From b1950ffa5a756b081080dc79c069bc9057801502 Mon Sep 17 00:00:00 2001
From: chk <79915315+ChKendel@users.noreply.github.com>
Date: Wed, 10 Jun 2026 18:08:18 +0200
Subject: [PATCH] board rotation - fix 0

---
 public/calibration.js                         |  48 +++++++++++++++---
 public/calibration_board.html                 |  25 ++++++---
 .../2_estimate_camera_from_observations.py    |  15 +++++-
 ...e_camera_from_observations.cpython-311.pyc | Bin 0 -> 46689 bytes
 server/server.js                              |  41 +++++++++++----
 5 files changed, 104 insertions(+), 25 deletions(-)
 create mode 100644 scripts/__pycache__/2_estimate_camera_from_observations.cpython-311.pyc

diff --git a/public/calibration.js b/public/calibration.js
index 953d79d..223572b 100644
--- a/public/calibration.js
+++ b/public/calibration.js
@@ -354,6 +354,27 @@ async function loadBoardTable() {
 
 // ── Board ─────────────────────────────────────────────────────────────────────
 
+/** Befüllt alle Set-Dropdowns aus /api/robot/board-sets */
+async function populateBoardSetDropdowns() {
+  let sets = [];
+  try {
+    const r = await fetch('/api/robot/board-sets');
+    if (r.ok) sets = (await r.json()).sets ?? [];
+  } catch { /* kein Server / noch keine Sets → leere Dropdowns */ }
+
+  // Hilfsfunktion: <select> mit Optionen füllen
+  function fill(selId, placeholder, selected = '') {
+    const sel = document.getElementById(selId);
+    if (!sel) return;
+    sel.innerHTML = `<option value="">${placeholder}</option>` +
+      sets.map(s => `<option value="${s}"${s === selected ? ' selected' : ''}>${s}</option>`).join('');
+  }
+
+  fill('board-ref-set',   'alle');
+  fill('act-align-fixed', '– bleibt –');
+  fill('act-align-move',  '– verschoben –');
+}
+
 function initBoard() {
   const logBoard = document.getElementById('log-board');
 
@@ -363,15 +384,23 @@ function initBoard() {
     logBoard.scrollTop = logBoard.scrollHeight;
   }
 
+  // Dropdowns mit Sets aus robot.json befüllen
+  populateBoardSetDropdowns();
+
   // Tabelle beim ersten Öffnen des Tabs befüllen
   loadBoardTable();
 
   document.getElementById('btn-board-run').addEventListener('click', async () => {
-    logB('Board-Erkennung wird gestartet …');
+    const refSet = document.getElementById('board-ref-set')?.value ?? '';
+    logB(`Board-Erkennung wird gestartet … Referenz: ${refSet || 'alle'}`);
     const btn = document.getElementById('btn-board-run');
     btn.disabled = true;
     try {
-      const response = await fetch('/api/board/run', { method: 'POST' });
+      const response = await fetch('/api/board/run', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ refSet: refSet || undefined }),
+      });
       if (!response.ok) {
         const raw = await response.text().catch(() => '');
         let msg;
@@ -390,8 +419,9 @@ function initBoard() {
             if (frame?.contentWindow) {
               frame.contentWindow.postMessage({ type: 'reload' }, '*');
             }
-            // Marker-Tabelle aktualisieren
+            // Marker-Tabelle + Set-Dropdowns aktualisieren
             loadBoardTable();
+            populateBoardSetDropdowns();
           }
         } else {
           logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
@@ -484,11 +514,15 @@ function initBoard() {
 
   // ── 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 setFixed  = document.getElementById('act-align-fixed').value;
+    const setToMove = document.getElementById('act-align-move').value;
     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:#f87171">⚠ Bitte Set auswählen, das verschoben werden soll.</span>'; return;
+    }
+    if (setFixed && setFixed === setToMove) {
+      result.innerHTML = '<span style="color:#f87171">⚠ "Bleibt" und "verschoben" dürfen nicht dasselbe Set sein.</span>'; return;
     }
 
     result.innerHTML = '<span style="color:#555b6e">Justierung läuft …</span>';
@@ -496,7 +530,7 @@ function initBoard() {
       const r = await fetch('/api/robot/align-sets', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ setToMove }),
+        body: JSON.stringify({ setFixed: setFixed || undefined, setToMove }),
       });
       const data = await r.json();
       if (!r.ok || data.error) {
@@ -505,7 +539,7 @@ function initBoard() {
       const t = data.transform;
       result.innerHTML =
         `<span style="color:#22c55e">✅ Set "${setToMove}": ${data.numChanged} Marker verschoben` +
-        ` (${data.numMatchingPts} Messpunkte)</span>` +
+        ` (${data.numMatchingPts} Messpunkte)${setFixed ? ` – "${setFixed}" bleibt` : ''}</span>` +
         ` &ensp;Δx=${t.tx}&thinsp;mm&ensp;Δy=${t.ty}&thinsp;mm&ensp;Δz=${t.tz}&thinsp;mm` +
         `&ensp;θ=${t.thetaDeg}°`;
       loadBoardTable();
diff --git a/public/calibration_board.html b/public/calibration_board.html
index 3256e81..3b01d37 100644
--- a/public/calibration_board.html
+++ b/public/calibration_board.html
@@ -14,9 +14,15 @@
       <span class="info-label">Letzter Run</span>
       <span class="info-value" id="board-last-run">–</span>
     </div>
-    <div class="controls" style="margin-top: 16px;">
+    <div class="controls" style="margin-top: 16px; display:flex; align-items:center; gap:10px; flex-wrap:wrap;">
       <button id="btn-board-run">Board erkennen</button>
-      <button disabled title="Folgt später">Ergebnis anzeigen</button>
+      <label style="display:flex;align-items:center;gap:6px;font-size:12px;color:var(--muted)">
+        Referenz:
+        <select id="board-ref-set"
+                style="background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 8px;font:inherit;font-size:12px;cursor:pointer">
+          <option value="">alle</option>
+        </select>
+      </label>
     </div>
   </div>
 
@@ -78,14 +84,21 @@
         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">
+        <select id="act-align-fixed"
+                style="background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 8px;font:inherit;font-size:12px;cursor:pointer">
+          <option value="">– bleibt –</option>
+        </select>
+        bleibt&ensp;/&ensp;
+        <select id="act-align-move"
+                style="background:#1e293b;border:1px solid #334155;color:#c8cdd8;border-radius:3px;padding:3px 8px;font:inherit;font-size:12px;cursor:pointer">
+          <option value="">– verschoben –</option>
+        </select>
+        wird verschoben
         <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>
+        <span style="color:var(--muted);font-size:10px">Rotation (Z-Achse) + Translation → passt verschobenes Set zu 3b-Messung</span>
       </div>
     </div>
 
diff --git a/scripts/2_estimate_camera_from_observations.py b/scripts/2_estimate_camera_from_observations.py
index f6197c7..4b28917 100644
--- a/scripts/2_estimate_camera_from_observations.py
+++ b/scripts/2_estimate_camera_from_observations.py
@@ -212,13 +212,15 @@ def get_marker_rotation(marker: Dict[str, Any]) -> np.ndarray:
     return np.eye(3, dtype=np.float32)
 
 
-def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
+def load_marker_lookup(robot_json_path: str, ref_set: Optional[str] = None) -> Dict[int, Dict[str, Any]]:
     """
     Supports the new format:
         robot_data["links"]["Board"]["markers"]
 
     Fallback:
         robot_data["Marker"]
+
+    ref_set: wenn angegeben, werden nur Marker mit passendem "set"-Feld als Referenz verwendet.
     """
     robot_json_path = resolve_path(robot_json_path)
     with open(robot_json_path, "r", encoding="utf-8") as f:
@@ -248,6 +250,10 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
         if marker_id < 0:
             continue
 
+        # Referenz-Set-Filter: nur Marker mit passendem set-Wert verwenden
+        if ref_set and str(marker.get("set", "")) != ref_set:
+            continue
+
         if "position" not in marker:
             continue
 
@@ -583,13 +589,18 @@ def main() -> None:
     parser.add_argument("--maxRmsPx", type=float, default=None,
                         help="Optional soft warning threshold for final reprojection RMS in pixels")
     parser.add_argument("--epsJac", type=float, default=1e-6, help="Finite-difference epsilon")
+    parser.add_argument("--refSet", default=None,
+                        help="Nur Marker dieses Sets als Referenz verwenden (z.B. 'A0', 'rail'). "
+                             "Leer = alle Marker aus links.Board.")
     args = parser.parse_args()
 
     detection_path = resolve_path(args.input)
     robot_path = resolve_path(args.robot)
 
     detection = load_json(detection_path)
-    marker_lookup = load_marker_lookup(robot_path)
+    marker_lookup = load_marker_lookup(robot_path, ref_set=args.refSet)
+    if args.refSet:
+        print(f"[INFO] Referenz-Set: '{args.refSet}' → {len(marker_lookup)} Referenz-Marker")
 
     K, D = load_intrinsics_from_detection(detection)
 
diff --git a/scripts/__pycache__/2_estimate_camera_from_observations.cpython-311.pyc b/scripts/__pycache__/2_estimate_camera_from_observations.cpython-311.pyc
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diff --git a/server/server.js b/server/server.js
index 906b668..419bd53 100755
--- a/server/server.js
+++ b/server/server.js
@@ -491,6 +491,8 @@ app.post('/api/board/run', async (req, res) => {
       if (!res.writableEnded) res.write(`data: ${JSON.stringify(obj)}\n\n`);
     };
 
+    const { refSet } = req.body ?? {};
+
     // 1. Temp-Verzeichnis
     const ts     = makeTimestamp();
     const runDir = path.join(boardDataDir, ts);
@@ -501,9 +503,14 @@ app.post('/api/board/run', async (req, res) => {
     // Robot-JSON laden und Marker-Anzahl loggen
     let robotData = null;
     try { robotData = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
-    const boardMarkerCount = robotData?.links?.Board?.markers?.length ?? '?';
+    const boardMarkers  = robotData?.links?.Board?.markers ?? [];
+    const boardMarkerCount = boardMarkers.length;
+    const refMarkerCount   = refSet
+      ? boardMarkers.filter(m => m.set === refSet).length
+      : boardMarkerCount;
     send({ type: 'log', text: `▶ Robot-JSON: ${ROBOT_JSON}` });
-    send({ type: 'log', text: `▶ Board-Marker (A0): ${boardMarkerCount} Marker aus links.Board.markers` });
+    send({ type: 'log', text: `▶ Board-Marker: ${boardMarkerCount} (links.Board.markers)` });
+    send({ type: 'log', text: `▶ Referenz-Set: ${refSet ? `"${refSet}" (${refMarkerCount} Marker)` : 'alle'}` });
     send({ type: 'log', text: '' });
 
     // 2. Kameras ermitteln
@@ -567,12 +574,9 @@ app.post('/api/board/run', async (req, res) => {
       }
 
       send({ type: 'log', text: '\n▷ 2_estimate_camera_from_observations' });
-      const exit2 = await runScript([
-        SCRIPT_2,
-        '-i',      detJson,
-        '-robot',  ROBOT_JSON,
-        '-outDir', runDir,
-      ], send);
+      const script2Args = [SCRIPT_2, '-i', detJson, '-robot', ROBOT_JSON, '-outDir', runDir];
+      if (refSet) script2Args.push('--refSet', refSet);
+      const exit2 = await runScript(script2Args, send);
       if (exit2 !== 0) {
         send({ type: 'log', text: `❌ Script 2 Exit ${exit2}` });
       }
@@ -753,6 +757,23 @@ app.post('/api/robot/remove-marker', async (req, res) => {
   }
 });
 
+/**
+ * GET /api/robot/board-sets
+ * Gibt die einzigartigen "set"-Werte aller Marker in links.Board zurück.
+ * Wird vom Frontend genutzt, um Dropdowns zu befüllen.
+ */
+app.get('/api/robot/board-sets', async (req, res) => {
+  try {
+    const robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8'));
+    const markers = robot?.links?.Board?.markers ?? [];
+    const sets = [...new Set(markers.map(m => m.set).filter(Boolean))].sort();
+    return res.json({ sets });
+  } catch (err) {
+    console.error('robot/board-sets error:', err);
+    return res.status(500).json({ error: String(err) });
+  }
+});
+
 /**
  * POST /api/robot/align-sets
  * Richtet alle Marker des angegebenen Sets rigid (2D-Rotation um Z + 3D-Translation)
@@ -761,7 +782,7 @@ app.post('/api/robot/remove-marker', async (req, res) => {
  */
 app.post('/api/robot/align-sets', async (req, res) => {
   try {
-    const { setToMove } = req.body ?? {};
+    const { setToMove, setFixed } = req.body ?? {};
     if (!setToMove) return res.status(400).json({ error: '"setToMove" ist erforderlich.' });
 
     let extraMarkers = [];
@@ -778,7 +799,7 @@ app.post('/api/robot/align-sets', async (req, res) => {
     if (result.error) return res.status(400).json(result);
 
     console.log(
-      `robot/align-sets set="${setToMove}" → ${result.numChanged} Marker verschoben` +
+      `robot/align-sets fixed="${setFixed ?? '–'}" move="${setToMove}" → ${result.numChanged} Marker` +
       ` (${result.numMatchingPts} Messpunkte) Δx=${result.transform.tx} Δy=${result.transform.ty}` +
       ` Δz=${result.transform.tz} mm θ=${result.transform.thetaDeg}°`,
     );