44 lines
1.5 KiB
Python
44 lines
1.5 KiB
Python
"""Einstiegspunkt: python -m approbot_pipeline <image_dir> [--robot ...] [--cameras ...]"""
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import argparse
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import json
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import sys
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def main() -> None:
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ap = argparse.ArgumentParser(
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description="approbot-pipeline: Bilder + robot.json → Gelenkwinkel im R⁷"
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)
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ap.add_argument("image_dir", help="Ordner mit render_*.png/jpg und render_*.npz")
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ap.add_argument("--robot", default=None, help="Pfad zu robot.json")
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ap.add_argument("--evalDir", default=None, help="Ausgabeordner (Standard: temporäres Verzeichnis)")
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ap.add_argument("--cameras", default=None, help="Kamera-IDs, kommagetrennt, z.B. a,b,d")
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ap.add_argument("--lambdaWeight", type=float, default=100.0)
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args = ap.parse_args()
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from approbot_pipeline import estimate_from_dir
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camera_filter = args.cameras.split(",") if args.cameras else None
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try:
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result = estimate_from_dir(
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args.image_dir,
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robot_json=args.robot,
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eval_dir=args.evalDir,
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lambda_weight=args.lambdaWeight,
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camera_filter=camera_filter,
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)
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except Exception as exc:
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print(f"[ERROR] {exc}", file=sys.stderr)
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sys.exit(1)
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print(json.dumps({
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"joints": result.joints,
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"confidence": result.confidence,
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"n_markers": result.n_markers,
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"residual_rms": result.residual_rms,
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"processing_ms": result.processing_ms,
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}, indent=2, ensure_ascii=False))
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if __name__ == "__main__":
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main()
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