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chk
2026-06-02 06:24:08 +02:00
parent 9501d54d5c
commit cff4dfa176
38 changed files with 795 additions and 13415 deletions
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2
data/evaluations/Scene6/aruco_marker_poses.json
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@@ -1,7 +1,7 @@
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2
data/evaluations/Scene6/aruco_positions_initial.json
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2
data/evaluations/Scene6/aruco_positions_optimized.json
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62
data/evaluations/Scene6/render_a_aruco_detection.json
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2
data/evaluations/Scene6/render_a_camera_pose.json
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data/evaluations/Scene6/render_b_aruco_detection.json
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data/evaluations/Scene6/render_b_camera_pose.json
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data/evaluations/Scene6/render_c_aruco_detection.json
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data/evaluations/Scene6/render_c_camera_pose.json
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38
data/evaluations/Scene6/render_d_aruco_detection.json
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data/evaluations/Scene6/render_d_camera_pose.json
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56
data/evaluations/Scene6/render_e_aruco_detection.json
View File

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2
data/evaluations/Scene6/render_e_camera_pose.json
View File

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72
data/evaluations/Scene6/render_f_aruco_detection.json
View File

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data/evaluations/Scene7/render_a_aruco_detection.json
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data/evaluations/Scene7/render_b_camera_pose.json
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28
data/evaluations/Scene7/render_c_aruco_detection.json
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data/evaluations/Scene7/render_c_camera_pose.json
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40
data/evaluations/Scene7/render_d_aruco_detection.json
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data/evaluations/Scene7/render_e_aruco_detection.json
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"confidence": 0.4795917219326271
},
{
"observation_id": "18d64a56-ca06-4b30-bc01-1928ec64789a",
"observation_id": "232a62a1-5bd9-4ef3-94d2-480b977f4aea",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
@@ -640,7 +640,7 @@
"confidence": 0.39662908657084783
},
{
"observation_id": "a2a9337c-98e2-4bcd-b5ff-5293beeb79e7",
"observation_id": "d043ef71-dfe0-43d4-b91e-d4146ff90a1e",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
@@ -694,7 +694,7 @@
"confidence": 0.42189397421159375
},
{
"observation_id": "57cd9483-df8d-45bb-b0de-bdf30cab96ea",
"observation_id": "c9b40d06-0818-4d40-859f-7413590a85ac",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
@@ -748,7 +748,7 @@
"confidence": 0.1698001278724927
},
{
"observation_id": "a74ffbf9-bc83-4f3e-939c-eeea2bcc708b",
"observation_id": "db7169e2-1bdf-4b52-86bf-52b06af224eb",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
@@ -802,7 +802,7 @@
"confidence": 0.07718187630567852
},
{
"observation_id": "62385ecb-a62a-454e-9310-1a0b9bd1a574",
"observation_id": "7162f80d-6b69-4351-8bc1-3de85b3f6a8b",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -856,7 +856,7 @@
"confidence": 0.4316478958478293
},
{
"observation_id": "2593884a-5d00-4ab9-9216-7e3443e18edc",
"observation_id": "a63d2151-ef9c-4398-97da-418b394d98f6",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.4181682027393045
},
{
"observation_id": "acbb661d-70bf-4a69-bf4d-6a4a8b15df1e",
"observation_id": "e37eb3e3-cc71-4d73-94a6-d0597d56a1b1",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
@@ -964,7 +964,7 @@
"confidence": 0.39668368657567366
},
{
"observation_id": "cfda43d9-4c0d-439d-bd94-98cfe66d2c23",
"observation_id": "907ad466-ab7f-4dac-95fb-1bd7e623f6f1",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
"confidence": 0.3829765144945479
},
{
"observation_id": "d854e0a0-2ca4-41ff-b4f7-c07043ac8425",
"observation_id": "f3dbec3e-af18-4bb2-85eb-46e28883208d",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
"confidence": 0.3382587531306593
},
{
"observation_id": "64fe23a5-be15-46a1-b675-f0f052d82d13",
"observation_id": "2815f50d-f1be-4e58-8ccc-3d6b389fad06",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
"confidence": 0.3632179345093538
},
{
"observation_id": "abeb8fd2-bfe7-40ae-a2c9-5e1113cd5bd4",
"observation_id": "a9efff92-8be2-46ce-ba5a-e08188c24e64",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
"confidence": 0.3623898971459892
},
{
"observation_id": "02a63f38-ef55-4129-b854-6b001764345a",
"observation_id": "4b3b2354-8ed0-4c7d-b3e8-30f9d85a527c",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
"confidence": 0.3590718541167963
},
{
"observation_id": "c0170000-4b2a-4b5e-9dff-5f5dd5f3b3e6",
"observation_id": "2dc3428e-10f0-4076-888b-3787f39d7da0",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
"confidence": 0.29591817114314195
},
{
"observation_id": "20a86955-aed6-4010-8161-e690ef9ac4c6",
"observation_id": "970f7626-fd22-46c3-a6e8-7b054a81093f",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
@@ -1342,7 +1342,7 @@
"confidence": 0.3158166687011719
},
{
"observation_id": "a25426ac-91cb-4c64-a39b-98e8293a9a86",
"observation_id": "cb9d19e2-7a7e-47b8-a235-70af444dccce",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
"confidence": 0.07997148327617512
},
{
"observation_id": "c6886a45-3bbe-4a70-873c-788612f44a80",
"observation_id": "f95c2753-d5aa-40e3-9081-98ae96fb1867",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
"confidence": 0.31800273344664126
},
{
"observation_id": "de879805-19f2-4070-a68c-9547f1a06a16",
"observation_id": "a94075b1-7627-4610-9d24-ff7f49619db7",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
"confidence": 0.2969848480224609
},
{
"observation_id": "47ed24d6-767f-47b7-b6f3-fbcd97683de8",
"observation_id": "be4c3e99-c8f8-4657-beb9-7f84f72a41f5",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
@@ -1558,7 +1558,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "ab81ae9e-92f4-4001-bf6f-b22ae86078b6",
"observation_id": "396362ab-89bf-4ff1-ab5f-d3d187219d68",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
"confidence": 0.3170967427530611
},
{
"observation_id": "fdbc4253-de75-4aaf-9c8d-317fe20a3090",
"observation_id": "3cb85100-2afc-439e-ac00-585d75247936",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
"confidence": 0.17828567290874034
},
{
"observation_id": "0fdb06de-8018-4dc3-9aef-a5e7b94b1c9f",
"observation_id": "fc1208af-462b-4125-ab26-cc70fce7799d",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
"confidence": 0.3167426670523156
},
{
"observation_id": "22d68d02-0347-409f-9255-d175df710a15",
"observation_id": "a2eed357-a96f-41ca-93b5-6da46b9dfcfe",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
"confidence": 0.15449597168691093
},
{
"observation_id": "5168ee39-f49c-465f-995c-5b1e3f878500",
"observation_id": "feafb3b1-afdb-4673-919b-1d58e32af2a7",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,

2
data/evaluations/Scene7/render_g_camera_pose.json
View File

@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
"created_utc": "2026-06-01T20:36:23Z",
"created_utc": "2026-06-02T04:19:43Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_g_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"

5509
data/evaluations/Scene7/robot_state.json
View File

File diff suppressed because it is too large Load Diff

2425
data/robot/robot.json
View File

File diff suppressed because it is too large Load Diff

43
run/robot_viewer.html
View File

@@ -208,6 +208,14 @@
<label>aruco</label>
<input type="file" id="fAruco" accept=".json">
</div>
<div class="file-row">
<label>solution</label>
<input type="file" id="fSolution" accept=".json">
</div>
<button id="btnJump" disabled style="width:100%;margin-top:8px;background:var(--accent);
color:#06101a;border:none;border-radius:3px;padding:6px;font:inherit;font-size:11px;
font-weight:bold;cursor:pointer;opacity:0.45;">Auf Lösung springen</button>
<div id="solInfo" style="font-size:10px;color:var(--muted);min-height:12px;margin-top:5px;"></div>
</div>
<!-- test poses -->
@@ -559,6 +567,7 @@ for (const [id, grp] of Object.entries(toggles)) {
let robotData = null;
let arucoData = null;
let solutionData = null;
const joints = { x:0, y:0, z:0, a:0, b:0, c:0, e:0 };
// ─── slider setup ─────────────────────────────────────────────
@@ -646,6 +655,40 @@ document.getElementById('fAruco').addEventListener('change', async e => {
rebuild();
});
// ─── solution (robot_state.json) → set joint sliders ───────────
function applySolution() {
if (!solutionData) { setStatus('keine Lösung geladen'); return; }
const mv = solutionData.movements || {};
const done = [];
for (const k of Object.keys(joints)) {
const m = mv[k];
if (m == null) continue;
let v = (typeof m === 'object') ? (m.value ?? m.value_mm ?? m.value_deg) : m;
if (v == null || isNaN(v)) continue;
setSlider(k, Number(v));
const conf = (typeof m === 'object') ? (m.confidence || '') : '';
done.push(k + ((conf === 'low' || conf === 'none') ? '⚠' : ''));
}
rebuild();
const info = document.getElementById('solInfo');
if (info) info.textContent = done.length
? ('gesetzt: ' + done.join(' ') + ' (⚠ = geringe Konfidenz)')
: 'keine movements in der Datei gefunden';
setStatus('Auf Lösung gesprungen');
}
document.getElementById('fSolution').addEventListener('change', async e => {
if (!e.target.files[0]) return;
solutionData = await readJSON(e.target.files[0]);
const btn = document.getElementById('btnJump');
btn.disabled = false;
btn.style.opacity = '1';
setStatus('solution (robot_state.json) loaded');
applySolution(); // direkt anwenden
});
document.getElementById('btnJump').addEventListener('click', applySolution);
// ═══════════════════════════════════════════════════════════════
// Test-pose dropdown
// ═══════════════════════════════════════════════════════════════