Datasets:
File size: 33,477 Bytes
c00dcbc 70a3afb d15b778 70a3afb c00dcbc 70a3afb c00dcbc 47345b3 c00dcbc 70a3afb 47345b3 70a3afb 47345b3 c00dcbc 70a3afb c00dcbc 70a3afb c00dcbc 70a3afb c00dcbc 70a3afb d15b778 70a3afb d15b778 70a3afb 47345b3 70a3afb 47345b3 70a3afb c00dcbc 70a3afb d15b778 70a3afb c00dcbc 70a3afb 47345b3 c00dcbc 70a3afb 47345b3 70a3afb 47345b3 c00dcbc 70a3afb 47345b3 70a3afb c00dcbc 70a3afb c00dcbc 70a3afb c00dcbc 70a3afb c00dcbc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 | <!DOCTYPE html>
<html lang="en"><head><meta charset="utf-8"><title>BOP Pose Corrector</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
:root{--bg:#14161a;--p:#1d2026;--b:#2c313a;--t:#e6e8eb;--m:#8b93a1;--a:#4da3ff}
*{box-sizing:border-box}body{margin:0;display:flex;height:100vh;background:var(--bg);color:var(--t);font:13px system-ui,sans-serif}
#side{width:350px;overflow-y:auto;overflow-x:hidden;padding:10px;background:var(--p);border-right:1px solid var(--b)}
h3{margin:0 0 8px;font-size:15px}fieldset{min-width:0;border:1px solid var(--b);border-radius:6px;margin:0 0 8px;padding:6px 8px}
legend{color:var(--m);padding:0 4px}label{display:grid;grid-template-columns:115px minmax(0,1fr);gap:6px;align-items:center;margin:3px 0}
label.c{display:flex;gap:6px}select,input,button{max-width:100%;background:#262a32;color:var(--t);border:1px solid var(--b);border-radius:4px;padding:4px;font:inherit;min-width:0}
button{cursor:pointer}button:hover{border-color:var(--a)}button.pri{background:#1f5fa8;border-color:#1f5fa8}button.dng{background:#7a2530;border-color:#7a2530}
.g{display:grid;grid-template-columns:repeat(6,1fr);gap:3px;margin:4px 0}.g3{display:grid;grid-template-columns:repeat(3,1fr);gap:3px;margin:4px 0}
.r{display:flex;gap:4px;margin:3px 0}.r>*{flex:1}#lst{width:100%;height:150px;font-family:monospace}
pre{margin:4px 0;font-size:12px;color:#b9c2cf;white-space:pre-wrap}#msg{color:var(--m);font-size:12px;min-height:30px}
#view{flex:1;display:flex;align-items:center;justify-content:center;overflow:hidden;min-width:0}
#stage{position:relative;background:#000}#stage>*{position:absolute;inset:0;width:100%;height:100%}
#dp{pointer-events:none;opacity:.4}small{color:var(--m)}
</style></head><body>
<aside id="side">
<h3>BOP Pose Corrector</h3>
<fieldset><legend>1. Data</legend>
<button id="pick" class="pri" style="width:100%">Choose dataset folder (scene or parent)</button>
<label>Sequence<select id="seq"></select></label>
<label>Pose-key mapping<select id="kmode"><option value="auto">auto</option><option value="id">key number = file number (global numbering)</option><option value="name">key contains subset name</option><option value="shared">all keys apply to this subset</option><option value="seq">split sequentially over subsets</option></select></label>
<small id="kinfo"></small>
<label>Poses JSON<select id="poses"></select></label>
<label>Intrinsics JSON<span class="r"><select id="intr"></select><button id="bi" style="flex:0">...</button></span></label>
<label>Scene info (opt.)<span class="r"><select id="scn"><option value="">(none)</option></select><button id="bs" style="flex:0">...</button></span></label>
<label>Mesh (GLB/PLY/OBJ)<input type="file" id="mf" accept=".glb,.gltf,.ply,.obj"></label>
<label>Mesh scale<input id="ms" type="number" value="1" step="any"></label>
<label>RGB folder<select id="png"></select></label>
<label>Point-cloud folder<select id="pc"></select></label>
<label>Depth folder<select id="depth"></select></label>
<small>On delete, also remove same-number files in:</small><div id="xf"></div>
<label>Index offset<input id="off" type="number" value="0" step="1" title="RGB file number = pose key number + offset"></label>
<small>On delete, also remove entries from:</small><div id="pr"></div>
<label>Point-cloud scale<input id="ps" type="number" value="1" step="any"></label>
<div class="r"><input id="fx" type="number" placeholder="fx"><input id="fy" type="number" placeholder="fy"><input id="cx" type="number" placeholder="cx"><input id="cy" type="number" placeholder="cy"></div>
<button id="load" class="pri" style="width:100%">Load</button>
</fieldset>
<fieldset><legend>2. Images</legend>
<select id="lst" size="10"></select>
<div class="r"><button id="prev">← Prev</button><button id="next">Next →</button><button id="del" class="dng">Delete image</button></div>
<div id="msg"></div></fieldset>
<fieldset><legend>3. Pose</legend>
<label>Object in image<select id="obj"></select></label>
<div class="r"><button id="mt">Translate (W)</button><button id="mr">Rotate (E)</button></div>
<label>Step: move (mm)<input id="st" type="number" value="5"></label>
<label>Step: rotate (deg)<input id="sr" type="number" value="2"></label>
<small>Move along camera axes (x right, y down, z forward)</small><div class="g" id="tb"></div>
<small>Rotate about object axes</small><div class="g" id="rb"></div>
<label class="c"><input type="checkbox" id="rc"> rotate about camera axes instead</label>
<div class="g3" id="fb"></div>
<pre id="info"></pre>
<button id="all" style="width:100%">Apply this correction to ALL images</button>
<div class="r"><button id="reset">Reset image</button><button id="save" class="pri">Save (Ctrl+S)</button></div>
</fieldset>
<fieldset><legend>4. View</legend>
<label>Mesh opacity<input id="op" type="range" min=".1" max="1" step=".05" value=".7"></label>
<label>Depth opacity<input id="dop" type="range" min="0.1" max="1" step="0.05" value="0.4"></label>
<label>Point size (px)<input id="pz" type="range" min="1" max="6" step="1" value="1"></label>
<label class="c"><input type="checkbox" id="cpc"> point cloud (dense: hides RGB/depth)</label>
<label class="c"><input type="checkbox" id="cdp" checked> depth overlay</label>
<label class="c"><input type="checkbox" id="cax" checked> object axes (R=x G=y B=z)</label>
<label class="c"><input type="checkbox" id="cfr"> free 3D view (orbit)</label>
</fieldset>
<input type="file" id="fi" accept=".json" hidden>
</aside>
<main id="view"><div id="stage"><img id="bg" alt=""><canvas id="dp"></canvas><canvas id="gl"></canvas></div></main>
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/TransformControls.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/PLYLoader.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/GLTFLoader.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/OBJLoader.js"></script>
<script>
const $=i=>document.getElementById(i),msg=t=>$('msg').textContent=t;
let root,dirs={},dh={},dval={},maps={},poses,orig,posesText,backedUp=false,pName,sName,keys=[],idx=-1,
base={fx:600,fy:600,cx:320,cy:240},cam={...base},scn=null,intr=null,ext={},mesh=null,rad=50,meshS=1,
dirty=new Set(),W=640,H=480,groups=[],sel=0,token=0,free=false,pcObj=null,prevUrl,fiT;
const EXT={mask:/\.(png|jpe?g)$/i,png:/\.(png|jpe?g)$/i,pc:/\.(ply|pcd|xyz|txt|npy|npz)$/i,depth:/\.(png|tiff?|exr|npy|npz)$/i};
const stemOf=n=>n.replace(/\.[^.]+$/,'');
const indentOf=t=>{const m=t.match(/\n([ \t]+)\S/);return m?(m[1][0]==='\t'?'\t':m[1].length):0};
const rawParse=t=>JSON.parse(t,(k,v,c)=>typeof v==='number'&&c&&c.source&&/[.eE]/.test(c.source)&&Number.isInteger(v)&&JSON.rawJSON?JSON.rawJSON(c.source):v);
const ser=(o,t)=>JSON.stringify(o,null,indentOf(t))+(t.endsWith('\n')?'\n':'');
// ---------- three.js ----------
const renderer=new THREE.WebGLRenderer({canvas:$('gl'),alpha:true,antialias:true});
const scene=new THREE.Scene(),cv=new THREE.Group();cv.rotation.x=Math.PI;scene.add(cv); // OpenCV frame -> three frame
scene.add(new THREE.AmbientLight(0xffffff,.65));const dl=new THREE.DirectionalLight(0xffffff,.9);dl.position.set(.3,.5,1);scene.add(dl);
const camCV=new THREE.PerspectiveCamera(),camFree=new THREE.PerspectiveCamera(50,1,1,1e6);
const orbit=new THREE.OrbitControls(camFree,$('gl'));orbit.enabled=false;
const tc=new THREE.TransformControls(camCV,$('gl'));scene.add(tc);tc.setSize(.8);
tc.addEventListener('dragging-changed',e=>orbit.enabled=free&&!e.value);tc.addEventListener('objectChange',()=>sync());
function setProj(){const n=1,f=1e6,c=-(f+n)/(f-n),d=-2*f*n/(f-n);
camCV.projectionMatrix.set(2*cam.fx/W,0,1-2*cam.cx/W,0, 0,2*cam.fy/H,2*cam.cy/H-1,0, 0,0,c,d, 0,0,-1,0);
camCV.projectionMatrixInverse.copy(camCV.projectionMatrix).invert()}
function layout(){const a=$('view').getBoundingClientRect(),s=Math.min(a.width/W,a.height/H),w=Math.max(1,Math.floor(W*s)),h=Math.max(1,Math.floor(H*s));
$('stage').style.width=w+'px';$('stage').style.height=h+'px';renderer.setPixelRatio(devicePixelRatio);renderer.setSize(w,h,false);
camFree.aspect=w/h;camFree.updateProjectionMatrix();setProj()}
addEventListener('resize',layout);
(function loop(){requestAnimationFrame(loop);if(free)orbit.update();setProj();renderer.render(scene,free?camFree:camCV)})();
// ---------- pose helpers ----------
const rk=e=>'cam_R_m2c' in e?'cam_R_m2c':'R',tk=e=>'cam_t_m2c' in e?'cam_t_m2c':'t';
const getR=e=>e[rk(e)].flat(),getT=e=>e[tk(e)];
const ent=()=>{const v=poses[keys[idx]];return Array.isArray(v)?v:[v]};
const entM=e=>{const R=getR(e),t=getT(e);return new THREE.Matrix4().set(R[0],R[1],R[2],t[0],R[3],R[4],R[5],t[1],R[6],R[7],R[8],t[2],0,0,0,1)};
function writeM(e,m){const x=m.elements,R=[x[0],x[4],x[8],x[1],x[5],x[9],x[2],x[6],x[10]];
e[rk(e)]=Array.isArray(e[rk(e)][0])?[R.slice(0,3),R.slice(3,6),R.slice(6)]:R;e[tk(e)]=[x[12],x[13],x[14]]}
function setPose(g,e){const m=entM(e);
m.decompose(g.position,g.quaternion,g.scale);g.scale.set(1,1,1)}
function sync(){const g=groups[sel],e=ent()[sel];if(!g||!e)return;g.updateMatrix();writeM(e,g.matrix);dirty.add(keys[idx]);mark();info()}
function mark(){const o=$('lst').options[idx];if(o)o.text=(dirty.has(keys[idx])?'* ':' ')+keys[idx]}
function info(){const e=ent()[sel];if(!e){$('info').textContent='';return}const R=getR(e),f=a=>a.map(v=>v.toFixed(4).padStart(10)).join('');
$('info').textContent=`R\n${f(R.slice(0,3))}\n${f(R.slice(3,6))}\n${f(R.slice(6))}\nt ${getT(e).map(v=>v.toFixed(2)).join(', ')}\nunsaved: ${dirty.size} image(s)`}
function nudge(rot,ax,s,flip){const g=groups[sel];if(!g)return;const v=new THREE.Vector3();v[ax]=1;
if(rot){const q=new THREE.Quaternion().setFromAxisAngle(v,flip?Math.PI:s*$('sr').value*Math.PI/180);$('rc').checked?g.quaternion.premultiply(q):g.quaternion.multiply(q)}
else g.position.addScaledVector(v,s*$('st').value);sync()}
const grid=(id,items)=>items.forEach(([l,f])=>{const b=document.createElement('button');b.textContent=l;b.onclick=f;$(id).append(b)});
grid('tb',[...'xyz'].flatMap(a=>[['-'+a,()=>nudge(0,a,-1)],['+'+a,()=>nudge(0,a,1)]]));
grid('rb',[...'xyz'].flatMap(a=>[['-'+a,()=>nudge(1,a,-1)],['+'+a,()=>nudge(1,a,1)]]));
grid('fb',[...'xyz'].map(a=>['Flip 180\u00b0 '+a.toUpperCase(),()=>nudge(1,a,1,1)]));
function mode(m){tc.setMode(m);tc.setSpace(m==='rotate'?'local':'world')}
$('mt').onclick=()=>mode('translate');$('mr').onclick=()=>mode('rotate');mode('translate');
// ---------- mesh ----------
function applyOpacity(){if(!mesh)return;const v=+$('op').value;mesh.traverse(o=>{if(o.material)[].concat(o.material).forEach(m=>{m.transparent=v<1;m.opacity=v;m.depthWrite=v>=1;m.side=THREE.DoubleSide;m.needsUpdate=true})})}
async function loadMesh(f){const buf=await f.arrayBuffer();let o;
if(/\.ply$/i.test(f.name)){const g=new THREE.PLYLoader().parse(buf),c=!!g.attributes.color;
if(g.index||g.attributes.position.count%3===0&&!g.attributes.normal){if(!g.attributes.normal)g.computeVertexNormals();
o=new THREE.Mesh(g,new THREE.MeshStandardMaterial({vertexColors:c,color:c?0xffffff:0xb0b8c4,roughness:.7,metalness:.1}))}
else o=new THREE.Points(g,new THREE.PointsMaterial({size:2,sizeAttenuation:false,vertexColors:c}))}
else if(/\.obj$/i.test(f.name)){o=new THREE.OBJLoader().parse(await f.text());const mt=new THREE.MeshStandardMaterial({color:0xb0b8c4,roughness:.7,metalness:.1});
o.traverse(c=>{if(c.isMesh){c.material=mt;if(!c.geometry.attributes.normal)c.geometry.computeVertexNormals()}})}
else o=await new Promise((res,rej)=>new THREE.GLTFLoader().parse(buf,'',g=>res(g.scene),rej));
mesh=o;const b=new THREE.Box3().setFromObject(o),s=b.getSize(new THREE.Vector3());rad=s.length()/2;
if(rad<5){meshS=1000;$('ms').value=1000;msg('Mesh looks metric (m): scale set to 1000. Adjust if wrong.')}applyOpacity()}
function buildGroups(){groups.forEach(g=>cv.remove(g));groups=[];tc.detach();
ent().forEach((e,i)=>{const g=new THREE.Group();if(mesh){const m=mesh.clone(true);m.scale.setScalar(meshS);g.add(m)}
const ax=new THREE.AxesHelper(rad*meshS*1.3);ax.visible=$('cax').checked;g.add(ax);g.userData.ax=ax;setPose(g,e);cv.add(g);groups.push(g)});
$('obj').innerHTML=ent().map((_,i)=>`<option value="${i}">#${i}</option>`).join('');sel=0;if(groups[0])tc.attach(groups[0])}
$('obj').onchange=()=>{sel=+$('obj').value;tc.detach();if(groups[sel])tc.attach(groups[sel]);info()};
$('op').oninput=applyOpacity;$('ms').onchange=()=>{meshS=+$('ms').value||1;if(idx>=0)buildGroups()};
$('cpc').onchange=()=>{if(pcObj)pcObj.visible=$('cpc').checked};
$('cdp').onchange=()=>$('dp').style.display=$('cdp').checked&&!free?'block':'none';
$('cax').onchange=()=>groups.forEach(g=>g.userData.ax.visible=$('cax').checked);
$('cfr').onchange=()=>{free=$('cfr').checked;renderer.setClearColor(0x15171c,free?1:0);$('bg').style.display=free?'none':'block';$('cdp').onchange();
tc.camera=free?camFree:camCV;orbit.enabled=free;if(free){const p=groups[sel]?groups[sel].getWorldPosition(new THREE.Vector3()):new THREE.Vector3(0,0,-800);
camFree.position.set(p.x+500,p.y+400,p.z+500);orbit.target.copy(p);orbit.update()}};
// ---------- file access ----------
function camFrom(o){if(!o||typeof o!=='object')return;let K=o.cam_K||o.K||o.camera_matrix||o.intrinsics,r;
if(K&&K.data)K=K.data;if(K&&!Array.isArray(K)&&typeof K==='object')return camFrom(K);
if(Array.isArray(K)){K=K.flat();r={fx:K[0],fy:K[4],cx:K[2],cy:K[5]}}else if(o.fx)r={fx:o.fx,fy:o.fy??o.fx,cx:o.cx,cy:o.cy};
if(r&&(o.width||o.w)){r.w=o.width||o.w;r.h=o.height||o.h}return r}
async function readJ(id){const v=$(id).value;if(!v)return null;const f=v[0]==='@'?ext[v]:await(await root.getFileHandle(v)).getFile();return JSON.parse(await f.text())}
let leaves=[],curLeaf=0,leafName='',parentH=null;
const DATA=/^(rgb|depth|point_clouds?|ground_truths?|mask.*)$/i;
async function scan(h,path,chain,d){let hasP=false,hasRgb=false;const subs=[];
for await(const[n,x]of h.entries()){if(x.kind==='file'&&/^poses.*\.json$/i.test(n))hasP=true;
else if(x.kind==='directory'){if(/^rgb$/i.test(n))hasRgb=true;if(d<3&&!DATA.test(n))subs.push([n,x])}}
if(hasRgb){const a=hasP?{h}:[...chain].reverse().find(c=>c.hasP);
leaves.push({path,handle:h,parent:chain.length?chain[chain.length-1].h:null,poseH:a?a.h:null,parentPath:path.split('/').slice(0,-1).join('/'),hasRgb})}
for(const[n,x]of subs.sort((a,b)=>a[0]<b[0]?-1:1))await scan(x,path?path+'/'+n:n,[...chain,{h,hasP}],d+1)}
$('pick').onclick=async()=>{let top;try{top=await showDirectoryPicker({mode:'readwrite'})}catch{return}
msg('Scanning folders...');leaves=[];await scan(top,'',[],0);
if(!leaves.length)return msg('No poses*.json found in the chosen folder or its subfolders.');
leaves.sort((a,b)=>b.hasRgb-a.hasRgb);
$('seq').innerHTML=leaves.map((l,i)=>`<option value="${i}">${l.path||'(chosen folder)'}${l.poseH?'':' [no poses.json]'}</option>`).join('');
curLeaf=0;await openLeaf(0)};
$('seq').onchange=async()=>{if(dirty.size&&!confirm('Unsaved pose edits in the current sequence will be lost. Switch anyway?')){$('seq').value=curLeaf;return}
curLeaf=+$('seq').value;dirty.clear();await openLeaf(curLeaf)};
function fillXf(){const sl=['png','pc','depth'].map(k=>$(k).value);
$('xf').innerHTML=Object.keys(dirs).filter(n=>!n.includes('/')&&!sl.includes(n)).map(n=>`<label class="c"><input type="checkbox" value="${n}" ${/mask|ground|gt/i.test(n)?'checked':''}> ${n}</label>`).join('')||'<small>(none)</small>'}
['png','pc','depth'].forEach(k=>$(k).addEventListener('change',fillXf));
async function openLeaf(i){const L=leaves[i];root=L.handle;parentH=L.parent;posesH=L.poseH;leafName=L.path.split('/').pop();backedUp=false;poses=null;keys=[];idx=-1;$('lst').innerHTML='';
dirs={};const js=[],pjs=[];
for await(const[n,h]of root.entries()){if(h.kind==='directory'){dirs[n]=h;if(!DATA.test(n))for await(const[m,y]of h.entries())if(y.kind==='directory')dirs[n+'/'+m]=y}else if(/\.json$/i.test(n))js.push(n)}
if(parentH)for await(const[n,h]of parentH.entries())if(h.kind==='file'&&/\.json$/i.test(n)&&!(parentH===posesH&&/^poses/i.test(n)))pjs.push(n);
const pn=[];if(posesH)for await(const[n,h]of posesH.entries())if(h.kind==='file'&&/\.json$/i.test(n))pn.push(n);pn.sort((a,b)=>(/backup/i.test(a)-/backup/i.test(b))||(a<b?-1:1));
js.sort();pjs.sort();const o=a=>a.map(n=>`<option>${n}</option>`).join('');
$('poses').innerHTML=o(pn);$('poses').value=pn.find(n=>/^poses\.json$/i.test(n))||pn.find(n=>/^poses/i.test(n)&&!/backup/i.test(n))||pn[0]||'';
$('intr').innerHTML=o(js);$('intr').value=js.find(n=>/intr|cam|^k\./i.test(n))||js[0]||'';
$('scn').innerHTML='<option value="">(none)</option>'+o(js);
const guess={png:/rgb|png|image|color/i,pc:/pcd|point|cloud|ply|^pc/i,depth:/depth/i};
for(const k in guess){$(k).innerHTML='<option value=".">(root folder)</option>'+o(Object.keys(dirs))+'<option value="(none)">(none)</option>';
$(k).value=Object.keys(dirs).find(n=>guess[k].test(n))||'.'}
fillXf();
$('pr').innerHTML=js.map(n=>`<label class="c"><input type="checkbox" value="${n}" ${/scene_|annot|coco/i.test(n)?'checked':''}> ${n}</label>`).join('')+pjs.map(n=>`<label class="c"><input type="checkbox" value="../${n}"> (parent folder) ${n}</label>`).join('');
msg(`Sequence "${L.path||'chosen folder'}" opened. Pick the mesh, then press Load.`)}
function browse(sel_){fiT=sel_;$('fi').value='';$('fi').click()}
$('bi').onclick=()=>browse('intr');$('bs').onclick=()=>browse('scn');
$('fi').onchange=()=>{const f=$('fi').files[0];if(!f)return;const v='@'+f.name;ext[v]=f;$(fiT).insertAdjacentHTML('beforeend',`<option value="${v}">${f.name}</option>`);$(fiT).value=v};
const numOf=s=>{const m=s.match(/(\d+)(?!.*\d)/);return m?+m[1]:null};
const plain=s=>{const n=numOf(stemOf(s));return n===null?stemOf(s):n};
let offset=0,warn='',pcAuto=false;
const fnum=key=>{if(posMap&&posMap.has(key))return posMap.get(key);const n=numOf(stemOf(key));return n===null?stemOf(key):n+offset};
async function indexAll(){for(const k of['png','pc','depth']){const v=$(k).value;dval[k]=v;dh[k]=v==='(none)'?null:v==='.'?root:dirs[v];maps[k]={};
if(!dh[k])continue;for await(const[n,h]of dh[k].entries()){if(h.kind!=='file'||!EXT[k].test(n))continue;const m=plain(n);(maps[k][m]=maps[k][m]||[]).push(n)}}}
const names=(k,key)=>(maps[k]&&maps[k][fnum(key)])||[];
async function getF(k,key){const l=names(k,key),n=k==='pc'?l.find(x=>/\.(ply|npy)$/i.test(x))||l[0]:l[0];return n?(await dh[k].getFileHandle(n)).getFile():null}
let allKeys=[],posesH=null,eff='own',sibs=[],posMap=null;
const hasName=(k,n)=>k.toLowerCase().split(/[\/\\._\-\s]+/).includes(n.toLowerCase());
function resolveMode(){if(posesH===root)return 'own';const s=$('kmode').value;if(s!=='auto')return s;
if(sibs.length>1&&allKeys.some(k=>sibs.some(x=>hasName(k,x.name))))return 'name';
if(sibs.length>1){const cov=allKeys.filter(k=>{const n=numOf(stemOf(k));return n!==null&&sibs.filter(x=>x.nums.has(n)).length===1}).length;if(cov>=0.9*allKeys.length)return 'id'}
if(sibs.length>1&&allKeys.length===sibs.reduce((a,x)=>a+x.count,0))return 'seq';return 'shared'}
function rebuildKeys(keep){eff=resolveMode();let ks=allKeys,hid=0;posMap=null;
const fl=Object.keys(maps.png||{}).map(Number).filter(x=>!isNaN(x)).sort((a,b)=>a-b);
if(eff==='name')ks=allKeys.filter(k=>hasName(k,leafName));
if(eff==='seq'){let st=0;for(const x of sibs){if(x.name===leafName)break;st+=x.count}const me=sibs.find(x=>x.name===leafName);
ks=allKeys.slice(st,st+(me?me.count:0));posMap=new Map(ks.map((k,j)=>[k,fl[j]]))}
else if(eff==='id'){if(!keep){offset=0;$('off').value=0}}
else if(!keep){const kn=ks.map(k=>numOf(stemOf(k))).filter(x=>x!==null);
offset=kn.length&&fl.length&&kn.length===fl.length?Math.min(...fl)-Math.min(...kn):0;$('off').value=offset}
if(dh.png){const have=ks.filter(k=>names('png',k).length);if(have.length){hid=ks.length-have.length;ks=have}}
keys=ks;$('kinfo').textContent=`poses: ${pName} | mapping: ${eff}${eff==='shared'?' (poses shared with other subsets: deleting an image keeps its pose entry)':''}${eff==='id'?' (key number = file number; keys of the other subsets are hidden)':''} | ${keys.length} image(s)${hid&&eff!=='id'?`, ${hid} pose key(s) without RGB hidden`:''}`;
$('lst').innerHTML=keys.map((k,i)=>`<option value="${i}">${dirty.has(k)?'* ':' '}${k}</option>`).join('');show(0)}
$('kmode').onchange=()=>{if(poses)rebuildKeys()};
$('load').onclick=async()=>{try{if(!root)return msg('Choose the dataset folder first.');if(!posesH||!$('poses').value)return msg('No poses JSON found for this sequence (looked in its folder and parent folders).');
pName=$('poses').value;backupWarned=false;posesText=await(await(await posesH.getFileHandle(pName)).getFile()).text();poses=JSON.parse(posesText);orig=structuredClone(poses);
allKeys=Object.keys(poses).sort();dirty.clear();intr=await readJ('intr');sName=$('scn').value;scn=await readJ('scn');
base={...base,...(camFrom(intr)||camFrom(intr&&Object.values(intr)[0])||camFrom(scn)||camFrom(scn&&Object.values(scn)[0])||{})};
meshS=+$('ms').value||1;if($('mf').files[0])await loadMesh($('mf').files[0]);
await indexAll();sibs=[];
if(posesH!==root){const L=leaves[curLeaf],pv=$('png').value;
for(const l of leaves.filter(x=>x.parentPath===L.parentPath)){let c=0;const nums=new Set();try{const d=pv==='.'?l.handle:await l.handle.getDirectoryHandle(pv);for await(const[n,x]of d.entries())if(x.kind==='file'&&EXT.png.test(n)){c++;nums.add(plain(n))}}catch{}
sibs.push({name:l.path.split('/').pop(),count:c,nums})}
sibs.sort((a,b)=>a.name<b.name?-1:1)}
pcAuto=false;rebuildKeys()}catch(e){msg('Load failed: '+e.message)}};
['fx','fy','cx','cy'].forEach(k=>$(k).oninput=()=>{base[k]=cam[k]=+$(k).value;setProj()});
$('lst').onchange=()=>show(+$('lst').value);$('prev').onclick=()=>show(idx-1);$('next').onclick=()=>show(idx+1);
const half=h=>{const s=h>>15?-1:1,e=h>>10&31,m=h&1023;return e===0?s*m*5.960464477539063e-8:e===31?(m?NaN:s*Infinity):s*2**(e-15)*(1+m/1024)};
async function readNpy(f){const b=await f.arrayBuffer(),u=new Uint8Array(b),d=new DataView(b);
if(u[0]!==0x93||String.fromCharCode(...u.subarray(1,6))!=='NUMPY')throw Error('not an NPY file');
const hl=u[6]>=2?d.getUint32(8,true):d.getUint16(8,true),ho=u[6]>=2?12:10,hd=new TextDecoder().decode(u.subarray(ho,ho+hl));
const ds=hd.match(/'descr':\s*'([^']+)'/)[1],le=ds[0]!=='>',t=ds.slice(1),sh=(hd.match(/'shape':\s*\(([^)]*)\)/)[1].match(/\d+/g)||[]).map(Number);
if(/'fortran_order':\s*True/.test(hd)&&sh.length>1)throw Error('Fortran-order NPY unsupported');
const n=sh.reduce((a,c)=>a*c,1),sz=+t[1],out=new Float32Array(n),o0=ho+hl;
const rd={f4:o=>d.getFloat32(o,le),f8:o=>d.getFloat64(o,le),f2:o=>half(d.getUint16(o,le)),u1:o=>d.getUint8(o),i1:o=>d.getInt8(o),u2:o=>d.getUint16(o,le),i2:o=>d.getInt16(o,le),u4:o=>d.getUint32(o,le),i4:o=>d.getInt32(o,le)}[t];
if(!rd)throw Error('dtype '+ds+' unsupported');for(let i=0;i<n;i++)out[i]=rd(o0+i*sz);return{shape:sh,data:out}}
async function loadPC(f){if(/\.ply$/i.test(f.name))return new THREE.PLYLoader().parse(await f.arrayBuffer());
const a=await readNpy(f),ch=a.shape[a.shape.length-1];if(ch<3)throw Error('unexpected shape '+a.shape);
const N=a.data.length/ch,st=Math.max(1,Math.ceil(N/2e6)),p=[],c=[],col=ch>=6;let mx=0;
for(let i=0;i<N;i+=st){const o=i*ch,x=a.data[o],y=a.data[o+1],z=a.data[o+2];if(!isFinite(x+y+z)||(x===0&&y===0&&z===0))continue;p.push(x,y,z);
if(col){const r=a.data[o+3],g=a.data[o+4],b=a.data[o+5];c.push(r,g,b);mx=Math.max(mx,r,g,b)}}
const g=new THREE.BufferGeometry();g.setAttribute('position',new THREE.Float32BufferAttribute(p,3));
if(col)g.setAttribute('color',new THREE.Float32BufferAttribute(mx>1.5?c.map(v=>v/255):c,3));return g}
async function drawDepth(f){const c=$('dp'),x=c.getContext('2d');c.width=c.height=1;x.clearRect(0,0,1,1);if(!f)return;
try{let w,h,v;if(/\.npy$/i.test(f.name)){const a=await readNpy(f),s=a.shape.filter(q=>q!==1);if(s.length!==2)throw Error('unexpected shape '+a.shape);[h,w]=s;v=a.data}
else if(/\.png$/i.test(f.name)){const p=await readPng(f),bpp=p.ch*p.bd/8;w=p.w;h=p.h;v=new Float32Array(w*h);for(let i=0;i<v.length;i++){const o=i*bpp;v[i]=p.bd===16?p.out[o]<<8|p.out[o+1]:p.out[o]}}
else throw Error('unsupported format '+f.name);
const smp=[];for(let i=0;i<v.length;i+=7)if(v[i]>0&&isFinite(v[i]))smp.push(v[i]);smp.sort((a,b)=>a-b);
const lo=smp[Math.floor(smp.length*.02)]||0,hi=smp[Math.floor(smp.length*.98)]||1;
c.width=w;c.height=h;const im=x.createImageData(w,h),k=a=>Math.max(0,Math.min(1,1.5-Math.abs(a)))*255;
for(let i=0;i<v.length;i++){if(v[i]>0&&isFinite(v[i])){const t=Math.max(0,Math.min(1,(v[i]-lo)/(hi-lo||1))),j=i*4;im.data[j]=k(4*t-3);im.data[j+1]=k(4*t-2);im.data[j+2]=k(4*t-1);im.data[j+3]=255}}x.putImageData(im,0,0)}
catch(e){warn+=' | depth: '+e.message}}
async function readPng(file){const b=new Uint8Array(await file.arrayBuffer()),dv=new DataView(b.buffer);let p=8,w,h,bd,ct;const idat=[];
while(p<b.length){const l=dv.getUint32(p),t=String.fromCharCode(...b.subarray(p+4,p+8));
if(t==='IHDR'){w=dv.getUint32(p+8);h=dv.getUint32(p+12);bd=b[p+16];ct=b[p+17];if(b[p+20])throw Error('interlaced PNG')}
if(t==='IDAT')idat.push(b.subarray(p+8,p+8+l));p+=12+l}
if(!w)throw Error('not a PNG');const ch={0:1,2:3,4:2,6:4}[ct];if(!ch||bd<8)throw Error('unsupported PNG type');
const raw=new Uint8Array(await new Response(new Blob(idat).stream().pipeThrough(new DecompressionStream('deflate'))).arrayBuffer());
const bpp=ch*bd/8,st=w*bpp,out=new Uint8Array(h*st);
for(let y=0;y<h;y++){const f=raw[y*(st+1)],o=y*st,r=y*(st+1)+1;
for(let x=0;x<st;x++){const a=x>=bpp?out[o+x-bpp]:0,u=y?out[o-st+x]:0,c=x>=bpp&&y?out[o-st+x-bpp]:0;let v=raw[r+x];
if(f===1)v+=a;else if(f===2)v+=u;else if(f===3)v+=(a+u)>>1;
else if(f===4){const pa=Math.abs(u-c),pb=Math.abs(a-c),pc=Math.abs(a+u-2*c);v+=pa<=pb&&pa<=pc?a:pb<=pc?u:c}out[o+x]=v&255}}
return{w,h,bd,ch,out}}
async function show(i){if(!keys.length){$('lst').innerHTML='';groups.forEach(g=>cv.remove(g));groups=[];tc.detach();return msg('No images left.')}
idx=Math.max(0,Math.min(keys.length-1,i));const my=++token,key=keys[idx],stem=stemOf(key);warn='';$('lst').selectedIndex=idx;
const[pf,cf,df]=await Promise.all([getF('png',key),getF('pc',key),getF('depth',key)]);if(my!==token)return;
const per=scn&&camFrom(scn[fnum(key)]||scn[key]||scn[stem]||scn[+stem]);Object.assign(cam,base,per||{});
['fx','fy','cx','cy'].forEach(k=>$(k).value=+(+cam[k]).toFixed(3));
const bg=$('bg');if(pf){const u=URL.createObjectURL(pf);await new Promise(r=>{bg.onload=bg.onerror=r;bg.src=u});if(prevUrl)URL.revokeObjectURL(prevUrl);prevUrl=u;
if(my!==token)return;W=bg.naturalWidth;H=bg.naturalHeight;bg.style.visibility='visible'}
else{bg.style.visibility='hidden';W=cam.w||Math.round(cam.cx*2)||640;H=cam.h||Math.round(cam.cy*2)||480}
layout();buildGroups();mark();info();
if(pcObj){cv.remove(pcObj);pcObj.geometry.dispose();pcObj=null}
if(cf){try{const g=await loadPC(cf);if(my!==token)return;
if(!pcAuto&&g.attributes.position.count&&ent()[0]){pcAuto=true;const P=g.attributes.position.array,z=[];for(let q=2;q<P.length;q+=51)z.push(Math.abs(P[q]));z.sort((a,b)=>a-b);
const r=Math.abs(getT(ent()[0])[2])/z[z.length>>1];if(r>300&&r<3000){$('ps').value=1000;warn+=' | point-cloud scale auto-set to 1000 (cloud looks metric)'}else if(r>3e-4&&r<3e-3){$('ps').value=.001;warn+=' | point-cloud scale auto-set to 0.001'}}
const c=!!g.attributes.color;pcObj=new THREE.Points(g,new THREE.PointsMaterial({size:+$('pz').value,sizeAttenuation:false,vertexColors:c,color:c?0xffffff:0x66ccff}));
pcObj.scale.setScalar(+$('ps').value||1);pcObj.visible=$('cpc').checked;cv.add(pcObj)}catch(e){warn+=' | point cloud: '+e.message}}
await drawDepth(df);if(my!==token)return;$('cdp').onchange();
msg(`${key} -> rgb: ${names('png',key)[0]||'NO'} | pc: ${cf?cf.name:'NO'} | depth: ${df?df.name:'NO'}${warn}`)}
// ---------- save / delete / reset ----------
async function writeText(name,txt,create,hd=root){const h=await hd.getFileHandle(name,{create}),w=await h.createWritable();await w.write(txt);await w.close()}
let backupWarned=false;
async function save(){if(!poses)return;
if(/\.backup/i.test(pName)&&!backupWarned){if(!confirm(`You loaded "${pName}", which looks like a backup file. Save your edits into it anyway?`))return;backupWarned=true}
try{const bn=pName.replace(/\.json$/i,'')+'.backup.json';
if(!backedUp&&!/\.backup/i.test(pName)){try{await posesH.getFileHandle(bn)}catch{await writeText(bn,posesText,true,posesH)}backedUp=true}
{const out=ser(poses,posesText);await writeText(pName,out,false,posesH);posesText=out}orig=structuredClone(poses);dirty.clear();
[...$('lst').options].forEach((o,i)=>o.text=' '+keys[i]);info();msg(`Saved ${pName} (backup: ${bn})`)}catch(e){msg('Save failed: '+e.message)}}
$('save').onclick=save;
$('reset').onclick=()=>{if(idx<0)return;poses[keys[idx]]=structuredClone(orig[keys[idx]]);dirty.delete(keys[idx]);show(idx)};
$('del').onclick=async()=>{if(idx<0)return;const key=keys[idx],fn=fnum(key),list=[],seen=new Set(),plans=[];
for(const k of['png','pc','depth'])names(k,key).forEach(n=>{const id=dval[k]+'/'+n;if(!seen.has(id)){seen.add(id);list.push({h:dh[k],n,id})}});
try{for(const cb of document.querySelectorAll('#xf input:checked')){const h=dirs[cb.value];
for await(const[n,x]of h.entries())if(x.kind==='file'&&plain(n)===fn){const id=cb.value+'/'+n;if(!seen.has(id)){seen.add(id);list.push({h,n,id})}}}
const need=dval.png&&dval.png!=='.'&&dval.png!=='(none)'?dval.png.split('/'):[];
for(const cb of document.querySelectorAll('#pr input:checked')){const par=cb.value.startsWith('../'),name=par?cb.value.slice(3):cb.value;if(name===pName&&(par?parentH===posesH:posesH===root))continue;
const hd=par?parentH:root,label=(par?'../':'')+name,txt=await(await(await hd.getFileHandle(name)).getFile()).text(),j=rawParse(txt);
if(Array.isArray(j.images)){const ids=new Set(j.images.filter(im=>{const p=(im.file_name||'').split('/'),d=p.slice(0,-1);
return plain(p[p.length-1])===fn&&(!d.length||(par?d.includes(leafName):need.every(x=>d.includes(x))))}).map(im=>im.id)),na=(j.annotations||[]).filter(a=>ids.has(a.image_id)).length;
plans.push({label,name,hd,j,txt,n:ids.size,hit:ids.size?`${ids.size} image + ${na} annotation entries`:'nothing matched',apply:()=>{j.images=j.images.filter(im=>!ids.has(im.id));if(j.annotations)j.annotations=j.annotations.filter(a=>!ids.has(a.image_id))}})}
else{const ks=Object.keys(j).filter(k=>plain(k)===fn);plans.push({label,name,hd,j,txt,n:ks.length,hit:ks.length?'keys '+ks.join(', '):'nothing matched',apply:()=>ks.forEach(k=>delete j[k])})}}}
catch(e){return msg('Cannot read JSON to prune: '+e.message)}
if(!confirm(`Permanently delete ${key} (file number ${fn})?\n\nRemoves:\n${eff==='shared'?`- pose entry in ${pName} is KEPT (shared with other subsets)`:`- entry in ${pName}`}\n${plans.map(p=>`- ${p.label}: ${p.hit}`).join('\n')}\n${list.map(l=>'- '+l.id).join('\n')}\n\nAny other unsaved pose edits are saved too. This cannot be undone.`))return;
try{for(const l of list)await l.h.removeEntry(l.n);
for(const p of plans)if(p.n){p.apply();await writeText(p.name,ser(p.j,p.txt),false,p.hd)}
if(eff!=='shared'){delete poses[key];delete orig[key];dirty.delete(key);allKeys=allKeys.filter(k=>k!==key)}if(dirty.size||eff!=='shared')await save();keys.splice(idx,1);await indexAll();
if($('scn').value&&$('scn').value[0]!=='@')scn=await readJ('scn');
$('lst').innerHTML=keys.map((k,i)=>`<option value="${i}">${dirty.has(k)?'* ':' '}${k}</option>`).join('');await show(idx)}
catch(e){msg('Delete failed: '+e.message)}};
$('all').onclick=()=>{if(idx<0)return;const key=keys[idx],e=ent()[sel],oe=[].concat(orig[key])[sel];if(!e||!oe)return;
const O=entM(oe).invert().multiply(entM(e));if(O.equals(new THREE.Matrix4()))return msg('No correction on this object yet: edit it first (relative to the last saved pose).');
if(!confirm(`Apply this object-frame correction to every pose entry in all ${Object.keys(poses).length} keys of ${pName}?\n(Pose_new = Pose_old x Offset. The current object is already corrected. Nothing is written until you Save.)`))return;
Object.keys(poses).forEach(k=>[].concat(poses[k]).forEach((x,j)=>{if(!(k===key&&j===sel))writeM(x,entM(x).multiply(O));dirty.add(k)}));
[...$('lst').options].forEach((o,i)=>o.text='* '+keys[i]);show(idx);msg('Correction applied to all images (unsaved). Check a few, then Save.')};
$('off').onchange=()=>{offset=+$('off').value||0;if(poses)rebuildKeys(true)};
$('dop').oninput=()=>$('dp').style.opacity=$('dop').value;$('pz').oninput=()=>{if(pcObj)pcObj.material.size=+$('pz').value};
$('ps').onchange=()=>{if(pcObj)pcObj.scale.setScalar(+$('ps').value||1)};
addEventListener('keydown',e=>{if(/INPUT|SELECT/.test(e.target.tagName)&&e.target.type!=='range'&&e.key.length===1)return;
if(e.ctrlKey&&e.key==='s'){e.preventDefault();save()}else if(e.key==='ArrowRight'&&e.target.id!=='lst'){show(idx+1)}else if(e.key==='ArrowLeft'&&e.target.id!=='lst'){show(idx-1)}
else if(e.key==='w')mode('translate');else if(e.key==='e')mode('rotate')});
addEventListener('beforeunload',e=>{if(dirty.size){e.preventDefault();e.returnValue=''}});
layout();
</script></body></html>
|