falsche npz

server/server.js

@@ -218,6 +218,28 @@ async function findLatestCalibSession() {
   }
 }
 
+/**
+ * Sucht die neueste Kalibrierungs-Session, die eine NPZ für die angegebene Kamera enthält.
+ * Gibt { session, npzPath } zurück oder null wenn keine gefunden.
+ */
+async function findLatestNpzForCamera(camId) {
+  try {
+    await fsPromises.access(calibDataDir);
+    const entries = await fsPromises.readdir(calibDataDir, { withFileTypes: true });
+    const dirs = entries.filter(e => e.isDirectory()).map(e => e.name).sort().reverse();
+    for (const dir of dirs) {
+      const npzPath = path.join(calibDataDir, dir, `${camId}_calibration.npz`);
+      try {
+        await fsPromises.access(npzPath);
+        return { session: dir, npzPath };
+      } catch {}
+    }
+    return null;
+  } catch {
+    return null;
+  }
+}
+
 /** Liest meta.json einer Session */
 async function readCalibMeta(sessionName) {
   try {
@@ -474,7 +496,13 @@ app.post('/api/board/run', async (req, res) => {
     await fsPromises.mkdir(runDir, { recursive: true });
     send({ type: 'log', text: `▶ Board-Run: ${ts}` });
     send({ type: 'log', text: `▶ Ordner:    ${runDir}` });
+
+    // Robot-JSON laden und Marker-Anzahl loggen
+    let robotData = null;
+    try { robotData = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
+    const boardMarkerCount = robotData?.links?.Board?.markers?.length ?? '?';
     send({ type: 'log', text: `▶ Robot-JSON: ${ROBOT_JSON}` });
+    send({ type: 'log', text: `▶ Board-Marker (A0): ${boardMarkerCount} Marker aus links.Board.markers` });
     send({ type: 'log', text: '' });
 
     // 2. Kameras ermitteln
@@ -482,14 +510,9 @@ app.post('/api/board/run', async (req, res) => {
     const camData  = await new WebcamClient(WEBCAM_URL).getCameras();
     const cameraIds = (camData.cameras ?? []).map(c => c.id);
     send({ type: 'log', text: `▶ Kameras: ${cameraIds.join(', ')}` });
-
-    // 3. Aktuelle Kalibrierungs-Session für NPZ-Dateien
-    const calibSession = await findLatestCalibSession();
-    if (!calibSession) throw new Error('Keine Kalibrierungs-Session. Bitte zuerst Camera NPZ kalibrieren.');
-    send({ type: 'log', text: `▶ NPZ-Session: ${calibSession}` });
     send({ type: 'log', text: '' });
 
-    // 4. Pro Kamera: Foto → Script 1 → Script 2
+    // 3. Pro Kamera: Foto → Script 1 → Script 2
     for (const camId of cameraIds) {
       send({ type: 'log', text: `─── ${camId} ${'─'.repeat(40 - camId.length)}` });
 
@@ -509,13 +532,14 @@ app.post('/api/board/run', async (req, res) => {
       await fsPromises.writeFile(imgPath, Buffer.from(await snapResp.arrayBuffer()));
       send({ type: 'log', text: `✅ Foto: ${camId}.jpg` });
 
-      // NPZ prüfen
-      const npzPath = path.join(calibDataDir, calibSession, `${camId}_calibration.npz`);
-      try { await fsPromises.access(npzPath); }
-      catch {
-        send({ type: 'log', text: `⚠ Keine NPZ (${camId}_calibration.npz) – übersprungen` });
+      // NPZ suchen – neueste Session, die eine NPZ für diese Kamera enthält
+      const npzInfo = await findLatestNpzForCamera(camId);
+      if (!npzInfo) {
+        send({ type: 'log', text: `⚠ Keine NPZ für ${camId} gefunden (in keiner Kalibrierungs-Session) – übersprungen` });
         continue;
       }
+      const npzPath = npzInfo.npzPath;
+      send({ type: 'log', text: `▶ NPZ: data/calibration/${npzInfo.session}/${camId}_calibration.npz` });
 
       // Script 1 – ArUco-Erkennung
       send({ type: 'log', text: '\n▷ 1_detect_aruco_observations' });
@@ -659,7 +683,7 @@ app.get('/api/board/latest', async (req, res) => {
       measuredMarkers = JSON.parse(raw);
     } catch {}
 
-    return res.json({ runDir: runName, robot, detections, cameraPoses, measuredMarkers });
+    return res.json({ runDir: runName, robotFile: path.basename(ROBOT_JSON), robot, detections, cameraPoses, measuredMarkers });
   } catch (err) {
     return res.status(500).json({ error: String(err) });
   }