 0.20, 0.20]
},
"model": [
{
"stlFile": "surfaces/Ellebogen.stl",
"originOfModel": [90,0,0],
"rotationOfModelDegree": [0,-90,-90],
"material": "defaultPlastic"
}
],
"markers": [
{
"id": 244,
"name": "aruco_244",
"position": [125, 0, 0],
"normal": [1, 0, 0],
"size": 25,
"spin": 0
},
{
"id": 245,
"name": "aruco_245",
"position": [90, 0, -35],
"normal": [0, 0, -1],
"size": 25,
"spin": 0
},
{
"id": 246,
"name": "aruco_246",
"position": [90, 0, 35],
"normal": [0, 0, 1],
"size": 25
},
{
"id": 247,
"name": "aruco_247",
"position": [52.5, 0, 35],
"normal": [0, 0, 1],
"size": 25
}
]
},
"Arm2": {
"parent": "Ellbow",
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Joint3",
"type": "revolute",
"axis": [0, -1, 0],
"origin": [90, 0, 0],
"rotation": [0, 0, 0],
"variable": "a"
},
"skeleton": {
"from": [0, 0, 0],
"to": [0, -250, 0],
"radius": 4,
"color": [0.95, 0.85, 0.20]
},
"model": [
{
"stlFile": "surfaces/Unterarm.stl",
"originOfModel": [0,-250,0],
"rotationOfModelDegree": [180, 0, -90],
"material": "defaultPlastic"
}
],
"markers":[
{"id":124, "position":[24.75, -112, -24.75],"normal":[1,0,-1]},
{"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]},
{"id":218, "name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0]},
{"id":122, "name": "aruco_122", "position":[0, -182, 30],"normal":[0,0,1]},
{"id":101, "name": "aruco_122", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
{"id":102, "name": "aruco_122", "position":[-24.75, -182, -24.75],"normal":[-1,0,-1]},
{"id":124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0]},
{"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0]}
]
},
"Hand": {
"parent": "Arm2",
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Joint4",
"type": "revolute",
"axis": [1, 0, 0],
"origin": [0, -250, 0],
"rotation": [0, 0, 0],
"variable": "b"
},
"skeleton": {
"from": [0, 0, 0],
"to": [0, -35, 0],
"radius": 4,
"color": [0.95, 0.55, 0.15]
}
},
"Palm": {
"parent": "Hand",
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Joint3",
"type": "revolute",
"axis": [0, -1, 0],
"origin": [0, 0, 0],
"rotation": [0, 0, 0],
"variable": "c"
},
"skeleton": {
"from": [-50, -35, 0],
"to": [50, -35, 0],
"radius": 7,
"color": [0.95, 0.20, 0.20]
}
},
"FingerA": {
"parent": "Palm",
"size": [80, 60, 20],
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Slider",
"type": "linear",
"axis": [1, 0, 0],
"origin": [4, -35,0],
"rotation": [0, 0, 0],
"variable": "e"
},
"skeleton": {
"from": [0, 0,0],
"to": [0, -60, 0],
"radius": 4,
"color": [0.20, 0.80, 0.20]
},
"model": [
{
"stlFile": "surfaces/Finger.stl",
"originOfModel": [24,0,-9.1],
"rotationOfModelDegree": [90, -90,0],
"material": "defaultPlastic"
}
]
},
"FingerB": {
"parent": "Palm",
"size": [80, 60, 20],
"mountPosition": [0, 0, 0],
"mountRotation": [0, 0, 0],
"jointToParent": {
"name": "Slider",
"type": "linear",
"axis": [-1, 0, 0],
"origin": [-4, -35,0],
"rotation": [0, 0, 0],
"variable": "e"
},
"skeleton": {
"from": [0, 0,0],
"to": [0, -60, 0],
"radius": 4,
"color": [0.20, 0.80, 0.20]
},
"model": [
{
"stlFile": "surfaces/Finger.stl",
"originOfModel": [-24,0,9.1],
"rotationOfModelDegree": [90, 90,0],
"material": "defaultPlastic"
}
]
}
}
}

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pipeline/2_Multiview_Trial/run_pipeline_1.bat
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python3 1_detect_aruco_observations.py --image render_1a.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
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 1_detect_aruco_observations.py --image render_1d.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
python3 2_Multiview.py --robot ../robot.json --detections render_1a_aruco_detection.json render_1b_aruco_detection.json render_1c_aruco_detection.json render_1d_aruco_detection.json --outDir . --write-summary --max-iter 120

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pipeline/2_Multiview_Trial/run_pipeline_2.bat
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@@ -1,7 +0,0 @@
python3 1_detect_aruco_observations.py --image render_2a.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
python3 1_detect_aruco_observations.py --image render_2b.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
python3 1_detect_aruco_observations.py --image render_2c.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
python3 1_detect_aruco_observations.py --image render_2d.png -npz render.npz -robot ../robot.json -cameraId cam1 -outDir .
python3 2_Multiview.py --robot ../robot.json --detections render_2a_aruco_detection.json render_2b_aruco_detection.json render_2c_aruco_detection.json render_2d_aruco_detection.json --outDir . --write-summary --max-iter 120

0
pipeline/4_robotState_estimation_seq.py → pipeline/4_robotState_estimation_v4_seq.py
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