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945 lines
30 KiB
945 lines
30 KiB
import {
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RADAR_X_MAX,
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RADAR_X_MIN,
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RADAR_Y_MAX,
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RADAR_Y_MIN,
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MAX_TRAJECTORY_LENGTH,
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ROI_TRACKS_Y_MIN,
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ROI_TRACKS_Y_MAX,
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ROI_CLOSE_Y_MIN,
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ROI_CLOSE_Y_MAX,
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} from "./constants.js";
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import { appState } from "./state.js";
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import {
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toggleSnrColor,
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toggleClusterColor,
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toggleInlierColor,
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toggleFrameNorm,
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toggleVelocity,
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toggleStationaryColor,
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toggleConfirmedOnly,
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togglePredictedPos,
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toggleTracks,
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} from "./dom.js";
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// Defines a set of SNR (Signal-to-Noise Ratio) colors.
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export const snrColors = (p) => ({
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c1: p.color(0, 0, 255), // Blue
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c2: p.color(0, 255, 255), // Cyan
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c3: p.color(0, 255, 0), // Green
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c4: p.color(186, 142, 35), // Dark Yellow
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c5: p.color(255, 0, 0), // Red
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});
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// In src/drawUtils.js, add this near the other color constants
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export const ttcColors = (p) => ({
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critical: p.color(255, 0, 0), // Red for TTC <= 5s
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high: p.color(255, 165, 0), // Orange for 5s < TTC <= 10s
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medium: p.color(255, 255, 0), // Yellow for 10s < TTC <= 30s
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low: p.color(0, 255, 0), // Green for TTC > 30s
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away: p.color(0, 191, 255), // Deep Sky Blue for moving away
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default: p.color(128, 128, 128), // Gray for unknown/default
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});
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// Defines a palette of 20 colors for different clusters.
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export const clusterColors = (p) => [
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// Primary & Secondary Colors
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p.color(230, 25, 75), // 1. Red
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p.color(60, 180, 75), // 2. Green
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p.color(0, 130, 200), // 3. Blue
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p.color(245, 130, 48), // 4. Orange
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p.color(145, 30, 180), // 5. Purple
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p.color(70, 240, 240), // 6. Cyan
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// Tertiary & Bright Colors
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p.color(240, 50, 230), // 7. Magenta
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p.color(210, 245, 60), // 8. Lime
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p.color(250, 190, 212), // 9. Pink
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p.color(0, 128, 128), // 10. Teal
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p.color(220, 190, 255), // 11. Lavender
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p.color(170, 110, 40), // 12. Brown
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p.color(255, 250, 200), // 13. Beige
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p.color(128, 0, 0), // 14. Maroon
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p.color(170, 255, 195), // 15. Mint
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p.color(128, 128, 0), // 16. Olive
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p.color(255, 215, 180), // 17. Apricot
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p.color(0, 0, 128), // 18. Navy
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p.color(70, 130, 180), // 19. Steel Blue (Replaced Gray as grey is for unclustered. )
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p.color(255, 255, 25), // 20. Yellow
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];
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// Defines colors for stationary and moving objects.
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export const stationaryColor = (p) => p.color(218, 165, 32); // Goldenrod
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export const movingColor = (p) => p.color(255, 0, 255); // Magenta
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/**
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* Draws the static radar region lines to a buffer.
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* @param {p5.Graphics} b - The p5.Graphics buffer to draw on.
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* @param {object} plotScales - The calculated scales for plotting.
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*/
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export function drawStaticRegionsToBuffer(p, b, plotScales) {
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b.clear();
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b.push();
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// Translate to the bottom center of the buffer.
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b.translate(b.width / 2, b.height * 0.95);
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// Flip the Y-axis to match radar coordinates (Y increases upwards).
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b.scale(1, -1);
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// Set stroke properties for the static region lines.
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b.stroke(100, 100, 100, 150);
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b.strokeWeight(1);
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// Set dashed line pattern.
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b.drawingContext.setLineDash([8, 8]);
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// Define angles for the radar beams.
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const a1 = p.radians(30),
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a2 = p.radians(150);
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const len = 70;
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// Draw the first static region line.
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b.line(
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0,
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0,
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len * p.cos(a1) * plotScales.plotScaleX,
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len * p.sin(a1) * plotScales.plotScaleY
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);
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// Draw the second static region line.
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b.line(
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0,
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0,
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len * p.cos(a2) * plotScales.plotScaleX,
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len * p.sin(a2) * plotScales.plotScaleY
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);
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// Reset line dash pattern.
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b.drawingContext.setLineDash([]);
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b.pop();
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}
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export function drawAxes(p, plotScales) {
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p.push();
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// Determine axis and text colors based on the current theme (dark/light mode).
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const axisColor = document.documentElement.classList.contains("dark")
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? p.color(100)
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: p.color(220);
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const mainAxisColor = document.documentElement.classList.contains("dark")
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? p.color(150)
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: p.color(180);
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const textColor = document.documentElement.classList.contains("dark")
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? p.color(200)
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: p.color(150);
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// Draw horizontal grid lines.
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p.stroke(axisColor);
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p.strokeWeight(1);
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for (let y = 5; y <= RADAR_Y_MAX; y += 5)
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p.line(
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RADAR_X_MIN * plotScales.plotScaleX,
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y * plotScales.plotScaleY,
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RADAR_X_MAX * plotScales.plotScaleX,
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y * plotScales.plotScaleY
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);
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// Draw vertical grid lines.
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const xGridStep = 5;
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for (
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let x = Math.ceil(RADAR_X_MIN / xGridStep) * xGridStep;
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x <= RADAR_X_MAX;
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x += xGridStep
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) {
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if (x === 0) continue;
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p.line(
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x * plotScales.plotScaleX,
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RADAR_Y_MIN * plotScales.plotScaleY,
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x * plotScales.plotScaleX,
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RADAR_Y_MAX * plotScales.plotScaleY
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);
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}
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p.stroke(mainAxisColor);
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p.line(
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RADAR_X_MIN * plotScales.plotScaleX,
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0,
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RADAR_X_MAX * plotScales.plotScaleX,
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0
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);
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p.line(
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0,
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RADAR_Y_MIN * plotScales.plotScaleY,
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0,
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RADAR_Y_MAX * plotScales.plotScaleY
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);
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// Draw Y-axis labels.
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p.fill(textColor);
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p.noStroke();
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p.textSize(10);
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for (let y = 5; y <= RADAR_Y_MAX; y += 5) {
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p.push();
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p.translate(5, y * plotScales.plotScaleY);
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// Flip text vertically to align with flipped Y-axis.
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p.scale(1, -1);
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p.text(y, 0, 4);
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p.pop();
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}
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// Draw X-axis labels.
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for (
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let x = Math.ceil(RADAR_X_MIN / xGridStep) * xGridStep;
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x <= RADAR_X_MAX;
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x += xGridStep
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) {
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if (x === 0) continue;
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p.push();
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p.translate(x * plotScales.plotScaleX, -10);
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p.scale(1, -1);
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p.textAlign(p.CENTER);
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p.text(x, 0, 0);
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p.pop();
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}
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p.pop();
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}
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export function drawPointCloud(p, points, plotScales) {
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// Set stroke weight for points.
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p.strokeWeight(4);
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// Get state of various toggles from the DOM.
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const useSnr = toggleSnrColor.checked;
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const useCluster = toggleClusterColor.checked;
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const useInlier = toggleInlierColor.checked;
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const useFrameNorm = toggleFrameNorm.checked;
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let minSnr = appState.globalMinSnr, // Initialize with global SNR range.
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maxSnr = appState.globalMaxSnr;
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if (useSnr && useFrameNorm && points.length > 0) {
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const snrVals = points.map((p) => p.snr).filter((snr) => snr !== null);
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if (snrVals.length > 1) {
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minSnr = Math.min(...snrVals);
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maxSnr = Math.max(...snrVals);
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} else if (snrVals.length === 1) {
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minSnr = snrVals[0] - 1;
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maxSnr = snrVals[0] + 1;
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}
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}
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// Draw SNR legend if enabled and p5 instance is ready.
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if (useSnr && p.drawSnrLegendToBuffer)
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p.drawSnrLegendToBuffer(minSnr, maxSnr);
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// Get local color instances for cluster and SNR.
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const localClusterColors = clusterColors(p);
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const localSnrColors = snrColors(p);
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// Iterate through each point in the point cloud.
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for (const pt of points) {
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if (pt && pt.x !== null && pt.y !== null) {
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// Apply cluster coloring if enabled.
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if (useCluster && pt.clusterNumber !== null) {
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p.stroke(
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pt.clusterNumber > 0
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? localClusterColors[
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(pt.clusterNumber - 1) % localClusterColors.length
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]
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: 128
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// Default to gray if cluster number is 0 or invalid.
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);
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} else if (useInlier) {
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p.stroke(
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pt.isOutlier === false
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? p.color(0, 255, 0)
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: pt.isOutlier === true
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? p.color(255, 0, 0)
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: 128
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// Default to gray if inlier status is unknown.
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);
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} else if (useSnr && pt.snr !== null) {
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const amt = p.map(pt.snr, minSnr, maxSnr, 0, 1, true);
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let c;
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if (amt < 0.25)
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c = p.lerpColor(localSnrColors.c1, localSnrColors.c2, amt / 0.25);
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else if (amt < 0.5)
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c = p.lerpColor(
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localSnrColors.c2,
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localSnrColors.c3,
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(amt - 0.25) / 0.25
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);
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else if (amt < 0.75)
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c = p.lerpColor(
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localSnrColors.c3,
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localSnrColors.c4,
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(amt - 0.5) / 0.25
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);
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else
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c = p.lerpColor(
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localSnrColors.c4,
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localSnrColors.c5,
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(amt - 0.75) / 0.25
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// Interpolate color based on SNR value.
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);
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p.stroke(c);
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// Default point color if no specific coloring is applied.
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} else {
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// --- START: THEME-AWARE POINT COLOR ---
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const isDark = document.documentElement.classList.contains("dark");
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// Use a bright lime green for dark mode for better visibility, and the original blue for light mode.
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const pointColor = isDark ? p.color(244, 255, 0) : p.color(0, 150, 255);
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p.stroke(pointColor);
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// --- END: THEME-AWARE POINT COLOR ---
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}
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p.point(pt.x * plotScales.plotScaleX, pt.y * plotScales.plotScaleY);
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}
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}
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}
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export function drawTrajectories(p, plotScales) {
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const localTtcColors = ttcColors(p);
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for (const track of appState.vizData.tracks) {
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if (toggleConfirmedOnly.checked && track.isConfirmed === false) {
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continue;
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}
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if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
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const trackId = track ? track.id : "Unknown ID";
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console.warn(
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`Skipping malformed track in frame ${appState.currentFrame}. Track ID: ${trackId}`,
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track // We also log the entire track object for detailed inspection.
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); // Safeguard for malformed data
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continue;
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}
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const logs = track.historyLog.filter(
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(log) => log.frameIdx <= appState.currentFrame + 1
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);
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if (logs.length < 2) continue;
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const lastLog = logs[logs.length - 1];
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if (appState.currentFrame + 1 - lastLog.frameIdx > MAX_TRAJECTORY_LENGTH)
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continue;
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const isCurrentlyStationary = lastLog.isStationary;
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// ... (trajectory point calculation logic remains the same)
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let maxLen = isCurrentlyStationary
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? Math.floor(MAX_TRAJECTORY_LENGTH / 4)
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: MAX_TRAJECTORY_LENGTH;
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let trajPts = logs
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.filter(
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(log) => log.correctedPosition && log.correctedPosition[0] !== null
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)
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.map((log) => log.correctedPosition);
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if (trajPts.length > maxLen) {
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trajPts = trajPts.slice(trajPts.length - maxLen);
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}
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p.push();
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p.noFill();
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if (isCurrentlyStationary) {
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// Stationary tracks are always green and dashed
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p.stroke(34, 139, 34, 220);
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p.strokeWeight(1);
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p.drawingContext.setLineDash([3, 3]);
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for (let i = 1; i < trajPts.length; i++) {
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// ... (draw fading stationary trajectory logic)
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}
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} else {
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// --- START: New Dynamic Coloring Logic ---
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let trajectoryColor;
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if (appState.useCustomTtcScheme) {
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// MODE 1: CUSTOM TTC SCHEME (Calculate color on the fly)
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const ttc = lastLog.ttc;
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const scheme = appState.customTtcScheme;
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if (ttc === null || isNaN(ttc) || ttc < 0) {
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trajectoryColor = p.color(localTtcColors.default); // Gray for unknown
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} else if (ttc <= scheme.critical.time) {
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trajectoryColor = p.color(scheme.critical.color);
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} else if (ttc <= scheme.high.time) {
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trajectoryColor = p.color(scheme.high.color);
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} else if (ttc <= scheme.medium.time) {
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trajectoryColor = p.color(scheme.medium.color);
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} else {
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trajectoryColor = p.color(scheme.low.color); // Use custom color for low risk
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}
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} else {
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// MODE 2: DEFAULT TTC SCHEME (Use pre-calculated category from JSON)
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// FIND the TTC category from the new timeline
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const ttcEntry = track.ttcCategoryTimeline.find(
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(entry) => entry.frameIdx === lastLog.frameIdx
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);
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const ttcCategory = ttcEntry ? ttcEntry.ttcCategory : null; // Get the category if found
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switch (ttcCategory) {
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case 3:
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trajectoryColor = p.color(localTtcColors.critical);
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break;
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case 2:
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trajectoryColor = p.color(localTtcColors.high);
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break;
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case 1:
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trajectoryColor = p.color(localTtcColors.medium);
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break;
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case 0:
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trajectoryColor = p.color(localTtcColors.low);
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break;
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case -1:
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trajectoryColor = p.color(localTtcColors.away);
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break;
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default:
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trajectoryColor = p.color(localTtcColors.default);
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break;
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}
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}
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p.strokeWeight(1.5);
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p.drawingContext.setLineDash([]);
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// Fading trajectory logic (works for both modes)
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for (let i = 1; i < trajPts.length; i++) {
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const alpha = p.map(i, 0, trajPts.length, 50, 255);
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trajectoryColor.setAlpha(alpha);
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p.stroke(trajectoryColor);
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const prevPt = trajPts[i - 1];
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const currPt = trajPts[i];
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p.line(
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prevPt[0] * plotScales.plotScaleX,
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prevPt[1] * plotScales.plotScaleY,
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currPt[0] * plotScales.plotScaleX,
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currPt[1] * plotScales.plotScaleY
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);
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}
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// --- END: New Dynamic Coloring Logic ---
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}
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p.pop(); // This was the missing pop call for each trajectory loop
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}
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}
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|
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export function drawTrackMarkers(p, plotScales) {
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const showDetails = toggleVelocity.checked;
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const useStationary = toggleStationaryColor.checked;
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const textColor = document.documentElement.classList.contains("dark")
|
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? p.color(255)
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: p.color(0);
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const localStationaryColor = stationaryColor(p);
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const localMovingColor = movingColor(p);
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|
|
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for (const track of appState.vizData.tracks) {
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// --- START: Add the Same Safeguard Here ---
|
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// This robust check ensures the track and its historyLog are valid before use.
|
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if (toggleConfirmedOnly.checked && track.isConfirmed === false) {
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continue;
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}
|
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if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
|
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// We don't need to log a warning here again, as drawTrajectories already did.
|
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// We can just safely skip this malformed track.
|
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continue;
|
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}
|
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// --- END: Add the Same Safeguard Here ---
|
|
|
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const log = track.historyLog.find(
|
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(log) => log.frameIdx === appState.currentFrame
|
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);
|
|
|
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if (log) {
|
|
const pos = log.correctedPosition;
|
|
if (pos && pos.length === 2 && pos[0] !== null && pos[1] !== null) {
|
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const size = 5;
|
|
const x = pos[0] * plotScales.plotScaleX;
|
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const y = pos[1] * plotScales.plotScaleY;
|
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let velocityColor = p.color(255, 0, 255, 200);
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|
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p.push();
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p.strokeWeight(2);
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if (useStationary && log.isStationary === true) {
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p.stroke(localStationaryColor);
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p.noFill();
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p.rectMode(p.CENTER);
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p.square(x, y, size * 1.5);
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velocityColor = localStationaryColor;
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|
} else {
|
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let markerColor = p.color(0, 0, 255);
|
|
if (useStationary && log.isStationary === false) {
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markerColor = localMovingColor;
|
|
velocityColor = localMovingColor;
|
|
}
|
|
p.stroke(markerColor);
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|
p.line(x - size, y, x + size, y);
|
|
p.line(x, y - size, x, y + size);
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}
|
|
p.pop();
|
|
|
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if (
|
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showDetails &&
|
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log.predictedVelocity &&
|
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log.predictedVelocity[0] !== null
|
|
) {
|
|
const [vx, vy] = log.predictedVelocity;
|
|
if (log.isStationary === false) {
|
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p.push();
|
|
p.stroke(velocityColor);
|
|
p.strokeWeight(2);
|
|
p.line(
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x,
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y,
|
|
(pos[0] + vx) * plotScales.plotScaleX,
|
|
(pos[1] + vy) * plotScales.plotScaleY
|
|
);
|
|
p.pop();
|
|
}
|
|
const speed = (p.sqrt(vx * vx + vy * vy) * 3.6).toFixed(1);
|
|
const ttc =
|
|
log.ttc !== null && isFinite(log.ttc) && log.ttc < 100
|
|
? `TTC: ${log.ttc.toFixed(1)}s`
|
|
: "";
|
|
const text = `ID: ${track.id} | ${speed} km/h\n${ttc}`;
|
|
p.push();
|
|
p.fill(textColor);
|
|
p.noStroke();
|
|
p.scale(1, -1);
|
|
p.textSize(12);
|
|
p.text(text, x + 10, -y);
|
|
p.pop();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
export function handleCloseUpDisplay(p, plotScales, mouseX, mouseY) {
|
|
// --- Step 1: Gather Hovered Items ---
|
|
const frameData = appState.vizData.radarFrames[appState.currentFrame];
|
|
if (!frameData) return []; // Return empty array if no data
|
|
const hoveredItems = [];
|
|
// --- START: Dynamic Radius Logic ---
|
|
// The hover radius is now inversely proportional to the zoom factor.
|
|
const radius = p.constrain(80 / appState.zoomFactor, 5, 25);
|
|
// --- END: Dynamic Radius Logic ---
|
|
|
|
// --- START: Squared Distance Optimization ---
|
|
// We calculate the squared radius once to avoid Math.sqrt() in our loops.
|
|
const radiusSq = radius * radius;
|
|
// --- END: Squared Distance Optimization ---
|
|
const localClusterColors = clusterColors(p); // <-- Get the color palette once
|
|
|
|
// ... (Step 1a: Find hovered points - no changes here) ...
|
|
if (frameData.pointCloud) {
|
|
// In steps/src/drawUtils.js
|
|
|
|
// Find hovered points
|
|
if (frameData.pointCloud) {
|
|
for (let i = 0; i < frameData.pointCloud.length; i++) {
|
|
const pt = frameData.pointCloud[i];
|
|
if (pt.x === null || pt.y === null) continue;
|
|
const screenX = pt.x * plotScales.plotScaleX + p.width / 2;
|
|
const screenY = p.height * 0.95 - pt.y * plotScales.plotScaleY;
|
|
|
|
// --- START: Squared Distance Optimization ---
|
|
// Calculate squared distance to avoid the expensive square root operation.
|
|
const dx = mouseX - screenX;
|
|
const dy = mouseY - screenY;
|
|
if (dx * dx + dy * dy < radiusSq) {
|
|
// --- END: Squared Distance Optimization ---
|
|
// Add the index 'i' to the object we push
|
|
hoveredItems.push({
|
|
type: "point",
|
|
data: pt,
|
|
screenX,
|
|
screenY,
|
|
index: i,
|
|
});
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Find hovered cluster centroids
|
|
if (toggleClusterColor.checked && frameData.clusters) {
|
|
const clusters = Array.isArray(frameData.clusters)
|
|
? frameData.clusters
|
|
: [frameData.clusters];
|
|
for (const cluster of clusters) {
|
|
if (cluster.x === null || cluster.y === null) continue;
|
|
const screenX = cluster.x * plotScales.plotScaleX + p.width / 2;
|
|
const screenY = p.height * 0.95 - cluster.y * plotScales.plotScaleY;
|
|
|
|
// --- START: Squared Distance Optimization ---
|
|
const dx = mouseX - screenX;
|
|
const dy = mouseY - screenY;
|
|
if (dx * dx + dy * dy < radiusSq) {
|
|
// --- END: Squared Distance Optimization ---
|
|
const color =
|
|
cluster.id > 0
|
|
? localClusterColors[(cluster.id - 1) % localClusterColors.length]
|
|
: p.color(128);
|
|
hoveredItems.push({
|
|
type: "cluster",
|
|
data: cluster,
|
|
screenX,
|
|
screenY,
|
|
color: color,
|
|
});
|
|
}
|
|
}
|
|
}
|
|
|
|
// Find hovered track markers and predicted positions
|
|
if (appState.vizData.tracks) {
|
|
for (const track of appState.vizData.tracks) {
|
|
// --- FIX START: Fetch log for the CURRENT frame for the track marker ---
|
|
const currentLog = track.historyLog.find(
|
|
(log) => log.frameIdx === appState.currentFrame
|
|
);
|
|
// --- FIX END ---
|
|
|
|
if (currentLog) {
|
|
if (currentLog.correctedPosition && currentLog.correctedPosition[0] !== null) {
|
|
const pos = currentLog.correctedPosition;
|
|
const screenX = pos[0] * plotScales.plotScaleX + p.width / 2;
|
|
const screenY = p.height * 0.95 - pos[1] * plotScales.plotScaleY;
|
|
// --- START: Squared Distance Optimization ---
|
|
const dx = mouseX - screenX;
|
|
const dy = mouseY - screenY;
|
|
if (dx * dx + dy * dy < radiusSq) {
|
|
// --- END: Squared Distance Optimization ---
|
|
hoveredItems.push({
|
|
type: "track",
|
|
data: currentLog, // Use the log for the current frame
|
|
trackId: track.id,
|
|
screenX,
|
|
screenY,
|
|
});
|
|
}
|
|
}
|
|
}
|
|
|
|
// For predicted position, we now also use the current frame's log.
|
|
if (currentLog) {
|
|
if (
|
|
togglePredictedPos.checked &&
|
|
currentLog.predictedPosition &&
|
|
currentLog.predictedPosition[0] !== null
|
|
) {
|
|
const pos = currentLog.predictedPosition;
|
|
const screenX = pos[0] * plotScales.plotScaleX + p.width / 2;
|
|
const screenY = p.height * 0.95 - pos[1] * plotScales.plotScaleY;
|
|
// --- START: Squared Distance Optimization ---
|
|
const dx = mouseX - screenX;
|
|
const dy = mouseY - screenY;
|
|
if (dx * dx + dy * dy < radiusSq) {
|
|
// --- END: Squared Distance Optimization ---
|
|
hoveredItems.push({
|
|
type: "prediction",
|
|
data: currentLog,
|
|
trackId: track.id,
|
|
screenX,
|
|
screenY,
|
|
});
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Sort items by their vertical screen position to prevent crossed lines.
|
|
hoveredItems.sort((a, b) => a.screenY - b.screenY);
|
|
|
|
// If we aren't hovering over anything, draw nothing.
|
|
if (hoveredItems.length === 0) {
|
|
return hoveredItems; // Return the empty array
|
|
}
|
|
|
|
// --- Step 2 & 3: Generate Text and Render Tooltip ---
|
|
const infoStrings = [];
|
|
for (const item of hoveredItems) {
|
|
let infoText = "";
|
|
let itemColor = item.color || null; // Initialize with existing item color or null
|
|
const data = item.data;
|
|
switch (item.type) {
|
|
case "point":
|
|
const vel = data.velocity !== null ? data.velocity.toFixed(2) : "N/A";
|
|
const snr = data.snr !== null ? data.snr.toFixed(1) : "N/A";
|
|
infoText = `Point ${item.index} | X:${data.x.toFixed(
|
|
2
|
|
)}, Y:${data.y.toFixed(2)} | V:${vel}, SNR:${snr}, Cluster: ${
|
|
data.clusterNumber
|
|
}`;
|
|
break;
|
|
case "cluster":
|
|
const rs =
|
|
data.radialSpeed !== null ? data.radialSpeed.toFixed(2) : "N/A";
|
|
const vx = data.vx !== null ? data.vx.toFixed(2) : "N/A";
|
|
const vy = data.vy !== null ? data.vy.toFixed(2) : "N/A";
|
|
infoText = `Cluster ${data.id} | X:${data.x.toFixed(2)}, Y:${data.y.toFixed(
|
|
2
|
|
)} | rSpeed:${rs}, vX:${vx}, vY:${vy}`;
|
|
// itemColor is already set for clusters when pushed to hoveredItems
|
|
break;
|
|
case "track":
|
|
const trackX = data.correctedPosition[0];
|
|
const trackY = data.correctedPosition[1];
|
|
let trackSpeed = "N/A";
|
|
if (
|
|
data.predictedVelocity &&
|
|
data.predictedVelocity[0] !== null &&
|
|
data.predictedVelocity[1] !== null
|
|
) {
|
|
const [vx, vy] = data.predictedVelocity;
|
|
// Calculate speed in km/h, similar to drawTrackMarkers
|
|
trackSpeed = (p.sqrt(vx * vx + vy * vy) * 3.6).toFixed(1) + " km/h";
|
|
}
|
|
infoText = `Track ${item.trackId} | X:${trackX.toFixed(
|
|
2
|
|
)}, Y:${trackY.toFixed(2)} | Speed: ${trackSpeed}`;
|
|
// Check for dark mode to ensure visibility
|
|
const isDark = document.documentElement.classList.contains("dark");
|
|
itemColor = isDark
|
|
? p.color(100, 149, 237) // A lighter "Cornflower Blue" for dark mode
|
|
: p.color(0, 0, 255); // Original blue for light mode
|
|
break;
|
|
case "prediction":
|
|
const p_vx =
|
|
data.predictedVelocity[0] !== null
|
|
? data.predictedVelocity[0].toFixed(2)
|
|
: "N/A";
|
|
const p_vy =
|
|
data.predictedVelocity[1] !== null
|
|
? data.predictedVelocity[1].toFixed(2)
|
|
: "N/A";
|
|
infoText = `Pred. for ${item.trackId} | X:${data.predictedPosition[0].toFixed(
|
|
2
|
|
)}, Y:${data.predictedPosition[1].toFixed(2)} | vX:${p_vx}, vY:${p_vy}`;
|
|
itemColor = p.color(255, 0, 0); // Red color for prediction info
|
|
break;
|
|
}
|
|
if (infoText) {
|
|
infoStrings.push({ text: infoText, color: itemColor });
|
|
}
|
|
}
|
|
|
|
p.push();
|
|
p.textSize(12);
|
|
const lineHeight = 15;
|
|
const boxPadding = 8;
|
|
let boxWidth = 0;
|
|
|
|
for (const strInfo of infoStrings) {
|
|
boxWidth = Math.max(boxWidth, p.textWidth(strInfo.text));
|
|
}
|
|
const boxHeight = infoStrings.length * lineHeight + boxPadding * 2;
|
|
boxWidth += boxPadding * 2;
|
|
|
|
const xOffset = 20;
|
|
let boxX, lineAnchorX;
|
|
if (mouseX + xOffset + boxWidth > p.width) { // Use smoothed values
|
|
boxX = mouseX - boxWidth - xOffset;
|
|
lineAnchorX = boxX + boxWidth;
|
|
} else {
|
|
boxX = mouseX + xOffset;
|
|
lineAnchorX = boxX;
|
|
}
|
|
let boxY = p.mouseY - boxHeight / 2;
|
|
boxY = p.constrain(boxY, 0, p.height - boxHeight);
|
|
|
|
const highlightColor = p.color(46, 204, 113);
|
|
for (const item of hoveredItems) {
|
|
p.noFill();
|
|
p.stroke(highlightColor);
|
|
p.strokeWeight(2);
|
|
p.ellipse(item.screenX, item.screenY, 15, 15);
|
|
}
|
|
|
|
const bgColor = document.documentElement.classList.contains("dark")
|
|
? p.color(20, 20, 30, 220)
|
|
: p.color(245, 245, 245, 220);
|
|
p.fill(bgColor);
|
|
p.stroke(highlightColor);
|
|
p.strokeWeight(1);
|
|
p.rect(boxX, boxY, boxWidth, boxHeight, 4);
|
|
|
|
const defaultTextColor = document.documentElement.classList.contains("dark")
|
|
? p.color(230)
|
|
: p.color(20);
|
|
const dividerColor = document.documentElement.classList.contains("dark")
|
|
? p.color(80)
|
|
: p.color(200);
|
|
|
|
for (let i = 0; i < infoStrings.length; i++) {
|
|
const info = infoStrings[i];
|
|
const lineY = boxY + boxPadding + i * lineHeight;
|
|
|
|
if (i > 0) {
|
|
p.stroke(dividerColor);
|
|
p.strokeWeight(0.5);
|
|
p.line(boxX + 1, lineY, boxX + boxWidth - 1, lineY);
|
|
}
|
|
|
|
p.noStroke();
|
|
p.textAlign(p.LEFT, p.TOP);
|
|
p.fill(info.color || defaultTextColor);
|
|
p.text(info.text, boxX + boxPadding, lineY);
|
|
|
|
const item = hoveredItems[i];
|
|
const lineAnchorY = lineY + lineHeight / 2;
|
|
p.stroke(highlightColor);
|
|
p.strokeWeight(1);
|
|
p.line(lineAnchorX, lineAnchorY, item.screenX, item.screenY);
|
|
}
|
|
p.pop();
|
|
|
|
// Return the list of hovered items for other functions (like the zoom window) to use.
|
|
return hoveredItems;
|
|
}
|
|
|
|
export function drawCovarianceEllipse(
|
|
p,
|
|
position,
|
|
radii,
|
|
angle,
|
|
plotScales,
|
|
isStationary
|
|
) {
|
|
// Only draw the ellipse for tracks that are not stationary.
|
|
if (isStationary) return;
|
|
const [radiusA, radiusB] = radii;
|
|
const angledegrees = 90 + angle;
|
|
p.push();
|
|
p.noFill();
|
|
p.stroke(255, 0, 0, 150);
|
|
p.strokeWeight(1);
|
|
p.translate(
|
|
position[0] * plotScales.plotScaleX,
|
|
position[1] * plotScales.plotScaleY
|
|
);
|
|
p.rotate(p.radians(angledegrees));
|
|
p.ellipse(
|
|
0,
|
|
0,
|
|
radiusA * 2 * plotScales.plotScaleX, // multiplied by 2 because ellipse function
|
|
radiusB * 2 * plotScales.plotScaleY // in p5 library expect
|
|
);
|
|
p.pop();
|
|
}
|
|
|
|
|
|
export function drawEgoVehicle(p, plotScales) {
|
|
const isDark = document.documentElement.classList.contains("dark");
|
|
const carColor = isDark ? p.color(150, 150, 220) : p.color(151, 151, 220);
|
|
|
|
p.push();
|
|
p.fill(carColor);
|
|
p.noStroke();
|
|
p.rectMode(p.CENTER);
|
|
|
|
const carWidthMeters = 1.5;
|
|
const carLengthMeters = 3.5;
|
|
|
|
const carWidthPixels = carWidthMeters * plotScales.plotScaleX;
|
|
const carLengthPixels = carLengthMeters * plotScales.plotScaleY;
|
|
|
|
p.rect(0, -10, carWidthPixels, carLengthPixels, 5);
|
|
p.pop();
|
|
}
|
|
|
|
export function drawRegionsOfInterest(p, frameData, plotScales) {
|
|
// --- THIS CHECK IS ESSENTIAL AND MUST NOT BE REMOVED ---
|
|
// It gracefully handles frames that do not have the barrier data.
|
|
if (!frameData || !frameData.filtered_barrier_x) {
|
|
console.warn(
|
|
`Skipping bcoz no filtered barrier track in frame ${appState.currentFrame}. `,
|
|
frameData
|
|
);
|
|
return; // Exit the function if the data is missing for this frame.
|
|
}
|
|
//check here once
|
|
const isDark = document.documentElement.classList.contains("dark");
|
|
// Using brighter, more visible colors with transparency
|
|
const tracksRegionColor = isDark
|
|
? p.color(137, 207, 240, 50)
|
|
: p.color(173, 216, 230, 80);
|
|
const closeRegionColor = isDark
|
|
? p.color(255, 182, 193, 60)
|
|
: p.color(255, 182, 193, 90);
|
|
|
|
const [left, right] = frameData.filtered_barrier_x;
|
|
|
|
p.push();
|
|
p.stroke(1);
|
|
p.strokeWeight(1);
|
|
p.noFill();
|
|
p.rectMode(p.CORNERS); // console.warn(`Skipping bcoz no filtered barrier track in frame ${appState.currentFrame}. `, frameData);
|
|
|
|
// --- Draw Tracks Region ---
|
|
p.fill(tracksRegionColor);
|
|
p.rect(
|
|
left * plotScales.plotScaleX,
|
|
ROI_TRACKS_Y_MIN * plotScales.plotScaleY,
|
|
right * plotScales.plotScaleX,
|
|
ROI_TRACKS_Y_MAX * plotScales.plotScaleY
|
|
);
|
|
|
|
// --- Draw Close Region ---
|
|
p.fill(closeRegionColor);
|
|
p.rect(
|
|
left * plotScales.plotScaleX,
|
|
ROI_CLOSE_Y_MIN * plotScales.plotScaleY,
|
|
right * plotScales.plotScaleX,
|
|
ROI_CLOSE_Y_MAX * plotScales.plotScaleY
|
|
);
|
|
|
|
p.pop();
|
|
}
|
|
|
|
export function drawClusterCentroids(p, clustersInput, plotScales) {
|
|
if (!clustersInput) {
|
|
return; // Do nothing if there's no cluster data
|
|
}
|
|
|
|
// --- START: Robustness Fix ---
|
|
// This check handles the data inconsistency. If clustersInput is not an array,
|
|
// we wrap the single cluster object in an array so the loop works consistently.
|
|
const clusters = Array.isArray(clustersInput)
|
|
? clustersInput
|
|
: [clustersInput];
|
|
// --- END: Robustness Fix ---
|
|
|
|
if (clusters.length === 0) {
|
|
return; // Exit if the resulting array is empty
|
|
}
|
|
|
|
const localClusterColors = clusterColors(p);
|
|
|
|
for (const cluster of clusters) {
|
|
if (
|
|
cluster &&
|
|
typeof cluster.x === "number" &&
|
|
typeof cluster.y === "number"
|
|
) {
|
|
const x = cluster.x * plotScales.plotScaleX;
|
|
const y = cluster.y * plotScales.plotScaleY;
|
|
|
|
const color =
|
|
cluster.id > 0
|
|
? localClusterColors[(cluster.id - 1) % localClusterColors.length]
|
|
: p.color(128);
|
|
|
|
p.push();
|
|
p.stroke(color);
|
|
p.strokeWeight(1.5);
|
|
|
|
const armLength = 5;
|
|
|
|
p.line(x, y - armLength, x, y + armLength);
|
|
p.line(x - armLength, y, x + armLength, y);
|
|
p.line(
|
|
x - armLength * 0.7,
|
|
y - armLength * 0.7,
|
|
x + armLength * 0.7,
|
|
y + armLength * 0.7
|
|
);
|
|
p.line(
|
|
x + armLength * 0.7,
|
|
y - armLength * 0.7,
|
|
x - armLength * 0.7,
|
|
y + armLength * 0.7
|
|
);
|
|
|
|
p.pop();
|
|
}
|
|
}
|
|
}
|