copy of main files to this folder

2025-12-22 15:55:36 +01:00
parent 0fd1e5d747
commit 05b35b22c8
703 changed files with 15299 additions and 0 deletions
--- a/appVideoServer/public/GamePad.js
+++ b/appVideoServer/public/GamePad.js
@@ -0,0 +1,110 @@
+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${xyzSpeed}`);}
+
+			if (isRunning) { setTimeout(checkGamePad, 15);}
+}
+
+function gamepadHandler(event, connecting) {
+		
+			gamepad = event.gamepad;
+			if (typeof gamepad === `undefined`) {
+				isRunning = false;
+				gamePadId = 0;
+				console.warn("GamePad kann nicht gefunden werden");
+				return;
+            		}
+
+			if (connecting) {
+				console.log("GamePad " + event.gamepad.index + " connected");
+                		gamePadId = gamepad.index;
+				isRunning = true;
+				setTimeout(checkGamePad, 20);
+			} else {
+				console.log("GamePad " +gamePadId +" disconnected");
+				isRunning = false;
+				gamePadId = 0;
+			}
+}
+
+		
+window.addEventListener("gamepadconnected", function (e) { gamepadHandler(e, true); }, false);
+window.addEventListener("gamepaddisconnected", function (e) { gamepadHandler(e, false); }, false);
+
+document.addEventListener("touchstart", e => { console.log("TouchStart"); })
--- a/appVideoServer/public/KeyboardInput.js
+++ b/appVideoServer/public/KeyboardInput.js
@@ -0,0 +1,64 @@
+document.onkeydown = checkKey;
+
+function checkKey(e) {
+
+    e = e || window.event;
+
+    if(e.key == 'a'  || e.key == 'A')
+    {
+        console.log("back to A position");
+        socketDriver.send(`G90 G1 X0 Y300 Z0 A${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');
+    }  
+}
--- a/appVideoServer/public/WebSocket.js
+++ b/appVideoServer/public/WebSocket.js
@@ -0,0 +1,25 @@
+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); };
--- a/appVideoServer/public/app.js
+++ b/appVideoServer/public/app.js
@@ -0,0 +1,72 @@
+// /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); }
+  });
+})();
--- a/appVideoServer/public/buttonCmd.js
+++ b/appVideoServer/public/buttonCmd.js
@@ -0,0 +1,23 @@
+
+
+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`);});
--- a/appVideoServer/public/index.html
+++ b/appVideoServer/public/index.html
@@ -0,0 +1,108 @@
+<!doctype html>
+<html lang="en">
+<head>
+  <meta charset="utf-8"/>
+  <title>Dual Camera Stream (HTTPS + WSS)</title>
+  <meta name="viewport" content="width=device-width, initial-scale=1"/>
+  <script src="WebSocket.js" defer></script>
+  <script src="buttonCmd.js" defer></script>
+  <script src="GamePad.js" defer></script>
+  <script src="KeyboardInput.js" defer></script>
+  <link rel="stylesheet" href="indexA.css">
+</head>
+<body>
+  <h1>Robot Control</h1>
+
+  <div class="grid">
+    <!-- Camera 0 -->
+    <section class="panel">
+      <h2>Camera 0</h2>
+
+            
+      <div class="video-wrap">
+        <canvas id="canvas0" width="1280" height="720"></canvas>
+        <img id="overlayImg"
+          src="/snapshots/snapshot_video0_1765356085372_two_cam_overlay.png">
+      </div>
+      <div id="status0" class="status">Connecting…</div>
+    </section>
+
+    <!-- Camera 1 -->
+    <section class="panel">
+      <h2>Camera 1</h2>
+      <div class="video-wrap">
+        <canvas id="canvas1" width="1280" height="720"></canvas>
+      </div>
+      <div id="status1" class="status">Connecting…</div>
+    </section>
+
+    <section class="panel">
+            <div class="controls">
+        
+
+        <div style="display:flex; gap:0.5rem; align-items:end;">
+          <button id="snap0">Snapshot</button>
+        </div>
+      </div>
+
+      <div id="snapshotLink" class="status"></div>
+      <div id="csvTable" class="status"></div>
+
+    </section>
+
+    <section class="panel">
+        
+        <div id="divButtons">
+                <h3>Controls</h3>
+                    <button id="b_uparrow">Up</button>
+                    <button id="b_downarw">Down</button>
+                </br/>
+                    <button id="b_right">Right</button>
+                    <button id="b_left">Left</button>
+                <br/>
+                    <button id="b_forward">Forward</button>
+                    <button id="b_backward">Backward</button>
+                <br/>
+                    <button id="b_M114">Info</button>
+                    <button id="b_G28">Null</button>
+                    <button id="b_default">△ Default</button>
+                <br/>
+                <br/>
+                    <button id="b_aPlus" >a+</button>
+                    <button id="b_aMinus">a-</button>
+                <br/>
+                    <button id="b_bPlus" >B+</button>
+                    <button id="b_bMinus">B-</button>
+                <br/>
+                    <button id="b_cPlus" >C+</button>
+                    <button id="b_cMinus">C-</button>
+                
+                <br/>
+                    <button id="b_ePlus" >E+</button>
+                    <button id="b_eMinus">E-</button>
+        </div>
+        <div id="divGCodeWindow">
+            <div id="GCode">
+            <form onsubmit="return false;"><input id="GKarth"/><button id="btnSendGCode" type="button">Send GCode</button></form>
+            <br/>
+            </div>
+
+            <button id="btnListFile" type="button">ListFile</button>
+            <br/>
+            <textarea id="GCodeWindow" class="editor-look" readonly>
+
+            </textarea>
+            <br/>
+            <button id="btnPoint">🗙 Point</button>
+            <button id="btnDown">⇩</button>
+            <button id="btnUp">⇧</button>
+        </div>
+    </section>
+  </div>
+
+  <!-- External scripts only (CSP-safe, no inline JS) -->
+  <script src="/readCSV.js" defer></script>
+  <script src="/videoService.js" defer></script>
+  <script src="/app.js" defer></script>
+</body>
+</html>
--- a/appVideoServer/public/indexA.css
+++ b/appVideoServer/public/indexA.css
@@ -0,0 +1,203 @@
+: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;
+  }
+}
+
--- a/appVideoServer/public/readCSV.js
+++ b/appVideoServer/public/readCSV.js
@@ -0,0 +1,76 @@
+// 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 = '<em>No CSV URL provided</em>';
+      return;
+    }
+    el.innerHTML = 'Loading CSV…';
+    try {
+      const res = await fetch(csvUrl, { cache: 'no-store' });
+      if (!res.ok) {
+        el.innerHTML = `<em>CSV not found (HTTP ${res.status})</em>`;
+        return;
+      }
+      const text = await res.text();
+      const lines = text.trim().split(/\r?\n/).filter(Boolean);
+      if (!lines.length) {
+        el.innerHTML = '<em>CSV is empty</em>';
+        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 = `<em>CSV does not contain required columns: id, x, y, z</em> ${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 = `<em>Error loading CSV</em>`;
+    }
+  }
+
+  window.readCSV = { renderCSV };
+})();
--- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765974554630.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.csv
@@ -0,0 +1,9 @@
+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
--- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam.json
@@ -0,0 +1,123 @@
+{
+    "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,
+                -0.006839004810899496
+            ],
+            "orientation_deg": {
+                "roll": -0.5572651387919108,
+                "pitch": -0.2540478856154707,
+                "yaw": 0.22792865561204573
+            }
+        },
+        {
+            "id": 71,
+            "position_mm": [
+                140.41845703125,
+                0.009271804243326187,
+                0.092652328312397
+            ],
+            "orientation_deg": {
+                "roll": 0.9053221063108222,
+                "pitch": -2.1366085994661774,
+                "yaw": 1.5077277441713781
+            }
+        },
+        {
+            "id": 76,
+            "position_mm": [
+                -204.43634100254326,
+                -90.3850951365776,
+                -94.52184634518557
+            ],
+            "orientation_deg": {
+                "roll": -52.67872835725091,
+                "pitch": 39.27299014262584,
+                "yaw": -87.21449748201128
+            }
+        },
+        {
+            "id": 101,
+            "position_mm": [
+                0.01583130471408367,
+                -80.02842712402344,
+                -0.02530261129140854
+            ],
+            "orientation_deg": {
+                "roll": 1.0558520137504372,
+                "pitch": -2.2130377151018776,
+                "yaw": 0.2601617066921372
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765974554630_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975245635.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975245635.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam.csv
@@ -0,0 +1,7 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
+camera1,744.393,-11.882,212.666,-115.660,2.222,96.551
+camera2,527.995,-443.448,881.443,-149.405,-0.614,30.363
+25,146.987,-219.644,-14.453,-1.475,-0.713,75.762
+50,-1.518,0.089,-0.276,-0.596,-1.297,0.062
+71,139.840,0.042,-0.031,0.036,-1.975,-0.196
+101,-2.288,-80.358,-0.673,0.487,-1.568,-0.808
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam.json
@@ -0,0 +1,97 @@
+{
+    "metadata": {
+        "timestamp": "2025-12-17 12:40:45",
+        "reference_markers": [
+            50,
+            71,
+            101
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 0.45907110184149624,
+        "rms_refs_px_cam2": 1.8220535514255254,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                744.3932024096008,
+                -11.882499535240939,
+                212.66641344590275
+            ],
+            "orientation_deg": {
+                "roll": -115.66036055568036,
+                "pitch": 2.2216915445453633,
+                "yaw": 96.55059294849401
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                527.9947219168113,
+                -443.4476403624862,
+                881.4430227800225
+            ],
+            "orientation_deg": {
+                "roll": -149.4054202299282,
+                "pitch": -0.6136995548592902,
+                "yaw": 30.363222205495898
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 25,
+            "position_mm": [
+                146.98660278320312,
+                -219.6441650390625,
+                -14.453299522399902
+            ],
+            "orientation_deg": {
+                "roll": -1.4751980332876062,
+                "pitch": -0.7130443690892287,
+                "yaw": 75.76221922077491
+            }
+        },
+        {
+            "id": 50,
+            "position_mm": [
+                -1.5184317827224731,
+                0.08936363458633423,
+                -0.27635297179222107
+            ],
+            "orientation_deg": {
+                "roll": -0.5960699180502376,
+                "pitch": -1.296579669039671,
+                "yaw": 0.06174649369085999
+            }
+        },
+        {
+            "id": 71,
+            "position_mm": [
+                139.83982849121094,
+                0.04223456606268883,
+                -0.03088134340941906
+            ],
+            "orientation_deg": {
+                "roll": 0.03560029736445153,
+                "pitch": -1.9746336879120467,
+                "yaw": -0.1957084044000817
+            }
+        },
+        {
+            "id": 101,
+            "position_mm": [
+                -2.2875027656555176,
+                -80.35816192626953,
+                -0.673177182674408
+            ],
+            "orientation_deg": {
+                "roll": 0.4866379194238045,
+                "pitch": -1.5677675033219693,
+                "yaw": -0.8081315765533771
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975245635_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975263688.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975263688.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975271097.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975271097.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975298025.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975298025.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975307378.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975307378.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975311865.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975311865.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975406077.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975406077.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
+camera1,498.210,88.623,206.052,-119.838,2.196,102.110
+camera2,334.074,-396.876,854.525,-147.250,-0.513,39.282
+25,-93.825,-211.994,-12.439,-1.046,-0.406,84.805
+50,-0.004,0.003,0.012,-0.106,-0.397,-0.042
+71,140.045,-0.037,-0.014,0.502,-1.471,0.890
+76,-347.458,-82.554,-72.496,-4.794,0.320,-131.339
+101,-0.044,-80.081,-0.025,1.333,-0.936,-0.171
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
+        "timestamp": "2025-12-17 12:43:26",
+        "reference_markers": [
+            50,
+            71,
+            101
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 0.0689596563850227,
+        "rms_refs_px_cam2": 0.15658089852267823,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                498.210011232767,
+                88.62307649604217,
+                206.05227415389444
+            ],
+            "orientation_deg": {
+                "roll": -119.83827305973767,
+                "pitch": 2.1955471129077124,
+                "yaw": 102.10968938445795
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                334.0739312137807,
+                -396.87615758651145,
+                854.5248655333136
+            ],
+            "orientation_deg": {
+                "roll": -147.24989987242014,
+                "pitch": -0.5126818772143938,
+                "yaw": 39.28200265150137
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 25,
+            "position_mm": [
+                -93.8246078491211,
+                -211.99365234375,
+                -12.43923568725586
+            ],
+            "orientation_deg": {
+                "roll": -1.0455208006289969,
+                "pitch": -0.405997221444331,
+                "yaw": 84.80479451113972
+            }
+        },
+        {
+            "id": 50,
+            "position_mm": [
+                -0.004142458084970713,
+                0.0031922683119773865,
+                0.011907931417226791
+            ],
+            "orientation_deg": {
+                "roll": -0.10642453044301076,
+                "pitch": -0.3968296567842359,
+                "yaw": -0.04171026817406525
+            }
+        },
+        {
+            "id": 71,
+            "position_mm": [
+                140.0451202392578,
+                -0.037084344774484634,
+                -0.014320459216833115
+            ],
+            "orientation_deg": {
+                "roll": 0.5023078026002353,
+                "pitch": -1.4710306891384899,
+                "yaw": 0.8898461679228588
+            }
+        },
+        {
+            "id": 76,
+            "position_mm": [
+                -347.4584356767253,
+                -82.55446010770595,
+                -72.49557614124402
+            ],
+            "orientation_deg": {
+                "roll": -4.793917356113556,
+                "pitch": 0.3203544844260641,
+                "yaw": -131.3390863237459
+            }
+        },
+        {
+            "id": 101,
+            "position_mm": [
+                -0.043663639575242996,
+                -80.08061218261719,
+                -0.024777762591838837
+            ],
+            "orientation_deg": {
+                "roll": 1.3330315657696694,
+                "pitch": -0.9363310058749773,
+                "yaw": -0.17089002041329374
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975406077_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975550136.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975550136.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
+camera1,499.822,88.859,207.627,-119.927,2.190,102.072
+camera2,324.617,-392.143,862.639,-147.982,-0.790,39.250
+25,-93.860,-212.481,-12.595,-1.949,-0.269,83.807
+50,-0.004,0.003,0.012,-0.258,-0.650,0.428
+71,140.046,-0.037,-0.013,0.306,-2.118,0.609
+76,-340.361,-86.238,-67.321,-4.926,2.286,-131.705
+101,-0.043,-80.081,-0.024,1.357,-1.022,-0.205
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
+        "timestamp": "2025-12-17 12:45:50",
+        "reference_markers": [
+            50,
+            71,
+            101
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 0.06868263740095656,
+        "rms_refs_px_cam2": 0.15630357297595754,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                499.822142506545,
+                88.85939416980528,
+                207.62721199733437
+            ],
+            "orientation_deg": {
+                "roll": -119.92745477596469,
+                "pitch": 2.190488293707874,
+                "yaw": 102.07241332921645
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                324.6169326616307,
+                -392.1429491628629,
+                862.638817313126
+            ],
+            "orientation_deg": {
+                "roll": -147.98179815319492,
+                "pitch": -0.7895678131424055,
+                "yaw": 39.24991008226242
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 25,
+            "position_mm": [
+                -93.85962677001953,
+                -212.4806365966797,
+                -12.594773292541504
+            ],
+            "orientation_deg": {
+                "roll": -1.9485429121680113,
+                "pitch": -0.2687673923849189,
+                "yaw": 83.80737730916069
+            }
+        },
+        {
+            "id": 50,
+            "position_mm": [
+                -0.003994773142039776,
+                0.003109264886006713,
+                0.012178612872958183
+            ],
+            "orientation_deg": {
+                "roll": -0.25790734082294964,
+                "pitch": -0.6498026480254269,
+                "yaw": 0.428441829560328
+            }
+        },
+        {
+            "id": 71,
+            "position_mm": [
+                140.04592895507812,
+                -0.03738624230027199,
+                -0.01319770235568285
+            ],
+            "orientation_deg": {
+                "roll": 0.3055486706690755,
+                "pitch": -2.1177898361268723,
+                "yaw": 0.6091614832951404
+            }
+        },
+        {
+            "id": 76,
+            "position_mm": [
+                -340.36073770675137,
+                -86.23836578004335,
+                -67.32056820469123
+            ],
+            "orientation_deg": {
+                "roll": -4.926387915431779,
+                "pitch": 2.2860961549797616,
+                "yaw": -131.70545931002823
+            }
+        },
+        {
+            "id": 101,
+            "position_mm": [
+                -0.04275330901145935,
+                -80.08077239990234,
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975550136_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975572393.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975572393.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975586723.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975586723.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975609404.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975609404.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975626213.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975626213.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975638033.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975638033.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975818850.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975818850.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975871414.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975871414.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
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+101,0.061,-80.295,0.055,0.729,-1.048,0.758
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975871414_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975946434.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975946434.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975953050.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975953050.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975975116.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975975116.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975977082.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975977082.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
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+101,-0.154,-80.157,-0.149,1.401,-1.417,-0.671
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
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+        "rms_refs_px_cam2": 0.27827582635161247,
+        "description": "Two-camera joint optimization with triangulation"
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975977082_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975992301.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975992301.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
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+101,-0.155,-80.158,-0.149,1.389,-1.515,-0.634
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
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+        "reference_markers": [
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+        "rms_refs_px_cam2": 0.27880768692475444,
+        "description": "Two-camera joint optimization with triangulation"
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765975992301_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976004900.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976004900.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
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+        "reference_markers": [
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+        "rms_refs_px_cam2": 0.27880768692475444,
+        "description": "Two-camera joint optimization with triangulation"
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976004900_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976061325.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976061325.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976068034.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam.json
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+{
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976068034_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976069357.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976069357.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976152890.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976152890.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976162193.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976162193.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976193421.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.csv
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam.json
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+{
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976193421_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976371308.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976371308.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam.csv
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam.json
@@ -0,0 +1,110 @@
+{
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976371308_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976374401.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976374401.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam.csv
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam.json
@@ -0,0 +1,110 @@
+{
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+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976374401_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976443318.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976443318.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam.csv
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--- a/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam.json
@@ -0,0 +1,110 @@
+{
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+                "pitch": -2.233677355990763,
+                "yaw": -2.0235970532528627
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976443318_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976445845.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976445845.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
+camera1,504.346,-126.088,208.972,-109.059,2.680,85.086
+camera2,264.187,-418.808,860.711,-147.871,-0.997,27.225
+25,-146.381,-120.960,-112.426,2.692,-3.384,70.637
+50,-0.059,0.071,-0.102,-0.740,-0.835,-1.041
+71,139.932,0.527,-0.717,-0.104,-1.611,-0.287
+76,-433.323,41.407,-91.498,-2.671,1.651,-141.245
+101,-0.130,-80.112,-0.117,1.765,-2.090,-1.611
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
+        "timestamp": "2025-12-17 13:00:46",
+        "reference_markers": [
+            50,
+            71,
+            101
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 1.6322619128484837,
+        "rms_refs_px_cam2": 0.27891317247078307,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                504.3455544730708,
+                -126.08836092695347,
+                208.97212985670578
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+            "orientation_deg": {
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+                "pitch": 2.6798363329030015,
+                "yaw": 85.08587585610263
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
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+                -418.8076518770778,
+                860.7107237997933
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+                "pitch": -0.9967164816589582,
+                "yaw": 27.225288127020352
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+    ],
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+            "position_mm": [
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+                -120.96003565972013,
+                -112.42579787439388
+            ],
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+                "pitch": -3.3843807163200768,
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+                "pitch": -0.8349788551011907,
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+                "pitch": -1.6112172635894972,
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+        {
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+                "yaw": -141.24526443651283
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+            "position_mm": [
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+                "pitch": -2.090428969194846,
+                "yaw": -1.6105724321001378
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam_annotated.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam_overlay.png
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976445845_two_cam_overlay.png
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976495904.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976495904.jpg
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam.csv
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam.csv
@@ -0,0 +1,8 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg
+camera1,504.274,-125.421,208.038,-108.984,2.641,85.170
+camera2,263.878,-413.788,865.140,-148.233,-0.840,27.182
+25,-147.036,-121.390,-112.171,6.442,-4.982,69.632
+50,-0.058,0.070,-0.101,-0.696,-0.763,-0.962
+71,139.935,0.519,-0.709,-0.489,-1.163,-0.158
+76,-426.418,36.499,-82.012,-1.893,0.125,-140.312
+101,-0.130,-80.113,-0.116,2.376,-2.677,-1.947
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam.json
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam.json
@@ -0,0 +1,110 @@
+{
+    "metadata": {
+        "timestamp": "2025-12-17 13:01:36",
+        "reference_markers": [
+            50,
+            71,
+            101
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 1.6245055926073846,
+        "rms_refs_px_cam2": 0.278832396834227,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
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+                -125.42139468012584,
+                208.03784733754605
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+            "orientation_deg": {
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+                "pitch": 2.6405808944061833,
+                "yaw": 85.16958065172916
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
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+                -413.78822478509414,
+                865.1404125791126
+            ],
+            "orientation_deg": {
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+                "pitch": -0.839630205401846,
+                "yaw": 27.182039752587464
+            }
+        }
+    ],
+    "markers": [
+        {
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+            "position_mm": [
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+            "orientation_deg": {
+                "roll": 6.441739640710501,
+                "pitch": -4.982096863310886,
+                "yaw": 69.63247132329899
+            }
+        },
+        {
+            "id": 50,
+            "position_mm": [
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+                "pitch": -0.7631468591028222,
+                "yaw": -0.961626910653193
+            }
+        },
+        {
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+            "position_mm": [
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+                0.5189080834388733,
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+                "pitch": -1.1630519362635283,
+                "yaw": -0.15756567408554
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+        },
+        {
+            "id": 76,
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+                "pitch": 0.1251018751932863,
+                "yaw": -140.31160702344877
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+            "position_mm": [
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+                -80.11343383789062,
+                -0.1155543327331543
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+                "pitch": -2.677028882500984,
+                "yaw": -1.9465300125030265
+            }
+        }
+    ]
+}
--- a/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam_annotated.jpg
+++ b/appVideoServer/public/snapshots/snapshot_video0_1765976495904_two_cam_annotated.jpg
--- a/Show More
+++ b/Show More