Angle Double

public/calculateActions.js

@@ -718,9 +718,6 @@ if (typeof window !== "undefined") {
 if (typeof module !== "undefined") {
   module.exports = {
     calculate,
-    createAnalysisResult,
+    createAnalysisResult
-    calculateAngleFromPosition,
-    calculateAngleFromRollColumn,
-    calculateAngleFromRelativePosition
   };
 }

public/calculateAngles.js

@@ -21,12 +21,16 @@ function appendToAnalysis(line) {
 
 
 function calculateXPos(listIdAndX, jsonRobot){
-  appendToAnalysis("Calculate XPos");
+  appendToAnalysis("xPos");
 
   const partsMovingFixedX = new Set(['Base', 'Arm1', 'Joint1']);
   const markersMovingFixedX = jsonRobot.Marker.filter(m => partsMovingFixedX.has(m.on));
+
+  appendToAnalysis(`xPos found ${markersMovingFixedX.length} Markers`);
   // Join: Robot-Marker ↔ Found-Marker
 
+  
+
   const markersListeWithRobotInfo = jsonRobot.Marker
   .filter(m => partsMovingFixedX.has(m.on))   // nur relevante Teile
   .map(m => {
@@ -48,6 +52,8 @@ function calculateXPos(listIdAndX, jsonRobot){
   const variancePx =  pxValues.reduce((sum, x) => sum + Math.pow(x - meanPx, 2), 0) / pxValues.length;
   const stdDevPx = Math.sqrt(variancePx);
 
+  
+  appendToAnalysis(`xPos > ${meanPx.toFixed(2)} ± ${stdDevPx.toFixed(2)}`)
   return { meanPx, stdDevPx };
 }
 
@@ -117,7 +123,63 @@ function optimizeRobot(listFoundMarkers, jsonRobot) {
   return withStats;
 }
 
+function calculateRotationAngleByTwoMarkers(listIdAndX, jsonRobot, jointName){
+
+  // Achse finden
+  const jointInfo = jsonRobot.Joints[jointName];
+  if(!jointInfo){return null, null; }    
+  if(jointInfo.type !== 'revolute'){ return null, null; }
+
+  if(!(jointInfo.axis)){ return null, null; }
+  if(!(jointInfo.child)){ return null, null; }
+
+  var a = 1;
+  var b = 2;
+  if(jointInfo.axis == [1,0,0]){a=1, b=2}
+  if(jointInfo.axis == [0,1,0]){a=0, b=2}
+  if(jointInfo.axis == [0,0,1]){a=0, b=1}
+
+  const achsisName = (jointName == "jointB") ? "y" : (jointName == "jointC") ? "z" : "a" 
+  
+
+  appendToAnalysis(`${achsisName}Ang - Double Started with on dir [${a}, ${b}]`)
+
+  markerUsed = jsonRobot.Marker.filter(m => m.on === jointInfo.child)
+  if(markerUsed.length === 0){ 
+    appendToAnalysis(`${achsisName}Ang - Double no Markers found`)
+    return null, null; 
+  }
+
+  const markerFound = markerUsed
+  .map(m => [m.id, listIdAndX.get(m.id)])
+  .filter(v => v !== undefined && v[1] !== undefined);
+
+   
+  const pairs = [];
+  for (let i = 0; i < markerFound.length; i++) {
+    for (let j = i + 1; j < markerFound.length; j++) {
+      const [idA, posA] = markerFound[i];
+      const [idB, posB] = markerFound[j];
+
+      if (posA[a] === posB[a] && posA[b] === posB[b]) {
+        pairs.push([idA, idB]);
+      }
+    }
+  }
+
+  if(pairs == []){ appendToAnalysis(`${achsisName}Ang - Double not found`); return; }
+
+
+  for(i in pairs){
+    m0 = listIdAndX.get(i[0]);
+    m1 = listIdAndX.get(i[1]);
+
+    appendToAnalysis(`${achsisName}Ang - Double ${JSON.stringify(m0)} and ${JSON.stringify(m1)} -- ${i}`);
+  }
+}
+
 function calculateRotationAngle(listIdAndX, jsonRobot, jointName, method = "tan") {
+
   // Achse finden
   const jointInfo = jsonRobot.Joints[jointName];
   if(!jointInfo){return null, null; }    
@@ -143,19 +205,25 @@ function calculateRotationAngle(listIdAndX, jsonRobot, jointName, method = "tan"
     b =  1;
   }
   
+  const achsisName = (jointName == "jointB") ? "y" : (jointName == "jointC") ? "z" : "a" 
+  appendToAnalysis(`${achsisName}Ang - Started with ${method} on dir [${a}, ${b}]`)
+
   const jointA = jointInfo.origin[a];
   const jointB = jointInfo.origin[b];
+
+  appendToAnalysis(`${achsisName}Ang - Axis: (${jointA.toFixed(2)}, ${jointB.toFixed(2)})`);
   
   markerUsed = jsonRobot.Marker.filter(m => m.on === jointInfo.child)
   if(markerUsed.length === 0){ return null, null; }
 
   
-const markerFound = markerUsed
+  const markerFound = markerUsed
   .map(m => [m.id, listIdAndX.get(m.id)])
   .filter(v => v !== undefined && v[1] !== undefined); // Nur Marker, die gefunden wurden
 
-  var angles = [];
+  appendToAnalysis(`${achsisName}Ang found ${markerFound.length} markers`);
 
+  var angles = [];
   for(const pos of markerFound) {
     const id = pos[0];
     const mRobot = jsonRobot.Marker.filter(m => m.id === id)[0];
@@ -168,6 +236,8 @@ const markerFound = markerUsed
       const angleOne = Math.atan2(db, da) * (180 / Math.PI);
       const deltaAngleTan = angleOne - angleZero;
       angles.push(deltaAngleTan);
+
+      appendToAnalysis(`${achsisName}Ang    tan: ${mRobot.id} Pos=(${pos[1][a].toFixed(2)}, ${pos[1][b].toFixed(2)}) Δ=(${da.toFixed(2)},${db.toFixed(2)}) α°=${angleZero.toFixed(2)}  ${achsisName}=${deltaAngleTan.toFixed(2)}`);
     }
     else{
       const hypotenuse = Math.sqrt(mRobot.relPos[a]**2 + mRobot.relPos[b]**2);
@@ -176,15 +246,17 @@ const markerFound = markerUsed
       if(method === "sin"){
         const db = pos[1][b] - jointB;
         var angleOneSin;
-        if(Math.abs(db) > hypotenuse && db < 1.3 * hypotenuse){angleOneSin = 180}
+        if(Math.abs(db) > hypotenuse && db < 1.3 * hypotenuse){angleOneSin = -180}
         else if(Math.abs(db) < hypotenuse && -1*Math.abs(db) > -hypotenuse){
           angleOneSin = Math.asin(db / hypotenuse) * (180 / Math.PI);
         }
-        else if(Math.abs(db) < -1*hypotenuse && Math.abs(db) > 1.3*Math.abs(db)){angleOneSin = -180}
+        else if(Math.abs(db) < -1*hypotenuse && Math.abs(db) > 1.3*Math.abs(db)){angleOneSin = 180}
         else angleOneSin = NaN;
 
         const deltaAngleSin = angleOneSin - angleZero;
         angles.push(deltaAngleSin);
+
+        appendToAnalysis(`${achsisName}Ang    sin: ${mRobot.id} Pos=(${pos[1][a].toFixed(2)}, ${pos[1][b].toFixed(2)}) Δ=${db.toFixed(2)} hyp=${hypotenuse.toFixed(2)} α°=${angleOneSin.toFixed(2)}  ${achsisName}=${deltaAngleSin.toFixed(2)}`);
       }
       // Arbeiten mit cos und hypotenuse
       else{
@@ -192,10 +264,11 @@ const markerFound = markerUsed
         const angleOneCos = Math.acos(db / hypotenuse) * (180 / Math.PI);
         const deltaAngleCos = -(angleOneCos - angleZero);
         angles.push(deltaAngleCos);
+
+        appendToAnalysis(`${achsisName}Ang    cos: ${mRobot.id} Pos=(${pos[1][a].toFixed(2)}, ${pos[1][b].toFixed(2)}) Δ=${db.toFixed(2)} hyp=${hypotenuse.toFixed(2)} α°=${angleOneCos.toFixed(2)}  ${achsisName}=${deltaAngleCos.toFixed(2)}`);
       }
     }
   }
-
   
   const n = angles.length;
   if(n === 0){ return null, null; }
@@ -203,25 +276,39 @@ const markerFound = markerUsed
   const average = angles.reduce((a, b) => a + b, 0) / n;
   const deviation = Math.sqrt(angles.reduce((sum, x) => sum + Math.pow(x - average, 2), 0) / n);
 
-
+  appendToAnalysis(`${achsisName}Ang ${achsisName}=${average.toFixed(2)} ± ${deviation.toFixed(2)}`)
   return {average, deviation};
 }
 
 async function calculate(foundMarkers, jsonRobot) {
 
+  if(foundMarkers == undefined || jsonRobot == undefined){console.warn("calculateAngles mit falschen Parametern aufgerufen.");}
+
   const foundById = new Map(foundMarkers.markers.map(f => [f.id, f.position_mm ]));
   const { meanPx: x, stdDevPx: varx } = calculateXPos(foundById, jsonRobot);
 
   jsonRobot.recognized.x = x;
 
   const { average: y, deviation: vary } = calculateRotationAngle(foundById, jsonRobot, "jointB", "tan");
-
+  
+  try{
+    calculateRotationAngleByTwoMarkers(foundById, jsonRobot, "jointB");
+  }
+  catch(e){
+    appendToAnalysis(e);
+  }
   jsonRobot.recognized.y = y;
+  // ToDo !  callibration
   jsonRobot.Joints["jointD"].origin[0] = x;
   jsonRobot.Joints["jointD"].origin[1] = -jsonRobot.ElementLength["Arm1"]*Math.cos(y*Math.PI/180)
   jsonRobot.Joints["jointD"].origin[2] = jsonRobot.ElementLength["Arm1"]*Math.sin(y*Math.PI/180)
   
   const { average: a, deviation: vara } = calculateRotationAngle(foundById, jsonRobot, "jointD", "sin");
+
+  jsonRobot.Joints["jointC"].origin[0] = x;
+  jsonRobot.Joints["jointC"].origin[1] = -jsonRobot.ElementLength["Arm1"]*Math.cos(y*Math.PI/180)
+  jsonRobot.Joints["jointC"].origin[2] = jsonRobot.ElementLength["Arm1"]*Math.sin(y*Math.PI/180)
+  
   
 
   return {

public/client.js

@@ -84,10 +84,33 @@ function renderResult(result) {
   renderTree(treeEl, result, "result", true);
 }
 
-async function fetchCSV() {
+dataCache = null
+headersCache = null 
+rowsCache  = null
+timeCache = null
+jsonCache  = null
+
+async function fetchCSV(){
+  if(dataCache == null || headersCache == null || rowsCache == null || timeCache == null){
+      ({ data: dataCache, headers: headersCache, rows: rowsCache } = await fetchCSV_fromServer());
+      timeCache = Date.now();
+  }
+  if (Date.now() - timeCache > 1000){
+    
+      ({ data: dataCache, headers: headersCache, rows: rowsCache } = await fetchCSV_fromServer());
+      timeCache = Date.now();
+  }
+
+  return {data: dataCache, headers: headersCache, rows: rowsCache}
+
+}
+
+async function fetchCSV_fromServer() {
+  
   const res = await fetch("/api/latest-snapshot");
   if (!res.ok) throw new Error("Fehler beim Laden des Snapshots");
 
+
   let data;
   if (res.headers.get("content-type")?.includes("application/json")) {
     data = await res.json();
@@ -99,6 +122,10 @@ async function fetchCSV() {
       content: csvData
     };
   }
+  
+  if (!jsonCache && data.jsonFile) {
+    jsonCache = JSON.parse(data.jsonFile.content);
+  }
 
   const lines = data.content.trim().split(/\r?\n/).filter(Boolean);
   if (lines.length < 2) {
@@ -199,7 +226,15 @@ async function onCalculateClick() {
   appendLog("Starte Berechnung...");
 
   try {
-    const result = await window.calculate();
+    const response = await fetch("robot.json");
+    await fetchCSV();
+    
+    //console.log("Data:", dataCache);
+    //console.log("json: ", JSON.stringify(jsonCache));
+    //console.log("Keys:", Object.keys(dataCache));
+
+    const robot = await response.json();
+    const result = await window.calculate(jsonCache, robot);
     renderResult(result);
     await renderSnapshot();
     appendLog("Result angezeigt.");

public/index.html

@@ -35,7 +35,7 @@
           GCodeMotor
         </button>
 
-        <button id="btn-calculate" onclick="fetchAndCalculate()">Calculate Actions</button>
+        <button id="btn-calculate">Calculate Actions</button>
       </div>
     </div>
 
@@ -86,12 +86,11 @@
 
   </div>
 
-  <script src="/calculateActions.js"></script>
+  
+  <!--<script src="/calculateActions.js"></script> --> 
+  <script src="/calculateAngles.js"></script>
   <script src="/client.js"></script>
 
-  <script defer> window.calculateAngles.fetchAndCalculate();  </script>
-
-  <script src="/calculateAngles.js"></script>
   
 </body>
 </html>

public/robot.json

@@ -4,7 +4,7 @@
     "ElementLength":{"Arm1":250, "Arm2":250, "Finger1":100, "Finger2":100},
     "Joints":{
         "jointA":{"name":"Slider",  "type":"lninear", "axis":[1,0,0],"parent":"Board","child":"Base"},
-        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 61], "originSource":[null, "229_198_Foto_5_2026", "Fuson"]},
+        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 52], "originSource":[null, "229_198_Foto_5_2026", "Fuson"]},
         "jointC":{"name":"EllbowLift","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[null, null, null]},
         "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[null, null, null]}
     },
@@ -32,14 +32,14 @@
         {"id":226,"on":"Joint1", "relPos":[0,0, 35]},
 
         {"id":228,"on":"Arm2", "relPos":[-24.75, 112, 24.75],  "relPosSource":["Fusion","Fusion","Fusion"]},
-        {"id":  0,"on":"Arm2", "relPos":[-24.75, 182, 24.75],  "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": -1,"on":"Arm2", "relPos":[-24.75, 182, 24.75],  "relPosSource":["Fusion","Fusion","Fusion"]},
-        {"id":  0,"on":"Arm2", "relPos":[-35,112,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": -1,"on":"Arm2", "relPos":[-35,112,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
-        {"id":  0,"on":"Arm2", "relPos":[-35,219,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": -1,"on":"Arm2", "relPos":[-35,219,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
         {"id":223,"on":"Arm2", "relPos":[-28.67,112,-20.08],   "relPosSource":["Fusion","Fusion","Fusion"]},
-        {"id":  0,"on":"Arm2", "relPos":[0,182,-30],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": -1,"on":"Arm2", "relPos":[0,182,-30],           "relPosSource":["Fusion","Fusion","Fusion"]},
         {"id":218,"on":"Arm2", "relPos":[35,112,0],            "relPosSource":["Fusion","Fusion","Fusion"]},
         {"id":219,"on":"Arm2", "relPos":[35,219,0],            "relPosSource":["Fusion","Fusion","Fusion"]},
-        {"id":  0,"on":"Arm2", "relPos":[24.75, 182, 24.75],   "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": -1,"on":"Arm2", "relPos":[24.75, 182, 24.75],   "relPosSource":["Fusion","Fusion","Fusion"]},
         
         {"id":218,"on":"Finger1","name":"A1","relPos":[-1.70,-25.14, 38.04]},
         {"id":222,"on":"Finger1","name":"B1","relPos":[-14.55, 0.84, 74.79]}

server/server.js

@@ -208,11 +208,16 @@ app.get('/api/latest-snapshot', (req, res) => {
     const latestFile = csvFiles[0];
     const baseName = path.basename(latestFile.name, path.extname(latestFile.name));
     const jsonFilename = `${baseName}.json`;
+    const jsonPath = path.join(snapshotsDir, jsonFilename);
+    
+console.log("JSON Pfad:", jsonPath);
+console.log("Existiert JSON:", fs.existsSync(jsonPath));
+
     const imageFilename = `${baseName}_annotated.jpg`;
     const imagePath = path.join(snapshotsDir, imageFilename);
     const imatePath2 = imagePath.includes('video0') ? imagePath.replace('video0', 'video1') : imagePath.replace('video1', 'video0');
     
-
+    //-- 
     fs.readFile(latestFile.path, 'utf8', (err, data) => {
       if (err) {
         return res.status(500).json({ error: 'Fehler beim Lesen der Datei' });
@@ -224,39 +229,45 @@ app.get('/api/latest-snapshot', (req, res) => {
         content: data
       };
 
-      // Lade JSON wenn vorhanden
+      const jsonPath = path.join(snapshotsDir, jsonFilename);
-      fs.readFile(jsonFilename, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
+
-        if (!jpgErr && jpgBase64) {
+      // ✅ JSON FIRST, dann alles andere
-          response.imageFile = {
+      fs.readFile(jsonPath, 'utf8', (jsonErr, jsonData) => {
+        if (!jsonErr && jsonData) {
+          response.jsonFile = {
             filename: jsonFilename,
-            mimeType: 'json',
+            content: jsonData
-            contentBase64: jpgBase64
-          };
-        }
-      });
-
-      // Lade beide Bilder
-      fs.readFile(imagePath, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
-        if (!jpgErr && jpgBase64) {
-          response.imageFile = {
-            filename: imageFilename,
-            mimeType: 'image/jpeg',
-            contentBase64: jpgBase64
           };
         }
 
-        fs.readFile(imatePath2, { encoding: 'base64' }, (jpgErr2, jpgBase642) => {
+        // Bild 1
-          if (!jpgErr2 && jpgBase642) {
+        fs.readFile(imagePath, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
-            response.image2 = {
+          if (!jpgErr && jpgBase64) {
-              filename: path.basename(imatePath2),
+            response.imageFile = {
+              filename: imageFilename,
               mimeType: 'image/jpeg',
-              contentBase64: jpgBase642
+              contentBase64: jpgBase64
             };
           }
-          res.json(response);
+
+          // Bild 2
+          fs.readFile(imatePath2, { encoding: 'base64' }, (jpgErr2, jpgBase642) => {
+            if (!jpgErr2 && jpgBase642) {
+              response.image2 = {
+                filename: path.basename(imatePath2),
+                mimeType: 'image/jpeg',
+                contentBase64: jpgBase642
+              };
+            }
+
+            // ✅ jetzt erst senden
+            res.json(response);
+          });
         });
       });
     });
+
+    //-- 
   });
 });
 

test/snapshots/snapshot_video0_1778845508432_two_cam.csv

@@ -0,0 +1,20 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,-45.26,-643.92,610.54,-123.820,-3.052,-30.995
+camera 1,10.55,-438.57,997.81,-160.771,-18.041,-14.950
+180,419.14,-140.22,418.18,72.800,42.247,-106.109,2
+189,453.50,-168.57,403.03,88.856,-7.808,-48.251,3
+196,426.40,-168.29,377.81,16.748,-9.999,-21.351,3
+197,297.35,-122.58,90.09,95.407,83.104,-83.205,1
+198,338.69,-34.96,116.45,-10.259,0.249,-1.646,3
+200,268.46,-18.68,115.06,0.906,-1.063,1.907,3
+201,232.36,58.93,100.62,48.972,59.258,20.582,3
+204,268.60,134.65,120.12,-3.903,1.616,-1.027,3
+205,803.19,-90.66,-0.77,131.746,-47.948,-88.085,3
+210,-5.27,3.72,-4.15,-1.090,1.598,-1.102,3
+211,200.22,0.62,-1.19,-1.206,0.232,-1.179,3
+215,199.19,-89.68,-0.60,-1.626,-0.834,-1.483,3
+218,410.85,-161.13,200.05,-93.281,-7.490,129.360,3
+219,418.18,-170.76,306.64,-36.855,-10.153,137.791,3
+222,453.79,-138.61,61.69,-96.553,-4.102,-175.991,1
+229,341.88,-124.09,129.35,-7.622,0.840,-0.059,3
+243,353.63,-145.71,80.99,81.127,1.472,0.651,1

test/snapshots/snapshot_video0_1778845508432_two_cam.json

@@ -0,0 +1,267 @@
+{
+    "metadata": {
+        "timestamp": "2026-05-15 11:45:08",
+        "reference_markers": [
+            205,
+            210,
+            211,
+            215
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 5.39648196111485,
+        "rms_refs_px_cam2": 5.377608516390921,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                -45.26291564111129,
+                -643.9152747329521,
+                610.5360477447284
+            ],
+            "orientation_deg": {
+                "roll": -123.81983227060897,
+                "pitch": -3.052095021020194,
+                "yaw": -30.994640267051796
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                10.553380406378764,
+                -438.5675198007304,
+                997.8097666875392
+            ],
+            "orientation_deg": {
+                "roll": -160.77106232170593,
+                "pitch": -18.041298309463212,
+                "yaw": -14.950430767356504
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 180,
+            "position_mm": [
+                419.144582367835,
+                -140.22299366478097,
+                418.1777757275768
+            ],
+            "orientation_deg": {
+                "roll": 72.80001565888858,
+                "pitch": 42.24706355578098,
+                "yaw": -106.10873668157622
+            }
+        },
+        {
+            "id": 189,
+            "position_mm": [
+                453.49652099609375,
+                -168.57383728027344,
+                403.028076171875
+            ],
+            "orientation_deg": {
+                "roll": 88.85554131822369,
+                "pitch": -7.808091604864712,
+                "yaw": -48.2507766865305
+            }
+        },
+        {
+            "id": 196,
+            "position_mm": [
+                426.4018859863281,
+                -168.291748046875,
+                377.80609130859375
+            ],
+            "orientation_deg": {
+                "roll": 16.74814878527144,
+                "pitch": -9.998891362798654,
+                "yaw": -21.35050086279306
+            }
+        },
+        {
+            "id": 197,
+            "position_mm": [
+                297.35264103055096,
+                -122.58445163275444,
+                90.08801199506212
+            ],
+            "orientation_deg": {
+                "roll": 95.40654253536692,
+                "pitch": 83.10358092445118,
+                "yaw": -83.20497125428815
+            }
+        },
+        {
+            "id": 198,
+            "position_mm": [
+                338.6861877441406,
+                -34.96370315551758,
+                116.44953918457031
+            ],
+            "orientation_deg": {
+                "roll": -10.259342232120957,
+                "pitch": 0.24870528512126713,
+                "yaw": -1.645925923556587
+            }
+        },
+        {
+            "id": 200,
+            "position_mm": [
+                268.4554138183594,
+                -18.676528930664062,
+                115.06306457519531
+            ],
+            "orientation_deg": {
+                "roll": 0.9062729692050792,
+                "pitch": -1.0632288819207127,
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