ChK/appRobotHoming
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Board Kamera-Position

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chk
2026-06-10 14:58:14 +02:00
parent 1032c53630
commit 5285ed468b
3 changed files with 163 additions and 115 deletions
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28
server/server.js
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@@ -411,6 +411,7 @@ const ROBOT_JSON = process.env.ROBOT_JSON
|| path.join(__dirname, '..', 'scripts', 'robot_1781069752019.json');
const SCRIPT_1 = path.join(__dirname, '..', 'scripts', '1_detect_aruco_observations.py');
const SCRIPT_2 = path.join(__dirname, '..', 'scripts', '2_estimate_camera_from_observations.py');
const SCRIPT_3B = path.join(__dirname, '..', 'scripts', '3b_corner_marker_poses.py');
/**
* Führt ein Python-Script aus und leitet stdout/stderr zeilenweise an `send` weiter.
@@ -554,6 +555,24 @@ app.post('/api/board/run', async (req, res) => {
send({ type: 'log', text: '' });
}
// ── Script 3b: Marker-Triangulierung (benötigt ≥2 Kamera-Posen) ──
send({ type: 'log', text: '' });
send({ type: 'log', text: '─── 3b: Marker-Triangulierung ────────────────────────────' });
const runFiles3b = await fsPromises.readdir(runDir);
const numPoses = runFiles3b.filter(f => f.endsWith('_camera_pose.json')).length;
if (numPoses >= 2) {
send({ type: 'log', text: `▷ 3b_corner_marker_poses (${numPoses} Kamera-Posen)` });
const exit3b = await runScript([
SCRIPT_3B,
'--evalDir', runDir,
'--robot', ROBOT_JSON,
], send);
if (exit3b !== 0) send({ type: 'log', text: `❌ Script 3b Exit ${exit3b}` });
} else {
send({ type: 'log', text: `⚠ Nur ${numPoses} Kamera-Pose(n) vorhanden – Script 3b braucht ≥2 Kameras für Triangulierung, wird übersprungen.` });
}
send({ type: 'log', text: '' });
send({ type: 'log', text: `✅ Board-Run abgeschlossen: ${ts}` });
send({ type: 'done', exitCode: 0, runDir: ts });
if (!res.writableEnded) res.end();
@@ -633,7 +652,14 @@ app.get('/api/board/latest', async (req, res) => {
}
}
return res.json({ runDir: runName, robot, detections, cameraPoses });
// aruco_marker_poses.json (Ausgabe von 3b_corner_marker_poses.py)
let measuredMarkers = null;
try {
const raw = await fsPromises.readFile(path.join(runDir, 'aruco_marker_poses.json'), 'utf8');
measuredMarkers = JSON.parse(raw);
} catch {}
return res.json({ runDir: runName, robot, detections, cameraPoses, measuredMarkers });
} catch (err) {
return res.status(500).json({ error: String(err) });
}