From 97ff7eb33fcd655087ee58df9da629a530a69827 Mon Sep 17 00:00:00 2001
From: chk <79915315+ChKendel@users.noreply.github.com>
Date: Wed, 10 Jun 2026 16:25:30 +0200
Subject: [PATCH] Liste CSV

---
 public/boardViewer.html           | 196 +++++++++++++++++++++++++++++-
 public/calibration_board.html     |   2 +-
 scripts/3b_corner_marker_poses.py |  68 ++++++++++-
 3 files changed, 256 insertions(+), 10 deletions(-)

diff --git a/public/boardViewer.html b/public/boardViewer.html
index d0b95a5..882841f 100644
--- a/public/boardViewer.html
+++ b/public/boardViewer.html
@@ -19,8 +19,8 @@
     font: 11px/1.5 'IBM Plex Mono', 'Cascadia Code', 'Courier New', monospace;
     display: flex;
     flex-direction: column;
-    height: 100vh;
-    overflow: hidden;
+    min-height: 100vh;
+    overflow-y: auto;
   }
   #topbar {
     display: flex;
@@ -51,12 +51,63 @@
     font-size: 11px;
   }
   .btn:hover { border-color: var(--accent); color: var(--accent); }
-  #canvas-wrap { flex: 1; position: relative; overflow: hidden; }
+  #canvas-wrap { flex: 1; min-height: 360px; position: relative; overflow: hidden; }
   canvas { display: block; width: 100%; height: 100%; }
   #hint {
     position: absolute; bottom: 6px; right: 10px;
     font-size: 9px; color: var(--muted); pointer-events: none;
   }
+  /* ── Daten-Tabelle ── */
+  #table-wrap {
+    flex-shrink: 0;
+    max-height: 260px;
+    overflow-y: auto;
+    border-top: 1px solid var(--border);
+    background: var(--bg);
+  }
+  .tbl-head {
+    padding: 4px 10px 2px;
+    font-size: 9px;
+    color: var(--muted);
+    text-transform: uppercase;
+    letter-spacing: .07em;
+    background: var(--panel);
+    border-bottom: 1px solid var(--border);
+    position: sticky;
+    top: 0;
+  }
+  table.dtbl {
+    width: 100%;
+    border-collapse: collapse;
+    font-size: 10px;
+  }
+  table.dtbl th {
+    position: sticky;
+    top: 0;
+    background: var(--panel);
+    color: var(--muted);
+    font-weight: normal;
+    text-align: right;
+    padding: 2px 7px;
+    border-bottom: 1px solid var(--border);
+    white-space: nowrap;
+  }
+  table.dtbl th:first-child,
+  table.dtbl th:nth-child(2) { text-align: left; }
+  table.dtbl td {
+    text-align: right;
+    padding: 1px 7px;
+    border-bottom: 1px solid #111418;
+    white-space: nowrap;
+  }
+  table.dtbl td:first-child,
+  table.dtbl td:nth-child(2) { text-align: left; }
+  table.dtbl tr:hover td { background: #1a1f2b; }
+  .row-1cam td:first-child::before { content: ''; }
+  .cell-hi  { color: #fbbf24; }   /* amber: trianguliert */
+  .cell-lo  { color: #fde68a; }   /* hell: nur 2D */
+  .cell-unk { color: #3b82f6; }   /* blau: fremd */
+  .cell-mut { color: var(--muted); }
 </style>
 <script type="importmap">
 {
@@ -88,6 +139,8 @@
   <div id="hint">Orbit · Scroll · Rechte Taste = Pan</div>
 </div>
 
+<div id="table-wrap"></div>
+
 <script type="module">
 import * as THREE from 'three';
 import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
@@ -344,6 +397,142 @@ function buildScene(data) {
     (camInfo ? `  │  RMS: ${camInfo}` : '');
 }
 
+// ── Daten-Tabelle ─────────────────────────────────────────────────────────────
+function buildTable(data) {
+  const wrap = document.getElementById('table-wrap');
+  if (!wrap) return;
+
+  const { robot, detections, cameraPoses, measuredMarkers } = data;
+  const boardMarkers = robot?.links?.Board?.markers ?? [];
+
+  // Marker → Liste der Kameras, die ihn gesehen haben
+  const camerasByMkr = {};
+  for (const det of (detections ?? [])) {
+    for (const id of (det.detectedMarkerIds ?? [])) {
+      (camerasByMkr[id] ??= []).push(det.cameraId);
+    }
+  }
+
+  // measuredMarkers indiziert nach marker_id
+  const measuredMap = {};
+  for (const m of (measuredMarkers?.markers ?? [])) measuredMap[m.marker_id] = m;
+
+  // Modell-Positionen indiziert
+  const modelMap = {};
+  for (const m of boardMarkers) modelMap[m.id] = m.position; // [x,y,z] mm
+
+  // Alle relevanten IDs (erkannt oder trianguliert)
+  const allIds = new Set([
+    ...(detections ?? []).flatMap(d => d.detectedMarkerIds ?? []),
+    ...Object.keys(measuredMap).map(Number),
+  ]);
+
+  const f1 = v => (v == null ? '–' : Number(v).toFixed(1));
+  const f2 = v => (v == null ? '–' : Number(v).toFixed(2));
+  const f4 = v => (v == null ? '–' : Number(v).toFixed(4));
+
+  // Zeilen zusammenstellen
+  const rows = [...allIds].map(id => {
+    const meas   = measuredMap[id];
+    const model  = modelMap[id];            // null wenn nicht in Board
+    const link   = meas?.link ?? (model ? 'Board' : 'unknown');
+    const cameras = camerasByMkr[id] ?? [];
+    const numCam = meas?.num_cameras ?? cameras.length;
+
+    let x = null, y = null, z = null;
+    let nx = null, ny = null, nz = null;
+    let dist = null, dz = null, edge = null;
+    let state = 'none'; // 'tri', '1cam', 'unk'
+
+    if (meas) {
+      [x, y, z]    = meas.position_mm;
+      [nx, ny, nz] = meas.normal;
+      edge         = meas.edge_length_mm;
+      state        = model ? 'tri' : 'unk';
+
+      if (model) {
+        const [mx, my, mz] = model;
+        const dx = x - mx, dy = y - my, ddz = z - mz;
+        dist = Math.sqrt(dx*dx + dy*dy + ddz*ddz);
+        dz   = ddz;
+      }
+    } else if (cameras.length > 0) {
+      state = '1cam';
+    }
+
+    return { id, link, numCam, x, y, z, nx, ny, nz, dist, dz, edge, state };
+  }).sort((a, b) => {
+    // Reihenfolge: Board tri → Board 1cam → unknown → Rest; innerhalb nach ID
+    const rank = r => r.state === 'tri' ? 0 : r.state === '1cam' ? 1 : r.state === 'unk' ? 2 : 3;
+    return rank(a) - rank(b) || a.id - b.id;
+  });
+
+  // ── Marker-Tabelle ──
+  const stateStyle = { tri: 'cell-hi', '1cam': 'cell-lo', unk: 'cell-unk', none: 'cell-mut' };
+  const stateLabel = { tri: '▲', '1cam': '●', unk: '◆', none: '–' };
+
+  let html = `
+  <div class="tbl-head">Erkannte Marker (${rows.length})</div>
+  <table class="dtbl">
+    <thead><tr>
+      <th>ID</th><th>Link</th><th>Kam.</th>
+      <th>x mm</th><th>y mm</th><th>z mm</th>
+      <th>nx</th><th>ny</th><th>nz</th>
+      <th>dist mm</th><th>Δz mm</th><th>Kante mm</th>
+    </tr></thead>
+    <tbody>`;
+
+  for (const r of rows) {
+    const cs = stateStyle[r.state] ?? '';
+    html += `<tr>
+      <td class="${cs}">${stateLabel[r.state]} ${r.id}</td>
+      <td>${r.link}</td>
+      <td>${r.numCam}</td>
+      <td>${f1(r.x)}</td><td>${f1(r.y)}</td><td>${f1(r.z)}</td>
+      <td>${f4(r.nx)}</td><td>${f4(r.ny)}</td><td>${f4(r.nz)}</td>
+      <td>${f2(r.dist)}</td><td>${f2(r.dz)}</td><td>${f1(r.edge)}</td>
+    </tr>`;
+  }
+  html += `</tbody></table>`;
+
+  // ── Kamera-Tabelle ──
+  const camRows = measuredMarkers?.cameras?.length
+    ? measuredMarkers.cameras.map(c => ({
+        id: c.camera_id,
+        pos: c.position_mm,
+        dir: c.direction,
+      }))
+    : (cameraPoses ?? []).map(cp => ({
+        id: cp.cameraId,
+        pos: cp.position_mm,
+        dir: cp.rotation_matrix?.[2] ?? null,
+      }));
+
+  if (camRows.length > 0) {
+    html += `
+  <div class="tbl-head" style="margin-top:0">Kameras (${camRows.length})</div>
+  <table class="dtbl">
+    <thead><tr>
+      <th>ID</th>
+      <th>x mm</th><th>y mm</th><th>z mm</th>
+      <th>dir_x</th><th>dir_y</th><th>dir_z</th>
+    </tr></thead>
+    <tbody>`;
+    for (const c of camRows) {
+      const [cx, cy, cz] = c.pos ?? [null, null, null];
+      const [dx, dy, dz] = c.dir ?? [null, null, null];
+      html += `<tr>
+        <td style="color:var(--accent)">${c.id}</td>
+        <td>${f1(cx)}</td><td>${f1(cy)}</td><td>${f1(cz)}</td>
+        <td>${f4(dx)}</td><td>${f4(dy)}</td><td>${f4(dz)}</td>
+      </tr>`;
+    }
+    html += `</tbody></table>`;
+  }
+
+  wrap.innerHTML = html;
+}
+
 // ── Daten laden ───────────────────────────────────────────────────────────────
 async function loadData() {
   const statusEl = document.getElementById('status');
@@ -359,6 +548,7 @@ async function loadData() {
       return;
     }
     buildScene(data);
+    buildTable(data);
     const robotLabel = data.robotFile ? `  •  Robot: ${data.robotFile}` : '';
     statusEl.textContent = `Run: ${data.runDir}${robotLabel}  •  ${new Date().toLocaleTimeString('de-CH')}`;
   } catch (err) {
diff --git a/public/calibration_board.html b/public/calibration_board.html
index a72baa9..0cfe583 100644
--- a/public/calibration_board.html
+++ b/public/calibration_board.html
@@ -33,7 +33,7 @@
     <iframe
       id="board-viewer-frame"
       src="/boardViewer.html"
-      style="width: 100%; height: 520px; border: 1px solid #334155; border-radius: 6px; background: #0d0f13; display: block;"
+      style="width: 100%; height: 740px; border: 1px solid #334155; border-radius: 6px; background: #0d0f13; display: block;"
       title="Board-Viewer"
     ></iframe>
   </div>
diff --git a/scripts/3b_corner_marker_poses.py b/scripts/3b_corner_marker_poses.py
index 213d115..8c3c089 100644
--- a/scripts/3b_corner_marker_poses.py
+++ b/scripts/3b_corner_marker_poses.py
@@ -22,8 +22,10 @@ und mit 9_evaluateMarker.py (position_m), erweitert um die gemessene Orientierun
 from __future__ import annotations
 
 import argparse
+import csv
 import glob
 import json
+import math
 import os
 import re
 import time
@@ -65,14 +67,18 @@ def load_cameras(eval_dir: str) -> Dict[str, dict]:
     return cams
 
 
-def load_marker_links(robot_path: str) -> Dict[int, str]:
+def load_marker_info(robot_path: str) -> Dict[int, dict]:
+    """Returns {marker_id: {"link": ..., "position_mm": [x,y,z]}} for every marker in robot.json."""
     robot = json.load(open(robot_path, "r", encoding="utf-8"))
-    out: Dict[int, str] = {}
+    out: Dict[int, dict] = {}
     for link_name, link in (robot.get("links", {}) or {}).items():
         for mk in link.get("markers", []) or []:
             mid = int(mk.get("id", -1))
             if mid >= 0:
-                out[mid] = link_name
+                out[mid] = {
+                    "link": link_name,
+                    "position_mm": mk.get("position"),  # [x_mm, y_mm, z_mm] robot coords
+                }
     return out
 
 
@@ -122,8 +128,8 @@ def main() -> None:
     if len(cams) < 2:
         print("[ERROR] need >=2 cameras")
         return
-    links = load_marker_links(args.robot)
-    print(f"[INFO] Cameras: {sorted(cams.keys())} | marker-link entries: {len(links)}")
+    marker_info = load_marker_info(args.robot)
+    print(f"[INFO] Cameras: {sorted(cams.keys())} | marker-info entries: {len(marker_info)}")
 
     marker_cams: Dict[int, List[str]] = {}
     for cid, cam in cams.items():
@@ -151,7 +157,7 @@ def main() -> None:
 
         markers_out.append({
             "marker_id": int(mid),
-            "link": links.get(mid, "unknown"),
+            "link": marker_info.get(mid, {}).get("link", "unknown"),
             "position_m": [float(v) for v in center],
             "position_mm": [float(v * 1000.0) for v in center],
             "normal": [float(v) for v in normal],
@@ -184,6 +190,56 @@ def main() -> None:
     json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2)
     print(f"[INFO] {len(markers_out)} marker poses -> {out_path}")
 
+    # ── CSV (Debug-Daten) ────────────────────────────────────────────────────────
+    csv_path = os.path.splitext(out_path)[0] + ".csv"
+    with open(csv_path, "w", newline="", encoding="utf-8") as fcsv:
+        w = csv.writer(fcsv)
+        # Marker-Tabelle
+        w.writerow(["marker_id", "link", "num_cameras",
+                    "x_mm", "y_mm", "z_mm",
+                    "nx", "ny", "nz",
+                    "model_x_mm", "model_y_mm", "model_z_mm",
+                    "dist_to_model_mm", "delta_z_mm",
+                    "edge_length_mm"])
+        for m in markers_out:
+            mid  = m["marker_id"]
+            link = m["link"]
+            mi   = marker_info.get(mid, {})
+            mpos = mi.get("position_mm")          # Modellposition aus robot.json
+            px, py, pz = m["position_mm"]
+            mnx, mny, mnz = m["normal"]
+
+            if mpos and link == "Board":
+                mx, my, mz = mpos
+                ddx, ddy, ddz = px - mx, py - my, pz - mz
+                dist_val = round(math.sqrt(ddx**2 + ddy**2 + ddz**2), 3)
+                dz_val   = round(ddz, 3)
+                row_model = [round(mx, 2), round(my, 2), round(mz, 2), dist_val, dz_val]
+            else:
+                row_model = ["", "", "", "", ""]
+
+            w.writerow([
+                mid, link, m["num_cameras"],
+                round(px, 2), round(py, 2), round(pz, 2),
+                round(mnx, 5), round(mny, 5), round(mnz, 5),
+                *row_model,
+                round(m["edge_length_mm"], 2),
+            ])
+
+        # Kamera-Tabelle (nach einer Leerzeile)
+        w.writerow([])
+        w.writerow(["camera_id", "x_mm", "y_mm", "z_mm", "dir_x", "dir_y", "dir_z"])
+        for c in cameras_out:
+            cx, cy, cz = c["position_mm"]
+            dx, dy, dz = c["direction"]
+            w.writerow([
+                c["camera_id"],
+                round(cx, 2), round(cy, 2), round(cz, 2),
+                round(dx, 5), round(dy, 5), round(dz, 5),
+            ])
+
+    print(f"[INFO] CSV  -> {csv_path}")
+
 
 if __name__ == "__main__":
     main()