diff --git a/benchmark/stage0_corner_normals.py b/benchmark/stage0_corner_normals.py new file mode 100644 index 0000000..e222a01 --- /dev/null +++ b/benchmark/stage0_corner_normals.py @@ -0,0 +1,267 @@ +#!/usr/bin/env python3 +""" +stage0_corner_normals.py +======================== +Go/No-Go test for corner-based marker orientation. + +The current pipeline triangulates only each marker's CENTER (one point) and +copies the normal from robot.json. This script instead triangulates the 4 +ArUco CORNERS of every marker (multi-view) from the existing detection + pose +JSONs, derives the marker normal from the triangulated corner plane, and +compares it against the ground-truth normal from render_*.json. + +It answers one question, without touching the pipeline: + + How accurate is a normal derived purely from triangulated corners? + +Inputs (defaults target Scene8): + --evalDir data/evaluations/Scene8 (render_*_aruco_detection.json + _camera_pose.json) + --gt data/simulation/Scene8/render_a.json (ground-truth marker poses) + +Output: per-link + overall statistics of the normal angle error (deg), +a text histogram, and optional JSON. +""" +from __future__ import annotations + +import argparse +import glob +import json +import math +import os +import re +from collections import defaultdict +from typing import Dict, List, Tuple + +import numpy as np +import cv2 + + +# ------------------------------------------------------------------ +# Loading +# ------------------------------------------------------------------ + +def load_cameras(eval_dir: str) -> Dict[str, dict]: + """Load intrinsics, world->cam pose and per-marker 4-corner pixels per camera.""" + cams: Dict[str, dict] = {} + for det_path in glob.glob(os.path.join(eval_dir, "*_aruco_detection.json")): + base = os.path.basename(det_path) + m = re.match(r"render_([A-Za-z0-9]+)_aruco_detection\.json", base) + if not m: + continue + cam_id = m.group(1) + pose_path = os.path.join(eval_dir, f"render_{cam_id}_camera_pose.json") + if not os.path.exists(pose_path): + print(f"[WARN] no pose for camera {cam_id}, skipping") + continue + + det = json.load(open(det_path, "r", encoding="utf-8")) + pose = json.load(open(pose_path, "r", encoding="utf-8")) + + K = np.array(det["camera"]["camera_matrix"], dtype=float).reshape(3, 3) + D = np.array(det["camera"]["distortion_coefficients"], dtype=float).reshape(-1, 1) + + w2c = pose["camera_pose"]["world_to_camera"] + R = np.array(w2c["rotation_matrix"], dtype=float).reshape(3, 3) + t = np.array(w2c["translation_m"], dtype=float).reshape(3) + + markers: Dict[int, np.ndarray] = {} + for d in det.get("detections", []): + pts = d.get("image_points_px") + if pts is None: + continue + markers[int(d["marker_id"])] = np.array(pts, dtype=float).reshape(4, 2) + + cams[cam_id] = dict(K=K, D=D, R=R, t=t, markers=markers) + return cams + + +# ------------------------------------------------------------------ +# Geometry +# ------------------------------------------------------------------ + +def triangulate_multiview(observations: List[Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]]) -> np.ndarray: + """ + DLT triangulation of one 3D point from N cameras. + observations: list of (K, D, R_wc, t_wc, uv_pixel). + Uses undistorted normalized coordinates so P = [R | t]. + """ + A = [] + for K, D, R, t, uv in observations: + und = cv2.undistortPoints(np.array([[uv]], dtype=np.float32), K, D).reshape(2) + x, y = float(und[0]), float(und[1]) + P = np.hstack([R, t.reshape(3, 1)]) # 3x4 normalized projection + A.append(x * P[2] - P[0]) + A.append(y * P[2] - P[1]) + A = np.asarray(A, dtype=float) + _, _, Vt = np.linalg.svd(A) + X = Vt[-1] + if abs(X[3]) < 1e-12: + return np.array([np.nan, np.nan, np.nan]) + return X[:3] / X[3] + + +def corner_plane_normal(corners3d: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: + """ + Best-fit plane normal through the 4 triangulated corners (SVD), with the + sign fixed by the ArUco corner ordering (right-hand rule on the first edges). + Returns (unit_normal, center). + """ + center = corners3d.mean(axis=0) + centered = corners3d - center + _, _, Vt = np.linalg.svd(centered) + n = Vt[-1] + # ArUco corners are clockwise seen from the front, so the outward (camera- + # facing) marker normal — matching the Blender ground-truth convention — + # points opposite to cross(edge_01, edge_02). Align the sign to that. + cross = np.cross(corners3d[1] - corners3d[0], corners3d[2] - corners3d[0]) + if np.dot(n, cross) > 0: + n = -n + nn = np.linalg.norm(n) + return (n / nn if nn > 1e-12 else n), center + + +def angle_between_deg(a: np.ndarray, b: np.ndarray) -> float: + na, nb = np.linalg.norm(a), np.linalg.norm(b) + if na < 1e-12 or nb < 1e-12: + return float("nan") + c = float(np.clip(np.dot(a, b) / (na * nb), -1.0, 1.0)) + return math.degrees(math.acos(c)) + + +# ------------------------------------------------------------------ +# Reporting +# ------------------------------------------------------------------ + +def stats(values: List[float]) -> dict: + if not values: + return dict(n=0) + arr = np.array(values, dtype=float) + return dict( + n=len(arr), + mean=float(arr.mean()), + median=float(np.median(arr)), + p90=float(np.percentile(arr, 90)), + max=float(arr.max()), + ) + + +def text_histogram(values: List[float], bins: List[float]) -> str: + counts = [0] * (len(bins) + 1) + for v in values: + placed = False + for i, b in enumerate(bins): + if v < b: + counts[i] += 1 + placed = True + break + if not placed: + counts[-1] += 1 + total = max(1, len(values)) + lines = [] + edges = [f"<{bins[0]:g}"] + [f"{bins[i-1]:g}-{bins[i]:g}" for i in range(1, len(bins))] + [f">={bins[-1]:g}"] + for label, c in zip(edges, counts): + bar = "#" * int(round(40 * c / total)) + lines.append(f" {label:>10}deg | {c:3d} | {bar}") + return "\n".join(lines) + + +def main() -> None: + ap = argparse.ArgumentParser(description="Stage 0: corner-derived normal accuracy vs ground truth") + ap.add_argument("--evalDir", default="data/evaluations/Scene8", + help="folder with render_*_aruco_detection.json + _camera_pose.json") + ap.add_argument("--gt", default="data/simulation/Scene8/render_a.json", + help="ground-truth marker JSON (render_*.json)") + ap.add_argument("--minCams", type=int, default=2, help="min cameras to triangulate a marker") + ap.add_argument("--out", default=None, help="optional JSON output path") + args = ap.parse_args() + + cams = load_cameras(args.evalDir) + print(f"[INFO] Cameras: {sorted(cams.keys())}") + if len(cams) < 2: + print("[ERROR] need >=2 cameras") + return + + gt = {int(m["id"]): m for m in json.load(open(args.gt, "r", encoding="utf-8"))} + print(f"[INFO] Ground-truth markers: {len(gt)}") + + marker_cams: Dict[int, List[str]] = defaultdict(list) + for cid, cam in cams.items(): + for mid in cam["markers"]: + marker_cams[mid].append(cid) + + results = [] + for mid, cam_ids in sorted(marker_cams.items()): + if len(cam_ids) < args.minCams or mid not in gt: + continue + corners3d = [] + ok = True + for ci in range(4): + obs = [(cams[c]["K"], cams[c]["D"], cams[c]["R"], cams[c]["t"], cams[c]["markers"][mid][ci]) + for c in cam_ids] + X = triangulate_multiview(obs) + if not np.all(np.isfinite(X)): + ok = False + break + corners3d.append(X) + if not ok: + continue + corners3d = np.array(corners3d) + n_meas, center = corner_plane_normal(corners3d) + n_gt = np.array(gt[mid]["normal"], dtype=float) + + a_signed = angle_between_deg(n_meas, n_gt) + a_flip = min(a_signed, 180.0 - a_signed) + center_err_mm = float(np.linalg.norm(center - np.array(gt[mid]["position_m"], dtype=float)) * 1000.0) + edge_mm = float(np.mean([np.linalg.norm(corners3d[(i + 1) % 4] - corners3d[i]) for i in range(4)]) * 1000.0) + + results.append(dict( + id=mid, link=gt[mid].get("link", "?"), n_cams=len(cam_ids), + angle_signed_deg=a_signed, angle_flip_deg=a_flip, + center_err_mm=center_err_mm, edge_mm=edge_mm, + )) + + if not results: + print("[ERROR] no markers triangulated") + return + + # ---- per-link breakdown ---- + by_link: Dict[str, List[dict]] = defaultdict(list) + for r in results: + by_link[r["link"]].append(r) + + print(f"\n{'='*70}\nCORNER-DERIVED NORMAL ERROR vs GROUND TRUTH ({len(results)} markers)\n{'='*70}") + print(f"{'link':>10} | {'n':>3} | {'normalErr(flip) mean/med/p90/max [deg]':>40} | {'ctrErr':>7} | {'edge':>6}") + print("-" * 95) + order = sorted(by_link.keys(), key=lambda k: -len(by_link[k])) + for link in order: + rs = by_link[link] + af = stats([r["angle_flip_deg"] for r in rs]) + ce = np.mean([r["center_err_mm"] for r in rs]) + ed = np.mean([r["edge_mm"] for r in rs]) + print(f"{link:>10} | {af['n']:>3} | " + f"{af['mean']:7.2f} /{af['median']:6.2f} /{af['p90']:6.2f} /{af['max']:6.2f} | " + f"{ce:6.1f}mm | {ed:5.1f}mm") + + all_flip = [r["angle_flip_deg"] for r in results] + all_signed = [r["angle_signed_deg"] for r in results] + a = stats(all_flip) + print("-" * 95) + print(f"{'ALL':>10} | {a['n']:>3} | " + f"{a['mean']:7.2f} /{a['median']:6.2f} /{a['p90']:6.2f} /{a['max']:6.2f} |") + + # sign consistency: how many are 'flipped' (>90 deg signed) + flipped = sum(1 for s in all_signed if s > 90.0) + print(f"\n[INFO] sign: {flipped}/{len(all_signed)} markers have signed angle >90deg " + f"(consistent flip = trivially fixable; mixed = corner-order issue)") + print(f"[INFO] GT marker edge length is 25.0mm — triangulated mean edge tells corner-triangulation quality.") + + print(f"\nHistogram of normal error (flip-invariant), {len(all_flip)} markers:") + print(text_histogram(all_flip, [1, 2, 5, 10, 20, 45])) + + if args.out: + json.dump({"results": results, "overall": a}, open(args.out, "w", encoding="utf-8"), indent=2) + print(f"\n[INFO] wrote {args.out}") + + +if __name__ == "__main__": + main() diff --git a/benchmark/stage0_scene8.json b/benchmark/stage0_scene8.json new file mode 100644 index 0000000..f5dbfec --- /dev/null +++ b/benchmark/stage0_scene8.json @@ -0,0 +1,515 @@ +{ + "results": [ + { + "id": 41, + "link": "FingerA", + "n_cams": 4, + "angle_signed_deg": 1.1434420142628594, + "angle_flip_deg": 1.1434420142628594, + "center_err_mm": 0.44066643086764096, + "edge_mm": 24.016180354604842 + }, + { + "id": 42, + "link": "FingerA", + "n_cams": 2, + "angle_signed_deg": 0.7690528091207107, + "angle_flip_deg": 0.7690528091207107, + "center_err_mm": 0.47138540733240264, + "edge_mm": 24.71301484445469 + }, + { + "id": 43, + "link": "FingerB", + "n_cams": 2, + "angle_signed_deg": 1.4318713194101393, + "angle_flip_deg": 1.4318713194101393, + "center_err_mm": 1.3060871755679715, + "edge_mm": 24.559877670993526 + }, + { + "id": 44, + "link": "FingerB", + "n_cams": 3, + "angle_signed_deg": 1.4354091396273663, + "angle_flip_deg": 1.4354091396273663, + "center_err_mm": 0.49591116365549415, + "edge_mm": 24.275020717296524 + }, + { + "id": 46, + "link": "Board", + "n_cams": 3, + "angle_signed_deg": 1.546856095969066, + "angle_flip_deg": 1.546856095969066, + "center_err_mm": 0.5153058457174745, + "edge_mm": 23.732848555198473 + }, + { + "id": 47, + "link": "Board", + "n_cams": 3, + "angle_signed_deg": 0.4384043190770205, + "angle_flip_deg": 0.4384043190770205, + "center_err_mm": 0.3654847714391029, + "edge_mm": 23.78437453104651 + }, + { + "id": 51, + "link": "Board", + "n_cams": 2, + "angle_signed_deg": 3.06869698457462, + "angle_flip_deg": 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100644 --- a/data/evaluations/Scene9/render_f_aruco_detection.json +++ b/data/evaluations/Scene9/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T17:39:25Z", + "created_utc": "2026-06-01T19:31:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -16,7 +16,7 @@ ], [ 0.0, - 1500.0, + 1777.77783203125, 360.0 ], [ @@ -35,7 +35,7 @@ }, "image": { "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_f.png", - "image_sha256": "27a53f6a3c44d4dbe0eee4035fc45c81c1862a721997b1353cdc170751531c25", + "image_sha256": "f329ce8c039e3611cde2e6a8de66a3fb75112c50deed4734c9b21fba89656d02", "width_px": 1280, "height_px": 720 }, @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b692e820-943c-443a-93c1-ab9cf072223b", + "observation_id": "2a8d0727-bf79-4bb8-b6a4-4f3ff5257860", "type": "aruco", "marker_id": 43, "marker_size_m": 0.025, @@ -76,14 +76,14 @@ 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b/data/evaluations/Scene9/render_f_camera_pose.json index 3ef7a4f..6febb8c 100644 --- a/data/evaluations/Scene9/render_f_camera_pose.json +++ b/data/evaluations/Scene9/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T17:39:28Z", + "created_utc": "2026-06-01T19:31:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -15,7 +15,7 @@ ], [ 0.0, - 1500.0, + 1777.77783203125, 360.0 ], [ @@ -41,14 +41,14 @@ 46, 56, 208, - 47, 62, + 47, 54, 53, 97, 72, - 55, 96, + 55, 84, 79, 66, @@ -72,170 +72,152 @@ 1, 2, 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10 + 4 ], "rms": [ - 0.015701356394471733, - 0.015297855069293168, - 0.011524674965863707, - 0.008661433675275389, - 0.00789850187690886, - 0.007842132486163736, - 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b/data/evaluations/Scene9/render_g_aruco_detection.json index 93a328c..c1c1cd3 100644 --- a/data/evaluations/Scene9/render_g_aruco_detection.json +++ b/data/evaluations/Scene9/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T17:39:26Z", + "created_utc": "2026-06-01T19:31:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -16,7 +16,7 @@ ], [ 0.0, - 1500.0, + 1777.77783203125, 360.0 ], [ @@ -35,18 +35,18 @@ }, "image": { "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9\\render_g.png", - "image_sha256": "3668ddce2e536e84df6a2d773efb16e31efa2bd81adf9ae0393362aef8915e39", + "image_sha256": "4ac3c814212f1d509842442f4b420914c301470cd821b35ffb11d16cc413116c", "width_px": 1280, "height_px": 720 }, "aruco": { "dictionary": "DICT_4X4_250", "num_detected_markers": 35, - "num_rejected_candidates": 2 + "num_rejected_candidates": 3 }, "detections": [ { - 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a/data/evaluations/Scene9a/render_c_camera_pose.json b/data/evaluations/Scene9a/render_c_camera_pose.json index f0cc575..43af601 100644 --- a/data/evaluations/Scene9a/render_c_camera_pose.json +++ b/data/evaluations/Scene9a/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-05-31T15:26:00Z", + "created_utc": "2026-06-01T19:27:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -15,7 +15,7 @@ ], [ 0.0, - 2250.0, + 2000.0, 540.0 ], [ @@ -58,10 +58,10 @@ 3 ], "rms": [ - 0.00546356446276085, - 0.0010497598088245496, - 0.0010442609957532834, - 0.001044260975021075 + 0.006047463339026257, + 0.00011704207472259981, + 5.09778497262171e-05, + 5.0977423718249516e-05 ], "lambda": [ 0.001, @@ -70,135 +70,135 @@ 0.000125 ] 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b/data/robot/robot.json @@ -42,9 +42,9 @@ 500 ], "cameraPosition": [ - -300, - -800, - 800 + 1200, + -900, + 400 ], "cameraPosition_c": [ 600, @@ -54,7 +54,7 @@ "cameraTarget": [ 210, -100, - 180 + 50 ], "cameraUpVector": [ 0, diff --git a/data/simulation/Scene9b/render_a.json b/data/simulation/Scene9b/render_a.json index 6870bb5..e812ff0 100644 --- a/data/simulation/Scene9b/render_a.json +++ b/data/simulation/Scene9b/render_a.json @@ -2001,6 +2001,84 @@ -0.05233597010374069 ] }, + { + "name": "aruco_248", + "id": 248, + "link": "Ellbow", + "position_m": [ + 0.2224999964237213, + -0.17729905247688293, + 0.05413304641842842 + ], + "position_mm": [ + 222.4999964237213, + -177.29905247688293, + 54.13304641842842 + ], + "rotation_quaternion": [ + 0.5129170417785645, + 0.48674020171165466, + 0.4867401123046875, + -0.512917160987854 + ], + "normal": [ + -2.0861628513557662e-07, + -0.9986295700073242, + 0.05233597010374069 + ] + }, + { + "name": "aruco_232", + "id": 232, + "link": "Ellbow", + 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b/data/simulation/Scene9b/render_a.npz differ diff --git a/data/simulation/Scene9b/render_a.png b/data/simulation/Scene9b/render_a.png index f6ae75d..47aeabe 100644 Binary files a/data/simulation/Scene9b/render_a.png and b/data/simulation/Scene9b/render_a.png differ diff --git a/data/simulation/Scene9b/render_b.json b/data/simulation/Scene9b/render_b.json index 6870bb5..e812ff0 100644 --- a/data/simulation/Scene9b/render_b.json +++ b/data/simulation/Scene9b/render_b.json @@ -2001,6 +2001,84 @@ -0.05233597010374069 ] }, + { + "name": "aruco_248", + "id": 248, + "link": "Ellbow", + "position_m": [ + 0.2224999964237213, + -0.17729905247688293, + 0.05413304641842842 + ], + "position_mm": [ + 222.4999964237213, + -177.29905247688293, + 54.13304641842842 + ], + "rotation_quaternion": [ + 0.5129170417785645, + 0.48674020171165466, + 0.4867401123046875, + -0.512917160987854 + ], + "normal": [ + -2.0861628513557662e-07, + -0.9986295700073242, + 0.05233597010374069 + ] + }, + { + "name": "aruco_232", + "id": 232, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.16823066771030426, + 0.02851978689432144 + ], + "position_mm": [ + 259.99999046325684, + -168.23066771030426, + 28.51978689432144 + ], + "rotation_quaternion": [ + 0.4067366421222687, + 0.9135454893112183, + 0.0, + 0.0 + ], + "normal": [ + 0.0, + -0.7431448698043823, + -0.6691306233406067 + ] + }, + { + "name": "aruco_231", + "id": 231, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.1180923730134964, + 0.02589215338230133 + ], + "position_mm": [ + 259.99999046325684, + -118.0923730134964, + 25.89215338230133 + ], + "rotation_quaternion": [ + 0.35836800932884216, + -0.9335803985595703, + -0.0, + -0.0 + ], + "normal": [ + 0.0, + 0.6691306829452515, + -0.7431447505950928 + ] + }, { "name": "Arm2_marker_120", "id": 120, diff --git a/data/simulation/Scene9b/render_b.png b/data/simulation/Scene9b/render_b.png index 59ca43c..bbb71a2 100644 Binary files a/data/simulation/Scene9b/render_b.png and b/data/simulation/Scene9b/render_b.png differ diff --git a/data/simulation/Scene9b/render_c.json b/data/simulation/Scene9b/render_c.json index 6870bb5..e812ff0 100644 --- a/data/simulation/Scene9b/render_c.json +++ b/data/simulation/Scene9b/render_c.json @@ -2001,6 +2001,84 @@ -0.05233597010374069 ] }, + { + "name": "aruco_248", + "id": 248, + "link": "Ellbow", + "position_m": [ + 0.2224999964237213, + -0.17729905247688293, + 0.05413304641842842 + ], + "position_mm": [ + 222.4999964237213, + -177.29905247688293, + 54.13304641842842 + ], + "rotation_quaternion": [ + 0.5129170417785645, + 0.48674020171165466, + 0.4867401123046875, + -0.512917160987854 + ], + "normal": [ + -2.0861628513557662e-07, + -0.9986295700073242, + 0.05233597010374069 + ] + }, + { + "name": "aruco_232", + "id": 232, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.16823066771030426, + 0.02851978689432144 + ], + "position_mm": [ + 259.99999046325684, + -168.23066771030426, + 28.51978689432144 + ], + "rotation_quaternion": [ + 0.4067366421222687, + 0.9135454893112183, + 0.0, + 0.0 + ], + "normal": [ + 0.0, + -0.7431448698043823, + -0.6691306233406067 + ] + }, + { + "name": "aruco_231", + "id": 231, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.1180923730134964, + 0.02589215338230133 + ], + "position_mm": [ + 259.99999046325684, + -118.0923730134964, + 25.89215338230133 + ], + "rotation_quaternion": [ + 0.35836800932884216, + -0.9335803985595703, + -0.0, + -0.0 + ], + "normal": [ + 0.0, + 0.6691306829452515, + -0.7431447505950928 + ] + }, { "name": "Arm2_marker_120", "id": 120, diff --git a/data/simulation/Scene9b/render_c.png b/data/simulation/Scene9b/render_c.png index ea67b2b..cee0a3d 100644 Binary files a/data/simulation/Scene9b/render_c.png and b/data/simulation/Scene9b/render_c.png differ diff --git a/data/simulation/Scene9b/render_d.json b/data/simulation/Scene9b/render_d.json index 6870bb5..e812ff0 100644 --- a/data/simulation/Scene9b/render_d.json +++ b/data/simulation/Scene9b/render_d.json @@ -2001,6 +2001,84 @@ -0.05233597010374069 ] }, + { + "name": "aruco_248", + "id": 248, + "link": "Ellbow", + "position_m": [ + 0.2224999964237213, + -0.17729905247688293, + 0.05413304641842842 + ], + "position_mm": [ + 222.4999964237213, + -177.29905247688293, + 54.13304641842842 + ], + "rotation_quaternion": [ + 0.5129170417785645, + 0.48674020171165466, + 0.4867401123046875, + -0.512917160987854 + ], + "normal": [ + -2.0861628513557662e-07, + -0.9986295700073242, + 0.05233597010374069 + ] + }, + { + "name": "aruco_232", + "id": 232, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.16823066771030426, + 0.02851978689432144 + ], + "position_mm": [ + 259.99999046325684, + -168.23066771030426, + 28.51978689432144 + ], + "rotation_quaternion": [ + 0.4067366421222687, + 0.9135454893112183, + 0.0, + 0.0 + ], + "normal": [ + 0.0, + -0.7431448698043823, + -0.6691306233406067 + ] + }, + { + "name": "aruco_231", + "id": 231, + "link": "Ellbow", + "position_m": [ + 0.25999999046325684, + -0.1180923730134964, + 0.02589215338230133 + ], + "position_mm": [ + 259.99999046325684, + -118.0923730134964, + 25.89215338230133 + ], + "rotation_quaternion": [ + 0.35836800932884216, + -0.9335803985595703, + -0.0, + -0.0 + ], + "normal": [ + 0.0, + 0.6691306829452515, + -0.7431447505950928 + ] + }, { "name": "Arm2_marker_120", "id": 120, diff --git a/data/simulation/Scene9b/render_d.png b/data/simulation/Scene9b/render_d.png index 22db20b..6cfe7ad 100644 Binary files a/data/simulation/Scene9b/render_d.png and b/data/simulation/Scene9b/render_d.png differ diff --git a/data/simulation/debug/render.png b/data/simulation/debug/render.png index f6d6349..6cfe7ad 100644 Binary files a/data/simulation/debug/render.png and b/data/simulation/debug/render.png differ diff --git a/pipeline/3b_corner_marker_poses.py b/pipeline/3b_corner_marker_poses.py new file mode 100644 index 0000000..00e7dcb --- /dev/null +++ b/pipeline/3b_corner_marker_poses.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +""" +3b_corner_marker_poses.py +========================= +Produktiver Pipeline-Schritt: leitet aus den 4 ArUco-Ecken jedes Markers eine +volle Marker-Pose ab (Position + gemessene Normale), statt nur den Center zu +triangulieren. + +Validiert in benchmark/stage0_corner_normals.py: die aus triangulierten Ecken +abgeleitete Normale ist ~1 deg genau (Median), auch fuer Finger-Marker. + +Input: + --evalDir Ordner mit render_*_aruco_detection.json + _camera_pose.json + --robot robot.json (fuer marker_id -> link Zuordnung) +Output: + /aruco_marker_poses.json (pro Marker: position, gemessene normal, + 4 triangulierte Ecken, #Kameras, Kantenlaenge) + +Das Format ist kompatibel mit robot_viewer.html (marker_id, position_m/mm, normal) +und mit 9_evaluateMarker.py (position_m), erweitert um die gemessene Orientierung. +""" +from __future__ import annotations + +import argparse +import glob +import json +import os +import re +import time +from typing import Dict, List, Tuple + +import numpy as np +import cv2 + + +# ------------------------------------------------------------------ +# Loading +# ------------------------------------------------------------------ + +def load_cameras(eval_dir: str) -> Dict[str, dict]: + cams: Dict[str, dict] = {} + for det_path in glob.glob(os.path.join(eval_dir, "*_aruco_detection.json")): + base = os.path.basename(det_path) + m = re.match(r"render_([A-Za-z0-9]+)_aruco_detection\.json", base) + if not m: + continue + cam_id = m.group(1) + pose_path = os.path.join(eval_dir, f"render_{cam_id}_camera_pose.json") + if not os.path.exists(pose_path): + print(f"[WARN] no pose for camera {cam_id}, skipping") + continue + det = json.load(open(det_path, "r", encoding="utf-8")) + pose = json.load(open(pose_path, "r", encoding="utf-8")) + K = np.array(det["camera"]["camera_matrix"], dtype=float).reshape(3, 3) + D = np.array(det["camera"]["distortion_coefficients"], dtype=float).reshape(-1, 1) + w2c = pose["camera_pose"]["world_to_camera"] + R = np.array(w2c["rotation_matrix"], dtype=float).reshape(3, 3) + t = np.array(w2c["translation_m"], dtype=float).reshape(3) + markers: Dict[int, np.ndarray] = {} + for d in det.get("detections", []): + pts = d.get("image_points_px") + if pts is not None: + markers[int(d["marker_id"])] = np.array(pts, dtype=float).reshape(4, 2) + cams[cam_id] = dict(K=K, D=D, R=R, t=t, markers=markers) + return cams + + +def load_marker_links(robot_path: str) -> Dict[int, str]: + robot = json.load(open(robot_path, "r", encoding="utf-8")) + out: Dict[int, str] = {} + for link_name, link in (robot.get("links", {}) or {}).items(): + for mk in link.get("markers", []) or []: + mid = int(mk.get("id", -1)) + if mid >= 0: + out[mid] = link_name + return out + + +# ------------------------------------------------------------------ +# Geometry (validated in stage0) +# ------------------------------------------------------------------ + +def triangulate_multiview(observations) -> np.ndarray: + A = [] + for K, D, R, t, uv in observations: + und = cv2.undistortPoints(np.array([[uv]], dtype=np.float32), K, D).reshape(2) + x, y = float(und[0]), float(und[1]) + P = np.hstack([R, t.reshape(3, 1)]) + A.append(x * P[2] - P[0]) + A.append(y * P[2] - P[1]) + _, _, Vt = np.linalg.svd(np.asarray(A, dtype=float)) + X = Vt[-1] + return np.array([np.nan] * 3) if abs(X[3]) < 1e-12 else X[:3] / X[3] + + +def corner_plane_normal(corners3d: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: + center = corners3d.mean(axis=0) + _, _, Vt = np.linalg.svd(corners3d - center) + n = Vt[-1] + # ArUco corners clockwise from the front: outward (camera-facing) normal, + # matching the Blender/robot.json convention, points opposite cross(e01,e02). + cross = np.cross(corners3d[1] - corners3d[0], corners3d[2] - corners3d[0]) + if np.dot(n, cross) > 0: + n = -n + nn = np.linalg.norm(n) + return (n / nn if nn > 1e-12 else n), center + + +# ------------------------------------------------------------------ +# Main +# ------------------------------------------------------------------ + +def main() -> None: + ap = argparse.ArgumentParser(description="Derive marker poses (position + measured normal) from ArUco corners") + ap.add_argument("--evalDir", required=True, help="folder with detection + camera_pose JSONs") + ap.add_argument("--robot", required=True, help="robot.json (for marker->link)") + ap.add_argument("--minCams", type=int, default=2, help="min cameras to triangulate a marker") + ap.add_argument("--out", default=None, help="output path (default /aruco_marker_poses.json)") + args = ap.parse_args() + + cams = load_cameras(args.evalDir) + if len(cams) < 2: + print("[ERROR] need >=2 cameras") + return + links = load_marker_links(args.robot) + print(f"[INFO] Cameras: {sorted(cams.keys())} | marker-link entries: {len(links)}") + + marker_cams: Dict[int, List[str]] = {} + for cid, cam in cams.items(): + for mid in cam["markers"]: + marker_cams.setdefault(mid, []).append(cid) + + markers_out = [] + for mid, cam_ids in sorted(marker_cams.items()): + if len(cam_ids) < args.minCams: + continue + corners3d, ok = [], True + for ci in range(4): + obs = [(cams[c]["K"], cams[c]["D"], cams[c]["R"], cams[c]["t"], cams[c]["markers"][mid][ci]) + for c in cam_ids] + X = triangulate_multiview(obs) + if not np.all(np.isfinite(X)): + ok = False + break + corners3d.append(X) + if not ok: + continue + corners3d = np.array(corners3d) + normal, center = corner_plane_normal(corners3d) + edge_mm = float(np.mean([np.linalg.norm(corners3d[(i + 1) % 4] - corners3d[i]) for i in range(4)]) * 1000.0) + + markers_out.append({ + "marker_id": int(mid), + "link": links.get(mid, "unknown"), + "position_m": [float(v) for v in center], + "position_mm": [float(v * 1000.0) for v in center], + "normal": [float(v) for v in normal], + "corners_m": [[float(v) for v in c] for c in corners3d], + "num_cameras": len(cam_ids), + "edge_length_mm": edge_mm, + }) + + out_path = args.out or os.path.join(args.evalDir, "aruco_marker_poses.json") + output = { + "schema_version": "1.0", + "stage": "corner_marker_poses", + "created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()), + "summary": {"num_cameras": len(cams), "num_markers": len(markers_out)}, + "markers": markers_out, + } + json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2) + print(f"[INFO] {len(markers_out)} marker poses -> {out_path}") + + +if __name__ == "__main__": + main()