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board rotation

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chk
2026-06-10 17:57:05 +02:00
parent 5d13b7685c
commit 9105dc5eac
5 changed files with 407 additions and 5 deletions
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16
public/boardViewer.html
View File

@@ -260,13 +260,14 @@ function buildScene(data) {
if (boardMarkers.length > 0) {
let minRx = Infinity, maxRx = -Infinity;
let minRy = Infinity, maxRy = -Infinity;
let markerRz = -27.3;
let markerRz = Infinity; // Minimum aller z – tiefster Marker (z=up → kleinstes = am tiefsten)
for (const m of boardMarkers) {
const [rx, ry, rz] = m.position;
if (rx < minRx) minRx = rx; if (rx > maxRx) maxRx = rx;
if (ry < minRy) minRy = ry; if (ry > maxRy) maxRy = ry;
markerRz = rz;
if (rz < markerRz) markerRz = rz;
}
if (!isFinite(markerRz)) markerRz = -27.3;
const pad = 40; // mm Rand
const planeW = (maxRx - minRx + 2 * pad) * S;
const planeH = (maxRy - minRy + 2 * pad) * S;
@@ -290,13 +291,20 @@ function buildScene(data) {
const pos = r2vArr(m.position);
const detected = detectedIds.has(m.id);
if (detected) nDetected++;
const color = detected ? 0x22c55e : 0xef4444;
const isA0 = m.set === 'A0';
// A0: grün (erkannt) / rot (nicht erkannt) andere Sets: blau / dunkelblau
const color = isA0
? (detected ? 0x22c55e : 0xef4444)
: (detected ? 0x3b82f6 : 0x1e40af);
const sq = makeMarkerSquare(pos, visSize, color);
sq.position.y += 0.0005;
gMarkers.add(sq);
const border = makeEdgeBorder(pos, visSize, detected ? 0x4ade80 : 0xfca5a5);
const borderCol = isA0
? (detected ? 0x4ade80 : 0xfca5a5)
: (detected ? 0x60a5fa : 0x3b82f6);
const border = makeEdgeBorder(pos, visSize, borderCol);
border.position.y += 0.001;
gMarkers.add(border);
}

71
public/calibration.js
View File

@@ -481,4 +481,75 @@ function initBoard() {
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
}
});
// ── Aktion 3: Sets justieren (Kabsch 2D+Z) ─────────────────────────────────
document.getElementById('btn-act-align').addEventListener('click', async () => {
const setToMove = document.getElementById('act-align-set').value.trim();
const result = document.getElementById('act-result');
if (!setToMove) {
result.innerHTML = '<span style="color:#f87171">⚠ Bitte Set-Name eingeben (z.B. "rail").</span>'; return;
}
result.innerHTML = '<span style="color:#555b6e">Justierung läuft …</span>';
try {
const r = await fetch('/api/robot/align-sets', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify({ setToMove }),
});
const data = await r.json();
if (!r.ok || data.error) {
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
}
const t = data.transform;
result.innerHTML =
`<span style="color:#22c55e">✅ Set "${setToMove}": ${data.numChanged} Marker verschoben` +
` (${data.numMatchingPts} Messpunkte)</span>` +
` &ensp;Δx=${t.tx}&thinsp;mm&ensp;Δy=${t.ty}&thinsp;mm&ensp;Δz=${t.tz}&thinsp;mm` +
`&ensp;θ=${t.thetaDeg}°`;
loadBoardTable();
} catch (err) {
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
}
});
// ── Aktion 4: Zuordnung hinzufügen ─────────────────────────────────────────
document.getElementById('btn-act-add').addEventListener('click', async () => {
const markerId = document.getElementById('act-add-id').value.trim();
const set = document.getElementById('act-add-set').value.trim();
const link = document.getElementById('act-add-link').value.trim();
const result = document.getElementById('act-result');
if (!markerId) {
result.innerHTML = '<span style="color:#f87171">⚠ Bitte Marker-ID eingeben.</span>'; return;
}
if (!set && !link) {
result.innerHTML = '<span style="color:#f87171">⚠ Bitte mindestens Set oder Link angeben.</span>'; return;
}
result.innerHTML = '<span style="color:#555b6e">Hinzufügen …</span>';
try {
const r = await fetch('/api/robot/assign-id', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify({ markerId: parseInt(markerId, 10), set, link }),
});
const data = await r.json();
if (!r.ok) {
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
}
if (!data.changed) {
result.innerHTML = `<span style="color:#f87171">❌ ${data.error}</span>`; return;
}
const c = data.change;
const info = c.action === 'added'
? `neu in Link "${c.newLink}"${c.newSet ? ` Set "${c.newSet}"` : ''}`
: `aktualisiert → Link "${c.newLink}"${c.newSet ? ` Set "${c.newSet}"` : ''}`;
result.innerHTML = `<span style="color:#22c55e">✅ Marker ${markerId}: ${info}</span>`;
loadBoardTable();
} catch (err) {
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
}
});
}

39
public/calibration_board.html
View File

@@ -72,6 +72,45 @@
</div>
</div>
<!-- Aktion 3: Sets justieren (Kabsch 2D+Z) -->
<div style="margin-top:14px">
<p style="font-size:10px;color:var(--muted);text-transform:uppercase;letter-spacing:.06em;margin-bottom:8px">
Sets justieren (zu 3b-Messung)
</p>
<div style="display:flex;flex-wrap:wrap;align-items:center;gap:8px;font-size:12px;color:var(--text)">
Set verschieben
<input id="act-align-set" type="text" placeholder="rail"
style="width:90px;background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 7px;font:inherit;font-size:12px">
<button id="btn-act-align"
style="background:#1e293b;color:#c8cdd8;border:1px solid #4a9eff;border-radius:3px;padding:4px 14px;cursor:pointer;font:inherit;font-size:12px">
Justieren
</button>
<span style="color:var(--muted);font-size:10px">Rotation (Z-Achse) + Translation → passt Set zu 3b-Messung</span>
</div>
</div>
<!-- Aktion 4: Zuordnung hinzufügen -->
<div style="margin-top:14px">
<p style="font-size:10px;color:var(--muted);text-transform:uppercase;letter-spacing:.06em;margin-bottom:8px">
Zuordnung hinzufügen
</p>
<div style="display:flex;flex-wrap:wrap;align-items:center;gap:8px;font-size:12px;color:var(--text)">
ID
<input id="act-add-id" type="number" placeholder="z.B. 210"
style="width:90px;background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 7px;font:inherit;font-size:12px">
Set
<input id="act-add-set" type="text" placeholder="A0"
style="width:72px;background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 7px;font:inherit;font-size:12px">
Link
<input id="act-add-link" type="text" placeholder="Board"
style="width:90px;background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 7px;font:inherit;font-size:12px">
<button id="btn-act-add"
style="background:#1e293b;color:#c8cdd8;border:1px solid #22c55e;border-radius:3px;padding:4px 14px;cursor:pointer;font:inherit;font-size:12px">
Hinzufügen
</button>
</div>
</div>
<!-- Ergebnis-Zeile -->
<div id="act-result" style="margin-top:10px;font-size:11px;min-height:18px;color:var(--muted)"></div>
</div>