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2026-06-10 16:54:36 +02:00
parent 97ff7eb33f
commit 45513cf714
4 changed files with 149 additions and 5 deletions
--- a/public/boardViewer.html
+++ b/public/boardViewer.html
@@ -105,7 +105,7 @@
  table.dtbl tr:hover td { background: #1a1f2b; }
  .row-1cam td:first-child::before { content: ''; }
  .cell-hi  { color: #fbbf24; }   /* amber: trianguliert */
-  .cell-lo  { color: #fde68a; }   /* hell: nur 2D */
+  .cell-lo  { color: #dde3ec; }   /* hell: nur 2D */
  .cell-unk { color: #3b82f6; }   /* blau: fremd */
  .cell-mut { color: var(--muted); }
 </style>
@@ -124,7 +124,7 @@
  <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 circle" style="background:#fde68a"></span>Erkannt (nur 2D)</span>
+    <span><span class="dot circle" style="background:#dde3ec"></span>Erkannt (nur 2D)</span>
    <span><span class="dot circle" style="background:#fbbf24"></span>Gemessen (3b)</span>
    <span><span class="dot circle" style="background:#3b82f6"></span>Fremd (3b)</span>
    <span><span class="dot" style="background:#9b7bff"></span>Kamera</span>
@@ -361,7 +361,7 @@ function buildScene(data) {
    if (detectedIds.has(m.id) && !Object.hasOwn(measuredById, m.id)) {
      nDetectedNotTriangulated++;
      const pos = r2vArr(m.position);
-      gMeasured.add(makeSphere(pos, 0.0055, 0xfde68a));
+      gMeasured.add(makeSphere(pos, 0.0055, 0xdde3ec));
    }
  }

--- a/public/calibration.js
+++ b/public/calibration.js
@@ -222,6 +222,136 @@ function initCameraNpz() {
  });
 }

+// ── Board: Marker-Tabelle ─────────────────────────────────────────────────────
+
+async function loadBoardTable() {
+  const wrap = document.getElementById('board-marker-table-wrap');
+  if (!wrap) return;
+
+  const th = (a) => `style="text-align:${a};padding:3px 8px;border-bottom:1px solid #2a2d35;white-space:nowrap;background:#1e293b;color:#555b6e;font-weight:normal"`;
+  const td = (a, x = '') => `style="padding:2px 8px;border-bottom:1px solid #111418;text-align:${a};white-space:nowrap;${x}"`;
+
+  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) {
+      wrap.innerHTML = '<p style="font-size:11px;color:#555b6e;padding:4px 0">Noch kein Board-Run vorhanden.</p>';
+      return;
+    }
+    const meas = data.measuredMarkers;
+    if (!meas?.markers?.length) {
+      wrap.innerHTML = `<p style="font-size:11px;color:#555b6e;padding:4px 0">Run: ${data.runDir} – kein 3b-Output (≥2 Kameras erforderlich).</p>`;
+      return;
+    }
+
+    // Modell-Info aus robot.json
+    const boardMarkers = data.robot?.links?.Board?.markers ?? [];
+    const modelMap = {};
+    for (const m of boardMarkers) modelMap[m.id] = m;
+
+    const f1 = v => (v == null ? '–' : Number(v).toFixed(1));
+    const f2 = v => (v == null ? '–' : Number(v).toFixed(2));
+    const f4 = v => (v == null ? '–' : Number(v).toFixed(4));
+
+    const markers = [...meas.markers].sort((a, b) => {
+      if (a.link !== b.link) return a.link === 'Board' ? -1 : 1;
+      return a.marker_id - b.marker_id;
+    });
+
+    let html = `<p style="font-size:10px;color:#555b6e;margin-bottom:4px">
+      Run: ${data.runDir} · ${markers.length} Marker trianguliert
+    </p>
+    <table style="border-collapse:collapse;font-size:11px;font-family:inherit;width:100%">
+      <thead><tr>
+        <th ${th('left')}>ID</th>
+        <th ${th('left')}>Set</th>
+        <th ${th('left')}>Link</th>
+        <th ${th('right')}>Kam.</th>
+        <th ${th('right')}>x mm</th>
+        <th ${th('right')}>y mm</th>
+        <th ${th('right')}>z mm</th>
+        <th ${th('right')}>nx</th>
+        <th ${th('right')}>ny</th>
+        <th ${th('right')}>nz</th>
+        <th ${th('right')}>dist mm</th>
+        <th ${th('right')}>Δz mm</th>
+        <th ${th('right')}>Kante mm</th>
+      </tr></thead>
+      <tbody>`;
+
+    for (const m of markers) {
+      const model = modelMap[m.marker_id];
+      const set   = m.set ?? model?.set ?? '–';
+      const [px, py, pz]    = m.position_mm;
+      const [mnx, mny, mnz] = m.normal;
+
+      let dist = '–', dz = '–';
+      if (model && m.link === 'Board') {
+        const [mx, my, mz] = model.position;
+        const ddx = px - mx, ddy = py - my, ddz = pz - mz;
+        dist = Math.sqrt(ddx * ddx + ddy * ddy + ddz * ddz).toFixed(2);
+        dz   = ddz.toFixed(2);
+      }
+
+      const col = m.link === 'Board' ? '' : 'color:#3b82f6;';
+      html += `<tr>
+        <td ${td('left',  col)}>${m.marker_id}</td>
+        <td ${td('left',  col)}>${set}</td>
+        <td ${td('left',  col)}>${m.link}</td>
+        <td ${td('right', col)}>${m.num_cameras}</td>
+        <td ${td('right', col)}>${f1(px)}</td>
+        <td ${td('right', col)}>${f1(py)}</td>
+        <td ${td('right', col)}>${f1(pz)}</td>
+        <td ${td('right', col)}>${f4(mnx)}</td>
+        <td ${td('right', col)}>${f4(mny)}</td>
+        <td ${td('right', col)}>${f4(mnz)}</td>
+        <td ${td('right', col)}>${dist}</td>
+        <td ${td('right', col)}>${dz}</td>
+        <td ${td('right', col)}>${f1(m.edge_length_mm)}</td>
+      </tr>`;
+    }
+    html += `</tbody></table>`;
+
+    // Kamera-Tabelle
+    const cams = meas.cameras ?? [];
+    if (cams.length > 0) {
+      html += `<p style="font-size:10px;color:#555b6e;margin-top:12px;margin-bottom:4px">KAMERAS</p>
+      <table style="border-collapse:collapse;font-size:11px;font-family:inherit;width:auto">
+        <thead><tr>
+          <th ${th('left')}>ID</th>
+          <th ${th('right')}>x mm</th>
+          <th ${th('right')}>y mm</th>
+          <th ${th('right')}>z mm</th>
+          <th ${th('right')}>dir_x</th>
+          <th ${th('right')}>dir_y</th>
+          <th ${th('right')}>dir_z</th>
+        </tr></thead>
+        <tbody>`;
+      for (const c of cams) {
+        const [cx, cy, cz] = c.position_mm ?? [null, null, null];
+        const [dx, dy, dz] = c.direction   ?? [null, null, null];
+        html += `<tr>
+          <td ${td('left',  'color:#4a9eff;')}>${c.camera_id}</td>
+          <td ${td('right')}>${f1(cx)}</td>
+          <td ${td('right')}>${f1(cy)}</td>
+          <td ${td('right')}>${f1(cz)}</td>
+          <td ${td('right')}>${f4(dx)}</td>
+          <td ${td('right')}>${f4(dy)}</td>
+          <td ${td('right')}>${f4(dz)}</td>
+        </tr>`;
+      }
+      html += `</tbody></table>`;
+    }
+
+    wrap.innerHTML = html;
+
+  } catch (err) {
+    if (wrap) wrap.innerHTML = `<p style="color:#f87171;font-size:11px">Fehler: ${err}</p>`;
+  }
+}
+
 // ── Board ─────────────────────────────────────────────────────────────────────

 function initBoard() {
@@ -233,6 +363,9 @@ function initBoard() {
    logBoard.scrollTop = logBoard.scrollHeight;
  }

+  // Tabelle beim ersten Öffnen des Tabs befüllen
+  loadBoardTable();
+
  document.getElementById('btn-board-run').addEventListener('click', async () => {
    logB('Board-Erkennung wird gestartet …');
    const btn = document.getElementById('btn-board-run');
@@ -257,6 +390,8 @@ function initBoard() {
            if (frame?.contentWindow) {
              frame.contentWindow.postMessage({ type: 'reload' }, '*');
            }
+            // Marker-Tabelle aktualisieren
+            loadBoardTable();
          }
        } else {
          logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
--- a/public/calibration_board.html
+++ b/public/calibration_board.html
@@ -38,4 +38,11 @@
    ></iframe>
  </div>

+  <div class="section full">
+    <h2>Marker-Positionen (letzter Run)</h2>
+    <div id="board-marker-table-wrap" style="overflow-x:auto;margin-top:10px;">
+      <p style="font-size:12px;color:var(--muted);padding:4px 0">(Erscheint nach einem Board-Run mit ≥2 Kameras)</p>
+    </div>
+  </div>
+
 </div>
--- a/scripts/3b_corner_marker_poses.py
+++ b/scripts/3b_corner_marker_poses.py
@@ -77,6 +77,7 @@ def load_marker_info(robot_path: str) -> Dict[int, dict]:
            if mid >= 0:
                out[mid] = {
                    "link": link_name,
+                    "set":  mk.get("set", ""),           # z.B. "A0"
                    "position_mm": mk.get("position"),  # [x_mm, y_mm, z_mm] robot coords
                }
    return out
@@ -158,6 +159,7 @@ def main() -> None:
        markers_out.append({
            "marker_id": int(mid),
            "link": marker_info.get(mid, {}).get("link", "unknown"),
+            "set":  marker_info.get(mid, {}).get("set",  ""),
            "position_m": [float(v) for v in center],
            "position_mm": [float(v * 1000.0) for v in center],
            "normal": [float(v) for v in normal],
@@ -195,7 +197,7 @@ def main() -> None:
    with open(csv_path, "w", newline="", encoding="utf-8") as fcsv:
        w = csv.writer(fcsv)
        # Marker-Tabelle
-        w.writerow(["marker_id", "link", "num_cameras",
+        w.writerow(["marker_id", "link", "set", "num_cameras",
                    "x_mm", "y_mm", "z_mm",
                    "nx", "ny", "nz",
                    "model_x_mm", "model_y_mm", "model_z_mm",
@@ -219,7 +221,7 @@ def main() -> None:
                row_model = ["", "", "", "", ""]

            w.writerow([
-                mid, link, m["num_cameras"],
+                mid, link, m.get("set", ""), m["num_cameras"],
                round(px, 2), round(py, 2), round(pz, 2),
                round(mnx, 5), round(mny, 5), round(mnz, 5),
                *row_model,