101 lines
2.5 KiB
Batchfile
101 lines
2.5 KiB
Batchfile
@echo off
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setlocal EnableDelayedExpansion
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REM 3_pipeline_multiview.bat
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REM Multi-camera ArUco detection and pose estimation pipeline
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REM Parametr e.g.
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REM run_pipeline.bat ../data/simulation/Scene4
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REM Wenn kein Argument übergeben wurde
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if "%1"=="" (
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echo.
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echo [32m[INFO] Aufruf fehlt![0m
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echo [32mBeispiel: .\run_pipeline.bat ../data/simulation/Scene4[0m
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echo.
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exit /b
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)
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set "IMAGES=%~1"
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REM trailing slash entfernen
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if "%IMAGES:~-1%"=="\" set "IMAGES=%IMAGES:~0,-1%"
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if "%IMAGES:~-1%"=="/" set "IMAGES=%IMAGES:~0,-1%"
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set ROBOT_JSON=..\data\robot\robot.json
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set BASE_OUT_DIR=C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\evaluations
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REM ✅ richtigen Namen extrahieren
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for %%I in ("%IMAGES%") do set "SCENE_NAME=%%~nxI"
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set OUT_DIR=%BASE_OUT_DIR%\%SCENE_NAME%
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echo.
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echo [STEP 1] Detect ArUco markers from all cameras in the folder %IMAGES%
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for %%F in ("%IMAGES%\*.png" "%IMAGES%\*.PNG" "%IMAGES%\*.jpg" "%IMAGES%\*.jpeg" "%IMAGES%\*.JPG" "%IMAGES%\*.JPEG") do (
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REM Dateiname ohne Pfad und ohne .png
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set "NAME=%%~nF"
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echo Bearbeite: !NAME!
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REM Split bei "_" → nehme 2. Teil (die ID)
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for /f "tokens=2 delims=_" %%A in ("%%~nF") do (
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set "CAMID=%%A"
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REM Takes files and detected arucos output to render_c_aruco_detection.json
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python3 ../pipeline/1_detect_aruco_observations.py ^
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-i "%%F" ^
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-npz "%IMAGES%\render_a.npz" ^
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-outDir %OUT_DIR% ^
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-robot %ROBOT_JSON% ^
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-cameraId !CAMID!
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)
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)
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echo.
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echo [STEP 2] Estimate camera poses from detections
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for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
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echo Bearbeite: %%F
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python3 ../pipeline/2_estimate_camera_from_observations.py ^
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-i "%%F" ^
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-robot %ROBOT_JSON% ^
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-outDir %OUT_DIR%
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)
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echo.
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echo [STEP 3] Triangulate marker positions from multi-view observations
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REM Alle detection files sammeln
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for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
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set DET_ARGS=!DET_ARGS! -det "%%F"
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)
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REM Alle pose files sammeln
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for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
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set POSE_ARGS=!POSE_ARGS! -pose "%%F"
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)
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python3 "..\pipeline\3_multiview_bundle_adjustment_v5.py" ^
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-robot "%ROBOT_JSON%" ^
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-lambdaWeight 100.0 ^
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!DET_ARGS! ^
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!POSE_ARGS!
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echo.
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echo [STEP 4] Robotics Pose calculation of angles and joint positions
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python3 "..\pipeline\4_robotState_estimation_v6.py" ^
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"%OUT_DIR%\aruco_positions_optimized.json" ^
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-robot "%ROBOT_JSON%" ^
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-out "%OUT_DIR%\robot_state.json"
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