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chk
2026-06-10 14:41:55 +02:00
parent 86bee8810b
commit 1032c53630
4 changed files with 432 additions and 1 deletions
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public/boardViewer.html Normal file
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<!DOCTYPE html>
<html lang="de">
<head>
<meta charset="UTF-8" />
<title>Board Viewer</title>
<style>
*, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }
:root {
--bg: #0d0f13;
--panel: #161920;
--border: #2a2d35;
--text: #c8cdd8;
--muted: #555b6e;
--accent: #4a9eff;
}
body {
background: var(--bg);
color: var(--text);
font: 11px/1.5 'IBM Plex Mono', 'Cascadia Code', 'Courier New', monospace;
display: flex;
flex-direction: column;
height: 100vh;
overflow: hidden;
}
/* ── Topbar ── */
#topbar {
display: flex;
align-items: center;
gap: 14px;
padding: 5px 12px;
background: var(--panel);
border-bottom: 1px solid var(--border);
flex-shrink: 0;
flex-wrap: wrap;
}
.legend { display: flex; gap: 12px; align-items: center; }
.dot {
display: inline-block; width: 10px; height: 10px;
border-radius: 2px; margin-right: 3px; vertical-align: middle;
}
#status { color: var(--muted); flex: 1; min-width: 120px; }
#stats { color: var(--accent); }
.btn {
background: #1e293b;
color: var(--text);
border: 1px solid #334155;
border-radius: 3px;
padding: 3px 9px;
cursor: pointer;
font: inherit;
font-size: 11px;
}
.btn:hover { border-color: var(--accent); color: var(--accent); }
/* ── Canvas ── */
#canvas-wrap { flex: 1; position: relative; overflow: hidden; }
canvas { display: block; width: 100%; height: 100%; }
/* ── Hint overlay ── */
#hint {
position: absolute;
bottom: 6px; right: 10px;
font-size: 9px;
color: var(--muted);
pointer-events: none;
}
</style>
<script type="importmap">
{
"imports": {
"three": "https://unpkg.com/three@0.162.0/build/three.module.js",
"three/addons/": "https://unpkg.com/three@0.162.0/examples/jsm/"
}
}
</script>
</head>
<body>
<div id="topbar">
<div class="legend">
<span><span class="dot" style="background:#22c55e"></span>Erkannt</span>
<span><span class="dot" style="background:#ef4444"></span>Nicht erkannt</span>
<span><span class="dot" style="background:#9b7bff"></span>Kamera</span>
</div>
<span id="stats"></span>
<span id="status">Laden …</span>
<button class="btn" id="btnReload">↺</button>
</div>
<div id="canvas-wrap">
<canvas id="cv"></canvas>
<div id="hint">Orbit · Scroll · Rechte Taste = Pan</div>
</div>
<script type="module">
import * as THREE from 'three';
import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
const S = 1 / 1000; // mm → m
// robot (x=right, y=backward, z=up) → Three.js (x=right, y=up, z=toward viewer)
function r2v(rx, ry, rz) { return new THREE.Vector3(rx * S, rz * S, -ry * S); }
function r2vArr([rx, ry, rz]) { return r2v(rx, ry, rz); }
// direction vector (no scale)
function r2dir([dx, dy, dz]) { return new THREE.Vector3(dx, dz, -dy).normalize(); }
// ── Renderer ──────────────────────────────────────────────────────────────────
const canvas = document.getElementById('cv');
const renderer = new THREE.WebGLRenderer({ canvas, antialias: true });
renderer.setPixelRatio(devicePixelRatio);
const scene = new THREE.Scene();
scene.background = new THREE.Color(0x0d0f13);
// Initial camera: top-angled view, board center ≈ (0.49, -0.03, 0.015)
const CAM_TARGET = new THREE.Vector3(0.49, -0.03, 0.015);
const cam = new THREE.PerspectiveCamera(45, 1, 0.001, 20);
cam.position.set(0.49, 1.5, 0.85);
cam.lookAt(CAM_TARGET);
const controls = new OrbitControls(cam, canvas);
controls.target.copy(CAM_TARGET);
controls.enableDamping = true;
controls.dampingFactor = 0.08;
// Lighting
scene.add(new THREE.AmbientLight(0xffffff, 0.75));
const sun = new THREE.DirectionalLight(0xfff4e0, 0.6);
sun.position.set(-0.5, 1.2, 0.5);
scene.add(sun);
// World-origin axes
scene.add(new THREE.AxesHelper(0.08));
// ── Groups ────────────────────────────────────────────────────────────────────
const gPaper = new THREE.Group(); // white A0 plane
const gMarkers = new THREE.Group(); // ArUco squares
const gCameras = new THREE.Group(); // camera frustums
scene.add(gPaper, gMarkers, gCameras);
function clearGroup(g) {
while (g.children.length) {
const c = g.children[0];
c.geometry?.dispose?.();
if (Array.isArray(c.material)) c.material.forEach(m => m.dispose());
else c.material?.dispose?.();
g.remove(c);
}
}
// ── Geometry helpers ──────────────────────────────────────────────────────────
function makePlane(w, d, color, opacity = 1) {
const geo = new THREE.PlaneGeometry(w, d);
geo.rotateX(-Math.PI / 2);
const mat = new THREE.MeshPhongMaterial({
color, side: THREE.DoubleSide,
transparent: opacity < 1, opacity,
});
return new THREE.Mesh(geo, mat);
}
function makeSquareMarker(pos, size, color) {
const geo = new THREE.PlaneGeometry(size, size);
geo.rotateX(-Math.PI / 2);
const mat = new THREE.MeshPhongMaterial({ color, side: THREE.DoubleSide });
const m = new THREE.Mesh(geo, mat);
m.position.copy(pos);
return m;
}
function makeCameraFrustum(posThree, dirThree, size) {
const geo = new THREE.ConeGeometry(size * 0.55, size, 4);
geo.translate(0, -size / 2, 0); // apex → local origin
geo.rotateY(Math.PI / 4);
const mat = new THREE.MeshPhongMaterial({
color: 0x9b7bff, transparent: true, opacity: 0.55, side: THREE.DoubleSide,
});
const m = new THREE.Mesh(geo, mat);
m.position.copy(posThree);
const d = dirThree.clone().normalize();
if (d.lengthSq() > 1e-9) {
m.quaternion.setFromUnitVectors(new THREE.Vector3(0, -1, 0), d);
}
return m;
}
function makeLine(p1, p2, color, opacity = 1) {
const geo = new THREE.BufferGeometry().setFromPoints([p1, p2]);
const mat = new THREE.LineBasicMaterial({ color, transparent: opacity < 1, opacity });
return new THREE.Line(geo, mat);
}
// ── Build scene from API data ─────────────────────────────────────────────────
function buildScene(data) {
clearGroup(gPaper);
clearGroup(gMarkers);
clearGroup(gCameras);
const { robot, detections, cameraPoses } = data;
// Alle erkannten Marker-IDs über alle Kameras sammeln
const detectedIds = new Set();
for (const det of (detections ?? [])) {
for (const id of (det.detectedMarkerIds ?? [])) detectedIds.add(id);
}
const boardMarkers = robot?.links?.Board?.markers ?? [];
const markerSize = (robot?.vision_config?.MarkerSize ?? 0.025); // m
// ── A0-Papier (weißes Rechteck unter den Markern) ──
if (boardMarkers.length > 0) {
let minRx = Infinity, maxRx = -Infinity;
let minRy = Infinity, maxRy = -Infinity;
let markerRz = -27.3;
for (const m of boardMarkers) {
const [rx, ry, rz] = m.position;
minRx = Math.min(minRx, rx); maxRx = Math.max(maxRx, rx);
minRy = Math.min(minRy, ry); maxRy = Math.max(maxRy, ry);
markerRz = rz;
}
const pad = 40; // mm Rand
const planeW = (maxRx - minRx + 2 * pad) * S;
const planeH = (maxRy - minRy + 2 * pad) * S;
const planeCx = ((minRx + maxRx) / 2) * S;
const planeCz = -((minRy + maxRy) / 2) * S; // robot y → Three.js -z
const planeCy = markerRz * S - 0.001; // leicht unter den Markern
const paper = makePlane(planeW, planeH, 0xf0ebe0); // off-white
paper.position.set(planeCx, planeCy, planeCz);
gPaper.add(paper);
}
// ── ArUco-Marker ──
let nDetected = 0;
const visSize = markerSize * 0.9;
for (const m of boardMarkers) {
const id = m.id;
const pos = r2vArr(m.position);
const detected = detectedIds.has(id);
if (detected) nDetected++;
const color = detected ? 0x22c55e : 0xef4444;
const sq = makeSquareMarker(pos, visSize, color);
sq.position.y += 0.0005; // ganz knapp über der Papier-Ebene
gMarkers.add(sq);
// dünner Rahmen
const borderGeo = new THREE.EdgesGeometry(new THREE.PlaneGeometry(visSize, visSize));
const borderMat = new THREE.LineBasicMaterial({
color: detected ? 0x4ade80 : 0xfca5a5,
transparent: true, opacity: 0.8,
});
const border = new THREE.LineSegments(borderGeo, borderMat);
border.rotation.x = -Math.PI / 2;
border.position.copy(pos);
border.position.y += 0.001;
gMarkers.add(border);
}
// ── Kamera-Frusta ──
const boardCenter = r2v(490, 0, -27.3);
for (const cp of (cameraPoses ?? [])) {
if (!cp.position_mm) continue;
const camPos = r2vArr(cp.position_mm);
// Kamera-Blickrichtung: R_wc^T · [0,0,1] = dritte Zeile von R_wc
let dirWorld = [0, 0, 1];
if (cp.rotation_matrix?.length >= 3) dirWorld = cp.rotation_matrix[2];
const dirThree = r2dir(dirWorld);
gCameras.add(makeCameraFrustum(camPos, dirThree, 0.07));
gCameras.add(makeLine(camPos, boardCenter, 0x9b7bff, 0.35));
// Kleiner Sphere an Kamera-Position
const sg = new THREE.SphereGeometry(0.012, 10, 8);
const sm = new THREE.MeshPhongMaterial({ color: 0x9b7bff });
const sp = new THREE.Mesh(sg, sm);
sp.position.copy(camPos);
gCameras.add(sp);
}
// ── Stats-Zeile ──
const camInfo = (cameraPoses ?? []).map(cp => {
const rms = cp.rms_px != null ? `${cp.rms_px.toFixed(1)} px` : '?';
return `${cp.cameraId}: ${cp.usedMarkerIds?.length ?? 0} Marker, ${rms} RMS`;
}).join(' │ ');
document.getElementById('stats').textContent =
`Erkannt ${nDetected}/${boardMarkers.length}` +
(camInfo ? ` │ ${camInfo}` : '');
}
// ── Daten laden ───────────────────────────────────────────────────────────────
async function loadData() {
const statusEl = document.getElementById('status');
statusEl.textContent = 'Laden …';
try {
const r = await fetch('/api/board/latest');
if (!r.ok) throw new Error(`HTTP ${r.status}`);
const data = await r.json();
if (!data.runDir) {
statusEl.textContent = 'Kein Board-Run vorhanden.';
document.getElementById('stats').textContent = '';
clearGroup(gPaper); clearGroup(gMarkers); clearGroup(gCameras);
return;
}
buildScene(data);
statusEl.textContent = `Run: ${data.runDir} • ${new Date().toLocaleTimeString('de-CH')}`;
} catch (err) {
statusEl.textContent = `Fehler: ${err.message ?? err}`;
}
}
loadData();
document.getElementById('btnReload').addEventListener('click', loadData);
// Reload-Trigger vom Parent-Frame (nach Board-Run)
window.addEventListener('message', (e) => {
if (e.data?.type === 'reload') loadData();
});
// ── Resize & Render-Loop ──────────────────────────────────────────────────────
function onResize() {
const wrap = document.getElementById('canvas-wrap');
const w = wrap.clientWidth, h = wrap.clientHeight;
renderer.setSize(w, h);
cam.aspect = w / h;
cam.updateProjectionMatrix();
}
window.addEventListener('resize', onResize);
onResize();
function animate() {
requestAnimationFrame(animate);
controls.update();
renderer.render(scene, cam);
}
animate();
</script>
</body>
</html>

9
public/calibration.js
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@@ -250,7 +250,14 @@ function initBoard() {
await readSseStream(response, logB, (evt) => {
if (evt.exitCode === 0) {
logB('✅ Board-Run abgeschlossen.');
if (evt.runDir) document.getElementById('board-last-run').textContent = evt.runDir;
if (evt.runDir) {
document.getElementById('board-last-run').textContent = evt.runDir;
// Board-Viewer im iframe nach dem Run neu laden
const frame = document.getElementById('board-viewer-frame');
if (frame?.contentWindow) {
frame.contentWindow.postMessage({ type: 'reload' }, '*');
}
}
} else {
logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
}

13
public/calibration_board.html
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@@ -25,4 +25,17 @@
<textarea id="log-board" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
</div>
<div class="section full">
<h2>Board-Viewer</h2>
<p style="font-size: 12px; color: var(--muted); margin-bottom: 10px;">
Wird nach jedem Board-Run automatisch aktualisiert.
</p>
<iframe
id="board-viewer-frame"
src="/boardViewer.html"
style="width: 100%; height: 520px; border: 1px solid #334155; border-radius: 6px; background: #0d0f13; display: block;"
title="Board-Viewer"
></iframe>
</div>
</div>