2f:Tb8b,function createOverlayFactory(_detections, _trackings) { const u_trackings = _trackings[undefined]; _trackings = _trackings.filter((t) => t.oid !== "undefined"); return (svg) => { const maxFrameNum = d3.max(frames, (d) => d.frameNum); const gEgo = svg .append("g") .attr("fill-opacity", 1) .attr("stroke-linecap", "round"); const ego = gEgo .selectAll("path.ego") .data(frames) .join("path") .attr("class", "ego") .attr("d", (d) => carPath(d.egoTranslation, d.egoRotation)) .attr("fill-opacity", 0.2) .attr("stroke", (d) => d3.interpolateViridis(d.frameNum / maxFrameNum)) .attr("fill", d3.interpolateViridis(0)); const gCamera = svg .append("g") .attr("fill-opacity", 1) .attr("stroke-linecap", "round"); const camera = gCamera .selectAll("path.camera") .data(frames) .join("path") .attr("class", "camera") .attr("d", (d) => cameraPath(d.cameraTranslation, d.cameraRotation, d.cameraIntrinsic) ) .attr("fill-opacity", 0.1) .attr("stroke-opacity", 0) .attr("fill", "yellow"); const gDetection = svg .append("g") .attr("fill-opacity", 1) .attr("stroke-linecap", "round"); const detection = gDetection .selectAll("circle.detection") .data( _detections.filter( (d) => !d.point_from_camera || d.point_from_camera[2] > 0 ) ) .join("circle") .attr("class", "detection") .attr("cx", (d) => x(d.point[0])) .attr("cy", (d) => y(d.point[1])) .attr("r", 0.2) .style("fill", (d) => objectColorScale(parseInt(d.object_id) % 10)); const gTracking = svg .append("g") .attr("fill-opacity", 0) .attr("stroke-linecap", "round"); const tracking = gTracking .selectAll("path.tracking") .data(_trackings) .join("path") .attr("class", "tracking") .attr( "d", (d) => "M " + d.tracking.map((t) => `${x(t.point[0])} ${y(t.point[1])}`).join(" L ") ) .attr("stroke-width", 0.05) .attr("stroke", (d) => objectColorScale(parseInt(d.oid) % 10)); return Object.assign([gEgo, gCamera, gDetection, gTracking], { update(frameId) { ego.attr("opacity", (d, i) => (i === frameId ? 1 : 0)); camera.attr("opacity", (d, i) => (i === frameId ? 1 : 0)); detection.attr("opacity", (d) => (d.frameId === frameId ? 1 : 0)); tracking.attr("opacity", (d) => { if ( d.tracking.some( (d) => d.point_from_camera && d.point_from_camera[2] < 0 ) ) { return 0; } const frameIds = d.tracking.map((t) => t.frameId); return Math.min(...frameIds) <= frameId && frameId <= Math.max(...frameIds) ? 1 : 0; }); } }); }; }30:T534,function overlayPolygon(createOverlay) { const zoom = d3.zoom().on("zoom", zoomed); const svg = d3.create("svg").attr("viewBox", [0, 0, width, height]); const gGrid = svg.append("g"); const gPath = createPath(svg, polygon); const gOverlay = createOverlay(svg); const gx = svg.append("g"); const gy = svg.append("g"); svg.call(zoom).call(zoom.transform, d3.zoomIdentity); function zoomed({ transform }) { const zx = transform.rescaleX(x).interpolate(d3.interpolateRound); const zy = transform.rescaleY(y).interpolate(d3.interpolateRound); gPath.attr("transform", transform).attr("stroke-width", 3 / transform.k); gOverlay.forEach((o) => o.attr("transform", transform).attr("stroke-width", 3 / transform.k) ); gx.call(xAxis, zx); gy.call(yAxis, zy); gGrid.call(grid, zx, zy); // console.log(transform); } return Object.assign(svg.node(), { reset() { const c = { k: 23.490410176545787, x: -3704.2476437882724, y: -9571.943814631823 }; // svg.transition().duration(750).call(zoom.transform, d3.zoomIdentity); svg .transition() .duration(750) .call(zoom.transform, new d3.zoomIdentity.constructor(c.k, c.x, c.y)); }, update(...args) { gOverlay.update(...args); } }); }31:T4ef,function createPath(svg, data) { const gPath = svg .append("g") .attr("fill-opacity", 0.1) .attr("stroke-linecap", "round"); gPath .selectAll("path.path") .data(data, (d) => d.id) .join("path") .attr("class", "path") .attr("fill", (d) => d.id === "2992e605-79e2-445f-93eb-c44cb649afb9" ? "red" : "black" ) .attr( "d", (d) => `M${d.polygon.map((p) => x(p[0]) + " " + y(p[1])).join(" L ")}` ) .on("mouseover", (event, d) => { tooltip.style("visibility", "visible").text(JSON.stringify(d)); console.log(d); }) .on("mousemove", (event) => { tooltip .style("top", event.pageY - 10 + "px") .style("left", event.pageX + 10 + "px"); }) .on("mouseout", () => { tooltip.style("visibility", "hidden"); }); // gPath // .selectAll("text.path2") // .data(data, (d) => d.id) // .join("text") // .attr("class", "path2") // .attr("x", (d) => // x(d.polygon.map((p) => p[0]).reduce((a, b) => a + b) / d.polygon.length) // ) // .attr("y", (d) => // y(d.polygon.map((p) => p[1]).reduce((a, b) => a + b) / d.polygon.length) // ) // .text((d) => d.id) // .style("font-size", "1px"); return gPath; }32:T4d4,function createDirection(svg, data) { const gDirection = svg .append("g") .attr("fill-opacity", 1) .attr("stroke-linecap", "round"); gDirection .selectAll("path.direction") .data(data) .join("path") .attr("class", "direction") .attr("d", drawDirection) .attr("stroke", (d) => z(d.heading)) .on("mouseover", (event, d) => { tooltip.style("visibility", "visible").text((d.heading * 180) / Math.PI); const _x = d.end[0] - d.start[0]; const _y = d.end[1] - d.start[1]; const size = Math.sqrt(_x * _x + _y * _y); d3.select("path.angle") .attr("opacity", 1) .attr("d", `M 100 60 l ${(_x * 30) / size} ${(-_y * 30) / size}`); d3.selectAll("path.path-hidden") .filter((dd) => dd.id === d.polygonId) .attr("opacity", 1) .attr("fill", () => z(d.heading)); }) .on("mousemove", (event) => { tooltip .style("top", event.pageY - 10 + "px") .style("left", event.pageX + 10 + "px"); }) .on("mouseout", () => { tooltip.style("visibility", "hidden"); d3.select("path.angle").attr("opacity", 0); d3.selectAll("path.path-hidden").attr("opacity", 0); }); return gDirection; }33:T884,detectionMonoDTR = { if (rawTrackingMonoDTR.length !== rawDetectionMonoDTR.length) { return null; } const n = rawTrackingMonoDTR.length; const _n = frames.length; const _detections = []; const _trackings = []; for (let i = 0; i < n; i++) { const rTracking = rawTrackingMonoDTR[i]; const rDetections = rawDetectionMonoDTR[i]; const detections = []; const nd = rDetections.bbox.length; for (let j = 0; j < nd; j++) { detections.push({ bbox: rDetections.bbox[j], cls: rDetections.clss[j], bbox_3d: rDetections.bbox_3d[j], theta: rDetections.thetas[j], score: rDetections.scores[j], tracked: null }); } _detections.push(detections); const trackings = []; const idxs = new Set( rTracking.filter((t) => t.detection_age === 0).map((t) => t.index) ); for (let t of rTracking) { const { id, cls, index, bbox: bbox_, bbox_3d: bbox_3d_, detection_age } = t; if (detection_age === 0) { const d = detections[index]; trackings.push({ ...t, ...d, bbox_, bbox_3d_ }); } else if (detection_age >= 0) { const ds = _detections[i - detection_age]; const d = ds[index]; trackings.push({ ...t, ...(d ? d : { no_prev: true }), bbox_, bbox_3d_, prev: true }); } else { throw new Error(); } } for (let j = 0; j < nd; j++) { if (idxs.has(j)) { continue; } trackings.push({ ...detections[j], unmatched: true }); } _trackings.push(trackings); } const outputDetections = []; for (let i = 0; i < _trackings.length; i++) { const t = _trackings[i]; for (const tt of t) { // console.log(tt); if (!tt.bbox_3d && !tt.bbox__3d_) { continue; } outputDetections.push({ object_id: tt.id, point_from_camera: null, point: tt.bbox_3d || tt.bbox_3d_, frameId: i }); } } return outputDetections; 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2d:{"title":"nuScene's boston-seaport road network and ego","cells":[{"id":0,"value":"# nuScene's boston-seaport road network and ego","pinned":false,"hidden":false,"mode":"md"},{"id":1391,"value":"viewof scene = Inputs.select(Object.keys(rawTrackingWithDe3d), {\n value: \"scene-0757-CAM_FRONT\",\n label: \"Scene\"\n})","pinned":false,"hidden":false,"mode":"ojs"},{"id":1017,"value":"frameId = frames.findIndex((f) => f.timestamp === selectedTimestamp)","pinned":false,"hidden":false,"mode":"ojs"},{"id":96,"value":"viewof reset = html`