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X-Position

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X-Position from Fotos. Kallibrierung
This commit is contained in:
chk
2026-05-10 13:31:39 +02:00
parent 6e8fabd230
commit 92b2a7b97b
54 changed files with 1934 additions and 59 deletions
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4
public/calculateAngles.cjs
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@@ -1,3 +1,3 @@
const { calculate } = require('./calculateAngles.js');
module.exports = { calculate };
const { calculate, optimizeRobot } = require('./calculateAngles.js');
module.exports = { calculate, optimizeRobot };

138
public/calculateAngles.js
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@@ -4,24 +4,127 @@
* Browser + Server + Jest (CJS) kompatibel
*/
function calculate(foundMarkers, jsonRobot) {
// --- X of the Hand-Joint ---
const validOns = new Set(['Base', 'Arm1', 'Joint1']);
const foundById = new Map(foundMarkers.map(f => [f.id, f]));
function calculateXPos(listIdAndX, jsonRobot){
const partsMovingFixedX = new Set(['Base', 'Arm1', 'Joint1']);
const markersMovingFixedX = jsonRobot.Marker.filter(m => partsMovingFixedX.has(m.on));
// Join: Robot-Marker ↔ Found-Marker
const markersMovingFixedX = jsonRobot.Marker.filter(m => validOns.has(m.on));
const markersXPosition = new Map();
const xs = markersMovingFixedX
const markersListeWithRobotInfo = jsonRobot.Marker
.filter(m => partsMovingFixedX.has(m.on)) // nur relevante Teile
.map(m => {
const f = foundById.get(m.id);
return f ? f.position[0] - m.relPos[0] : null;
})
.filter(x => x !== null);
const found = listIdAndX.get(m.id);
if (!found) return null;
const xAvg = xs.length
? xs.reduce((a, b) => a + b, 0) / xs.length
: 0;
return {
id: m.id,
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 };

11
public/robot.json
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@@ -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":201,"on":"Base","relPos":[-190, 97.5, 74.5]},
{"id":200,"on":"Base","relPos":[-163.8, 6.5, 55], "relPosSource":["226_FotoAverage_5_2026",null,null]},
{"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":229,"on":"Arm1", "relPos":[-89.5,-250, 35]},
{"id":198,"on":"Arm1", "relPos":[-93.4,-160, 35], "relPosSource":["226_FotoAverage_5_2026",null,null]},
{"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]},

54
test/calculateAngles.test.js
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@@ -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 jsonRobot = loadJSON(robotPath);
const foundMarkers = JSON.parse(fs.readFileSync(markersPath, 'utf8'));
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);

34
test/optimizeRobot.test.js Normal file
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@@ -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();
});
});

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21
test/snapshots/snapshot_video0_1777957783463_two_cam.csv Normal file
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@@ -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
1 id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
2 camera 0,52.51,-848.87,600.02,-121.404,-2.306,-21.261
3 camera 1,353.00,-480.56,1185.56,-166.739,1.583,0.395
4 0,396.47,-42.96,-40.41,-0.938,-1.625,-1.286,1
5 178,434.70,-346.30,161.82,14.660,-9.061,127.657,3
6 179,410.47,-291.22,139.29,-4.164,55.412,-152.725,1
7 187,397.52,-341.22,141.15,-27.505,19.727,93.759,3
8 200,257.99,-24.24,118.95,-0.938,-0.465,2.088,3
9 204,258.36,127.36,126.23,131.455,-8.390,-19.321,3
10 205,805.33,-88.85,-1.77,-1.373,-0.755,-1.917,3
11 208,498.96,-80.59,-31.57,-3.711,0.412,1.079,2
12 210,-4.17,2.35,-2.53,-3.329,2.596,-0.816,3
13 211,200.91,-0.39,0.35,112.239,-7.122,-11.633,3
14 214,431.62,65.62,-47.50,114.928,-19.137,-29.993,1
15 215,199.30,-89.61,-0.57,-2.325,-0.729,-2.726,3
16 217,615.09,30.80,-73.14,-0.531,0.733,-1.364,2
17 226,420.76,-77.03,270.10,26.782,2.029,-0.030,3
18 228,400.09,-176.95,215.07,27.186,-28.754,-17.246,3
19 229,333.70,-35.80,258.29,-46.300,1.911,1.507,2
20 242,343.11,-34.31,190.43,135.274,0.085,-2.030,1
21 243,329.38,-87.08,265.66,42.490,1.111,-1.823,3

280
test/snapshots/snapshot_video0_1777957783463_two_cam.json Normal file
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@@ -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
}
}
]
}

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test/snapshots/snapshot_video0_1777958128576_two_cam.csv Normal file
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@@ -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
178,494.28,-336.90,276.53,16.619,-4.277,132.262,3
179,425.50,-337.67,297.09,-14.032,53.897,-146.912,1
187,456.07,-335.85,259.58,-115.447,-36.884,-147.096,3
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test/snapshots/snapshot_video0_1778054889025_two_cam.csv Normal file
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test/snapshots/snapshot_video0_1778054889025_two_cam.json Normal file
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test/snapshots/snapshot_video0_1778406621349_two_cam.csv Normal file
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id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
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175
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test/snapshots/snapshot_video0_1778407153025_two_cam.csv Normal file
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test/snapshots/snapshot_video0_1778407171886_two_cam.csv Normal file
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id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
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227
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