Callibration Board 0
This commit is contained in:
chk
214
server/server.js
214
server/server.js
@@ -260,7 +260,14 @@ async function capturePhotos(sessionName) {
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const savedFiles = [];
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for (const camId of cameraIds) {
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const response = await new WebcamClient(WEBCAM_URL).getSnapshot(camId, true);
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let response;
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// Bei 503 (Kamera kurz busy nach Hires-Grab) einmal nach 2 s neu versuchen
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for (let attempt = 1; attempt <= 2; attempt++) {
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response = await new WebcamClient(WEBCAM_URL).getSnapshot(camId, true);
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if (response.status !== 503) break;
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if (attempt < 2) await new Promise(r => setTimeout(r, 2000));
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}
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if (!response.ok) throw new Error(`getSnapshot(${camId}): HTTP ${response.status}`);
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const buffer = Buffer.from(await response.arrayBuffer());
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const filename = `${camId}_${setNr}.jpg`;
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await fsPromises.writeFile(path.join(sessionDir, filename), buffer);
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@@ -371,44 +378,15 @@ app.post('/api/calibration/compute', async (req, res) => {
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send({ type: 'log', text: `▶ Script: ${calibScriptPath}` });
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send({ type: 'log', text: '' });
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// -u = unbuffered (Python gibt jede Zeile sofort aus)
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const proc = spawn(PYTHON_BIN, [
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'-u',
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const exitCode = await runScript([
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calibScriptPath,
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'--camera', camera,
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'--input-dir', sessionDir,
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'--output-dir', sessionDir,
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]);
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], send);
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let stdoutBuf = '';
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proc.stdout.on('data', (chunk) => {
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stdoutBuf += chunk.toString();
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const lines = stdoutBuf.split('\n');
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stdoutBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: line });
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});
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let stderrBuf = '';
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proc.stderr.on('data', (chunk) => {
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stderrBuf += chunk.toString();
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const lines = stderrBuf.split('\n');
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stderrBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: `[stderr] ${line}` });
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});
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proc.on('error', (err) => {
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console.error('calibration/compute spawn error:', err);
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send({ type: 'log', text: `Fehler beim Starten: ${err.message}` });
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send({ type: 'done', exitCode: -1 });
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if (!res.writableEnded) res.end();
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});
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proc.on('close', (code) => {
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if (stdoutBuf) send({ type: 'log', text: stdoutBuf });
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if (stderrBuf) send({ type: 'log', text: `[stderr] ${stderrBuf}` });
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send({ type: 'done', exitCode: code ?? -1 });
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if (!res.writableEnded) res.end();
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});
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send({ type: 'done', exitCode });
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if (!res.writableEnded) res.end();
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} catch (err) {
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// Fehler VOR flushHeaders → normaler JSON-Fehler
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@@ -426,6 +404,174 @@ app.post('/api/calibration/compute', async (req, res) => {
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}
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});
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// ── Board-Erkennung ───────────────────────────────────────────────────────────
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const boardDataDir = path.join(__dirname, '..', 'data', 'board');
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const ROBOT_JSON = process.env.ROBOT_JSON
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|| path.join(__dirname, '..', 'scripts', 'robot_1781069752019.json');
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const SCRIPT_1 = path.join(__dirname, '..', 'scripts', '1_detect_aruco_observations.py');
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const SCRIPT_2 = path.join(__dirname, '..', 'scripts', '2_estimate_camera_from_observations.py');
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/**
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* Führt ein Python-Script aus und leitet stdout/stderr zeilenweise an `send` weiter.
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* Gibt den Exit-Code zurück (Promise<number>).
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*/
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function runScript(args, send) {
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return new Promise((resolve) => {
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const proc = spawn(PYTHON_BIN, ['-u', ...args]);
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let outBuf = '';
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proc.stdout.on('data', chunk => {
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outBuf += chunk.toString();
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const lines = outBuf.split('\n');
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outBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: line });
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});
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let errBuf = '';
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proc.stderr.on('data', chunk => {
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errBuf += chunk.toString();
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const lines = errBuf.split('\n');
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errBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: `[stderr] ${line}` });
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});
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proc.on('error', err => {
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send({ type: 'log', text: `Fehler beim Starten: ${err.message}` });
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resolve(-1);
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});
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proc.on('close', code => {
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if (outBuf) send({ type: 'log', text: outBuf });
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if (errBuf) send({ type: 'log', text: `[stderr] ${errBuf}` });
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resolve(code ?? -1);
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});
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});
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}
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/**
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* POST /api/board/run
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* 1. Erstellt data/board/{timestamp}/
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* 2. Holt Snapshot jeder Kamera
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* 3. Für jede Kamera: Script 1 (ArUco-Erkennung) → Script 2 (Kamera-Pose)
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* SSE-Stream während der Ausführung.
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*/
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app.post('/api/board/run', async (req, res) => {
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try {
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res.setHeader('Content-Type', 'text/event-stream');
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res.setHeader('Cache-Control', 'no-cache');
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res.setHeader('Connection', 'keep-alive');
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res.flushHeaders();
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const send = (obj) => {
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if (!res.writableEnded) res.write(`data: ${JSON.stringify(obj)}\n\n`);
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};
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// 1. Temp-Verzeichnis
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const ts = makeTimestamp();
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const runDir = path.join(boardDataDir, ts);
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await fsPromises.mkdir(runDir, { recursive: true });
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send({ type: 'log', text: `▶ Board-Run: ${ts}` });
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send({ type: 'log', text: `▶ Ordner: ${runDir}` });
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send({ type: 'log', text: `▶ Robot-JSON: ${ROBOT_JSON}` });
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send({ type: 'log', text: '' });
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// 2. Kameras ermitteln
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if (!WEBCAM_URL) throw new Error('WEBCAM_URL nicht konfiguriert');
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const camData = await new WebcamClient(WEBCAM_URL).getCameras();
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const cameraIds = (camData.cameras ?? []).map(c => c.id);
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send({ type: 'log', text: `▶ Kameras: ${cameraIds.join(', ')}` });
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// 3. Aktuelle Kalibrierungs-Session für NPZ-Dateien
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const calibSession = await findLatestCalibSession();
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if (!calibSession) throw new Error('Keine Kalibrierungs-Session. Bitte zuerst Camera NPZ kalibrieren.');
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send({ type: 'log', text: `▶ NPZ-Session: ${calibSession}` });
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send({ type: 'log', text: '' });
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// 4. Pro Kamera: Foto → Script 1 → Script 2
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for (const camId of cameraIds) {
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send({ type: 'log', text: `─── ${camId} ${'─'.repeat(40 - camId.length)}` });
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// Snapshot
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send({ type: 'log', text: 'Foto aufnehmen …' });
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let snapResp;
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for (let attempt = 1; attempt <= 2; attempt++) {
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snapResp = await new WebcamClient(WEBCAM_URL).getSnapshot(camId, true);
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if (snapResp.status !== 503) break;
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if (attempt < 2) await new Promise(r => setTimeout(r, 2000));
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}
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if (!snapResp.ok) {
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send({ type: 'log', text: `⚠ HTTP ${snapResp.status} – Kamera übersprungen` });
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continue;
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}
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const imgPath = path.join(runDir, `${camId}.jpg`);
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await fsPromises.writeFile(imgPath, Buffer.from(await snapResp.arrayBuffer()));
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send({ type: 'log', text: `✅ Foto: ${camId}.jpg` });
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// NPZ prüfen
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const npzPath = path.join(calibDataDir, calibSession, `${camId}_calibration.npz`);
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try { await fsPromises.access(npzPath); }
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catch {
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send({ type: 'log', text: `⚠ Keine NPZ (${camId}_calibration.npz) – übersprungen` });
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continue;
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}
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// Script 1 – ArUco-Erkennung
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send({ type: 'log', text: '\n▷ 1_detect_aruco_observations' });
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const exit1 = await runScript([
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SCRIPT_1,
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'-i', imgPath,
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'-npz', npzPath,
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'-robot', ROBOT_JSON,
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'-cameraId', camId,
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'-outDir', runDir,
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'--saveDebugImage',
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], send);
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if (exit1 !== 0) {
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send({ type: 'log', text: `❌ Script 1 Exit ${exit1}` });
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continue;
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}
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// Script 2 – Kamera-Pose schätzen
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const detJson = path.join(runDir, `${camId}_aruco_detection.json`);
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try { await fsPromises.access(detJson); }
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catch {
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send({ type: 'log', text: '⚠ Detection-JSON fehlt – Script 2 übersprungen' });
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continue;
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}
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send({ type: 'log', text: '\n▷ 2_estimate_camera_from_observations' });
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const exit2 = await runScript([
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SCRIPT_2,
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'-i', detJson,
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'-robot', ROBOT_JSON,
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'-outDir', runDir,
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], send);
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if (exit2 !== 0) {
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send({ type: 'log', text: `❌ Script 2 Exit ${exit2}` });
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}
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send({ type: 'log', text: '' });
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}
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send({ type: 'log', text: `✅ Board-Run abgeschlossen: ${ts}` });
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send({ type: 'done', exitCode: 0, runDir: ts });
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if (!res.writableEnded) res.end();
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} catch (err) {
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console.error('board/run error:', err);
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if (!res.headersSent) {
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res.status(500).json({ error: String(err) });
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} else {
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try {
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res.write(`data: ${JSON.stringify({ type: 'log', text: `❌ ${err.message}` })}\n\n`);
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res.write(`data: ${JSON.stringify({ type: 'done', exitCode: -1 })}\n\n`);
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res.end();
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} catch {}
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}
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}
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});
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/**
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* POST /api/calibration/upload-npz
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* Liest {camera}_calibration.npz aus der aktuellen Session und
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