calculate scenes

run/run_pipeline.bat

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+@echo off
+setlocal EnableDelayedExpansion
+REM 3_pipeline_multiview.bat
+REM Multi-camera ArUco detection and pose estimation pipeline
+REM Parametr e.g.  
+REM                  run_pipeline.bat ../data/simulation/Scene4
+
+
+
+
+set IMAGES=%~1
+
+
+set ROBOT_JSON=..\data\robot\robot.json
+set BASE_OUT_DIR=C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\evaluations
+set SCENE_NAME=%~nx1
+set OUT_DIR=%BASE_OUT_DIR%\%SCENE_NAME%
+
+echo.
+echo [STEP 1] Detect ArUco markers from all cameras in the folder %IMAGES%
+
+for %%F in ("%IMAGES%\*.png" "%IMAGES%\*.PNG" "%IMAGES%\*.jpg" "%IMAGES%\*.jpeg" "%IMAGES%\*.JPG" "%IMAGES%\*.JPEG") do (   
+    
+    REM Dateiname ohne Pfad und ohne .png
+    set "NAME=%%~nF"
+    echo Bearbeite: !NAME!
+
+    REM Split bei "_" → nehme 2. Teil (die ID)
+    for /f "tokens=2 delims=_" %%A in ("%%~nF") do (
+        set "CAMID=%%A"
+
+        REM Takes files and detected arucos output to   render_c_aruco_detection.json
+        python3 ../pipeline/1_detect_aruco_observations.py ^
+            -i "%%F" ^
+            -npz "%IMAGES%\render_a.npz" ^
+            -outDir %OUT_DIR% ^
+            -robot %ROBOT_JSON% ^
+            -cameraId !CAMID!
+    )
+)
+
+echo.
+echo [STEP 2] Estimate camera poses from detections
+
+for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (   
+    echo Bearbeite: %%F
+
+    python3 ../pipeline/2_estimate_camera_from_observations.py ^
+        -i  "%%F" ^
+        -robot %ROBOT_JSON% ^
+        -outDir %OUT_DIR%
+)
+
+echo.
+echo [STEP 3] Triangulate marker positions from multi-view observations
+
+
+REM Alle detection files sammeln
+for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
+    set DET_ARGS=!DET_ARGS! -det "%%F"
+)
+
+REM Alle pose files sammeln
+for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
+    set POSE_ARGS=!POSE_ARGS! -pose "%%F"
+)
+
+REM Debug-Ausgabe
+echo DET_ARGS: !DET_ARGS!
+echo POSE_ARGS: !POSE_ARGS!
+
+REM EINMAL Python aufrufen
+python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
+    -robot "%ROBOT_JSON%" ^
+    -lambdaWeight 100.0 ^
+    !DET_ARGS! ^
+    !POSE_ARGS!