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>
75 lines
3.0 KiB
Python
75 lines
3.0 KiB
Python
"""Verify the rigs against each other: standoff, pair geometry, and a reprojection test.
|
|
|
|
The reprojection test is the end-to-end one: take the inspection point, transform it into
|
|
each camera's frame with that camera's own extrinsics, project with its intrinsics, and
|
|
check where it lands. A correctly aimed camera puts it on the principal point.
|
|
"""
|
|
import math
|
|
import omni.usd
|
|
from pxr import Gf, Usd, UsdGeom
|
|
|
|
stage = omni.usd.get_context().get_stage()
|
|
xc = UsdGeom.XformCache()
|
|
TARGET = Gf.Vec3d(-0.750, 0.0, 1.781)
|
|
|
|
def cam(name):
|
|
for p in stage.Traverse():
|
|
if p.IsA(UsdGeom.Camera) and p.GetName() == name:
|
|
return p
|
|
raise KeyError(name)
|
|
|
|
NAMES = ["RealSense_D435_Left", "RealSense_D435_Right",
|
|
"Orbbec_Gemini305_Left", "Orbbec_Gemini305_Right",
|
|
"Orbbec_Gemini345_Left", "Orbbec_Gemini345_Right"]
|
|
RES = {"RealSense_D435": (1280, 720), "Orbbec_Gemini305": (1280, 800),
|
|
"Orbbec_Gemini345": (1280, 800)}
|
|
|
|
print("=== standoff (requested 600 mm) ===")
|
|
P, F = {}, {}
|
|
for n in NAMES:
|
|
M = xc.GetLocalToWorldTransform(cam(n))
|
|
p = Gf.Vec3d(M.ExtractTranslation())
|
|
f = M.TransformDir(Gf.Vec3d(0, 0, -1)); f = f / (f.GetLength() or 1)
|
|
P[n], F[n] = p, f
|
|
print(f" {n:>24}: {(TARGET-p).GetLength()*1000:7.1f} mm")
|
|
|
|
print("\n=== pair geometry ===")
|
|
for rig in ("RealSense_D435", "Orbbec_Gemini305", "Orbbec_Gemini345"):
|
|
l, r = P[f"{rig}_Left"], P[f"{rig}_Right"]
|
|
fl, fr = F[f"{rig}_Left"], F[f"{rig}_Right"]
|
|
base = (r - l).GetLength()
|
|
ang = math.degrees(math.acos(max(-1, min(1, Gf.Dot(fl, fr)))))
|
|
kind = ("OPPOSING - not a stereo pair" if ang > 150 else
|
|
"rectified (parallel axes)" if ang < 0.5 else f"verged {ang:.2f} deg")
|
|
print(f" {rig:>18}: baseline {base*1000:8.1f} mm axes {ang:6.2f} deg {kind}")
|
|
|
|
print("\n=== reprojection of the inspection point (should land on the principal point) ===")
|
|
for n in NAMES:
|
|
prim = cam(n)
|
|
c = UsdGeom.Camera(prim)
|
|
fl_mm = c.GetFocalLengthAttr().Get()
|
|
ha = c.GetHorizontalApertureAttr().Get()
|
|
va = c.GetVerticalApertureAttr().Get()
|
|
rig = n.rsplit("_", 1)[0]
|
|
W, H = RES[rig]
|
|
fx = fl_mm / ha * W
|
|
fy = fl_mm / va * H
|
|
cx, cy = W / 2.0, H / 2.0
|
|
M = xc.GetLocalToWorldTransform(prim)
|
|
Pcam = M.GetInverse().Transform(TARGET) # world -> camera frame
|
|
z = -Pcam[2] # camera looks down -Z
|
|
if z <= 1e-6:
|
|
print(f" {n:>24}: BEHIND the camera"); continue
|
|
u = cx + fx * (Pcam[0] / z)
|
|
v = cy - fy * (Pcam[1] / z)
|
|
print(f" {n:>24}: depth {z*1000:6.1f} mm pixel ({u:7.1f},{v:7.1f}) "
|
|
f"offset from centre ({u-cx:+5.1f},{v-cy:+5.1f}) px")
|
|
|
|
print("\n=== cross-rig consistency: does every camera see the same point in front of it? ===")
|
|
depths = []
|
|
for n in NAMES:
|
|
M = xc.GetLocalToWorldTransform(cam(n))
|
|
depths.append(-M.GetInverse().Transform(TARGET)[2])
|
|
print(f" depth spread across all six: {min(depths)*1000:.1f} .. {max(depths)*1000:.1f} mm"
|
|
f" (max-min = {(max(depths)-min(depths))*1000:.1f} mm)")
|