egoSample/faberu: 640-wide previews (~500 kbps, 31 MB), parallel point-cloud fetch, accumulated environment map

egoSample/epdata/restock_20260916_ep000.pack

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c41b1c8d64d76c3e8e6458ec011ccdbf356ce117795b8e526fc6800ede15963e
-size 4433290
+oid sha256:f274669a4116fba7779f9f380f9338ec98d475c915385901002d904a615ff12f
+size 5271240

egoSample/faberu.html

@@ -90,17 +90,17 @@ const fmt=t=>{t=Math.max(0,t);const m=Math.floor(t/60),s=t%60;return m+':'+s.toF
 const skc=s=>SKC[s]||'#666';
 
 function select(i){ EP=EPS[i]; SIG=null; cancelAnimationFrame(raf); clearInterval(syncT); playing=false; render(); loadSig(EP.slug); }
-function loadSig(slug){ window.EPDATA=window.EPDATA||{};
-  const done=()=>{ SIG=window.EPDATA[slug]; if(!SIG) return; sizeCharts(); drawCharts(); init3D(); loadPack(SIG); updateUI(master.currentTime||0);
+function loadSig(slug){ window.EPDATA=window.EPDATA||{}; const packP=loadPack(slug+'.pack');
+  const done=()=>{ SIG=window.EPDATA[slug]; if(!SIG) return; sizeCharts(); drawCharts(); init3D(); packP.then(pk=>{ if(!pk) return; Object.assign(SIG,pk); if(window._addClouds) window._addClouds(); }); updateUI(master.currentTime||0);
     const go=()=>{ if(_toggle&&!playing) _toggle(); }; if(master.readyState>=3) go(); else master.addEventListener('canplay',go,{once:true}); };
   if(window.EPDATA[slug]){ done(); return; }
   const s=document.createElement('script'); s.fetchPriority='high'; s.src='epdata/'+slug+'.js'; s.onload=done; document.body.appendChild(s); }
 
 /* heavy viewer payload (lidar snapshots + depth-hover grid): gzip'd binary, fetched after the page is interactive */
-async function loadPack(sig){
+async function loadPack(name){ const sig={};
   const st=()=>document.getElementById('cloudStat');
   try{
-    const res=await fetch('epdata/'+sig.pack,{priority:'high'}); if(!res.ok) throw new Error('HTTP '+res.status);
+    const res=await fetch('epdata/'+name,{priority:'high'}); if(!res.ok) throw new Error('HTTP '+res.status);
     const total=+res.headers.get('content-length')||0, rd=res.body.getReader(), parts=[]; let got=0;
     for(;;){ const {done,value}=await rd.read(); if(done) break; parts.push(value); got+=value.length;
       if(st()) st().textContent=`loading point cloud… ${(got/1e6).toFixed(1)}${total?' / '+(total/1e6).toFixed(1):''} MB`; }
@@ -111,8 +111,9 @@ async function loadPack(sig){
     const ab=buf.buffer;
     sig.clouds={}; Object.entries(hdr.clouds).forEach(([k,fr])=>{ sig.clouds[k]=fr.map(f=>({t:f.t, q:new Int16Array(ab,base+f.xyz,f.n*3), I:new Uint8Array(ab,base+f.i,f.n)})); });
     sig.depthGrid=hdr.depth.frames.map(o=>new Uint16Array(ab,base+o,hdr.depth.w*hdr.depth.h));
-    if(st()) st().textContent=''; if(window._addClouds) window._addClouds();
-  }catch(e){ if(st()) st().textContent='point cloud failed to load: '+e.message; }
+    if(hdr.map) sig.map={q:new Int16Array(ab,base+hdr.map.xyz,hdr.map.n*3), I:new Uint8Array(ab,base+hdr.map.i,hdr.map.n)};
+    if(st()) st().textContent=''; return sig;
+  }catch(e){ if(st()) st().textContent='point cloud failed to load: '+e.message; return null; }
 }
 
 function render(){
@@ -136,7 +137,7 @@ function render(){
     <div class="panel">
       <div class="vgrid">${CAMS.map(c=>tile(c)).join('')}</div>
       <div class="chk" id="chk"></div>
-      <div class="three" id="three"><span class="lbl">world (odom) · robot links · lidar front <span style="color:#ff8a70">■</span> back <span style="color:#6ea8ff">■</span> · base path · ceiling (&gt;2.3 m) and &gt;10 m hidden</span><span class="hint">drag to orbit · scroll to zoom</span><span id="cloudStat" style="position:absolute;top:26px;left:9px;font:11px ui-monospace,monospace;color:#e0a33a;z-index:1">loading point cloud…</span></div>
+      <div class="three" id="three"><span class="lbl">world (odom) · robot links · map (all scans, dim) · current scan front <span style="color:#ff8a70">■</span> back <span style="color:#6ea8ff">■</span> · base path · ceiling (&gt;2.3 m) and &gt;10 m hidden</span><span class="hint">drag to orbit · scroll to zoom</span><span id="cloudStat" style="position:absolute;top:26px;left:9px;font:11px ui-monospace,monospace;color:#e0a33a;z-index:1">loading point cloud…</span></div>
     </div>
     <div class="panel">
       <div class="spans-head">temporal spans (${e.n_segments}) · <b>${esc(e.task_name)}</b></div>
@@ -290,9 +291,15 @@ async function init3D(){
   ['l','r'].forEach(s=>{ bones.push(['arm_base_link',`arm_${s}_link1`]); for(let i=1;i<7;i++) bones.push([`arm_${s}_link${i}`,`arm_${s}_link${i+1}`]); bones.push([`arm_${s}_link7`,`arm_${s}_end_link`],[`arm_${s}_end_link`,`gripper_${s}_center_link`]); });
   const clouds={}; const CC={lidar_front:[1,.54,.44],lidar_back:[.43,.66,1]};
   let follow=false;
-  const buildChk=()=>{ document.getElementById('chk').innerHTML=Object.keys(clouds).map(k=>`<label><input type="checkbox" data-k="${k}" checked>${k}</label>`).join('')+`<label><input type="checkbox" data-k="__path" checked>base path</label><label><input type="checkbox" data-k="__follow">camera follows robot</label>`;
+  const buildChk=()=>{ document.getElementById('chk').innerHTML=Object.keys(clouds).map(k=>`<label><input type="checkbox" data-k="${k}" checked>${k==='__map'?'environment map (all scans)':k+' (current scan)'}</label>`).join('')+`<label><input type="checkbox" data-k="__path" checked>base path</label><label><input type="checkbox" data-k="__follow">camera follows robot</label>`;
     document.querySelectorAll('#chk input').forEach(i=>i.onchange=()=>{ const k=i.dataset.k; if(k==='__path') path.visible=i.checked; else if(k==='__follow') follow=i.checked; else clouds[k].p.visible=i.checked; }); };
-  window._addClouds=()=>{ if(!SIG.clouds) return; Object.keys(SIG.clouds).forEach(k=>{ if(clouds[k]) return; const p=new THREE.Points(new THREE.BufferGeometry(),new THREE.PointsMaterial({size:.03,vertexColors:true})); scene.add(p); clouds[k]={p,cur:-1}; });
+  let mapPts=null;
+  window._addClouds=()=>{ if(!SIG.clouds) return;
+    if(SIG.map&&!mapPts){ const q=SIG.map.q, I=SIG.map.I, n=I.length, pos=new Float32Array(n*3), col=new Float32Array(n*3);
+      for(let m=0;m<n;m++){ pos[3*m]=q[3*m]/100; pos[3*m+1]=q[3*m+1]/100; const z=q[3*m+2]/100; pos[3*m+2]=z;
+        const h=Math.max(0,Math.min(1,z/2.3)), s=.30+.35*I[m]/255; col[3*m]=(.35+.25*h)*s*1.6; col[3*m+1]=(.45+.2*h)*s*1.6; col[3*m+2]=(.6+.15*h)*s*1.6; }
+      const g=new THREE.BufferGeometry(); g.setAttribute('position',new THREE.BufferAttribute(pos,3)); g.setAttribute('color',new THREE.BufferAttribute(col,3));
+      mapPts=new THREE.Points(g,new THREE.PointsMaterial({size:.03,vertexColors:true,transparent:true,opacity:.35})); scene.add(mapPts); clouds.__map={p:mapPts,cur:0,static:true}; } Object.keys(SIG.clouds).forEach(k=>{ if(clouds[k]) return; const p=new THREE.Points(new THREE.BufferGeometry(),new THREE.PointsMaterial({size:.05,vertexColors:true})); scene.add(p); clouds[k]={p,cur:-1}; });
     buildChk(); if(setCloudT) setCloudT(master.currentTime||0); };
   buildChk();
   let last=null;
@@ -302,7 +309,7 @@ async function init3D(){
     const lt=SIG.link_t; let li=0; while(li<lt.length-1&&lt[li+1]<=t) li++; const P=SIG.link_p[li];
     const seg=[]; bones.forEach(([a,c])=>{ const ia=idx(a), ic=idx(c); if(ia>=0&&ic>=0) seg.push(...P[ia],...P[ic]); });
     body.geometry.setAttribute('position',new THREE.Float32BufferAttribute(seg,3)); joints.geometry.setAttribute('position',new THREE.Float32BufferAttribute(P.flat(),3));
-    Object.entries(clouds).forEach(([k,C])=>{ const fr=SIG.clouds&&SIG.clouds[k]; if(!fr) return; let i=0; while(i<fr.length-1&&fr[i+1].t<=t) i++; if(i===C.cur) return; C.cur=i;
+    Object.entries(clouds).forEach(([k,C])=>{ if(C.static) return; const fr=SIG.clouds&&SIG.clouds[k]; if(!fr) return; let i=0; while(i<fr.length-1&&fr[i+1].t<=t) i++; if(i===C.cur) return; C.cur=i;
       const f=fr[i], q=f.q, I=f.I, n=I.length, bj=Math.max(0,Math.min(SIG.n-1,Math.round(f.t*SIG.fps))), bb=SIG.base[bj], cs=Math.cos(bb[2]), sn=Math.sin(bb[2]);
       const pos=new Float32Array(n*3), col=new Float32Array(n*3), base=CC[k]||[.8,.8,.8];
       for(let m=0;m<n;m++){ const x=q[3*m]/100,y=q[3*m+1]/100,z=q[3*m+2]/100; pos[3*m]=bb[0]+cs*x-sn*y; pos[3*m+1]=bb[1]+sn*x+cs*y; pos[3*m+2]=z;

egoSample/media/restock_20260916_ep000/head_color.mp4

@@ -1,3 +1,3 @@
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-size 1987720
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+size 5169484

egoSample/media/restock_20260916_ep000/head_depth.mp4

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+size 5425020

egoSample/media/restock_20260916_ep000/head_left_fisheye.mp4

@@ -1,3 +1,3 @@
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+size 4991258

egoSample/media/restock_20260916_ep000/head_right_fisheye.mp4

@@ -1,3 +1,3 @@
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+size 5126456

egoSample/media/restock_20260916_ep000/head_stereo_left.mp4

@@ -1,3 +1,3 @@
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+oid sha256:d10b14c302b25ee87e3083e8aca46e04b10ba90a2bda8cc2c591af09832c1d46
+size 5146427

egoSample/media/restock_20260916_ep000/head_stereo_right.mp4

@@ -1,3 +1,3 @@
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