mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
612 lines
22 KiB
Python
612 lines
22 KiB
Python
#!/usr/bin/env python3
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from __future__ import annotations
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import argparse
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import csv
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import json
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import time
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from http import HTTPStatus
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from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
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from pathlib import Path
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from urllib.parse import parse_qs, urlparse
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QUEUE_REVIEW_FIELDS = [
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"review_status",
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"review_speed_limit_mph",
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"review_sign_type",
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"review_bbox",
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"review_ignore_reason",
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"review_notes",
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]
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LABEL_FIELDNAMES = [
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"record_key",
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"review_status",
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"review_speed_limit_mph",
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"review_sign_type",
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"review_bbox",
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"review_ignore_reason",
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"review_notes",
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"reviewed_at_unix",
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]
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HTML = r"""<!doctype html>
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<html>
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<head>
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<meta charset="utf-8">
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<title>Speed Limit Review</title>
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<style>
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:root { color-scheme: dark; font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; }
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body { margin: 0; background: #111; color: #eee; }
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header { display: flex; align-items: center; gap: 16px; padding: 10px 14px; background: #1b1b1b; border-bottom: 1px solid #333; position: sticky; top: 0; z-index: 2; }
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button, select, input, textarea { background: #222; color: #eee; border: 1px solid #555; border-radius: 6px; padding: 7px 9px; font: inherit; }
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button { cursor: pointer; }
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button:hover { background: #333; }
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button.primary { background: #285f9f; border-color: #3f7ec8; }
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button.warn { background: #6b3b18; border-color: #9a5a25; }
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main { display: grid; grid-template-columns: minmax(360px, 1fr) 420px; gap: 12px; padding: 12px; }
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.images { display: grid; gap: 12px; align-content: start; }
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.panel { background: #181818; border: 1px solid #303030; border-radius: 8px; padding: 10px; }
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.imageWrap { display: grid; place-items: center; background: #050505; border-radius: 6px; min-height: 160px; overflow: hidden; }
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.frameStage { position: relative; display: inline-block; max-width: 100%; }
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.frameStage img { display: block; }
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#bboxCanvas { position: absolute; inset: 0; width: 100%; height: 100%; cursor: crosshair; touch-action: none; }
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img { max-width: 100%; max-height: 52vh; object-fit: contain; }
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.crop img { image-rendering: auto; max-height: 28vh; }
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.meta { display: grid; gap: 5px; font-size: 13px; color: #ddd; }
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.meta code { color: #cfe5ff; overflow-wrap: anywhere; }
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.buttons { display: flex; flex-wrap: wrap; gap: 6px; margin: 8px 0; }
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.buttons button.active { outline: 2px solid #ddd; background: #345; }
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textarea { width: 100%; min-height: 70px; box-sizing: border-box; }
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.speed button { min-width: 42px; }
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.muted { color: #aaa; }
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.status { white-space: nowrap; }
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@media (max-width: 980px) { main { grid-template-columns: 1fr; } img { max-height: 45vh; } }
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</style>
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</head>
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<body>
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<header>
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<button id="prevBtn">Prev</button>
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<button id="nextBtn" class="primary">Next</button>
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<select id="filter">
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<option value="unreviewed">Unreviewed</option>
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<option value="all">All</option>
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<option value="school">School Zone</option>
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<option value="priority">Priority 30-65</option>
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<option value="disagreement">Disagreement</option>
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<option value="negative">Negatives</option>
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</select>
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<span class="status" id="status"></span>
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<span class="muted">Keys: Space/p accept model, type speed to correct, i/x ignore, Enter save correction, j/k next/prev, s school, r regulatory, a advisory</span>
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</header>
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<main>
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<section class="images">
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<div class="panel crop">
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<div class="muted">Crop</div>
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<div class="imageWrap"><img id="cropImg"></div>
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</div>
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<div class="panel">
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<div class="muted">Frame</div>
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<div class="imageWrap"><div class="frameStage"><img id="frameImg"><canvas id="bboxCanvas"></canvas></div></div>
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</div>
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</section>
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<aside class="panel">
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<div class="meta" id="meta"></div>
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<h3>Speed</h3>
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<div class="buttons speed" id="speedButtons"></div>
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<h3>Type</h3>
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<div class="buttons" id="typeButtons">
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<button data-type="regulatory">Regulatory</button>
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<button data-type="school_zone">School Zone</button>
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<button data-type="advisory">Advisory</button>
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<button data-type="construction">Construction</button>
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<button data-type="not_speed_limit">Not Speed Limit</button>
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</div>
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<h3>Action</h3>
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<div class="buttons" id="statusButtons">
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<button data-status="ignore" class="warn">Ignore / Bad Crop (i/x)</button>
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<button data-status="needs_later">Needs Later</button>
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</div>
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<label>Box</label>
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<input id="bboxInput" placeholder="x1,y1,x2,y2 - drag on frame to set">
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<div class="buttons">
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<button id="clearBBoxBtn">Clear Box (b)</button>
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</div>
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<label>Ignore reason</label>
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<input id="ignoreReason" placeholder="false_positive, blurry, side_road, duplicate">
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<label>Notes</label>
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<textarea id="notes"></textarea>
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<div class="buttons">
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<button id="acceptPredBtn">Accept Model Prediction (Space)</button>
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<button id="saveBtn" class="primary">Save Correction (Enter)</button>
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</div>
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</aside>
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</main>
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<script>
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const speeds = [15,20,25,30,35,40,45,50,55,60,65,70,75];
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let rows = [];
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let index = 0;
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let current = null;
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let draft = {};
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let speedBuffer = "";
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let speedBufferTimer = null;
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let drawingBox = false;
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let drawingStart = null;
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let previewBox = null;
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function qs(sel) { return document.querySelector(sel); }
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function qsa(sel) { return Array.from(document.querySelectorAll(sel)); }
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async function loadQueue() {
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const filter = qs("#filter").value;
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const res = await fetch(`/api/queue?filter=${encodeURIComponent(filter)}`);
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const data = await res.json();
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rows = data.rows;
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index = 0;
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render();
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}
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function setActive(selector, attr, value) {
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qsa(selector).forEach(btn => btn.classList.toggle("active", btn.dataset[attr] === String(value)));
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}
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function clamp(value, min, max) {
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return Math.max(min, Math.min(max, value));
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}
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function parseBBox(text) {
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const values = String(text || "").split(",").map(v => Number(v.trim()));
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if (values.length !== 4 || values.some(v => !Number.isFinite(v))) return null;
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const [x1, y1, x2, y2] = values.map(v => Math.round(v));
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if (x2 <= x1 || y2 <= y1) return null;
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return [x1, y1, x2, y2];
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}
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function formatBBox(box) {
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return box.map(v => String(Math.round(v))).join(",");
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}
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function setBBox(text, shouldDraw = true) {
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draft.review_bbox = text || "";
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qs("#bboxInput").value = draft.review_bbox;
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if (shouldDraw) drawBBox();
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}
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function canvasPoint(ev) {
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const canvas = qs("#bboxCanvas");
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const img = qs("#frameImg");
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const rect = canvas.getBoundingClientRect();
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if (!img.naturalWidth || !img.naturalHeight || rect.width <= 0 || rect.height <= 0) return null;
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const x = clamp(Math.round((ev.clientX - rect.left) * img.naturalWidth / rect.width), 0, img.naturalWidth - 1);
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const y = clamp(Math.round((ev.clientY - rect.top) * img.naturalHeight / rect.height), 0, img.naturalHeight - 1);
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return [x, y];
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}
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function boxToCanvas(box) {
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const img = qs("#frameImg");
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const canvas = qs("#bboxCanvas");
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const sx = canvas.width / img.naturalWidth;
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const sy = canvas.height / img.naturalHeight;
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return [box[0] * sx, box[1] * sy, box[2] * sx, box[3] * sy];
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}
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function drawBBox() {
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const canvas = qs("#bboxCanvas");
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const img = qs("#frameImg");
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const ctx = canvas.getContext("2d");
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const displayWidth = Math.round(img.clientWidth || 0);
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const displayHeight = Math.round(img.clientHeight || 0);
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if (displayWidth > 0 && displayHeight > 0 && (canvas.width !== displayWidth || canvas.height !== displayHeight)) {
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canvas.width = displayWidth;
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canvas.height = displayHeight;
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}
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ctx.clearRect(0, 0, canvas.width, canvas.height);
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if (!img.naturalWidth || !img.naturalHeight || canvas.width <= 0 || canvas.height <= 0) return;
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const box = previewBox || parseBBox(draft.review_bbox);
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if (!box) return;
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const [x1, y1, x2, y2] = boxToCanvas(box);
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ctx.lineWidth = 3;
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ctx.strokeStyle = previewBox ? "#ffd24a" : "#39a7ff";
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ctx.fillStyle = "rgba(57, 167, 255, 0.12)";
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ctx.fillRect(x1, y1, x2 - x1, y2 - y1);
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ctx.strokeRect(x1, y1, x2 - x1, y2 - y1);
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}
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function startBoxDraw(ev) {
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if (!current) return;
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const point = canvasPoint(ev);
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if (!point) return;
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ev.preventDefault();
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drawingBox = true;
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drawingStart = point;
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previewBox = [point[0], point[1], point[0] + 1, point[1] + 1];
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qs("#bboxCanvas").setPointerCapture(ev.pointerId);
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drawBBox();
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}
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function moveBoxDraw(ev) {
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if (!drawingBox || !drawingStart) return;
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const point = canvasPoint(ev);
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if (!point) return;
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ev.preventDefault();
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previewBox = [
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Math.min(drawingStart[0], point[0]),
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Math.min(drawingStart[1], point[1]),
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Math.max(drawingStart[0], point[0]),
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Math.max(drawingStart[1], point[1]),
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];
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drawBBox();
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}
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function finishBoxDraw(ev) {
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if (!drawingBox) return;
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ev.preventDefault();
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drawingBox = false;
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const finalBox = previewBox;
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previewBox = null;
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drawingStart = null;
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if (finalBox && finalBox[2] - finalBox[0] >= 4 && finalBox[3] - finalBox[1] >= 4) {
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setBBox(formatBBox(finalBox));
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} else {
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drawBBox();
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}
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}
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function clearSpeedBuffer() {
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speedBuffer = "";
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if (speedBufferTimer) clearTimeout(speedBufferTimer);
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speedBufferTimer = null;
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}
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function inferredType(row) {
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if (!row) return "";
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if (row.detector_class === "school_zone_speed_limit") return "school_zone";
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if (row.detector_class === "advisory_speed_limit") return "advisory";
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if (row.detector_class === "negative_empty") return "not_speed_limit";
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return "regulatory";
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}
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function ensureSpeedSignType() {
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if (draft.review_sign_type === "not_speed_limit") {
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draft.review_sign_type = inferredType(current);
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setActive("#typeButtons button", "type", draft.review_sign_type);
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}
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}
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function renderSpeedButtons() {
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const root = qs("#speedButtons");
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root.innerHTML = "";
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for (const speed of speeds) {
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const btn = document.createElement("button");
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btn.textContent = speed;
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btn.dataset.speed = speed;
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btn.onclick = () => {
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setSpeed(speed, false);
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};
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root.appendChild(btn);
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}
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}
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function setSpeed(speed, shouldSave) {
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draft.review_speed_limit_mph = String(speed);
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ensureSpeedSignType();
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setActive("#speedButtons button", "speed", speed);
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if (shouldSave) save(true, "corrected");
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}
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function handleDigitShortcut(digit) {
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speedBuffer += digit;
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if (speedBuffer.length > 2) speedBuffer = speedBuffer.slice(-2);
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if (speedBufferTimer) clearTimeout(speedBufferTimer);
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speedBufferTimer = setTimeout(clearSpeedBuffer, 1000);
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if (speedBuffer.length < 2) return;
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const speed = Number(speedBuffer);
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clearSpeedBuffer();
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if (speeds.includes(speed)) {
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setSpeed(speed, true);
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return;
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}
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speedBuffer = digit;
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speedBufferTimer = setTimeout(clearSpeedBuffer, 1000);
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}
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function render() {
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current = rows[index] || null;
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if (!current) {
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qs("#status").textContent = "No rows";
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qs("#meta").innerHTML = "";
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qs("#cropImg").removeAttribute("src");
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qs("#frameImg").removeAttribute("src");
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return;
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}
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draft = {
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review_status: current.review_status || "",
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review_speed_limit_mph: current.review_speed_limit_mph || current.candidate_speed_limit_mph || "",
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review_sign_type: current.review_sign_type || inferredType(current),
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review_bbox: current.review_bbox || current.bbox || "",
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review_ignore_reason: current.review_ignore_reason || "",
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review_notes: current.review_notes || "",
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};
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qs("#status").textContent = `${index + 1}/${rows.length}`;
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qs("#cropImg").src = current.crop_path ? `/media/${current.record_key}/crop` : "";
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qs("#frameImg").src = `/media/${current.record_key}/frame`;
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setBBox(draft.review_bbox, false);
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qs("#ignoreReason").value = draft.review_ignore_reason;
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qs("#notes").value = draft.review_notes;
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setActive("#speedButtons button", "speed", draft.review_speed_limit_mph);
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setActive("#typeButtons button", "type", draft.review_sign_type);
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setActive("#statusButtons button", "status", draft.review_status);
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qs("#meta").innerHTML = [
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["record", current.record_key],
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["candidate", `${current.candidate_speed_limit_mph || "none"} @ ${current.candidate_confidence || ""}`],
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["class", `${current.detector_class} (${current.proposal_confidence})`],
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["bbox", draft.review_bbox],
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["reasons", current.review_reasons],
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["map", `${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}`],
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["reads", current.read_sources],
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["route", current.route],
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["time", `seg ${current.segment} @ ${current.frame_time_s}s`],
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].map(([k,v]) => `<div><span class="muted">${k}:</span> <code>${String(v || "")}</code></div>`).join("");
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}
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function manualReviewStatus() {
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if (draft.review_status === "ignore" || draft.review_status === "needs_later") return draft.review_status;
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return "corrected";
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}
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async function save(moveNext = true, forcedStatus = null) {
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if (!current) return;
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draft.review_status = forcedStatus || manualReviewStatus();
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draft.review_bbox = qs("#bboxInput").value.trim();
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draft.review_ignore_reason = qs("#ignoreReason").value;
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draft.review_notes = qs("#notes").value;
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const payload = {record_key: current.record_key, ...draft};
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const res = await fetch("/api/review", {method: "POST", headers: {"Content-Type": "application/json"}, body: JSON.stringify(payload)});
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if (!res.ok) {
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alert(await res.text());
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return;
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}
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Object.assign(current, payload);
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if (moveNext) next();
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else render();
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}
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function next() { if (index < rows.length - 1) { index += 1; render(); } }
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function prev() { if (index > 0) { index -= 1; render(); } }
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renderSpeedButtons();
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qs("#filter").onchange = loadQueue;
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qs("#nextBtn").onclick = next;
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qs("#prevBtn").onclick = prev;
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qs("#saveBtn").onclick = () => save(true);
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qs("#clearBBoxBtn").onclick = () => setBBox("");
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qs("#acceptPredBtn").onclick = () => {
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if (!current) return;
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draft.review_speed_limit_mph = current.candidate_speed_limit_mph || "";
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draft.review_sign_type = inferredType(current);
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save(true, "accepted");
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};
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qsa("#typeButtons button").forEach(btn => btn.onclick = () => {
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draft.review_sign_type = btn.dataset.type;
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setActive("#typeButtons button", "type", draft.review_sign_type);
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});
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qsa("#statusButtons button").forEach(btn => btn.onclick = () => {
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draft.review_status = btn.dataset.status;
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setActive("#statusButtons button", "status", draft.review_status);
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});
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qs("#bboxInput").oninput = () => setBBox(qs("#bboxInput").value.trim());
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qs("#frameImg").onload = () => drawBBox();
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qs("#bboxCanvas").addEventListener("pointerdown", startBoxDraw);
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qs("#bboxCanvas").addEventListener("pointermove", moveBoxDraw);
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qs("#bboxCanvas").addEventListener("pointerup", finishBoxDraw);
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qs("#bboxCanvas").addEventListener("pointercancel", finishBoxDraw);
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window.addEventListener("resize", drawBBox);
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document.addEventListener("keydown", ev => {
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if (ev.target.tagName === "TEXTAREA" || ev.target.tagName === "INPUT") return;
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const key = ev.key.toLowerCase();
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if (/^[0-9]$/.test(ev.key)) {
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ev.preventDefault();
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handleDigitShortcut(ev.key);
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return;
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}
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if (key === "j") { clearSpeedBuffer(); next(); }
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if (key === "k") { clearSpeedBuffer(); prev(); }
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if (ev.key === " " || key === "p") {
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ev.preventDefault();
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clearSpeedBuffer();
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qs("#acceptPredBtn").click();
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return;
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}
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if (key === "s") { clearSpeedBuffer(); draft.review_sign_type = "school_zone"; setActive("#typeButtons button", "type", "school_zone"); }
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if (key === "r") { clearSpeedBuffer(); draft.review_sign_type = "regulatory"; setActive("#typeButtons button", "type", "regulatory"); }
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if (key === "a") { clearSpeedBuffer(); draft.review_sign_type = "advisory"; setActive("#typeButtons button", "type", "advisory"); }
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if (key === "b") {
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clearSpeedBuffer();
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setBBox("");
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return;
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}
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if (key === "i" || key === "x") {
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clearSpeedBuffer();
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draft.review_status = "ignore";
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draft.review_sign_type = "not_speed_limit";
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setActive("#statusButtons button", "status", "ignore");
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|
setActive("#typeButtons button", "type", "not_speed_limit");
|
|
save(true, "ignore");
|
|
return;
|
|
}
|
|
if (key === "enter") { clearSpeedBuffer(); save(true); }
|
|
});
|
|
loadQueue();
|
|
</script>
|
|
</body>
|
|
</html>
|
|
"""
|
|
|
|
|
|
def parse_args() -> argparse.Namespace:
|
|
parser = argparse.ArgumentParser(description="Serve a small browser UI for manually reviewing speed-limit queue rows.")
|
|
parser.add_argument("--manifest", type=Path, required=True, help="manual_review_queue.csv from build_manual_review_queue.py")
|
|
parser.add_argument("--labels-out", type=Path, help="Defaults to <manifest_dir>/manual_review_labels.csv")
|
|
parser.add_argument("--host", default="127.0.0.1")
|
|
parser.add_argument("--port", type=int, default=8765)
|
|
return parser.parse_args()
|
|
|
|
|
|
def load_csv(path: Path) -> list[dict[str, str]]:
|
|
with path.open("r", encoding="utf-8", newline="") as handle:
|
|
return list(csv.DictReader(handle))
|
|
|
|
|
|
def load_labels(path: Path) -> dict[str, dict[str, str]]:
|
|
if not path.is_file():
|
|
return {}
|
|
rows = load_csv(path)
|
|
return {row["record_key"]: row for row in rows if row.get("record_key")}
|
|
|
|
|
|
def write_labels(path: Path, labels: dict[str, dict[str, str]]) -> None:
|
|
path.parent.mkdir(parents=True, exist_ok=True)
|
|
with path.open("w", encoding="utf-8", newline="") as handle:
|
|
writer = csv.DictWriter(handle, fieldnames=LABEL_FIELDNAMES, extrasaction="ignore")
|
|
writer.writeheader()
|
|
for key in sorted(labels):
|
|
writer.writerow(labels[key])
|
|
|
|
|
|
def merged_rows(rows: list[dict[str, str]], labels: dict[str, dict[str, str]]) -> list[dict[str, str]]:
|
|
merged = []
|
|
for row in rows:
|
|
item = dict(row)
|
|
label = labels.get(row.get("record_key", ""))
|
|
if label:
|
|
item.update({field: label.get(field, "") for field in QUEUE_REVIEW_FIELDS})
|
|
merged.append(item)
|
|
return merged
|
|
|
|
|
|
def filter_rows(rows: list[dict[str, str]], filter_name: str) -> list[dict[str, str]]:
|
|
if filter_name == "all":
|
|
return rows
|
|
if filter_name == "school":
|
|
return [row for row in rows if "school_zone" in row.get("detector_class", "") or "school_zone_candidate" in row.get("review_reasons", "")]
|
|
if filter_name == "priority":
|
|
return [row for row in rows if "priority_30_65" in row.get("review_reasons", "")]
|
|
if filter_name == "disagreement":
|
|
return [row for row in rows if "disagreement" in row.get("review_reasons", "") or "multi_value_votes" in row.get("review_reasons", "")]
|
|
if filter_name == "negative":
|
|
return [row for row in rows if row.get("detector_class") == "negative_empty"]
|
|
return [row for row in rows if not row.get("review_status")]
|
|
|
|
|
|
class ReviewServer(ThreadingHTTPServer):
|
|
def __init__(self, server_address, handler_class, manifest_path: Path, labels_path: Path):
|
|
super().__init__(server_address, handler_class)
|
|
self.manifest_path = manifest_path
|
|
self.labels_path = labels_path
|
|
self.rows = load_csv(manifest_path)
|
|
self.row_by_key = {row["record_key"]: row for row in self.rows}
|
|
self.labels = load_labels(labels_path)
|
|
|
|
|
|
class Handler(BaseHTTPRequestHandler):
|
|
server: ReviewServer
|
|
|
|
def log_message(self, format, *args): # noqa: A003
|
|
return
|
|
|
|
def send_json(self, data, status=HTTPStatus.OK):
|
|
body = json.dumps(data).encode("utf-8")
|
|
self.send_response(status)
|
|
self.send_header("Content-Type", "application/json")
|
|
self.send_header("Content-Length", str(len(body)))
|
|
self.end_headers()
|
|
self.wfile.write(body)
|
|
|
|
def send_text(self, text: str, status=HTTPStatus.OK, content_type="text/html; charset=utf-8"):
|
|
body = text.encode("utf-8")
|
|
self.send_response(status)
|
|
self.send_header("Content-Type", content_type)
|
|
self.send_header("Content-Length", str(len(body)))
|
|
self.end_headers()
|
|
self.wfile.write(body)
|
|
|
|
def do_GET(self): # noqa: N802
|
|
parsed = urlparse(self.path)
|
|
if parsed.path == "/":
|
|
self.send_text(HTML)
|
|
return
|
|
if parsed.path == "/api/queue":
|
|
params = parse_qs(parsed.query)
|
|
filter_name = params.get("filter", ["unreviewed"])[0]
|
|
rows = filter_rows(merged_rows(self.server.rows, self.server.labels), filter_name)
|
|
self.send_json({"rows": rows, "count": len(rows), "reviewed": len(self.server.labels)})
|
|
return
|
|
if parsed.path.startswith("/media/"):
|
|
parts = parsed.path.strip("/").split("/")
|
|
if len(parts) != 3:
|
|
self.send_error(HTTPStatus.NOT_FOUND)
|
|
return
|
|
_, record_key, kind = parts
|
|
row = self.server.row_by_key.get(record_key)
|
|
if row is None:
|
|
self.send_error(HTTPStatus.NOT_FOUND)
|
|
return
|
|
image_path = Path(row.get("crop_path" if kind == "crop" else "frame_path", ""))
|
|
if not image_path.is_file():
|
|
self.send_error(HTTPStatus.NOT_FOUND)
|
|
return
|
|
body = image_path.read_bytes()
|
|
self.send_response(HTTPStatus.OK)
|
|
self.send_header("Content-Type", "image/jpeg")
|
|
self.send_header("Content-Length", str(len(body)))
|
|
self.end_headers()
|
|
self.wfile.write(body)
|
|
return
|
|
self.send_error(HTTPStatus.NOT_FOUND)
|
|
|
|
def do_POST(self): # noqa: N802
|
|
if urlparse(self.path).path != "/api/review":
|
|
self.send_error(HTTPStatus.NOT_FOUND)
|
|
return
|
|
length = int(self.headers.get("Content-Length", "0"))
|
|
try:
|
|
payload = json.loads(self.rfile.read(length).decode("utf-8"))
|
|
except Exception:
|
|
self.send_error(HTTPStatus.BAD_REQUEST, "Invalid JSON")
|
|
return
|
|
record_key = str(payload.get("record_key") or "")
|
|
if record_key not in self.server.row_by_key:
|
|
self.send_error(HTTPStatus.BAD_REQUEST, "Unknown record_key")
|
|
return
|
|
label = {"record_key": record_key, "reviewed_at_unix": f"{time.time():.3f}"}
|
|
for field in QUEUE_REVIEW_FIELDS:
|
|
label[field] = str(payload.get(field) or "")
|
|
self.server.labels[record_key] = label
|
|
write_labels(self.server.labels_path, self.server.labels)
|
|
self.send_json({"ok": True, "reviewed": len(self.server.labels)})
|
|
|
|
|
|
def main() -> int:
|
|
args = parse_args()
|
|
manifest_path = args.manifest.expanduser().resolve()
|
|
labels_path = args.labels_out.expanduser().resolve() if args.labels_out else manifest_path.with_name("manual_review_labels.csv")
|
|
server = ReviewServer((args.host, args.port), Handler, manifest_path, labels_path)
|
|
print(f"Review UI: http://{args.host}:{args.port}")
|
|
print(f"Manifest: {manifest_path}")
|
|
print(f"Labels: {labels_path}")
|
|
try:
|
|
server.serve_forever()
|
|
except KeyboardInterrupt:
|
|
pass
|
|
return 0
|
|
|
|
|
|
if __name__ == "__main__":
|
|
raise SystemExit(main())
|