diff --git a/appVideoServer/data/settings/callibration_cam0.npz b/appVideoServer/data/settings/callibration_cam0.npz deleted file mode 100644 index 040851c..0000000 Binary files a/appVideoServer/data/settings/callibration_cam0.npz and /dev/null differ diff --git a/appVideoServer/data/settings/callibration_cam0_720.npz b/appVideoServer/data/settings/callibration_cam0_720.npz deleted file mode 100644 index 8d20672..0000000 Binary files a/appVideoServer/data/settings/callibration_cam0_720.npz and /dev/null differ diff --git a/appVideoServer/data/settings/callibration_cam1.npz b/appVideoServer/data/settings/callibration_cam1.npz deleted file mode 100644 index 867ef58..0000000 Binary files a/appVideoServer/data/settings/callibration_cam1.npz and /dev/null differ diff --git a/appVideoServer/data/settings/callibration_cam1_720.npz b/appVideoServer/data/settings/callibration_cam1_720.npz deleted file mode 100644 index a85a40b..0000000 Binary files a/appVideoServer/data/settings/callibration_cam1_720.npz and /dev/null differ diff --git a/appVideoServer/data/settings/camera_intrinsics_v0.npz b/appVideoServer/data/settings/camera_intrinsics_v0.npz deleted file mode 100644 index f894cc2..0000000 Binary files a/appVideoServer/data/settings/camera_intrinsics_v0.npz and /dev/null differ diff --git a/appVideoServer/data/settings/camera_intrinsics_v1.npz b/appVideoServer/data/settings/camera_intrinsics_v1.npz deleted file mode 100644 index 9681556..0000000 Binary files a/appVideoServer/data/settings/camera_intrinsics_v1.npz and /dev/null differ diff --git a/appVideoServer/data/settings/settings.json b/appVideoServer/data/settings/settings.json deleted file mode 100644 index ada9ccc..0000000 --- a/appVideoServer/data/settings/settings.json +++ /dev/null @@ -1,10 +0,0 @@ -{ "coordinateSystem":{ - "MarkersUsed":"DICT_4X4_250", - "KnownMarkers": - { - "50": [0.0, 0.0, 0.0], - "71": [0.140, 0.0, 0.0], - "101": [0.0, -0.080, 0.0] - } - } -} diff --git a/appVideoServer/data/settings/settingsBoard.json b/appVideoServer/data/settings/settingsBoard.json deleted file mode 100644 index 89ea18b..0000000 --- a/appVideoServer/data/settings/settingsBoard.json +++ /dev/null @@ -1,10 +0,0 @@ -{ "coordinateSystem":{ - "MarkersUsed":"DICT_4X4_250", - "KnownMarkers": - { - "50": [0.0, 0.0, 0.0], - "71": [0.140, 0.0, 0.0], - "101": [0.0, -0.080, 0.0] - } - } -} diff --git a/appVideoServer/data/settings/settingsMachine.json b/appVideoServer/data/settings/settingsMachine.json deleted file mode 100644 index 46d24c7..0000000 --- a/appVideoServer/data/settings/settingsMachine.json +++ /dev/null @@ -1,10 +0,0 @@ -{ "coordinateSystem":{ - "MarkersUsed":"DICT_4X4_250", - "KnownMarkers": - { - "58": [0.0, 0.0, 0.0], - "65": [0.161, 0.0, 0.0], - "75": [0.0, -0.070, 0.0] - } - } -} diff --git a/appVideoServer/https/server.crt b/appVideoServer/https/server.crt deleted file mode 100644 index 0fb61c6..0000000 --- a/appVideoServer/https/server.crt +++ /dev/null @@ -1,29 +0,0 @@ ------BEGIN CERTIFICATE----- -MIIFCTCCAvGgAwIBAgIUfD0V6IOHq6iL+tCtV3CMQ9w6uqQwDQYJKoZIhvcNAQEL -BQAwFDESMBAGA1UEAwwJbG9jYWxob3N0MB4XDTI1MTExNTA4NDMzOFoXDTI2MTEx -NTA4NDMzOFowFDESMBAGA1UEAwwJbG9jYWxob3N0MIICIjANBgkqhkiG9w0BAQEF -AAOCAg8AMIICCgKCAgEArK1NqQEZBpXDgfOTNFrIcTf0qmsE8yfpqahytAdD/wL3 -CE7YKPs5Bsq77YiPPC1Svc8Q8APETRjb3uPet+xfHtyCZX+cu8Dc45AA8sV1bAco -JDFH5x4oi9fnUBEMoxJewIrR6iGvPLN3OFzvq0QG65LTB7HEozYOeTBx2LNEzYWT -+iIu3Tj/iya4EWqsUKWv4LAdHxNfIyTScjYq98/thy9jbesVq2e62gV+q3Km3bqJ -Q+7NWwXM3sHvSXVU/+yqWxwMxiMO6t8QXFVP71ti6IdOdWlSOds5tTa1X0O6wdje -VKN+JXfI3M+Cq7fMLnOKyrm+olcQ9RHcrNHrN6LYrK/yXwW0XTdt0RDsbFE5VH8x -X887zS1Xj0q4IPXutm/Z5uHAGCchg5BDW+w08fxo3pdCIPVy6CVrpabR5lJ4cNPE -lzOAhCOAZYvFyATtJXOPw0CW5mVUDl2BTjPrijf/2YA0Vh+9j4SvwdPR7W2gXdPL -zsr04LwQmFLIEUKgpPlW28K2gun6H7vDshue+jJ9iuCF3BcC9MZI1hFi1omHaJ8T -ehX00Q5HTOhVZFdxzkGGCUbX7B7umKgbLXbItGU3Cnw2fdgi3+1zZbVSWAm/ixiQ -do/Iaw3CrO9pAgmy813hT95qnBKxmuXBeZ+pf1XlhvOAgJw+uhdWOdjGjyJPjIMC 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"devDependencies": { - "nodemon": "^3.1.7" - } -} \ No newline at end of file diff --git a/appVideoServer/programs/driver.js b/appVideoServer/programs/driver.js deleted file mode 100644 index 0ffdbed..0000000 --- a/appVideoServer/programs/driver.js +++ /dev/null @@ -1,71 +0,0 @@ -const WebSocket = require("ws"); - -/** - * Forwards WebSocket messages between browser clients (/robot) - * and a target WebSocket server (behind a firewall). - * - * @param {WebSocket.Server} wssInput - Local WebSocket server for browser clients - * @param {string} targetUrl - URL of target WebSocket server, e.g. "wss://internal.local:8080" - */ -function setupCommandForwarding(wssInput, targetUrl) { - let targetSocket; - const clients = new Set(); - - function connectTarget() { - console.log(`🔌 Connecting to target server: ${targetUrl}`); - targetSocket = new WebSocket(targetUrl); - - targetSocket.on("open", () => { - console.log("✅ Connected to target server"); - }); - - targetSocket.on("message", (msg) => { - const data = msg.toString(); - console.log("⬅️ Message from target:", data); - // Broadcast to all connected browsers - for (const client of clients) { - if (client.readyState === WebSocket.OPEN) { - client.send(data); - } - } - }); - - targetSocket.on("close", () => { - console.warn("⚠️ Target connection closed. Reconnecting in 5s..."); - setTimeout(connectTarget, 5000); - }); - - targetSocket.on("error", (err) => { - console.error("❌ Target connection error:", err.message); - }); - } - - connectTarget(); - - // When a browser connects to /robot - wssInput.on("connection", (ws, req) => { - console.log("🤖 Browser connected:", req.socket.remoteAddress); - clients.add(ws); - - ws.on("message", (msg) => { - const data = msg.toString(); - console.log("➡️ From browser → target:", data); - if (targetSocket?.readyState === WebSocket.OPEN) { - targetSocket.send(data); - } else { - console.warn("⚠️ Target not connected. Message dropped."); - } - }); - - ws.on("close", () => { - clients.delete(ws); - console.log("🔌 Browser disconnected"); - }); - - ws.on("error", (err) => { - console.error("❌ Browser socket error:", err.message); - }); - }); -} - -module.exports = { setupCommandForwarding }; \ No newline at end of file diff --git a/appVideoServer/programs/input.js b/appVideoServer/programs/input.js deleted file mode 100644 index a8a3254..0000000 --- a/appVideoServer/programs/input.js +++ /dev/null @@ -1,49 +0,0 @@ -// programs/input.js -'use strict'; - -const fs = require('fs'); -const path = require('path'); - -function byIdCaptureCandidates() { - const dir = '/dev/v4l/by-id'; - try { - if (!fs.existsSync(dir)) return []; - return fs.readdirSync(dir) - .filter(n => n.endsWith('-index0')) - .map(n => fs.realpathSync(path.join(dir, n))); - } catch { - return []; - } -} - -function naiveVideoNodes() { - try { - return fs.readdirSync('/dev') - .filter(n => /^video\d+$/.test(n)) - .map(n => path.join('/dev', n)) - .sort((a, b) => Number(a.replace(/\D/g, '')) - Number(b.replace(/\D/g, ''))); - } catch { - return ['/dev/video0', '/dev/video2']; - } -} - -function pickDevices(env = process.env) { - const DEV0 = env.DEV0 || null; - const DEV1 = env.DEV1 || null; - - if (DEV0 && DEV1) return [DEV0, DEV1]; - - const byId = byIdCaptureCandidates(); - if (DEV0 || DEV1) { - const pool = byId.length ? byId : naiveVideoNodes(); - const d0 = DEV0 || pool[0]; - const d1 = DEV1 || pool.find(d => d !== d0) || pool[1]; - return [d0, d1]; - } - - if (byId.length >= 2) return [byId[0], byId[1]]; - const naive = naiveVideoNodes(); - return [naive[0], naive[1]]; -} - -module.exports = { pickDevices }; \ No newline at end of file diff --git a/appVideoServer/programs/log.js b/appVideoServer/programs/log.js deleted file mode 100644 index bde9330..0000000 --- a/appVideoServer/programs/log.js +++ /dev/null @@ -1,165 +0,0 @@ -// programs/log.js -'use strict'; - -const fs = require('fs'); -const path = require('path'); - -// --- configuration --- -const LOG_DIR = path.join(__dirname, '..', 'logs'); -fs.mkdirSync(LOG_DIR, { recursive: true }); - -function getLogFilePath(d = new Date()) { - const yyyy = d.getFullYear(); - const mm = String(d.getMonth() + 1).padStart(2, '0'); - const dd = String(d.getDate()).padStart(2, '0'); - return path.join(LOG_DIR, `${yyyy}_${mm}_${dd}.txt`); -} - -function write(obj) { - const line = JSON.stringify(obj) + '\n'; - fs.appendFile(getLogFilePath(), line, (err) => { - if (err) console.error('[log] write error:', err); - }); -} - -// --- common extractors --- -function commonFromReq(req) { - try { - const xff = req?.headers?.['x-forwarded-for']; - const xRealIp = req?.headers?.['x-real-ip']; - const ipFromXff = xff ? xff.split(',')[0].trim() : null; - const ip = - ipFromXff || - xRealIp || - req?.ip || - req?.socket?.remoteAddress || - null; - - const tls = - req?.socket?.encrypted - ? { - protocol: - typeof req.socket.getProtocol === 'function' - ? req.socket.getProtocol() - : null, - cipher: - typeof req.socket.getCipher === 'function' - ? (req.socket.getCipher() || {}).name - : null, - } - : null; - - // MAC is not available across routed networks - const mac = null; - - return { - ip, - ips: Array.isArray(req?.ips) ? req.ips : [], - xff: xff || null, - remoteAddress: req?.socket?.remoteAddress || null, - remoteFamily: req?.socket?.remoteFamily || null, - userAgent: req?.headers?.['user-agent'] || null, - acceptLanguage: req?.headers?.['accept-language'] || null, - secChUa: req?.headers?.['sec-ch-ua'] || null, - secChUaPlatform: req?.headers?.['sec-ch-ua-platform'] || null, - secChUaMobile: req?.headers?.['sec-ch-ua-mobile'] || null, - referer: req?.headers?.['referer'] || null, - tls, - mac, - }; - } catch { - return {}; - } -} - -function commonFromSocket(socket) { - return { - remoteAddress: socket?.remoteAddress || null, - remoteFamily: socket?.remoteFamily || null, - }; -} - -// --- specific log functions --- -function logHttpRequest(req) { - write({ - ts: new Date().toISOString(), - type: 'http', - method: req?.method || null, - url: (req?.originalUrl ?? req?.url) || null, - ...commonFromReq(req), - }); -} - -function logTcpConnection(socket) { - write({ - ts: new Date().toISOString(), - type: 'tcp', - ...commonFromSocket(socket), - }); -} - -function logHttpUpgrade(req) { - write({ - ts: new Date().toISOString(), - type: 'http-upgrade', - url: req?.url || null, - ...commonFromReq(req), - }); -} - -function logWssConnected(req) { - write({ - ts: new Date().toISOString(), - type: 'wss', - url: req?.url || null, - ...commonFromReq(req), - }); -} - -function logWssClosed(req, code, reason) { - write({ - ts: new Date().toISOString(), - type: 'wss-close', - url: req?.url || null, - code: typeof code === 'number' ? code : null, - reason: reason ? reason.toString() : null, - ...commonFromReq(req), - }); -} - -function logSnapshot(python, response){ - write({ - ts: new Date().toISOString(), - type: 'snapshot', - command: python.toString(), - wsResponse: response.toString() - }) -} - -// --- generic hooks you requested --- -function connected(context = {}) { - write({ - ts: new Date().toISOString(), - type: 'connected', - ...context, - }); -} - -function connectionLost(context = {}) { - write({ - ts: new Date().toISOString(), - type: 'connection-lost', - ...context, - }); -} - -module.exports = { - logHttpRequest, - logTcpConnection, - logHttpUpgrade, - logWssConnected, - logSnapshot, - logWssClosed, - connected, - connectionLost, -}; diff --git a/appVideoServer/programs/readCamPos.py b/appVideoServer/programs/readCamPos.py deleted file mode 100644 index 1cb1371..0000000 --- a/appVideoServer/programs/readCamPos.py +++ /dev/null @@ -1,369 +0,0 @@ -#!/usr/bin/env python3 -""" -ArUco detection with multi-marker machine-frame fit + camera pose output (OpenCV >= 4.8). - -- Reads: webCam_1.jpg -- Detects DICT_4X4_250 markers (ids expected: 0, 5, 10, 15) -- Uses multiple reference markers with known machine coordinates to fit camera->machine transform -- Reports positions/orientations of all markers **and the camera** in machine coordinates -- Draws detected markers, per-marker axes, and the machine axes -- Saves: webCam_1a.jpg (annotated) and marker_poses_machine.csv (poses incl. camera) - - -Usage: - python3 readCamPos.py -i snapshot_video1_1764493534200.jpg -npz camera_intrinsics_v0.npz -setting settings.json - - -""" -import faulthandler -faulthandler.enable() - -import argparse -import os -import sys -import csv -import json -import time -from typing import Tuple, Dict, List -import numpy as np -import cv2 - - - -# ----------------------- Configuration Defaults ----------------------- -IMAGE_PATH = "default.jpg" -OUTPUT_IMAGE_PATH = "default.jpg" -OUTPUT_CSV_PATH = "default.csv" -OUTPUT_JSON_PATH = "default.json" - -# Marker side length in meters (25 mm) -MARKER_LENGTH_M = 0.025 - -# Axis lengths for visualization (in meters) -AXIS_LENGTH_M = 0.05 # per-marker axis -MACHINE_AXIS_X_M = 0.200 # 200 mm along +X -MACHINE_AXIS_Y_M = -0.100 # -100 mm along Y (towards camera per description) -MACHINE_AXIS_Z_M = 0.100 # +Z visualized as 100 mm - -# Known machine coordinates for reference markers (meters) -cam_anchor_pts = {} - -EXPECTED_IDS = {50, 71, 101} - -# ----------------------- Utilities ----------------------- - -def load_intrinsics_npz(npz_path: str) -> Tuple[np.ndarray, np.ndarray]: - if os.path.exists(npz_path): - - print("NPZ from File:", npz_path) - data = np.load(npz_path) - for k in ('camera_matrix', 'mtx', 'K'): - if k in data: - camera_matrix = data[k].astype(np.float32) - break - else: - raise KeyError("Camera matrix not found.") - for k in ('dist_coeffs', 'dist', 'D'): - if k in data: - dist = data[k].astype(np.float32).reshape(-1, 1) - break - else: - dist = np.zeros((5, 1), dtype=np.float32) - return camera_matrix, dist - - camera_matrix = np.array([[1400, 0, 640], - [0, 1400, 360], - [0, 0, 1]], dtype=np.float32) - - dist_coeffs = np.zeros((5, 1), dtype=np.float32) - - print("[WARN] Using default approximate intrinsics.") - return camera_matrix, dist_coeffs - - -def rvec_to_R(rvec: np.ndarray) -> np.ndarray: - R, _ = cv2.Rodrigues(rvec) - return R - - -def R_to_euler_zyx(R: np.ndarray) -> Tuple[float, float, float]: - yaw = float(np.degrees(np.arctan2(R[1,0], R[0,0]))) - sp = np.sqrt(R[2,1]**2 + R[2,2]**2) - pitch = float(np.degrees(np.arctan2(-R[2,0], sp))) - roll = float(np.degrees(np.arctan2(R[2,1], R[2,2]))) - return roll, pitch, yaw - - -def corners_to_image_points(corners: np.ndarray) -> np.ndarray: - return corners.reshape(4, 2).astype(np.float32) - - -def get_detector(): - dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_250) - try: - params = cv2.aruco.DetectorParameters() - except Exception: - params = cv2.aruco.DetectorParameters_create() - try: - detector = cv2.aruco.ArucoDetector(dictionary, params) - return detector, None - except Exception: - return None, (dictionary, params) - - -def detect_markers(image: np.ndarray, detector_tuple): - detector, fallback = detector_tuple - print(detector) - if detector is not None: - corners, ids, rejected = detector.detectMarkers(image) - else: - dictionary, params = fallback - corners, ids, rejected = cv2.aruco.detectMarkers(image, dictionary, parameters=params) - return corners, ids, rejected - - -def rigid_transform_no_scale(A: np.ndarray, B: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: - assert A.shape == B.shape and A.shape[1] == 3, "A and B must be Nx3" - N = A.shape[0] - if N < 2: - raise ValueError("Need at least 2 points; 3+ recommended.") - centroid_A = A.mean(axis=0) - centroid_B = B.mean(axis=0) - AA = A - centroid_A - BB = B - centroid_B - H = AA.T @ BB - U, S, Vt = np.linalg.svd(H) - R = Vt.T @ U.T - if np.linalg.det(R) < 0: - Vt[-1, :] *= -1 - R = Vt.T @ U.T - t = centroid_B - R @ centroid_A - return R.astype(np.float32), t.astype(np.float32) - -def readSettings(fileSetting): - global cam_anchor_pts - print("Read Settings") - - if(fileSetting == None): - cam_anchor_pts = { - 50: np.array([0.0, 0.0, 0.0], dtype=np.float32), - 71: np.array([0.140, 0.0, 0.0], dtype=np.float32), - 101: np.array([-0.0, -0.080, 0.0], dtype=np.float32), - #15: np.array([20,20,20]) # add if known - } - return - - - with open(fileSetting, 'r') as f: - settings = json.load(f) - for marker_id, coords in settings['coordinateSystem']['KnownMarkers'].items(): - cam_anchor_pts[int(marker_id)] = np.array(coords, dtype=np.float32) - - #KNOWN_MACHINE_POS = {int(k): np.array(v, dtype=np.float32) for k, v in settings.items()} - - -# ----------------------- Main ----------------------- - -def main(): - - parser = argparse.ArgumentParser(description="Detect ArUco markers in two images and compute camera poses in machine coordinates.") - parser.add_argument('-i', '--images', action='append', required=False, - help="Path to image. Provide this option twice: once per camera (e.g., -i2 cam1.jpg -i2 cam2.jpg)") - parser.add_argument('-npz', '--npz', action='append', required=False, default=['camera_intrinsics_v1.npz']) - parser.add_argument('--cam-calib', action='append', required=False, - help="Paths to calibration YAMLs for camera 1 and camera 2 (e.g., cam1.npz cam2.npz)") - parser.add_argument('--marker-size-mm', type=float, default=25, - help="Marker side length in millimeters (e.g., 50)") - parser.add_argument('--dict', default='DICT_4X4_250', - help="ArUco dictionary name (default: DICT_4X4_250)") - parser.add_argument('-settings', type=str, default=None, - help="Json File with Machine Settings") - args = parser.parse_args() - - - - print("ABC 0") - - readSettings(args.settings) - - print("ABC 0") - - if(args.images is None): - image = cv2.imread(IMAGE_PATH) - else: - image = cv2.imread(args.images[0]) - OUTPUT_IMAGE_PATH = args.images[0].replace(".jpg","r.jpg").replace(".PNG","r.PNG") - OUTPUT_CSV_PATH = args.images[0].replace(".jpg",".csv").replace(".PNG",".csv") - OUTPUT_JSON_PATH = args.images[0].replace(".jpg",".json").replace(".PNG",".json") - - - if image is None: - print(f"[ERROR] Cannot read image '{IMAGE_PATH}'.") - sys.exit(1) - - - print("ABC 1") - - camera_matrix, dist_coeffs = load_intrinsics_npz(args.npz[0]) - print("ABC 1a") - detector_tuple = get_detector() - print("ABC 1b") - corners_list, ids, rejected = detect_markers(image, detector_tuple) - - - print("ABC 2") - - if ids is None or len(ids) == 0: - print("[ERROR] No markers detected.") - sys.exit(1) - - draw_img = image.copy() - cv2.aruco.drawDetectedMarkers(draw_img, corners_list, ids) - - half = MARKER_LENGTH_M / 2.0 - obj_points = np.array([ - [-half, half, 0.0], - [ half, half, 0.0], - [ half, -half, 0.0], - [-half, -half, 0.0], - ], dtype=np.float32) - - poses_cam: Dict[int, Tuple[np.ndarray, np.ndarray]] = {} - centers_cam: Dict[int, np.ndarray] = {} - for i, marker_id in enumerate(ids.flatten()): - img_pts = corners_to_image_points(corners_list[i]) - success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_IPPE_SQUARE) - if not success: - success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, camera_matrix, dist_coeffs) - if success: - rvec = rvec.reshape(3,1) - tvec = tvec.reshape(3,1) - poses_cam[int(marker_id)] = (rvec, tvec) - centers_cam[int(marker_id)] = tvec.flatten() - try: - cv2.drawFrameAxes(draw_img, camera_matrix, dist_coeffs, rvec, tvec, AXIS_LENGTH_M) - except Exception: - pass - else: - print(f"[WARN] solvePnP failed for marker {marker_id}") - - common_ids: List[int] = [mid for mid in cam_anchor_pts.keys() if mid in centers_cam] - if len(common_ids) < 2: - print(f"[ERROR] Need at least 2 reference markers; found {len(common_ids)}: {common_ids}") - sys.exit(1) - if len(common_ids) < 3: - print(f"[WARN] Only {len(common_ids)} references ({common_ids}). Fit may be less stable; 3+ recommended.") - - A = np.stack([centers_cam[mid] for mid in common_ids], axis=0) - B = np.stack([cam_anchor_pts[mid] for mid in common_ids], axis=0) - - R_cam_to_machine, t_cam_to_machine = rigid_transform_no_scale(A, B) - - residuals_mm = [] - for i, mid in enumerate(common_ids): - pred = R_cam_to_machine @ A[i] + t_cam_to_machine - err = np.linalg.norm(pred - B[i]) * 1000.0 - residuals_mm.append(err) - rms = float(np.sqrt(np.mean(np.square(residuals_mm)))) if residuals_mm else 0.0 - print("\nReference fit residuals (mm) per marker:") - for mid, e in zip(common_ids, residuals_mm): - print(f" ID {mid}: {e:.2f} mm") - print(f"RMS residual: {rms:.2f} mm") - - # Camera pose in machine coordinates: - # Camera origin (0,0,0 in camera) maps to t_cam_to_machine - cam_pos_machine = t_cam_to_machine - cam_R_machine = R_cam_to_machine # camera basis expressed in machine frame - cam_roll, cam_pitch, cam_yaw = R_to_euler_zyx(cam_R_machine) - - rows = [("id", "x_mm", "y_mm", "z_mm", "roll_deg", "pitch_deg", "yaw_deg")] - marker_list = [] - - print("\nMarker Positions and Orientations in Machine Coordinates:") - print(f"{'ID':>8} {'X(mm)':>10} {'Y(mm)':>10} {'Z(mm)':>10} {'Roll':>10} {'Pitch':>10} {'Yaw':>10}") - - # Add camera first - cx, cy, cz = (cam_pos_machine * 1000.0).tolist() - print(f"{'camera':>8} {cx:10.2f} {cy:10.2f} {cz:10.2f} {cam_roll:10.2f} {cam_pitch:10.2f} {cam_yaw:10.2f}") - rows.append(("camera", f"{cx:.3f}", f"{cy:.3f}", f"{cz:.3f}", f"{cam_roll:.3f}", f"{cam_pitch:.3f}", f"{cam_yaw:.3f}")) - camera_pose = { - "id": "camera", - "position_mm": [float(x) for x in cam_pos_machine * 1000.0], - "orientation_deg": {"roll": cam_roll, "pitch": cam_pitch, "yaw": cam_yaw} -} - - # Then markers - for marker_id in sorted(poses_cam.keys()): - rvec, tvec = poses_cam[marker_id] - R_marker_cam = rvec_to_R(rvec) - pos_machine = R_cam_to_machine @ tvec.flatten() + t_cam_to_machine - R_marker_machine = R_cam_to_machine @ R_marker_cam - roll_deg, pitch_deg, yaw_deg = R_to_euler_zyx(R_marker_machine) - x_mm, y_mm, z_mm = (pos_machine * 1000.0).tolist() - print(f"{marker_id:8d} {x_mm:10.2f} {y_mm:10.2f} {z_mm:10.2f} {roll_deg:10.2f} {pitch_deg:10.2f} {yaw_deg:10.2f}") - rows.append((marker_id, f"{x_mm:.3f}", f"{y_mm:.3f}", f"{z_mm:.3f}", f"{roll_deg:.3f}", f"{pitch_deg:.3f}", f"{yaw_deg:.3f}")) - marker_list.append({"id": marker_id, "position_mm": [x_mm, y_mm, z_mm], "orientation_deg": {"roll": roll_deg, "pitch": pitch_deg, "yaw": yaw_deg}}) - - # Save CSV - try: - with open(OUTPUT_CSV_PATH, 'w', newline='') as f: - writer = csv.writer(f) - writer.writerows(rows) - print(f"\n[INFO] Saved CSV poses to '{OUTPUT_CSV_PATH}'.") - except Exception as e: - print(f"[WARN] Could not save CSV: {e}") - - - # Save JSON - json_data = { - "metadata": { - "timestamp": time.strftime("%Y-%m-%d %H:%M:%S"), - "reference_markers": common_ids, - "rms_residual_mm": rms, - "description": "Multi-marker machine frame fit with camera pose" - }, - "camera": camera_pose, - "markers": marker_list - } - with open(OUTPUT_JSON_PATH, 'w', encoding='utf-8') as f: - json.dump(json_data, f, indent=4) - - # Warn about expected IDs - detected_ids = set(poses_cam.keys()) - missing = EXPECTED_IDS - detected_ids - if missing: - print(f"[WARN] Expected markers not detected: {sorted(missing)}") - - # Draw machine axes using global transform (machine->camera) - R_machine_to_cam = R_cam_to_machine.T - t_machine_to_cam = - R_machine_to_cam @ t_cam_to_machine - try: - machine_axes = np.float32([ - [0.0, 0.0, 0.0], - [MACHINE_AXIS_X_M, 0.0, 0.0], - [0.0, MACHINE_AXIS_Y_M, 0.0], - [0.0, 0.0, MACHINE_AXIS_Z_M], - ]) - rvec_global, _ = cv2.Rodrigues(R_machine_to_cam) - imgpts, _ = cv2.projectPoints(machine_axes, rvec_global, t_machine_to_cam, camera_matrix, dist_coeffs) - origin = tuple(np.round(imgpts[0].ravel()).astype(int)) - x_end = tuple(np.round(imgpts[1].ravel()).astype(int)) - y_end = tuple(np.round(imgpts[2].ravel()).astype(int)) - z_end = tuple(np.round(imgpts[3].ravel()).astype(int)) - cv2.line(draw_img, origin, x_end, (0, 0, 255), 3) - cv2.line(draw_img, origin, y_end, (0, 255, 0), 3) - cv2.line(draw_img, origin, z_end, (255, 0, 0), 3) - cv2.putText(draw_img, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2) - cv2.putText(draw_img, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2) - cv2.putText(draw_img, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2) - except Exception as e: - print(f"[WARN] Failed to draw machine axes: {e}") - - ok = cv2.imwrite(OUTPUT_IMAGE_PATH, draw_img) - if ok: - print(f"[INFO] Annotated image saved as '{OUTPUT_IMAGE_PATH}'.") - else: - print(f"[ERROR] Failed to save annotated image '{OUTPUT_IMAGE_PATH}'.") - -if __name__ == '__main__': - main() diff --git a/appVideoServer/programs/readTwoImages.py b/appVideoServer/programs/readTwoImages.py deleted file mode 100644 index cda3198..0000000 --- a/appVideoServer/programs/readTwoImages.py +++ /dev/null @@ -1,668 +0,0 @@ -#!/usr/bin/env python3 -""" -readCamPositionTwo.py - -Two-camera ArUco detection with joint optimization of both camera extrinsics -against known machine-frame reference markers, plus triangulation of unknown -marker positions. Outputs camera pose and marker poses in machine coordinates, -with CSV and JSON similar to the single-camera script. - -Dependencies: numpy, opencv-python (cv2) -Optional but NOT required: SciPy (we implement a simple Levenberg–Marquardt). - -Usage example: - python3 readTwoImages.py -i snapshot_video0_1764531874081.jpg -i snapshot_video1_1764531874081.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json - python3 readTwoImages.py -i snapshot_video0_1764524369655.jpg -i snapshot_video1_1764524369655.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json - - python3 readTwoImages.py -i snapshot_video0_1765009029764.jpg -i snapshot_video1_1765009029764.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json - -Settings JSON is expected to contain: -{ - "coordinateSystem": { - "KnownMarkers": { - "50": [0.0, 0.0, 0.0], - "71": [0.140, 0.0, 0.0], - "101": [0.0, -0.080, 0.0] - } - } -} - -Author: M365 Copilot (generated) -""" -import argparse -import os -import sys -import json -import time -from typing import Dict, Tuple, List -import numpy as np -import cv2 - -# ---------------- Configuration defaults ---------------- -AXIS_LENGTH_M = 0.05 - -# ---------------- Utilities ---------------- -def load_intrinsics_npz(npz_path: str) -> Tuple[np.ndarray, np.ndarray]: - print("NPZ reading of file:", npz_path) - if os.path.exists(npz_path): - data = np.load(npz_path) - for k in ('camera_matrix', 'mtx', 'K'): - if k in data: - camera_matrix = data[k].astype(np.float32) - break - else: - raise KeyError("Camera matrix not found in NPZ.") - for k in ('dist_coeffs', 'dist', 'D'): - if k in data: - dist = data[k].astype(np.float32).reshape(-1,1) - break - else: - dist = np.zeros((5,1), dtype=np.float32) - print("NPZ loaded:", npz_path) - return camera_matrix, dist - # Fallback default intrinsics - camera_matrix = np.array([[1400, 0, 640], - [0, 1400, 360], - [0, 0, 1]], dtype=np.float32) - dist_coeffs = np.zeros((5,1), dtype=np.float32) - print("[WARN] Using default approximate intrinsics.") - return camera_matrix, dist_coeffs - - -def get_aruco_detector(dict_name: str): - mapping = { - 'DICT_4X4_250': cv2.aruco.DICT_4X4_250, - 'DICT_5X5_100': cv2.aruco.DICT_5X5_100, - 'DICT_6X6_250': cv2.aruco.DICT_6X6_250, - 'DICT_ARUCO_ORIGINAL': cv2.aruco.DICT_ARUCO_ORIGINAL, - } - if dict_name not in mapping: - dict_id = cv2.aruco.DICT_4X4_250 - else: - dict_id = mapping[dict_name] - dictionary = cv2.aruco.getPredefinedDictionary(dict_id) - try: - params = cv2.aruco.DetectorParameters() - except Exception: - params = cv2.aruco.DetectorParameters_create() - try: - detector = cv2.aruco.ArucoDetector(dictionary, params) - return detector, None - except Exception: - return None, (dictionary, params) - - -def detect_markers(image: np.ndarray, detector_tuple): - detector, fallback = detector_tuple - if detector is not None: - corners, ids, rejected = detector.detectMarkers(image) - else: - dictionary, params = fallback - corners, ids, rejected = cv2.aruco.detectMarkers(image, dictionary, parameters=params) - return corners, ids, rejected - - -def corners_to_image_points(corners: np.ndarray) -> np.ndarray: - return corners.reshape(4,2).astype(np.float32) - - -def marker_center_from_corners(corners: np.ndarray) -> np.ndarray: - pts = corners.reshape(4,2) - return pts.mean(axis=0).astype(np.float32) - - -def rvec_to_R(rvec: np.ndarray) -> np.ndarray: - R, _ = cv2.Rodrigues(rvec) - return R - - -def rigid_transform_no_scale(A: np.ndarray, B: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: - """Find R,t s.t. B ≈ R A + t. A,B: Nx3.""" - assert A.shape == B.shape and A.shape[1] == 3, "A and B must be Nx3" - N = A.shape[0] - if N < 2: - raise ValueError("Need at least 2 points; 3+ recommended.") - centroid_A = A.mean(axis=0) - centroid_B = B.mean(axis=0) - AA = A - centroid_A - BB = B - centroid_B - H = AA.T @ BB - U, S, Vt = np.linalg.svd(H) - R = Vt.T @ U.T - if np.linalg.det(R) < 0: - Vt[-1, :] *= -1 - R = Vt.T @ U.T - t = centroid_B - R @ centroid_A - return R.astype(np.float32), t.astype(np.float32) - - -def undistort_to_normalized(points_px: np.ndarray, K: np.ndarray, D: np.ndarray) -> np.ndarray: - """points_px: Nx2 pixel. Returns Nx2 normalized coords (x,y) where projection is x=Xp/Z, y=Yp/Z. - cv2.undistortPoints with P=None yields normalized coordinates. - """ - pts = points_px.reshape(-1,1,2).astype(np.float32) - und = cv2.undistortPoints(pts, K, D, P=None) # returns Nx1x2 - return und.reshape(-1,2) - - -# ---------------- Joint optimization (LM, numerical Jacobian) ---------------- - -def pack_params(omega1, t1, omega2, t2) -> np.ndarray: - return np.hstack([omega1, t1, omega2, t2]).astype(np.float64) - - -def unpack_params(theta: np.ndarray): - omega1 = theta[0:3] - t1 = theta[3:6] - omega2 = theta[6:9] - t2 = theta[9:12] - return omega1, t1, omega2, t2 - - -def residuals_centers_normalized(theta: np.ndarray, - X_mach: np.ndarray, - obs1_norm: np.ndarray, - obs2_norm: np.ndarray) -> np.ndarray: - """ - Compute residuals in normalized coordinates (no intrinsics, no distortion). - For camera j: X_cam = R_j X_mach + t_j; proj: (x/z, y/z). - Returns stacked residuals [r1; r2] shape (4N,), where N = number of references. - """ - omega1, t1, omega2, t2 = unpack_params(theta) - R1 = cv2.Rodrigues(omega1)[0] - R2 = cv2.Rodrigues(omega2)[0] - # Camera 1 projections - X_cam1 = (R1 @ X_mach.T + t1.reshape(3,1)).T # Nx3 - uv1 = X_cam1[:, :2] / X_cam1[:, 2:3] - r1 = (obs1_norm - uv1).reshape(-1) - # Camera 2 projections - X_cam2 = (R2 @ X_mach.T + t2.reshape(3,1)).T - uv2 = X_cam2[:, :2] / X_cam2[:, 2:3] - r2 = (obs2_norm - uv2).reshape(-1) - return np.hstack([r1, r2]) - - -def numerical_jacobian(f, theta: np.ndarray, eps: float, *args) -> np.ndarray: - """Finite-difference Jacobian: forward differences.""" - r0 = f(theta, *args) - m = r0.size - n = theta.size - J = np.zeros((m, n), dtype=np.float64) - for k in range(n): - th = theta.copy() - th[k] += eps - rk = f(th, *args) - J[:, k] = (rk - r0) / eps - return J, r0 - - -def lm_solve(theta0: np.ndarray, - X_mach: np.ndarray, - obs1_norm: np.ndarray, - obs2_norm: np.ndarray, - max_iter: int = 50, - eps_jac: float = 1e-6, - lambda_init: float = 1e-3) -> Tuple[np.ndarray, Dict]: - """Simple Levenberg–Marquardt on center normalized residuals.""" - lam = lambda_init - theta = theta0.copy() - history = {"iters": [], "rms": []} - for it in range(max_iter): - J, r = numerical_jacobian(residuals_centers_normalized, theta, eps_jac, - X_mach, obs1_norm, obs2_norm) - rms = float(np.sqrt(np.mean(r*r))) if r.size else 0.0 - history["iters"].append(it) - history["rms"].append(rms) - # Normal equations with damping - JTJ = J.T @ J - g = J.T @ r - H = JTJ + lam * np.eye(JTJ.shape[0]) - try: - delta = -np.linalg.solve(H, g) - except np.linalg.LinAlgError: - # Fallback to least squares - delta, *_ = np.linalg.lstsq(H, -g, rcond=None) - theta_trial = theta + delta - r_trial = residuals_centers_normalized(theta_trial, X_mach, obs1_norm, obs2_norm) - rms_trial = float(np.sqrt(np.mean(r_trial*r_trial))) - if rms_trial < rms: # improve - theta = theta_trial - lam *= 0.5 - else: - lam *= 2.0 - # Convergence criteria - if np.linalg.norm(delta) < 1e-9 or abs(rms - rms_trial) < 1e-9: - break - return theta, history - - -# ---------------- Triangulation ---------------- - -def build_projection_matrix(K: np.ndarray, R: np.ndarray, t: np.ndarray) -> np.ndarray: - return K @ np.hstack([R, t.reshape(3,1)]) - - -def triangulate_center(P1: np.ndarray, P2: np.ndarray, u1: np.ndarray, u2: np.ndarray) -> np.ndarray: - # u1,u2: (2,) pixel coordinates - x1 = u1.reshape(2,1) - x2 = u2.reshape(2,1) - X_h = cv2.triangulatePoints(P1, P2, x1, x2) # 4x1 homogeneous in machine frame if P maps machine->pixels - X = (X_h[:3] / X_h[3]).reshape(3) - return X.astype(np.float32) - - -# ---------------- Main ---------------- -def main(): - print("Started") - parser = argparse.ArgumentParser(description="Two-camera ArUco joint optimization and triangulation") - parser.add_argument('-i', '--images', action='append', required=True, - help="Two image paths: first camera then second camera") - parser.add_argument('-npz', '--npz', action='append', required=True, - help="Two NPZ intrinsics paths: cam1 then cam2") - parser.add_argument('-markerSizeMM', '--markerSizeMM', type=float, default=25.0, - help="Marker side length in millimeters") - parser.add_argument('--dict', default='DICT_4X4_250', help="ArUco dictionary name") - parser.add_argument('-settings', type=str, default=None, - help="Json settings file containing machine KnownMarkers") - args = parser.parse_args() - - if len(args.images) != 2 or len(args.npz) != 2: - print("[ERROR] Provide exactly two images and two intrinsics NPZ files.") - sys.exit(1) - - img1 = cv2.imread(args.images[0]) - img2 = cv2.imread(args.images[1]) - draw1 = img1.copy() - draw2 = img2.copy() - h, w = draw1.shape[:2] - #drawPNG1 = np.zeros((h, w, 4), dtype=np.uint8) # fully transparent - drawPNG1 = np.zeros((h, w, 3), dtype=np.uint8) - # Also prepare a matching canvas for camera2 to keep the layout tidy - drawPNG2 = np.zeros((h, w, 3), dtype=np.uint8) - - if img1 is None or img2 is None: - print("[ERROR] Cannot read one of the images.") - sys.exit(1) - - K1, D1 = load_intrinsics_npz(args.npz[0]) - K2, D2 = load_intrinsics_npz(args.npz[1]) - - # Marker 3D local geometry (square corners) - half = (args.markerSizeMM / 1000.0) / 2.0 - obj_points = np.array([ - [-half, half, 0.0], - [ half, half, 0.0], - [ half, -half, 0.0], - [-half, -half, 0.0], - ], dtype=np.float32) - - # Read settings for machine known markers - known_markers: Dict[int, np.ndarray] = {} - if args.settings is not None and os.path.exists(args.settings): - with open(args.settings, 'r') as f: - settings = json.load(f) - for marker_id, coords in settings['coordinateSystem']['KnownMarkers'].items(): - known_markers[int(marker_id)] = np.array(coords, dtype=np.float32) - print("[INFO] Loaded KnownMarkers from settings.") - else: - # Fallback defaults - known_markers = { - 50: np.array([0.0, 0.0, 0.0], dtype=np.float32), - 71: np.array([0.140, 0.0, 0.0], dtype=np.float32), - 101: np.array([0.0, -0.080, 0.0], dtype=np.float32), - } - print("[WARN] Using default KnownMarkers; provide -settings for your machine.") - - # Detect markers in both images - detector_tuple = get_aruco_detector(args.dict) - corners1, ids1, _ = detect_markers(img1, detector_tuple) - corners2, ids2, _ = detect_markers(img2, detector_tuple) - if ids1 is None or ids2 is None: - print("[ERROR] No markers detected in one or both images.") - sys.exit(1) - - ids1 = ids1.flatten().tolist() - ids2 = ids2.flatten().tolist() - - - - # Build dicts: id -> corners, center, rvec/tvec (per-camera PnP) - def build_marker_dict(img, corners_list, ids, K, D, draw = False) -> Tuple[Dict[int,np.ndarray], Dict[int,np.ndarray], Dict[int,Tuple[np.ndarray,np.ndarray]]]: - centers = {} - corners_dict = {} - poses = {} - for i, mid in enumerate(ids): - C = corners_list[i] - corners_dict[int(mid)] = C - centers[int(mid)] = marker_center_from_corners(C) - # Pose from single marker - img_pts = corners_to_image_points(C) - success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, K, D, flags=cv2.SOLVEPNP_IPPE_SQUARE) - if not success: - success, rvec, tvec = cv2.solvePnP(obj_points, img_pts, K, D) - if success: - poses[int(mid)] = (rvec.reshape(3,1), tvec.reshape(3,1)) - if(draw): - cv2.drawFrameAxes(draw1, K, D, rvec, tvec, 0.02) # slim orientation axes - cv2.drawFrameAxes(drawPNG1, K, D, rvec, tvec, 0.02) # slim orientation axes - return centers, corners_dict, poses - - centers1, corners_dict1, poses1 = build_marker_dict(img1, corners1, ids1, K1, D1, draw = True) - centers2, corners_dict2, poses2 = build_marker_dict(img2, corners2, ids2, K2, D2) - - # Common reference markers present in both images and known in machine frame - common_refs = [mid for mid in known_markers.keys() if (mid in centers1 and mid in centers2)] - if len(common_refs) < 3: - print(f"[ERROR] Need ≥3 common reference markers in both cameras; found {len(common_refs)}: {common_refs}") - sys.exit(1) - - # Initial extrinsics from rigid fits per camera using tvec centers of references - # For camera j, A = camera-frame positions of reference markers (from PnP tvec), B = machine positions - def init_extrinsics_from_rigid(poses_cam: Dict[int,Tuple[np.ndarray,np.ndarray]], refs: List[int]) -> Tuple[np.ndarray,np.ndarray]: - A = [] - B = [] - for mid in refs: - if mid in poses_cam: - _, tvec = poses_cam[mid] - A.append(tvec.flatten()) - B.append(known_markers[mid]) - if len(A) < 2: - raise RuntimeError("Insufficient reference poses for rigid transform init.") - A = np.stack(A, axis=0) - B = np.stack(B, axis=0) - R_cm, t_cm = rigid_transform_no_scale(A, B) # camera->machine - # Convert to machine->camera - R_mc = R_cm.T - t_mc = - R_mc @ t_cm - return R_mc.astype(np.float32), t_mc.astype(np.float32) - - R1_init, t1_init = init_extrinsics_from_rigid(poses1, common_refs) - R2_init, t2_init = init_extrinsics_from_rigid(poses2, common_refs) - - # Observations: reference centers (pixels) -> normalized - X_mach_refs = np.stack([known_markers[mid] for mid in common_refs], axis=0).astype(np.float32) - obs1_px = np.stack([centers1[mid] for mid in common_refs], axis=0).astype(np.float32) - obs2_px = np.stack([centers2[mid] for mid in common_refs], axis=0).astype(np.float32) - obs1_norm = undistort_to_normalized(obs1_px, K1, D1) - obs2_norm = undistort_to_normalized(obs2_px, K2, D2) - - # Pack initial params as Rodrigues vectors - omega1_init = cv2.Rodrigues(R1_init)[0].reshape(3) - omega2_init = cv2.Rodrigues(R2_init)[0].reshape(3) - theta0 = pack_params(omega1_init, t1_init.reshape(3), omega2_init, t2_init.reshape(3)) - - theta_opt, hist = lm_solve(theta0, X_mach_refs, obs1_norm, obs2_norm, - max_iter=60, eps_jac=1e-6, lambda_init=1e-3) - - omega1, t1, omega2, t2 = unpack_params(theta_opt) - R1_opt = cv2.Rodrigues(omega1)[0] - R2_opt = cv2.Rodrigues(omega2)[0] - - # Camera pose in machine coordinates (camera->machine): R_cm = R^T, t_cm = -R^T t - R1_cm = R1_opt.T - t1_cm = - R1_cm @ t1 - R2_cm = R2_opt.T - t2_cm = - R2_cm @ t2 - - # Build projection matrices for triangulation (machine -> pixels) - P1 = build_projection_matrix(K1, R1_opt, t1) - P2 = build_projection_matrix(K2, R2_opt, t2) - - # Collect markers seen by at least one camera - all_ids = set(ids1) | set(ids2) - # Output structures - rows = [("id", "x_mm", "y_mm", "z_mm", "roll_deg", "pitch_deg", "yaw_deg")] - marker_list = [] - - # Camera orientations in Euler (ZYX) - def R_to_euler_zyx(R: np.ndarray) -> Tuple[float,float,float]: - yaw = float(np.degrees(np.arctan2(R[1,0], R[0,0]))) - sp = np.sqrt(R[2,1]**2 + R[2,2]**2) - pitch = float(np.degrees(np.arctan2(-R[2,0], sp))) - roll = float(np.degrees(np.arctan2(R[2,1], R[2,2]))) - return roll, pitch, yaw - - cam1_roll, cam1_pitch, cam1_yaw = R_to_euler_zyx(R1_cm) - cam2_roll, cam2_pitch, cam2_yaw = R_to_euler_zyx(R2_cm) - - # Camera rows - c1_mm = (t1_cm * 1000.0).tolist() - rows.append(("camera 0", f"{c1_mm[0]:.2f}", f"{c1_mm[1]:.2f}", f"{c1_mm[2]:.2f}", f"{cam1_roll:.3f}", f"{cam1_pitch:.3f}", f"{cam1_yaw:.3f}")) - c2_mm = (t2_cm * 1000.0).tolist() - rows.append(("camera 1", f"{c2_mm[0]:.2f}", f"{c2_mm[1]:.2f}", f"{c2_mm[2]:.2f}", f"{cam2_roll:.3f}", f"{cam2_pitch:.3f}", f"{cam2_yaw:.3f}")) - - # Triangulate and output markers - def orientation_in_machine(mid: int) -> Tuple[float,float,float]: - # Prefer camera1 orientation, else camera2 - if mid in poses1: - Rm_cam = rvec_to_R(poses1[mid][0]) - Rm_machine = R1_cm @ Rm_cam - elif mid in poses2: - Rm_cam = rvec_to_R(poses2[mid][0]) - Rm_machine = R2_cm @ Rm_cam - else: - Rm_machine = np.eye(3, dtype=np.float32) - return R_to_euler_zyx(Rm_machine) - - # Residual report for references - # Recompute residual RMS in pixels for references (after optimization) - refs_rms_px = [] - for j,(K,R_opt,t_opt,centers_px) in enumerate([(K1,R1_opt,t1,centers1),(K2,R2_opt,t2,centers2)]): - errs = [] - for mid in common_refs: - X = known_markers[mid] - X_cam = R_opt @ X + t_opt - x = K @ X_cam - u_pred = x[0]/x[2] - v_pred = x[1]/x[2] - u_obs, v_obs = centers_px[mid] - errs.append(np.hypot(u_obs-u_pred, v_obs-v_pred)) - refs_rms_px.append(float(np.sqrt(np.mean(np.square(errs))) if errs else 0.0)) - - # Compute per-marker positions - for mid in sorted(all_ids): - # Triangulate if seen in both - if mid in centers1 and mid in centers2: - X_mach = triangulate_center(P1, P2, centers1[mid], centers2[mid]) - elif mid in poses1: - # Fallback single-camera: transform tvec (camera->machine) - X_mach = (R1_cm @ poses1[mid][1].flatten() + t1_cm) - elif mid in poses2: - X_mach = (R2_cm @ poses2[mid][1].flatten() + t2_cm) - else: - continue - roll, pitch, yaw = orientation_in_machine(mid) - x_mm, y_mm, z_mm = (X_mach * 1000.0).tolist() - rows.append((mid, f"{x_mm:.2f}", f"{y_mm:.2f}", f"{z_mm:.2f}", f"{roll:.3f}", f"{pitch:.3f}", f"{yaw:.3f}")) - marker_list.append({ - "id": int(mid), - "position_mm": [float(x_mm), float(y_mm), float(z_mm)], - "orientation_deg": {"roll": float(roll), "pitch": float(pitch), "yaw": float(yaw)} - }) - - # Save CSV & JSON - base1 = os.path.splitext(args.images[0])[0] - base2 = os.path.splitext(args.images[1])[0] - out_csv = f"{base1}_two_cam.csv" - out_json = f"{base1}_two_cam.json" - - try: - import csv - with open(out_csv, 'w', newline='') as f: - writer = csv.writer(f) - writer.writerows(rows) - print(f"[INFO] Saved CSV poses to '{out_csv}'.") - except Exception as e: - print(f"[WARN] Could not save CSV: {e}") - - json_data = { - "metadata": { - "timestamp": time.strftime("%Y-%m-%d %H:%M:%S"), - "reference_markers": common_refs, - "dict": args.dict, - "marker_size_mm": args.markerSizeMM, - "rms_refs_px_cam1": refs_rms_px[0] if refs_rms_px else None, - "rms_refs_px_cam2": refs_rms_px[1] if refs_rms_px else None, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [float(x) for x in (t1_cm * 1000.0)], - "orientation_deg": {"roll": cam1_roll, "pitch": cam1_pitch, "yaw": cam1_yaw}, - }, - { - "id": "camera2", - "position_mm": [float(x) for x in (t2_cm * 1000.0)], - "orientation_deg": {"roll": cam2_roll, "pitch": cam2_pitch, "yaw": cam2_yaw}, - } - ], - "markers": marker_list - } - - try: - with open(out_json, 'w', encoding='utf-8') as f: - json.dump(json_data, f, indent=4) - print(f"[INFO] Saved JSON poses to '{out_json}'.") - except Exception as e: - print(f"[WARN] Could not save JSON: {e}") - - # Annotate images with machine axes using camera1 extrinsics - try: - R_machine_to_cam1 = R1_opt - t_machine_to_cam1 = t1 - machine_axes = np.float32([ - [0.0, 0.0, 0.0], - [0.200, 0.0, 0.0], - [0.0, -0.100, 0.0], - [0.0, 0.0, 0.100], - ]) - rvec_global, _ = cv2.Rodrigues(R_machine_to_cam1) - imgpts, _ = cv2.projectPoints(machine_axes, rvec_global, t_machine_to_cam1, K1, D1) - origin = tuple(np.round(imgpts[0].ravel()).astype(int)) - x_end = tuple(np.round(imgpts[1].ravel()).astype(int)) - y_end = tuple(np.round(imgpts[2].ravel()).astype(int)) - z_end = tuple(np.round(imgpts[3].ravel()).astype(int)) - - # Draw marker outlines only (omit default small id labels) — we draw larger IDs below - cv2.aruco.drawDetectedMarkers(draw1, corners1) - cv2.aruco.drawDetectedMarkers(drawPNG1, corners1) - # Draw larger blue ID labels (keep default marker outlines as-is) - try: - for i, mid in enumerate(ids1): - try: - pts = corners1[i].reshape((4, 2)) - center = tuple(np.round(pts.mean(axis=0)).astype(int)) - except Exception: - continue - text = str(int(mid)) - # Offset: 5px more to the right and 5px up (y axis is downwards) - pos = (int(center[0]) + 15, int(center[1]) - 15) - cv2.putText(draw1, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0), 3, lineType=cv2.LINE_AA) - cv2.putText(drawPNG1, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0,255), 3, lineType=cv2.LINE_AA) - except Exception: - pass - cv2.line(draw1, origin, x_end, (0,0,255), 3) - cv2.line(draw1, origin, y_end, (0,255,0), 3) - cv2.line(draw1, origin, z_end, (255,0,0), 3) - - # Draw lines (RGBA colors: B,G,R,A). A=255 for fully opaque. - cv2.line(drawPNG1, origin, x_end, (0, 0, 255, 255), 3) # Red X - cv2.line(drawPNG1, origin, y_end, (0, 255, 0, 255), 3) # Green Y - cv2.line(drawPNG1, origin, z_end, (255, 0, 0, 255), 3) # Blue Z - - cv2.putText(draw1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2) - cv2.putText(draw1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2) - cv2.putText(draw1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2) - - - # Try to draw text (might be jaggy on transparent BG in older OpenCV) - cv2.putText(drawPNG1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255, 255), 2) - cv2.putText(drawPNG1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0, 255), 2) - cv2.putText(drawPNG1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0, 0, 255), 2) - - - out_img1 = f"{base1}_two_cam_annotated.jpg" - cv2.imwrite(out_img1, draw1) - print(f"[INFO] Annotated image saved as '{out_img1}'.") - - # Save as transparent PNG - - gray = cv2.cvtColor(drawPNG1, cv2.COLOR_BGR2GRAY) - _, alpha = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY) - - # 5) Merge BGR + alpha → RGBA transparent overlay - drawPNG_1 = cv2.merge([drawPNG1[:, :, 0], drawPNG1[:, :, 1], drawPNG1[:, :, 2], alpha]) - - out_png1 = f"{base1}_two_cam_overlay.png" - cv2.imwrite(out_png1, drawPNG_1) - - except Exception as e: - print(f"[WARN] Failed to draw machine axes: {e}") - - # Also annotate the second camera image and produce a transparent overlay - try: - machine_axes2 = np.float32([ - [0.0, 0.0, 0.0], - [0.200, 0.0, 0.0], - [0.0, -0.100, 0.0], - [0.0, 0.0, 0.100], - ]) - rvec_global2, _ = cv2.Rodrigues(R2_opt) - imgpts2, _ = cv2.projectPoints(machine_axes2, rvec_global2, t2, K2, D2) - origin2 = tuple(np.round(imgpts2[0].ravel()).astype(int)) - x_end2 = tuple(np.round(imgpts2[1].ravel()).astype(int)) - y_end2 = tuple(np.round(imgpts2[2].ravel()).astype(int)) - z_end2 = tuple(np.round(imgpts2[3].ravel()).astype(int)) - - # Draw marker outlines only (omit default small id labels) — we draw larger IDs below - cv2.aruco.drawDetectedMarkers(draw2, corners2) - cv2.aruco.drawDetectedMarkers(drawPNG2, corners2) - # Draw larger blue ID labels (keep default marker outlines as-is) - try: - for i, mid in enumerate(ids2): - try: - pts = corners2[i].reshape((4, 2)) - center = tuple(np.round(pts.mean(axis=0)).astype(int)) - except Exception: - continue - text = str(int(mid)) - # Offset: 5px more to the right and 5px up (y axis is downwards) - pos = (int(center[0]) + 13, int(center[1]) + 3) - cv2.putText(draw2, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0), 3, lineType=cv2.LINE_AA) - cv2.putText(drawPNG2, text, pos, cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255,0,0,255), 3, lineType=cv2.LINE_AA) - except Exception: - pass - - cv2.line(draw2, origin2, x_end2, (0,0,255), 3) - cv2.line(draw2, origin2, y_end2, (0,255,0), 3) - cv2.line(draw2, origin2, z_end2, (255,0,0), 3) - - cv2.line(drawPNG2, origin2, x_end2, (0, 0, 255, 255), 3) - cv2.line(drawPNG2, origin2, y_end2, (0, 255, 0, 255), 3) - cv2.line(drawPNG2, origin2, z_end2, (255, 0, 0, 255), 3) - - cv2.putText(draw2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2) - cv2.putText(draw2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2) - cv2.putText(draw2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2) - - cv2.putText(drawPNG2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255, 255), 2) - cv2.putText(drawPNG2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0, 255), 2) - cv2.putText(drawPNG2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0, 0, 255), 2) - - out_img2 = f"{base2}_two_cam_annotated.jpg" - cv2.imwrite(out_img2, draw2) - print(f"[INFO] Annotated image saved as '{out_img2}'.") - - gray2 = cv2.cvtColor(drawPNG2, cv2.COLOR_BGR2GRAY) - _, alpha2 = cv2.threshold(gray2, 0, 255, cv2.THRESH_BINARY) - drawPNG_2 = cv2.merge([drawPNG2[:, :, 0], drawPNG2[:, :, 1], drawPNG2[:, :, 2], alpha2]) - out_png2 = f"{base2}_two_cam_overlay.png" - cv2.imwrite(out_png2, drawPNG_2) - print(f"[INFO] Overlay PNG saved as '{out_png2}'.") - - except Exception as e: - print(f"[WARN] Failed to draw machine axes for camera2: {e}") - -if __name__ == '__main__': - main() diff --git a/appVideoServer/programs/screenShot.js b/appVideoServer/programs/screenShot.js deleted file mode 100644 index 1edcbd2..0000000 --- a/appVideoServer/programs/screenShot.js +++ /dev/null @@ -1,135 +0,0 @@ -const fs = require('fs'); -const path = require('path'); -const { exec } = require('child_process'); -const { logSnapshot } = require('./log'); - - -function snapshot(outDir, cam0, cam1, ws){ - - if (!fs.existsSync(outDir)) fs.mkdirSync(outDir, { recursive: true }); - const picDate = Date.now(); - const name0 = `snapshot_video0_${picDate}.jpg`; - const name1 = `snapshot_video1_${picDate}.jpg`; - cam0.snapshot(path.join(outDir, name0)); - cam1.snapshot(path.join(outDir, name1)); - - - strFile0 = path.join(outDir, name0); - strFile1 = path.join(outDir, name1); - - const relUrl = `/snapshots/${name0}`; - const relUrlApp = `/snapshots/${name0.replace('.jpg','_two_cam_annotated.jpg')}`; - // The Python postprocessor writes an overlay named "_two_cam_overlay.png" and a CSV named "_two_cam.csv" - const relOverlay = `/snapshots/${name0.replace('.jpg','_two_cam_overlay.png')}`; - const relOverlayCSV = `/snapshots/${name0.replace('.jpg','_two_cam.csv')}`; - - const annotatedPath = path.join(outDir, name0.replace('.jpg','_two_cam_annotated.jpg')); - const overlayPath = path.join(outDir, name0.replace('.jpg','_two_cam_overlay.png')); - const csvPath = path.join(outDir, name0.replace('.jpg','_two_cam.csv')); - - - - const command = `python3 /usr/src/app/programs/readTwoImages.py -i ${strFile0} -i ${strFile1} -npz /usr/src/app/data/settings/callibration_cam0.npz -npz /usr/src/app/data/settings/callibration_cam1.npz -settings /usr/src/app/data/settings/settings.json`; - console.log("Executing Python " + command); - - // Run the Python post-processing and send the snapshot response only - // after the annotated files are present to avoid transient 404s in the browser. - exec(command, (error, stdout, stderr) => { - try { - if (error) { - console.error(`Error: ${error.message}`); - // Capture which generated files actually exist for debugging - const files = { - annotated: fs.existsSync(annotatedPath), - overlay: fs.existsSync(overlayPath), - csv: fs.existsSync(csvPath) - }; - // Log full details server-side for diagnosis - const detailed = { - type: 'snapshot', - ok: false, - error: error.message, - stdout: String(stdout).slice(0, 4096), - stderr: String(stderr).slice(0, 4096), - files - }; - logSnapshot(command, JSON.stringify(detailed)); - - // Send a short, user-friendly error to the client (no large stdout/stderr) - const shortError = String(stderr || error.message || '').includes('Corrupt JPEG') - ? 'postprocessor failed: corrupt JPEG input' - : 'postprocessor failed'; - try { ws.send(JSON.stringify({ type: 'snapshot', ok: false, error: shortError })); } catch (e) {} - return; - } - - if (stderr) { - // Log stderr but don't fail outright; sometimes tools output warnings on stderr. - if (String(stderr).trim()) console.error(`Stderr: ${stderr}`); - } - - console.log(`Output:\n${stdout}`); - - // Wait up to ~1s (10 * 100ms) for the generated files to appear on disk. - const waitForFiles = (paths, attempts = 10, delayMs = 100) => new Promise((resolve) => { - let tries = 0; - (function poll() { - const ok = paths.every(p => fs.existsSync(p)); - if (ok || tries >= attempts) return resolve(ok); - tries++; - setTimeout(poll, delayMs); - })(); - }); - - waitForFiles([annotatedPath, overlayPath, csvPath]).then((found) => { - if (!found) { - const files = { - annotated: fs.existsSync(annotatedPath), - overlay: fs.existsSync(overlayPath), - csv: fs.existsSync(csvPath) - }; - // Log details server-side - const detailed = { - type: 'snapshot', - ok: false, - url: relUrl, - urlApp: relUrlApp, - overlay: relOverlay, - overlayCSV: relOverlayCSV, - files - }; - logSnapshot(command, JSON.stringify(detailed)); - // Send a concise error to the client - try { ws.send(JSON.stringify({ type: 'snapshot', ok: false, error: 'postprocessor incomplete (missing outputs)' })); } catch (e) {} - return; - } - - const response = JSON.stringify({ - type: 'snapshot', - ok: found, - url: relUrl, - urlApp: relUrlApp, - overlay: relOverlay, - overlayCSV: relOverlayCSV - }); - logSnapshot(command, response); - try { ws.send(response); } catch (e) {} - }).catch((waitErr) => { - console.error('waitForFiles failed:', waitErr); - const response = JSON.stringify({ type: 'snapshot', ok: false, error: String(waitErr) }); - logSnapshot(command, response); - try { ws.send(response); } catch (e) {} - }); - } catch (handlerErr) { - console.error('snapshot handler error:', handlerErr); - const response = JSON.stringify({ type: 'snapshot', ok: false, error: String(handlerErr) }); - logSnapshot(command, response); - try { ws.send(response); } catch (e) {} - } - }); - - -} - - -module.exports = { snapshot }; \ No newline at end of file diff --git a/appVideoServer/programs/videoServer.js b/appVideoServer/programs/videoServer.js deleted file mode 100644 index ed3c55d..0000000 --- a/appVideoServer/programs/videoServer.js +++ /dev/null @@ -1,234 +0,0 @@ -// programs/videoServer.js -'use strict'; - -const fs = require('fs'); -const { spawn } = require('child_process'); -const WebSocket = require('ws'); - -class JpegFrameSplitter { - constructor(onFrame) { - this.onFrame = onFrame; - this.buffer = Buffer.alloc(0); - } - push(chunk) { - if (!chunk || !chunk.length) return; - this.buffer = Buffer.concat([this.buffer, chunk]); - let start = this.buffer.indexOf(Buffer.from([0xFF, 0xD8])); - while (start !== -1) { - const end = this.buffer.indexOf(Buffer.from([0xFF, 0xD9]), start + 2); - if (end === -1) break; - const frame = this.buffer.slice(start, end + 2); - try { this.onFrame(frame); } catch {} - this.buffer = this.buffer.slice(end + 2); - start = this.buffer.indexOf(Buffer.from([0xFF, 0xD8])); - } - if (this.buffer.length > 8 * 1024 * 1024) { - const nextSOI = this.buffer.indexOf(Buffer.from([0xFF, 0xD8])); - this.buffer = nextSOI !== -1 ? this.buffer.slice(nextSOI) : Buffer.alloc(0); - } - } -} - -class FFmpegStreamer { - /** - * devicePath: '/dev/videoX' - * options: { - * name, width, height, fps, quality, - * input: { format, fps, size, useWallclock, threadQueueSize, channel }, - * tryFormats: [ 'mjpeg', undefined, 'yuyv422', 'rgb24' ] - * } - */ - constructor(devicePath, options = {}) { - this.devicePath = devicePath; - this.name = options.name || devicePath; - this.opts = { - width: options.width ?? undefined, - height: options.height ?? undefined, - fps: options.fps ?? 20, - quality: options.quality ?? 5, - input: { - format: options.input?.format, - fps: options.input?.fps, - size: options.input?.size, - useWallclock: options.input?.useWallclock ?? true, - threadQueueSize: options.input?.threadQueueSize ?? 64, - channel: options.input?.channel, - }, - tryFormats: (options.tryFormats || [options.input?.format, 'yuyv422', 'mjpeg', 'rgb24']) - .filter((v, i, a) => a.indexOf(v) === i), - }; - - this.proc = null; - this.clients = new Set(); - this.startedAt = null; - this.latestFrame = null; - this.splitter = null; - - this.formatIdx = 0; - this.currentFormat = this.opts.tryFormats[this.formatIdx]; - - this._restarting = false; - this._backoffMs = 500; - this._maxBackoffMs = 8000; - this._stderrBuf = []; - this._stderrMaxLines = 8; - - this._quickFailCount = 0; - this._quickFailLimit = 6; - this._suspendedUntil = 0; - } - - get running() { return !!this.proc; } - _scaling() { return Number(this.opts.width) > 0 && Number(this.opts.height) > 0; } - - _buildFfmpegArgs() { - const outFps = this.opts.fps; - const quality = this.opts.quality; - const scaling = this._scaling(); - - const inFmt = this.currentFormat; - const inFps = this.opts.input.fps; - const inSize = this.opts.input.size; - const useWallclock = this.opts.input.useWallclock; - const tqs = this.opts.input.threadQueueSize; - const inChannel = this.opts.input.channel; - - const args = [ - '-hide_banner', '-loglevel', 'error', '-nostdin', - '-f', 'video4linux2', - ...(tqs ? ['-thread_queue_size', String(tqs)] : []), - ...(inFmt ? ['-input_format', String(inFmt)] : []), - ...(inFps ? ['-framerate', String(inFps)] : []), - ...(inSize ? ['-video_size', String(inSize)] : []), - ...(typeof inChannel === 'number' ? ['-channel', String(inChannel)] : []), - ...(useWallclock ? ['-use_wallclock_as_timestamps', '1'] : []), - '-i', this.devicePath, - '-fflags', 'nobuffer', '-flags', 'low_delay', '-an', '-sn', - ]; - - if (inFmt === 'mjpeg' && !scaling) { - args.push('-vsync', 'passthrough', '-c:v', 'copy', '-f', 'mjpeg', 'pipe:1'); - return args; - } - if (scaling) args.push('-vf', `scale=${Number(this.opts.width)}:${Number(this.opts.height)}`); - if (outFps) args.push('-r', String(outFps)); - args.push('-f', 'mjpeg', '-q:v', String(quality), 'pipe:1'); - return args; - } - - _logStderr(d) { - const s = d.toString().trim(); - if (!s) return; - this._stderrBuf.push(s); - if (this._stderrBuf.length > this._stderrMaxLines) this._stderrBuf.shift(); - } - - start() { - if (this.proc) return; - if (Date.now() < this._suspendedUntil) { - const wait = this._suspendedUntil - Date.now(); - console.warn(`[FFmpeg] ${this.name} suspended for ${wait}ms due to repeated failures`); - return setTimeout(() => this.start(), wait); - } - - const args = this._buildFfmpegArgs(); - console.log(`[FFmpeg] Start ${this.devicePath} (${this.name}) :: ${args.join(' ')}`); - - this._stderrBuf = []; - this.proc = spawn('ffmpeg', args, { stdio: ['ignore', 'pipe', 'pipe'], detached: true }); - this.startedAt = Date.now(); - - this.splitter = new JpegFrameSplitter((frame) => { - this.latestFrame = frame; - this._broadcast(frame); - }); - - this.proc.stdout.on('data', (chunk) => this.splitter?.push(chunk)); - this.proc.stderr.on('data', (d) => this._logStderr(d)); - - this.proc.on('exit', (code, signal) => { - console.warn(`[FFmpeg] ${this.devicePath} exited code=${code} sig=${signal}`); - if (this._stderrBuf.length) console.warn(`[FFmpeg] ${this.name} last errors:\n - ${this._stderrBuf.join('\n - ')}`); - - this.proc = null; - const quick = (Date.now() - (this.startedAt || Date.now())) < 2000; - this.startedAt = null; - - if (quick && !this._restarting) { - this._quickFailCount++; - this.formatIdx = (this.formatIdx + 1) % this.opts.tryFormats.length; - this.currentFormat = this.opts.tryFormats[this.formatIdx]; - console.warn(`[FFmpeg] ${this.name}: quick failure -> trying next format: ${this.currentFormat}`); - } else { - this._quickFailCount = 0; - } - - if (this._quickFailCount >= this._quickFailLimit) { - this._suspendedUntil = Date.now() + 60000; // 60s pause - this._quickFailCount = 0; - console.error(`[FFmpeg] ${this.name}: too many quick failures; suspending restarts for 60s`); - } - - const delay = this._restarting ? 300 : Math.min(this._backoffMs, this._maxBackoffMs); - setTimeout(() => { - if (!this._restarting) this._backoffMs = Math.min(this._backoffMs * 2, this._maxBackoffMs); - else this._backoffMs = 500; - this.start(); - }, delay); - this._restarting = false; - }); - } - - _killProcessGroup(signal = 'SIGTERM') { - if (!this.proc) return; - try { - if (process.platform !== 'win32') process.kill(-this.proc.pid, signal); - else this.proc.kill(signal); - } catch {} - } - - stop() { - if (!this.proc) return; - this._restarting = false; - this._killProcessGroup('SIGTERM'); - } - - restart(newOpts = {}) { - this._restarting = true; - if (newOpts.input) this.opts.input = { ...this.opts.input, ...newOpts.input }; - this.opts = { ...this.opts, ...newOpts, input: this.opts.input }; - if (newOpts.input && Object.prototype.hasOwnProperty.call(newOpts.input, 'format')) { - const idx = this.opts.tryFormats.indexOf(this.opts.input.format); - if (idx >= 0) { - this.formatIdx = idx; - this.currentFormat = this.opts.tryFormats[this.formatIdx]; - } - } - if (this.proc) this._killProcessGroup('SIGTERM'); else { this._restarting = false; this.start(); } - } - - attach(ws) { - this.clients.add(ws); - if (this.latestFrame && ws.readyState === WebSocket.OPEN) { - try { ws.send(this.latestFrame, { binary: true }); } catch {} - } - ws.on('close', () => this.clients.delete(ws)); - } - - snapshot(toFile) { - if (!this.latestFrame) throw new Error('No frame available yet'); - fs.writeFileSync(toFile, this.latestFrame); - return toFile; - } - - _broadcast(frame) { - if (!this.clients.size) return; - for (const ws of this.clients) { - if (ws.readyState !== WebSocket.OPEN) continue; - if (ws.bufferedAmount > 512 * 1024) continue; // drop if back-pressured - try { ws.send(frame, { binary: true }); } catch {} - } - } -} - -module.exports = { FFmpegStreamer }; \ No newline at end of file diff --git a/appVideoServer/public/GamePad.js b/appVideoServer/public/GamePad.js deleted file mode 100644 index e8d72a6..0000000 --- a/appVideoServer/public/GamePad.js +++ /dev/null @@ -1,110 +0,0 @@ -var isRunning = false; -var gamePadId = 0; -var gamepad = {}; - -let lastCheckTime = 0; - - - -function checkGamePad() { - if(isRunning == false){return;} - - const stepSize = "0.01"; - const stepSizeXYZ = "0.5"; // 3 ist auch ok - const stepSizeE = "0.01"; - var gp = navigator.getGamepads()[gamePadId] - var buttons = gp.buttons - - var xyzSpeed = 10; // 100 geht auch - - var psi = gp.axes[0]; - var z = gp.axes[1]; - var x = gp.axes[2]; - var y = gp.axes[3]; - - - // Dreieck zum Dreieck-Setzen - if (buttons[3].pressed) { - socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B${-1.0*Math.PI/2} C0 F${xyzSpeed}`); - } - if (buttons[4].pressed) { - //console.log("x=" + robot.x + " y=" + robot.y + " z=" + robot.z); - } - - - - // X Button setzt eine Marke - if(buttons[0].pressed && (Date.now() - lastCheckTime > 500)){ - lastCheckTime = Date.now() - console.log('FPoint!'); - socketDriver.send('FPoint'); - socketDriver.send('FShow'); - } - - // L1 und R1 Button to forward-backward in Point-List - if(gp.buttons[4].pressed && (Date.now() - lastCheckTime > 500)){ - lastCheckTime = Date.now() - socketDriver.send('FMinus'); - socketDriver.send('FShow'); - } - if(gp.buttons[5].pressed && (Date.now() - lastCheckTime > 500)){ - lastCheckTime = Date.now() - socketDriver.send('FPlus'); - socketDriver.send('FShow'); - } - - if (x < -0.2) { socketDriver.send(`G91 G1 X+${stepSizeXYZ} F${xyzSpeed}`);} - if (x > 0.2) { socketDriver.send(`G91 G1 X-${stepSizeXYZ} F${xyzSpeed}`);} - - if (y < -0.2) { socketDriver.send(`G91 G1 Y${stepSizeXYZ} F${xyzSpeed}`); } - if (y > 0.2) { socketDriver.send(`G91 G1 Y-${stepSizeXYZ} F${xyzSpeed}`);} - - if (z < -0.2) { socketDriver.send(`G91 G1 Z${stepSizeXYZ} F${xyzSpeed}`); } - if (z > 0.2) { socketDriver.send(`G91 G1 Z-${stepSizeXYZ} F${xyzSpeed}`); } - - - // Greif-Richtung - // LeftRight - if(buttons[14].pressed){ socketDriver.send(`G91 G1 A${stepSize} F${xyzSpeed}`);} - if(buttons[15].pressed){ socketDriver.send(`G91 G1 A-${stepSize} F${xyzSpeed}`);} - // Up - Down - if(buttons[12].pressed){ socketDriver.send(`G91 G1 B${stepSize} F${xyzSpeed}`);} - if(buttons[13].pressed){ socketDriver.send(`G91 G1 B-${stepSize} F${xyzSpeed}`);} - // Drehung - if (psi < -0.2) { socketDriver.send(`G91 G1 C${stepSize} F${xyzSpeed}`); } - if (psi > 0.2) { socketDriver.send(`G91 G1 C-${stepSize} F${xyzSpeed}`); } - - // Trigger-Buttons für Öffnen und Schliessen - if(buttons[6].pressed){socketDriver.send(`G91 G1 E-${stepSizeE} F${xyzSpeed}`);} - if(buttons[7].pressed){socketDriver.send(`G91 G1 E${stepSizeE} F${xyzSpeed}`);} - - if (isRunning) { setTimeout(checkGamePad, 15);} -} - -function gamepadHandler(event, connecting) { - - gamepad = event.gamepad; - if (typeof gamepad === `undefined`) { - isRunning = false; - gamePadId = 0; - console.warn("GamePad kann nicht gefunden werden"); - return; - } - - if (connecting) { - console.log("GamePad " + event.gamepad.index + " connected"); - gamePadId = gamepad.index; - isRunning = true; - setTimeout(checkGamePad, 20); - } else { - console.log("GamePad " +gamePadId +" disconnected"); - isRunning = false; - gamePadId = 0; - } -} - - -window.addEventListener("gamepadconnected", function (e) { gamepadHandler(e, true); }, false); -window.addEventListener("gamepaddisconnected", function (e) { gamepadHandler(e, false); }, false); - -document.addEventListener("touchstart", e => { console.log("TouchStart"); }) \ No newline at end of file diff --git a/appVideoServer/public/KeyboardInput.js b/appVideoServer/public/KeyboardInput.js deleted file mode 100644 index 8e26db3..0000000 --- a/appVideoServer/public/KeyboardInput.js +++ /dev/null @@ -1,64 +0,0 @@ -document.onkeydown = checkKey; - -function checkKey(e) { - - e = e || window.event; - - if(e.key == 'a' || e.key == 'A') - { - console.log("back to A position"); - socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B-${Math.PI/2} C0 F100`); - } - - // Hand-Winkel (Eulerwinkel) - else if(e.key == 'i' || e.key == 'I'){ - socketDriver.send('G91 G1 B+0.1 F100'); - } - else if(e.key == 'k' || e.key == 'K'){ - socketDriver.send('G91 G1 B-0.1 F100'); - } - else if(e.key == 'l' || e.key == 'L'){ - socketDriver.send('G91 G1 A+0.1 F100'); - } - else if(e.key == 'j' || e.key == 'J'){ - socketDriver.send('G91 G1 A-0.1 F100'); - } - else if(e.key == 'o' || e.key == 'O'){ - socketDriver.send('G91 G1 C+0.1 F100'); - } - else if(e.key == 'u' || e.key == 'U'){ - socketDriver.send('G91 G1 C-0.1 F100'); - } - - // XYZ Koordinaten - else if(e.key == 'e' || e.key == 'E'){ - socketDriver.send('G91 G1 Z+5 F100'); - } - else if(e.key == 'd' || e.key == 'D'){ - socketDriver.send('G91 G1 Z-5 F100'); - } - else if(e.key == 's' || e.key == 'S'){ - socketDriver.send('G91 G1 X5 F100'); - } - else if(e.key == 'f' || e.key == 'S'){ - socketDriver.send('G91 G1 X-5 F100'); - } - else if(e.key == 'r' || e.key == 'R'){ - socketDriver.send('G91 G1 Y5 F100'); - } - else if(e.key == 'w' || e.key == 'W'){ - socketDriver.send('G91 G1 Y-5 F100'); - } - - // File & Log-Operations - else if(e.key == ' '){ - console.log('FPoint!') - socketDriver.send('FPoint'); - } - else if(e.key == 'b'){ - socketDriver.send('FMinus'); - } - else if(e.key == 'n'){ - socketDriver.send('FPlus'); - } -} \ No newline at end of file diff --git a/appVideoServer/public/WebSocket.js b/appVideoServer/public/WebSocket.js deleted file mode 100644 index e6c1ce4..0000000 --- a/appVideoServer/public/WebSocket.js +++ /dev/null @@ -1,25 +0,0 @@ -const protocolS = location.protocol === "https:" ? "wss://" : "ws://"; -const robotURL = protocolS + location.host + "/ws/robot"; -console.log("socketDriver try to connect to "+ robotURL); - -const socketDriver = new WebSocket(robotURL); - - - -socketDriver.onopen = () => { console.log("socketDriver WebSocket connected"); }; - -socketDriver.onmessage = (event) => { - if(event.data.toString().includes("position")){ - console.log("Position: " + event.data); - } - else if(event.data.toString().includes("XYZ__FShow__XYZ")){ - const content = event.data.toString().split("XYZ__FShow__XYZ")[1]; - document.querySelectorAll("textarea#GCodeWindow.editor-look")[0].value = content; - } - else{ - console.log('DATA SinceStartup: ' + (Date.now() - startTime).toString() +': ', event.data); - } -} - -socketDriver.onclose = () => {console.log("socketDriver WebSocket is closing");}; -socketDriver.onerror = (err) => { console.error("socketDriver socket error:", err); }; \ No newline at end of file diff --git a/appVideoServer/public/app.js b/appVideoServer/public/app.js deleted file mode 100644 index b5cdb53..0000000 --- a/appVideoServer/public/app.js +++ /dev/null @@ -1,72 +0,0 @@ -// /public/app.js -// Small bootstrap moved out of index.html to satisfy CSP (`script-src 'self'`). -(function () { - const isSecure = location.protocol === 'https:'; - const wsProto = isSecure ? 'wss' : 'ws'; - const base = `${wsProto}://${location.host}`; - - // Camera 0 with control channel - window.VideoService.attachStream({ - url: `${base}/ws/video0`, - canvas: document.getElementById('canvas0'), - statusEl: document.getElementById('status0'), - control: { - resSelect: document.getElementById('res0'), - fpsSelect: document.getElementById('fps0'), - qSelect: document.getElementById('q0'), - applyBtn: document.getElementById('apply0'), - snapshotBtn: document.getElementById('snap0'), - startBtn: document.getElementById('start0'), - stopBtn: document.getElementById('stop0'), - snapshotOutEl: document.getElementById('snapshotLink'), - } - }); - - // Camera 1 (no control) - window.VideoService.attachStream({ - url: `${base}/ws/video1`, - canvas: document.getElementById('canvas1'), - statusEl: document.getElementById('status1'), - }); - - // Run an automatic snapshot shortly after the page loads so the client - // receives the freshest annotated image/CSV on startup. This uses a - // synthetic click on the snapshot button; the handler will no-op if the - // WebSocket isn't open yet. - setTimeout(() => { - const snapBtn = document.getElementById('snap0'); - if (snapBtn) snapBtn.click(); - }, 200); - - // Attach handlers for the Point/Up/Down buttons (no inline JS, CSP-safe) - const btnPoint = document.getElementById('btnPoint'); - const btnDown = document.getElementById('btnDown'); - const btnUp = document.getElementById('btnUp'); - if (btnPoint) btnPoint.addEventListener('click', () => { - console.log('FPoint!'); - try { socketDriver.send('FPoint'); socketDriver.send('FShow'); } catch (e) { console.error(e); } - }); - if (btnDown) btnDown.addEventListener('click', () => { - console.log('FPlus'); - try { socketDriver.send('FPlus'); socketDriver.send('FShow'); } catch (e) { console.error(e); } - }); - if (btnUp) btnUp.addEventListener('click', () => { - console.log('FMinus'); - try { socketDriver.send('FMinus'); socketDriver.send('FShow'); } catch (e) { console.error(e); } - }); - - // Other buttons that were previously using inline onclicks. - const btnInfo = document.getElementById('b_M114'); - const btnNull = document.getElementById('b_G28'); - const btnListFile = document.getElementById('btnListFile'); - const btnSendGCode = document.getElementById('btnSendGCode'); - if (btnInfo) btnInfo.addEventListener('click', () => { try { socketDriver.send('M114'); } catch (e) { console.error(e); } }); - if (btnNull) btnNull.addEventListener('click', () => { try { socketDriver.send('G28'); } catch (e) { console.error(e); } }); - if (btnListFile) btnListFile.addEventListener('click', () => { try { socketDriver.send('FShow'); } catch (e) { console.error(e); } }); - if (btnSendGCode) btnSendGCode.addEventListener('click', () => { - try { - const input = document.getElementById('GKarth'); - if (input && input.value) socketDriver.send(input.value); - } catch (e) { console.error(e); } - }); -})(); diff --git a/appVideoServer/public/buttonCmd.js b/appVideoServer/public/buttonCmd.js deleted file mode 100644 index 8fd6c9d..0000000 --- a/appVideoServer/public/buttonCmd.js +++ /dev/null @@ -1,23 +0,0 @@ - - -document.getElementById("b_uparrow").addEventListener('click',() => { socketDriver.send(`G91 G1 Z10 F100`);}); -document.getElementById("b_downarw").addEventListener('click',() => { socketDriver.send(`G90 G1 Z-10 F100`);}); -document.getElementById("b_right").addEventListener('click',() => { socketDriver.send(`G90 G1 X10 F100`);}); -document.getElementById("b_left").addEventListener('click',() => { socketDriver.send(`G90 G1 X-10 F100`);}); -document.getElementById("b_forward").addEventListener('click',() => { socketDriver.send(`G90 G1 Y10 F100`);}); -document.getElementById("b_backward").addEventListener('click',() => { socketDriver.send(`G90 G1 Y-10 F100`);}); - -document.getElementById("b_aPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 A0.10 F100`);}); -document.getElementById("b_aMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 A-0.10 F100`);}); -document.getElementById("b_bPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 B0.10 F100`);}); -document.getElementById("b_bMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 B-0.10 F100`);}); -document.getElementById("b_cPlus").addEventListener('click',() => { socketDriver.send(`G91 G1 C0.10 F100`);}); -document.getElementById("b_cMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 C-0.10 F100`);}); - -document.getElementById("b_ePlus").addEventListener('click',() => { socketDriver.send(`G91 G1 E0.10 F100`);}); -document.getElementById("b_eMinus").addEventListener('click',() => { socketDriver.send(`G91 G1 E-0.10 F100`);}); - - -document.getElementById("b_default").addEventListener('click',() => { socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B-${Math.PI/2} C0 F100`);}); -document.getElementById("b_G28").addEventListener('click',() => { socketDriver.send(`G28`);}); -document.getElementById("b_M114").addEventListener('click',() => { socketDriver.send(`M114`);}); diff --git a/appVideoServer/public/index.html b/appVideoServer/public/index.html deleted file mode 100644 index e25c399..0000000 --- a/appVideoServer/public/index.html +++ /dev/null @@ -1,108 +0,0 @@ - - - - - Dual Camera Stream (HTTPS + WSS) - - - - - - - - -

Robot Control

- -
- -
-

Camera 0

- - -
- - -
-
Connecting…
-
- - -
-

Camera 1

-
- -
-
Connecting…
-
- -
-
- - -
- -
-
- - -
- -
- -
- -
-

Controls

- - -
- - -
- - -
- - - -
-
- - -
- - -
- - - -
- - -
-
-
-
-
-
- - -
- -
- - - -
-
-
- - - - - - - \ No newline at end of file diff --git a/appVideoServer/public/indexA.css b/appVideoServer/public/indexA.css deleted file mode 100644 index 33c015c..0000000 --- a/appVideoServer/public/indexA.css +++ /dev/null @@ -1,203 +0,0 @@ -:root { color-scheme: dark light; } -/* Overlay opacity is configurable here. Set to 1 to let PNG alpha be authoritative */ -:root { - --overlay-opacity: 1; /* default overlay alpha applied client-side */ -} - -body { - font-family: system-ui, -apple-system, Segoe UI, Roboto, sans-serif; - margin: 0; - padding: 1rem; - background: #0b1020; - color: #e7eaf6; - -} - -h1, h2 { - margin: 0.5rem 0 0.25rem; -} - -.grid { - display: grid; - gap: 1rem; - /* - grid-auto-flow: column; - grid-auto-columns: 1280px; - justify-content: start; - */ - grid-template-columns: repeat(auto-fit, minmax(1280px, 1fr)); - align-items: start; -} - -.panel { - background: #141b34; - border: 1px solid #242c4f; - border-radius: 12px; - padding: 1rem; - box-shadow: 0 10px 24px rgba(0,0,0,0.25); -} - -.video-wrap { - position: relative; - background: #000; - border-radius: 8px; - overflow: hidden; - /* Keep a 16:9 box that doesn't stretch beyond the source resolution */ - width: 100%; - max-width: 1280px; - aspect-ratio: 16 / 9; - margin: 0 auto; -} - -/* Ensure canvas and overlay are sized identically and keep the same aspect ratio - so overlays align correctly when the window is resized. */ -.video-wrap canvas, -.video-wrap img, -#overlayImg { - position: absolute; - inset: 0; /* top:0; right:0; bottom:0; left:0 */ - width: 100%; - height: 100%; - /* Use `contain` so both layers scale uniformly and show letterboxing instead - of stretching or cropping when the container size differs from the image. */ - object-fit: contain; - background: #000; -} - -.video-wrap canvas { - z-index: 1; -} -.video-wrap img, -#overlayImg { - z-index: 2; - pointer-events: none; /* don't block interactions with the canvas */ - opacity: var(--overlay-opacity); -} - -.status { - font-size: 0.9rem; - opacity: 0.85; - margin: 0.5rem 0 0; -} - -.controls { - display: grid; - grid-template-columns: repeat(auto-fit, minmax(150px, 1fr)); - gap: 0.5rem; - margin-top: 0.75rem; -} - -.controls label { - display: grid; - gap: 0.25rem; - font-size: 0.9rem; -} - -select, input, button { - padding: 0.5rem 0.6rem; - border-radius: 8px; - border: 1px solid #2d3766; - background: #0d1530; - color: #e7eaf6; -} - -button.primary { - background: #355dff; - border-color: #355dff; -} - -a { - color: #9eb8ff; -} - -footer { - margin-top: 1.25rem; - opacity: 0.7; - font-size: 0.9rem; -} - -.muted { - opacity: 0.8; -} - - -/* Ensure overlay uses contain and respects alpha channel from the PNG - (the PNG's transparency is the authoritative source of which pixels - are transparent; CSS opacity only adjusts global alpha). */ -#overlayImg { - position: absolute; - inset: 0; /* shorthand for top:0; right:0; bottom:0; left:0; */ - width: 100%; - height: 100%; - pointer-events: none; - opacity: var(--overlay-opacity); - object-fit: contain; /* preserve aspect ratio and don't distort */ - background: transparent; -} - -/* CSV table styles */ -.csv-table { - width: 440px; /* 4 columns * 200px each */ - border-collapse: collapse; - margin-top: 0.5rem; - table-layout: fixed; /* use fixed layout so column widths are respected */ -} -.csv-table th, .csv-table td { - border: 1px solid rgba(255,255,255,0.06); - padding: 0.35rem 0.5rem; - text-align: center; - font-size: 0.9rem; - width: 110px; /* fixed column width */ - white-space: nowrap; - overflow: hidden; - text-overflow: ellipsis; -} -.csv-table th { - background: rgba(255,255,255,0.02); - font-weight: 600; -} -.csv-table tr:nth-child(even) td { - background: rgba(255,255,255,0.01); -} - -/* Right-align CSV numeric data and use tabular digits for stable column alignment */ -.csv-table td { text-align: right; font-variant-numeric: tabular-nums; } - -#GCodeWindow { - width: 100%; - height: 200px; -} - -/* Layout: place the buttons and GCode window side-by-side in their panel. - - `#divButtons` gets a fixed ~300px width - - `#divGCodeWindow` uses the remaining width - - On small screens they stack vertically for usability */ -/* Use floats for a predictable two-column layout inside the panel. */ -#divButtons { - float: left; - width: 300px; - box-sizing: border-box; - margin-right: 1rem; -} -#divGCodeWindow { - display: block; - margin-left: 320px; /* 300px left column + 1rem gap */ - box-sizing: border-box; -} - -/* Clear floats inside panels so subsequent content flows correctly */ -.panel::after { - content: ""; - display: table; - clear: both; -} -@media (max-width: 800px) { - #divButtons, #divGCodeWindow { - display: block; - float: none; - width: 100%; - margin-left: 0; - margin-right: 0; - } -} - diff --git a/appVideoServer/public/readCSV.js b/appVideoServer/public/readCSV.js deleted file mode 100644 index d5c821b..0000000 --- a/appVideoServer/public/readCSV.js +++ /dev/null @@ -1,76 +0,0 @@ -// public/readCSV.js -// Fetch a CSV file and render a small table into the given container. -// Usage: window.readCSV.renderCSV(containerOrId, csvUrl) - -(function () { - async function renderCSV(container, csvUrl) { - console.log("readCSV should start"); - console.log('readCSV.renderCSV', container, csvUrl); - - const el = (typeof container === 'string') ? document.getElementById(container) : container; - if (!el) return; - if (!csvUrl) { - el.innerHTML = 'No CSV URL provided'; - return; - } - el.innerHTML = 'Loading CSV…'; - try { - const res = await fetch(csvUrl, { cache: 'no-store' }); - if (!res.ok) { - el.innerHTML = `CSV not found (HTTP ${res.status})`; - return; - } - const text = await res.text(); - const lines = text.trim().split(/\r?\n/).filter(Boolean); - if (!lines.length) { - el.innerHTML = 'CSV is empty'; - return; - } - const headers = lines[0].split(',').map(h => h.trim()); - // Look for id,x,y,z columns (case-insensitive) - const lower = headers.map(h => h.toLowerCase()); - const ids = { - id: lower.indexOf('id'), - x: lower.indexOf('x_mm'), - y: lower.indexOf('y_mm'), - z: lower.indexOf('z_mm') - }; - // If any of these are missing, show a helpful message - if (ids.id === -1 || ids.x === -1 || ids.y === -1 || ids.z === -1) { - el.innerHTML = `CSV does not contain required columns: id, x, y, z ${csvUrl}`; - return; - } - - // Build table - const table = document.createElement('table'); - table.className = 'csv-table'; - const thead = table.createTHead(); - const thr = thead.insertRow(); - ['id', 'x [mm]', 'y [mm]', 'z [mm]'].forEach(h => { - const th = document.createElement('th'); - th.textContent = h; - thr.appendChild(th); - }); - const tbody = table.createTBody(); - - for (let i = 1; i < lines.length; i++) { - const row = lines[i].split(',').map(c => c.trim()); - // Skip if row doesn't have enough columns - if (row.length < headers.length) continue; - const tr = tbody.insertRow(); - ['id', 'x', 'y', 'z'].forEach(k => { - const td = tr.insertCell(); - td.textContent = row[ids[k]] ?? ''; - }); - } - - el.innerHTML = ''; // clear - el.appendChild(table); - } catch (err) { - console.error('readCSV error', err); - el.innerHTML = `Error loading CSV`; - } - } - - window.readCSV = { renderCSV }; -})(); diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765974554630.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765974554630.jpg deleted file mode 100644 index b35b56b..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765974554630.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.csv deleted file mode 100644 index f7dea01..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.csv +++ /dev/null @@ -1,9 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,461.226,163.150,208.814,-115.601,2.852,108.987 -camera2,368.003,-324.025,849.279,-147.633,-3.697,60.975 -20,-27.787,-370.901,-104.452,-0.238,-4.375,143.811 -25,-67.077,-165.677,-12.623,-2.256,0.110,87.366 -50,0.002,-0.008,-0.007,-0.557,-0.254,0.228 -71,140.418,0.009,0.093,0.905,-2.137,1.508 -76,-204.436,-90.385,-94.522,-52.679,39.273,-87.214 -101,0.016,-80.028,-0.025,1.056,-2.213,0.260 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.json deleted file mode 100644 index 3d31956..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.json +++ /dev/null @@ -1,123 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 12:29:14", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.01816248951344627, - "rms_refs_px_cam2": 0.49688754115479944, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 461.2260243096291, - 163.15047116357306, - 208.81423321244827 - ], - "orientation_deg": { - "roll": -115.60069066047194, - "pitch": 2.8518474088280343, - "yaw": 108.98699397077662 - } - }, - { - "id": "camera2", - "position_mm": [ - 368.0032092105987, - -324.02483230064206, - 849.2788823044326 - ], - "orientation_deg": { - "roll": -147.6328488975886, - "pitch": -3.697144586874371, - "yaw": 60.97510432458154 - } - } - ], - "markers": [ - { - "id": 20, - "position_mm": [ - -27.78722965547953, - -370.90144636184993, - -104.45169497289619 - ], - "orientation_deg": { - "roll": -0.23809413256188228, - "pitch": -4.374834208590023, - "yaw": 143.81085305206332 - } - }, - { - "id": 25, - "position_mm": [ - -67.07681274414062, - -165.6768341064453, - -12.623200416564941 - ], - "orientation_deg": { - "roll": -2.2561967939168364, - "pitch": 0.10968211192904707, - "yaw": 87.36599578819637 - } - }, - { - "id": 50, - "position_mm": [ - 0.0022646484430879354, - -0.007531278766691685, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_annotated.jpg deleted file mode 100644 index 8ee083c..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_overlay.png deleted file mode 100644 index 2f63349..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765975245635.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765975245635.jpg deleted file mode 100644 index 95abf3f..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765975245635.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam.csv 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a/appVideoServer/public/snapshots/snapshot_video0_1765976068034.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.csv deleted file mode 100644 index e85438d..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,536.485,18.839,206.779,-106.660,2.662,89.850 -camera2,270.078,-416.213,861.643,-147.875,-0.599,27.290 -25,-106.002,-152.845,-13.395,-1.656,-0.260,74.773 -50,-0.040,-0.018,-0.033,-0.803,-1.486,-0.958 -71,140.010,-0.012,-0.132,0.125,-0.986,-0.226 -76,-427.338,36.154,-79.282,-2.295,-0.032,-140.199 -101,-0.155,-80.157,-0.149,0.998,-1.924,-0.670 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.json deleted file mode 100644 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a/appVideoServer/public/snapshots/snapshot_video0_1765976193421.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.csv deleted file mode 100644 index 92808da..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.143,-126.269,207.847,-108.968,2.548,85.122 -camera2,270.078,-416.213,861.643,-147.875,-0.599,27.290 -25,-106.269,-152.549,-13.850,-1.588,-0.375,72.807 -50,-0.060,0.071,-0.102,-0.330,-0.119,-0.470 -71,139.927,0.527,-0.717,0.185,-1.331,-0.473 -76,-427.338,36.154,-79.282,-2.295,-0.032,-140.199 -101,-0.131,-80.113,-0.116,2.341,-2.488,-1.552 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.json deleted file mode 100644 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a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.093,-126.283,208.024,-109.008,2.479,85.137 -camera2,268.334,-422.390,858.173,-147.536,-0.859,27.216 -25,-105.842,-152.605,-14.023,-1.696,-0.813,71.878 -50,-0.060,0.071,-0.102,-0.536,-0.798,-0.995 -71,139.927,0.530,-0.716,-0.105,-1.437,0.174 -76,-433.706,41.753,-88.786,-3.026,1.582,-141.259 -101,-0.132,-80.112,-0.118,2.445,-2.695,-1.892 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam.json deleted file mode 100644 index b8fae37..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:01:46", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam_annotated.jpg deleted file mode 100644 index 9de5577..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam_overlay.png deleted file mode 100644 index 45ea68a..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976505906_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976510318.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765976510318.jpg deleted file mode 100644 index c523f25..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976510318.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.csv deleted file mode 100644 index 607d193..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.078,-126.003,208.163,-109.013,2.552,85.138 -camera2,260.431,-416.119,863.749,-148.165,-1.081,27.129 -25,-143.584,-123.068,-105.850,3.274,-6.022,69.919 -50,-0.058,0.070,-0.101,-0.609,-0.797,-0.993 -71,139.937,0.522,-0.709,-0.178,-1.435,0.176 -76,-432.776,41.597,-92.797,-2.365,1.674,-141.338 -101,-0.129,-80.113,-0.116,1.964,-2.216,-1.956 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.json deleted file mode 100644 index 9d51127..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976510318_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": 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a/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.csv deleted file mode 100644 index 5d5b787..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.011,-125.157,208.755,-109.055,2.708,85.166 -camera2,273.476,-413.962,862.924,-147.947,-0.371,27.337 -25,-106.542,-152.744,-13.748,-1.794,-0.601,71.910 -50,-0.060,0.070,-0.102,-0.768,-0.829,-0.961 -71,139.923,0.525,-0.719,0.280,-1.966,-0.218 -76,-433.557,39.017,-85.725,-2.721,1.022,-141.136 -101,-0.132,-80.113,-0.117,1.884,-2.266,-1.995 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.json deleted file mode 100644 index 304b2fb..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976511638_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:01:51", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 1.6284211334949419, - "rms_refs_px_cam2": 0.27866067351114204, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 504.0113743473861, - -125.15683693861426, - 208.7551517328191 - ], - "orientation_deg": { - "roll": -109.05487493690511, - "pitch": 2.707669529585417, - "yaw": 85.16552378291799 - } - }, - { - "id": "camera2", - "position_mm": [ - 273.47559086571636, - -413.9621299990215, - 862.9242149620329 - ], - "orientation_deg": { - "roll": -147.9468491115545, - "pitch": -0.3712618496328017, - "yaw": 27.33677639445699 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - -106.54240417480469, - -152.74412536621094, - -13.74763011932373 - ], - "orientation_deg": { - "roll": 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a/appVideoServer/public/snapshots/snapshot_video0_1765976533542.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976533542_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976533542_two_cam.csv deleted file mode 100644 index 1410ddd..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976533542_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,503.988,-126.013,208.094,-108.989,2.678,85.084 -camera2,280.549,-414.508,861.028,-147.697,-0.050,27.490 -25,-106.900,-152.633,-13.859,-1.504,-0.469,72.140 -50,-0.061,0.070,-0.102,-0.734,-0.765,-1.047 -71,139.916,0.529,-0.723,0.393,-1.715,-0.488 -76,-434.311,37.774,-82.071,-3.030,0.757,-140.986 -101,-0.133,-80.113,-0.118,1.917,-2.202,-2.081 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976533542_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976533542_two_cam.json deleted file mode 100644 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deleted file mode 100644 index e7f1a64..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976536997.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976536997_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976536997_two_cam.csv deleted file mode 100644 index ee19e76..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976536997_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.062,-125.722,208.301,-109.017,2.625,85.138 -camera2,271.043,-414.254,863.388,-148.000,-0.519,27.331 -25,-146.258,-122.815,-108.825,2.927,-2.949,70.727 -50,-0.060,0.070,-0.101,-0.683,-0.797,-0.992 -71,139.927,0.524,-0.716,-0.252,-1.433,0.179 -76,-433.357,39.158,-87.012,-2.640,1.157,-141.141 -101,-0.131,-80.113,-0.117,2.390,-2.711,-1.977 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976536997_two_cam.json 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a/appVideoServer/public/snapshots/snapshot_video0_1765976569915.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765976569915.jpg deleted file mode 100644 index 6d9b763..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976569915.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.csv deleted file mode 100644 index 3357811..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,504.347,-124.848,208.201,-108.989,2.726,85.199 -camera2,271.710,-420.176,859.501,-147.599,-0.625,27.268 -25,-146.814,-121.470,-109.976,3.146,-3.300,70.657 -50,-0.061,0.071,-0.103,-0.781,-0.762,-0.931 -71,139.923,0.526,-0.716,0.068,-0.982,0.236 -76,-433.712,40.636,-86.571,-3.011,1.340,-141.208 -101,-0.133,-80.112,-0.118,1.869,-2.199,-1.964 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.json deleted file mode 100644 index 73a76b5..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:02:50", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 1.6216126871304202, - "rms_refs_px_cam2": 0.27877574550922213, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 504.3467177651968, - -124.84839969748379, - 208.20052635157322 - ], - "orientation_deg": { - "roll": -108.98881539719824, - "pitch": 2.7258915071953442, - "yaw": 85.19916483251545 - } - }, - { - "id": "camera2", - "position_mm": [ - 271.7103984732562, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765976569915_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976630411.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765976630411.jpg deleted file mode 100644 index b517184..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765976630411.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976630411_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976630411_two_cam.csv deleted file mode 100644 index 95b52a6..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976630411_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,503.955,-125.731,208.411,-109.022,2.687,85.110 -camera2,262.893,-415.781,863.358,-148.116,-0.930,27.136 -25,-106.055,-152.575,-13.570,-1.538,-0.468,72.169 -50,-0.059,0.070,-0.101,-0.745,-0.797,-1.019 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a/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.csv deleted file mode 100644 index adfca8c..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.566,-163.467,205.910,-108.879,2.502,80.264 -camera2,398.621,-418.715,879.797,-149.071,-0.346,22.334 -25,85.631,-165.209,-15.569,0.046,-0.067,32.565 -50,-0.881,0.026,-0.355,-0.435,-0.734,-0.219 -71,139.917,0.032,-0.084,-0.854,-1.688,0.420 -76,-255.171,107.894,-84.112,-81.217,20.892,-122.654 -101,-1.554,-80.259,-0.666,0.892,-0.599,-1.325 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.json deleted file mode 100644 index 4af6ee3..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765976698396_two_cam.json 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a/appVideoServer/public/snapshots/snapshot_video0_1765977934726.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765977934726_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765977934726_two_cam.csv deleted file mode 100644 index 2d0613b..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765977934726_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.953,-161.991,206.488,-108.921,2.533,80.383 -camera2,389.333,-428.117,880.200,-148.864,-0.932,21.985 -25,85.059,-165.541,-15.963,-0.005,-0.078,32.686 -50,-0.879,0.029,-0.357,-0.473,-0.770,-0.098 -71,139.917,0.033,-0.084,0.143,-1.745,-0.398 -76,-273.097,126.270,-114.544,-77.036,28.184,-125.289 -101,-1.541,-80.252,-0.665,0.855,-0.636,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765977934726_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765977934726_two_cam.json deleted file mode 100644 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a/appVideoServer/public/snapshots/snapshot_video0_1765978364728_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978420185.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765978420185.jpg deleted file mode 100644 index 3eafcb7..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765978420185.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978420185_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765978420185_two_cam.csv deleted file mode 100644 index 3cae79a..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978420185_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.566,-163.467,205.910,-108.879,2.502,80.264 -camera2,399.930,-427.541,875.567,-148.565,-0.419,22.248 -25,85.812,-165.698,-15.592,-0.068,-0.436,32.063 -50,-0.882,0.031,-0.357,-0.435,-0.734,-0.219 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a/appVideoServer/public/snapshots/snapshot_video0_1765978512243_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.566,-163.467,205.910,-108.879,2.502,80.264 -camera2,396.557,-428.160,878.175,-148.672,-0.600,22.147 -25,85.667,-165.820,-15.643,-1.224,0.201,33.367 -50,-0.882,0.031,-0.357,-0.435,-0.734,-0.219 -71,139.916,0.033,-0.085,-0.854,-1.688,0.420 -76,-240.260,97.045,-61.741,-85.044,21.778,-126.019 -101,-1.550,-80.250,-0.667,0.892,-0.599,-1.325 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978512243_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765978512243_two_cam.json deleted file mode 100644 index 178d483..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978512243_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:35:12", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765978528964_two_cam.csv deleted file mode 100644 index 280cdcf..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978528964_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,396.557,-428.160,878.175,-148.672,-0.600,22.147 -25,85.597,-165.684,-15.769,-0.097,-0.410,32.184 -50,-0.883,0.030,-0.357,-0.473,-0.727,-0.098 -71,139.916,0.033,-0.084,-0.416,-1.205,-0.342 -76,-251.164,106.267,-78.101,-84.260,21.193,-124.672 -101,-1.551,-80.251,-0.668,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978528964_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765978528964_two_cam.json deleted file mode 100644 index c7cf3d7..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978528964_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": 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a/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.csv deleted file mode 100644 index 427bfdf..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.566,-163.467,205.910,-108.879,2.502,80.264 -camera2,402.987,-424.677,872.728,-148.563,-0.190,22.324 -25,86.063,-165.415,-15.433,-0.201,-0.202,32.717 -50,-0.885,0.032,-0.358,-0.435,-0.734,-0.219 -71,139.916,0.034,-0.084,-0.854,-1.688,0.420 -76,-276.576,125.692,-112.647,-77.776,27.721,-125.294 -101,-1.563,-80.250,-0.671,0.892,-0.599,-1.325 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.json deleted file mode 100644 index d4b6fb3..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978536535_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:35:36", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.10472180840108743, - "rms_refs_px_cam2": 1.4965149767482901, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 656.5662013501304, - -163.4670649339818, - 205.9099946362141 - ], - "orientation_deg": { - "roll": -108.87869927249056, - "pitch": 2.5018378536570647, - "yaw": 80.26418393527958 - } - }, - { - "id": "camera2", - "position_mm": [ - 402.98741113770006, - -424.6766911166422, - 872.7281296568589 - ], - "orientation_deg": { - "roll": -148.56290936086853, - "pitch": -0.1899021452396405, - "yaw": 22.323936594136764 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - 86.06256866455078, - -165.414794921875, 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ed228e3..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765978552974.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978552974_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765978552974_two_cam.csv deleted file mode 100644 index a7c5fd4..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765978552974_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,396.557,-428.160,878.175,-148.672,-0.600,22.147 -25,85.570,-165.626,-15.808,-0.229,-0.175,32.838 -50,-0.883,0.030,-0.357,-0.473,-0.727,-0.098 -71,139.916,0.033,-0.084,-0.416,-1.205,-0.342 -76,-251.164,106.267,-78.101,-84.260,21.193,-124.672 -101,-1.551,-80.251,-0.668,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765978552974_two_cam.json 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a/appVideoServer/public/snapshots/snapshot_video0_1765979039260_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979096358.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765979096358.jpg deleted file mode 100644 index b8c7ff1..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765979096358.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979096358_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765979096358_two_cam.csv deleted file mode 100644 index f63530b..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979096358_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,400.822,-418.886,878.434,-149.019,-0.205,22.336 -25,85.619,-165.500,-15.631,-0.226,-0.156,32.867 -50,-0.882,0.027,-0.355,-0.473,-0.727,-0.098 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deleted file mode 100644 index cd0c867..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765979096358_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979173960.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765979173960.jpg deleted file mode 100644 index 73e1d27..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765979173960.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979173960_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765979173960_two_cam.csv deleted file mode 100644 index d63681b..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979173960_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.152,-162.344,205.771,-108.865,2.451,80.384 -camera2,400.638,-416.585,877.989,-149.120,-0.132,22.323 -25,85.084,-165.201,-16.080,-2.740,-0.018,35.872 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a/appVideoServer/public/snapshots/snapshot_video0_1765979473565_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,406.328,-420.900,875.010,-148.738,0.023,22.441 -25,86.026,-165.529,-15.379,-0.750,0.389,32.855 -50,-0.886,0.029,-0.357,-0.473,-0.727,-0.098 -71,139.916,0.033,-0.084,-0.416,-1.205,-0.342 -76,-256.064,107.541,-82.170,-81.723,20.808,-122.751 -101,-1.565,-80.254,-0.670,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979473565_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765979473565_two_cam.json deleted file mode 100644 index 5fd7f4e..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979473565_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:51:13", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765979612483_two_cam.csv deleted file mode 100644 index 4cd70ff..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979612483_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,401.022,-424.419,873.903,-148.630,-0.309,22.332 -25,85.877,-165.446,-15.511,-0.338,-0.537,32.341 -50,-0.884,0.030,-0.357,-0.473,-0.727,-0.098 -71,139.916,0.033,-0.084,-0.416,-1.205,-0.342 -76,-244.864,99.861,-67.865,-82.413,21.776,-124.206 -101,-1.560,-80.253,-0.670,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979612483_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765979612483_two_cam.json deleted file mode 100644 index 678e315..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979612483_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": 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a/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.csv deleted file mode 100644 index 2dbef07..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.608,-163.821,205.689,-108.865,2.413,80.263 -camera2,404.298,-423.836,871.372,-148.523,-0.141,22.427 -25,86.218,-165.411,-15.422,-0.647,0.312,32.733 -50,-0.885,0.031,-0.357,-0.345,-0.735,-0.221 -71,139.916,0.034,-0.084,-1.098,-1.699,1.264 -76,-237.803,93.253,-55.775,-86.656,20.461,-125.666 -101,-1.565,-80.251,-0.672,1.521,-1.203,-1.247 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.json deleted file mode 100644 index 029df1a..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979663973_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:54:24", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.1047223195358695, - "rms_refs_px_cam2": 1.4991458300325986, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 656.6076336095916, - -163.82067788294125, - 205.68927903010368 - ], - "orientation_deg": { - "roll": -108.86520788773284, - "pitch": 2.4125843097402044, - "yaw": 80.26332383883566 - } - }, - { - "id": "camera2", - "position_mm": [ - 404.2977300285423, - -423.8360285852627, - 871.3724070693338 - ], - "orientation_deg": { - "roll": -148.5233912315892, - "pitch": -0.1409518328601045, - "yaw": 22.42671719085975 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - 86.21788787841797, - -165.41070556640625, - -15.422182083129883 - ], - "orientation_deg": { - "roll": 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a/appVideoServer/public/snapshots/snapshot_video0_1765979986834.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.csv deleted file mode 100644 index e8ee438..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,400.822,-418.886,878.434,-149.019,-0.205,22.336 -25,85.592,-165.442,-15.670,0.034,-0.013,32.707 -50,-0.882,0.027,-0.355,-0.473,-0.727,-0.098 -71,139.917,0.032,-0.083,-0.416,-1.205,-0.342 -76,-244.243,98.785,-67.543,-82.126,21.474,-124.098 -101,-1.556,-80.258,-0.666,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.json deleted file mode 100644 index b4867cc..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765979986834_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 13:59:47", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.10353467058818223, - "rms_refs_px_cam2": 1.494653661488378, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 657.1097075975559, - -161.98988993752445, - 205.98860705019194 - ], - "orientation_deg": { - "roll": -108.8778742476637, - "pitch": 2.540385499873529, - "yaw": 80.38497041932298 - } - }, - { - "id": "camera2", - "position_mm": [ - 400.8221911027453, - -418.8856366356949, - 878.4340411846117 - ], - "orientation_deg": { - "roll": -149.01879679885857, - "pitch": -0.20456352602768232, - "yaw": 22.33601553926593 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - 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a/appVideoServer/public/snapshots/snapshot_video0_1765980184630.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765980184630.jpg deleted file mode 100644 index eda70bb..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765980184630.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.csv deleted file mode 100644 index fd1a871..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,402.732,-419.209,877.279,-148.941,-0.090,22.325 -25,85.450,-165.500,-15.640,-0.616,0.135,32.170 -50,-0.884,0.028,-0.356,-0.473,-0.727,-0.098 -71,139.916,0.032,-0.084,-0.416,-1.205,-0.342 -76,-261.321,112.526,-91.468,-80.049,21.830,-122.990 -101,-1.560,-80.257,-0.667,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.json deleted file mode 100644 index 79f7edb..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:03:04", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.10353467058818223, - "rms_refs_px_cam2": 1.4954419209235128, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 657.1097075975559, - -161.98988993752445, - 205.98860705019194 - ], - "orientation_deg": { - "roll": -108.8778742476637, - "pitch": 2.540385499873529, - "yaw": 80.38497041932298 - } - }, - { - "id": "camera2", - "position_mm": [ - 402.73165716993907, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765980184630_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980205019.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765980205019.jpg deleted file mode 100644 index 1087f1e..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765980205019.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980205019_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765980205019_two_cam.csv deleted file mode 100644 index 25e71b1..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980205019_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,401.061,-421.122,876.085,-148.851,-0.192,22.269 -25,85.247,-165.416,-15.846,-0.113,0.219,33.381 -50,-0.883,0.029,-0.356,-0.473,-0.727,-0.098 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a/appVideoServer/public/snapshots/snapshot_video0_1765980403972_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.290,-161.497,206.014,-108.878,2.553,80.425 -camera2,388.057,-431.266,879.383,-148.719,-0.996,21.799 -25,84.466,-165.836,-16.139,-0.759,0.398,32.895 -50,-0.884,0.030,-0.359,-0.486,-0.724,-0.057 -71,139.917,0.033,-0.084,-0.592,-1.368,0.005 -76,-242.224,101.692,-68.228,-82.024,22.331,-124.657 -101,-1.547,-80.251,-0.668,0.841,-0.590,-1.164 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980403972_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765980403972_two_cam.json deleted file mode 100644 index 8bed7da..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980403972_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:06:44", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765980539344_two_cam.csv deleted file mode 100644 index 4d33012..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980539344_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.566,-163.467,205.910,-108.879,2.502,80.264 -camera2,400.212,-412.004,879.967,-149.394,-0.081,22.371 -25,85.380,-165.398,-15.637,0.062,-0.040,32.586 -50,-0.881,0.026,-0.353,-0.435,-0.734,-0.219 -71,139.918,0.032,-0.083,-0.854,-1.688,0.420 -76,-233.681,89.826,-53.375,-82.623,21.728,-125.231 -101,-1.552,-80.261,-0.661,0.892,-0.599,-1.325 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980539344_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765980539344_two_cam.json deleted file mode 100644 index c370ee4..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980539344_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": 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a/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.csv deleted file mode 100644 index cc7e939..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,406.022,-418.671,874.703,-148.832,0.079,22.420 -25,85.800,-165.418,-15.473,-0.500,0.537,32.698 -50,-0.887,0.029,-0.357,-0.473,-0.727,-0.098 -71,139.916,0.032,-0.084,-0.416,-1.205,-0.342 -76,-245.297,99.120,-66.913,-82.462,21.340,-124.137 -101,-1.567,-80.256,-0.670,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.json deleted file mode 100644 index 9088c0b..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980569984_two_cam.json 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a/appVideoServer/public/snapshots/snapshot_video0_1765980901068.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980901068_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765980901068_two_cam.csv deleted file mode 100644 index f6fe0e7..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765980901068_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.374,-163.961,205.883,-108.880,2.486,80.214 -camera2,403.135,-415.019,875.566,-149.037,-0.068,22.509 -25,85.911,-165.238,-15.388,0.073,-0.051,32.536 -50,-0.887,0.027,-0.357,-0.249,-0.913,-0.964 -71,139.916,0.032,-0.084,-0.838,-1.691,0.369 -76,-246.053,99.134,-69.303,0.855,1.361,-106.652 -101,-1.569,-80.261,-0.670,1.120,-0.468,-1.870 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765980901068_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765980901068_two_cam.json deleted file mode 100644 index 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b/appVideoServer/public/snapshots/snapshot_video0_1765981040869_two_cam.json deleted file mode 100644 index 49781d9..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765981040869_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:17:21", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.10353467058818223, - "rms_refs_px_cam2": 1.5038758118993447, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 657.1097075975559, - -161.98988993752445, - 205.98860705019194 - ], - "orientation_deg": { - "roll": -108.8778742476637, - "pitch": 2.540385499873529, - "yaw": 80.38497041932298 - } - }, - { - "id": "camera2", - "position_mm": [ - 391.8502566523764, - -423.1840730268623, - 880.0464063751618 - ], - "orientation_deg": { - "roll": -148.99922962278575, - "pitch": -0.7447827472768946, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765981169256.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765981169256.jpg deleted file mode 100644 index e47b6b2..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765981169256.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.csv deleted file mode 100644 index 9c8b941..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.110,-161.990,205.989,-108.878,2.540,80.385 -camera2,381.230,-426.132,884.885,-149.189,-1.332,21.870 -25,84.496,-165.612,-16.108,-0.226,-0.156,32.867 -50,-0.877,0.025,-0.356,-0.473,-0.727,-0.098 -71,139.918,0.031,-0.084,-0.416,-1.205,-0.342 -76,-258.657,115.821,-97.107,-0.209,2.751,-107.997 -101,-1.534,-80.259,-0.662,0.854,-0.593,-1.204 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.json deleted file mode 100644 index cb2c292..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:19:29", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.10353467058818223, - "rms_refs_px_cam2": 1.501241552277118, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 657.1097075975559, - -161.98988993752445, - 205.98860705019194 - ], - "orientation_deg": { - "roll": -108.8778742476637, - "pitch": 2.540385499873529, - "yaw": 80.38497041932298 - } - }, - { - "id": "camera2", - "position_mm": [ - 381.22991511324875, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765981169256_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765981186514.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765981186514.jpg deleted file mode 100644 index 1281395..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765981186514.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765981186514_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765981186514_two_cam.csv deleted file mode 100644 index 384fe8a..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765981186514_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,656.375,-160.969,205.837,-108.888,2.551,80.451 -camera2,383.908,-430.861,881.724,-148.850,-1.255,21.808 -25,84.481,-165.428,-16.129,-0.386,0.275,32.075 -50,-0.882,0.028,-0.359,-0.486,-0.735,-0.031 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a/appVideoServer/public/snapshots/snapshot_video0_1765982335864_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera1,657.858,-162.525,206.666,-108.911,2.532,80.348 -camera2,233.953,-377.362,861.443,-148.075,-1.628,25.702 -25,86.298,-165.558,-15.216,-0.766,0.359,32.819 -50,-0.048,-0.053,-0.043,-0.299,-0.937,-0.828 -71,140.106,-0.072,-0.023,-0.577,-1.405,-0.072 -76,-242.943,105.042,-81.245,-65.564,26.409,-121.513 -101,-0.163,-80.273,-0.153,0.857,-0.627,-1.240 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765982335864_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765982335864_two_cam.json deleted file mode 100644 index c10f4f9..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765982335864_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:38:56", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765982356361_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765982356361_two_cam.json deleted file mode 100644 index 370759e..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765982356361_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:39:16", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.028160531041196205, - "rms_refs_px_cam2": 1.713305518018814, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 669.4110681377601, - -155.70903220395354, - 208.2551352622202 - ], - "orientation_deg": { - "roll": -109.12181990698049, - "pitch": 2.4888060494924478, - "yaw": 78.06379631236706 - } - }, - { - "id": "camera2", - "position_mm": [ - 247.38402127252985, - -362.31401292454984, - 874.1087327481491 - ], - 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/dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765982577214.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765982577214.jpg deleted file mode 100644 index 27ffc3f..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765982577214.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765982577214_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765982577214_two_cam.csv deleted file mode 100644 index 5af1dc0..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765982577214_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,669.63,-156.89,209.65,-109.217,2.535,77.944 -camera 1,247.37,-359.85,873.90,-148.905,-2.660,18.504 -25,85.767,-166.787,-14.960,0.375,-0.714,30.279 -50,-0.444,-0.158,-0.228,-0.352,-1.265,-0.827 -71,140.003,-0.108,-0.048,-0.342,-1.517,0.137 -76,-249.057,109.914,-96.879,-63.064,25.580,-119.376 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a/appVideoServer/public/snapshots/snapshot_video0_1765983044369_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983044369_two_cam.json deleted file mode 100644 index f7bf5ca..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983044369_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:50:44", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.028197296873898308, - "rms_refs_px_cam2": 1.7187607339405568, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 668.8960396574817, - -156.7548341914854, - 208.76126278964352 - ], - "orientation_deg": { - "roll": -109.1780978089365, - "pitch": 2.446748193640794, - "yaw": 77.9595692594307 - } - }, - { - "id": "camera2", - "position_mm": [ - 247.25500139925649, - -359.8970653985967, - 873.9604521957694 - ], - 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and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983168563.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983168563.jpg deleted file mode 100644 index f82c7cf..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983168563.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983168563_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983168563_two_cam.csv deleted file mode 100644 index ab1da4f..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983168563_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,667.17,-152.77,206.90,-109.091,2.617,78.244 -camera 1,247.15,-360.02,873.97,-148.892,-2.683,18.495 -25,85.73,-166.18,-15.26,0.045,-0.411,31.416 -50,-0.45,-0.16,-0.23,-1.168,-0.308,0.110 -71,140.00,-0.11,-0.05,-0.715,-2.037,-0.142 -76,-234.44,96.35,-68.73,-64.463,28.103,-123.911 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a/appVideoServer/public/snapshots/snapshot_video0_1765983168563_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983229717.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983229717.jpg deleted file mode 100644 index 4f4439d..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983229717.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983229717_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983229717_two_cam.csv deleted file mode 100644 index 9aba21d..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983229717_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,668.57,-153.50,206.18,-108.993,2.464,78.260 -camera 1,247.86,-371.82,868.31,-148.133,-2.825,18.344 -25,85.54,-166.19,-15.96,-0.435,-0.737,31.885 -50,-0.45,-0.16,-0.23,-0.357,-0.865,0.101 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a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.csv deleted file mode 100644 index 6fd1985..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,668.16,-156.60,207.85,-109.117,2.369,78.005 -camera 1,254.37,-359.04,871.66,-148.771,-2.254,18.606 -25,85.88,-166.27,-15.30,0.060,-0.829,33.070 -50,-0.45,-0.16,-0.23,-0.352,-1.022,-0.047 -71,140.00,-0.11,-0.05,0.019,-1.295,-0.129 -76,-241.68,101.66,-78.80,-64.703,26.391,-121.039 -101,-1.00,-80.60,-0.55,0.184,-1.572,-0.785 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.json deleted file mode 100644 index a00e334..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam.json +++ /dev/null @@ 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at end of file diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_annotated.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_annotated.jpg deleted file mode 100644 index 4779c60..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_overlay.png deleted file mode 100644 index 5e657c9..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983289679_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983300286.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983300286.jpg deleted file mode 100644 index eaaec02..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983300286.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.csv deleted file mode 100644 index 3090068..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,667.92,-156.75,208.04,-109.134,2.445,77.964 -camera 1,250.83,-362.23,871.07,-148.660,-2.472,18.440 -25,85.67,-166.59,-15.23,0.122,-0.571,31.152 -50,-0.45,-0.16,-0.23,-0.430,-1.023,-0.085 -71,140.00,-0.11,-0.05,0.128,-1.476,-0.786 -76,-241.07,102.73,-79.48,-64.639,26.628,-121.171 -101,-1.00,-80.60,-0.55,0.803,-0.674,-0.762 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.json deleted file mode 100644 index b6771b5..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983300286_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:55:00", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.02850954489474135, - "rms_refs_px_cam2": 1.7209535863565424, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 667.9191868209715, - -156.7453691637325, - 208.0377833648449 - ], - "orientation_deg": { - "roll": -109.13430384754392, - "pitch": 2.4450553465618627, - "yaw": 77.96406965629879 - } - }, - { - "id": "camera2", - "position_mm": [ - 250.82762984728558, - -362.2279209900859, - 871.0693542614655 - ], - "orientation_deg": { - "roll": -148.660266510794, - "pitch": -2.472409212397597, - "yaw": 18.440413699019743 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - 85.67264556884766, - -166.59120178222656, - 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9c3515d..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983308213.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.csv deleted file mode 100644 index b463455..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,668.62,-155.20,207.56,-109.089,2.494,78.090 -camera 1,254.37,-359.04,871.66,-148.771,-2.254,18.606 -25,85.88,-166.24,-15.26,154.935,34.016,140.014 -50,-0.45,-0.16,-0.23,-0.469,-0.968,0.039 -71,140.00,-0.11,-0.05,-0.594,-2.061,-0.301 -76,-241.68,101.66,-78.80,-64.703,26.391,-121.039 -101,-1.00,-80.60,-0.55,0.763,-0.620,-0.638 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.json deleted file mode 100644 index 344438b..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983308213_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:55:08", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.02817892157092051, - "rms_refs_px_cam2": 1.7205881560483913, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 668.6174664090123, - -155.19924293833685, - 207.5607349216386 - ], - "orientation_deg": { - "roll": -109.08916320392417, - "pitch": 2.4939936318382974, - "yaw": 78.0898854927539 - } - }, - { - "id": "camera2", - "position_mm": [ - 254.37318761446315, - -359.03839203023114, - 871.6643232939423 - ], - "orientation_deg": { - "roll": -148.7705354991614, - "pitch": -2.254278173806264, - "yaw": 18.605632964055125 - } - } - ], - "markers": [ - { - "id": 25, - "position_mm": [ - 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deleted file mode 100644 index 3a98c7b..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983318221.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.csv deleted file mode 100644 index f623787..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,667.05,-153.65,206.70,-109.065,2.515,78.202 -camera 1,249.26,-367.11,869.71,-148.389,-2.655,18.390 -25,85.58,-166.22,-15.46,0.137,-0.463,31.372 -50,-0.45,-0.16,-0.23,-0.801,-1.204,0.911 -71,140.00,-0.11,-0.05,-0.290,-1.373,0.387 -76,-240.88,103.39,-79.02,-64.737,26.943,-121.253 -101,-1.01,-80.60,-0.56,0.748,-0.593,-0.527 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.json deleted file mode 100644 index 5821092..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983318221_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:55:18", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.028314644300649356, - "rms_refs_px_cam2": 1.7213157206320782, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 667.0502644259649, - -153.6529163276419, - 206.69782379546655 - ], - "orientation_deg": { - "roll": -109.0653145162892, - "pitch": 2.5146778026792513, - "yaw": 78.20152139315742 - } - }, - { - "id": "camera2", - "position_mm": [ - 249.25804931933303, - -367.11332338289066, - 869.7129496914637 - ], - "orientation_deg": { - "roll": -148.38927562752295, - "pitch": -2.654868519615817, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765983328113.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983328113.jpg deleted file mode 100644 index 16b9eb8..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983328113.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983328113_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983328113_two_cam.csv deleted file mode 100644 index 984ffb8..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983328113_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,667.49,-155.20,207.37,-109.100,2.480,78.083 -camera 1,249.26,-367.11,869.71,-148.389,-2.655,18.390 -25,85.61,-166.36,-15.38,0.139,-0.512,31.255 -50,-0.45,-0.16,-0.23,-0.620,-1.115,0.420 -71,140.00,-0.11,-0.05,-0.086,-1.255,-0.049 -76,-240.88,103.39,-79.02,-64.737,26.943,-121.253 -101,-1.00,-80.60,-0.56,0.775,-0.634,-0.645 diff --git 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/dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983393320.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983393320.jpg deleted file mode 100644 index a5c9ae1..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983393320.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983393320_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983393320_two_cam.csv deleted file mode 100644 index 67e2cec..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983393320_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,667.92,-156.75,208.04,-109.134,2.445,77.964 -camera 1,251.80,-367.00,869.08,-148.345,-2.495,18.391 -25,85.65,-166.52,-15.31,0.141,-0.561,31.138 -50,-0.45,-0.16,-0.23,-0.430,-1.023,-0.085 -71,140.00,-0.11,-0.05,0.128,-1.476,-0.786 -76,-241.10,103.35,-78.29,-64.891,26.850,-121.320 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a/appVideoServer/public/snapshots/snapshot_video0_1765983393320_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983489899.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983489899.jpg deleted file mode 100644 index aa0d76d..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983489899.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983489899_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983489899_two_cam.csv deleted file mode 100644 index a4365e9..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983489899_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,669.01,-155.84,208.95,-109.182,2.560,78.032 -camera 1,244.79,-367.98,871.22,-148.458,-2.903,18.285 -25,85.43,-166.76,-15.12,0.025,-0.517,31.209 -50,-0.45,-0.16,-0.23,-0.999,-1.110,1.407 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deleted file mode 100644 index 25476a1..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983489899_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983500713.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983500713.jpg deleted file mode 100644 index 9a72c3d..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983500713.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983500713_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983500713_two_cam.csv deleted file mode 100644 index 031d34c..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983500713_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,668.56,-154.83,207.76,-109.106,2.584,78.091 -camera 1,248.25,-362.35,871.71,-148.706,-2.634,18.440 -25,85.65,-166.41,-15.16,0.059,-0.445,31.264 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b/appVideoServer/public/snapshots/snapshot_video0_1765983500713_two_cam_overlay.png deleted file mode 100644 index 208f546..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983500713_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983532340.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983532340.jpg deleted file mode 100644 index 96c4250..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983532340.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.csv deleted file mode 100644 index c8850d5..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,670.15,-155.85,209.15,-109.171,2.574,78.039 -camera 1,257.68,-351.57,874.48,-149.181,-1.941,18.711 -25,86.14,-166.68,-14.87,0.022,-0.500,31.215 -50,-0.45,-0.16,-0.23,-0.859,-0.965,1.050 -71,140.00,-0.11,-0.05,-0.319,-2.139,-1.275 -76,-253.26,110.55,-100.22,-61.506,26.082,-119.456 -101,-1.00,-80.61,-0.54,1.271,-1.312,-0.659 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.json deleted file mode 100644 index 08dea5a..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 14:58:52", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.028139097922207954, - "rms_refs_px_cam2": 1.720261241863754, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 670.1472058890698, - 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a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam_overlay.png deleted file mode 100644 index 0d82ee1..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983532340_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983824183.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983824183.jpg deleted file mode 100644 index 69ef7b6..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983824183.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983824183_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983824183_two_cam.csv deleted file mode 100644 index 27967fd..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983824183_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg 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-id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,569.04,-124.16,206.60,-108.979,2.574,80.635 -camera 1,205.62,-388.72,848.54,-146.660,1.977,35.803 -25,-8.60,-162.27,-13.90,-0.436,-0.952,22.496 -50,0.07,-0.05,0.00,-0.400,-0.863,-1.670 -71,141.49,-0.56,0.57,-0.183,-1.575,-0.177 -76,-366.15,97.07,-76.39,-72.814,25.389,-121.978 -101,0.20,-80.16,0.01,1.572,-1.233,-0.290 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam.json deleted file mode 100644 index 849448f..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 15:05:27", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.14351129243903124, - "rms_refs_px_cam2": 1.4967904182185592, - "description": "Two-camera joint optimization with 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a/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam_overlay.png deleted file mode 100644 index 012516c..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983927709_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983937679.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765983937679.jpg deleted file mode 100644 index e597910..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983937679.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.csv deleted file mode 100644 index 8583018..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,568.67,-122.71,206.13,-108.953,2.685,80.727 -camera 1,183.06,-398.22,846.81,-146.946,0.583,35.304 -25,-8.65,-162.33,-13.72,-0.765,-0.979,22.899 -50,0.07,-0.05,0.00,-0.506,-0.822,-1.577 -71,141.47,-0.56,0.55,0.338,-1.153,0.809 -76,-363.39,101.75,-85.83,-71.929,26.569,-122.082 -101,0.20,-80.15,0.01,2.154,-1.930,-0.760 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.json deleted file mode 100644 index 9bcd0ea..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 15:05:37", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 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deleted file mode 100644 index 25d2f98..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam_overlay.png deleted file mode 100644 index 0d31a71..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765983937679_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984026346.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765984026346.jpg deleted file mode 100644 index d3a5467..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984026346.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.csv deleted file mode 100644 index ecfd138..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,568.13,-122.28,205.77,-108.943,2.621,80.792 -camera 1,127.62,-391.84,870.32,-145.616,0.865,9.369 -25,-30.79,-164.09,-22.51,-0.457,-0.897,22.652 -50,-0.12,-0.17,-0.13,-0.601,-0.968,-1.153 -71,140.20,-0.24,-0.07,0.021,-0.707,0.825 -76,-348.28,93.33,-75.00,-65.016,28.754,-118.071 -101,-0.34,-80.63,-0.39,1.666,-1.390,-0.665 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.json deleted file mode 100644 index cca6529..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 15:07:06", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - 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b/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam_annotated.jpg deleted file mode 100644 index 1a47401..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam_overlay.png deleted file mode 100644 index f9a17c3..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984026346_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984423916.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765984423916.jpg deleted file mode 100644 index df56865..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984423916.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.csv deleted file mode 100644 index c4cd5cd..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,568.04,-122.58,206.01,-108.959,2.536,80.790 -camera 1,132.64,-392.62,870.39,-145.560,1.126,9.504 -25,-24.51,-163.72,-20.23,-0.643,-1.064,22.959 -50,-0.12,-0.17,-0.13,0.002,-0.144,-0.946 -71,140.20,-0.24,-0.07,-0.435,-1.128,-0.138 -76,-349.14,92.63,-72.31,-4.310,2.877,-101.531 -101,-0.34,-80.63,-0.39,1.747,-1.418,-0.668 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.json deleted file mode 100644 index c8101a6..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984423916_two_cam.json +++ /dev/null @@ -1,110 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 15:13:44", - 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a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.csv deleted file mode 100644 index 52ae109..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.csv +++ /dev/null @@ -1,8 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,569.01,-123.77,206.98,-109.015,2.581,80.668 -camera 1,120.40,-392.76,870.50,-145.668,0.443,9.251 -25,-26.34,-163.98,-20.84,-0.830,-0.854,23.432 -50,-0.11,-0.17,-0.13,-0.411,-0.898,-1.635 -71,140.20,-0.24,-0.07,0.135,-2.203,0.065 -76,-346.29,92.82,-74.42,-1.809,3.289,-102.686 -101,-0.34,-80.63,-0.38,1.560,-1.268,-0.255 diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.json b/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.json deleted file mode 100644 index d9b506a..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam.json +++ /dev/null @@ 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at end of file diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_annotated.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_annotated.jpg deleted file mode 100644 index 5a53508..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_annotated.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_overlay.png b/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_overlay.png deleted file mode 100644 index 6d6cf18..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765984522116_two_cam_overlay.png and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765985043290.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765985043290.jpg deleted file mode 100644 index 5b57efb..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765985043290.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765985202679.jpg b/appVideoServer/public/snapshots/snapshot_video0_1765985202679.jpg deleted file mode 100644 index 6d2333a..0000000 Binary files a/appVideoServer/public/snapshots/snapshot_video0_1765985202679.jpg and /dev/null differ diff --git a/appVideoServer/public/snapshots/snapshot_video0_1765985202679_two_cam.csv b/appVideoServer/public/snapshots/snapshot_video0_1765985202679_two_cam.csv deleted file mode 100644 index 78f77fb..0000000 --- a/appVideoServer/public/snapshots/snapshot_video0_1765985202679_two_cam.csv +++ /dev/null @@ -1,10 +0,0 @@ -id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg -camera 0,571.29,-110.36,206.44,-108.964,2.644,83.110 -camera 1,139.29,-397.63,870.83,-145.763,0.912,8.220 -0,-341.00,185.33,-60.26,0.117,-2.140,4.963 -3,-322.40,233.53,77.50,-1.434,-1.655,6.453 -50,-0.18,-0.15,-0.16,-0.658,-0.354,-0.208 -71,140.11,-0.15,-0.11,-0.712,-0.647,0.564 -76,-336.83,57.13,-77.49,-0.473,3.635,-61.160 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/dev/null @@ -1,136 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-17 15:32:45", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.1799119039626923, - "rms_refs_px_cam2": 1.4444582411296125, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 572.6101595416368, - -111.34094806668504, - 207.18517812794173 - ], - "orientation_deg": { - "roll": -108.98942106374847, - "pitch": 2.5589208798866228, - "yaw": 83.06932731475982 - } - }, - { - "id": "camera2", - "position_mm": [ - 142.3733585703294, - -387.44110369919247, - 877.1095330177003 - ], - "orientation_deg": { - "roll": -146.4308679647237, - "pitch": 1.112031204244544, - "yaw": 8.413293434404276 - } - } - ], - "markers": [ - { - "id": 0, - "position_mm": [ - -332.01092053918296, - 174.557452319959, - -82.96293507775887 - ], - "orientation_deg": { - "roll": 69.65953657652382, - 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a/appVideoServer/public/snapshots/snapshot_video0_1766162159752_two_cam.json +++ /dev/null @@ -1,97 +0,0 @@ -{ - "metadata": { - "timestamp": "2025-12-19 16:36:00", - "reference_markers": [ - 50, - 71, - 101 - ], - "dict": "DICT_4X4_250", - "marker_size_mm": 25.0, - "rms_refs_px_cam1": 0.30742605937193207, - "rms_refs_px_cam2": 0.08891640185021116, - "description": "Two-camera joint optimization with triangulation" - }, - "cameras": [ - { - "id": "camera1", - "position_mm": [ - 552.7484176597131, - -152.38838000119364, - 207.51357891504173 - ], - "orientation_deg": { - "roll": -109.10628135823755, - "pitch": 2.60690775728556, - "yaw": 78.91698543996296 - } - }, - { - "id": "camera2", - "position_mm": [ - 537.1745482120374, - -398.056612343999, - 591.1974034915366 - ], - "orientation_deg": { - "roll": -133.07702887860844, - "pitch": -1.8276042282267837, - "yaw": 53.53593372982741 - } - } - ], - "markers": [ - { - "id": 50, - "position_mm": [ - -0.013732826337218285, - 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-// /public/videoService.js -// Client-side helper for consuming binary JPEG frames over WebSocket, -// decoding with createImageBitmap, and drawing to a canvas with RAF. -// For /ws/video0, supports sending control messages as JSON text. - -(function () { - class FrameRenderer { - constructor(canvas) { - this.canvas = canvas; - this.ctx = canvas.getContext('2d', { alpha: false, desynchronized: true, willReadFrequently: false }); - this.queue = []; - this.maxQueue = 2; // keep at most 2 pending frames to limit latency - this._rafId = null; - this._running = false; - this._lastDraw = 0; - } - enqueue(bitmap) { - if (this.queue.length >= this.maxQueue) { - // drop older frame to keep latency low - const old = this.queue.shift(); - if (old && 'close' in old) try { old.close(); } catch {} - } - this.queue.push(bitmap); - if (!this._running) this.start(); - } - start() { - if (this._running) return; - this._running = true; - const loop = (ts) => { - if (!this._running) return; - const frame = this.queue.shift(); - if (frame) { - const w = this.canvas.width, h = this.canvas.height; - this.ctx.drawImage(frame, 0, 0, w, h); - if ('close' in frame) try { frame.close(); } catch {} - this._lastDraw = ts; - } - this._rafId = requestAnimationFrame(loop); - }; - this._rafId = requestAnimationFrame(loop); - } - stop() { - this._running = false; - if (this._rafId) cancelAnimationFrame(this._rafId); - this._rafId = null; - // cleanup queued frames - while (this.queue.length) { - const f = this.queue.shift(); - if (f && 'close' in f) try { f.close(); } catch {} - } - // Clear canvas - this.ctx.clearRect(0, 0, this.canvas.width, this.canvas.height); - } - } - - function prettyStatus(el, state, extra = '') { - const color = { - connecting: '#9eb8ff', - open: '#8cffbf', - closed: '#ff9e9e', - error: '#ffb167' - }[state] || '#e7eaf6'; - el.innerHTML = `${state.toUpperCase()}${extra ? ' — ' + extra : ''}`; - } - - async function blobToBitmap(blob) { - // createImageBitmap is widely supported; fallback to if needed - return createImageBitmap(blob); - } - - function parseWH(value) { - if (!value) return null; - const [w, h] = String(value).split('x').map(Number); - if (!w || !h) return null; - return { width: w, height: h }; - } - - function attachStream({ url, canvas, statusEl, control }) { - const renderer = new FrameRenderer(canvas); - let ws; - let reconnectDelay = 1000; - let closedOnPurpose = false; - - function connect() { - prettyStatus(statusEl, 'connecting', url); - ws = new WebSocket(url); - ws.binaryType = 'blob'; - - ws.onopen = () => { - reconnectDelay = 1000; - prettyStatus(statusEl, 'open', 'streaming…'); - // On connection, fetch the latest snapshot metadata so the UI can show - // the freshest overlay and CSV (prevents showing an old image cached in index.html). - if (control?.snapshotOutEl) { - fetch('/snapshots/latest', { cache: 'no-store' }) - .then(r => r.ok ? r.json() : Promise.reject(new Error('no snapshot'))) - .then((j) => { - if (!j?.ok) return; - const overlayPNG = (j.overlay ? `${j.overlay}?_t=${Date.now()}` : null); - const overlayCSV = (j.overlayCSV ? `${j.overlayCSV}?_t=${Date.now()}` : null); - if (overlayPNG) { - document.getElementById('overlayImg').src = overlayPNG; - } - if (window.readCSV && overlayCSV) { - window.readCSV.renderCSV('csvTable', overlayCSV); - } - // Show links to the latest snapshot in the snapshot output box (non-intrusive) - control.snapshotOutEl.innerHTML = `Latest snapshot: ${j.url}`; - }).catch(() => { - // ignore — no latest snapshot yet - }); - } - }; - - ws.onmessage = async (evt) => { - if (typeof evt.data === 'string') { - // Control/meta message - try { - const msg = JSON.parse(evt.data); - if (msg.type === 'error') { - console.warn('Server error:', msg.error); - prettyStatus(statusEl, 'error', msg.error); - } - if (msg.type === 'snapshot' && control?.snapshotOutEl) { - if (msg.ok && msg.url && msg.urlApp) { - // Use overlay URL and CSV provided by the server (fallback to expected names) - const overlayPNG = msg.overlay || msg.urlApp.replace('_annotated.jpg','_two_cam_overlay.png'); - // Prefer server-provided overlayCSV. If not present, derive from the original jpg name - const overlayCSV = msg.overlayCSV || msg.url.replace('.jpg','_two_cam.csv'); - - control.snapshotOutEl.innerHTML = - `Snapshot: ${msg.url}

` + - ` Recognized: ${msg.urlApp}
` + - ` Overlay: PNG Overlay`; - // Update overlay immediately — server now ensures files are ready before responding - document.getElementById('overlayImg').src = overlayPNG; - // Render CSV values into the csvTable container (if available) - if (window.readCSV) { - window.readCSV.renderCSV('csvTable', overlayCSV); - } - } else { - control.snapshotOutEl.textContent = 'Snapshot failed'; - } - } - } catch { - // ignore non-JSON text frames - } - return; - } - // Binary JPEG frame - const blob = evt.data; // Blob of image/jpeg - try { - const bmp = await blobToBitmap(blob); - renderer.enqueue(bmp); - } catch (err) { - console.warn('Bitmap decode failed:', err); - } - }; - - ws.onerror = () => { - prettyStatus(statusEl, 'error', 'network error'); - }; - - ws.onclose = () => { - renderer.stop(); - prettyStatus(statusEl, 'closed', closedOnPurpose ? 'by client' : 'retrying…'); - if (!closedOnPurpose) { - setTimeout(connect, reconnectDelay); - reconnectDelay = Math.min(reconnectDelay * 2, 10000); - } - }; - } - - connect(); - - // Attach controls if provided (video0) - if (control) { - const { resSelect, fpsSelect, qSelect, applyBtn, snapshotBtn, startBtn, stopBtn, snapshotOutEl } = control; - - applyBtn?.addEventListener('click', () => { - if (!ws || ws.readyState !== WebSocket.OPEN) return; - const wh = parseWH(resSelect?.value); - const fps = Number(fpsSelect?.value || 15); - const q = Number(qSelect?.value || 5); - ws.send(JSON.stringify({ - type: 'control', - action: 'setParams', - params: { - ...(wh || {}), - fps, - quality: q - } - })); - }); - - snapshotBtn?.addEventListener('click', () => { - if (!ws || ws.readyState !== WebSocket.OPEN) return; - snapshotOutEl.textContent = 'Taking snapshot…'; - ws.send(JSON.stringify({ type: 'control', action: 'snapshot' })); - }); - - startBtn?.addEventListener('click', () => { - if (!ws || ws.readyState !== WebSocket.OPEN) return; - ws.send(JSON.stringify({ type: 'control', action: 'start' })); - }); - - stopBtn?.addEventListener('click', () => { - if (!ws || ws.readyState !== WebSocket.OPEN) return; - ws.send(JSON.stringify({ type: 'control', action: 'stop' })); - }); - } - - return { - close: () => { closedOnPurpose = true; ws?.close(); renderer.stop(); } - }; - } - - window.VideoService = { - attachStream - }; -})(); \ No newline at end of file diff --git a/appVideoServer/server.js b/appVideoServer/server.js deleted file mode 100644 index d799f5d..0000000 --- a/appVideoServer/server.js +++ /dev/null @@ -1,283 +0,0 @@ -// server.js -'use strict'; - -const fs = require('fs'); -const path = require('path'); -const https = require('https'); -const express = require('express'); -const helmet = require('helmet'); -const compression = require('compression'); -const WebSocket = require('ws'); - -const { FFmpegStreamer } = require('./programs/videoServer'); -const { pickDevices } = require('./programs/input'); -const driverWS = require("./programs/driver"); -const screenShot = require("./programs/screenShot") - -const {logHttpRequest, logTcpConnection, logHttpUpgrade, logWssConnected, - logWssClosed, connected, connectionLost} = require('./programs/log'); - - - -const PORT = Number(process.env.PORT || 8443); -const HOST = process.env.HOST || '0.0.0.0'; - -// --- TLS --- -const TLS_DIR = path.resolve(__dirname, 'https'); -const serverOptions = { - key: fs.readFileSync(path.join(TLS_DIR, 'server.key')), - cert: fs.readFileSync(path.join(TLS_DIR, 'server.crt')), - ...(fs.existsSync(path.join(TLS_DIR, 'dhparam.pem')) - ? { dhparam: fs.readFileSync(path.join(TLS_DIR, 'dhparam.pem')) } - : {}), - requestCert: false, - rejectUnauthorized: false, // dev-friendly for self-signed -}; - -// --- Express + CSP --- -const app = express(); -app.disable('x-powered-by'); -app.use(compression()); -app.use( - helmet({ - contentSecurityPolicy: { - useDefaults: true, - directives: { - "default-src": ["'self'"], - "script-src": ["'self'"], // no inline JS - "style-src": ["'self'", "'unsafe-inline'"], - "img-src": ["'self'", "data:"], - "connect-src": ["'self'"], // same-origin WSS - "object-src": ["'none'"], - "base-uri": ["'self'"], - "frame-ancestors": ["'self'"] - } - }, - }) -); -app.use(express.static(path.join(__dirname, 'public'), { etag: true, maxAge: '1h' })); -app.get('/health', (_req, res) => res.status(200).send('ok')); - -// --- HTTPS server --- -const server = https.createServer(serverOptions, app); - -// Track sockets so shutdown is clean -const activeHttpSockets = new Set(); -server.on('connection', (socket) => { - activeHttpSockets.add(socket); - socket.on('close', () => activeHttpSockets.delete(socket)); -}); - -// --- WebSocket server --- -const wss = new WebSocket.Server({ noServer: true, perMessageDeflate: false }); - -// Heartbeat -function installHeartbeat(ws) { - ws.isAlive = true; - ws.on('pong', () => { ws.isAlive = true; }); -} -const pingInterval = setInterval(() => { - wss.clients.forEach((ws) => { - if (!ws.isAlive) return ws.terminate(); - ws.isAlive = false; - try { ws.ping(); } catch {} - }); -}, 30000); - -// Upgrade routing -server.on('upgrade', (request, socket, head) => { - try { socket.setNoDelay(true); } catch {} - const { url } = request; - if (!url || !url.startsWith('/ws/')) return socket.destroy(); - - - if (url === '/ws/robot') { - console.log('Robot requested'); - wssInput.handleUpgrade(request, socket, head, (ws) => { - ws.upgradePath = url; - wssInput.emit('connection', ws, request); - }); - return; - } - - wss.handleUpgrade(request, socket, head, (ws) => { - ws.upgradePath = url; - wss.emit('connection', ws, request); - }); -}); - -// --- Streams --- -const [DEV0, DEV1] = pickDevices(process.env); -console.log(`[DEV] Using devices: ${DEV0} (video0), ${DEV1} (video1)`); - -// Cam0: MJPEG pass-through if available (lowest latency) -const cam0 = new FFmpegStreamer(DEV0, { - name: 'video0', - fps: 30, - quality: 8, // 5 wäre besser - input: { - format: 'mjpeg', - fps: 30, - //size: '640x480', - //size: '1280x720', - size: '1280x960', - useWallclock: true, - threadQueueSize: 64, - channel: 0, - }, - tryFormats: ['mjpeg', 'yuyv422', 'rgb24'], -}); - - - -// Cam1: your working timing on /dev/video2; let driver pick format first -const cam1 = new FFmpegStreamer(DEV1, { - name: 'video1', - fps: 30, - quality: 8, // 5 wäre besser - input: { - format: 'mjpeg', // driver decides - fps: 30, - //size: '640x480', - //size: '1280x720', - size: '1280x960', - useWallclock: true, - threadQueueSize: 64, - channel: 0, - }, - tryFormats: ['mjpeg', 'yuyv422', 'rgb24'], -}); - -cam0.start(); -cam1.start(); - - -const wssInput = new WebSocket.Server({ noServer: true }); - - -// WS connections -wss.on('connection', (ws, req) => { - logWssConnected(req); - installHeartbeat(ws); - const pathName = ws.upgradePath || req.url || ''; - const controlEnabled = pathName === '/ws/video0'; - - if (pathName === '/ws/video0') cam0.attach(ws); - else if (pathName === '/ws/video1') cam1.attach(ws); - else return ws.close(1008, 'Unknown WS path'); - - // If the streamer isn't running when a client connects, try to start it. - // This makes the system more resilient to transient ffmpeg failures. - try { - if (pathName === '/ws/video0' && !cam0.running) { - console.log('[WS] client connected to /ws/video0 — starting cam0'); - cam0.start(); - } - if (pathName === '/ws/video1' && !cam1.running) { - console.log('[WS] client connected to /ws/video1 — starting cam1'); - cam1.start(); - } - } catch (err) { console.warn('[WS] failed to start streamer:', err?.message || err); } - - ws.on('message', (data, isBinary) => { - if (isBinary || !controlEnabled) return; - let msg; - try { msg = JSON.parse(data.toString()); } - catch { return ws.send(JSON.stringify({ type: 'error', error: 'Invalid JSON' })); } - handleControlMessage(ws, msg); - }); - - ws.send(JSON.stringify({ - type: 'hello', - path: pathName, - control: controlEnabled, - camera: pathName.endsWith('video0') ? 'video0' : 'video1', - })); - - ws.on('close', (code, reason) => { logWssClosed(req, code, reason); }); - -}); - -wss.on("upgrade", (req, socket, head) => { - if (req.url === "/ws/robot") { - console.log("Robot requested"); - wssInput.handleUpgrade(req, socket, head, (ws) => { wssInput.emit("connection", ws, req); }); - } -}); - - -const targetServer = process.env.TARGET_SERVER || 'wss://localhost:2095'; - -process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0"; -driverWS.setupCommandForwarding(wssInput, targetServer); - - -// Control channel (video0 only) -function handleControlMessage(ws, msg) { - if (msg?.type !== 'control') { - ws.send(JSON.stringify({ type: 'error', error: 'Unsupported message type' })); - return; - } - try { - switch (msg.action) { - case 'snapshot': { - - const outDir = path.join(__dirname, 'public', 'snapshots'); - screenShot.snapshot(outDir, cam0, cam1, ws); - break; - } - case 'setParams': { - const p = msg.params || {}; - cam0.restart({ - ...(Number(p.width) ? { width: Number(p.width) } : { width: undefined }), - ...(Number(p.height) ? { height: Number(p.height) } : { height: undefined }), - ...(Number(p.fps) ? { fps: Number(p.fps) } : {}), - ...(Number(p.quality) ? { quality: Number(p.quality) } : {}), - ...(p.input ? { input: { ...cam0.opts.input, ...p.input } } : {}), - }); - ws.send(JSON.stringify({ type: 'ack', action: 'setParams', params: { ...cam0.opts } })); - break; - } - case 'start': cam0.start(); ws.send(JSON.stringify({ type: 'ack', action: 'start' })); break; - case 'stop': cam0.stop(); ws.send(JSON.stringify({ type: 'ack', action: 'stop' })); break; - default: - ws.send(JSON.stringify({ type: 'error', error: `Unknown action: ${msg.action}` })); - } - } catch (err) { - ws.send(JSON.stringify({ type: 'error', error: err.message })); - } -} - -// Start -server.listen(PORT, HOST, () => { - console.log(`HTTPS server listening on https://${HOST}:${PORT}`); - console.log(`Open https://localhost:${PORT} (accept the self-signed certificate in dev)`); -}); - - - -// Graceful shutdown -let shuttingDown = false; -async function shutdown(code = 0) { - if (shuttingDown) return; - shuttingDown = true; - console.log('\nShutting down…'); - - try { clearInterval(pingInterval); } catch {} - - try { cam0.stop(); } catch {} - try { cam1.stop(); } catch {} - - try { wss.clients.forEach(ws => { try { ws.terminate(); } catch {} }); } catch {} - try { await new Promise(res => wss.close(() => res())); } catch {} - - try { for (const s of activeHttpSockets) { try { s.destroy(); } catch {} } } catch {} - try { await new Promise(res => server.close(() => res())); } catch {} - - setTimeout(() => { console.warn('Force exiting…'); process.exit(code); }, 1500).unref(); - process.exit(code); -} -process.once('SIGINT', () => shutdown(0)); -process.once('SIGTERM', () => shutdown(0)); -process.once('uncaughtException', (e) => { console.error(e); shutdown(1); }); -process.once('unhandledRejection', (r) => { console.error(r); shutdown(1); }); \ No newline at end of file diff --git a/gitFetch.sh b/gitFetch.sh new file mode 100755 index 0000000..0680a2a --- /dev/null +++ b/gitFetch.sh @@ -0,0 +1,5 @@ + +cd ~/workspace/appVideoServer +git fetch origin +git status +git branch -vv \ No newline at end of file