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>
99 lines
4.0 KiB
Python
99 lines
4.0 KiB
Python
"""SUPERSEDED - kept for history only.
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SUPERSEDED by cam_configs.apply_config(stage, cam_configs.DEFAULT).
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Hard-codes the old 600 mm standoff.
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"""
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"""Reposition the camera rigs:
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* RealSense D435: Left and Right on OPPOSITE sides of the belt, facing each other.
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* All three rigs: working distance exactly 600 mm to the inspection point.
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Gemini 305/345 keep their azimuth and stay rectified (shared orientation, right eye
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offset along the camera's local +X by the baseline).
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"""
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import json, math
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import omni.usd
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from pxr import Gf, Usd, UsdGeom
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stage = omni.usd.get_context().get_stage()
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TARGET = Gf.Vec3d(-0.750, 0.0, 1.781) # inspection point on the belt
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STANDOFF = 0.60 # requested working distance, metres
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SIDE_ELEV_DEG = 20.0 # D435 sits low, at the side
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UP = Gf.Vec3d(0, 0, 1)
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def find(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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def look_at_matrix(pos, target):
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"""USD camera convention: looks down local -Z, local +Y is up."""
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fwd = (target - pos)
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fwd = fwd / (fwd.GetLength() or 1.0)
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zax = -fwd
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up = UP
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if abs(Gf.Dot(up, zax)) > 0.999:
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up = Gf.Vec3d(0, 1, 0)
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xax = Gf.Cross(up, zax); xax = xax / (xax.GetLength() or 1.0)
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yax = Gf.Cross(zax, xax)
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M = Gf.Matrix4d(1.0)
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M.SetRow3(0, xax); M.SetRow3(1, yax); M.SetRow3(2, zax)
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M.SetTranslateOnly(pos)
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return M, xax, fwd
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def set_pose(prim, M):
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xf = UsdGeom.Xformable(prim)
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xf.ClearXformOpOrder()
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xf.AddTransformOp().Set(M)
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def current_dir_from_target(prim):
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p = UsdGeom.XformCache().GetLocalToWorldTransform(prim).ExtractTranslation()
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d = Gf.Vec3d(p) - TARGET
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return d / (d.GetLength() or 1.0)
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report = {}
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# ---- D435: opposing pair, one each side, both aimed at the belt --------------------
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th = math.radians(SIDE_ELEV_DEG)
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for side_name, sgn in (("Left", +1.0), ("Right", -1.0)):
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prim = find(f"RealSense_D435_{side_name}")
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pos = TARGET + Gf.Vec3d(0.0, sgn * STANDOFF * math.cos(th), STANDOFF * math.sin(th))
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M, _, fwd = look_at_matrix(pos, TARGET)
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set_pose(prim, M)
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report[f"RealSense_D435_{side_name}"] = dict(
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pos=[round(v, 4) for v in pos], fwd=[round(v, 4) for v in fwd],
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dist_mm=round((TARGET - pos).GetLength() * 1000, 1))
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# ---- Gemini pairs: same azimuth, distance forced to 600 mm, stay RECTIFIED ---------
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for rig, baseline_m in (("Orbbec_Gemini305", 0.0265), ("Orbbec_Gemini345", 0.1294)):
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left, right = find(f"{rig}_Left"), find(f"{rig}_Right")
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# keep the direction the pair currently views from, measured at its midpoint
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xc = UsdGeom.XformCache()
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pl = Gf.Vec3d(xc.GetLocalToWorldTransform(left).ExtractTranslation())
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pr = Gf.Vec3d(xc.GetLocalToWorldTransform(right).ExtractTranslation())
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mid = (pl + pr) * 0.5
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d = mid - TARGET
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d = d / (d.GetLength() or 1.0)
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centre = TARGET + d * STANDOFF
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M, xax, fwd = look_at_matrix(centre, TARGET)
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# both eyes share ONE orientation - that is what keeps the pair rectified; the right
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# eye is displaced along the camera's own +X by the baseline
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for prim, off in ((left, -baseline_m / 2.0), (right, +baseline_m / 2.0)):
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Mi = Gf.Matrix4d(M)
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Mi.SetTranslateOnly(centre + xax * off)
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set_pose(prim, Mi)
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report[prim.GetName()] = dict(
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pos=[round(v, 4) for v in (centre + xax * off)],
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fwd=[round(v, 4) for v in fwd],
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dist_mm=round((TARGET - (centre + xax * off)).GetLength() * 1000, 1))
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print(f"{'camera':>26} {'position':>26} {'dist to belt':>13}")
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for k, v in report.items():
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print(f"{k:>26} ({v['pos'][0]:+6.3f},{v['pos'][1]:+6.3f},{v['pos'][2]:+6.3f}) {v['dist_mm']:>10.1f} mm")
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out = "/home/dasha/robozon-sorter/control_test/calib_rs_side.json"
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json.dump(dict(target=[round(v, 4) for v in TARGET], standoff_m=STANDOFF,
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side_elevation_deg=SIDE_ELEV_DEG, cameras=report),
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open(out, "w"), indent=2)
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print(f"\nextrinsics -> {out}")
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