dasha_f
0d32f32db0
Замкнутый контур "поток -> CV -> механика": товары идут по конвейеру с шагом 700 мм, класс определяется стереопайплайном во время движения, пушер и плуг реагируют физически. Состав: * control_test/ - ячейка и CV. run_sorting_cv.py + cv_worker.py (два процесса, потому что torch внутри Isaac роняет сцену), cell.py (физика лент, плуга, пушера), measure_plane.py (замер габаритов), README.md и .memory.md с замерами, проблемами и ловушками * robozon_sorter/ - модули симуляции, scripts/ - утилиты, scene/ - сцены * assets/ - меши товаров, плуг, объекты Objaverse Бейзлайн CV: DEFOM-Stereo vitl, вход 480, iters 24, кроп зоны осмотра, без сегментации. На потоке 700 мм - классы 8/9, габариты MAE 32.8 мм, 469 мс на товар при такте 700 мс. Веса моделей (4.5 ГБ) и пропсы конвейера NVIDIA (274 МБ) не включены - источники и команды скачивания в MODELS.md. Выход прогонов (captures/, runtime/) не включён: воспроизводится. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
64 lines
2.5 KiB
Python
64 lines
2.5 KiB
Python
"""Rebuild the camera body markers at the new poses, then look through the D435 pair."""
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import omni.usd, omni.kit.viewport.utility as vp
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import isaacsim.core.experimental.utils.app as app_utils
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from pxr import Gf, Usd, UsdGeom, UsdPhysics
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stage = omni.usd.get_context().get_stage()
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xc = UsdGeom.XformCache()
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ROOT = "/World/CameraBodiesSide"
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NAMES = ["RealSense_D435_Left", "RealSense_D435_Right",
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"Orbbec_Gemini305_Left", "Orbbec_Gemini305_Right",
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"Orbbec_Gemini345_Left", "Orbbec_Gemini345_Right"]
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COLOR = {"RealSense": (0.15, 0.5, 0.95), "Orbbec": (0.95, 0.45, 0.1)}
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def cam(name):
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for p in stage.Traverse():
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if p.IsA(UsdGeom.Camera) and p.GetName() == name:
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return p
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raise KeyError(name)
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# the old bodies are still at the old poses and would now be both wrong and in the way
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old = stage.GetPrimAtPath("/World/CameraBodies")
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if old.IsValid():
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UsdGeom.Imageable(old).MakeInvisible()
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for d in Usd.PrimRange(old):
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a = d.GetAttribute("physics:collisionEnabled")
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if a:
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a.Set(False)
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print("old /World/CameraBodies hidden (stale poses, and they occluded the new views)")
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UsdGeom.Xform.Define(stage, ROOT)
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for n in NAMES:
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c = cam(n)
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M = xc.GetLocalToWorldTransform(c)
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pos = Gf.Vec3d(M.ExtractTranslation())
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fwd = M.TransformDir(Gf.Vec3d(0, 0, -1)); fwd = fwd / (fwd.GetLength() or 1)
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path = f"{ROOT}/{n}"
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if stage.GetPrimAtPath(path).IsValid():
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stage.RemovePrim(path)
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cube = UsdGeom.Cube.Define(stage, path)
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cube.CreateSizeAttr().Set(1.0)
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xf = UsdGeom.Xformable(cube.GetPrim())
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# BEHIND the lens plane: a housing centred on the camera looks into its own inside
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# and the frame comes back black - that failure is documented in this project.
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xf.AddTranslateOp().Set(pos - fwd * 0.045)
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xf.AddScaleOp().Set(Gf.Vec3f(0.05, 0.05, 0.05))
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key = "RealSense" if n.startswith("RealSense") else "Orbbec"
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UsdGeom.Gprim(cube.GetPrim()).CreateDisplayColorAttr().Set([Gf.Vec3f(*COLOR[key])])
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print(f"rebuilt {len(NAMES)} body markers under {ROOT}, each offset behind its lens")
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w = vp.get_active_viewport()
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orig = w.camera_path
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shots = []
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for n in ("RealSense_D435_Left", "RealSense_D435_Right"):
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w.camera_path = cam(n).GetPath()
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await app_utils.update_app_async(steps=45)
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f = f"/tmp/cam_{n}.png"
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vp.capture_viewport_to_file(w, file_path=f)
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await app_utils.update_app_async(steps=20)
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shots.append(f)
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print("captured", f)
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w.camera_path = orig
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await app_utils.update_app_async(steps=10)
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print("viewport camera restored:", orig)
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