mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-07 22:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

newnew

Browse Source
This commit is contained in:
firestar5683
2026-07-02 15:27:09 -05:00
parent 9e03465520
commit 1afb6b3978
2 changed files with 137 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/speed_limit_vision/evaluate_runtime_manifest.py
+6
View File
@@ -25,6 +25,8 @@ def parse_args() -> argparse.Namespace:
parser.add_argument("--max-rows", type=int, default=0, help="Optional cap after filtering.")
parser.add_argument("--seed", type=int, default=0, help="Sampling seed used with --max-rows.")
parser.add_argument("--output-csv", type=Path, help="Optional per-row prediction output.")
parser.add_argument("--detector-min-confidence", type=float, help="Override runtime US detector confidence threshold.")
parser.add_argument("--classifier-min-confidence", type=float, help="Override runtime US classifier confidence threshold.")
parser.add_argument("--strict-positive-recall", type=float, help="Exit non-zero if positive exact recall is below this value.")
parser.add_argument("--strict-negative-fpr", type=float, help="Exit non-zero if negative false-positive rate is above this value.")
return parser.parse_args()
@@ -91,6 +93,10 @@ def main() -> int:
slv.US_DETECTOR_MODEL_PATH = detector_path
slv.US_CLASSIFIER_MODEL_PATH = classifier_path
if args.detector_min_confidence is not None:
slv.US_DETECTOR_MIN_CONFIDENCE = args.detector_min_confidence
if args.classifier_min_confidence is not None:
slv.US_CLASSIFIER_MIN_CONFIDENCE = args.classifier_min_confidence
daemon = slv.SpeedLimitVisionDaemon(use_runtime=False)
output_rows: list[dict[str, str]] = []
scripts/speed_limit_vision/serve_manual_review_queue.py
+131 -1
View File
@@ -50,6 +50,9 @@ HTML = r"""<!doctype html>
.images { display: grid; gap: 12px; align-content: start; }
.panel { background: #181818; border: 1px solid #303030; border-radius: 8px; padding: 10px; }
.imageWrap { display: grid; place-items: center; background: #050505; border-radius: 6px; min-height: 160px; overflow: hidden; }
.frameStage { position: relative; display: inline-block; max-width: 100%; }
.frameStage img { display: block; }
#bboxCanvas { position: absolute; inset: 0; width: 100%; height: 100%; cursor: crosshair; touch-action: none; }
img { max-width: 100%; max-height: 52vh; object-fit: contain; }
.crop img { image-rendering: auto; max-height: 28vh; }
.meta { display: grid; gap: 5px; font-size: 13px; color: #ddd; }
@@ -86,7 +89,7 @@ HTML = r"""<!doctype html>
</div>
<div class="panel">
<div class="muted">Frame</div>
<div class="imageWrap"><img id="frameImg"></div>
<div class="imageWrap"><div class="frameStage"><img id="frameImg"><canvas id="bboxCanvas"></canvas></div></div>
</div>
</section>
<aside class="panel">
@@ -106,6 +109,11 @@ HTML = r"""<!doctype html>
<button data-status="ignore" class="warn">Ignore / Bad Crop (i/x)</button>
<button data-status="needs_later">Needs Later</button>
</div>
<label>Box</label>
<input id="bboxInput" placeholder="x1,y1,x2,y2 - drag on frame to set">
<div class="buttons">
<button id="clearBBoxBtn">Clear Box (b)</button>
</div>
<label>Ignore reason</label>
<input id="ignoreReason" placeholder="false_positive, blurry, side_road, duplicate">
<label>Notes</label>
@@ -124,6 +132,9 @@ let current = null;
let draft = {};
let speedBuffer = "";
let speedBufferTimer = null;
let drawingBox = false;
let drawingStart = null;
let previewBox = null;
function qs(sel) { return document.querySelector(sel); }
function qsa(sel) { return Array.from(document.querySelectorAll(sel)); }
@@ -141,6 +152,109 @@ function setActive(selector, attr, value) {
qsa(selector).forEach(btn => btn.classList.toggle("active", btn.dataset[attr] === String(value)));
}
function clamp(value, min, max) {
return Math.max(min, Math.min(max, value));
}
function parseBBox(text) {
const values = String(text || "").split(",").map(v => Number(v.trim()));
if (values.length !== 4 || values.some(v => !Number.isFinite(v))) return null;
const [x1, y1, x2, y2] = values.map(v => Math.round(v));
if (x2 <= x1 || y2 <= y1) return null;
return [x1, y1, x2, y2];
}
function formatBBox(box) {
return box.map(v => String(Math.round(v))).join(",");
}
function setBBox(text, shouldDraw = true) {
draft.review_bbox = text || "";
qs("#bboxInput").value = draft.review_bbox;
if (shouldDraw) drawBBox();
}
function canvasPoint(ev) {
const canvas = qs("#bboxCanvas");
const img = qs("#frameImg");
const rect = canvas.getBoundingClientRect();
if (!img.naturalWidth || !img.naturalHeight || rect.width <= 0 || rect.height <= 0) return null;
const x = clamp(Math.round((ev.clientX - rect.left) * img.naturalWidth / rect.width), 0, img.naturalWidth - 1);
const y = clamp(Math.round((ev.clientY - rect.top) * img.naturalHeight / rect.height), 0, img.naturalHeight - 1);
return [x, y];
}
function boxToCanvas(box) {
const img = qs("#frameImg");
const canvas = qs("#bboxCanvas");
const sx = canvas.width / img.naturalWidth;
const sy = canvas.height / img.naturalHeight;
return [box[0] * sx, box[1] * sy, box[2] * sx, box[3] * sy];
}
function drawBBox() {
const canvas = qs("#bboxCanvas");
const img = qs("#frameImg");
const ctx = canvas.getContext("2d");
const displayWidth = Math.round(img.clientWidth || 0);
const displayHeight = Math.round(img.clientHeight || 0);
if (displayWidth > 0 && displayHeight > 0 && (canvas.width !== displayWidth || canvas.height !== displayHeight)) {
canvas.width = displayWidth;
canvas.height = displayHeight;
}
ctx.clearRect(0, 0, canvas.width, canvas.height);
if (!img.naturalWidth || !img.naturalHeight || canvas.width <= 0 || canvas.height <= 0) return;
const box = previewBox || parseBBox(draft.review_bbox);
if (!box) return;
const [x1, y1, x2, y2] = boxToCanvas(box);
ctx.lineWidth = 3;
ctx.strokeStyle = previewBox ? "#ffd24a" : "#39a7ff";
ctx.fillStyle = "rgba(57, 167, 255, 0.12)";
ctx.fillRect(x1, y1, x2 - x1, y2 - y1);
ctx.strokeRect(x1, y1, x2 - x1, y2 - y1);
}
function startBoxDraw(ev) {
if (!current) return;
const point = canvasPoint(ev);
if (!point) return;
ev.preventDefault();
drawingBox = true;
drawingStart = point;
previewBox = [point[0], point[1], point[0] + 1, point[1] + 1];
qs("#bboxCanvas").setPointerCapture(ev.pointerId);
drawBBox();
}
function moveBoxDraw(ev) {
if (!drawingBox || !drawingStart) return;
const point = canvasPoint(ev);
if (!point) return;
ev.preventDefault();
previewBox = [
Math.min(drawingStart[0], point[0]),
Math.min(drawingStart[1], point[1]),
Math.max(drawingStart[0], point[0]),
Math.max(drawingStart[1], point[1]),
];
drawBBox();
}
function finishBoxDraw(ev) {
if (!drawingBox) return;
ev.preventDefault();
drawingBox = false;
const finalBox = previewBox;
previewBox = null;
drawingStart = null;
if (finalBox && finalBox[2] - finalBox[0] >= 4 && finalBox[3] - finalBox[1] >= 4) {
setBBox(formatBBox(finalBox));
} else {
drawBBox();
}
}
function clearSpeedBuffer() {
speedBuffer = "";
if (speedBufferTimer) clearTimeout(speedBufferTimer);
@@ -222,6 +336,7 @@ function render() {
qs("#status").textContent = `${index + 1}/${rows.length}`;
qs("#cropImg").src = current.crop_path ? `/media/${current.record_key}/crop` : "";
qs("#frameImg").src = `/media/${current.record_key}/frame`;
setBBox(draft.review_bbox, false);
qs("#ignoreReason").value = draft.review_ignore_reason;
qs("#notes").value = draft.review_notes;
setActive("#speedButtons button", "speed", draft.review_speed_limit_mph);
@@ -231,6 +346,7 @@ function render() {
["record", current.record_key],
["candidate", `${current.candidate_speed_limit_mph || "none"} @ ${current.candidate_confidence || ""}`],
["class", `${current.detector_class} (${current.proposal_confidence})`],
["bbox", draft.review_bbox],
["reasons", current.review_reasons],
["map", `${current.map_relation} current=${current.map_current_speed_limit_mph} next=${current.map_next_speed_limit_mph} dist=${current.map_next_speed_limit_distance_m}`],
["reads", current.read_sources],
@@ -247,6 +363,7 @@ function manualReviewStatus() {
async function save(moveNext = true, forcedStatus = null) {
if (!current) return;
draft.review_status = forcedStatus || manualReviewStatus();
draft.review_bbox = qs("#bboxInput").value.trim();
draft.review_ignore_reason = qs("#ignoreReason").value;
draft.review_notes = qs("#notes").value;
const payload = {record_key: current.record_key, ...draft};
@@ -268,6 +385,7 @@ qs("#filter").onchange = loadQueue;
qs("#nextBtn").onclick = next;
qs("#prevBtn").onclick = prev;
qs("#saveBtn").onclick = () => save(true);
qs("#clearBBoxBtn").onclick = () => setBBox("");
qs("#acceptPredBtn").onclick = () => {
if (!current) return;
draft.review_speed_limit_mph = current.candidate_speed_limit_mph || "";
@@ -282,6 +400,13 @@ qsa("#statusButtons button").forEach(btn => btn.onclick = () => {
draft.review_status = btn.dataset.status;
setActive("#statusButtons button", "status", draft.review_status);
});
qs("#bboxInput").oninput = () => setBBox(qs("#bboxInput").value.trim());
qs("#frameImg").onload = () => drawBBox();
qs("#bboxCanvas").addEventListener("pointerdown", startBoxDraw);
qs("#bboxCanvas").addEventListener("pointermove", moveBoxDraw);
qs("#bboxCanvas").addEventListener("pointerup", finishBoxDraw);
qs("#bboxCanvas").addEventListener("pointercancel", finishBoxDraw);
window.addEventListener("resize", drawBBox);
document.addEventListener("keydown", ev => {
if (ev.target.tagName === "TEXTAREA" || ev.target.tagName === "INPUT") return;
const key = ev.key.toLowerCase();
@@ -301,6 +426,11 @@ document.addEventListener("keydown", ev => {
if (key === "s") { clearSpeedBuffer(); draft.review_sign_type = "school_zone"; setActive("#typeButtons button", "type", "school_zone"); }
if (key === "r") { clearSpeedBuffer(); draft.review_sign_type = "regulatory"; setActive("#typeButtons button", "type", "regulatory"); }
if (key === "a") { clearSpeedBuffer(); draft.review_sign_type = "advisory"; setActive("#typeButtons button", "type", "advisory"); }
if (key === "b") {
clearSpeedBuffer();
setBBox("");
return;
}
if (key === "i" || key === "x") {
clearSpeedBuffer();
draft.review_status = "ignore";