x-axis justierung: lines 3

server/server.js

@@ -8,7 +8,7 @@ import { fileURLToPath } from 'url';
 import process from 'process';
 import { spawn } from 'child_process';
 import { WebcamClient } from './webcamClient.js';
-import { assignByZRange, removeMarkerAssignment, alignSetToMeasured, assignMarkerId } from './editRobot.js';
+import { assignByZRange, removeMarkerAssignment, alignSetToMeasured, assignMarkerId, adoptXAxis } from './editRobot.js';
 
 const __filename = fileURLToPath(import.meta.url);
 const __dirname = path.dirname(__filename);
@@ -864,6 +864,31 @@ app.post('/api/robot/assign-id', async (req, res) => {
   }
 });
 
+/**
+ * POST /api/robot/adopt-x-axis
+ * Dreht alle Marker-Positionen in robot.json so, dass die gemessene Richtung
+ * zur neuen X-Achse [1,0,0] wird.  Rotation um den A0-Schwerpunkt.
+ * Body: { direction: [vx, vy, vz] }
+ */
+app.post('/api/robot/adopt-x-axis', async (req, res) => {
+  try {
+    const { direction } = req.body ?? {};
+    if (!Array.isArray(direction) || direction.length < 3) {
+      return res.status(400).json({ error: '"direction" muss ein Array [vx,vy,vz] sein.' });
+    }
+    const result = await adoptXAxis(ROBOT_JSON, { direction });
+    console.log(
+      `robot/adopt-x-axis dir=[${direction.map(v => Number(v).toFixed(4)).join(', ')}]` +
+      ` → ${result.numChanged} Marker, Ursprung=[${result.origin.join(', ')}]` +
+      ` XY=${result.angleXYdeg}° XZ=${result.angleXZdeg}°`,
+    );
+    return res.json(result);
+  } catch (err) {
+    console.error('robot/adopt-x-axis error:', err);
+    return res.status(500).json({ error: String(err) });
+  }
+});
+
 /**
  * POST /api/calibration/upload-npz
  * Liest {camera}_calibration.npz aus der aktuellen Session und