Phase 1 abgeschlossen: Positionen werden erkannt.

Positionen aus den Merkern heraus erkennbar. Viele Bilder gleichzeitig verarbeitbar.

test/2_estimate_camera_pose_from_aruco_json.test.js

@@ -11,7 +11,7 @@ const TEST_SETUP_FILE =  path.join(TEST_PATH, 'data', '0_testSetup.json');
 const SCRIPT_FILE = path.join(PROJECT_PATH, 'programs', '1_detect_aruco_observations.py');
 const ROBOT_PATH = path.join(__dirname, 'data', 'robot', 'robot.json');
 const SCRIPT_FILE_2 = path.join(PROJECT_PATH, 'programs', '2_estimate_camera_pose_from_aruco_json.py');
-
+const SCRIPT_FILE_3 = path.join(PROJECT_PATH, 'programs', '3_fuse_markers_world.py');
 
 const cam = {
     id : 'cam1',
@@ -19,7 +19,11 @@ const cam = {
     intrinsics: path.join(PROJECT_PATH, 'data', 'settings','callibration_cam0.npz')
 };
 
-
+const cam2 = {
+    id : 'cam1',
+    image: 'snapshot_video0_1779690911822.jpg',
+    intrinsics: path.join(PROJECT_PATH, 'data', 'settings','callibration_cam0.npz')
+};
 
 describe('Check if Python 2 runs', () => {
 
@@ -61,6 +65,61 @@ describe('Check if Python 2 runs', () => {
     
   });
 
+  test('Second File Run of Python second script', () => {
+    
+
+    console.log('Intrinsics :  ', cam.intrinsics);
+    execFileSync(PYTHON_CMD, [
+        SCRIPT_FILE,
+        '-i', path.join(SOURCE_DIR,   cam2.image),
+        '-npz', cam.intrinsics,
+        '-robot', ROBOT_PATH,
+        '-cameraId', cam2.id
+        
+        ,
+        '-outDir', TARGET_DIR
+    ], {
+        stdio: 'inherit',
+        cwd: SOURCE_DIR   // <- wichtig
+    });
+
+    
+    const resultFile = path.join(TARGET_DIR, 'snapshot_video0_1779690911822_aruco_detection.json');
+
+    if (!fs.existsSync(resultFile)) {
+      throw new Error(`Erwartete Datei fehlt: ${resultFile}`);
+    }
+
+
+    console.log('Intrinsics :  ', cam.intrinsics);
+    execFileSync(PYTHON_CMD, [
+        SCRIPT_FILE_2,
+        '--detections' , resultFile, 
+        '--robots', ROBOT_PATH
+    ], {
+        stdio: 'inherit',
+        cwd: SOURCE_DIR   // <- wichtig
+    });
+    
+  });
+
+
+    test('Second File Run of Python second script', () => {
+    
+
+    console.log('Intrinsics :  ', cam.intrinsics);
+    execFileSync(PYTHON_CMD, [
+        SCRIPT_FILE_3,
+        '--json', path.join(TARGET_DIR,   'snapshot_video0_1779690911822_aruco_detection.camera_pose.json'),
+        '--json', path.join(TARGET_DIR,   'snapshot_video1_1779690911822_aruco_detection.camera_pose.json'),
+        '--robots', ROBOT_PATH
+    ], {
+        stdio: 'inherit',
+        cwd: SOURCE_DIR   // <- wichtig
+    });
+  });
+
+
   /*
   // ✅ Cleanup läuft IMMER nach jedem Test
   afterEach(() => {

test/data/screenShots/fused_markers.csv

@@ -0,0 +1,20 @@
+marker_id,x,y,z,num_cameras,spread_m,known_marker,mean_confidence,mean_weight
+219,0.43451087900435764,-0.2430617527365844,0.24864745186629233,2,0.049300733586341176,False,0.5277170316988301,0.009300142928461588
+200,0.2883150365803509,0.0027948039097262806,0.09467189774796789,2,0.033606991516837784,False,0.7555202975260764,0.06883103535083403
+210,0.002038147844813181,0.018380350725407422,-0.018394701031480637,2,0.006772066645204387,True,0.6723693051501728,0.0204532377982721
+215,0.21054334774487873,-0.0718736597935183,-0.02391368422209966,2,0.013509208968825837,True,0.7724894180619204,0.08402370302052731
+197,0.30386845803628715,-0.12692615651017353,0.06409248498248943,1,0.0,False,0.6986174216600093,0.14966530971529068
+218,0.43184321660132874,-0.1704819414678139,0.16367009746963013,2,0.03802223210213124,False,0.3413914136453039,0.010365470204791368
+229,0.3602436104705841,-0.11844379401765685,0.08440112143347289,2,0.032107134962667656,False,0.8405383706616931,0.06951698019008724
+243,0.3687471932606844,-0.14650136025597116,0.042188479232535214,1,0.0,False,0.65908988611209,0.10324035134123742
+211,0.2137591400767156,0.026959799238792163,-0.028605385312781718,2,0.010891850650024732,True,0.6444060145125223,0.050073587946979366
+198,0.35259204770580493,-0.030524117439818314,0.08694698191739618,2,0.02706837734419262,False,0.7253533793498493,0.058021822336083224
+201,0.24149429994177674,0.06896595765348834,0.09401141969091542,1,0.0,False,0.4573781640909966,0.04398530324515346
+204,0.27355941290220315,0.13289470613188933,0.1235983427523017,2,0.02985425204964259,False,0.5691140927436947,0.023331477027783525
+217,0.6516780631570386,0.043108222213155606,-0.050180784675989236,2,0.049194700206082534,True,0.5355335672966184,0.014438151705364624
+196,0.3889281825540628,-0.37463423301617327,0.2628466843421774,1,0.0,False,0.9637599331074872,0.012495067650793962
+180,0.42148181203795254,-0.3888496207938902,0.3076404324887513,1,0.0,False,0.6855326216817852,0.003758399623359111
+189,0.39699505778356714,-0.414056777239273,0.2548045860642588,1,0.0,False,0.5680798096818698,0.005206949324425661
+208,0.5002433623385828,-0.10538715198248683,-0.04743817619792867,1,0.0,True,0.7535707616050168,0.006307514070673037
+214,0.41191377730374135,-0.0008334112347655465,-0.03314121580279006,1,0.0,True,0.6847250665842876,0.005021652275542729
+226,0.4275023262853984,-0.13129556163502792,0.04582380048078871,1,0.0,False,0.10322993259729876,0.0003523077820839931