From 1762a771cf20249f021aa71aa2873c16785dd8b4 Mon Sep 17 00:00:00 2001
From: chk <79915315+ChKendel@users.noreply.github.com>
Date: Sat, 13 Jun 2026 00:00:18 +0200
Subject: [PATCH] arbeiten am callibration
---
public/boardViewer.html | 45 +-
public/calibration.css | 2 +-
public/calibration.js | 14 +
public/calibration_arm.html | 14 +
public/calibration_arm2.html | 14 +
scripts/4_yAxis_rotation_reconstruction.py | 349 ++
server/robotActions.js | 69 +
server/server.js | 48 +
.../20260612_190019/aruco_marker_poses.csv | 20 +
.../20260612_190019/aruco_marker_poses.json | 683 ++++
.../20260612_190019/cam0.jpg | Bin 0 -> 89808 bytes
.../20260612_190019/cam0_aruco_detection.json | 2465 +++++++++++
.../20260612_190019/cam0_camera_pose.json | 327 ++
.../20260612_190019/cam0_debug.jpg | Bin 0 -> 205522 bytes
.../20260612_190019/cam1.jpg | Bin 0 -> 84753 bytes
.../20260612_190019/cam1_aruco_detection.json | 2135 ++++++++++
.../20260612_190019/cam1_camera_pose.json | 383 ++
.../20260612_190019/cam1_debug.jpg | Bin 0 -> 199500 bytes
.../20260612_190019/cam2.jpg | Bin 0 -> 297430 bytes
.../20260612_190019/cam2_aruco_detection.json | 2898 +++++++++++++
.../20260612_190019/cam2_camera_pose.json | 383 ++
.../20260612_190019/cam2_debug.jpg | Bin 0 -> 441890 bytes
.../20260612_190104/aruco_marker_poses.csv | 25 +
.../20260612_190104/aruco_marker_poses.json | 903 ++++
.../20260612_190104/cam0.jpg | Bin 0 -> 93393 bytes
.../20260612_190104/cam0_aruco_detection.json | 2356 +++++++++++
.../20260612_190104/cam0_camera_pose.json | 341 ++
.../20260612_190104/cam0_debug.jpg | Bin 0 -> 221059 bytes
.../20260612_190104/cam1.jpg | Bin 0 -> 80261 bytes
.../20260612_190104/cam1_aruco_detection.json | 1598 ++++++++
.../20260612_190104/cam1_camera_pose.json | 327 ++
.../20260612_190104/cam1_debug.jpg | Bin 0 -> 185767 bytes
.../20260612_190104/cam2.jpg | Bin 0 -> 296310 bytes
.../20260612_190104/cam2_aruco_detection.json | 3164 ++++++++++++++
.../20260612_190104/cam2_camera_pose.json | 397 ++
.../20260612_190104/cam2_debug.jpg | Bin 0 -> 445949 bytes
.../20260612_190241/aruco_marker_poses.csv | 24 +
.../20260612_190241/aruco_marker_poses.json | 859 ++++
.../20260612_190241/cam0.jpg | Bin 0 -> 90624 bytes
.../20260612_190241/cam0_aruco_detection.json | 2427 +++++++++++
.../20260612_190241/cam0_camera_pose.json | 341 ++
.../20260612_190241/cam0_debug.jpg | Bin 0 -> 214745 bytes
.../20260612_190241/cam1.jpg | Bin 0 -> 73997 bytes
.../20260612_190241/cam1_aruco_detection.json | 3621 +++++++++++++++++
.../20260612_190241/cam1_camera_pose.json | 778 ++++
.../20260612_190241/cam1_debug.jpg | Bin 0 -> 214964 bytes
.../20260612_190241/cam2.jpg | Bin 0 -> 293430 bytes
.../20260612_190241/cam2_aruco_detection.json | 2827 +++++++++++++
.../20260612_190241/cam2_camera_pose.json | 341 ++
.../20260612_190241/cam2_debug.jpg | Bin 0 -> 437373 bytes
test/yAxisRotation.test.js | 170 +
51 files changed, 30343 insertions(+), 5 deletions(-)
create mode 100644 scripts/4_yAxis_rotation_reconstruction.py
create mode 100644 server/robotActions.js
create mode 100644 test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.csv
create mode 100644 test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam0.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam0_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam0_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam0_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam1.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam1_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam1_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam1_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam2.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam2_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam2_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190019/cam2_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/aruco_marker_poses.csv
create mode 100644 test/y-axis-finder-examples/20260612_190104/aruco_marker_poses.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam0.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam0_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam0_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam0_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam1.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam1_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam1_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam1_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam2.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam2_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam2_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190104/cam2_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/aruco_marker_poses.csv
create mode 100644 test/y-axis-finder-examples/20260612_190241/aruco_marker_poses.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam0.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam0_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam0_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam0_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam1.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam1_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam1_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam1_debug.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam2.jpg
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam2_aruco_detection.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam2_camera_pose.json
create mode 100644 test/y-axis-finder-examples/20260612_190241/cam2_debug.jpg
create mode 100644 test/yAxisRotation.test.js
diff --git a/public/boardViewer.html b/public/boardViewer.html
index c32d710..70102bf 100644
--- a/public/boardViewer.html
+++ b/public/boardViewer.html
@@ -736,6 +736,10 @@ function buildCompareLines() {
// ── Y-Achsen-Berechnung aus drei Positionen ───────────────────────────────────
+/** Marker, die sich weniger als diesen Wert bewegen, werden ignoriert.
+ * Entspricht dem min_movement_mm-Parameter im Python-Skript. */
+const Y_AXIS_MIN_MOVEMENT_MM = 10.0;
+
function computeAndShowYAxis() {
clearGroup(gYAxis);
@@ -755,6 +759,8 @@ function computeAndShowYAxis() {
const circumcenters = []; // [{id, C:[x,y,z]}] in mm
const normals = []; // [[nx,ny,nz]] – Achsenrichtung je Marker
+ const markerData = []; // [{markerId, posA, posB, posC, circumcenter, normal}] für Speicherung
+ const skipped = []; // [{id, reason, maxMoveMm}]
for (const [id, ma] of mapA) {
const mb = mapB.get(id);
@@ -765,6 +771,22 @@ function computeAndShowYAxis() {
const P2 = mb.position_mm.map(Number);
const P3 = mc.position_mm.map(Number);
+ // ── Mindest-Bewegungs-Filter ─────────────────────────────────────────────
+ // Marker, die sich zwischen den drei Positionen kaum bewegen, liefern
+ // degenerate Umkreismittelpunkte und korrumpieren die Achsenschätzung.
+ // Dieselbe Logik wie im Python-Skript (min_movement_mm).
+ const maxMoveMm = Math.max(
+ Math.sqrt(dist2(P1, P2)),
+ Math.sqrt(dist2(P2, P3)),
+ Math.sqrt(dist2(P1, P3)),
+ );
+ if (maxMoveMm < Y_AXIS_MIN_MOVEMENT_MM) {
+ vlog(`Y-Achse: Marker ${id} übersprungen – Bewegung zu gering` +
+ ` (${maxMoveMm.toFixed(1)} mm < ${Y_AXIS_MIN_MOVEMENT_MM} mm, kein rotierender Marker)`, 'warn');
+ skipped.push({ id, reason: 'Bewegung zu gering', maxMoveMm: +maxMoveMm.toFixed(2) });
+ continue;
+ }
+
// Normalenvektor der Kreisebene = Achsenrichtung
const v1 = [P2[0]-P1[0], P2[1]-P1[1], P2[2]-P1[2]];
const v2 = [P3[0]-P1[0], P3[1]-P1[1], P3[2]-P1[2]];
@@ -795,6 +817,7 @@ function computeAndShowYAxis() {
(w1*P1[2] + w2*P2[2] + w3*P3[2]) / wSum,
];
circumcenters.push({ id, C });
+ markerData.push({ markerId: id, posA: P1, posB: P2, posC: P3, circumcenter: C, normal: n });
// Kreismittelpunkt (rose)
gYAxis.add(makeSphere(r2vArr(C), 0.007, 0xfb7185));
@@ -803,8 +826,11 @@ function computeAndShowYAxis() {
}
if (circumcenters.length === 0) {
- vlog('Y-Achse: Keine gemeinsamen fremd-Marker in Pos A+B+C gefunden', 'warn');
- window.parent.postMessage({ type: 'yaxis-measurement', axisDir: null }, '*');
+ const why = skipped.length
+ ? `Alle ${skipped.length} Marker gefiltert (Bewegung < ${Y_AXIS_MIN_MOVEMENT_MM} mm)`
+ : 'Keine gemeinsamen fremd-Marker in Pos A+B+C gefunden';
+ vlog(`Y-Achse: ${why}`, 'warn');
+ window.parent.postMessage({ type: 'yaxis-measurement', axisDir: null, skipped }, '*');
return;
}
@@ -837,7 +863,11 @@ function computeAndShowYAxis() {
const fmt = v => (v >= 0 ? '+' : '') + v.toFixed(3) + '°';
const good = Math.abs(tiltXY) < 0.5 && Math.abs(tiltYZ) < 0.5;
- vlog(`Y-Achse (${circumcenters.length} Marker): dir=[${axisDir.map(v => v.toFixed(4)).join(', ')}]`);
+ const usedIds = circumcenters.map(c => c.id);
+ const skippedIds = skipped.map(s => s.id);
+ vlog(`Y-Achse: ${usedIds.length} Marker genutzt (${usedIds.join(', ')})` +
+ (skippedIds.length ? ` · ${skippedIds.length} gefiltert (${skippedIds.join(', ')})` : ''));
+ vlog(` dir=[${axisDir.map(v => v.toFixed(4)).join(', ')}]`);
vlog(` Referenzpunkt: [${axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
vlog(` Abw. von Y-Achse: XY ${fmt(tiltXY)} YZ ${fmt(tiltYZ)}`, good ? 'ok' : 'warn');
@@ -847,7 +877,14 @@ function computeAndShowYAxis() {
axisPoint,
tiltXY,
tiltYZ,
- numMarkers: circumcenters.length,
+ numMarkers: circumcenters.length,
+ numMarkersCommon: circumcenters.length + skipped.length,
+ skipped,
+ // Für rotation_detection.json: Run-Referenzen und Marker-Rohdaten
+ runA: document.getElementById('sel-run-primary')?.value ?? null,
+ runB: document.getElementById('sel-run-compare')?.value ?? null,
+ runC: document.getElementById('sel-run-c')?.value ?? null,
+ markerData,
}, '*');
}
diff --git a/public/calibration.css b/public/calibration.css
index aa3f005..63208e7 100644
--- a/public/calibration.css
+++ b/public/calibration.css
@@ -60,7 +60,6 @@ body {
display: flex;
flex-direction: column;
gap: 3px;
- padding-top: 4px;
flex-shrink: 0;
width: 148px;
}
@@ -92,6 +91,7 @@ body {
border-right: none;
border-left: 3px solid var(--accent);
padding-left: 13px; /* kompensiert den dickeren linken Rand */
+ margin-right: -1px; /* überlappt 1px ins Panel → kein Zoom-Spalt */
z-index: 1;
}
diff --git a/public/calibration.js b/public/calibration.js
index 9df55c0..c7fadf7 100644
--- a/public/calibration.js
+++ b/public/calibration.js
@@ -565,6 +565,20 @@ function initArm(tab) {
log(`📐 Achse (${msg.numMarkers} Marker): dir=[${msg.axisDir.map(v => v.toFixed(4)).join(', ')}]` +
` XY=${fmt(msg.tiltXY)} YZ=${fmt(msg.tiltYZ)}`);
log(` Referenzpunkt: [${msg.axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
+
+ // In rotation_detection.json speichern (anhängen)
+ fetch('/api/xaxis/save-rotation-detection', {
+ method: 'POST',
+ headers: { 'Content-Type': 'application/json' },
+ body: JSON.stringify({
+ axis: { dir: msg.axisDir, referencePoint: msg.axisPoint, tiltXY_deg: msg.tiltXY, tiltYZ_deg: msg.tiltYZ },
+ runs: { A: msg.runA ?? null, B: msg.runB ?? null, C: msg.runC ?? null },
+ numMarkers: msg.numMarkers,
+ markers: msg.markerData ?? [],
+ }),
+ }).then(r => r.json())
+ .then(d => log(`💾 Gespeichert: ${d.file} (${d.total} Messungen)`))
+ .catch(e => log(`⚠ Speichern fehlgeschlagen: ${e.message}`));
}
});
}
diff --git a/public/calibration_arm.html b/public/calibration_arm.html
index fb97732..67a640b 100644
--- a/public/calibration_arm.html
+++ b/public/calibration_arm.html
@@ -20,6 +20,20 @@
+
+
+
Aktionen
+
+
+ Roboter-Bieps drehen (Schrittweite folgt)
+
+
+
Ausgabe / Log
diff --git a/public/calibration_arm2.html b/public/calibration_arm2.html
index c8df57c..18d5bdc 100644
--- a/public/calibration_arm2.html
+++ b/public/calibration_arm2.html
@@ -20,6 +20,20 @@
+
+
+
Aktionen
+
+
+ Roboter-Unterarm drehen (Schrittweite folgt)
+
+
+
Ausgabe / Log
diff --git a/scripts/4_yAxis_rotation_reconstruction.py b/scripts/4_yAxis_rotation_reconstruction.py
new file mode 100644
index 0000000..09e015c
--- /dev/null
+++ b/scripts/4_yAxis_rotation_reconstruction.py
@@ -0,0 +1,349 @@
+#!/usr/bin/env python3
+"""
+4_yAxis_rotation_reconstruction.py
+====================================
+Berechnet die Rotationsachse eines Gelenks aus drei Board-Erkennungs-Timestamps.
+
+Gegeben drei Messungen (Pos A, B, C) – in denen dieselben fremd-Marker
+(link != 'Board') erkannt wurden – bestimmt das Skript:
+ - Richtung der Rotationsachse (axisDir, Einheitsvektor)
+ - Referenzpunkt auf der Achse (axisPoint_mm)
+ - Residuen pro Punkt (Qualitätsmass)
+
+Methode (doc/04_y_achse.md):
+ Jeder Marker bewegt sich auf einem Kreisbogen. Die Ebene des Kreises
+ steht senkrecht zur Rotationsachse → Normalenvektor = Achsenrichtung.
+ Der Umkreismittelpunkt des Dreiecks P1-P2-P3 liegt auf der Achse.
+
+ Statt nur dem Marker-Zentrum werden alle vier Ecken (corners_m) verwendet:
+ das liefert 4× mehr Datenpunkte und macht die Schätzung robuster.
+
+Usage:
+ python3 4_yAxis_rotation_reconstruction.py
[Optionen]
+
+ Verzeichnis mit aruco_marker_poses.json ODER direkter Dateipfad
+
+Optionen:
+ --output, -o Ergebnis in JSON-Datei speichern
+ --pretty Eingerücktes JSON auf stdout
+ --link Marker-Link, der als "Referenz" gilt und NICHT verwendet wird
+ (Default: 'Board')
+
+Output (stdout):
+ JSON mit axisDir, axisPoint_mm, residuals, tiltXY_deg, tiltYZ_deg, …
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import os
+import sys
+from typing import List, Optional, Tuple
+
+import numpy as np
+
+
+# ── Laden ─────────────────────────────────────────────────────────────────────
+
+def load_poses(path: str) -> dict:
+ """Lädt aruco_marker_poses.json – akzeptiert Verzeichnis oder direkten Pfad."""
+ if os.path.isdir(path):
+ path = os.path.join(path, 'aruco_marker_poses.json')
+ if not os.path.exists(path):
+ raise FileNotFoundError(f'Nicht gefunden: {path}')
+ with open(path, 'r', encoding='utf-8') as f:
+ return json.load(f)
+
+
+def fremd_markers(data: dict, ref_link: str = 'Board') -> dict[int, dict]:
+ """Gibt fremd-Marker als {marker_id: marker_dict} zurück."""
+ return {
+ m['marker_id']: m
+ for m in data.get('markers', [])
+ if m.get('link') != ref_link
+ }
+
+
+def get_points_mm(marker: dict) -> List[np.ndarray]:
+ """
+ Gibt alle 3D-Punkte eines Markers in mm zurück.
+ Bevorzugt corners_m (4 Ecken); Fallback: Zentrum position_mm.
+ """
+ corners = marker.get('corners_m')
+ if corners:
+ return [np.array(c, dtype=float) * 1000.0 for c in corners]
+ pos = marker.get('position_mm')
+ if pos:
+ return [np.array(pos, dtype=float)]
+ pos_m = marker.get('position_m')
+ if pos_m:
+ return [np.array(pos_m, dtype=float) * 1000.0]
+ return []
+
+
+# ── Geometrie ─────────────────────────────────────────────────────────────────
+
+def circumcenter_and_normal(
+ P1: np.ndarray, P2: np.ndarray, P3: np.ndarray
+) -> Tuple[Optional[np.ndarray], Optional[np.ndarray], float]:
+ """
+ Umkreismittelpunkt + Normalenvektor des Dreiecks P1-P2-P3.
+
+ Rückgabe: (circumcenter_mm, normal, cross_length)
+ Bei Degeneration (kollinear / identisch): (None, None, cross_length)
+ """
+ v1 = P2 - P1
+ v2 = P3 - P1
+ cross = np.cross(v1, v2)
+ cross_len = float(np.linalg.norm(cross))
+
+ if cross_len < 1e-6: # Punkte (fast) kollinear oder identisch
+ return None, None, cross_len
+
+ n = cross / cross_len
+
+ # Baryzentrische Gewichte → Umkreismittelpunkt
+ a2 = float(np.dot(P2 - P3, P2 - P3))
+ b2 = float(np.dot(P1 - P3, P1 - P3))
+ c2 = float(np.dot(P1 - P2, P1 - P2))
+
+ w1 = a2 * (b2 + c2 - a2)
+ w2 = b2 * (a2 + c2 - b2)
+ w3 = c2 * (a2 + b2 - c2)
+ w_sum = w1 + w2 + w3
+
+ if abs(w_sum) < 1e-12: # gleichseitiges / entartetes Dreieck
+ return None, None, cross_len
+
+ C = (w1 * P1 + w2 * P2 + w3 * P3) / w_sum
+ return C, n, cross_len
+
+
+def point_line_distance(point: np.ndarray, line_pt: np.ndarray, line_dir: np.ndarray) -> float:
+ """Abstand Punkt → Gerade (line_pt + t·line_dir, line_dir normiert)."""
+ diff = point - line_pt
+ return float(np.linalg.norm(diff - np.dot(diff, line_dir) * line_dir))
+
+
+# ── Kernberechnung ────────────────────────────────────────────────────────────
+
+def compute_rotation_axis(
+ posA: dict,
+ posB: dict,
+ posC: dict,
+ ref_link: str = 'Board',
+ min_radius_mm: float = 0.5,
+ min_movement_mm: float = 10.0,
+) -> dict:
+ """
+ Berechnet die Rotationsachse aus drei Messungen.
+
+ Parameter:
+ min_radius_mm – Kreisradius unter dem ein Ecken-Triplet als degenerat gilt
+ min_movement_mm – Minimale Zentren-Bewegung (max Paarweisabstand A/B/C)
+ Marker die sich weniger bewegen werden ignoriert.
+ Default 10 mm → filtert Board-nahe / fest stehende Marker.
+ """
+ mA = fremd_markers(posA, ref_link)
+ mB = fremd_markers(posB, ref_link)
+ mC = fremd_markers(posC, ref_link)
+
+ common_ids = sorted(set(mA) & set(mB) & set(mC))
+ if not common_ids:
+ return {'ok': False, 'error': 'Keine gemeinsamen fremd-Marker in A+B+C'}
+
+ circumcenters: List[np.ndarray] = []
+ normals: List[np.ndarray] = []
+ skipped: List[dict] = []
+ marker_results: List[dict] = []
+
+ for mid in common_ids:
+ # ── Mindest-Bewegungs-Filter ───────────────────────────────────────────
+ # Marker die sich kaum bewegen liefern degenerate Umkreismittelpunkte.
+ # Wir vergleichen die Zentren (position_mm) der drei Messungen.
+ cA = np.array(mA[mid].get('position_mm', [0, 0, 0]), dtype=float)
+ cB = np.array(mB[mid].get('position_mm', [0, 0, 0]), dtype=float)
+ cC = np.array(mC[mid].get('position_mm', [0, 0, 0]), dtype=float)
+ max_movement = max(
+ np.linalg.norm(cB - cA),
+ np.linalg.norm(cC - cB),
+ np.linalg.norm(cC - cA),
+ )
+ if max_movement < min_movement_mm:
+ skipped.append({
+ 'marker_id': mid,
+ 'reason': 'Bewegung zu gering (kein rotierender Marker)',
+ 'max_movement_mm': round(float(max_movement), 2),
+ 'threshold_mm': min_movement_mm,
+ })
+ continue
+
+ pts_a = get_points_mm(mA[mid])
+ pts_b = get_points_mm(mB[mid])
+ pts_c = get_points_mm(mC[mid])
+
+ n_pts = min(len(pts_a), len(pts_b), len(pts_c))
+ ok_pts: List[np.ndarray] = []
+ ok_ns: List[np.ndarray] = []
+
+ for i in range(n_pts):
+ P1, P2, P3 = pts_a[i], pts_b[i], pts_c[i]
+ C, n, cross_len = circumcenter_and_normal(P1, P2, P3)
+
+ if C is None:
+ skipped.append({
+ 'marker_id': mid, 'point_idx': i,
+ 'reason': 'degenerat (kollinear)',
+ 'cross_len': round(cross_len, 6),
+ })
+ continue
+
+ radius = float(np.linalg.norm(C - P1))
+ if radius < min_radius_mm:
+ skipped.append({
+ 'marker_id': mid, 'point_idx': i,
+ 'reason': 'radius zu klein (Bewegung zu gering)',
+ 'radius_mm': round(radius, 4),
+ })
+ continue
+
+ ok_pts.append(C)
+ ok_ns.append(n)
+ circumcenters.append(C)
+ normals.append(n)
+
+ cc_arr = np.array(ok_pts) if ok_pts else np.empty((0, 3))
+ marker_results.append({
+ 'marker_id': mid,
+ 'n_points_used': len(ok_pts),
+ 'n_points_total': n_pts,
+ 'circumcenter_mean_mm': cc_arr.mean(axis=0).round(3).tolist()
+ if len(ok_pts) else None,
+ })
+
+ if not normals:
+ return {
+ 'ok': False,
+ 'error': 'Alle Triplets degenerat – Bewegung zu gering oder Marker kollinear.',
+ 'skipped': skipped,
+ }
+
+ normals_arr = np.array(normals) # (N, 3)
+ circumcenters_arr = np.array(circumcenters) # (N, 3)
+
+ # ── Achsenrichtung ─────────────────────────────────────────────────────────
+ # Alle Normalen auf dieselbe Halbkugel (Vorzeichenanpassung)
+ ref = normals_arr[0]
+ signs = np.where(normals_arr @ ref >= 0, 1.0, -1.0)
+ aligned = normals_arr * signs[:, np.newaxis]
+
+ mean_n = aligned.mean(axis=0)
+ axis_dir = mean_n / np.linalg.norm(mean_n)
+
+ # Streuung der Normalen (Winkelresidum)
+ cos_angles = np.clip(aligned @ axis_dir, -1, 1)
+ angle_residuals_deg = np.degrees(np.arccos(cos_angles))
+
+ # ── Referenzpunkt ──────────────────────────────────────────────────────────
+ axis_point = circumcenters_arr.mean(axis=0)
+
+ # ── Abstandsresiduen ───────────────────────────────────────────────────────
+ dist_residuals = np.array([
+ point_line_distance(C, axis_point, axis_dir)
+ for C in circumcenters_arr
+ ])
+
+ # ── Abweichung von Y-Achse [0, 1, 0] in Roboter-Koordinaten ──────────────
+ ax, ay, az = axis_dir
+ tilt_xy_deg = math.degrees(math.atan2(ax, ay)) # Kippung in XY-Ebene
+ tilt_yz_deg = math.degrees(math.atan2(az, ay)) # Kippung in YZ-Ebene
+
+ used_ids = [r['marker_id'] for r in marker_results if r['n_points_used'] > 0]
+
+ return {
+ 'ok': True,
+ 'axisDir': axis_dir.round(6).tolist(),
+ 'axisPoint_mm': axis_point.round(3).tolist(),
+ 'tiltXY_deg': round(tilt_xy_deg, 4),
+ 'tiltYZ_deg': round(tilt_yz_deg, 4),
+ 'numMarkersUsed': len(used_ids),
+ 'numMarkersCommon': len(common_ids),
+ 'usedMarkerIds': used_ids,
+ 'commonMarkerIds': common_ids,
+ 'numPoints': len(normals),
+ 'residual_dist_mean_mm': round(float(dist_residuals.mean()), 3),
+ 'residual_dist_max_mm': round(float(dist_residuals.max()), 3),
+ 'residual_dist_mm': dist_residuals.round(3).tolist(),
+ 'residual_angle_mean_deg': round(float(angle_residuals_deg.mean()), 4),
+ 'residual_angle_max_deg': round(float(angle_residuals_deg.max()), 4),
+ 'markerResults': marker_results,
+ 'skipped': skipped,
+ }
+
+
+# ── CLI ───────────────────────────────────────────────────────────────────────
+
+def main() -> None:
+ parser = argparse.ArgumentParser(
+ description='Rotationsachse aus drei Board-Timestamps berechnen'
+ )
+ parser.add_argument('posA', help='Timestamp A – Verzeichnis oder aruco_marker_poses.json')
+ parser.add_argument('posB', help='Timestamp B – Verzeichnis oder aruco_marker_poses.json')
+ parser.add_argument('posC', help='Timestamp C – Verzeichnis oder aruco_marker_poses.json')
+ parser.add_argument('--output', '-o', metavar='FILE',
+ help='Ergebnis zusätzlich in JSON-Datei speichern')
+ parser.add_argument('--pretty', action='store_true',
+ help='Eingerücktes JSON auf stdout')
+ parser.add_argument('--link', default='Board',
+ help='Referenz-Link der Board-Marker (Default: Board)')
+ parser.add_argument('--min-radius', type=float, default=0.5,
+ help='Min. Kreisradius mm (Default 0.5)')
+ parser.add_argument('--min-movement', type=float, default=10.0,
+ help='Min. Marker-Zentrumsbewegung mm (Default 10.0)')
+ args = parser.parse_args()
+
+ try:
+ data_a = load_poses(args.posA)
+ data_b = load_poses(args.posB)
+ data_c = load_poses(args.posC)
+ except FileNotFoundError as e:
+ print(f'Fehler: {e}', file=sys.stderr)
+ sys.exit(1)
+
+ result = compute_rotation_axis(data_a, data_b, data_c,
+ ref_link=args.link,
+ min_radius_mm=args.min_radius,
+ min_movement_mm=args.min_movement)
+
+ indent = 2 if args.pretty else None
+ out_str = json.dumps(result, indent=indent, ensure_ascii=False)
+ print(out_str)
+
+ if args.output:
+ with open(args.output, 'w', encoding='utf-8') as f:
+ f.write(out_str)
+ print(f'Ergebnis gespeichert: {args.output}', file=sys.stderr)
+
+ if result['ok']:
+ r = result
+ fmt = lambda v: f'{v:+.3f}°'
+ print('', file=sys.stderr)
+ print('─── Rotationsachse ───────────────────────────────────────', file=sys.stderr)
+ print(f" Richtung: [{', '.join(f'{v:.4f}' for v in r['axisDir'])}]", file=sys.stderr)
+ print(f" Referenzpunkt: [{', '.join(f'{v:.1f}' for v in r['axisPoint_mm'])}] mm", file=sys.stderr)
+ print(f" Abw. von Y: XY={fmt(r['tiltXY_deg'])} YZ={fmt(r['tiltYZ_deg'])}", file=sys.stderr)
+ print(f" Marker: {r['numMarkersUsed']} genutzt / {r['numMarkersCommon']} gemeinsam "
+ f"Punkte: {r['numPoints']}", file=sys.stderr)
+ print(f" Residuen Abstand: ⌀{r['residual_dist_mean_mm']:.2f} mm "
+ f"max={r['residual_dist_max_mm']:.2f} mm", file=sys.stderr)
+ print(f" Residuen Winkel: ⌀{r['residual_angle_mean_deg']:.3f}° "
+ f"max={r['residual_angle_max_deg']:.3f}°", file=sys.stderr)
+ print('──────────────────────────────────────────────────────────', file=sys.stderr)
+ else:
+ print(f"Fehler: {result['error']}", file=sys.stderr)
+ sys.exit(1)
+
+
+if __name__ == '__main__':
+ main()
diff --git a/server/robotActions.js b/server/robotActions.js
new file mode 100644
index 0000000..aa6dc68
--- /dev/null
+++ b/server/robotActions.js
@@ -0,0 +1,69 @@
+/**
+ * robotActions.js – Roboter-Bewegungsaktionen
+ *
+ * Alle Bewegungsbefehle laufen hier durch, bevor sie ans Roboter-Backend
+ * weitergeleitet werden (ROBOT_URL). Solange ROBOT_URL nicht konfiguriert
+ * ist, werden die Aktionen nur geloggt und eine Stub-Antwort zurückgegeben.
+ *
+ * Joint-Namen: 'x-axis' | 'arm1' | 'arm2' | 'elbow' | 'hand'
+ * Directions: 'left' | 'right' (x-axis, linear)
+ * 'cw' | 'ccw' (alle Gelenke, rotatorisch)
+ */
+
+const ROBOT_URL = process.env.ROBOT_URL || '';
+
+// ── Validierung ───────────────────────────────────────────────────────────────
+
+const VALID_JOINTS = new Set(['x-axis', 'arm1', 'arm2', 'elbow', 'hand']);
+const VALID_DIRECTIONS = new Set(['left', 'right', 'cw', 'ccw']);
+
+function validateMove({ joint, direction, steps = 1 }) {
+ if (!joint) return '"joint" fehlt';
+ if (!direction) return '"direction" fehlt';
+ if (!VALID_JOINTS.has(joint)) return `Unbekanntes Joint: "${joint}"`;
+ if (!VALID_DIRECTIONS.has(direction)) return `Unbekannte Richtung: "${direction}"`;
+ if (typeof steps !== 'number' || steps < 1 || steps > 100)
+ return '"steps" muss eine Zahl zwischen 1 und 100 sein';
+ return null; // ok
+}
+
+// ── Ausführung ────────────────────────────────────────────────────────────────
+
+/**
+ * Sendet einen Bewegungsbefehl.
+ * Gibt { ok, joint, direction, steps, message } zurück oder wirft einen Fehler.
+ */
+export async function executeMove({ joint, direction, steps = 1 }) {
+ const err = validateMove({ joint, direction, steps });
+ if (err) throw Object.assign(new Error(err), { statusCode: 400 });
+
+ const payload = { joint, direction, steps };
+ console.log(`[robotActions] move: ${JSON.stringify(payload)}`);
+
+ if (ROBOT_URL) {
+ // ── Weiterleitung an das Roboter-Backend ─────────────────────────────────
+ const url = new URL('/api/move', ROBOT_URL).toString();
+ const res = await fetch(url, {
+ method: 'POST',
+ headers: { 'Content-Type': 'application/json' },
+ body: JSON.stringify(payload),
+ });
+ if (!res.ok) {
+ const text = await res.text().catch(() => '');
+ throw Object.assign(
+ new Error(`Robot-Backend: ${res.status} – ${text}`),
+ { statusCode: 502 }
+ );
+ }
+ const data = await res.json();
+ return { ok: true, joint, direction, steps, ...data };
+ }
+
+ // ── Stub (ROBOT_URL nicht konfiguriert) ───────────────────────────────────
+ const label = joint === 'x-axis'
+ ? `X-Achse ${direction === 'left' ? '⬅' : '➡'}`
+ : `${joint} ${direction === 'ccw' ? '↺ Rauf' : 'Runter ↻'}`;
+ const message = `[Stub] ${label} – ${steps} Schritt(e). ROBOT_URL nicht konfiguriert.`;
+ console.warn(`[robotActions] ${message}`);
+ return { ok: true, stub: true, joint, direction, steps, message };
+}
diff --git a/server/server.js b/server/server.js
index 79d93e9..a7bd4ed 100755
--- a/server/server.js
+++ b/server/server.js
@@ -937,6 +937,54 @@ app.post('/api/calibration/upload-npz', async (req, res) => {
}
});
+// ── X-Achse / Rotations-Detektion ────────────────────────────────────────────
+
+const xaxisDataDir = path.join(__dirname, '..', 'data', 'xaxis');
+const ROTATION_DETECTION_FILE = path.join(xaxisDataDir, 'rotation_detection.json');
+
+/** POST /api/xaxis/save-rotation-detection
+ * Speichert eine Achsmessung an rotation_detection.json (append-Modus). */
+app.post('/api/xaxis/save-rotation-detection', express.json(), async (req, res) => {
+ try {
+ const { axis, runs, numMarkers, markers } = req.body ?? {};
+ if (!axis || !axis.dir || !axis.referencePoint) {
+ return res.status(400).json({ error: 'Ungültige Nutzlast: axis.dir und axis.referencePoint erwartet' });
+ }
+
+ // Verzeichnis anlegen falls nötig
+ await fsPromises.mkdir(xaxisDataDir, { recursive: true });
+
+ // Bestehende Einträge lesen oder leer beginnen
+ let entries = [];
+ try {
+ const raw = await fsPromises.readFile(ROTATION_DETECTION_FILE, 'utf-8');
+ entries = JSON.parse(raw);
+ if (!Array.isArray(entries)) entries = [];
+ } catch {
+ // Datei existiert noch nicht – kein Fehler
+ }
+
+ const newEntry = {
+ timestamp: new Date().toISOString(),
+ runs: runs ?? {},
+ axis,
+ numMarkers: numMarkers ?? null,
+ markers: markers ?? [],
+ };
+
+ entries.push(newEntry);
+ await fsPromises.writeFile(ROTATION_DETECTION_FILE, JSON.stringify(entries, null, 2), 'utf-8');
+
+ return res.json({
+ file: 'data/xaxis/rotation_detection.json',
+ total: entries.length,
+ });
+ } catch (err) {
+ console.error('save-rotation-detection error:', err);
+ return res.status(500).json({ error: String(err) });
+ }
+});
+
async function checkServiceReachability(name, url) {
try {
const controller = new AbortController();
diff --git a/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.csv b/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.csv
new file mode 100644
index 0000000..e0c7f29
--- /dev/null
+++ b/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.csv
@@ -0,0 +1,20 @@
+marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
+0,Board,rail,2,493.98,-96.39,-8.97,-0.00886,0.04951,0.99873,494.12,-100.21,-9.76,3.908,0.794,23.35
+50,Board,A0,2,576.77,208.61,-25.71,0.06252,0.0994,0.99308,578.55,209.43,-26.11,1.995,0.397,25.08
+55,Board,A0,2,277.19,-258.42,-29.07,0.00488,-0.03269,0.99945,277.76,-258.03,-29.52,0.823,0.45,23.98
+62,Board,A0,2,399.27,-174.12,-27.58,0.01876,0.03279,0.99929,400.76,-173.44,-28.11,1.717,0.526,23.1
+79,Board,A0,2,306.77,-156.23,-28.44,-0.02974,0.00922,0.99952,308.77,-155.27,-29.18,2.337,0.74,23.06
+101,Board,A0,2,123.4,305.1,-30.43,-0.05779,0.03321,0.99778,125.05,306.96,-31.31,2.64,0.882,23.2
+197,unknown,,2,133.85,89.2,297.08,-0.99892,0.04634,-0.00288,,,,,,24.59
+201,unknown,,3,82.03,56.25,90.01,-0.99863,-0.01609,0.04969,,,,,,24.11
+204,unknown,,3,117.59,128.98,111.27,0.02638,0.04121,0.9988,,,,,,24.3
+211,Board,rail,2,321.33,-1.22,-9.18,0.05719,-0.04545,0.99733,321.45,-2.7,-10.7,2.127,1.522,22.73
+215,Board,rail,2,322.26,-90.67,-11.82,0.01124,-0.02807,0.99954,318.76,-92.52,-11.4,3.976,-0.422,24.6
+218,unknown,,2,237.95,75.51,408.78,-0.90327,0.41967,0.08937,,,,,,24.53
+219,unknown,,3,245.24,50.43,509.71,-0.91875,0.39116,0.05377,,,,,,24.43
+242,unknown,,2,187.54,55.65,288.93,0.02295,-0.99479,-0.09934,,,,,,23.94
+
+camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
+cam0,-718.06,-492.09,666.56,0.85634,0.40766,-0.31702
+cam1,-262.59,-550.95,834.39,0.50249,0.63431,-0.5875
+cam2,-583.76,-45.55,423.16,0.98358,-0.02341,-0.17892
diff --git a/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.json b/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.json
new file mode 100644
index 0000000..f1119eb
--- /dev/null
+++ b/test/y-axis-finder-examples/20260612_190019/aruco_marker_poses.json
@@ -0,0 +1,683 @@
+{
+ "schema_version": "1.1",
+ "stage": "corner_marker_poses",
+ "created_utc": "2026-06-12T19:00:31Z",
+ "summary": {
+ "num_cameras": 3,
+ "num_markers": 14
+ },
+ "cameras": [
+ {
+ "camera_id": "cam0",
+ "position_m": [
+ -0.7180634917282753,
+ -0.49208966903674867,
+ 0.6665606327170663
+ ],
+ "position_mm": [
+ -718.0634917282754,
+ -492.08966903674866,
+ 666.5606327170664
+ ],
+ "direction": [
+ 0.8563353419303894,
+ 0.40766438841819763,
+ -0.3170166611671448
+ ]
+ },
+ {
+ "camera_id": "cam1",
+ "position_m": [
+ -0.26258841285717693,
+ -0.5509450542524021,
+ 0.8343948303300692
+ ],
+ "position_mm": [
+ -262.58841285717693,
+ -550.9450542524021,
+ 834.3948303300692
+ ],
+ "direction": [
+ 0.5024934411048889,
+ 0.6343097686767578,
+ -0.5874959230422974
+ ]
+ },
+ {
+ "camera_id": "cam2",
+ "position_m": [
+ -0.5837626291434723,
+ -0.04555215829402515,
+ 0.4231631282080641
+ ],
+ "position_mm": [
+ -583.7626291434723,
+ -45.55215829402515,
+ 423.1631282080641
+ ],
+ "direction": [
+ 0.9835845232009888,
+ -0.023413510993123055,
+ -0.17892251908779144
+ ]
+ }
+ ],
+ "markers": [
+ {
+ "marker_id": 0,
+ "link": "Board",
+ "set": "rail",
+ "position_m": [
+ 0.49397948741994885,
+ -0.09638593339821536,
+ -0.00896644769861376
+ ],
+ "position_mm": [
+ 493.97948741994884,
+ -96.38593339821536,
+ -8.96644769861376
+ ],
+ "normal": [
+ -0.008863367653711178,
+ 0.049510108714268405,
+ 0.9987342939185259
+ ],
+ "corners_m": [
+ [
+ 0.48294592590238633,
+ -0.08480381756456407,
+ -0.009607839817976846
+ ],
+ [
+ 0.5066424602465543,
+ -0.08438346867471515,
+ -0.009478690251174529
+ ],
+ [
+ 0.5043368833035816,
+ -0.1083683622695555,
+ -0.008249155572841175
+ ],
+ [
+ 0.48199268022727293,
+ -0.10798808508402676,
+ -0.00853010515246249
+ ]
+ ],
+ "num_cameras": 2,
+ "edge_length_mm": 23.35137293252651
+ },
+ {
+ "marker_id": 50,
+ "link": "Board",
+ "set": "A0",
+ "position_m": [
+ 0.5767732806886829,
+ 0.2086133709108033,
+ -0.025712509060081008
+ ],
+ "position_mm": [
+ 576.7732806886829,
+ 208.6133709108033,
+ -25.712509060081008
+ ],
+ "normal": [
+ 0.06252187536281394,
+ 0.09939554354389576,
+ 0.9930818400437752
+ ],
+ "corners_m": [
+ [
+ 0.5643507669245819,
+ 0.19626406377909925,
+ -0.02476468444628229
+ ],
+ [
+ 0.5645101471299887,
+ 0.2193255413440415,
+ -0.025146028191533786
+ ],
+ [
+ 0.5920522502309562,
+ 0.22261533365758898,
+ -0.028821142084045667
+ ],
+ [
+ 0.5861799584692048,
+ 0.19624854486248342,
+ -0.024118181518462293
+ ]
+ ],
+ "num_cameras": 2,
+ "edge_length_mm": 25.075844739930425
+ },
+ {
+ "marker_id": 55,
+ "link": "Board",
+ "set": "A0",
+ "position_m": [
+ 0.27719031988849724,
+ -0.258417990253453,
+ -0.029070069741005202
+ ],
+ "position_mm": [
+ 277.19031988849724,
+ -258.417990253453,
+ -29.070069741005202
+ ],
+ "normal": [
+ 0.00487700345450989,
+ -0.03269370394162277,
+ 0.9994535189591771
+ ],
+ "corners_m": [
+ [
+ 0.2645343806546454,
+ -0.2699484929988187,
+ -0.029194956078738163
+ ],
+ [
+ 0.26579230672428167,
+ -0.24628474461149416,
+ -0.028844010837047903
+ ],
+ [
+ 0.28776760761357834,
+ -0.2467774779248151,
+ -0.02851569903501853
+ ],
+ [
+ 0.2906669845614836,
+ -0.2706612454786842,
+ -0.029725613013216204
+ ]
+ ],
+ "num_cameras": 2,
+ "edge_length_mm": 23.980063556129757
+ },
+ {
+ "marker_id": 62,
+ "link": "Board",
+ "set": "A0",
+ "position_m": [
+ 0.3992713257860654,
+ -0.17411573697686158,
+ -0.027584020558572106
+ ],
+ "position_mm": [
+ 399.2713257860654,
+ -174.1157369768616,
+ -27.584020558572107
+ ],
+ "normal": [
+ 0.01876023464695634,
+ 0.03279209442496106,
+ 0.999286111251035
+ ],
+ "corners_m": [
+ [
+ 0.3869459712947692,
+ -0.1855737663818189,
+ -0.027117643355740205
+ ],
+ [
+ 0.38902232597781217,
+ -0.16187342134192415,
+ -0.02765527100417573
+ ],
+ [
+ 0.41180681962930116,
+ -0.16288268879013573,
+ -0.028328541925806704
+ ],
+ [
+ 0.4093101862423789,
+ -0.18613307139356752,
+ -0.027234625948565776
+ ]
+ ],
+ "num_cameras": 2,
+ "edge_length_mm": 23.0987748549114
+ },
+ {
+ "marker_id": 79,
+ "link": "Board",
+ "set": "A0",
+ "position_m": [
+ 0.3067741304225983,
+ -0.1562340884302455,
+ -0.02843974476716067
+ ],
+ "position_mm": [
+ 306.7741304225983,
+ -156.2340884302455,
+ -28.439744767160672
+ ],
+ "normal": [
+ -0.02974243725509544,
+ 0.009220417022036133,
+ 0.9995150680885538
+ ],
+ "corners_m": [
+ [
+ 0.2952423978153188,
+ -0.16816777476909714,
+ -0.028256859473922556
+ ],
+ [
+ 0.2966220434877867,
+ -0.14376012438046695,
+ -0.029299995382111966
+ ],
+ [
+ 0.3175952294319708,
+ -0.14434994104859644,
+ -0.02778165176791071
+ ],
+ [
+ 0.31763685095531696,
+ -0.16865851352282143,
+ -0.02842047244469744
+ ]
+ ],
+ "num_cameras": 2,
+ "edge_length_mm": 23.05565714285999
+ },
+ {
+ "marker_id": 101,
+ "link": "Board",
+ "set": "A0",
+ "position_m": [
+ 0.12339811349186083,
+ 0.30509860635852715,
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