| |
| """ |
| LeRobot Dataset Visualizer — Web Dashboard |
| 运行: python visualize_dataset.py -d <dataset_folder> |
| 浏览器访问 http://localhost:7777 |
| """ |
|
|
| import sys, json, argparse, base64, threading, webbrowser, time |
| from urllib.parse import urlparse, parse_qs |
| from http.server import HTTPServer, BaseHTTPRequestHandler |
|
|
| try: |
| from scipy.ndimage import median_filter as _scipy_medfilt |
| from scipy.ndimage import gaussian_filter as _scipy_gauss |
| _HAS_SCIPY = True |
| except ImportError: |
| _HAS_SCIPY = False |
|
|
| def _filter_tactile(vals, shape): |
| """ |
| 两步滤波： |
| 1. 两遍 3×3 中值滤波：彻底消除孤立单点和双点噪声（数学保证：孤立点被邻域中值替换）。 |
| 2. 轻度高斯平滑（sigma=0.7）。 |
| """ |
| if not _HAS_SCIPY or not vals: |
| return vals |
| try: |
| arr = np.array(vals, dtype=np.float32).reshape(shape) |
| |
| arr = _scipy_medfilt(arr, size=3, mode='nearest') |
| arr = _scipy_medfilt(arr, size=3, mode='nearest') |
| |
| arr = _scipy_gauss(arr, sigma=0.7, mode='nearest') |
| return arr.flatten().tolist() |
| except Exception: |
| return vals |
| from pathlib import Path |
| import numpy as np |
|
|
| try: |
| import pyarrow as pa |
| import pyarrow.parquet as pq |
| except ImportError: |
| sys.exit("缺少 pyarrow") |
|
|
| try: |
| import cv2 |
| _HAS_CV2 = True |
| except ImportError: |
| _HAS_CV2 = False |
|
|
| PORT = 7777 |
| _DS = None |
|
|
| |
| |
| SENSOR_GROUPS = [ |
| {"id":"thumb", "label":"拇指", "color":"#ff6b6b", "type":"finger", |
| "sensors":["tactile_0","tactile_1","tactile_2"]}, |
| {"id":"index", "label":"食指", "color":"#ffd93d", "type":"finger", |
| "sensors":["tactile_3","tactile_4","tactile_5","tactile_6"]}, |
| {"id":"middle", "label":"中指", "color":"#6bcb77", "type":"finger", |
| "sensors":["tactile_7","tactile_8","tactile_9","tactile_10"]}, |
| {"id":"ring", "label":"无名", "color":"#4d96ff", "type":"finger", |
| "sensors":["tactile_11","tactile_12","tactile_13","tactile_14"]}, |
| {"id":"pinky", "label":"小指", "color":"#c77dff", "type":"finger", |
| "sensors":["tactile_15","tactile_16","tactile_17","tactile_18"]}, |
| {"id":"palm", "label":"掌心", "color":"#9ecbff", "type":"palm", |
| "sensors":["tactile_19"]}, |
| ] |
|
|
|
|
| |
| class DataServer: |
| def __init__(self, root: str): |
| self.root = Path(root) |
| self._load_info(); self._load_episodes() |
| self._load_frames(); self._load_tasks(); self._load_cmap() |
| self._compute_tactile_baselines() |
|
|
| def _load_info(self): |
| with open(self.root/"meta"/"info.json", encoding="utf-8") as f: |
| self.info = json.load(f) |
| self.fps = self.info["fps"] |
| self.tactile_2d_shapes = self.info.get("tactile_2d_shapes", {}) |
| print(f"OK {self.root.name} fps={self.fps} frames={self.info['total_frames']}") |
|
|
| def _load_episodes(self): |
| files = sorted((self.root/"meta"/"episodes").rglob("*.parquet")) |
| ep_dict = pa.concat_tables([pq.read_table(f) for f in files]).to_pydict() |
| n = len(ep_dict["episode_index"]) |
| self.episodes = [{k: ep_dict[k][i] for k in ep_dict} for i in range(n)] |
| self.n_episodes = n |
|
|
| def _load_frames(self): |
| files = sorted((self.root/"data").rglob("*.parquet")) |
| fd = pa.concat_tables([pq.read_table(f) for f in files]).to_pydict() |
| self.frame_dict = fd |
| self._idx_map = {int(v): i for i, v in enumerate(fd["index"])} |
|
|
| def _load_tasks(self): |
| try: |
| tp = next((self.root/"meta").rglob("tasks.parquet"), None) |
| self.task_desc = pq.read_table(tp).to_pydict().get("task",["Unknown"])[0] if tp else "Unknown" |
| except Exception: |
| self.task_desc = "Unknown" |
|
|
| def _load_cmap(self): |
| cfg = (self.root.parent.parent / |
| "hand"/"Usb_API_stable_Tujian_"/"spliter"/"config_mapping_zyhand.json") |
| if cfg.exists(): |
| with open(cfg, encoding='utf-8') as f: |
| data = json.load(f) |
| self.cmap_colors = [ |
| f"#{int(c[0]*255):02x}{int(c[1]*255):02x}{int(c[2]*255):02x}" |
| for c in data["color_map"]] |
| else: |
| self.cmap_colors = [ |
| "#262626","#0a2a5e","#0d4f8b","#0d7ab5","#18a0c8", |
| "#1dc9d0","#22e0be","#39e87d","#8aef3f","#d4e830", |
| "#f0c020","#f0901a","#e05015","#c02510","#8b0d08","#5e0505","#3d0202"] |
|
|
| def _compute_tactile_baselines(self): |
| """每个 episode 前 10 帧取均值作为触觉零点基准。""" |
| self.tactile_baselines = {} |
| for ep_id, ep in enumerate(self.episodes): |
| start = int(ep["dataset_from_index"]) |
| end = int(ep["dataset_to_index"]) - 1 |
| sums, count = {}, 0 |
| for fidx in range(start, min(start + 10, end + 1)): |
| i = self._idx_map.get(fidx) |
| if i is None: |
| continue |
| for key in self.tactile_2d_shapes: |
| raw = self.frame_dict.get(f"tactile_{key}") |
| if raw is None or i >= len(raw) or raw[i] is None: |
| continue |
| arr = [float(v) for v in raw[i]] |
| if key not in sums: |
| sums[key] = [0.0] * len(arr) |
| for j, v in enumerate(arr): |
| sums[key][j] += v |
| count += 1 |
| self.tactile_baselines[ep_id] = ( |
| {k: [v / count for v in sums[k]] for k in sums} if count else {} |
| ) |
| print(f"触觉基准已计算 episodes={len(self.tactile_baselines)}") |
|
|
| def get_tactile_timeline(self, ep_id: int) -> dict: |
| ep = self.episodes[ep_id] |
| start = int(ep["dataset_from_index"]) |
| end = int(ep["dataset_to_index"]) - 1 |
| baseline = self.tactile_baselines.get(ep_id, {}) |
| sensors_data = [] |
| for grp in SENSOR_GROUPS: |
| for sensor_key in grp["sensors"]: |
| |
| col_key = f"tactile_{sensor_key}" |
| sums = [] |
| for fidx in range(start, end + 1): |
| i = self._idx_map.get(fidx) |
| if i is None: |
| sums.append(0.0); continue |
| raw_col = self.frame_dict.get(col_key) |
| if raw_col is None or i >= len(raw_col) or raw_col[i] is None: |
| sums.append(0.0); continue |
| base = baseline.get(sensor_key, []) |
| vals = [float(v) for v in raw_col[i]] |
| if base: |
| vals = [max(0.0, v - b) for v, b in zip(vals, base)] |
| shape = self.tactile_2d_shapes.get(sensor_key) |
| if shape: |
| vals = _filter_tactile(vals, shape) |
| sums.append(round(sum(vals), 2)) |
| sensors_data.append({ |
| "key": sensor_key, |
| "color": grp["color"], |
| "sums": sums, |
| }) |
| return {"sensors": sensors_data, "n_frames": end - start + 1, "start": start} |
|
|
| def get_frame(self, idx: int) -> dict: |
| i = self._idx_map.get(idx, idx) |
| return {k: self.frame_dict[k][i] for k in self.frame_dict} |
|
|
| def get_video_frame_b64(self, ep_idx, frame_in_ep, stream): |
| if not _HAS_CV2: return None |
| ep = self.episodes[ep_idx] |
| vk = f"observation.images.{stream}" |
| chunk = int(ep.get(f"videos/{vk}/chunk_index", 0)) |
| fidx = int(ep.get(f"videos/{vk}/file_index", 0)) |
| from_ts = float(ep.get(f"videos/{vk}/from_timestamp", 0.0)) |
| vpath = (self.root/f"videos/{vk}/chunk-{chunk:03d}/file-{fidx:04d}.mp4") |
| if not vpath.exists(): return None |
| cap = cv2.VideoCapture(str(vpath)) |
| cap.set(cv2.CAP_PROP_POS_FRAMES, int(round(from_ts*self.fps)) + frame_in_ep) |
| ret, frame = cap.read(); cap.release() |
| if not ret: return None |
| if stream == "depth": |
| r, g, b = frame[:,:,2], frame[:,:,1], frame[:,:,0] |
| if np.abs(r.astype(int)-g.astype(int)).mean() < 4: |
| frame = cv2.applyColorMap(r, cv2.COLORMAP_TURBO) |
| _, buf = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, 88]) |
| return base64.b64encode(buf).decode() |
|
|
|
|
| |
| class Handler(BaseHTTPRequestHandler): |
| def log_message(self, *_): pass |
|
|
| def _json(self, data): |
| body = json.dumps(data, ensure_ascii=False).encode() |
| self.send_response(200) |
| self.send_header("Content-Type", "application/json") |
| self.send_header("Access-Control-Allow-Origin", "*") |
| self.end_headers() |
| self.wfile.write(body) |
|
|
| def _html(self, body): |
| enc = body.encode() |
| self.send_response(200) |
| self.send_header("Content-Type", "text/html; charset=utf-8") |
| self.end_headers() |
| self.wfile.write(enc) |
|
|
| def do_GET(self): |
| ds = _DS |
| url = urlparse(self.path) |
| qs = parse_qs(url.query) |
|
|
| if url.path == "/": |
| self._html(build_html(ds)) |
|
|
| elif url.path == "/api/meta": |
| self._json({ |
| "name": ds.root.name, "fps": ds.fps, |
| "n_episodes": ds.n_episodes, "task": ds.task_desc, |
| "tactile_2d_shapes": ds.tactile_2d_shapes, |
| "cmap_colors": ds.cmap_colors, |
| "sensor_groups": SENSOR_GROUPS, |
| "episodes": [{"start": int(ep["dataset_from_index"]), |
| "end": int(ep["dataset_to_index"]) - 1, |
| "length":int(ep["length"]), |
| "task": (ep.get("tasks") or ["—"])[0]} |
| for ep in ds.episodes], |
| }) |
|
|
| elif url.path == "/api/frame": |
| n = int(qs.get("n", [0])[0]) |
| ep = int(qs.get("ep", [0])[0]) |
| d = ds.get_frame(n) |
| pos = d.get("observation_motion_positions", []) |
| quat = d.get("observation_motion_quaternions", []) |
| tactile = {} |
| baseline = ds.tactile_baselines.get(ep, {}) |
| for key in ds.tactile_2d_shapes: |
| raw = d.get(f"tactile_{key}") |
| if raw is not None: |
| base = baseline.get(key, []) |
| if base: |
| vals = [max(0.0, float(v) - b) for v, b in zip(raw, base)] |
| else: |
| vals = [float(v) for v in raw] |
| tactile[key] = _filter_tactile(vals, ds.tactile_2d_shapes[key]) |
| self._json({ |
| "timestamp": float(d.get("timestamp", 0)), |
| "positions": [float(v) for v in pos] if pos else [], |
| "quaternions": [float(v) for v in quat] if quat else [], |
| "tactile": tactile, |
| }) |
|
|
| elif url.path == "/api/tactile_timeline": |
| ep = int(qs.get("ep", [0])[0]) |
| self._json(ds.get_tactile_timeline(ep)) |
|
|
| elif url.path == "/api/image": |
| ep = int(qs.get("ep", [0])[0]) |
| f = int(qs.get("f", [0])[0]) |
| typ = qs.get("type", ["color"])[0] |
| self._json({"data": ds.get_video_frame_b64(ep, f, typ)}) |
|
|
| else: |
| self.send_response(404); self.end_headers() |
|
|
|
|
| |
| def build_html(ds: DataServer) -> str: |
| return r"""<!DOCTYPE html> |
| <html lang="zh"> |
| <head> |
| <meta charset="UTF-8"> |
| <title>LeRobot Dataset Visualizer</title> |
| <style> |
| *{box-sizing:border-box;margin:0;padding:0} |
| :root{ |
| --bg:#0d1117;--panel:#161b22;--border:#30363d; |
| --text:#e6edf3;--dim:#8b949e;--accent:#58a6ff;--hdr:#0e1520; |
| --r:10px;--gap:12px; |
| } |
| body{background:var(--bg);color:var(--text); |
| font-family:'Segoe UI',system-ui,sans-serif;font-size:13px; |
| height:100vh;display:flex;flex-direction:column;overflow:hidden} |
| |
| /* ── Header ─────────────────────────────────────────────────────── */ |
| #hdr{ |
| background:var(--hdr);border-bottom:1px solid var(--border); |
| padding:0 18px;height:50px;display:flex;align-items:center; |
| gap:14px;flex-shrink:0; |
| } |
| .logo{font-size:12px;font-weight:700;color:var(--accent); |
| white-space:nowrap;letter-spacing:.04em} |
| #ep-ctrl{display:flex;align-items:center;gap:6px} |
| .ep-btn{ |
| background:#21262d;border:1px solid var(--border);color:var(--text); |
| border-radius:6px;padding:3px 10px;cursor:pointer;font-size:13px; |
| line-height:1;transition:background .12s; |
| } |
| .ep-btn:hover{background:#2d333b} |
| #ep-select{ |
| background:#21262d;border:1px solid var(--border);color:var(--text); |
| border-radius:6px;padding:3px 8px;font-size:12px;cursor:pointer; |
| outline:none;min-width:200px; |
| } |
| #ep-select:focus{border-color:var(--accent)} |
| .chip{ |
| background:#161b22;border:1px solid var(--border);border-radius:20px; |
| padding:2px 10px;font-size:11px;color:var(--dim);white-space:nowrap; |
| } |
| .hdr-r{margin-left:auto;display:flex;align-items:center;gap:8px} |
| #play-btn{ |
| background:var(--accent);color:#000;border:none;border-radius:6px; |
| padding:4px 13px;cursor:pointer;font-weight:700;font-size:12px; |
| } |
| #play-btn:hover{opacity:.85} |
| |
| /* ── Main 2×2 ───────────────────────────────────────────────────── */ |
| #main{ |
| flex:1;display:grid; |
| grid-template-columns:1fr 1fr; |
| grid-template-rows:1fr 1fr; |
| gap:var(--gap);padding:var(--gap);min-height:0; |
| } |
| .panel{ |
| background:var(--panel);border:1px solid var(--border); |
| border-radius:var(--r);display:flex;flex-direction:column; |
| overflow:hidden;min-height:0; |
| } |
| .ph{ |
| padding:7px 13px;border-bottom:1px solid var(--border); |
| display:flex;align-items:center;gap:8px;flex-shrink:0; |
| } |
| .ph .pt{font-weight:600;font-size:11px;letter-spacing:.05em;text-transform:uppercase} |
| .ph .pd{font-size:10px;color:var(--dim);margin-left:auto} |
| .pb{flex:1;display:flex;align-items:center;justify-content:center; |
| overflow:hidden;position:relative;min-height:0} |
| .pb img{max-width:100%;max-height:100%;object-fit:contain} |
| |
| /* ── Skeleton ────────────────────────────────────────────────────── */ |
| #svg-skel{width:100%;height:100%} |
| |
| /* ── Tactile ─────────────────────────────────────────────────────── */ |
| #tac-scroll{ |
| width:100%;height:100%;overflow:auto; |
| display:flex;align-items:center;justify-content:center;padding:10px 8px; |
| } |
| #tac-root{display:flex;flex-direction:column;align-items:center;gap:14px} |
| |
| /* Fingers: bottom-aligned row */ |
| #tac-fingers{ |
| display:flex;flex-direction:row; |
| align-items:flex-end; /* 指根底部对齐 */ |
| gap:18px; |
| } |
| .fg{display:flex;flex-direction:column;align-items:center;gap:0} |
| .fg-label{ |
| font-size:9px;font-weight:700;text-transform:uppercase; |
| letter-spacing:.08em;margin-bottom:6px;opacity:.85; |
| } |
| .fg-sensors{display:flex;flex-direction:column;align-items:center;gap:3px} |
| |
| /* Palm: horizontal row */ |
| #tac-palm-wrap{display:flex;flex-direction:column;align-items:center;gap:6px} |
| #tac-palm-label{ |
| font-size:9px;font-weight:700;text-transform:uppercase; |
| letter-spacing:.08em;color:#9ecbff;opacity:.85; |
| } |
| #tac-palm{display:flex;flex-direction:row;align-items:flex-end;gap:12px} |
| |
| /* sensor card */ |
| .sc{display:flex;flex-direction:column;align-items:center;gap:1px} |
| .sn{font-size:8px;color:var(--dim);line-height:1.2} |
| .ss{font-size:8px;color:var(--text);line-height:1.2} |
| canvas.tc{display:block;border-radius:2px} |
| |
| /* section divider */ |
| .sec-div{ |
| width:100%;border-top:1px solid var(--border); |
| display:flex;align-items:center;gap:8px; |
| } |
| |
| /* ── Task bar ────────────────────────────────────────────────────── */ |
| #task-bar{ |
| background:#0c1625;border-bottom:1px solid var(--border); |
| padding:0 18px;height:38px;display:flex;align-items:center; |
| gap:14px;flex-shrink:0;overflow:hidden; |
| } |
| #task-bar-ep{font-size:11px;color:var(--dim);white-space:nowrap;min-width:64px} |
| #task-bar-text{ |
| font-size:15px;font-weight:600;color:#c77dff; |
| white-space:nowrap;overflow:hidden;text-overflow:ellipsis;flex:1; |
| } |
| |
| /* ── Tactile timeline canvas ─────────────────────────────────────── */ |
| #tl-pb{overflow:hidden} |
| #tac-timeline{display:block} |
| |
| /* ── Footer ──────────────────────────────────────────────────────── */ |
| #ftr{ |
| background:var(--hdr);border-top:1px solid var(--border); |
| padding:7px 18px;display:flex;align-items:center;gap:12px;flex-shrink:0; |
| } |
| #slider{flex:1;accent-color:var(--accent);cursor:pointer} |
| #ts-lbl{color:var(--dim);font-size:11px;white-space:nowrap;min-width:90px} |
| #fr-lbl{color:var(--dim);font-size:11px;white-space:nowrap;min-width:110px;text-align:right} |
| </style> |
| </head> |
| <body> |
| |
| <!-- Header --> |
| <div id="hdr"> |
| <div class="logo">LeRobot Visualizer</div> |
| |
| <div id="ep-ctrl"> |
| <button class="ep-btn" id="btn-prev">◀</button> |
| <select id="ep-select"></select> |
| <button class="ep-btn" id="btn-next">▶</button> |
| </div> |
| |
| <div class="hdr-r"> |
| <span class="chip" id="c-ds">—</span> |
| <span class="chip" id="c-eps">—</span> |
| <span class="chip" id="c-fps">—</span> |
| <button id="play-btn">▶ Play</button> |
| </div> |
| </div> |
| |
| <!-- Task bar --> |
| <div id="task-bar"> |
| <span id="task-bar-ep">Ep 0</span> |
| <span style="font-size:11px;color:var(--dim);white-space:nowrap">Description:</span> |
| <span id="task-bar-text">—</span> |
| </div> |
| |
| <!-- Main 2×2 --> |
| <div id="main"> |
| <!-- TL: Color --> |
| <div class="panel"> |
| <div class="ph"> |
| <span class="pt" style="color:#9ecbff">Color</span> |
| <span class="pd" id="pd-color">—</span> |
| </div> |
| <div class="pb"><img id="img-color" alt=""></div> |
| </div> |
| |
| <!-- TR: Skeleton --> |
| <div class="panel"> |
| <div class="ph"> |
| <span class="pt" style="color:#e6edf3">Motion Skeleton</span> |
| <span class="pd" id="pd-skel">20 markers · 5 fingers</span> |
| </div> |
| <div class="pb"> |
| <svg id="svg-skel" viewBox="-200 -200 400 400" |
| xmlns="http://www.w3.org/2000/svg"></svg> |
| </div> |
| </div> |
| |
| <!-- BL: Tactile Timeline --> |
| <div class="panel"> |
| <div class="ph"> |
| <span class="pt" style="color:#c77dff">Tactile Timeline</span> |
| <span class="pd" id="pd-timeline">—</span> |
| </div> |
| <div class="pb" id="tl-pb" style="display:block;padding:0"> |
| <canvas id="tac-timeline" style="display:block"></canvas> |
| </div> |
| </div> |
| |
| <!-- BR: Tactile --> |
| <div class="panel"> |
| <div class="ph"> |
| <span class="pt" style="color:#6bcb77">Tactile</span> |
| <span class="pd" id="pd-tac">—</span> |
| </div> |
| <div class="pb"> |
| <div id="tac-scroll"> |
| <div id="tac-root"> |
| <!-- Fingers row --> |
| <div id="tac-fingers"></div> |
| <!-- divider --> |
| <div class="sec-div"></div> |
| <!-- Palm row --> |
| <div id="tac-palm-wrap"> |
| <div id="tac-palm-label">Palm</div> |
| <div id="tac-palm"></div> |
| </div> |
| </div> |
| </div> |
| </div> |
| </div> |
| </div> |
| |
| <!-- Footer --> |
| <div id="ftr"> |
| <span id="ts-lbl">t = 0.000 s</span> |
| <input type="range" id="slider" min="0" max="0" value="0"> |
| <span id="fr-lbl">Frame 0 / 0</span> |
| </div> |
| |
| <script> |
| // ── State ────────────────────────────────────────────────────────────────── |
| let META=null, curEp=0, curFrame=0, playing=false, playTimer=null; |
| let skelScale=null, skelCenter=null; // fixed from first frame of each episode |
| let TIMELINE=null; // tactile timeline for current episode |
| |
| // ── Colormap ─────────────────────────────────────────────────────────────── |
| let CMAP=[]; |
| function cmapRGB(t){ |
| const n=CMAP.length-1, fi=t*n; |
| const lo=Math.floor(fi), hi=Math.min(lo+1,n), f=fi-lo; |
| const p=h=>[parseInt(h.slice(1,3),16),parseInt(h.slice(3,5),16),parseInt(h.slice(5,7),16)]; |
| const [r0,g0,b0]=p(CMAP[lo]), [r1,g1,b1]=p(CMAP[hi]); |
| return [r0+(r1-r0)*f, g0+(g1-g0)*f, b0+(b1-b0)*f]; |
| } |
| |
| // ── Tactile canvas map ───────────────────────────────────────────────────── |
| const cvMap={}, sumMap={}; |
| const PX=9; // pixels per tactile point (fixed → equal-sized squares) |
| |
| const TAC_NAMES={ |
| 'tactile_0':'拇指尖','tactile_1':'拇指中','tactile_2':'拇指根', |
| 'tactile_3':'食指尖','tactile_4':'食指中','tactile_5':'食指根','tactile_6':'食指掌', |
| 'tactile_7':'中指尖','tactile_8':'中指中','tactile_9':'中指根','tactile_10':'中指掌', |
| 'tactile_11':'无名尖','tactile_12':'无名中','tactile_13':'无名根','tactile_14':'无名掌', |
| 'tactile_15':'小指尖','tactile_16':'小指中','tactile_17':'小指根','tactile_18':'小指掌', |
| 'tactile_19':'掌心', |
| }; |
| |
| function buildTactile(shapes, groups){ |
| const fingers=groups.filter(g=>g.type==='finger'); |
| const palmGrp =groups.find(g=>g.type==='palm'); |
| |
| // ── Fingers section ────────────────────────────────────── |
| const fRow=document.getElementById('tac-fingers'); |
| fRow.innerHTML=''; |
| fingers.forEach(grp=>{ |
| const col=document.createElement('div'); |
| col.className='fg'; |
| const lbl=document.createElement('div'); |
| lbl.className='fg-label'; |
| lbl.style.color=grp.color; |
| lbl.textContent=grp.label; |
| col.appendChild(lbl); |
| const sensors=document.createElement('div'); |
| sensors.className='fg-sensors'; |
| grp.sensors.forEach(key=>{ |
| const sh=shapes[key]; if(!sh) return; |
| const [nr,nc]=sh; |
| sensors.appendChild(makeSensorCard(key,nr,nc,grp.color)); |
| }); |
| col.appendChild(sensors); |
| fRow.appendChild(col); |
| }); |
| |
| // ── Palm section ───────────────────────────────────────── |
| const pRow=document.getElementById('tac-palm'); |
| pRow.innerHTML=''; |
| if(palmGrp){ |
| palmGrp.sensors.forEach(key=>{ |
| const sh=shapes[key]; if(!sh) return; |
| const [nr,nc]=sh; |
| pRow.appendChild(makeSensorCard(key,nr,nc,palmGrp.color)); |
| }); |
| } |
| |
| const total=Object.keys(shapes).length; |
| document.getElementById('pd-tac').textContent=`${total} sensors · ${PX}px/pt`; |
| } |
| |
| function makeSensorCard(key,nr,nc,color){ |
| const wrap=document.createElement('div'); wrap.className='sc'; |
| const nm=document.createElement('div'); nm.className='sn'; |
| nm.textContent=(TAC_NAMES[key]||key)+` [${nr}×${nc}]`; |
| wrap.appendChild(nm); |
| const cv=document.createElement('canvas'); |
| cv.className='tc'; |
| cv.width=nc*PX; cv.height=nr*PX; |
| cv.style.width=cv.width+'px'; cv.style.height=cv.height+'px'; |
| cv.style.border=`1px solid ${color}40`; |
| cvMap[key]=cv; wrap.appendChild(cv); |
| const sm=document.createElement('div'); sm.className='ss'; |
| sm.textContent='0.0'; sumMap[key]=sm; wrap.appendChild(sm); |
| return wrap; |
| } |
| |
| // ── Draw heatmap ─────────────────────────────────────────────────────────── |
| function drawHeatmap(key, data){ |
| const cv=cvMap[key]; if(!cv) return; |
| const sh=META.tactile_2d_shapes[key]; if(!sh) return; |
| const [nr,nc]=sh; |
| const vmax=Math.max(...data,1e-6); |
| const ctx=cv.getContext('2d'); |
| const id=ctx.createImageData(cv.width,cv.height); |
| const d32=id.data; |
| for(let r=0;r<nr;r++){ |
| for(let c=0;c<nc;c++){ |
| const v=Math.max(0,data[r*nc+c])/vmax; |
| const [R,G,B]=cmapRGB(Math.min(v,1)); |
| const px_y=r*PX, px_x=c*PX; |
| for(let dy=0;dy<PX;dy++) for(let dx=0;dx<PX;dx++){ |
| const i=((px_y+dy)*cv.width+(px_x+dx))*4; |
| d32[i]=R; d32[i+1]=G; d32[i+2]=B; d32[i+3]=255; |
| } |
| } |
| } |
| ctx.putImageData(id,0,0); |
| if(sumMap[key]) sumMap[key].textContent= |
| data.reduce((s,v)=>s+(v>0?v:0),0).toFixed(1); |
| } |
| |
| // ── Quaternion utilities ─────────────────────────────────────────────────── |
| function quatRotate(v, q){ |
| // Rotate vector v=[x,y,z] by unit quaternion q=[w,x,y,z] |
| const [w,qx,qy,qz]=q, [vx,vy,vz]=v; |
| const tx=2*(qy*vz-qz*vy), ty=2*(qz*vx-qx*vz), tz=2*(qx*vy-qy*vx); |
| return [vx+w*tx+qy*tz-qz*ty, vy+w*ty+qz*tx-qx*tz, vz+w*tz+qx*ty-qy*tx]; |
| } |
| function quatNorm(q){ const n=Math.hypot(...q); return q.map(v=>v/n); } |
| |
| // ── Skeleton projection (draggable view) ────────────────────────────────── |
| const FC=['#ff6b6b','#ffd93d','#6bcb77','#4d96ff','#c77dff']; |
| const FIDX=[[0,1,2,3],[4,5,6,7],[8,9,10,11],[12,13,14,15],[16,17,18,19]]; |
| const PBASES=[0,4,8,12,16]; |
| |
| // Z-up 视角：方位角 + 仰角（垂直于重力的 XY 平面为地面） |
| let viewAZ=0.75, viewEL=0.45; // azimuth around Z-axis, elevation above XY-plane |
| |
| function proj(pts3d){ |
| // 1. 绕 Z 轴旋转方位角 |
| // 2. 绕新 X 轴仰角倾斜 |
| // 3. 正射投影，丢弃深度 |
| const cA=Math.cos(viewAZ), sA=Math.sin(viewAZ); |
| const cE=Math.cos(viewEL), sE=Math.sin(viewEL); |
| return pts3d.map(([x,y,z])=>{ |
| const xR = x*cA - y*sA; // rotate azimuth |
| const yR = x*sA + y*cA; |
| const yT = yR*cE + z*sE; // tilt elevation (this becomes screen-Y) |
| return [xR, -yT]; // flip so +Z is up on screen |
| }); |
| } |
| |
| // Last skeleton data — re-rendered on drag without network fetch |
| let lastSkelPos=null, lastSkelQuat=null; |
| |
| function initSkelDrag(){ |
| const svg=document.getElementById('svg-skel'); |
| svg.style.cursor='grab'; |
| let dragStart=null, az0, el0; |
| svg.addEventListener('mousedown',e=>{ |
| dragStart={x:e.clientX,y:e.clientY}; az0=viewAZ; el0=viewEL; |
| svg.style.cursor='grabbing'; e.preventDefault(); |
| }); |
| window.addEventListener('mousemove',e=>{ |
| if(!dragStart) return; |
| viewAZ=az0+(e.clientX-dragStart.x)*0.009; |
| viewEL=Math.max(0.05,Math.min(1.5, el0-(e.clientY-dragStart.y)*0.009)); |
| if(lastSkelPos) drawSkeleton(lastSkelPos,lastSkelQuat); |
| }); |
| window.addEventListener('mouseup',()=>{ |
| dragStart=null; svg.style.cursor='grab'; |
| }); |
| } |
| |
| function drawSkeleton(positions, quaternions){ |
| lastSkelPos=positions; lastSkelQuat=quaternions; |
| const svg=document.getElementById('svg-skel'); |
| svg.innerHTML=''; |
| const noData = !positions || positions.length<60 || |
| Math.max(...positions.map(Math.abs)) < 1e-6; |
| if(noData){ |
| const t=mkel('text',{x:0,y:10,fill:'#8b949e','text-anchor':'middle','font-size':'13'}); |
| t.textContent='Motion data unavailable'; svg.appendChild(t); return; |
| } |
| |
| // Parse 20 world-space markers |
| let pts3d=[]; |
| for(let i=0;i<20;i++) pts3d.push([positions[i*3],positions[i*3+1],positions[i*3+2]]); |
| |
| // First frame: record centroid and scale |
| if(!skelCenter){ |
| const cx3=pts3d.reduce((s,p)=>s+p[0],0)/20; |
| const cy3=pts3d.reduce((s,p)=>s+p[1],0)/20; |
| const cz3=pts3d.reduce((s,p)=>s+p[2],0)/20; |
| skelCenter=[cx3,cy3,cz3]; |
| // Scale: based on hand span at first frame (orientation-invariant max-radius) |
| const rel0=pts3d.map(([x,y,z])=>[x-cx3,y-cy3,z-cz3]); |
| const maxR=Math.max(...rel0.map(([x,y,z])=>Math.sqrt(x*x+y*y+z*z))); |
| skelScale=90/Math.max(maxR,1e-6); // smaller scale leaves room for displacement |
| } |
| // Subtract fixed first-frame center → translation relative to start is preserved |
| pts3d=pts3d.map(([x,y,z])=>[x-skelCenter[0],y-skelCenter[1],z-skelCenter[2]]); |
| |
| const spts=pts3d.map(([x,y,z])=>[x*skelScale,y*skelScale,z*skelScale]); |
| |
| // Isometric projection |
| const proj2d=proj(spts); |
| const pts=proj2d; // already in pixel coords (centered at origin) |
| |
| // Palm center (projected) |
| const pbS=PBASES.map(i=>spts[i]); |
| const pm=[pbS.reduce((s,p)=>s+p[0],0)/5, pbS.reduce((s,p)=>s+p[1],0)/5, |
| pbS.reduce((s,p)=>s+p[2],0)/5]; |
| const [[pcx,pcy]]=proj([pm]); |
| |
| // Ground grid: XY plane (Z=const, Z is vertical/gravity axis) |
| { |
| const GZ=-1.6*skelScale; // below hand (Z is up, gravity is -Z) |
| const GR=2.4*skelScale, GN=8, gStep=GR*2/GN; |
| for(let i=0;i<=GN;i++){ |
| const t=-GR+i*gStep; |
| const isCenter=(i===GN/2); |
| const sc=isCenter?'#2e3d52':'#1e2a38', sw=isCenter?'1.0':'0.6'; |
| // Lines parallel to X axis (vary X, Y=t, Z=ground) |
| const [[ax0,ay0]]=proj([[-GR,t,GZ]]); |
| const [[ax1,ay1]]=proj([[ GR,t,GZ]]); |
| svg.appendChild(mkel('line',{x1:ax0,y1:ay0,x2:ax1,y2:ay1,stroke:sc,strokeWidth:sw})); |
| // Lines parallel to Y axis (vary Y, X=t, Z=ground) |
| const [[bx0,by0]]=proj([[t,-GR,GZ]]); |
| const [[bx1,by1]]=proj([[t, GR,GZ]]); |
| svg.appendChild(mkel('line',{x1:bx0,y1:by0,x2:bx1,y2:by1,stroke:sc,strokeWidth:sw})); |
| } |
| } |
| |
| // Palm dashed spokes |
| PBASES.forEach(bi=>{ |
| const [x,y]=pts[bi]; |
| svg.appendChild(mkel('line',{x1:pcx,y1:pcy,x2:x,y2:y, |
| stroke:'#444c56',strokeWidth:'1.2','stroke-dasharray':'4 3'})); |
| }); |
| |
| // Finger bones & joints |
| FIDX.forEach((idxs,fi)=>{ |
| const col=FC[fi]; |
| for(let k=0;k<idxs.length-1;k++){ |
| const [x0,y0]=pts[idxs[k]], [x1,y1]=pts[idxs[k+1]]; |
| svg.appendChild(mkel('line',{x1:x0,y1:y0,x2:x1,y2:y1, |
| stroke:col,strokeWidth:'2.8',strokeLinecap:'round'})); |
| } |
| idxs.forEach(i=>{ |
| const [x,y]=pts[i]; |
| svg.appendChild(mkel('circle',{cx:x,cy:y,r:'4.5', |
| fill:col,stroke:'#0d1117',strokeWidth:'1.2'})); |
| }); |
| }); |
| |
| // Palm star |
| svg.appendChild(mkel('circle',{cx:pcx,cy:pcy,r:'8', |
| fill:'#ffffff18',stroke:'#ffffff88',strokeWidth:'1.5'})); |
| const star=mkel('text',{x:pcx,y:pcy+4.5,'text-anchor':'middle', |
| fill:'white','font-size':'11','font-weight':'bold'}); |
| star.textContent='★'; svg.appendChild(star); |
| } |
| |
| function mkel(tag,attrs){ |
| const el=document.createElementNS('http://www.w3.org/2000/svg',tag); |
| for(const[k,v] of Object.entries(attrs)) el.setAttribute(k,v); |
| return el; |
| } |
| |
| // ── Tactile Timeline ─────────────────────────────────────────────────────── |
| async function fetchTimeline(ep){ |
| TIMELINE=null; |
| document.getElementById('pd-timeline').textContent='loading…'; |
| try{ |
| TIMELINE=await fetch(`/api/tactile_timeline?ep=${ep}`).then(r=>r.json()); |
| document.getElementById('pd-timeline').textContent= |
| `${TIMELINE.n_frames} frames · 6 groups`; |
| }catch(e){ document.getElementById('pd-timeline').textContent='error'; } |
| drawTimeline(curFrame); |
| } |
| |
| const TAC_NAMES_SHORT={ |
| 'tactile_0':'拇尖','tactile_1':'拇中','tactile_2':'拇根', |
| 'tactile_3':'食尖','tactile_4':'食中','tactile_5':'食根','tactile_6':'食掌', |
| 'tactile_7':'中尖','tactile_8':'中中','tactile_9':'中根','tactile_10':'中掌', |
| 'tactile_11':'无尖','tactile_12':'无中','tactile_13':'无根','tactile_14':'无掌', |
| 'tactile_15':'小尖','tactile_16':'小中','tactile_17':'小根','tactile_18':'小掌', |
| 'tactile_19':'掌心', |
| }; |
| |
| function setupTimeline(){ |
| const pb=document.getElementById('tl-pb'); |
| const cv=document.getElementById('tac-timeline'); |
| if(!pb||!cv) return; |
| function resize(){ |
| const W=pb.clientWidth, H=pb.clientHeight; |
| if(W>10&&H>10){ cv.width=W; cv.height=H; drawTimeline(curFrame); } |
| } |
| new ResizeObserver(resize).observe(pb); |
| resize(); |
| } |
| |
| function drawTimeline(frame){ |
| const cv=document.getElementById('tac-timeline'); |
| if(!cv||!cv.width||!cv.height) return; |
| const W=cv.width, H=cv.height; |
| const ctx=cv.getContext('2d'); |
| ctx.fillStyle='#161b22'; ctx.fillRect(0,0,W,H); |
| if(!TIMELINE){ |
| ctx.fillStyle='#555e6a'; ctx.font='12px sans-serif'; ctx.textAlign='center'; |
| ctx.fillText('Loading…',W/2,H/2); return; |
| } |
| const sensors=TIMELINE.sensors, nf=TIMELINE.n_frames, start=TIMELINE.start; |
| const fi=Math.max(0,Math.min(frame-start,nf-1)); |
| |
| const LW=72; |
| const PAD={l:36,r:LW+4,t:8,b:20}; |
| const cw=W-PAD.l-PAD.r, ch=H-PAD.t-PAD.b; |
| |
| // Y max |
| let ymax=0; |
| sensors.forEach(s=>s.sums.forEach(v=>{if(v>ymax)ymax=v;})); |
| if(ymax<1) ymax=1; |
| |
| // Grid |
| ctx.lineWidth=0.5; |
| for(let i=0;i<=4;i++){ |
| const y=PAD.t+ch*(1-i/4); |
| ctx.strokeStyle='#1e2a38'; |
| ctx.beginPath(); ctx.moveTo(PAD.l,y); ctx.lineTo(PAD.l+cw,y); ctx.stroke(); |
| ctx.fillStyle='#555e6a'; ctx.font='8px monospace'; ctx.textAlign='right'; |
| ctx.fillText(Math.round(ymax*i/4),PAD.l-3,y+3); |
| } |
| |
| // Lines |
| sensors.forEach(s=>{ |
| ctx.strokeStyle=s.color; ctx.lineWidth=1.2; ctx.globalAlpha=0.8; |
| ctx.beginPath(); |
| s.sums.forEach((v,i)=>{ |
| const x=PAD.l+(nf>1?i/(nf-1):0)*cw; |
| const y=PAD.t+ch*(1-v/ymax); |
| i===0?ctx.moveTo(x,y):ctx.lineTo(x,y); |
| }); |
| ctx.stroke(); |
| }); |
| ctx.globalAlpha=1; |
| |
| // Cursor |
| const cx=PAD.l+(nf>1?fi/(nf-1):0)*cw; |
| ctx.strokeStyle='rgba(255,255,255,0.5)'; ctx.lineWidth=1; |
| ctx.setLineDash([3,3]); |
| ctx.beginPath(); ctx.moveTo(cx,PAD.t); ctx.lineTo(cx,PAD.t+ch); ctx.stroke(); |
| ctx.setLineDash([]); |
| ctx.fillStyle='#8b949e'; ctx.font='8px monospace'; ctx.textAlign='center'; |
| ctx.fillText('f'+fi,Math.min(Math.max(cx,18),W-LW-8),PAD.t+ch+13); |
| |
| // Right list: sensor name + current value |
| const lx=W-LW; |
| const rowH=Math.max(10,Math.min(14,ch/sensors.length)); |
| sensors.forEach((s,idx)=>{ |
| const val=(s.sums[fi]??0).toFixed(1); |
| const ly=PAD.t+rowH*idx+rowH*0.78; |
| const fs=Math.max(7,Math.min(9,Math.floor(rowH*0.75))); |
| ctx.fillStyle=s.color; ctx.fillRect(lx,ly-4,6,2); |
| ctx.font=`${fs}px sans-serif`; |
| ctx.fillStyle='#c0c8d0'; ctx.textAlign='left'; |
| ctx.fillText(TAC_NAMES_SHORT[s.key]||s.key,lx+9,ly); |
| ctx.fillStyle=s.color; ctx.textAlign='right'; |
| ctx.fillText(val,W-2,ly); |
| }); |
| } |
| |
| // ── Fetch frame ──────────────────────────────────────────────────────────── |
| let aborter=null; |
| function fetchFrame(n, ep){ |
| if(aborter) try{aborter.abort()}catch(_){} |
| aborter=new AbortController(); |
| const sig=aborter.signal; |
| const ep_data=META.episodes[ep]; |
| const fin=n-ep_data.start; |
| |
| fetch(`/api/frame?n=${n}&ep=${ep}`,{signal:sig}).then(r=>r.json()).then(d=>{ |
| document.getElementById('ts-lbl').textContent=`t = ${d.timestamp.toFixed(3)} s`; |
| document.getElementById('fr-lbl').textContent= |
| `Frame ${fin} / ${ep_data.length-1}`; |
| drawSkeleton(d.positions, d.quaternions); |
| for(const key of Object.keys(META.tactile_2d_shapes)){ |
| if(d.tactile[key]) drawHeatmap(key, d.tactile[key]); |
| } |
| drawTimeline(n); |
| }).catch(e=>{ if(e.name!=='AbortError') console.warn('frame fetch:',e); }); |
| |
| fetch(`/api/image?ep=${ep}&f=${fin}&type=color`,{signal:sig}) |
| .then(r=>r.json()).then(d=>{ |
| if(d.data) document.getElementById('img-color').src='data:image/jpeg;base64,'+d.data; |
| }).catch(()=>{}); |
| |
| } |
| |
| // ── Episode switch ───────────────────────────────────────────────────────── |
| function switchEp(ep){ |
| curEp=Math.max(0,Math.min(META.n_episodes-1,ep)); |
| skelScale=null; skelCenter=null; lastSkelPos=null; lastSkelQuat=null; |
| // 清空骨架面板，避免上一个 episode 的残影 |
| const svgEl=document.getElementById('svg-skel'); |
| if(svgEl) svgEl.innerHTML=''; |
| const epd=META.episodes[curEp]; |
| curFrame=epd.start; |
| const sl=document.getElementById('slider'); |
| sl.min=epd.start; sl.max=epd.end; sl.value=curFrame; |
| document.getElementById('ep-select').value=curEp; |
| // 更新顶部任务描述条 |
| document.getElementById('task-bar-ep').textContent=`Ep ${curEp}`; |
| document.getElementById('task-bar-text').textContent=epd.task||'—'; |
| fetchFrame(curFrame,curEp); |
| fetchTimeline(curEp); |
| } |
| |
| // ── Play ─────────────────────────────────────────────────────────────────── |
| function togglePlay(){ |
| playing=!playing; |
| document.getElementById('play-btn').textContent=playing?'⏸ Pause':'▶ Play'; |
| if(playing) tick(); |
| } |
| function tick(){ |
| if(!playing) return; |
| const epd=META.episodes[curEp]; |
| curFrame=(curFrame>=epd.end)?epd.start:curFrame+1; |
| document.getElementById('slider').value=curFrame; |
| fetchFrame(curFrame,curEp); |
| playTimer=setTimeout(tick,Math.max(40,1000/META.fps)); |
| } |
| |
| // ── Init ─────────────────────────────────────────────────────────────────── |
| async function init(){ |
| const meta=await fetch('/api/meta').then(r=>r.json()); |
| META=meta; CMAP=meta.cmap_colors; |
| |
| document.getElementById('c-ds').textContent=meta.name; |
| document.getElementById('c-eps').textContent=meta.n_episodes+' episodes'; |
| document.getElementById('c-fps').textContent=meta.fps+' fps'; |
| |
| // Populate episode dropdown |
| const sel=document.getElementById('ep-select'); |
| meta.episodes.forEach((ep,i)=>{ |
| const opt=document.createElement('option'); |
| opt.value=i; |
| opt.textContent=`Episode ${i} (${ep.length} frames)`; |
| sel.appendChild(opt); |
| }); |
| sel.addEventListener('change',()=>switchEp(parseInt(sel.value))); |
| |
| document.getElementById('btn-prev').onclick=()=>switchEp(curEp-1); |
| document.getElementById('btn-next').onclick=()=>switchEp(curEp+1); |
| document.getElementById('play-btn').onclick=togglePlay; |
| |
| const sl=document.getElementById('slider'); |
| sl.addEventListener('input',()=>{ |
| if(playing){clearTimeout(playTimer);playing=false; |
| document.getElementById('play-btn').textContent='▶ Play';} |
| curFrame=parseInt(sl.value); |
| fetchFrame(curFrame,curEp); |
| }); |
| |
| buildTactile(meta.tactile_2d_shapes, meta.sensor_groups); |
| initSkelDrag(); |
| setupTimeline(); |
| switchEp(0); |
| } |
| init(); |
| </script> |
| </body> |
| </html>""" |
|
|
|
|
| |
| def _pick_folder(): |
| try: |
| import tkinter as tk |
| from tkinter import filedialog |
| r=tk.Tk(); r.withdraw() |
| p=filedialog.askdirectory(title="选择 LeRobot 数据集文件夹") |
| r.destroy(); return p or None |
| except Exception: |
| return None |
|
|
| def main(): |
| global _DS |
| parser=argparse.ArgumentParser() |
| parser.add_argument("--dataset","-d",default=None) |
| parser.add_argument("--port","-p",type=int,default=PORT) |
| args=parser.parse_args() |
| path=args.dataset or _pick_folder() |
| if not path: sys.exit("未指定数据集路径") |
| _DS=DataServer(path) |
| class _Srv(HTTPServer): |
| allow_reuse_address=True |
| srv=_Srv(("127.0.0.1",args.port),Handler) |
| url=f"http://127.0.0.1:{args.port}" |
| print(f"\n可视化服务已启动 → {url}\n按 Ctrl+C 停止\n") |
| threading.Thread(target=lambda:(time.sleep(0.8),webbrowser.open(url)),daemon=True).start() |
| try: srv.serve_forever() |
| except KeyboardInterrupt: print("\n已停止") |
|
|
| if __name__=="__main__": |
| main() |
|
|
