X-Position

X-Position from Fotos. Kallibrierung

public/calculateAngles.cjs

@@ -1,3 +1,3 @@
 
-const { calculate } = require('./calculateAngles.js');
+const { calculate, optimizeRobot } = require('./calculateAngles.js');
-module.exports = { calculate };
+module.exports = { calculate, optimizeRobot };

public/calculateAngles.js

@@ -4,24 +4,127 @@
  * Browser + Server + Jest (CJS) kompatibel
  */
 
-function calculate(foundMarkers, jsonRobot) {
+function calculateXPos(listIdAndX, jsonRobot){
-  // --- X of the Hand-Joint ---
+    const partsMovingFixedX = new Set(['Base', 'Arm1', 'Joint1']);
-  const validOns = new Set(['Base', 'Arm1', 'Joint1']);
+    const markersMovingFixedX = jsonRobot.Marker.filter(m => partsMovingFixedX.has(m.on));
-  const foundById = new Map(foundMarkers.map(f => [f.id, f]));
+  // Join: Robot-Marker ↔ Found-Marker
 
-  const markersMovingFixedX = jsonRobot.Marker.filter(m => validOns.has(m.on));
+  const markersListeWithRobotInfo = jsonRobot.Marker
-  const markersXPosition = new Map();
+  .filter(m => partsMovingFixedX.has(m.on))   // nur relevante Teile
-
-  const xs = markersMovingFixedX
   .map(m => {
-      const f = foundById.get(m.id);
+    const found = listIdAndX.get(m.id);
-      return f ? f.position[0] - m.relPos[0] : null;
+    if (!found) return null;
-    })
-    .filter(x => x !== null);
 
-  const xAvg = xs.length
+    return {
-    ? xs.reduce((a, b) => a + b, 0) / xs.length
+      id: m.id,
-    : 0;
+      relPos: m.relPos,   // oder m.relPos, je nach Struktur
+      position: found,
+      Px: found[0] - m.relPos[0]
+    };
+  })
+  .filter(Boolean); // nulls entfernen
+
+  const pxValues = markersListeWithRobotInfo.map(m => m.Px);
+  const meanPx =  pxValues.reduce((sum, x) => sum + x, 0) / pxValues.length;
+
+  const variancePx =  pxValues.reduce((sum, x) => sum + Math.pow(x - meanPx, 2), 0) / pxValues.length;
+  const stdDevPx = Math.sqrt(variancePx);
+
+  return { meanPx, stdDevPx };
+}
+
+
+function optimizeRobot(listFoundMarkers, jsonRobot) {
+  
+  const map = new Map();
+
+  for (const foundMarkers of listFoundMarkers) {
+    var x_222_226 = null;
+    var x_222_226_count = 0;
+    
+    for (const mark of foundMarkers.markers.filter(m => m.id === 226).map(f => [f.id, f.position_mm])) {     
+      x_222_226 = mark[1][0];
+      x_222_226_count++;
+    }
+    if (x_222_226_count > 0) {
+      x_222_226 = x_222_226 / x_222_226_count;
+    }
+    else{
+      continue; // Wenn weder 222 noch 226 gefunden wurden, überspringen
+    }
+
+    for (const mark of foundMarkers.markers.map(f => [f.id, f.position_mm ])){
+      const id = mark[0];
+      const dx_222_226 = mark[1][0] - x_222_226;
+      if (!map.has(id)) {
+        map.set(id, []); // Initialisiere mit  x_222_226, damit wir später die Abweichung berechnen können
+      }
+      map.get(id).push(dx_222_226);
+    }
+  }
+
+  const result = Array.from(map, ([id, mm]) => ({ id, mm })).filter(m => [198,200,204,229,243].includes(m.id));
+
+  
+  const withStats = result.map(entry => {
+    const { mm } = entry;
+    const n = mm.length;
+
+    if (n === 0) {
+      return {
+        ...entry,
+        n: 0,
+        average: null,
+        deviation: null
+      };
+    }
+
+    const average = mm.reduce((a, b) => a + b, 0) / n;
+
+    const deviation = Math.sqrt(
+      mm.reduce((sum, x) => sum + Math.pow(x - average, 2), 0) / n
+    );
+
+    return {
+      ...entry,
+      n,
+      average,
+      deviation
+    };
+  });
+
+  return withStats;
+}
+function calculateRotAngle(listIdAndX, jsonRobot, jointName){
+  // Achse finden
+  const jointInfo = jsonRobot.Joints[jointName];
+  if(!jointInfo){return null, null; }    
+  if(jointInfo.type !== 'revolute'){ return null, null; }
+  if(!(jointInfo.origin)){ return null, null; }
+  if(!(jointInfo.axis)){ return null, null; }
+  if(!(jointInfo.child)){ return null, null; }
+  
+  markerUsed = jsonRobot.Marker.filter(m => m.on === jointInfo.child)
+  if(markerUsed.length === 0){ return null, null; }
+
+  var markerFound = []
+  for (const m of markerUsed){
+    markerFound.push(listIdAndX.get(m.id));
+  }
+
+
+  var angle = 0;
+  var varAngle = 0;
+
+  return angle, varAngle;
+}
+
+function calculate(foundMarkers, jsonRobot) {
+
+  const foundById = new Map(foundMarkers.markers.map(f => [f.id, f.position_mm ]));
+  const { meanPx: x, stdDevPx: varx } = calculateXPos(foundById, jsonRobot);
+
+  const { meanY: y, stdDevY: vary } = calculateRotAngle(foundById, jsonRobot, "jointB");
 
   return {
     meta: {
@@ -34,10 +137,11 @@ function calculate(foundMarkers, jsonRobot) {
     },
     status: 'ok',
     result: {
-      xAvg
+      x: x,
+      varx: varx 
     }
   };
 }
 
 
-module.exports = { calculate };
+module.exports = { calculate, optimizeRobot };

public/robot.json

@@ -2,7 +2,7 @@
     "Elements":["Board","Base","Arm1","Joint1","Arm2","Finger1","Finger2"], 
     "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]},
+        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 53], "originSource":[null, "229_198_Foto_5_2026", "229_198_Foto_5_2026"]},
         "jointC":{"name":"EllbowLift","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1"},
         "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2"}
     },
@@ -15,12 +15,13 @@
         {"id":214,"on":"Board","position":[0.40,  0.0,   0.0]},
         {"id":215,"on":"Board","position":[0.20, -0.090, 0.0]},
 
-        {"id":200,"on":"Base","relPos":[-166,   6.5,  55]},
+        {"id":200,"on":"Base","relPos":[-163.8,   6.5,  55], "relPosSource":["226_FotoAverage_5_2026",null,null]},
-        {"id":201,"on":"Base","relPos":[-190,  97.5,  74.5]},
+        {"id":201,"on":"Base","relPos":[-164.8,  97.5,  74.5], "relPosSource":["226_FotoAverage_5_2026",null,null]},
         {"id":204,"on":"Base","relPos":[-158.5,152.5,111]},
               
-        {"id":198,"on":"Arm1", "relPos":[-89.5,-160, 35]},  
+        {"id":198,"on":"Arm1", "relPos":[-93.4,-160, 35], "relPosSource":["226_FotoAverage_5_2026",null,null]},  
-        {"id":229,"on":"Arm1", "relPos":[-89.5,-250, 35]},        
+        {"id":229,"on":"Arm1", "relPos":[-90.6,-250, 35], "relPosSource":["226_FotoAverage_5_2026",null,null]},        
+        {"id":242,"on":"Arm1", "relPos":[-89.5,-250,-35]},        
         {"id":243,"on":"Arm1", "relPos":[-89.5,-285,  0]}, 
 
         {"id":222,"on":"Joint1", "relPos":[0,0, -35]},

test/calculateAngles.test.js

@@ -2,38 +2,7 @@ const fs = require('fs');
 const path = require('path');
 const { calculate } = require('../public/calculateAngles.cjs');
 
-/* -------------------------
-   Hilfsfunktionen
-------------------------- */
 
-function loadMarkersFromCSV(filePath) {
-  const text = fs.readFileSync(filePath, 'utf8');
-
-  const [header, ...lines] = text
-    .split('\n')
-    .map(l => l.trim())
-    .filter(Boolean);
-
-  return lines.map(line => {
-    const [
-      id,
-      x, y, z,
-      roll, pitch, yaw,
-      seen_by
-    ] = line.split(',');
-
-    return {
-      id: Number(id),
-      position: [Number(x), Number(y), Number(z)],
-      rotation: [Number(roll), Number(pitch), Number(yaw)],
-      seen_by: Number(seen_by)
-    };
-  });
-}
-
-function loadJSON(filePath) {
-  return JSON.parse(fs.readFileSync(filePath, 'utf8'));
-}
 
 /* -------------------------
    Tests
@@ -41,11 +10,28 @@ function loadJSON(filePath) {
 
 describe('calculateAngles.calculate', () => {
   test('berechnet X-Durchschnitt für Base / Arm1 / Joint1', async () => {
-    const markersPath = path.resolve('./test/snapshots/snapshot_video0_1774805028717_two_cam.csv');
+    //const markersPath = path.resolve('./test/snapshots/snapshot_video0_1774805028717_two_cam.json');
+    const markersPath = path.resolve('./test/snapshots/snapshot_video0_1775406055428_two_cam.json');
     const robotPath   = path.resolve('./public/robot.json');
 
-    const foundMarkers = loadMarkersFromCSV(markersPath);
+    const foundMarkers = JSON.parse(fs.readFileSync(markersPath, 'utf8'));
-    const jsonRobot    = loadJSON(robotPath);
+    const jsonRobot    = JSON.parse(fs.readFileSync(robotPath, 'utf8'));
+
+    const result = await calculate(foundMarkers, jsonRobot);
+
+    expect(result.status).toBe('ok');
+    expect(result.result).toBeDefined();
+  });
+});
+
+
+describe('calculateAngles.y', () => {
+  test('berechnet y-Durchschnitt für Base / Arm1 / Joint1', async () => {
+    const markersPath = path.resolve('./test/snapshots/snapshot_video0_1778407171886_two_cam.json');
+    const robotPath   = path.resolve('./public/robot.json');
+
+    const foundMarkers = JSON.parse(fs.readFileSync(markersPath, 'utf8'));
+    const jsonRobot    = JSON.parse(fs.readFileSync(robotPath, 'utf8'));
 
     const result = await calculate(foundMarkers, jsonRobot);
 

test/optimizeRobot.test.js

@@ -0,0 +1,34 @@
+const fs = require('fs');
+const path = require('path');
+const { calculate, optimizeRobot  } = require('../public/calculateAngles.cjs');
+
+
+
+/* -------------------------
+   Tests
+------------------------- */
+
+describe('optimizeRobot.', () => {
+  test('berechnet X-Durchschnitt für Base / Arm1 / Joint1', async () => {
+    //const markersPath1 = path.resolve('./test/snapshots/snapshot_video0_1777958128576_two_cam.json');
+    const markersPath1 = path.resolve('./test/snapshots/snapshot_video0_1778406635059_two_cam.json');
+    //const markersPath2 = path.resolve('./test/snapshots/snapshot_video0_1777957783463_two_cam.json');
+    const markersPath2 = path.resolve('./test/snapshots/snapshot_video0_1778406621349_two_cam.json');
+    const markersPath3 = path.resolve('./test/snapshots/snapshot_video0_1778407153025_two_cam.json');
+    const markersPath4 = path.resolve('./test/snapshots/snapshot_video0_1778407171886_two_cam.json');
+    const robotPath   = path.resolve('./public/robot.json');
+
+    const foundMarkers1 = JSON.parse(fs.readFileSync(markersPath1, 'utf8'));
+    const foundMarkers2 = JSON.parse(fs.readFileSync(markersPath2, 'utf8'));
+    const foundMarkers3 = JSON.parse(fs.readFileSync(markersPath3, 'utf8'));
+    const foundMarkers4 = JSON.parse(fs.readFileSync(markersPath4, 'utf8'));
+
+    const list=[foundMarkers1, foundMarkers2, foundMarkers3, foundMarkers4];
+    const jsonRobot    = JSON.parse(fs.readFileSync(robotPath, 'utf8'));
+
+    const result = await optimizeRobot(list, jsonRobot);
+
+    //expect(result.status).toBe('ok');
+    //expect(result.result).toBeDefined();
+  });
+});

test/snapshots/snapshot_video0_1777957783463_two_cam.csv

@@ -0,0 +1,21 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,52.51,-848.87,600.02,-121.404,-2.306,-21.261
+camera 1,353.00,-480.56,1185.56,-166.739,1.583,0.395
+0,396.47,-42.96,-40.41,-0.938,-1.625,-1.286,1
+178,434.70,-346.30,161.82,14.660,-9.061,127.657,3
+179,410.47,-291.22,139.29,-4.164,55.412,-152.725,1
+187,397.52,-341.22,141.15,-27.505,19.727,93.759,3
+200,257.99,-24.24,118.95,-0.938,-0.465,2.088,3
+204,258.36,127.36,126.23,131.455,-8.390,-19.321,3
+205,805.33,-88.85,-1.77,-1.373,-0.755,-1.917,3
+208,498.96,-80.59,-31.57,-3.711,0.412,1.079,2
+210,-4.17,2.35,-2.53,-3.329,2.596,-0.816,3
+211,200.91,-0.39,0.35,112.239,-7.122,-11.633,3
+214,431.62,65.62,-47.50,114.928,-19.137,-29.993,1
+215,199.30,-89.61,-0.57,-2.325,-0.729,-2.726,3
+217,615.09,30.80,-73.14,-0.531,0.733,-1.364,2
+226,420.76,-77.03,270.10,26.782,2.029,-0.030,3
+228,400.09,-176.95,215.07,27.186,-28.754,-17.246,3
+229,333.70,-35.80,258.29,-46.300,1.911,1.507,2
+242,343.11,-34.31,190.43,135.274,0.085,-2.030,1
+243,329.38,-87.08,265.66,42.490,1.111,-1.823,3

test/snapshots/snapshot_video0_1777957783463_two_cam.json

@@ -0,0 +1,280 @@
+{
+    "metadata": {
+        "timestamp": "2026-05-05 05:09:43",
+        "reference_markers": [
+            210,
+            211,
+            215,
+            205
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 4.671353744091205,
+        "rms_refs_px_cam2": 3.1040055485065166,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                52.50705149143897,
+                -848.8746743773831,
+                600.0158350840767
+            ],
+            "orientation_deg": {
+                "roll": -121.40391168229475,
+                "pitch": -2.306436189824197,
+                "yaw": -21.260996144039062
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                352.9965583411941,
+                -480.5647619160942,
+                1185.560920507425
+            ],
+            "orientation_deg": {
+                "roll": -166.73896963486465,
+                "pitch": 1.5832050600381053,
+                "yaw": 0.39465785124673575
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 0,
+            "position_mm": [
+                396.4664087076043,
+                -42.96067455601671,
+                -40.40681141345037
+            ],
+            "orientation_deg": {
+                "roll": -0.9375313569440544,
+                "pitch": -1.6254708655757175,
+                "yaw": -1.2864045600920857
+            }
+        },
+        {
+            "id": 178,
+            "position_mm": [
+                434.701416015625,
+                -346.30255126953125,
+                161.82244873046875
+            ],
+            "orientation_deg": {
+                "roll": 14.660044975945809,
+                "pitch": -9.060615532311536,
+                "yaw": 127.65722760442327
+            }
+        },
+        {
+            "id": 179,
+            "position_mm": [
+                410.4690229459951,
+                -291.2238586627398,
+                139.29182445163846
+            ],
+            "orientation_deg": {
+                "roll": -4.164149490729818,
+                "pitch": 55.41156542149833,
+                "yaw": -152.7245941169703
+            }
+        },
+        {
+            "id": 187,
+            "position_mm": [
+                397.520263671875,
+                -341.2248229980469,
+                141.1533203125
+            ],
+            "orientation_deg": {
+                "roll": -27.504707713464253,
+                "pitch": 19.727305083968414,
+                "yaw": 93.7587269029218
+            }
+        },
+        {
+            "id": 200,
+            "position_mm": [
+                257.988037109375,
+                -24.238113403320312,
+                118.95182037353516
+            ],
+            "orientation_deg": {
+                "roll": -0.9378750676447358,
+                "pitch": -0.46498037079853055,
+                "yaw": 2.088489211025033
+            }
+        },
+        {
+            "id": 204,
+            "position_mm": [
+                258.36309814453125,
+                127.355712890625,
+                126.2347412109375
+            ],
+            "orientation_deg": {
+                "roll": 131.45520428430584,
+                "pitch": -8.390047805254406,
+                "yaw": -19.32140480702805
+            }
+        },
+        {
+            "id": 205,
+            "position_mm": [
+                805.3345336914062,
+                -88.8466796875,
+                -1.772031307220459
+            ],
+            "orientation_deg": {
+                "roll": -1.3732577845338951,
+                "pitch": -0.755221584659945,
+                "yaw": -1.9174437143486767
+            }
+        },
+        {
+            "id": 208,
+            "position_mm": [
+                498.96205325263963,
+                -80.58717235952845,
+                -31.572839312099976
+            ],
+            "orientation_deg": {
+                "roll": -3.710891042088827,
+                "pitch": 0.41201015735627716,
+                "yaw": 1.0794999035785666
+            }
+        },
+        {
+            "id": 210,
+            "position_mm": [
+                -4.165961742401123,
+                2.3509929180145264,
+                -2.526089668273926
+            ],
+            "orientation_deg": {
+                "roll": -3.328954072289312,
+                "pitch": 2.5958542701376963,
+                "yaw": -0.8159059084027147
+            }
+        },
+        {
+            "id": 211,
+            "position_mm": [
+                200.90512084960938,
+                -0.38677510619163513,
+                0.34789878129959106
+            ],
+            "orientation_deg": {
+                "roll": 112.23902036479667,
+                "pitch": -7.122227983034214,
+                "yaw": -11.633422115111248
+            }
+        },
+        {
+            "id": 214,
+            "position_mm": [
+                431.6227926849502,
+                65.62094846958766,
+                -47.50279224705922
+            ],
+            "orientation_deg": {
+                "roll": 114.92780566359703,
+                "pitch": -19.136547203279413,
+                "yaw": -29.993356126435852
+            }
+        },
+        {
+            "id": 215,
+            "position_mm": [
+                199.30484008789062,
+                -89.61498260498047,
+                -0.5710603594779968
+            ],
+            "orientation_deg": {
+                "roll": -2.325372314878339,
+                "pitch": -0.7287700728739313,
+                "yaw": -2.7262640326032175
+            }
+        },
+        {
+            "id": 217,
+            "position_mm": [
+                615.0909335800857,
+                30.80487435405388,
+                -73.13761132332198
+            ],
+            "orientation_deg": {
+                "roll": -0.5312076724112325,
+                "pitch": 0.733422156922922,
+                "yaw": -1.3642012070521408
+            }
+        },
+        {
+            "id": 226,
+            "position_mm": [
+                420.7601623535156,
+                -77.025390625,
+                270.102783203125
+            ],
+            "orientation_deg": {
+                "roll": 26.781667281645746,
+                "pitch": 2.0289279897051853,
+                "yaw": -0.029585611475562927
+            }
+        },
+        {
+            "id": 228,
+            "position_mm": [
+                400.0892639160156,
+                -176.95059204101562,
+                215.06854248046875
+            ],
+            "orientation_deg": {
+                "roll": 27.18577804896399,
+                "pitch": -28.75366590348638,
+                "yaw": -17.246112881667592
+            }
+        },
+        {
+            "id": 229,
+            "position_mm": [
+                333.7011791401545,
+                -35.8008587982585,
+                258.2860495531072
+            ],
+            "orientation_deg": {
+                "roll": -46.30034850320603,
+                "pitch": 1.9106830493551008,
+                "yaw": 1.5074126579645082
+            }
+        },
+        {
+            "id": 242,
+            "position_mm": [
+                343.10525826663707,
+                -34.30694513106547,
+                190.4347424613153
+            ],
+            "orientation_deg": {
+                "roll": 135.27419902188078,
+                "pitch": 0.08530734885954665,
+                "yaw": -2.0299609451153673
+            }
+        },
+        {
+            "id": 243,
+            "position_mm": [
+                329.3802795410156,
+                -87.07755279541016,
+                265.6557312011719
+            ],
+            "orientation_deg": {
+                "roll": 42.49029610133165,
+                "pitch": 1.1112401667954726,
+                "yaw": -1.8231069586598487
+            }
+        }
+    ]
+}

test/snapshots/snapshot_video0_1777958128576_two_cam.csv

@@ -0,0 +1,21 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,256.17,-822.43,643.20,-123.532,-0.788,-9.098
+camera 1,629.68,-270.32,1205.64,-171.411,10.923,11.668
+0,385.87,-56.31,-33.55,100.596,-9.989,-12.304,1
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test/snapshots/snapshot_video0_1777958128576_two_cam.json

@@ -0,0 +1,279 @@
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+}

test/snapshots/snapshot_video0_1778054889025_two_cam.csv

@@ -0,0 +1,19 @@
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test/snapshots/snapshot_video0_1778054889025_two_cam.json

@@ -0,0 +1,253 @@
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+}

test/snapshots/snapshot_video0_1778406621349_two_cam.csv

@@ -0,0 +1,13 @@
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test/snapshots/snapshot_video0_1778406621349_two_cam.json

@@ -0,0 +1,175 @@
+{
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+}

test/snapshots/snapshot_video0_1778406635059_two_cam.json

@@ -0,0 +1,201 @@
+{
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+}

test/snapshots/snapshot_video0_1778407153025_two_cam.csv

@@ -0,0 +1,17 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
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test/snapshots/snapshot_video0_1778407153025_two_cam.json

@@ -0,0 +1,227 @@
+{
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+}

test/snapshots/snapshot_video0_1778407171886_two_cam.csv

@@ -0,0 +1,17 @@
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test/snapshots/snapshot_video0_1778407171886_two_cam.json

@@ -0,0 +1,227 @@
+{
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