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<!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">&larr; Prev</button><button id="next">Next &rarr;</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>