Script Callibrate

2026-06-10 11:45:41 +02:00
parent e3e9aa5e37
commit 17e11d9993
4 changed files with 374 additions and 3 deletions
--- a/public/calibration.html
+++ b/public/calibration.html
@@ -229,7 +229,12 @@
            <div class="controls" style="margin-top: 14px;">
              <button id="btn-new-calib">Neue Kalibrierung anlegen</button>
              <button id="btn-foto-calib">Foto aufnehmen</button>
-              <button disabled title="Folgt später">Kalibrierung berechnen</button>
+
+              <select id="cam-select-calib" title="Kamera für Kalibrierung wählen">
+                <option value="">– Kamera –</option>
+              </select>
+              <button id="btn-compute-calib">Kalibrierung berechnen</button>
+
              <button disabled title="Folgt später">NPZ speichern</button>
            </div>
          </div>
@@ -371,18 +376,36 @@
    }

    function updateCalibInfo(meta) {
+      const sel = document.getElementById('cam-select-calib');
+
      if (!meta) {
        document.getElementById('info-timestamp').textContent = '(keine Session vorhanden)';
        document.getElementById('info-created').textContent   = '–';
        document.getElementById('info-images').textContent    = '–';
+        // Selector leeren
+        sel.innerHTML = '<option value="">– Kamera –</option>';
        return;
      }
      document.getElementById('info-timestamp').textContent = meta.timestamp ?? '–';
      document.getElementById('info-created').textContent   = formatDate(meta.createdAt);
+      const cameras = meta.cameras ?? [];
      const imgTxt  = meta.imageCount != null
-        ? `${meta.imageCount} Bilder total. ${(meta.cameras ?? []).length} Kamera(s) verwendet.`
+        ? `${meta.imageCount} Bilder total. ${cameras.length} Kamera(s) verwendet.`
        : '–';
      document.getElementById('info-images').textContent = imgTxt;
+
+      // Kamera-Selector aktualisieren
+      const prev = sel.value;
+      sel.innerHTML = '<option value="">– Kamera –</option>';
+      for (const cam of cameras) {
+        const opt = document.createElement('option');
+        opt.value = cam;
+        opt.textContent = cam;
+        if (cam === prev) opt.selected = true;
+        sel.appendChild(opt);
+      }
+      // Falls nur eine Kamera vorhanden – automatisch vorwählen
+      if (cameras.length === 1) sel.value = cameras[0];
    }

    // Beim Laden aktuelle Session holen
@@ -427,6 +450,66 @@
        logC(`Fehler: ${err}`);
      }
    });
+
+    // "Kalibrierung berechnen" – SSE-Stream lesen
+    document.getElementById('btn-compute-calib').addEventListener('click', async () => {
+      const camera = document.getElementById('cam-select-calib').value;
+      if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
+
+      logC(`Starte Kalibrierung für ${camera} …`);
+      const btn = document.getElementById('btn-compute-calib');
+      btn.disabled = true;
+
+      try {
+        const response = await fetch('/api/calibration/compute', {
+          method:  'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body:    JSON.stringify({ camera }),
+        });
+
+        if (!response.ok) {
+          const err = await response.json().catch(() => ({ error: response.statusText }));
+          logC(`Fehler: ${err.error}`);
+          return;
+        }
+
+        // SSE-Stream zeilenweise verarbeiten
+        const reader  = response.body.getReader();
+        const decoder = new TextDecoder();
+        let   buffer  = '';
+
+        while (true) {
+          const { done, value } = await reader.read();
+          if (done) break;
+
+          buffer += decoder.decode(value, { stream: true });
+
+          // Vollständige SSE-Ereignisse (getrennt durch \n\n) extrahieren
+          const parts = buffer.split('\n\n');
+          buffer = parts.pop();           // letztes unvollständiges Fragment behalten
+
+          for (const part of parts) {
+            for (const line of part.split('\n')) {
+              if (!line.startsWith('data: ')) continue;
+              try {
+                const evt = JSON.parse(line.slice(6));
+                if (evt.type === 'log') {
+                  if (evt.text !== '') logC(evt.text);
+                } else if (evt.type === 'done') {
+                  logC(evt.exitCode === 0
+                    ? '✅ Kalibrierung abgeschlossen.'
+                    : `❌ Script beendet mit Exit-Code ${evt.exitCode}`);
+                }
+              } catch { /* ungültiges JSON überspringen */ }
+            }
+          }
+        }
+      } catch (err) {
+        logC(`Fehler: ${err}`);
+      } finally {
+        btn.disabled = false;
+      }
+    });
  </script>

 </body>
--- a/scripts/callibriate.py
+++ b/scripts/callibriate.py
@@ -0,0 +1,119 @@
+
+import cv2
+import numpy as np
+import glob
+import os
+import sys
+import argparse
+
+#
+# Create calibration .npz from checkerboard images
+# Usage:
+#   python callibriate.py --camera cam0 --input-dir data/calibration/20260610_143022 [--output-dir ...]
+#
+
+# ── CLI-Parameter ──────────────────────────────────────────────────────────────
+parser = argparse.ArgumentParser(description='Camera calibration from checkerboard images')
+parser.add_argument('--camera',      required=True,  help='Camera ID prefix, e.g. cam0')
+parser.add_argument('--input-dir',   default='.',    help='Directory containing calibration images')
+parser.add_argument('--output-dir',  default=None,   help='Directory to save .npz (default: same as --input-dir)')
+args = parser.parse_args()
+
+camera     = args.camera
+input_dir  = os.path.abspath(args.input_dir)
+output_dir = os.path.abspath(args.output_dir) if args.output_dir else input_dir
+
+def log(msg):
+    print(msg, flush=True)   # flush=True → Node.js sieht die Zeile sofort
+
+# ── Parameters ────────────────────────────────────────────────────────────────
+CHECKERBOARD = (10, 7)         # inner corners
+square_size  = 25.0 / 1000.0  # 25 mm -> meters
+
+# Prepare object points
+objp = np.zeros((CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
+objp[:, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
+objp *= square_size
+
+objpoints = []  # 3D points
+imgpoints = []  # 2D points
+
+# ── Load images ───────────────────────────────────────────────────────────────
+pattern = os.path.join(input_dir, f"{camera}_*.jpg")
+images  = sorted(glob.glob(pattern))
+log(f"Camera:      {camera}")
+log(f"Input-Dir:   {input_dir}")
+log(f"Output-Dir:  {output_dir}")
+log(f"Pattern:     {pattern}")
+log(f"Found images: {len(images)}")
+
+img_size = None
+
+for fname in images:
+    img = cv2.imread(fname)
+
+    log(f"Processing {os.path.basename(fname)} ...")
+    if img is None:
+        log(f"  Warning: could not read {fname}")
+        continue
+
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    if img_size is None:
+        img_size = gray.shape[::-1]
+
+    ret, corners = cv2.findChessboardCorners(
+        gray,
+        CHECKERBOARD,
+        flags=cv2.CALIB_CB_ADAPTIVE_THRESH +
+              cv2.CALIB_CB_NORMALIZE_IMAGE +
+              cv2.CALIB_CB_FAST_CHECK
+    )
+
+    if ret:
+        corners2 = cv2.cornerSubPix(
+            gray,
+            corners,
+            (11, 11),
+            (-1, -1),
+            (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
+        )
+        objpoints.append(objp)
+        imgpoints.append(corners2)
+        log(f"  ✅ Corners found")
+    else:
+        log(f"  ❌ No corners found")
+
+log(f"\nTotal valid images: {len(objpoints)} / {len(images)}")
+
+# ── Sanity checks ─────────────────────────────────────────────────────────────
+if img_size is None:
+    log("ERROR: No images were successfully loaded.")
+    sys.exit(1)
+
+if len(objpoints) == 0:
+    log("ERROR: No chessboard corners detected in any image. Calibration failed.")
+    sys.exit(1)
+
+log("\n=== Sanity Checks Passed ===")
+
+# ── Calibration ───────────────────────────────────────────────────────────────
+ret, K, D, rvecs, tvecs = cv2.calibrateCamera(
+    objpoints,
+    imgpoints,
+    img_size,
+    None,
+    None
+)
+
+log("\n=== Calibration Results ===")
+log(f"RMS reprojection error: {ret}")
+log(f"Camera matrix:\n{K}")
+log(f"Distortion coefficients:\n{D}")
+
+# ── Save calibration ──────────────────────────────────────────────────────────
+os.makedirs(output_dir, exist_ok=True)
+output_path = os.path.join(output_dir, f"{camera}_calibration.npz")
+np.savez(output_path, camera_matrix=K, dist_coeffs=D)
+
+log(f"\n✅ Calibration saved to {output_path}")
--- a/scripts/checkerboard_11x8_25mm.pdf
+++ b/scripts/checkerboard_11x8_25mm.pdf
@@ -0,0 +1,95 @@
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--- a/server/server.js
+++ b/server/server.js
@@ -6,6 +6,7 @@ import fs from 'fs';
 import fsPromises from 'fs/promises';
 import { fileURLToPath } from 'url';
 import process from 'process';
+import { spawn } from 'child_process';
 import { WebcamClient } from './webcamClient.js';

 const __filename = fileURLToPath(import.meta.url);
@@ -332,6 +333,79 @@ app.post('/api/calibration/foto', async (req, res) => {
  }
 });

+/**
+ * POST /api/calibration/compute
+ * Führt scripts/callibriate.py für eine Kamera aus.
+ * Body: { camera: "cam0" }
+ * Antwortet als Server-Sent Events (SSE): jede Zeile stdout/stderr als
+ *   data: {"type":"log","text":"..."}
+ * Abschluss:
+ *   data: {"type":"done","exitCode":0}
+ */
+const PYTHON_BIN     = process.env.PYTHON_BIN     || 'python';
+const calibScriptPath = path.join(__dirname, '..', 'scripts', 'callibriate.py');
+
+app.post('/api/calibration/compute', async (req, res) => {
+  const { camera } = req.body ?? {};
+  if (!camera) return res.status(400).json({ error: '"camera" parameter fehlt' });
+
+  const session = await findLatestCalibSession();
+  if (!session) return res.status(400).json({ error: 'Keine Kalibrierungs-Session vorhanden' });
+
+  const sessionDir = path.join(calibDataDir, session);
+
+  // SSE-Header
+  res.setHeader('Content-Type',  'text/event-stream');
+  res.setHeader('Cache-Control', 'no-cache');
+  res.setHeader('Connection',    'keep-alive');
+  res.flushHeaders();
+
+  const send = (obj) => res.write(`data: ${JSON.stringify(obj)}\n\n`);
+
+  send({ type: 'log', text: `▶ Session:    ${session}` });
+  send({ type: 'log', text: `▶ Kamera:     ${camera}` });
+  send({ type: 'log', text: `▶ Script:     ${calibScriptPath}` });
+  send({ type: 'log', text: '' });
+
+  const proc = spawn(PYTHON_BIN, [
+    calibScriptPath,
+    '--camera',     camera,
+    '--input-dir',  sessionDir,
+    '--output-dir', sessionDir,
+  ]);
+
+  // stdout zeilenweise weiterleiten
+  let stdoutBuf = '';
+  proc.stdout.on('data', (chunk) => {
+    stdoutBuf += chunk.toString();
+    const lines = stdoutBuf.split('\n');
+    stdoutBuf = lines.pop();                    // letztes (unvollständiges) Fragment behalten
+    for (const line of lines) send({ type: 'log', text: line });
+  });
+
+  // stderr als Warnung weiterleiten
+  let stderrBuf = '';
+  proc.stderr.on('data', (chunk) => {
+    stderrBuf += chunk.toString();
+    const lines = stderrBuf.split('\n');
+    stderrBuf = lines.pop();
+    for (const line of lines) send({ type: 'log', text: `[stderr] ${line}` });
+  });
+
+  proc.on('error', (err) => {
+    send({ type: 'log',  text: `Fehler beim Starten: ${err.message}` });
+    send({ type: 'done', exitCode: -1 });
+    res.end();
+  });
+
+  proc.on('close', (code) => {
+    if (stdoutBuf) send({ type: 'log', text: stdoutBuf });   // Rest ausgeben
+    if (stderrBuf) send({ type: 'log', text: `[stderr] ${stderrBuf}` });
+    send({ type: 'done', exitCode: code });
+    res.end();
+  });
+});
+
 async function checkServiceReachability(name, url) {
  try {
    const controller = new AbortController();