diff --git a/.gitignore b/.gitignore index 75ec3f0..3b4942a 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,5 @@ -.vscode/* \ No newline at end of file +.vscode/* +node_modules/ +dist/ +*.foxe +demo.mcap diff --git a/.utils/generate_readme.py b/.utils/generate_readme.py index 404df0b..2edacb0 100644 --- a/.utils/generate_readme.py +++ b/.utils/generate_readme.py @@ -14,6 +14,7 @@ CATEGORY_NAMES = { "datasets": "Datasets", + "extensions": "Foxglove Extensions", "foxglove_sdk": "Foxglove SDK", "integrations": "Integrations", "jupyter_notebooks": "Jupyter Notebooks" @@ -43,6 +44,7 @@ def extract_metadata(readme_path): def scan_tutorials(): tutorials = [] for root, dirs, files in os.walk(ROOT_DIR): + dirs[:] = [name for name in dirs if name not in {"node_modules", "dist", ".git"}] if "README.md" in files and root != ROOT_DIR: readme_path = os.path.join(root, "README.md") rel_path = os.path.relpath(readme_path, ROOT_DIR) diff --git a/README.md b/README.md index d086a04..115bf49 100644 --- a/README.md +++ b/README.md @@ -29,6 +29,10 @@ Below is a list of all tutorials available in this repository: - 🎥 [Video](https://youtu.be/jJej6aT1jKg) - 📊 [Visualize](https://app.foxglove.dev/~/view?ds=foxglove-sample-stream&ds.recordingId=vqKKQcot421Kwg84&ds.overrideLayoutId=b7513959-1d46-4a89-bc24-1584d9677ca1&ds.start=2023-09-01T13:19:45.047438263Z&ds.end=2023-09-01T13:20:15.047438263Z) +## Foxglove Extensions +### [Model Ghost Preview extension](extensions/model_ghost_preview/README.md) +- 📝 Preview a 3D model as a ghost at the hovered timeline time, even while paused + ## Foxglove SDK ### [Using Foxglove to Visualize Ethernet/IP data](foxglove_sdk/ethernet_ip_integration/README.md) - 📝 Using Foxglove data, it's easier than ever to stream time series data. In this project, we show you how. diff --git a/extensions/model_ghost_preview/README.md b/extensions/model_ghost_preview/README.md new file mode 100644 index 0000000..fe24027 --- /dev/null +++ b/extensions/model_ghost_preview/README.md @@ -0,0 +1,109 @@ +--- +title: "Model Ghost Preview extension" +short_description: "Preview a 3D model as a ghost at the hovered timeline time, even while paused" +--- + +# Model Ghost Preview extension + +While you hover the playback bar, this panel keeps the model at the current time and draws a second copy — by default a light-blue wireframe — at the hovered time. A path through every pose shows where the ghost sits along the trajectory. + +![Solid haul truck at the current time](media/current-truck.png) + +![Wireframe ghost further along the path](media/ghost-preview.png) + +The ghost only appears when preview is enabled, a preview time is set, and that pose is different from the current one. Hovering the path inside the panel also sets the preview time (so Map and Plot can follow it); clicking the path seeks playback. + +## Why a custom panel + +VIZ-3444 asks for this on the built-in 3D panel, the way the Map panel already previews GNSS while you skim the timeline. A message converter cannot do it: converters run when a new input message arrives, and global variables do not reprocess the current frame. While playback is paused, nothing arrives, so the ghost cannot move with the hover. Built-in 3D panel internals are not extensible either. This extension is a working prototype of the interaction — its own three.js scene — until the 3D panel supports preview natively. + +## Install + +From `extensions/model_ghost_preview/extension`: + +```sh +npm ci && npm run local-install +``` + +That installs the extension into Foxglove desktop. Refresh the app (`Ctrl-R`) and add a **Model Ghost Preview** panel. + +To share a build instead, package it and drag the `.foxe` into Foxglove: + +```sh +npm run package +``` + +## Demo data + +```sh +cd extensions/model_ghost_preview/demo +pip install -r requirements.txt +python generate_demo_mcap.py --output demo.mcap +``` + +The file is about 60 seconds at 20 Hz. A truck drives a winding haul road a few hundred meters long. + +| Topic | Schema | What it is | +| --- | --- | --- | +| `/truck/pose` | `foxglove.PoseInFrame` | Pose in the `map` frame. This is the ghost panel input. | +| `/tf` | `foxglove.FrameTransforms` | `map` → `truck`, so the built-in 3D panel can follow the same motion. | +| `/scene/road` | `foxglove.SceneUpdate` | Road ribbon, center line, and a few berms, published once. | + +Open the MCAP in Foxglove, then import [`foxglove_layouts/model_ghost_preview.json`](foxglove_layouts/model_ghost_preview.json) from the layout menu. The layout places this panel next to a 3D panel and a Raw Messages panel on `/truck/pose`. If a panel shows up as unknown after import, add **Model Ghost Preview** from the panel list and pick the pose topic (or add the panel yourself, then export a layout). + +Poses are drawn in the topic's own frame. That frame is the panel's fixed world frame — there is no TF tree. The message **receive time** (log time) is the timeline key, because that is what the playback bar and `currentTime` use. + +## Settings + +| Group | Setting | Notes | +| --- | --- | --- | +| General | Pose topic | Supported schemas only. | +| General | Child frame | Shown for TF-like schemas. Empty locks onto the first `child_frame_id` seen in the range; the field suggests frames observed on the topic. | +| General | Interpolation | `interpolate` (lerp position, slerp rotation) or `previous`. | +| Model | Source | Procedural haul truck, or a `.glb` / `.gltf` URL. | +| Model | Scale, yaw, pitch, roll | Degrees, Euler ZYX. | +| Model | Truck color | Body color of the procedural truck. | +| Preview | Visibility | The Preview ON / OFF toggle. | +| Preview | Style | `wireframe` (default), `transparent`, or `solid`. | +| Preview | Color, opacity | Wireframe uses an edge overlay plus a faint fill. | +| Preview | Time label | `+Δt s` relative to the current time. | +| Path | Visibility, color | Polyline of every pose. | +| Path | Highlight segment | Brighter, thicker span between current and preview time. | +| View | Follow | `off`, `current`, or `ghost`. Orbit offset is kept. | +| View | Grid | Ground grid. The scene is Z-up. | + +glTF assets are Y-up. The loader applies +90° about X before the yaw/pitch/roll offsets so the model stands Z-up. Set roll to -90 to cancel that correction. If the URL fails to load, the panel shows the error and falls back to the truck. + +Once the pose range has loaded, the camera frames the road around the current pose from above and to one side, pulled in so a long haul road does not shrink the truck to a speck. Hovering a path vertex sets the preview time; a click without a drag seeks. Orbit dragging is left alone. + +## Supported schemas + +- `foxglove.PoseInFrame` +- `foxglove.PosesInFrame` (first pose) +- `foxglove.FrameTransform` and `foxglove.FrameTransforms` +- `geometry_msgs/PoseStamped`, `geometry_msgs/msg/PoseStamped` +- `nav_msgs/Odometry`, `nav_msgs/msg/Odometry` (`pose.pose`) +- `tf2_msgs/TFMessage`, `tf2_msgs/msg/TFMessage` +- `geometry_msgs/TransformStamped`, `geometry_msgs/msg/TransformStamped` + +## Limitations + +- One fixed frame. Transforms are not composed through a TF tree. +- `subscribeMessageRange` is best-effort. Very large recordings can be truncated by memory limits, and only the extracted poses are kept. +- Live sources (Foxglove WebSocket, rosbridge, native ROS) do not provide a future range, so there is nothing to preview ahead of the current time. Recorded data is required. +- The built-in 3D panel does not show this ghost. Native preview there is what VIZ-3444 asks for; this panel is the stop-gap. + +## Development + +From `extensions/model_ghost_preview/extension`: + +```sh +npm ci +npm test +npm run build +npm run lint +npx tsc --noEmit +npm run dev:harness +``` + +`npm test` covers pose extraction, timeline interpolation, preview-time normalization, and the settings reducer. `npm run dev:harness` mounts the real panel on synthetic truck poses with a fake playback bar: click seeks, hover sets an absolute preview time, and Play/Pause runs the clock. Screenshots in `media/` were captured from that harness. diff --git a/extensions/model_ghost_preview/demo/generate_demo_mcap.py b/extensions/model_ghost_preview/demo/generate_demo_mcap.py new file mode 100644 index 0000000..ff9a45f --- /dev/null +++ b/extensions/model_ghost_preview/demo/generate_demo_mcap.py @@ -0,0 +1,211 @@ +#!/usr/bin/env python3 +"""Write a short haul-road MCAP for the Model Ghost Preview panel.""" + +import argparse +import math +from pathlib import Path + +import foxglove +from foxglove.channels import FrameTransformsChannel, PoseInFrameChannel, SceneUpdateChannel +from foxglove.messages import ( + Color, + CubePrimitive, + FrameTransform, + FrameTransforms, + LinePrimitive, + LinePrimitiveLineType, + Point3, + Pose, + PoseInFrame, + Quaternion, + SceneEntity, + SceneUpdate, + Timestamp, + TriangleListPrimitive, + Vector3, +) + +EPOCH_SEC = 1_700_000_000 + + +def main() -> None: + parser = argparse.ArgumentParser(description="Generate a haul-truck ghost-preview demo MCAP") + parser.add_argument("--output", default="demo.mcap", help="Output .mcap path") + parser.add_argument("--duration", type=float, default=60.0, help="Recording length in seconds") + parser.add_argument("--rate", type=float, default=20.0, help="Pose sample rate in Hz") + args = parser.parse_args() + if args.duration <= 0 or args.rate <= 0: + raise SystemExit("--duration and --rate must be positive") + + output = Path(args.output) + samples = [sample_pose(index / args.rate, args.duration) for index in range(int(args.duration * args.rate))] + with foxglove.open_mcap(output, allow_overwrite=True): + pose_channel = PoseInFrameChannel("/truck/pose") + tf_channel = FrameTransformsChannel("/tf") + scene_channel = SceneUpdateChannel("/scene/road") + for sample in samples: + log_time = int(round(sample["time_sec"] * 1e9)) + stamp = timestamp(sample["time_sec"]) + pose = Pose( + position=Vector3(x=sample["x"], y=sample["y"], z=sample["z"]), + orientation=Quaternion(x=sample["qx"], y=sample["qy"], z=sample["qz"], w=sample["qw"]), + ) + pose_channel.log( + PoseInFrame(timestamp=stamp, frame_id="map", pose=pose), + log_time=log_time, + ) + tf_channel.log( + FrameTransforms( + transforms=[ + FrameTransform( + timestamp=stamp, + parent_frame_id="map", + child_frame_id="truck", + translation=Vector3(x=sample["x"], y=sample["y"], z=sample["z"]), + rotation=Quaternion( + x=sample["qx"], y=sample["qy"], z=sample["qz"], w=sample["qw"] + ), + ) + ] + ), + log_time=log_time, + ) + scene_channel.log(road_scene(samples), log_time=int(EPOCH_SEC * 1e9)) + print(f"wrote {output} ({len(samples)} poses)") + + +def sample_pose(t_sec: float, duration: float) -> dict[str, float]: + length = 280.0 + s = 0.0 if duration == 0 else t_sec / duration + x = s * length + y = 35.0 * math.sin(s * math.pi * 1.5) + 8.0 * math.sin(s * math.pi * 4.0) + z = 6.0 * s + 1.5 * math.sin(s * math.pi * 2.0) + ds = 1.0 / duration + dx = length * ds + dy = ( + 35.0 * math.pi * 1.5 * ds * math.cos(s * math.pi * 1.5) + + 8.0 * math.pi * 4.0 * ds * math.cos(s * math.pi * 4.0) + ) + dz = 6.0 * ds + 1.5 * math.pi * 2.0 * ds * math.cos(s * math.pi * 2.0) + yaw = math.atan2(dy, dx) + pitch = math.atan2(dz, math.hypot(dx, dy)) + qx, qy, qz, qw = heading_quaternion(yaw, -pitch) + return { + "time_sec": EPOCH_SEC + t_sec, + "x": x, + "y": y, + "z": z, + "qx": qx, + "qy": qy, + "qz": qz, + "qw": qw, + "yaw": yaw, + } + + +def heading_quaternion(yaw: float, pitch: float) -> tuple[float, float, float, float]: + half_yaw = yaw * 0.5 + half_pitch = pitch * 0.5 + q_yaw = (0.0, 0.0, math.sin(half_yaw), math.cos(half_yaw)) + q_pitch = (0.0, math.sin(half_pitch), 0.0, math.cos(half_pitch)) + return multiply_quat(q_yaw, q_pitch) + + +def multiply_quat( + a: tuple[float, float, float, float], b: tuple[float, float, float, float] +) -> tuple[float, float, float, float]: + ax, ay, az, aw = a + bx, by, bz, bw = b + return ( + aw * bx + ax * bw + ay * bz - az * by, + aw * by - ax * bz + ay * bw + az * bx, + aw * bz + ax * by - ay * bx + az * bw, + aw * bw - ax * bx - ay * by - az * bz, + ) + + +def timestamp(time_sec: float) -> Timestamp: + sec = int(math.floor(time_sec)) + nsec = int(round((time_sec - sec) * 1e9)) + if nsec >= 1_000_000_000: + sec += 1 + nsec -= 1_000_000_000 + return Timestamp(sec=sec, nsec=nsec) + + +def road_scene(samples: list[dict[str, float]]) -> SceneUpdate: + stride = 5 + center = samples[::stride] + if len(center) < 2: + center = samples + half_width = 7.0 + points: list[Point3] = [] + for index, sample in enumerate(center): + if index + 1 < len(center): + nxt = center[index + 1] + dx = nxt["x"] - sample["x"] + dy = nxt["y"] - sample["y"] + else: + prev = center[index - 1] + dx = sample["x"] - prev["x"] + dy = sample["y"] - prev["y"] + norm = math.hypot(dx, dy) or 1.0 + px = -dy / norm + py = dx / norm + points.append( + Point3(x=sample["x"] + px * half_width, y=sample["y"] + py * half_width, z=sample["z"]) + ) + points.append( + Point3(x=sample["x"] - px * half_width, y=sample["y"] - py * half_width, z=sample["z"]) + ) + indices: list[int] = [] + rows = len(center) + for index in range(rows - 1): + base = index * 2 + indices.extend([base, base + 1, base + 2, base + 1, base + 3, base + 2]) + line_points = [Point3(x=sample["x"], y=sample["y"], z=sample["z"] + 0.05) for sample in center] + berms: list[CubePrimitive] = [] + for index, sample in enumerate(center[::8]): + side = -1.0 if index % 2 == 0 else 1.0 + berms.append( + CubePrimitive( + pose=Pose( + position=Vector3( + x=sample["x"] + math.cos(sample["yaw"] + math.pi / 2.0) * 9.0 * side, + y=sample["y"] + math.sin(sample["yaw"] + math.pi / 2.0) * 9.0 * side, + z=sample["z"] + 0.6, + ), + orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0), + ), + size=Vector3(x=3.2, y=1.4, z=1.2), + color=Color(r=0.55, g=0.48, b=0.32, a=1.0), + ) + ) + stamp = timestamp(samples[0]["time_sec"] if samples else EPOCH_SEC) + entity = SceneEntity( + timestamp=stamp, + frame_id="map", + id="haul-road", + frame_locked=False, + triangles=[ + TriangleListPrimitive( + points=points, + indices=indices, + color=Color(r=0.35, g=0.37, b=0.4, a=1.0), + ) + ], + lines=[ + LinePrimitive( + type=LinePrimitiveLineType.LineStrip, + thickness=0.35, + points=line_points, + color=Color(r=0.17, g=0.28, b=0.95, a=1.0), + ) + ], + cubes=berms, + ) + return SceneUpdate(entities=[entity]) + + +if __name__ == "__main__": + main() diff --git a/extensions/model_ghost_preview/demo/requirements.txt b/extensions/model_ghost_preview/demo/requirements.txt new file mode 100644 index 0000000..63a04f6 --- /dev/null +++ b/extensions/model_ghost_preview/demo/requirements.txt @@ -0,0 +1,2 @@ +foxglove-sdk>=0.28,<0.29 +mcap>=1.2.0 diff --git a/extensions/model_ghost_preview/extension/.gitignore b/extensions/model_ghost_preview/extension/.gitignore new file mode 100644 index 0000000..bc991a1 --- /dev/null +++ b/extensions/model_ghost_preview/extension/.gitignore @@ -0,0 +1,110 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +lerna-debug.log* + +# Diagnostic reports (https://nodejs.org/api/report.html) +report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json + +# Runtime data +pids +*.pid +*.seed +*.pid.lock + +# Directory for instrumented libs generated by jscoverage/JSCover +lib-cov + +# Coverage directory used by tools like istanbul +coverage +*.lcov + +# nyc test coverage +.nyc_output + +# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files) +.grunt + +# Bower dependency directory (https://bower.io/) +bower_components + +# node-waf configuration +.lock-wscript + +# Compiled binary addons (https://nodejs.org/api/addons.html) +build/Release + +# Dependency directories +node_modules/ +jspm_packages/ + +# TypeScript cache +*.tsbuildinfo + +# Optional npm cache directory +.npm + +# Optional eslint cache +.eslintcache + +# Microbundle cache +.rpt2_cache/ +.rts2_cache_cjs/ +.rts2_cache_es/ +.rts2_cache_umd/ + +# Optional REPL history +.node_repl_history + +# Output of 'npm pack' +*.tgz + +# Yarn Integrity file +.yarn-integrity + +# dotenv environment variables file +.env +.env.test + +# parcel-bundler cache (https://parceljs.org/) +.cache + +# Next.js build output +.next + +# Nuxt.js build / generate output +.nuxt +dist + +# Gatsby files +.cache/ +# Comment in the public line in if your project uses Gatsby and *not* Next.js +# https://nextjs.org/blog/next-9-1#public-directory-support +# public + +# vuepress build output +.vuepress/dist + +# Serverless directories +.serverless/ + +# FuseBox cache +.fusebox/ + +# DynamoDB Local files +.dynamodb/ + +# TernJS port file +.tern-port + +# Build output +www/js/* + +# MacOS +.DS_Store + +# Packaged extension +*.foxe diff --git a/extensions/model_ghost_preview/extension/.prettierrc.yaml b/extensions/model_ghost_preview/extension/.prettierrc.yaml new file mode 100644 index 0000000..e57cc20 --- /dev/null +++ b/extensions/model_ghost_preview/extension/.prettierrc.yaml @@ -0,0 +1,5 @@ +arrowParens: always +printWidth: 100 +trailingComma: "all" +tabWidth: 2 +semi: true diff --git a/extensions/model_ghost_preview/extension/CHANGELOG.md b/extensions/model_ghost_preview/extension/CHANGELOG.md new file mode 100644 index 0000000..db76fd6 --- /dev/null +++ b/extensions/model_ghost_preview/extension/CHANGELOG.md @@ -0,0 +1,5 @@ +# model-ghost-preview version history + +## 0.1.0 + +- Initial release of the Model Ghost Preview panel. diff --git a/extensions/model_ghost_preview/extension/LICENSE b/extensions/model_ghost_preview/extension/LICENSE new file mode 100644 index 0000000..a71b025 --- /dev/null +++ b/extensions/model_ghost_preview/extension/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2026 Foxglove Technologies Inc. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/extensions/model_ghost_preview/extension/README.md b/extensions/model_ghost_preview/extension/README.md new file mode 100644 index 0000000..e0d089f --- /dev/null +++ b/extensions/model_ghost_preview/extension/README.md @@ -0,0 +1,28 @@ +# Model Ghost Preview + +Preview a topic's 3D model at the hovered playback time while the solid model stays at the current time. + +The panel subscribes to the full message range of a pose topic, so the ghost still moves while playback is paused. The default model is a procedural haul truck. A glTF/GLB URL can be used instead. + +## Develop + +```sh +npm install +npm test +npm run build +npm run dev:harness +``` + +## Install + +Install into Foxglove desktop: + +```sh +npm run local-install +``` + +Or package a `.foxe` and drag it into Foxglove: + +```sh +npm run package +``` diff --git a/extensions/model_ghost_preview/extension/dev/capture.mjs b/extensions/model_ghost_preview/extension/dev/capture.mjs new file mode 100644 index 0000000..add357e --- /dev/null +++ b/extensions/model_ghost_preview/extension/dev/capture.mjs @@ -0,0 +1,126 @@ +import { mkdir } from "node:fs/promises"; +import path from "node:path"; + +import puppeteer from "puppeteer-core"; + +const late = process.argv.includes("--late"); +const args = process.argv.slice(2).filter((arg) => arg !== "--late"); +const url = args[0] ?? "http://127.0.0.1:5173/"; +const mediaDir = path.resolve(args[1] ?? "../../media"); + +const browser = await puppeteer.launch({ + executablePath: "/usr/local/bin/google-chrome", + headless: true, + args: [ + "--no-sandbox", + "--disable-dev-shm-usage", + "--use-gl=angle", + "--use-angle=swiftshader", + "--enable-webgl", + "--ignore-gpu-blocklist", + "--window-size=1400,900", + ], + defaultViewport: { width: 1400, height: 900, deviceScaleFactor: 1 }, +}); + +try { + const page = await browser.newPage(); + page.on("console", (message) => { + console.log(`PAGE ${message.type()}: ${message.text()}`); + }); + page.on("pageerror", (error) => { + console.log(`PAGEERROR ${error.message}`); + }); + await page.goto(url, { waitUntil: "networkidle0", timeout: 60000 }); + await page.waitForSelector("canvas", { timeout: 20000 }); + await page.waitForFunction( + () => { + const root = document.querySelector("[data-pose-count]"); + if (!root) { + return false; + } + return ( + root.getAttribute("data-loading") === "false" && + Number(root.getAttribute("data-pose-count")) > 50 + ); + }, + { timeout: 20000 }, + ); + await new Promise((resolve) => setTimeout(resolve, 400)); + await dollyTowardTruck(page); + + const panel = await page.$("#panel"); + if (!panel) { + throw new Error("Panel element missing"); + } + await mkdir(mediaDir, { recursive: true }); + + const header = await page.$("#header"); + const headerBox = await header?.boundingBox(); + if (headerBox) { + await page.mouse.move(headerBox.x + 20, headerBox.y + 10); + } + await new Promise((resolve) => setTimeout(resolve, 250)); + const currentPath = path.join(mediaDir, "current-truck.png"); + await panel.screenshot({ path: currentPath }); + console.log("wrote", currentPath); + + const timeline = await page.$("#timeline"); + const box = await timeline?.boundingBox(); + if (!box) { + throw new Error("Timeline element missing"); + } + await page.mouse.move(box.x + box.width * 0.42, box.y + box.height / 2); + await new Promise((resolve) => setTimeout(resolve, 500)); + const ghostPath = path.join(mediaDir, "ghost-preview.png"); + await panel.screenshot({ path: ghostPath }); + console.log("wrote", ghostPath); + + if (late) { + const lateUrl = new URL(url); + lateUrl.searchParams.set("t", "34"); + await page.goto(lateUrl.toString(), { waitUntil: "networkidle0", timeout: 60000 }); + await page.waitForFunction( + () => { + const root = document.querySelector("[data-pose-count]"); + if (!root) { + return false; + } + return ( + root.getAttribute("data-loading") === "false" && + Number(root.getAttribute("data-pose-count")) > 50 + ); + }, + { timeout: 20000 }, + ); + await new Promise((resolve) => setTimeout(resolve, 400)); + await dollyTowardTruck(page); + const latePanel = await page.$("#panel"); + const lateTimeline = await page.$("#timeline"); + const lateBox = await lateTimeline?.boundingBox(); + if (!latePanel || !lateBox) { + throw new Error("Late-seek capture missing panel or timeline"); + } + await page.mouse.move(lateBox.x + lateBox.width * (24 / 40), lateBox.y + lateBox.height / 2); + await new Promise((resolve) => setTimeout(resolve, 500)); + const latePath = path.join(mediaDir, "late-ghost.png"); + await latePanel.screenshot({ path: latePath }); + console.log("wrote", latePath); + } +} finally { + await browser.close(); +} + +async function dollyTowardTruck(page) { + const canvas = await page.$("#panel canvas"); + const box = await canvas?.boundingBox(); + if (!box) { + return; + } + await page.mouse.move(box.x + box.width * 0.5, box.y + 28); + for (let step = 0; step < 16; step += 1) { + await page.mouse.wheel({ deltaY: -100 }); + await new Promise((resolve) => setTimeout(resolve, 20)); + } + await new Promise((resolve) => setTimeout(resolve, 300)); +} diff --git a/extensions/model_ghost_preview/extension/dev/index.html b/extensions/model_ghost_preview/extension/dev/index.html new file mode 100644 index 0000000..61b8459 --- /dev/null +++ b/extensions/model_ghost_preview/extension/dev/index.html @@ -0,0 +1,110 @@ + + + + + + Model Ghost Preview harness + + + +
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+
+
+ + + diff --git a/extensions/model_ghost_preview/extension/dev/main.ts b/extensions/model_ghost_preview/extension/dev/main.ts new file mode 100644 index 0000000..354c572 --- /dev/null +++ b/extensions/model_ghost_preview/extension/dev/main.ts @@ -0,0 +1,321 @@ +import type { PanelExtensionContext } from "@foxglove/extension"; + +import { initGhostPreviewPanel } from "../src/GhostPreviewPanel"; + +const EPOCH = 1_700_000_000; +const DURATION = 40; +const RATE = 10; + +type Vec3 = { x: number; y: number; z: number }; +type Quat = { x: number; y: number; z: number; w: number }; + +type PoseMessage = { + topic: string; + schemaName: string; + receiveTime: { sec: number; nsec: number }; + message: Record; + sizeInBytes: number; +}; + +function samplePath(t: number): { position: Vec3; orientation: Quat } { + const length = 96; + const scale = length / 280; + const s = t / DURATION; + const x = s * length; + const y = scale * (35 * Math.sin(s * Math.PI * 1.5) + 8 * Math.sin(s * Math.PI * 4)); + const z = scale * (6 * s + 1.5 * Math.sin(s * Math.PI * 2)); + const ds = 1 / DURATION; + const dx = length * ds; + const dy = + scale * + (35 * Math.PI * 1.5 * ds * Math.cos(s * Math.PI * 1.5) + + 8 * Math.PI * 4 * ds * Math.cos(s * Math.PI * 4)); + const dz = scale * (6 * ds + 1.5 * Math.PI * 2 * ds * Math.cos(s * Math.PI * 2)); + const yaw = Math.atan2(dy, dx); + const pitch = Math.atan2(dz, Math.hypot(dx, dy)); + return { position: { x, y, z }, orientation: headingQuaternion(yaw, -pitch) }; +} + +function headingQuaternion(yaw: number, pitch: number): Quat { + const halfYaw = yaw * 0.5; + const halfPitch = pitch * 0.5; + const yawQ: Quat = { x: 0, y: 0, z: Math.sin(halfYaw), w: Math.cos(halfYaw) }; + const pitchQ: Quat = { x: 0, y: Math.sin(halfPitch), z: 0, w: Math.cos(halfPitch) }; + return multiplyQuat(yawQ, pitchQ); +} + +function multiplyQuat(a: Quat, b: Quat): Quat { + return { + x: a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y, + y: a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x, + z: a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w, + w: a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z, + }; +} + +function toTime(seconds: number): { sec: number; nsec: number } { + const sec = Math.floor(seconds); + let nsec = Math.round((seconds - sec) * 1e9); + if (nsec >= 1e9) { + return { sec: sec + 1, nsec: 0 }; + } + return { sec, nsec }; +} + +function buildMessages(): { pose: PoseMessage[]; tf: PoseMessage[] } { + const pose: PoseMessage[] = []; + const tf: PoseMessage[] = []; + const count = DURATION * RATE; + for (let index = 0; index < count; index += 1) { + const t = index / RATE; + const absolute = EPOCH + t; + const { position, orientation } = samplePath(t); + const receiveTime = toTime(absolute); + pose.push({ + topic: "/truck/pose", + schemaName: "foxglove.PoseInFrame", + receiveTime, + sizeInBytes: 128, + message: { + timestamp: receiveTime, + frame_id: "map", + pose: { position, orientation }, + }, + }); + tf.push({ + topic: "/tf", + schemaName: "foxglove.FrameTransforms", + receiveTime, + sizeInBytes: 160, + message: { + transforms: [ + { + timestamp: receiveTime, + parent_frame_id: "map", + child_frame_id: "truck", + translation: position, + rotation: orientation, + }, + ], + }, + }); + } + return { pose, tf }; +} + +const messages = buildMessages(); + +function createContext(panelElement: HTMLDivElement): PanelExtensionContext { + const start = { sec: EPOCH, nsec: 0 }; + const end = { sec: EPOCH + DURATION, nsec: 0 }; + const requestedText = new URLSearchParams(window.location.search).get("t"); + const requested = requestedText == null ? Number.NaN : Number(requestedText); + let current = EPOCH + (Number.isFinite(requested) ? Math.min(DURATION, Math.max(0, requested)) : 8); + let preview: number | undefined; + let playing = false; + let rendering = false; + let pending = false; + let rangeToken = 0; + + const context = { + panelElement, + initialState: { + general: { poseTopic: "/truck/pose", childFrameId: "truck" }, + }, + dataSourceProfile: "foxglove", + layout: { + addPanel: () => undefined, + }, + watch: () => undefined, + saveState: (state: unknown) => { + console.log("saveState", state); + }, + setParameter: () => undefined, + setSharedPanelState: () => undefined, + setVariable: () => undefined, + setPreviewTime: (time: number | undefined) => { + preview = time; + emit(); + }, + seekPlayback: (time: number | { sec: number; nsec: number }) => { + current = typeof time === "number" ? time : time.sec + time.nsec * 1e-9; + emit(); + }, + subscribe: () => undefined, + unsubscribeAll: () => undefined, + subscribeAppSettings: () => undefined, + updatePanelSettingsEditor: () => undefined, + setDefaultPanelTitle: () => undefined, + subscribeMessageRange: (args: { + topic: string; + onNewRangeIterator: (batches: AsyncIterable) => Promise; + }) => { + rangeToken += 1; + const token = rangeToken; + const data = args.topic === "/tf" ? messages.tf : messages.pose; + void args.onNewRangeIterator(iterateBatches(data, () => token === rangeToken)); + return () => { + rangeToken += 1; + }; + }, + }; + + function emit(): void { + paintTransport(); + if (!context.onRender) { + return; + } + if (rendering) { + pending = true; + return; + } + rendering = true; + context.onRender( + { + currentTime: toTime(current), + startTime: start, + endTime: end, + previewTime: preview, + colorScheme: "light", + topics: [ + { + name: "/truck/pose", + datatype: "foxglove.PoseInFrame", + schemaName: "foxglove.PoseInFrame", + }, + { + name: "/tf", + datatype: "foxglove.FrameTransforms", + schemaName: "foxglove.FrameTransforms", + }, + { name: "/notes", datatype: "std_msgs/String", schemaName: "std_msgs/String" }, + ], + }, + () => { + rendering = false; + if (pending) { + pending = false; + emit(); + } + }, + ); + } + + let last = performance.now(); + const tick = (now: number) => { + if (playing) { + const dt = (now - last) / 1000; + current = Math.min(EPOCH + DURATION, current + dt); + if (current >= EPOCH + DURATION) { + playing = false; + const button = document.querySelector("#play"); + if (button) { + button.textContent = "Play"; + } + } + emit(); + } + last = now; + requestAnimationFrame(tick); + }; + requestAnimationFrame(tick); + + const timeline = document.querySelector("#timeline"); + const play = document.querySelector("#play"); + play?.addEventListener("click", () => { + playing = !playing; + if (play) { + play.textContent = playing ? "Pause" : "Play"; + } + last = performance.now(); + }); + timeline?.addEventListener("mousemove", (event) => { + if (!(event instanceof MouseEvent) || !timeline) { + return; + } + preview = EPOCH + fractionOf(timeline, event.clientX) * DURATION; + emit(); + }); + timeline?.addEventListener("mouseleave", () => { + preview = undefined; + emit(); + }); + timeline?.addEventListener("click", (event) => { + if (!(event instanceof MouseEvent) || !timeline) { + return; + } + current = EPOCH + fractionOf(timeline, event.clientX) * DURATION; + preview = undefined; + emit(); + }); + + const tryEmit = () => { + if (context.onRender) { + emit(); + return; + } + requestAnimationFrame(tryEmit); + }; + requestAnimationFrame(tryEmit); + + return context as unknown as PanelExtensionContext; + + function paintTransport(): void { + const played = document.querySelector("#played"); + const currentMark = document.querySelector("#current-mark"); + const previewMark = document.querySelector("#preview-mark"); + const readout = document.querySelector("#readout"); + const currentFraction = (current - EPOCH) / DURATION; + if (played instanceof HTMLElement) { + played.style.width = `${currentFraction * 100}%`; + } + if (currentMark instanceof HTMLElement) { + currentMark.style.left = `${currentFraction * 100}%`; + } + if (previewMark instanceof HTMLElement) { + if (preview === undefined) { + previewMark.style.display = "none"; + } else { + previewMark.style.display = "block"; + previewMark.style.left = `${((preview - EPOCH) / DURATION) * 100}%`; + } + } + if (readout) { + const previewText = preview === undefined ? "—" : (preview - EPOCH).toFixed(2); + readout.textContent = `t=${(current - EPOCH).toFixed(2)}s hover=${previewText}s`; + } + } +} + +function fractionOf(element: Element, clientX: number): number { + const rect = element.getBoundingClientRect(); + if (rect.width <= 0) { + return 0; + } + return Math.min(1, Math.max(0, (clientX - rect.left) / rect.width)); +} + +async function* iterateBatches( + data: PoseMessage[], + active: () => boolean, +): AsyncGenerator { + const batchSize = 40; + for (let index = 0; index < data.length; index += batchSize) { + if (!active()) { + return; + } + await new Promise((resolve) => { + setTimeout(resolve, 12); + }); + if (!active()) { + return; + } + yield data.slice(index, index + batchSize); + } +} + +const panel = document.querySelector("#panel"); +if (!(panel instanceof HTMLDivElement)) { + throw new Error("Missing #panel"); +} +initGhostPreviewPanel(createContext(panel)); diff --git a/extensions/model_ghost_preview/extension/dev/vite.config.ts b/extensions/model_ghost_preview/extension/dev/vite.config.ts new file mode 100644 index 0000000..d944af1 --- /dev/null +++ b/extensions/model_ghost_preview/extension/dev/vite.config.ts @@ -0,0 +1,18 @@ +import path from "node:path"; +import { fileURLToPath } from "node:url"; + +import { defineConfig } from "vite"; + +const root = path.dirname(fileURLToPath(import.meta.url)); + +export default defineConfig({ + root, + server: { + host: "127.0.0.1", + port: 5173, + strictPort: true, + }, + esbuild: { + jsx: "automatic", + }, +}); diff --git a/extensions/model_ghost_preview/extension/eslint.config.js b/extensions/model_ghost_preview/extension/eslint.config.js new file mode 100644 index 0000000..63cc3a2 --- /dev/null +++ b/extensions/model_ghost_preview/extension/eslint.config.js @@ -0,0 +1,23 @@ +// @ts-check + +const foxglove = require("@foxglove/eslint-plugin"); +const globals = require("globals"); +const tseslint = require("typescript-eslint"); + +module.exports = tseslint.config({ + files: ["src/**/*.ts", "src/**/*.tsx"], + extends: [foxglove.configs.base, foxglove.configs.react, foxglove.configs.typescript], + languageOptions: { + globals: { + ...globals.es2020, + ...globals.browser, + }, + parserOptions: { + project: "tsconfig.json", + tsconfigRootDir: __dirname, + }, + }, + rules: { + "react-hooks/exhaustive-deps": "error", + }, +}); diff --git a/extensions/model_ghost_preview/extension/package-lock.json b/extensions/model_ghost_preview/extension/package-lock.json new file mode 100644 index 0000000..74e33e2 --- /dev/null +++ b/extensions/model_ghost_preview/extension/package-lock.json @@ -0,0 +1,8090 @@ +{ + "name": "model-ghost-preview", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "model-ghost-preview", + "version": "0.1.0", + "license": "MIT", + "dependencies": { + "three": "0.170.0" + }, + "devDependencies": { + "@foxglove/eslint-plugin": "2.1.2", + "@foxglove/extension": "3.3.0", + "@types/react": 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timeline time, even while playback is paused.", + "publisher": "Foxglove", + "homepage": "https://github.com/foxglove/tutorials", + "version": "0.1.0", + "license": "MIT", + "main": "./dist/extension.js", + "keywords": [ + "foxglove", + "3d", + "preview", + "timeline" + ], + "scripts": { + "build": "foxglove-extension build", + "foxglove:prepublish": "foxglove-extension build --mode production", + "lint": "eslint .", + "lint:ci": "eslint .", + "lint:fix": "eslint --fix .", + "local-install": "foxglove-extension install", + "package": "foxglove-extension package", + "test": "vitest run", + "dev:harness": "vite --config dev/vite.config.ts --host 127.0.0.1 --port 5173 --strictPort" + }, + "dependencies": { + "three": "0.170.0" + }, + "devDependencies": { + "@foxglove/eslint-plugin": "2.1.2", + "@foxglove/extension": "3.3.0", + "@types/react": "18.3.31", + "@types/react-dom": "18.3.7", + "@types/three": "^0.170.0", + "create-foxglove-extension": "1.3.2", + "eslint": "9.39.5", + "prettier": "3.9.9", + "puppeteer-core": "24.15.0", + "react": "18.3.1", + "react-dom": "18.3.1", + "typescript": "5.9.3", + "vite": "6.3.6", + "vitest": "3.2.4" + } +} diff --git a/extensions/model_ghost_preview/extension/src/GhostPreviewPanel.tsx b/extensions/model_ghost_preview/extension/src/GhostPreviewPanel.tsx new file mode 100644 index 0000000..0e46179 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/GhostPreviewPanel.tsx @@ -0,0 +1,494 @@ +import type { PanelExtensionContext } from "@foxglove/extension"; +import { useEffect, useLayoutEffect, useRef, useState, type CSSProperties, type ReactElement } from "react"; +import { createRoot } from "react-dom/client"; + +import { PoseTimeline, type ReceiveTime, type TimedPose } from "./poses/PoseTimeline"; +import { ChildFrameLock, extractPose } from "./poses/extractPose"; +import { disposeObjectTree, GhostScene, type ScenePose } from "./scene/GhostScene"; +import { loadGltfScene, placeModel } from "./scene/placeModel"; +import { createTruckModel } from "./scene/truckModel"; +import { + buildSettingsTree, + mergeConfig, + reduceConfig, + type GhostPreviewConfig, + type TopicInfo, +} from "./settings"; +import { normalizePreviewTime, toSec, type TimeLike } from "./time"; + +const EMPTY_POINTS = new Float32Array(); +const EMPTY_TIMES = new Float64Array(); +const EMPTY_RECEIVE: readonly ReceiveTime[] = []; + +type Trail = { + points: Float32Array; + times: Float64Array; + receiveTimes: readonly ReceiveTime[]; +}; + +type Playback = { + currentSec: number | undefined; + previewSec: number | undefined; + startTime: TimeLike | undefined; +}; + +export function GhostPreviewPanel({ context }: { context: PanelExtensionContext }): ReactElement { + const [config, setConfig] = useState(() => mergeConfig(context.initialState)); + const [topics, setTopics] = useState([]); + const [colorScheme, setColorScheme] = useState<"dark" | "light">("dark"); + const [playback, setPlayback] = useState({ + currentSec: undefined, + previewSec: undefined, + startTime: undefined, + }); + const [poseCount, setPoseCount] = useState(0); + const [poseRevision, setPoseRevision] = useState(0); + const [loading, setLoading] = useState(false); + const [loadError, setLoadError] = useState(); + const [modelError, setModelError] = useState(); + const [childFrames, setChildFrames] = useState([]); + const [renderDone, setRenderDone] = useState<(() => void) | undefined>(); + + const sceneHostRef = useRef(null); + const sceneRef = useRef(undefined); + const timelineRef = useRef(new PoseTimeline()); + const framedRef = useRef(false); + const savedConfig = useRef(false); + const trailRef = useRef({ points: EMPTY_POINTS, times: EMPTY_TIMES, receiveTimes: EMPTY_RECEIVE }); + const trailKeyRef = useRef(""); + + useLayoutEffect(() => { + const host = sceneHostRef.current; + if (!host) { + return undefined; + } + const scene = new GhostScene(host, { + onPreviewTime: (timeSec) => { + context.setPreviewTime(timeSec); + }, + onSeek: (time) => { + context.seekPlayback?.(time); + }, + }); + sceneRef.current = scene; + return () => { + scene.dispose(); + sceneRef.current = undefined; + }; + }, [context]); + + useLayoutEffect(() => { + context.onRender = (renderState, done) => { + setRenderDone(() => done); + if (renderState.topics) { + setTopics(renderState.topics); + } + if (renderState.colorScheme) { + setColorScheme(renderState.colorScheme); + } + const currentSec = renderState.currentTime ? toSec(renderState.currentTime) : undefined; + const startTime = renderState.startTime ? toTimeLike(renderState.startTime) : undefined; + setPlayback((previous) => { + if ( + previous.currentSec === currentSec && + previous.previewSec === renderState.previewTime && + sameTime(previous.startTime, startTime) + ) { + return previous; + } + return { currentSec, previewSec: renderState.previewTime, startTime }; + }); + }; + context.watch("currentTime"); + context.watch("previewTime"); + context.watch("topics"); + context.watch("colorScheme"); + context.watch("startTime"); + }, [context]); + + useEffect(() => { + renderDone?.(); + }, [renderDone]); + + useEffect(() => { + const topic = config.general.poseTopic; + context.setDefaultPanelTitle(topic.length > 0 ? `Ghost: ${topic}` : "Model Ghost Preview"); + }, [context, config.general.poseTopic]); + + useEffect(() => { + if (!savedConfig.current) { + savedConfig.current = true; + return; + } + context.saveState(config); + }, [config, context]); + + useEffect(() => { + context.updatePanelSettingsEditor( + buildSettingsTree({ + config, + topics, + childFrameIds: childFrames, + actionHandler: (action) => { + setConfig((previous) => reduceConfig(previous, action)); + }, + }), + ); + }, [context, config, topics, childFrames]); + + useEffect(() => { + const topic = config.general.poseTopic; + const childFrameId = config.general.childFrameId; + const subscribe = context.subscribeMessageRange; + framedRef.current = false; + if (topic.length === 0 || !subscribe) { + timelineRef.current = new PoseTimeline(); + setPoseCount(0); + setPoseRevision((value) => value + 1); + setLoading(false); + setLoadError( + topic.length > 0 && !subscribe + ? "Range loading is not available for this data source." + : undefined, + ); + return undefined; + } + + let cancelled = false; + const timeline = new PoseTimeline(); + const childFrameLock = new ChildFrameLock(); + timelineRef.current = timeline; + setLoading(true); + setLoadError(undefined); + setPoseCount(0); + setPoseRevision((value) => value + 1); + setChildFrames([]); + + const unsubscribe = subscribe({ + topic, + onNewRangeIterator: async (batchIterator) => { + timeline.clear(); + childFrameLock.reset(); + framedRef.current = false; + if (!cancelled) { + setLoading(true); + setLoadError(undefined); + setPoseCount(0); + setPoseRevision((value) => value + 1); + setChildFrames([]); + } + try { + for await (const batch of batchIterator) { + if (cancelled) { + return; + } + const extracted: TimedPose[] = []; + for (const event of batch) { + const sample = extractPose(event.schemaName, event.message, { + childFrameId, + childFrameLock, + }); + if (!sample) { + continue; + } + extracted.push({ + tSec: toSec(event.receiveTime), + receiveTime: { sec: event.receiveTime.sec, nsec: event.receiveTime.nsec }, + position: sample.position, + orientation: sample.orientation, + frameId: sample.frameId, + }); + } + timeline.insertMany(extracted); + const observed = childFrameLock.observed(); + setChildFrames((previous) => (sameIds(previous, observed) ? previous : observed)); + setPoseCount(timeline.size()); + setPoseRevision((value) => value + 1); + } + } catch (error: unknown) { + if (!cancelled) { + setLoadError(error instanceof Error ? error.message : "Failed to load poses"); + } + } finally { + if (!cancelled) { + setLoading(false); + } + } + }, + }); + + return () => { + cancelled = true; + unsubscribe(); + }; + }, [context, config.general.poseTopic, config.general.childFrameId]); + + useEffect(() => { + const scene = sceneRef.current; + if (!scene) { + return undefined; + } + let cancelled = false; + const placement = { + scale: config.model.scale, + yawDeg: config.model.yaw, + pitchDeg: config.model.pitch, + rollDeg: config.model.roll, + yUpCorrection: config.model.source === "url" ? ("apply" as const) : ("skip" as const), + }; + const run = async (): Promise => { + try { + const contents = + config.model.source === "url" + ? await loadGltfScene(config.model.url) + : createTruckModel(config.model.truckColor); + if (cancelled) { + disposeObjectTree(contents); + return; + } + scene.setModel(placeModel(contents, placement)); + setModelError(undefined); + } catch (error: unknown) { + if (cancelled) { + return; + } + setModelError(error instanceof Error ? error.message : "Failed to load model"); + scene.setModel( + placeModel(createTruckModel(config.model.truckColor), { + ...placement, + yUpCorrection: "skip", + }), + ); + } + }; + const delay = config.model.source === "url" ? 400 : 0; + const timer = window.setTimeout(() => { + void run(); + }, delay); + return () => { + cancelled = true; + window.clearTimeout(timer); + }; + }, [ + config.model.source, + config.model.url, + config.model.scale, + config.model.yaw, + config.model.pitch, + config.model.roll, + config.model.truckColor, + ]); + + useLayoutEffect(() => { + const scene = sceneRef.current; + if (!scene) { + return; + } + const timeline = timelineRef.current; + const trailKey = `${poseRevision}:${config.path.visible ? "shown" : "hidden"}`; + if (trailKeyRef.current !== trailKey) { + trailKeyRef.current = trailKey; + trailRef.current = config.path.visible + ? { + points: timeline.path(), + times: timeline.times(), + receiveTimes: timeline.receiveTimes(), + } + : { points: EMPTY_POINTS, times: EMPTY_TIMES, receiveTimes: EMPTY_RECEIVE }; + } + const trail = trailRef.current; + scene.setColorScheme(colorScheme); + scene.setGridVisibility(config.view.showGrid ? "shown" : "hidden"); + scene.setGhostAppearance({ + style: config.ghost.style, + color: config.ghost.color, + opacity: config.ghost.opacity, + }); + scene.setPath({ + points: trail.points, + times: trail.times, + receiveTimes: trail.receiveTimes, + color: config.path.color, + visibility: config.path.visible ? "shown" : "hidden", + }); + + const currentPose = + playback.currentSec == undefined + ? undefined + : toScenePose(timeline, timeline.sample(playback.currentSec, config.general.interpolation)); + const previewSec = normalizePreviewTime(playback.previewSec, playback.startTime); + let ghostPose = + config.ghost.visible && previewSec != undefined + ? toScenePose(timeline, timeline.sample(previewSec, config.general.interpolation)) + : undefined; + if (ghostPose && currentPose && posesNearlyEqual(ghostPose, currentPose)) { + ghostPose = undefined; + } + if ( + config.path.visible && + config.path.highlightSegment && + playback.currentSec != undefined && + previewSec != undefined && + ghostPose + ) { + scene.setHighlight({ + points: timeline.pathSlice(playback.currentSec, previewSec, config.general.interpolation), + color: config.path.color, + }); + } else { + scene.setHighlight(undefined); + } + scene.setCurrentPose(currentPose); + scene.setGhostPose(ghostPose); + if (!framedRef.current && !loading && timeline.size() > 1) { + scene.framePath(); + framedRef.current = true; + } + scene.setFollowMode(config.view.follow); + if ( + config.ghost.showTimeLabel && + ghostPose && + playback.currentSec != undefined && + previewSec != undefined + ) { + const delta = previewSec - playback.currentSec; + const sign = delta >= 0 ? "+" : ""; + scene.setTimeLabel({ + text: `${sign}${delta.toFixed(2)} s`, + position: ghostPose.position, + }); + } else { + scene.setTimeLabel(undefined); + } + }, [colorScheme, config, loading, playback, poseRevision]); + + const status = statusMessage({ + topic: config.general.poseTopic, + loading, + poseCount, + loadError, + modelError, + }); + + return ( +
+
+ {status &&
{status.text}
} +
+ ); +} + +export function initGhostPreviewPanel(context: PanelExtensionContext): () => void { + context.panelElement.style.height = "100%"; + context.panelElement.style.width = "100%"; + context.panelElement.style.overflow = "hidden"; + const root = createRoot(context.panelElement); + root.render(); + return () => { + root.unmount(); + }; +} + +function toScenePose(timeline: PoseTimeline, sample: TimedPose | undefined): ScenePose | undefined { + if (!sample) { + return undefined; + } + return { position: timeline.rebase(sample.position), orientation: sample.orientation }; +} + +function posesNearlyEqual(a: ScenePose, b: ScenePose): boolean { + const dx = a.position[0] - b.position[0]; + const dy = a.position[1] - b.position[1]; + const dz = a.position[2] - b.position[2]; + if (dx * dx + dy * dy + dz * dz > 0.0025) { + return false; + } + const dot = Math.abs( + a.orientation[0] * b.orientation[0] + + a.orientation[1] * b.orientation[1] + + a.orientation[2] * b.orientation[2] + + a.orientation[3] * b.orientation[3], + ); + return dot > 0.9995; +} + +function sameIds(previous: readonly string[], next: readonly string[]): boolean { + if (previous.length !== next.length) { + return false; + } + for (let index = 0; index < previous.length; index += 1) { + if (previous[index] !== next[index]) { + return false; + } + } + return true; +} + +function statusMessage(args: { + topic: string; + loading: boolean; + poseCount: number; + loadError: string | undefined; + modelError: string | undefined; +}): { text: string; tone: "info" | "error" } | undefined { + if (args.modelError) { + return { text: args.modelError, tone: "error" }; + } + if (args.loadError) { + return { text: args.loadError, tone: "error" }; + } + if (args.topic.length === 0) { + return { text: "Select a pose topic", tone: "info" }; + } + if (args.loading) { + return { text: `loading ${args.poseCount} poses…`, tone: "info" }; + } + if (args.poseCount === 0) { + return { text: "No poses on topic", tone: "info" }; + } + return undefined; +} + +function toTimeLike(time: TimeLike): TimeLike { + return { sec: time.sec, nsec: time.nsec }; +} + +function sameTime(a: TimeLike | undefined, b: TimeLike | undefined): boolean { + if (a == undefined || b == undefined) { + return a === b; + } + return a.sec === b.sec && a.nsec === b.nsec; +} + +const rootStyle: CSSProperties = { + position: "relative", + width: "100%", + height: "100%", + overflow: "hidden", + fontFamily: "system-ui, sans-serif", +}; + +const hostStyle: CSSProperties = { position: "absolute", inset: 0 }; + +const overlayStyle: CSSProperties = { + position: "absolute", + left: 8, + top: 8, + padding: "4px 8px", + borderRadius: 4, + background: "rgba(20, 24, 28, 0.72)", + color: "#f2f5f8", + fontSize: 12, + pointerEvents: "none", +}; + +const errorStyle: CSSProperties = { + ...overlayStyle, + background: "rgba(120, 32, 32, 0.88)", + maxWidth: "70%", +}; diff --git a/extensions/model_ghost_preview/extension/src/index.ts b/extensions/model_ghost_preview/extension/src/index.ts new file mode 100644 index 0000000..b715916 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/index.ts @@ -0,0 +1,10 @@ +import type { ExtensionContext } from "@foxglove/extension"; + +import { initGhostPreviewPanel } from "./GhostPreviewPanel"; + +export function activate(extensionContext: ExtensionContext): void { + extensionContext.registerPanel({ + name: "Model Ghost Preview", + initPanel: initGhostPreviewPanel, + }); +} diff --git a/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.test.ts b/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.test.ts new file mode 100644 index 0000000..8da1b2e --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.test.ts @@ -0,0 +1,120 @@ +import { describe, expect, it } from "vitest"; + +import { PoseTimeline, type TimedPose } from "./PoseTimeline"; +import type { Quat } from "./extractPose"; + +function pose(tSec: number, position: readonly [number, number, number], orientation?: Quat): TimedPose { + return { + tSec, + position, + orientation: orientation ?? [0, 0, 0, 1], + frameId: "map", + }; +} + +function quatDot(a: Quat, b: Quat): number { + return Math.abs(a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3]); +} + +describe("PoseTimeline", () => { + it("orders out-of-order inserts and replaces duplicate timestamps", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(5, [5, 0, 0])); + timeline.insert(pose(1, [1, 0, 0])); + timeline.insertMany([pose(3, [3, 0, 0]), pose(1, [9, 0, 0]), pose(0, [0, 0, 0])]); + const path = timeline.path(); + expect(Array.from(path)).toEqual([0, 0, 0, 9, 0, 0, 3, 0, 0, 5, 0, 0]); + expect(Array.from(timeline.times())).toEqual([0, 1, 3, 5]); + }); + + it("returns undefined before the first sample and clamps after the last", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(2, [2, 0, 0])); + timeline.insert(pose(4, [4, 0, 0])); + expect(timeline.sample(1.9, "interpolate")).toBeUndefined(); + expect(timeline.sample(1.9, "previous")).toBeUndefined(); + expect(timeline.sample(10, "interpolate")?.position).toEqual([4, 0, 0]); + expect(timeline.sample(10, "previous")?.position).toEqual([4, 0, 0]); + expect(timeline.sample(0, "interpolate")).toBeUndefined(); + }); + + it("returns the exact sample on a timestamp hit", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(0, [0, 0, 0])); + timeline.insert(pose(10, [10, 2, 0])); + expect(timeline.sample(10, "interpolate")?.position).toEqual([10, 2, 0]); + expect(timeline.sample(0, "previous")?.position).toEqual([0, 0, 0]); + }); + + it("lerps position at the midpoint", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(0, [0, 0, 0])); + timeline.insert(pose(10, [10, 4, -2])); + expect(timeline.sample(5, "interpolate")?.position).toEqual([5, 2, -1]); + }); + + it("uses the previous sample without interpolating", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(0, [0, 0, 0])); + timeline.insert(pose(10, [10, 0, 0])); + timeline.insert(pose(20, [20, 0, 0])); + expect(timeline.sample(5, "previous")?.position).toEqual([0, 0, 0]); + expect(timeline.sample(10, "previous")?.position).toEqual([10, 0, 0]); + expect(timeline.sample(19.9, "previous")?.position).toEqual([10, 0, 0]); + }); + + it("slerps quaternions on the short path and stays normalized", () => { + const q90: Quat = [0, 0, Math.sin(Math.PI / 4), Math.cos(Math.PI / 4)]; + const q90Neg: Quat = [0, 0, -q90[2], -q90[3]]; + const direct = new PoseTimeline(); + direct.insert(pose(0, [0, 0, 0])); + direct.insert(pose(1, [0, 0, 0], q90)); + const flipped = new PoseTimeline(); + flipped.insert(pose(0, [0, 0, 0])); + flipped.insert(pose(1, [0, 0, 0], q90Neg)); + const a = direct.sample(0.5, "interpolate"); + const b = flipped.sample(0.5, "interpolate"); + expect(a).toBeDefined(); + expect(b).toBeDefined(); + if (!a || !b) { + return; + } + expect(quatDot(a.orientation, b.orientation)).toBeGreaterThan(0.999); + expect(a.orientation[3]).toBeCloseTo(Math.cos(Math.PI / 8), 5); + expect(a.orientation[2]).toBeCloseTo(Math.sin(Math.PI / 8), 5); + expect(Math.hypot(...a.orientation)).toBeCloseTo(1, 6); + }); + + it("slices the path between two times, including interpolated endpoints", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(0, [0, 0, 0])); + timeline.insert(pose(10, [10, 0, 0])); + timeline.insert(pose(20, [20, 0, 0])); + expect(Array.from(timeline.pathSlice(5, 15))).toEqual([5, 0, 0, 10, 0, 0, 15, 0, 0]); + expect(timeline.pathSlice(-5, -1).length).toBe(0); + }); + + it("ends a previous-mode slice on the previous sample", () => { + const timeline = new PoseTimeline(); + timeline.insert(pose(0, [0, 0, 0])); + timeline.insert(pose(10, [10, 0, 0])); + timeline.insert(pose(20, [20, 0, 0])); + expect(Array.from(timeline.pathSlice(5, 15, "previous"))).toEqual([0, 0, 0, 10, 0, 0]); + }); + + it("rebases the path to the first pose before narrowing to float32", () => { + const timeline = new PoseTimeline(); + const easting = 500_000.25; + const northing = 4_000_000.5; + timeline.insert(pose(0, [easting, northing, 12])); + timeline.insert(pose(1, [easting + 4, northing - 2, 12.5])); + const path = timeline.path(); + expect(path[0]).toBe(0); + expect(path[1]).toBe(0); + expect(path[2]).toBe(0); + expect(path[3]).toBeCloseTo(4, 4); + expect(path[4]).toBeCloseTo(-2, 4); + expect(path[5]).toBeCloseTo(0.5, 4); + expect(timeline.sample(1, "previous")?.position[0]).toBe(easting + 4); + }); +}); diff --git a/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.ts b/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.ts new file mode 100644 index 0000000..3dfa1b8 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/poses/PoseTimeline.ts @@ -0,0 +1,300 @@ +import type { Quat, Vec3 } from "./extractPose"; + +export type InterpolationMode = "interpolate" | "previous"; + +export type ReceiveTime = { + sec: number; + nsec: number; +}; + +export type TimedPose = { + tSec: number; + receiveTime?: ReceiveTime; + position: Vec3; + orientation: Quat; + frameId: string | undefined; +}; + +export class PoseTimeline { + #samples: TimedPose[] = []; + + size(): number { + return this.#samples.length; + } + + clear(): void { + this.#samples = []; + } + + insert(sample: TimedPose): void { + this.insertMany([sample]); + } + + insertMany(incoming: readonly TimedPose[]): void { + if (incoming.length === 0) { + return; + } + const compact = compactSorted(incoming); + if (this.#samples.length === 0) { + this.#samples = compact; + return; + } + this.#samples = mergeSamples(this.#samples, compact); + } + + sample(tSec: number, mode: InterpolationMode): TimedPose | undefined { + const count = this.#samples.length; + if (count === 0) { + return undefined; + } + const first = this.#samples[0]; + const last = this.#samples[count - 1]; + if (!first || !last) { + return undefined; + } + if (tSec < first.tSec) { + return undefined; + } + if (tSec >= last.tSec) { + return last; + } + const index = lowerBound(this.#samples, tSec); + const at = this.#samples[index]; + if (!at) { + return last; + } + if (at.tSec === tSec || mode === "previous") { + if (at.tSec === tSec) { + return at; + } + return this.#samples[index - 1]; + } + const previous = this.#samples[index - 1]; + if (!previous) { + return undefined; + } + const span = at.tSec - previous.tSec; + const alpha = span === 0 ? 0 : (tSec - previous.tSec) / span; + return { + tSec, + position: lerpVec3(previous.position, at.position, alpha), + orientation: slerpQuat(previous.orientation, at.orientation, alpha), + frameId: previous.frameId, + }; + } + + rebase(position: Vec3): Vec3 { + const origin = this.#samples[0]?.position; + if (!origin) { + return position; + } + return [position[0] - origin[0], position[1] - origin[1], position[2] - origin[2]]; + } + + path(): Float32Array { + const out = new Float32Array(this.#samples.length * 3); + for (let index = 0; index < this.#samples.length; index += 1) { + const sample = this.#samples[index]; + if (!sample) { + continue; + } + const position = this.rebase(sample.position); + out[index * 3] = position[0]; + out[index * 3 + 1] = position[1]; + out[index * 3 + 2] = position[2]; + } + return out; + } + + times(): Float64Array { + const out = new Float64Array(this.#samples.length); + for (let index = 0; index < this.#samples.length; index += 1) { + const sample = this.#samples[index]; + if (sample) { + out[index] = sample.tSec; + } + } + return out; + } + + receiveTimes(): ReceiveTime[] { + const out: ReceiveTime[] = []; + for (const sample of this.#samples) { + out.push(sample.receiveTime ?? timeFromSec(sample.tSec)); + } + return out; + } + + pathSlice(tStart: number, tEnd: number, mode: InterpolationMode = "interpolate"): Float32Array { + const from = Math.min(tStart, tEnd); + const to = Math.max(tStart, tEnd); + const startPose = this.sample(from, mode); + const endPose = this.sample(to, mode); + if (!startPose || !endPose) { + return new Float32Array(); + } + const points: number[] = [...this.rebase(startPose.position)]; + const firstInterior = firstAfter(this.#samples, from); + const endExclusive = lowerBound(this.#samples, to); + for (let index = firstInterior; index < endExclusive; index += 1) { + const sample = this.#samples[index]; + if (!sample) { + continue; + } + const position = this.rebase(sample.position); + points.push(position[0], position[1], position[2]); + } + const end = this.rebase(endPose.position); + const tail = points.length; + const sameEnd = + tail >= 3 && + points[tail - 3] === end[0] && + points[tail - 2] === end[1] && + points[tail - 1] === end[2]; + if (!sameEnd) { + points.push(end[0], end[1], end[2]); + } + return Float32Array.from(points); + } +} + +function compactSorted(incoming: readonly TimedPose[]): TimedPose[] { + const sorted = [...incoming].sort((a, b) => a.tSec - b.tSec); + const compact: TimedPose[] = []; + for (const sample of sorted) { + const last = compact[compact.length - 1]; + if (last?.tSec === sample.tSec) { + compact[compact.length - 1] = sample; + } else { + compact.push(sample); + } + } + return compact; +} + +function mergeSamples(current: readonly TimedPose[], incoming: readonly TimedPose[]): TimedPose[] { + const merged: TimedPose[] = []; + let left = 0; + let right = 0; + while (left < current.length && right < incoming.length) { + const a = current[left]; + const b = incoming[right]; + if (!a || !b) { + break; + } + if (a.tSec < b.tSec) { + merged.push(a); + left += 1; + } else if (b.tSec < a.tSec) { + merged.push(b); + right += 1; + } else { + merged.push(b); + left += 1; + right += 1; + } + } + while (left < current.length) { + const sample = current[left]; + if (sample) { + merged.push(sample); + } + left += 1; + } + while (right < incoming.length) { + const sample = incoming[right]; + if (sample) { + merged.push(sample); + } + right += 1; + } + return merged; +} + +function firstAfter(samples: readonly TimedPose[], tSec: number): number { + const index = lowerBound(samples, tSec); + const sample = samples[index]; + if (sample?.tSec === tSec) { + return index + 1; + } + return index; +} + +function timeFromSec(tSec: number): ReceiveTime { + const sec = Math.floor(tSec); + const nsec = Math.round((tSec - sec) * 1e9); + if (nsec >= 1e9) { + return { sec: sec + 1, nsec: 0 }; + } + if (nsec < 0) { + return { sec: sec - 1, nsec: 1e9 + nsec }; + } + return { sec, nsec }; +} + +function lowerBound(samples: readonly TimedPose[], tSec: number): number { + let lo = 0; + let hi = samples.length; + while (lo < hi) { + const mid = (lo + hi) >> 1; + const sample = samples[mid]; + if (sample && sample.tSec < tSec) { + lo = mid + 1; + } else { + hi = mid; + } + } + return lo; +} + +function lerpVec3(a: Vec3, b: Vec3, alpha: number): Vec3 { + return [ + a[0] + (b[0] - a[0]) * alpha, + a[1] + (b[1] - a[1]) * alpha, + a[2] + (b[2] - a[2]) * alpha, + ]; +} + +function slerpQuat(a: Quat, b: Quat, alpha: number): Quat { + let bx = b[0]; + let by = b[1]; + let bz = b[2]; + let bw = b[3]; + let dot = a[0] * bx + a[1] * by + a[2] * bz + a[3] * bw; + if (dot < 0) { + dot = -dot; + bx = -bx; + by = -by; + bz = -bz; + bw = -bw; + } + dot = Math.min(1, dot); + if (dot > 0.9995) { + return normalizeQuat([ + a[0] + (bx - a[0]) * alpha, + a[1] + (by - a[1]) * alpha, + a[2] + (bz - a[2]) * alpha, + a[3] + (bw - a[3]) * alpha, + ]); + } + const theta0 = Math.acos(dot); + const theta = theta0 * alpha; + const sinTheta = Math.sin(theta); + const sinTheta0 = Math.sin(theta0); + const scale0 = Math.cos(theta) - (dot * sinTheta) / sinTheta0; + const scale1 = sinTheta / sinTheta0; + return normalizeQuat([ + scale0 * a[0] + scale1 * bx, + scale0 * a[1] + scale1 * by, + scale0 * a[2] + scale1 * bz, + scale0 * a[3] + scale1 * bw, + ]); +} + +function normalizeQuat(q: readonly [number, number, number, number]): Quat { + const length = Math.hypot(q[0], q[1], q[2], q[3]); + if (length < 1e-12) { + return [0, 0, 0, 1]; + } + return [q[0] / length, q[1] / length, q[2] / length, q[3] / length]; +} diff --git a/extensions/model_ghost_preview/extension/src/poses/extractPose.test.ts b/extensions/model_ghost_preview/extension/src/poses/extractPose.test.ts new file mode 100644 index 0000000..479bb9e --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/poses/extractPose.test.ts @@ -0,0 +1,185 @@ +import { describe, expect, it } from "vitest"; + +import { ChildFrameLock, extractPose, isSupportedSchema, schemaUsesChildFrame } from "./extractPose"; + +const position = { x: 1, y: 2, z: 3 }; +const orientation = { x: 0, y: 0, z: 0, w: 1 }; +const pose = { position, orientation }; + +describe("extractPose", () => { + it("reads foxglove.PoseInFrame", () => { + const sample = extractPose("foxglove.PoseInFrame", { + frame_id: "map", + pose, + }); + expect(sample).toEqual({ + position: [1, 2, 3], + orientation: [0, 0, 0, 1], + frameId: "map", + }); + }); + + it("uses the first pose of foxglove.PosesInFrame", () => { + const sample = extractPose("foxglove.PosesInFrame", { + frame_id: "map", + poses: [pose, { position: { x: 9, y: 9, z: 9 }, orientation }], + }); + expect(sample?.position).toEqual([1, 2, 3]); + }); + + it("filters foxglove frame transforms by child frame", () => { + const transforms = { + transforms: [ + { + parent_frame_id: "map", + child_frame_id: "base", + translation: { x: 4, y: 0, z: 0 }, + rotation: orientation, + }, + { + parent_frame_id: "map", + child_frame_id: "truck", + translation: position, + rotation: orientation, + }, + ], + }; + expect(extractPose("foxglove.FrameTransforms", transforms, { childFrameId: "truck" })?.position).toEqual([ + 1, 2, 3, + ]); + expect(extractPose("foxglove.FrameTransforms", transforms, { childFrameId: "missing" })).toBeUndefined(); + expect(extractPose("foxglove.FrameTransforms", transforms)?.position).toEqual([4, 0, 0]); + expect( + extractPose("foxglove.FrameTransform", transforms.transforms[0], { childFrameId: "truck" }), + ).toBeUndefined(); + expect(extractPose("foxglove.FrameTransform", transforms.transforms[1])?.frameId).toBe("map"); + }); + + it("locks an empty child frame filter onto the first child id in the range", () => { + const lock = new ChildFrameLock(); + const base = { + parent_frame_id: "map", + child_frame_id: "base", + translation: { x: 4, y: 0, z: 0 }, + rotation: orientation, + }; + const truck = { + parent_frame_id: "map", + child_frame_id: "truck", + translation: position, + rotation: orientation, + }; + expect( + extractPose("foxglove.FrameTransforms", { transforms: [base, truck] }, { childFrameLock: lock }) + ?.position, + ).toEqual([4, 0, 0]); + expect(lock.observed()).toEqual(["base", "truck"]); + expect( + extractPose("foxglove.FrameTransforms", { transforms: [truck, base] }, { childFrameLock: lock }) + ?.position, + ).toEqual([4, 0, 0]); + const seen = lock.observed(); + expect(seen).toEqual(["base", "truck"]); + expect(seen).not.toBe(lock.observed()); + lock.reset(); + expect(lock.observed()).toEqual([]); + expect( + extractPose("foxglove.FrameTransforms", { transforms: [truck, base] }, { childFrameLock: lock }) + ?.position, + ).toEqual([1, 2, 3]); + expect( + extractPose( + "tf2_msgs/TFMessage", + { + transforms: [ + { + header: { frame_id: "map" }, + child_frame_id: "base", + transform: { translation: { x: 8, y: 0, z: 0 }, rotation: orientation }, + }, + ], + }, + { childFrameLock: lock }, + ), + ).toBeUndefined(); + }); + + it("reads geometry_msgs PoseStamped, including the /msg form", () => { + const message = { header: { frame_id: "odom" }, pose }; + expect(extractPose("geometry_msgs/PoseStamped", message)?.frameId).toBe("odom"); + expect(extractPose("geometry_msgs/msg/PoseStamped", message)?.position).toEqual([1, 2, 3]); + }); + + it("reads nav_msgs Odometry pose.pose", () => { + const message = { + header: { frame_id: "map" }, + child_frame_id: "base", + pose: { pose }, + }; + expect(extractPose("nav_msgs/Odometry", message)?.position).toEqual([1, 2, 3]); + expect(extractPose("nav_msgs/msg/Odometry", message)?.frameId).toBe("map"); + }); + + it("filters tf2 TFMessage transforms by child_frame_id", () => { + const message = { + transforms: [ + { + header: { frame_id: "map" }, + child_frame_id: "sensor", + transform: { translation: { x: 8, y: 0, z: 0 }, rotation: orientation }, + }, + { + header: { frame_id: "map" }, + child_frame_id: "truck", + transform: { translation: position, rotation: orientation }, + }, + ], + }; + expect(extractPose("tf2_msgs/TFMessage", message, { childFrameId: "truck" })?.position).toEqual([ + 1, 2, 3, + ]); + expect(extractPose("tf2_msgs/msg/TFMessage", message, { childFrameId: "sensor" })?.position).toEqual([ + 8, 0, 0, + ]); + }); + + it("reads geometry_msgs TransformStamped", () => { + const message = { + header: { frame_id: "map" }, + child_frame_id: "truck", + transform: { translation: position, rotation: orientation }, + }; + expect(extractPose("geometry_msgs/TransformStamped", message)?.position).toEqual([1, 2, 3]); + expect( + extractPose("geometry_msgs/msg/TransformStamped", message, { childFrameId: "other" }), + ).toBeUndefined(); + }); + + it("normalizes quaternions and rejects invalid messages", () => { + const sample = extractPose("foxglove.PoseInFrame", { + frame_id: "map", + pose: { position, orientation: { x: 0, y: 0, z: 0, w: 2 } }, + }); + expect(sample?.orientation).toEqual([0, 0, 0, 1]); + expect(extractPose("foxglove.PoseInFrame", null)).toBeUndefined(); + expect(extractPose("foxglove.PoseInFrame", { pose: { position } })).toBeUndefined(); + expect(extractPose("foxglove.PosesInFrame", { poses: [] })).toBeUndefined(); + expect(extractPose("foxglove.FrameTransforms", { transforms: "nope" })).toBeUndefined(); + expect(extractPose("sensor_msgs/Imu", pose)).toBeUndefined(); + expect( + extractPose("foxglove.PoseInFrame", { + pose: { position, orientation: { x: 0, y: 0, z: 0, w: 0 } }, + }), + ).toBeUndefined(); + }); +}); + +describe("schema helpers", () => { + it("recognizes supported schemas and which ones need a child frame", () => { + expect(isSupportedSchema("foxglove.PoseInFrame")).toBe(true); + expect(isSupportedSchema("std_msgs/String")).toBe(false); + expect(schemaUsesChildFrame("tf2_msgs/msg/TFMessage")).toBe(true); + expect(schemaUsesChildFrame("nav_msgs/Odometry")).toBe(false); + expect(schemaUsesChildFrame("geometry_msgs/msg/TransformStamped")).toBe(true); + }); +}); diff --git a/extensions/model_ghost_preview/extension/src/poses/extractPose.ts b/extensions/model_ghost_preview/extension/src/poses/extractPose.ts new file mode 100644 index 0000000..c8b23a9 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/poses/extractPose.ts @@ -0,0 +1,326 @@ +export type Vec3 = readonly [number, number, number]; +export type Quat = readonly [number, number, number, number]; + +export type PoseSample = { + position: Vec3; + orientation: Quat; + frameId: string | undefined; +}; + +export type ExtractPoseOptions = { + childFrameId?: string; + childFrameLock?: ChildFrameLock; +}; + +export class ChildFrameLock { + #locked: string | undefined; + #seen: string[] = []; + + reset(): void { + this.#locked = undefined; + this.#seen = []; + } + + observed(): readonly string[] { + return this.#seen.slice(); + } + + note(actual: string | undefined): void { + if (actual != undefined && actual.length > 0 && !this.#seen.includes(actual)) { + this.#seen.push(actual); + } + } + + accept(actual: string | undefined, wanted: string | undefined): boolean { + this.note(actual); + if (wanted != undefined && wanted.length > 0) { + return actual === wanted; + } + if (this.#locked == undefined) { + if (actual == undefined || actual.length === 0) { + return true; + } + this.#locked = actual; + return true; + } + return actual === this.#locked; + } +} + +const POSE_IN_FRAME = "foxglove.PoseInFrame"; +const POSES_IN_FRAME = "foxglove.PosesInFrame"; +const FRAME_TRANSFORM = "foxglove.FrameTransform"; +const FRAME_TRANSFORMS = "foxglove.FrameTransforms"; + +const POSE_STAMPED = new Set([ + "geometry_msgs/PoseStamped", + "geometry_msgs/msg/PoseStamped", +]); + +const ODOMETRY = new Set(["nav_msgs/Odometry", "nav_msgs/msg/Odometry"]); + +const TF_MESSAGE = new Set(["tf2_msgs/TFMessage", "tf2_msgs/msg/TFMessage"]); + +const TRANSFORM_STAMPED = new Set([ + "geometry_msgs/TransformStamped", + "geometry_msgs/msg/TransformStamped", +]); + +const CHILD_FRAME_SCHEMAS = new Set([ + FRAME_TRANSFORM, + FRAME_TRANSFORMS, + ...TF_MESSAGE, + ...TRANSFORM_STAMPED, +]); + +export const SUPPORTED_SCHEMAS: readonly string[] = [ + POSE_IN_FRAME, + POSES_IN_FRAME, + FRAME_TRANSFORM, + FRAME_TRANSFORMS, + ...POSE_STAMPED, + ...ODOMETRY, + ...TF_MESSAGE, + ...TRANSFORM_STAMPED, +]; + +export function isSupportedSchema(schemaName: string): boolean { + return SUPPORTED_SCHEMAS.includes(schemaName); +} + +export function schemaUsesChildFrame(schemaName: string): boolean { + return CHILD_FRAME_SCHEMAS.has(schemaName); +} + +export function extractPose( + schemaName: string, + message: unknown, + options?: ExtractPoseOptions, +): PoseSample | undefined { + const record = asRecord(message); + if (!record) { + return undefined; + } + const childFrameId = options?.childFrameId; + const childFrameLock = options?.childFrameLock; + switch (schemaName) { + case POSE_IN_FRAME: + return poseSample(parsePose(record["pose"]), readString(record["frame_id"])); + case POSES_IN_FRAME: { + const poses = asArray(record["poses"]); + const first = poses?.[0]; + return poseSample(parsePose(first), readString(record["frame_id"])); + } + case FRAME_TRANSFORM: + return fromFoxgloveTransform(record, childFrameId, childFrameLock); + case FRAME_TRANSFORMS: + return firstMatching(asArray(record["transforms"]), childFrameId, childFrameLock, fromFoxgloveTransform); + default: + break; + } + if (POSE_STAMPED.has(schemaName)) { + return poseSample(parsePose(record["pose"]), headerFrameId(record["header"])); + } + if (ODOMETRY.has(schemaName)) { + const poseWithCov = asRecord(record["pose"]); + return poseSample(parsePose(poseWithCov?.["pose"]), headerFrameId(record["header"])); + } + if (TF_MESSAGE.has(schemaName)) { + return firstMatching(asArray(record["transforms"]), childFrameId, childFrameLock, fromRosTransform); + } + if (TRANSFORM_STAMPED.has(schemaName)) { + return fromRosTransform(record, childFrameId, childFrameLock); + } + return undefined; +} + +function poseSample( + pose: { position: Vec3; orientation: Quat } | undefined, + frameId: string | undefined, +): PoseSample | undefined { + if (!pose) { + return undefined; + } + return { position: pose.position, orientation: pose.orientation, frameId }; +} + +function fromFoxgloveTransform( + message: unknown, + childFrameId: string | undefined, + childFrameLock: ChildFrameLock | undefined, +): PoseSample | undefined { + const record = asRecord(message); + if (!record) { + return undefined; + } + const child = readString(record["child_frame_id"]); + if (!childFrameMatches(child, childFrameId, childFrameLock)) { + return undefined; + } + const position = parseVec3(record["translation"]); + const orientation = parseQuat(record["rotation"]); + if (!position || !orientation) { + return undefined; + } + return { position, orientation, frameId: readString(record["parent_frame_id"]) }; +} + +function fromRosTransform( + message: unknown, + childFrameId: string | undefined, + childFrameLock: ChildFrameLock | undefined, +): PoseSample | undefined { + const record = asRecord(message); + if (!record) { + return undefined; + } + const child = readString(record["child_frame_id"]); + if (!childFrameMatches(child, childFrameId, childFrameLock)) { + return undefined; + } + const transform = asRecord(record["transform"]); + if (!transform) { + return undefined; + } + const position = parseVec3(transform["translation"]); + const orientation = parseQuat(transform["rotation"]); + if (!position || !orientation) { + return undefined; + } + return { position, orientation, frameId: headerFrameId(record["header"]) }; +} + +function firstMatching( + items: readonly unknown[] | undefined, + childFrameId: string | undefined, + childFrameLock: ChildFrameLock | undefined, + read: ( + message: unknown, + childFrameId: string | undefined, + childFrameLock: ChildFrameLock | undefined, + ) => PoseSample | undefined, +): PoseSample | undefined { + if (!items) { + return undefined; + } + if (childFrameLock) { + for (const item of items) { + childFrameLock.note(readChildFrameId(item)); + } + } + for (const item of items) { + const pose = read(item, childFrameId, childFrameLock); + if (pose) { + return pose; + } + } + return undefined; +} + +function readChildFrameId(message: unknown): string | undefined { + const record = asRecord(message); + if (!record) { + return undefined; + } + return readString(record["child_frame_id"]); +} + +function childFrameMatches( + actual: string | undefined, + wanted: string | undefined, + childFrameLock: ChildFrameLock | undefined, +): boolean { + if (childFrameLock) { + return childFrameLock.accept(actual, wanted); + } + if (wanted == undefined || wanted.length === 0) { + return true; + } + return actual === wanted; +} + +function headerFrameId(header: unknown): string | undefined { + const record = asRecord(header); + if (!record) { + return undefined; + } + return readString(record["frame_id"]); +} + +function parsePose(value: unknown): { position: Vec3; orientation: Quat } | undefined { + const record = asRecord(value); + if (!record) { + return undefined; + } + const position = parseVec3(record["position"]); + const orientation = parseQuat(record["orientation"]); + if (!position || !orientation) { + return undefined; + } + return { position, orientation }; +} + +function parseVec3(value: unknown): Vec3 | undefined { + const record = asRecord(value); + if (!record) { + return undefined; + } + const x = finiteNumber(record["x"]); + const y = finiteNumber(record["y"]); + const z = finiteNumber(record["z"]); + if (x == undefined || y == undefined || z == undefined) { + return undefined; + } + return [x, y, z]; +} + +function parseQuat(value: unknown): Quat | undefined { + const record = asRecord(value); + if (!record) { + return undefined; + } + const x = finiteNumber(record["x"]); + const y = finiteNumber(record["y"]); + const z = finiteNumber(record["z"]); + const w = finiteNumber(record["w"]); + if (x == undefined || y == undefined || z == undefined || w == undefined) { + return undefined; + } + const length = Math.hypot(x, y, z, w); + if (length < 1e-8) { + return undefined; + } + return [x / length, y / length, z / length, w / length]; +} + +function finiteNumber(value: unknown): number | undefined { + if (typeof value !== "number" || !Number.isFinite(value)) { + return undefined; + } + return value; +} + +function readString(value: unknown): string | undefined { + if (typeof value !== "string") { + return undefined; + } + return value; +} + +function asRecord(value: unknown): Record | undefined { + if (typeof value !== "object" || value == null) { + return undefined; + } + return value as Record; +} + +function asArray(value: unknown): readonly unknown[] | undefined { + if (!Array.isArray(value)) { + return undefined; + } + const items: unknown[] = []; + for (const item of value as readonly unknown[]) { + items.push(item); + } + return items; +} diff --git a/extensions/model_ghost_preview/extension/src/scene/GhostScene.ts b/extensions/model_ghost_preview/extension/src/scene/GhostScene.ts new file mode 100644 index 0000000..c49e0c0 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/GhostScene.ts @@ -0,0 +1,927 @@ +import { + ACESFilmicToneMapping, + Box3, + BufferGeometry, + Color, + DirectionalLight, + GridHelper, + HemisphereLight, + Line, + Material, + Mesh, + MeshStandardMaterial, + Object3D, + PerspectiveCamera, + PlaneGeometry, + Points, + Scene, + SRGBColorSpace, + Texture, + Vector2, + Vector3, + WebGLRenderer, +} from "three"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js"; +import { Line2 } from "three/examples/jsm/lines/Line2.js"; +import { LineGeometry } from "three/examples/jsm/lines/LineGeometry.js"; +import { LineMaterial } from "three/examples/jsm/lines/LineMaterial.js"; + +import type { ReceiveTime } from "../poses/PoseTimeline"; +import type { Quat, Vec3 } from "../poses/extractPose"; +import type { FollowMode } from "../settings"; +import { buildGhostObject, type GhostAppearance, type GhostObject } from "./ghostMaterial"; + +const GRID_LIFT = 0.02; +const GROUND_DROP = 0.04; + +export type ScenePose = { + position: Vec3; + orientation: Quat; +}; + +export type GhostSceneHandlers = { + onPreviewTime: (timeSec: number | undefined) => void; + onSeek: (time: ReceiveTime) => void; +}; + +type FatLine = { + line: Line2; + geometry: LineGeometry; + material: LineMaterial; +}; + +export class GhostScene { + #container: HTMLElement; + #handlers: GhostSceneHandlers; + #renderer: WebGLRenderer; + #scene: Scene; + #camera: PerspectiveCamera; + #controls: OrbitControls; + #resizeObserver: ResizeObserver; + #hemi: HemisphereLight; + #sun: DirectionalLight; + #ground: Mesh; + #groundMaterial: MeshStandardMaterial; + #grid: GridHelper | undefined; + #currentRoot = new Object3D(); + #ghostRoot = new Object3D(); + #model: Object3D | undefined; + #ghost: GhostObject | undefined; + #appearance: GhostAppearance = { style: "wireframe", color: "#4fc3f7", opacity: 0.6 }; + #pathLine: FatLine | undefined; + #highlightLine: FatLine | undefined; + #pathPoints: Vector3[] = []; + #pathTimes: number[] = []; + #receiveTimes: ReceiveTime[] = []; + #pathPointsRef: Float32Array | undefined; + #pathTimesRef: Float64Array | undefined; + #pathColor = ""; + #pathVisibility = ""; + #anchor = new Vector3(); + #gridSize = 180; + #label: HTMLDivElement; + #labelText = ""; + #labelAnchor = new Vector3(); + #labelActive = false; + #labelZOffset = 4.6; + #highlightKey = ""; + #scheme: "dark" | "light" = "dark"; + #gridVisibility: "shown" | "hidden" = "shown"; + #follow: FollowMode = "off"; + #followOffset = new Vector3(-18, -24, 14); + #currentPose: ScenePose | undefined; + #ghostPose: ScenePose | undefined; + #ghostVisible = false; + #width = 1; + #height = 1; + #raf = 0; + #dirty = true; + #interacting = false; + #hoverTime: number | undefined; + #downX = 0; + #downY = 0; + #downButton = -1; + #scratch = new Vector3(); + #scratchB = new Vector3(); + #forward = new Vector3(); + + constructor(container: HTMLElement, handlers: GhostSceneHandlers) { + this.#container = container; + this.#handlers = handlers; + this.#renderer = new WebGLRenderer({ antialias: true, alpha: false }); + this.#renderer.outputColorSpace = SRGBColorSpace; + this.#renderer.toneMapping = ACESFilmicToneMapping; + this.#renderer.toneMappingExposure = 1.08; + this.#renderer.domElement.style.width = "100%"; + this.#renderer.domElement.style.height = "100%"; + this.#renderer.domElement.style.display = "block"; + this.#renderer.domElement.style.touchAction = "none"; + container.appendChild(this.#renderer.domElement); + this.#label = document.createElement("div"); + this.#label.style.position = "absolute"; + this.#label.style.transform = "translate(-50%, -130%)"; + this.#label.style.padding = "2px 6px"; + this.#label.style.borderRadius = "4px"; + this.#label.style.fontSize = "12px"; + this.#label.style.fontFamily = "system-ui, sans-serif"; + this.#label.style.pointerEvents = "none"; + this.#label.style.whiteSpace = "nowrap"; + this.#label.style.display = "none"; + this.#styleLabel(); + container.appendChild(this.#label); + + this.#scene = new Scene(); + this.#camera = new PerspectiveCamera(42, 1, 0.2, 4000); + this.#camera.up.set(0, 0, 1); + this.#camera.position.set(-22, -28, 16); + + this.#controls = new OrbitControls(this.#camera, this.#renderer.domElement); + this.#controls.enableDamping = true; + this.#controls.dampingFactor = 0.12; + this.#controls.target.set(12, 0, 1); + this.#controls.update(); + this.#followOffset.copy(this.#camera.position).sub(this.#controls.target); + this.#controls.addEventListener("start", this.#onControlStart); + this.#controls.addEventListener("end", this.#onControlEnd); + this.#controls.addEventListener("change", this.#onControlChange); + + this.#hemi = new HemisphereLight(0xf4f7fb, 0x8a8178, 0.9); + this.#sun = new DirectionalLight(0xfff4e0, 1.25); + this.#sun.position.set(36, -48, 72); + this.#scene.add(this.#hemi); + this.#scene.add(this.#sun); + this.#scene.add(this.#sun.target); + + this.#groundMaterial = new MeshStandardMaterial({ + color: 0xc5ced6, + roughness: 1, + metalness: 0, + depthWrite: false, + }); + this.#ground = new Mesh(new PlaneGeometry(400, 400), this.#groundMaterial); + this.#ground.renderOrder = -1; + this.#ground.receiveShadow = true; + this.#scene.add(this.#ground); + this.#scene.add(this.#currentRoot); + this.#scene.add(this.#ghostRoot); + this.#ghostRoot.visible = false; + + this.#applyScheme(); + this.#resizeObserver = new ResizeObserver(() => { + this.#resize(); + }); + this.#resizeObserver.observe(container); + this.#resize(); + + const canvas = this.#renderer.domElement; + canvas.addEventListener("pointermove", this.#onPointerMove); + canvas.addEventListener("pointerdown", this.#onPointerDown); + canvas.addEventListener("pointerup", this.#onPointerUp); + canvas.addEventListener("pointerleave", this.#onPointerLeave); + } + + dispose(): void { + cancelAnimationFrame(this.#raf); + this.#raf = 0; + this.#resizeObserver.disconnect(); + const canvas = this.#renderer.domElement; + canvas.removeEventListener("pointermove", this.#onPointerMove); + canvas.removeEventListener("pointerdown", this.#onPointerDown); + canvas.removeEventListener("pointerup", this.#onPointerUp); + canvas.removeEventListener("pointerleave", this.#onPointerLeave); + this.#controls.removeEventListener("start", this.#onControlStart); + this.#controls.removeEventListener("end", this.#onControlEnd); + this.#controls.removeEventListener("change", this.#onControlChange); + this.#controls.dispose(); + this.#clearGhost(); + if (this.#model) { + disposeObjectTree(this.#model); + } + this.#removeFatLine(this.#pathLine); + this.#removeFatLine(this.#highlightLine); + this.#dropGrid(); + this.#ground.geometry.dispose(); + this.#groundMaterial.dispose(); + this.#renderer.dispose(); + this.#label.remove(); + canvas.remove(); + } + + setColorScheme(scheme: "dark" | "light"): void { + if (this.#scheme === scheme) { + return; + } + this.#scheme = scheme; + this.#applyScheme(); + this.#requestRender(); + } + + setGridVisibility(visibility: "shown" | "hidden"): void { + if (this.#gridVisibility === visibility) { + return; + } + this.#gridVisibility = visibility; + this.#rebuildGrid(); + this.#requestRender(); + } + + setFollowMode(mode: FollowMode): void { + this.#follow = mode; + this.#applyFollow(); + this.#requestRender(); + } + + setModel(model: Object3D): void { + this.#clearGhost(); + if (this.#model) { + this.#currentRoot.remove(this.#model); + disposeObjectTree(this.#model); + } + this.#model = model; + this.#currentRoot.add(model); + this.#measureLabelOffset(); + this.#rebuildGhost(); + } + + setTimeLabel(label: { text: string; position: Vec3 } | undefined): void { + if (!label) { + this.#labelActive = false; + this.#syncLabel(); + return; + } + this.#labelActive = true; + this.#labelText = label.text; + this.#labelAnchor.set(label.position[0], label.position[1], label.position[2]); + this.#syncLabel(); + } + + setGhostAppearance(appearance: GhostAppearance): void { + if ( + this.#appearance.style === appearance.style && + this.#appearance.color === appearance.color && + this.#appearance.opacity === appearance.opacity + ) { + return; + } + this.#appearance = appearance; + this.#rebuildGhost(); + } + + setCurrentPose(pose: ScenePose | undefined): void { + this.#currentPose = pose; + this.#currentRoot.visible = pose != undefined; + if (pose) { + applyPose(this.#currentRoot, pose); + this.#setSupportZ(pose.position[2]); + } + this.#applyFollow(); + this.#requestRender(); + } + + setGhostPose(pose: ScenePose | undefined): void { + this.#ghostPose = pose; + this.#ghostVisible = pose != undefined; + this.#ghostRoot.visible = this.#ghostVisible; + if (pose) { + applyPose(this.#ghostRoot, pose); + } + this.#applyFollow(); + this.#requestRender(); + } + + setPath(path: { + points: Float32Array; + times: Float64Array; + receiveTimes: readonly ReceiveTime[]; + color: string; + visibility: "shown" | "hidden"; + }): void { + if ( + path.points === this.#pathPointsRef && + path.times === this.#pathTimesRef && + path.color === this.#pathColor && + path.visibility === this.#pathVisibility + ) { + return; + } + this.#pathPointsRef = path.points; + this.#pathTimesRef = path.times; + this.#pathColor = path.color; + this.#pathVisibility = path.visibility; + const count = Math.min(path.times.length, Math.floor(path.points.length / 3)); + this.#pathPoints = []; + this.#pathTimes = []; + this.#receiveTimes = []; + if (path.visibility === "shown") { + for (let index = 0; index < count; index += 1) { + const time = path.times[index]; + const receiveTime = path.receiveTimes[index]; + if (time == undefined || !receiveTime) { + continue; + } + this.#pathPoints.push( + new Vector3( + path.points[index * 3] ?? 0, + path.points[index * 3 + 1] ?? 0, + path.points[index * 3 + 2] ?? 0, + ), + ); + this.#pathTimes.push(time); + this.#receiveTimes.push(receiveTime); + } + } + this.#fitGround(this.#pathPoints); + this.#pathLine = this.#syncFatLine(this.#pathLine, this.#pathPoints, path.color, 8, 0.15, 1); + this.#requestRender(); + } + + setHighlight(highlight: { points: Float32Array; color: string } | undefined): void { + if (!highlight || highlight.points.length < 6) { + if (this.#highlightKey === "") { + return; + } + this.#highlightKey = ""; + this.#highlightLine = this.#syncFatLine(this.#highlightLine, [], highlight?.color ?? "#ffffff", 11, 0.22, 2); + this.#requestRender(); + return; + } + const first = highlight.points[0] ?? 0; + const last = highlight.points[highlight.points.length - 1] ?? 0; + const key = `${highlight.color}:${highlight.points.length}:${first}:${last}`; + if (key === this.#highlightKey) { + return; + } + this.#highlightKey = key; + const points: Vector3[] = []; + for (let index = 0; index < highlight.points.length; index += 3) { + points.push( + new Vector3( + highlight.points[index] ?? 0, + highlight.points[index + 1] ?? 0, + highlight.points[index + 2] ?? 0, + ), + ); + } + const color = lighten(highlight.color); + this.#highlightLine = this.#syncFatLine(this.#highlightLine, points, color, 11, 0.22, 2); + this.#requestRender(); + } + + framePath(): void { + const pose = this.#currentPose; + const anchor = pose + ? new Vector3(pose.position[0], pose.position[1], pose.position[2]) + : this.#pathPoints[0]; + if (!anchor) { + return; + } + const local: Vector3[] = []; + for (const point of this.#pathPoints) { + if (Math.hypot(point.x - anchor.x, point.y - anchor.y) <= 50) { + local.push(point); + } + } + if (local.length === 0) { + local.push(anchor); + } + const bounds = new Box3(); + for (const point of local) { + bounds.expandByPoint(point); + } + bounds.expandByScalar(6); + const focus = bounds.getCenter(new Vector3()); + focus.lerp(anchor, 0.4); + focus.z += 1.2; + const size = bounds.getSize(new Vector3()); + const span = 0.5 * Math.hypot(size.x, size.y, size.z); + const radius = Math.min(Math.max(span, 14), 55); + const start = local[0] ?? anchor; + const end = local[local.length - 1] ?? anchor; + const vertical = (this.#camera.fov * Math.PI) / 180; + const aspect = this.#width / Math.max(this.#height, 1); + const horizontal = 2 * Math.atan(Math.tan(vertical / 2) * Math.max(aspect, 0.5)); + const fitAngle = Math.min(vertical, horizontal) / 2; + const distance = (radius / Math.sin(fitAngle)) * 0.72; + const direction = new Vector3().subVectors(end, start); + if (direction.lengthSq() < 1e-6) { + direction.set(1, 0, 0); + } + direction.normalize(); + const side = new Vector3().crossVectors(direction, new Vector3(0, 0, 1)); + if (side.lengthSq() < 1e-6) { + side.set(0, 1, 0); + } + side.normalize(); + this.#camera.position + .copy(focus) + .addScaledVector(direction, -distance * 0.42) + .addScaledVector(side, -distance * 0.72) + .setZ(focus.z + distance * 0.38); + this.#controls.target.copy(focus); + this.#controls.update(); + this.#followOffset.copy(this.#camera.position).sub(this.#controls.target); + this.#requestRender(); + } + + projectToOverlay(position: Vec3, zOffset: number): { x: number; y: number } | undefined { + const rect = this.#renderer.domElement.getBoundingClientRect(); + if (rect.width <= 0 || rect.height <= 0) { + return undefined; + } + this.#scratch.set(position[0], position[1], position[2] + zOffset); + this.#camera.getWorldDirection(this.#forward); + this.#scratchB.copy(this.#scratch).sub(this.#camera.position); + if (this.#scratchB.dot(this.#forward) <= 0) { + return undefined; + } + this.#scratch.project(this.#camera); + return { + x: (this.#scratch.x * 0.5 + 0.5) * rect.width, + y: (-this.#scratch.y * 0.5 + 0.5) * rect.height, + }; + } + + #applyScheme(): void { + const dark = this.#scheme === "dark"; + this.#scene.background = new Color(dark ? 0x1c1f24 : 0xd5dbe1); + this.#groundMaterial.color.set(dark ? 0x2a3036 : 0xc5ced6); + this.#hemi.color.set(dark ? 0x8aa0b8 : 0xf4f7fb); + this.#hemi.groundColor.set(dark ? 0x3a332c : 0x8a8178); + this.#hemi.intensity = dark ? 1.35 : 0.92; + this.#sun.intensity = dark ? 2.15 : 1.35; + this.#styleLabel(); + this.#rebuildGrid(); + } + + #styleLabel(): void { + const dark = this.#scheme === "dark"; + this.#label.style.background = dark ? "rgba(236, 246, 252, 0.94)" : "rgba(12, 32, 48, 0.8)"; + this.#label.style.color = dark ? "#102433" : "#d7f3ff"; + this.#label.style.border = dark ? "1px solid #ffffff" : "1px solid transparent"; + } + + #rebuildGrid(): void { + this.#dropGrid(); + if (this.#gridVisibility !== "shown") { + return; + } + const dark = this.#scheme === "dark"; + const grid = new GridHelper( + this.#gridSize, + 36, + dark ? 0x51606c : 0xb7c2cc, + dark ? 0x3a444e : 0xc9d1d8, + ); + grid.rotation.x = Math.PI / 2; + grid.position.set(this.#anchor.x, this.#anchor.y, this.#anchor.z + GRID_LIFT); + this.#scene.add(grid); + this.#grid = grid; + } + + #dropGrid(): void { + if (!this.#grid) { + return; + } + const grid = this.#grid; + this.#scene.remove(grid); + grid.geometry.dispose(); + disposeMaterial(grid.material); + this.#grid = undefined; + } + + #rebuildGhost(): void { + this.#clearGhost(); + if (!this.#model) { + return; + } + const ghost = buildGhostObject(this.#model, this.#appearance, { + width: this.#width, + height: this.#height, + }); + this.#ghost = ghost; + this.#ghostRoot.add(ghost.object); + this.#ghostRoot.visible = this.#ghostVisible; + this.#requestRender(); + } + + #clearGhost(): void { + if (!this.#ghost) { + return; + } + this.#ghostRoot.remove(this.#ghost.object); + this.#ghost.dispose(); + this.#ghost = undefined; + } + + #applyFollow(): void { + if (this.#interacting || this.#follow === "off") { + return; + } + const pose = this.#follow === "current" ? this.#currentPose : this.#ghostPose; + if (!pose) { + return; + } + this.#controls.target.set(pose.position[0], pose.position[1], pose.position[2] + 1.2); + this.#camera.position.copy(this.#controls.target).add(this.#followOffset); + this.#controls.update(); + } + + #fitGround(points: readonly Vector3[]): void { + if (points.length === 0) { + return; + } + let minX = Infinity; + let minY = Infinity; + let minZ = Infinity; + let maxX = -Infinity; + let maxY = -Infinity; + for (const point of points) { + minX = Math.min(minX, point.x); + minY = Math.min(minY, point.y); + minZ = Math.min(minZ, point.z); + maxX = Math.max(maxX, point.x); + maxY = Math.max(maxY, point.y); + } + const span = Math.max(maxX - minX, maxY - minY, 40); + this.#gridSize = Math.max(span * 1.5, 80); + const supportZ = this.#currentPose?.position[2] ?? minZ; + this.#anchor.set((minX + maxX) / 2, (minY + maxY) / 2, supportZ); + this.#ground.geometry.dispose(); + this.#ground.geometry = new PlaneGeometry(this.#gridSize, this.#gridSize); + this.#ground.position.set((minX + maxX) / 2, (minY + maxY) / 2, supportZ - GROUND_DROP); + this.#rebuildGrid(); + } + + #setSupportZ(z: number): void { + this.#anchor.z = z; + this.#ground.position.z = z - GROUND_DROP; + if (this.#grid) { + this.#grid.position.z = z + GRID_LIFT; + } + } + + #measureLabelOffset(): void { + if (!this.#model) { + this.#labelZOffset = 1; + return; + } + const bounds = new Box3().setFromObject(this.#model); + const height = bounds.max.z - bounds.min.z; + this.#labelZOffset = (Number.isFinite(height) && height > 0 ? height : 1) + 0.35; + } + + #syncLabel(): void { + if (!this.#labelActive) { + this.#label.style.display = "none"; + return; + } + const point = this.projectToOverlay( + [this.#labelAnchor.x, this.#labelAnchor.y, this.#labelAnchor.z], + this.#labelZOffset, + ); + if (!point) { + this.#label.style.display = "none"; + return; + } + const pad = 28; + const x = Math.min(Math.max(point.x, pad), Math.max(this.#width - pad, pad)); + const y = Math.min(Math.max(point.y, pad), Math.max(this.#height - pad, pad)); + this.#label.style.display = "block"; + this.#label.style.left = `${x}px`; + this.#label.style.top = `${y}px`; + this.#label.textContent = this.#labelText; + } + + #syncFatLine( + current: FatLine | undefined, + points: readonly Vector3[], + color: string, + width: number, + lift: number, + renderOrder: number, + ): FatLine | undefined { + if (points.length < 2) { + this.#removeFatLine(current); + return undefined; + } + const positions = linePositions(points, lift); + const hex = safeHex(color); + const geometry = lineGeometryForPositions(current?.geometry, positions); + if (current?.geometry === geometry) { + current.material.color.set(hex); + current.material.linewidth = width; + current.line.renderOrder = renderOrder; + return current; + } + this.#removeFatLine(current); + const material = new LineMaterial({ + color: hex, + linewidth: width, + transparent: true, + opacity: 1, + depthWrite: false, + depthTest: true, + resolution: new Vector2(Math.max(this.#width, 1), Math.max(this.#height, 1)), + }); + const line = new Line2(geometry, material); + line.frustumCulled = false; + line.renderOrder = renderOrder; + this.#scene.add(line); + return { line, geometry, material }; + } + + #removeFatLine(line: FatLine | undefined): void { + if (!line) { + return; + } + this.#scene.remove(line.line); + line.geometry.dispose(); + line.material.dispose(); + } + + #applyResolution(): void { + const resolution = new Vector2(Math.max(this.#width, 1), Math.max(this.#height, 1)); + this.#pathLine?.material.resolution.copy(resolution); + this.#highlightLine?.material.resolution.copy(resolution); + if (this.#ghost) { + for (const material of this.#ghost.lineMaterials) { + material.resolution.copy(resolution); + } + } + } + + #resize(): void { + const width = this.#container.clientWidth; + const height = this.#container.clientHeight; + this.#width = width; + this.#height = height; + if (width <= 0 || height <= 0) { + return; + } + const ratio = window.devicePixelRatio; + this.#renderer.setPixelRatio(ratio > 0 ? Math.min(ratio, 2) : 1); + this.#renderer.setSize(width, height, false); + this.#camera.aspect = width / height; + this.#camera.updateProjectionMatrix(); + this.#applyResolution(); + this.#requestRender(); + } + + #requestRender(): void { + this.#dirty = true; + if (this.#raf !== 0) { + return; + } + this.#raf = requestAnimationFrame(this.#frame); + } + + #frame = (): void => { + this.#raf = 0; + const moving = this.#controls.update(); + if (this.#dirty || moving) { + this.#renderer.render(this.#scene, this.#camera); + this.#syncLabel(); + this.#dirty = false; + } + if (moving || this.#interacting) { + this.#requestRender(); + } + }; + + #onControlStart = (): void => { + this.#interacting = true; + this.#requestRender(); + }; + + #onControlEnd = (): void => { + this.#interacting = false; + this.#followOffset.copy(this.#camera.position).sub(this.#controls.target); + this.#requestRender(); + }; + + #onControlChange = (): void => { + this.#requestRender(); + }; + + #onPointerDown = (event: PointerEvent): void => { + this.#downX = event.clientX; + this.#downY = event.clientY; + this.#downButton = event.button; + }; + + #onPointerUp = (event: PointerEvent): void => { + const moved = Math.hypot(event.clientX - this.#downX, event.clientY - this.#downY); + const button = this.#downButton; + this.#downButton = -1; + if (event.button !== 0 || button !== 0 || moved > 5) { + return; + } + const index = this.#pickIndex(event.clientX, event.clientY); + const receiveTime = index == undefined ? undefined : this.#receiveTimes[index]; + if (receiveTime) { + this.#handlers.onSeek(receiveTime); + } + }; + + #onPointerMove = (event: PointerEvent): void => { + if (event.buttons !== 0) { + return; + } + const index = this.#pickIndex(event.clientX, event.clientY); + this.#emitHover(index == undefined ? undefined : this.#pathTimes[index]); + }; + + #onPointerLeave = (): void => { + this.#emitHover(undefined); + }; + + #emitHover(time: number | undefined): void { + if (time === this.#hoverTime) { + return; + } + this.#hoverTime = time; + this.#handlers.onPreviewTime(time); + } + + #pickIndex(clientX: number, clientY: number): number | undefined { + const rect = this.#renderer.domElement.getBoundingClientRect(); + if (rect.width <= 0 || rect.height <= 0 || this.#pathPoints.length === 0) { + return undefined; + } + const x = clientX - rect.left; + const y = clientY - rect.top; + this.#camera.getWorldDirection(this.#forward); + let best = 20; + let bestIndex: number | undefined; + for (let index = 0; index < this.#pathPoints.length; index += 1) { + const point = this.#pathPoints[index]; + if (!point) { + continue; + } + this.#scratch.copy(point).sub(this.#camera.position); + if (this.#scratch.dot(this.#forward) <= 0) { + continue; + } + this.#scratch.copy(point).project(this.#camera); + const sx = (this.#scratch.x * 0.5 + 0.5) * rect.width; + const sy = (-this.#scratch.y * 0.5 + 0.5) * rect.height; + const distance = Math.hypot(sx - x, sy - y); + if (distance < best) { + best = distance; + bestIndex = index; + } + } + return bestIndex; + } +} + +function applyPose(object: Object3D, pose: ScenePose): void { + object.position.set(pose.position[0], pose.position[1], pose.position[2]); + object.quaternion.set(pose.orientation[0], pose.orientation[1], pose.orientation[2], pose.orientation[3]); +} + +export function disposeObjectTree(root: Object3D): void { + const geometries = new Set(); + const materials = new Set(); + const textures = new Set(); + root.traverse((obj) => { + const drawable = drawableObject(obj); + if (!drawable) { + return; + } + geometries.add(drawable.geometry); + collectMaterials(drawable.material, materials); + }); + for (const geometry of geometries) { + geometry.dispose(); + } + for (const material of materials) { + collectTextures(material, textures); + material.dispose(); + } + for (const texture of textures) { + texture.dispose(); + } +} + +function drawableObject( + obj: Object3D, +): { geometry: BufferGeometry; material: Material | Material[] } | undefined { + if (obj instanceof Mesh) { + return obj as Mesh; + } + if (obj instanceof Line) { + return obj as Line; + } + if (obj instanceof Points) { + return obj as Points; + } + return undefined; +} + +function collectTextures(material: Material, into: Set): void { + const record = material as unknown as Record; + for (const key of Object.keys(record)) { + const value = record[key]; + if (value instanceof Texture) { + into.add(value); + } + } +} + +function collectMaterials(material: Material | Material[], into: Set): void { + if (isMaterialList(material)) { + for (const entry of material) { + into.add(entry); + } + return; + } + into.add(material); +} + +function disposeMaterial(material: Material | readonly Material[]): void { + if (isMaterialList(material)) { + for (const entry of material) { + entry.dispose(); + } + return; + } + material.dispose(); +} + +function isMaterialList(value: Material | readonly Material[]): value is readonly Material[] { + return Object.prototype.toString.call(value) === "[object Array]"; +} + +function linePositions(points: readonly Vector3[], lift: number): Float32Array { + const positions = new Float32Array(points.length * 3); + for (let index = 0; index < points.length; index += 1) { + const point = points[index]; + if (!point) { + continue; + } + positions[index * 3] = point.x; + positions[index * 3 + 1] = point.y; + positions[index * 3 + 2] = point.z + lift; + } + return positions; +} + +export function lineGeometryForPositions( + current: LineGeometry | undefined, + positions: Float32Array, +): LineGeometry { + if (current && writeLinePositions(current, positions)) { + return current; + } + const created = new LineGeometry(); + created.setPositions(positions); + return created; +} + +function writeLinePositions(geometry: LineGeometry, positions: Float32Array): boolean { + const attribute = geometry.getAttribute("instanceStart"); + if (positions.length < 6) { + return false; + } + const segments = positions.length / 3 - 1; + if (attribute.count !== segments) { + return false; + } + const array = attribute.array; + if (!(array instanceof Float32Array) || array.length < segments * 6) { + return false; + } + let write = 0; + for (let index = 0; index < positions.length - 3; index += 3) { + array[write] = positions[index] ?? 0; + array[write + 1] = positions[index + 1] ?? 0; + array[write + 2] = positions[index + 2] ?? 0; + array[write + 3] = positions[index + 3] ?? 0; + array[write + 4] = positions[index + 4] ?? 0; + array[write + 5] = positions[index + 5] ?? 0; + write += 6; + } + attribute.needsUpdate = true; + geometry.computeBoundingBox(); + geometry.computeBoundingSphere(); + return true; +} + +function lighten(color: string): string { + try { + const next = new Color(color); + next.lerp(new Color("#ffffff"), 0.5); + return `#${next.getHexString()}`; + } catch { + return "#9ecbff"; + } +} + +function safeHex(color: string): number { + try { + return new Color(color).getHex(); + } catch { + return 0x2b3cff; + } +} diff --git a/extensions/model_ghost_preview/extension/src/scene/fatLine.test.ts b/extensions/model_ghost_preview/extension/src/scene/fatLine.test.ts new file mode 100644 index 0000000..74f574d --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/fatLine.test.ts @@ -0,0 +1,24 @@ +import { describe, expect, it } from "vitest"; + +import { lineGeometryForPositions } from "./GhostScene"; + +describe("lineGeometryForPositions", () => { + it("reuses the geometry when the vertex count stays the same and replaces it when the count changes", () => { + const first = lineGeometryForPositions(undefined, vertices(4)); + const sameCount = lineGeometryForPositions(first, vertices(4)); + expect(sameCount).toBe(first); + const grown = lineGeometryForPositions(first, vertices(12)); + expect(grown).not.toBe(first); + expect(lineGeometryForPositions(grown, vertices(12))).toBe(grown); + }); +}); + +function vertices(count: number): Float32Array { + const positions = new Float32Array(count * 3); + for (let index = 0; index < count; index += 1) { + positions[index * 3] = index; + positions[index * 3 + 1] = index * 0.1; + positions[index * 3 + 2] = 0; + } + return positions; +} diff --git a/extensions/model_ghost_preview/extension/src/scene/ghostMaterial.ts b/extensions/model_ghost_preview/extension/src/scene/ghostMaterial.ts new file mode 100644 index 0000000..90bfd71 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/ghostMaterial.ts @@ -0,0 +1,155 @@ +import { + BufferGeometry, + Color, + DoubleSide, + EdgesGeometry, + FrontSide, + Material, + Mesh, + MeshBasicMaterial, + MeshStandardMaterial, + Object3D, + Vector2, +} from "three"; +import { LineMaterial } from "three/examples/jsm/lines/LineMaterial.js"; +import { LineSegments2 } from "three/examples/jsm/lines/LineSegments2.js"; +import { LineSegmentsGeometry } from "three/examples/jsm/lines/LineSegmentsGeometry.js"; +import { clone as cloneSkinned } from "three/examples/jsm/utils/SkeletonUtils.js"; + +import type { GhostStyle } from "../settings"; + +export type GhostAppearance = { + style: GhostStyle; + color: string; + opacity: number; +}; + +export type GhostObject = { + object: Object3D; + lineMaterials: LineMaterial[]; + dispose: () => void; +}; + +export function buildGhostObject( + source: Object3D, + appearance: GhostAppearance, + resolution: { width: number; height: number }, +): GhostObject { + const clone = cloneSkinned(source); + const materials: Material[] = []; + const geometries: BufferGeometry[] = []; + const lineMaterials: LineMaterial[] = []; + const color = safeColor(appearance.color); + const opacity = clamp(appearance.opacity, 0, 1); + const width = Math.max(resolution.width, 1); + const height = Math.max(resolution.height, 1); + const meshes: Mesh[] = []; + clone.traverse((obj) => { + const mesh = concreteMesh(obj); + if (mesh) { + meshes.push(mesh); + } + }); + + for (const mesh of meshes) { + const position = mesh.geometry.getAttribute("position"); + if (position.count === 0) { + continue; + } + const fill = fillMaterial(appearance.style, color, opacity); + mesh.material = fill; + mesh.renderOrder = 2; + mesh.castShadow = false; + materials.push(fill); + if (appearance.style !== "wireframe") { + continue; + } + const edges = new EdgesGeometry(mesh.geometry, 20); + const edgePosition = edges.getAttribute("position"); + if (edgePosition.count < 2) { + edges.dispose(); + continue; + } + const positions = new Float32Array(edgePosition.array.length); + for (let index = 0; index < edgePosition.array.length; index += 1) { + positions[index] = edgePosition.array[index] ?? 0; + } + edges.dispose(); + const segments = new LineSegmentsGeometry(); + segments.setPositions(positions); + const lineMaterial = new LineMaterial({ + color: color.getHex(), + linewidth: 0.12, + worldUnits: true, + transparent: true, + opacity: Math.min(1, opacity + 0.45), + depthWrite: false, + depthTest: true, + resolution: new Vector2(width, height), + }); + const lines = new LineSegments2(segments, lineMaterial); + lines.renderOrder = 3; + lines.computeLineDistances(); + mesh.add(lines); + geometries.push(segments); + materials.push(lineMaterial); + lineMaterials.push(lineMaterial); + } + + return { + object: clone, + lineMaterials, + dispose: () => { + for (const geometry of geometries) { + geometry.dispose(); + } + for (const material of materials) { + material.dispose(); + } + }, + }; +} + +function fillMaterial(style: GhostStyle, color: Color, opacity: number): Material { + if (style === "solid") { + const transparent = opacity < 0.999; + return new MeshStandardMaterial({ + color, + transparent, + opacity, + depthWrite: !transparent, + depthTest: true, + roughness: 0.45, + metalness: 0.1, + side: FrontSide, + }); + } + const fillOpacity = style === "wireframe" ? Math.min(0.16, opacity * 0.22) : opacity; + return new MeshBasicMaterial({ + color, + transparent: true, + opacity: fillOpacity, + depthWrite: false, + depthTest: true, + side: DoubleSide, + }); +} + +function safeColor(color: string): Color { + try { + return new Color(color); + } catch { + return new Color("#4fc3f7"); + } +} + +function clamp(value: number, min: number, max: number): number { + return Math.min(max, Math.max(min, value)); +} + +function concreteMesh(obj: Object3D): Mesh | undefined { + if (!(obj instanceof Mesh)) { + return undefined; + } + return obj as Mesh; +} diff --git a/extensions/model_ghost_preview/extension/src/scene/placeModel.ts b/extensions/model_ghost_preview/extension/src/scene/placeModel.ts new file mode 100644 index 0000000..0d25da1 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/placeModel.ts @@ -0,0 +1,42 @@ +import type { Object3D } from "three"; +import { Group } from "three"; +import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; + +export type ModelPlacement = { + scale: number; + yawDeg: number; + pitchDeg: number; + rollDeg: number; + /** glTF assets are Y-up. "apply" rotates +90° about X before the user offsets. */ + yUpCorrection: "apply" | "skip"; +}; + +export function placeModel(contents: Object3D, placement: ModelPlacement): Group { + const root = new Group(); + const scale = placement.scale > 0 ? placement.scale : 1; + root.scale.setScalar(scale); + root.rotation.set( + (placement.rollDeg * Math.PI) / 180, + (placement.pitchDeg * Math.PI) / 180, + (placement.yawDeg * Math.PI) / 180, + "ZYX", + ); + if (placement.yUpCorrection === "apply") { + const correction = new Group(); + correction.rotation.x = Math.PI / 2; + correction.add(contents); + root.add(correction); + } else { + root.add(contents); + } + return root; +} + +export async function loadGltfScene(url: string): Promise { + if (url.trim().length === 0) { + throw new Error("Model URL is empty"); + } + const loader = new GLTFLoader(); + const gltf = await loader.loadAsync(url); + return gltf.scene; +} diff --git a/extensions/model_ghost_preview/extension/src/scene/truckModel.test.ts b/extensions/model_ghost_preview/extension/src/scene/truckModel.test.ts new file mode 100644 index 0000000..aba6fd2 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/truckModel.test.ts @@ -0,0 +1,73 @@ +import { Box3, Mesh, Object3D, Vector3 } from "three"; +import { describe, expect, it } from "vitest"; + +import { createTruckModel } from "./truckModel"; + +describe("createTruckModel", () => { + it("keeps wheel axles lateral and clear of the chassis and fuel tank", () => { + const root = createTruckModel("#e6b422"); + root.updateMatrixWorld(true); + const meshes = collectMeshes(root); + const wheels = meshes.filter((mesh) => mesh.name === "wheel"); + const chassis = meshes.find((mesh) => mesh.name === "chassis"); + const tank = meshes.find((mesh) => mesh.name === "tank"); + expect(wheels).toHaveLength(6); + expect(chassis).toBeDefined(); + expect(tank).toBeDefined(); + if (!chassis || !tank) { + return; + } + const chassisBox = new Box3().setFromObject(chassis).expandByScalar(0.02); + const tankBox = new Box3().setFromObject(tank).expandByScalar(0.02); + for (const wheel of wheels) { + expect(wheel.quaternion.x).toBeCloseTo(0, 5); + expect(wheel.quaternion.y).toBeCloseTo(0, 5); + expect(wheel.quaternion.z).toBeCloseTo(0, 5); + const bounds = new Box3().setFromObject(wheel); + const size = bounds.getSize(new Vector3()); + expect(size.y).toBeLessThan(size.x); + expect(size.y).toBeLessThan(size.z); + expect(chassisBox.intersectsBox(bounds)).toBe(false); + expect(tankBox.intersectsBox(bounds)).toBe(false); + } + }); + + it("keeps the bed at least as wide as the outer duals and attaches the canopy to the headboard", () => { + const root = createTruckModel("#e6b422"); + root.updateMatrixWorld(true); + const meshes = collectMeshes(root); + const bed = new Box3(); + for (const mesh of meshes) { + if (mesh.name === "bed-floor" || mesh.name === "bed-wall" || mesh.name === "tailgate" || mesh.name === "headboard") { + bed.union(new Box3().setFromObject(mesh)); + } + } + const tires = new Box3(); + for (const mesh of meshes) { + if (mesh.name === "wheel") { + tires.union(new Box3().setFromObject(mesh)); + } + } + expect(bed.max.y).toBeGreaterThanOrEqual(tires.max.y); + expect(bed.min.y).toBeLessThanOrEqual(tires.min.y); + const canopy = meshes.find((mesh) => mesh.name === "canopy"); + const headboard = meshes.find((mesh) => mesh.name === "headboard"); + expect(canopy).toBeDefined(); + expect(headboard).toBeDefined(); + if (!canopy || !headboard) { + return; + } + expect(Math.abs(canopy.rotation.y)).toBeLessThanOrEqual(0.05); + expect(new Box3().setFromObject(canopy).intersectsBox(new Box3().setFromObject(headboard))).toBe(true); + }); +}); + +function collectMeshes(root: Object3D): Mesh[] { + const meshes: Mesh[] = []; + root.traverse((obj) => { + if (obj instanceof Mesh) { + meshes.push(obj as Mesh); + } + }); + return meshes; +} diff --git a/extensions/model_ghost_preview/extension/src/scene/truckModel.ts b/extensions/model_ghost_preview/extension/src/scene/truckModel.ts new file mode 100644 index 0000000..ad996cb --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/scene/truckModel.ts @@ -0,0 +1,168 @@ +import { BoxGeometry, Color, CylinderGeometry, Euler, Group, Mesh, MeshStandardMaterial, Quaternion, Vector3, type BufferGeometry, type Material } from "three"; + +import type { Vec3 } from "../poses/extractPose"; + +type Part = { + name: string; + geometry: BufferGeometry; + material: Material; + position: Vec3; + rotation?: Vec3; +}; + +const DEFAULT_BODY = "#e6b422"; + +export function createTruckModel(bodyColor: string): Group { + const paint = cssColor(bodyColor, DEFAULT_BODY); + const body = steel(paint, 0.46, 0.22); + const bed = steel(shade(paint, 0.82), 0.55, 0.16); + const dark = steel("#2a2e32", 0.5, 0.4); + const tire = steel("#141414", 0.92, 0.04); + const hub = steel("#6d747b", 0.4, 0.62); + const glass = steel("#1b2836", 0.12, 0.7); + const lamp = new MeshStandardMaterial({ + color: "#ffe7a3", + emissive: "#ffcc66", + emissiveIntensity: 0.7, + roughness: 0.35, + metalness: 0.15, + }); + + const root = new Group(); + const wheelGeo = new CylinderGeometry(1.1, 1.1, 0.86, 20); + const hubGeo = new CylinderGeometry(0.42, 0.42, 0.98, 12); + const hoistGeo = new CylinderGeometry(0.12, 0.12, 1.15, 12); + const hoistTilt = tiltTowardBed(0.4); + + add(root, { name: "chassis", geometry: box(7.0, 1.4, 0.42), material: dark, position: [0.3, 0, 1.15] }); + add(root, { name: "frame", geometry: box(6.4, 1.2, 1.22), material: dark, position: [0.15, 0, 1.7] }); + add(root, { + name: "axle", + geometry: new CylinderGeometry(0.35, 0.35, 2.76, 16), + material: dark, + position: [3.2, 0, 1.1], + }); + add(root, { + name: "axle", + geometry: new CylinderGeometry(0.35, 0.35, 1.76, 16), + material: dark, + position: [-1.3, 0, 1.1], + }); + add(root, { name: "hoist", geometry: hoistGeo, material: dark, position: [-0.15, 0.78, 1.9], rotation: hoistTilt }); + add(root, { name: "hoist", geometry: hoistGeo, material: dark, position: [-0.15, -0.78, 1.9], rotation: hoistTilt }); + add(root, { name: "deck", geometry: box(2.5, 3.3, 0.16), material: dark, position: [3.25, 0, 2.42] }); + add(root, { name: "bed-floor", geometry: box(5.5, 5.6, 0.16), material: bed, position: [-0.55, 0, 2.48] }); + add(root, { name: "bed-wall", geometry: box(5.5, 0.16, 1.35), material: body, position: [-0.55, 2.72, 3.22] }); + add(root, { name: "bed-wall", geometry: box(5.5, 0.16, 1.35), material: body, position: [-0.55, -2.72, 3.22] }); + add(root, { name: "tailgate", geometry: box(0.14, 5.6, 1.25), material: body, position: [-3.25, 0, 3.15] }); + add(root, { name: "headboard", geometry: box(0.18, 5.6, 2.05), material: body, position: [2.16, 0, 3.48] }); + add(root, { + name: "canopy", + geometry: box(2.3, 5.6, 0.14), + material: body, + position: [3.25, 0, 4.42], + }); + add(root, { name: "rail", geometry: box(5.2, 0.08, 0.08), material: dark, position: [-0.55, 2.72, 3.95] }); + add(root, { name: "rail", geometry: box(5.2, 0.08, 0.08), material: dark, position: [-0.55, -2.72, 3.95] }); + + add(root, { name: "cab", geometry: box(1.45, 1.25, 1.3), material: body, position: [3.15, 0.72, 3.15] }); + add(root, { name: "cab-roof", geometry: box(1.6, 1.4, 0.1), material: body, position: [3.1, 0.72, 3.85] }); + add(root, { name: "hood", geometry: box(1.15, 1.45, 0.55), material: body, position: [4.25, 0.15, 2.75] }); + add(root, { name: "bumper", geometry: box(0.28, 2.4, 0.42), material: dark, position: [4.85, 0, 1.55] }); + add(root, { name: "grill", geometry: box(0.08, 1.3, 0.55), material: dark, position: [4.72, 0.1, 2.15] }); + add(root, { + name: "windshield", + geometry: box(0.08, 1.15, 0.7), + material: glass, + position: [3.72, 0.72, 3.35], + rotation: [0, -0.4, 0], + }); + add(root, { name: "window", geometry: box(0.7, 0.06, 0.42), material: glass, position: [3.05, 1.36, 3.28] }); + add(root, { name: "lamp", geometry: box(0.12, 0.32, 0.18), material: lamp, position: [4.9, 0.7, 1.7] }); + add(root, { name: "lamp", geometry: box(0.12, 0.32, 0.18), material: lamp, position: [4.9, -0.55, 1.7] }); + + add(root, { + name: "exhaust", + geometry: new CylinderGeometry(0.1, 0.12, 1.35, 10), + material: dark, + position: [2.35, 1.35, 3.7], + rotation: [Math.PI / 2, 0, 0], + }); + add(root, { + name: "tank", + geometry: new CylinderGeometry(0.26, 0.26, 1.0, 14), + material: dark, + position: [1.45, -1.05, 1.4], + rotation: [0, 0, Math.PI / 2], + }); + + const wheels: Vec3[] = [ + [3.2, 1.85, 1.1], + [3.2, -1.85, 1.1], + [-1.3, 1.35, 1.1], + [-1.3, -1.35, 1.1], + [-1.3, 2.3, 1.1], + [-1.3, -2.3, 1.1], + ]; + for (const position of wheels) { + add(root, { name: "wheel", geometry: wheelGeo, material: tire, position }); + add(root, { name: "hub", geometry: hubGeo, material: hub, position }); + } + + add(root, { name: "ladder", geometry: box(0.06, 0.06, 1.5), material: dark, position: [1.95, -0.95, 1.85] }); + add(root, { name: "ladder", geometry: box(0.06, 0.06, 1.5), material: dark, position: [2.35, -0.95, 1.85] }); + for (let step = 0; step < 4; step += 1) { + add(root, { + name: "ladder", + geometry: box(0.46, 0.05, 0.05), + material: dark, + position: [2.15, -0.95, 1.25 + step * 0.32], + }); + } + + root.traverse((obj) => { + if (obj instanceof Mesh) { + obj.castShadow = true; + obj.receiveShadow = true; + } + }); + return root; +} + +function tiltTowardBed(radians: number): Vec3 { + const direction = new Vector3(Math.sin(radians), 0, Math.cos(radians)); + const euler = new Euler().setFromQuaternion(new Quaternion().setFromUnitVectors(new Vector3(0, 1, 0), direction)); + return [euler.x, euler.y, euler.z]; +} + +function add(parent: Group, part: Part): void { + const mesh = new Mesh(part.geometry, part.material); + mesh.name = part.name; + mesh.position.set(part.position[0], part.position[1], part.position[2]); + if (part.rotation) { + mesh.rotation.set(part.rotation[0], part.rotation[1], part.rotation[2]); + } + parent.add(mesh); +} + +function box(width: number, depth: number, height: number): BufferGeometry { + return new BoxGeometry(width, depth, height); +} + +function steel(color: string, roughness: number, metalness: number): MeshStandardMaterial { + return new MeshStandardMaterial({ color, roughness, metalness }); +} + +function shade(color: string, factor: number): string { + const next = new Color(color); + next.multiplyScalar(factor); + return `#${next.getHexString()}`; +} + +function cssColor(color: string, fallback: string): string { + try { + return `#${new Color(color).getHexString()}`; + } catch { + return fallback; + } +} diff --git a/extensions/model_ghost_preview/extension/src/settings.test.ts b/extensions/model_ghost_preview/extension/src/settings.test.ts new file mode 100644 index 0000000..3d62966 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/settings.test.ts @@ -0,0 +1,122 @@ +import type { SettingsTreeAction } from "@foxglove/extension"; +import { describe, expect, it } from "vitest"; + +import { buildSettingsTree, DEFAULT_CONFIG, mergeConfig, reduceConfig } from "./settings"; + +describe("mergeConfig", () => { + it("returns defaults for empty or invalid saved state", () => { + expect(mergeConfig(undefined)).toEqual(DEFAULT_CONFIG); + expect(mergeConfig(null)).toEqual(DEFAULT_CONFIG); + expect(mergeConfig("nope")).toEqual(DEFAULT_CONFIG); + }); + + it("overlays partial saved state without dropping sibling defaults", () => { + const merged = mergeConfig({ + model: { scale: 2.5 }, + ghost: { color: "#ffffff" }, + general: { interpolation: "nope" }, + }); + expect(merged.model.scale).toBe(2.5); + expect(merged.model.truckColor).toBe(DEFAULT_CONFIG.model.truckColor); + expect(merged.model.source).toBe("truck"); + expect(merged.ghost.color).toBe("#ffffff"); + expect(merged.ghost.style).toBe("wireframe"); + expect(merged.ghost.visible).toBe(true); + expect(merged.general.interpolation).toBe("interpolate"); + expect(merged.path.visible).toBe(true); + expect(merged.view.follow).toBe("off"); + }); + + it("does not mutate the default config", () => { + const merged = mergeConfig({ ghost: { opacity: 0.2 } }); + merged.ghost.opacity = 1; + merged.model.scale = 4; + expect(DEFAULT_CONFIG.ghost.opacity).toBe(0.6); + expect(DEFAULT_CONFIG.model.scale).toBe(1); + }); +}); + +describe("reduceConfig", () => { + it("updates nested fields immutably", () => { + const next = reduceConfig(DEFAULT_CONFIG, { + action: "update", + payload: { path: ["model", "yaw"], input: "number", value: 15 }, + }); + expect(next.model.yaw).toBe(15); + expect(next.model).not.toBe(DEFAULT_CONFIG.model); + expect(DEFAULT_CONFIG.model.yaw).toBe(0); + expect(next.general).toBe(DEFAULT_CONFIG.general); + }); + + it("toggles node visibility from the visibility path", () => { + const hidden = reduceConfig(DEFAULT_CONFIG, { + action: "update", + payload: { path: ["ghost", "visibility"], input: "boolean", value: false }, + }); + expect(hidden.ghost.visible).toBe(false); + const shown = reduceConfig(hidden, { + action: "update", + payload: { path: ["path", "visible"], input: "boolean", value: false }, + }); + expect(shown.path.visible).toBe(false); + expect(shown.ghost.visible).toBe(false); + }); + + it("ignores unknown actions and paths", () => { + const action: SettingsTreeAction = { + action: "perform-node-action", + payload: { id: "reset", path: ["general"] }, + }; + expect(reduceConfig(DEFAULT_CONFIG, action)).toBe(DEFAULT_CONFIG); + expect( + reduceConfig(DEFAULT_CONFIG, { + action: "update", + payload: { path: ["missing", "field"], input: "string", value: "x" }, + }), + ).toBe(DEFAULT_CONFIG); + }); + + it("clamps opacity and rejects invalid enums", () => { + const next = reduceConfig(DEFAULT_CONFIG, { + action: "update", + payload: { path: ["ghost", "opacity"], input: "number", value: 4 }, + }); + expect(next.ghost.opacity).toBe(1); + expect( + reduceConfig(DEFAULT_CONFIG, { + action: "update", + payload: { path: ["view", "follow"], input: "select", value: "sideways" }, + }).view.follow, + ).toBe("off"); + }); +}); + +describe("buildSettingsTree", () => { + it("lists supported topics and shows the child frame field for TF schemas", () => { + const tree = buildSettingsTree({ + config: mergeConfig({ general: { poseTopic: "/tf" } }), + topics: [ + { name: "/truck/pose", schemaName: "foxglove.PoseInFrame" }, + { name: "/tf", schemaName: "foxglove.FrameTransforms" }, + { name: "/notes", schemaName: "std_msgs/String" }, + ], + childFrameIds: ["base", "truck"], + actionHandler: () => undefined, + }); + const general = tree.nodes["general"]; + const poseField = general?.fields?.["poseTopic"]; + expect(poseField?.input).toBe("select"); + if (poseField?.input !== "select") { + return; + } + const labels = poseField.options.map((option) => option.label); + expect(labels).toEqual(["/truck/pose", "/tf"]); + const childField = general?.fields?.["childFrameId"]; + expect(childField?.input).toBe("autocomplete"); + if (childField?.input === "autocomplete") { + expect(childField.items).toEqual(["base", "truck"]); + } + expect(tree.nodes["ghost"]?.visible).toBe(true); + expect(tree.nodes["ghost"]?.label).toBe("Preview"); + }); +}); diff --git a/extensions/model_ghost_preview/extension/src/settings.ts b/extensions/model_ghost_preview/extension/src/settings.ts new file mode 100644 index 0000000..f7d5eeb --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/settings.ts @@ -0,0 +1,507 @@ +import type { SettingsTree, SettingsTreeAction, SettingsTreeNode } from "@foxglove/extension"; + +import { isSupportedSchema, schemaUsesChildFrame } from "./poses/extractPose"; + +export type InterpolationMode = "interpolate" | "previous"; +export type ModelSource = "truck" | "url"; +export type GhostStyle = "wireframe" | "transparent" | "solid"; +export type FollowMode = "off" | "current" | "ghost"; + +export type GhostPreviewConfig = { + general: { + poseTopic: string; + childFrameId: string; + interpolation: InterpolationMode; + }; + model: { + source: ModelSource; + url: string; + scale: number; + yaw: number; + pitch: number; + roll: number; + truckColor: string; + }; + ghost: { + visible: boolean; + style: GhostStyle; + color: string; + opacity: number; + showTimeLabel: boolean; + }; + path: { + visible: boolean; + color: string; + highlightSegment: boolean; + }; + view: { + follow: FollowMode; + showGrid: boolean; + }; +}; + +export type TopicInfo = { + name: string; + schemaName: string; +}; + +export const DEFAULT_CONFIG: GhostPreviewConfig = { + general: { + poseTopic: "", + childFrameId: "", + interpolation: "interpolate", + }, + model: { + source: "truck", + url: "", + scale: 1, + yaw: 0, + pitch: 0, + roll: 0, + truckColor: "#e6b422", + }, + ghost: { + visible: true, + style: "wireframe", + color: "#4fc3f7", + opacity: 0.6, + showTimeLabel: true, + }, + path: { + visible: true, + color: "#2b3cff", + highlightSegment: true, + }, + view: { + follow: "off", + showGrid: true, + }, +}; + +const INTERPOLATION_MODES = ["interpolate", "previous"] as const; +const MODEL_SOURCES = ["truck", "url"] as const; +const GHOST_STYLES = ["wireframe", "transparent", "solid"] as const; +const FOLLOW_MODES = ["off", "current", "ghost"] as const; + +export function mergeConfig(saved: unknown): GhostPreviewConfig { + const record = asRecord(saved); + return { + general: mergeGeneral(record?.["general"]), + model: mergeModel(record?.["model"]), + ghost: mergeGhost(record?.["ghost"]), + path: mergePath(record?.["path"]), + view: mergeView(record?.["view"]), + }; +} + +export function reduceConfig(config: GhostPreviewConfig, action: SettingsTreeAction): GhostPreviewConfig { + switch (action.action) { + case "update": + return applyUpdate(config, action.payload.path, action.payload.value); + case "perform-node-action": + case "reorder-children": + return config; + default: { + const unexpected: never = action; + return unexpected; + } + } +} + +export function buildSettingsTree(args: { + config: GhostPreviewConfig; + topics: readonly TopicInfo[]; + childFrameIds: readonly string[]; + actionHandler: (action: SettingsTreeAction) => void; +}): SettingsTree { + const { config, topics, childFrameIds, actionHandler } = args; + const supported = topics.filter((topic) => isSupportedSchema(topic.schemaName)); + const options = supported.map((topic) => ({ label: topic.name, value: topic.name })); + if (config.general.poseTopic.length > 0 && !options.some((option) => option.value === config.general.poseTopic)) { + options.unshift({ label: config.general.poseTopic, value: config.general.poseTopic }); + } + if (options.length === 0) { + options.push({ label: "No pose topics", value: "" }); + } + const selected = topics.find((topic) => topic.name === config.general.poseTopic); + const showChildFrame = selected ? schemaUsesChildFrame(selected.schemaName) : false; + + const general: SettingsTreeNode = { + label: "General", + icon: "Topic", + order: 0, + fields: { + poseTopic: { + label: "Pose topic", + input: "select", + value: options.some((option) => option.value === config.general.poseTopic) + ? config.general.poseTopic + : "", + options, + help: "Poses are taken in this topic's frame. Receive time is the timeline key.", + }, + interpolation: { + label: "Interpolation", + input: "toggle", + value: config.general.interpolation, + options: [ + { label: "Interpolate", value: "interpolate" }, + { label: "Previous", value: "previous" }, + ], + }, + ...(showChildFrame + ? { + childFrameId: { + label: "Child frame", + input: "autocomplete" as const, + value: config.general.childFrameId, + items: [...childFrameIds], + placeholder: "first child frame", + help: "Matches child_frame_id. Empty locks onto the first child frame in the range.", + }, + } + : {}), + }, + }; + + const model: SettingsTreeNode = { + label: "Model", + icon: "PrecisionManufacturing", + order: 1, + fields: { + source: { + label: "Source", + input: "toggle", + value: config.model.source, + options: [ + { label: "Truck", value: "truck" }, + { label: "URL", value: "url" }, + ], + }, + url: { + label: "Model URL", + input: "string", + value: config.model.url, + placeholder: "https://example.com/robot.glb", + disabled: config.model.source !== "url", + help: "glTF is Y-up. A +90° X rotation is applied before the offsets below; set roll to -90 to cancel it.", + }, + scale: { + label: "Scale", + input: "number", + value: config.model.scale, + min: 0.01, + step: 0.1, + precision: 3, + }, + yaw: numberField("Yaw (deg)", config.model.yaw), + pitch: numberField("Pitch (deg)", config.model.pitch), + roll: numberField("Roll (deg)", config.model.roll), + truckColor: { + label: "Truck color", + input: "rgb", + value: config.model.truckColor, + disabled: config.model.source !== "truck", + }, + }, + }; + + const ghost: SettingsTreeNode = { + label: "Preview", + icon: "Shapes", + order: 2, + visible: config.ghost.visible, + help: "Ghost of the model at the hovered timeline time.", + fields: { + style: { + label: "Style", + input: "select", + value: config.ghost.style, + options: [ + { label: "Wireframe", value: "wireframe" }, + { label: "Transparent", value: "transparent" }, + { label: "Solid", value: "solid" }, + ], + }, + color: { label: "Color", input: "rgb", value: config.ghost.color }, + opacity: { + label: "Opacity", + input: "number", + value: config.ghost.opacity, + min: 0, + max: 1, + step: 0.05, + precision: 2, + }, + showTimeLabel: { + label: "Time label", + input: "boolean", + value: config.ghost.showTimeLabel, + }, + }, + }; + + const path: SettingsTreeNode = { + label: "Path", + icon: "Timeline", + order: 3, + visible: config.path.visible, + fields: { + color: { label: "Color", input: "rgb", value: config.path.color }, + highlightSegment: { + label: "Highlight segment", + input: "boolean", + value: config.path.highlightSegment, + help: "Draw a brighter, thicker path between the current time and the preview time.", + }, + }, + }; + + const view: SettingsTreeNode = { + label: "View", + icon: "World", + order: 4, + fields: { + follow: { + label: "Follow", + input: "select", + value: config.view.follow, + options: [ + { label: "Off", value: "off" }, + { label: "Current", value: "current" }, + { label: "Ghost", value: "ghost" }, + ], + }, + showGrid: { + label: "Grid", + input: "boolean", + value: config.view.showGrid, + }, + }, + }; + + return { + actionHandler, + enableFilter: false, + nodes: { general, model, ghost, path, view }, + }; +} + +function numberField( + label: string, + value: number, +): { + label: string; + input: "number"; + value: number; + step: number; + precision: number; +} { + return { label, input: "number", value, step: 1, precision: 1 }; +} + +function applyUpdate( + config: GhostPreviewConfig, + path: readonly string[], + value: unknown, +): GhostPreviewConfig { + const section = path[0]; + const key = path[1]; + if (!section || !key) { + return config; + } + if ((key === "visible" || key === "visibility") && typeof value === "boolean") { + if (section === "ghost") { + return { ...config, ghost: { ...config.ghost, visible: value } }; + } + if (section === "path") { + return { ...config, path: { ...config.path, visible: value } }; + } + } + if (section === "general") { + if (key === "poseTopic" && typeof value === "string") { + return { ...config, general: { ...config.general, poseTopic: value } }; + } + if (key === "childFrameId" && typeof value === "string") { + return { ...config, general: { ...config.general, childFrameId: value } }; + } + if (key === "interpolation" && isOneOf(value, INTERPOLATION_MODES)) { + return { ...config, general: { ...config.general, interpolation: value } }; + } + } + if (section === "model") { + if (key === "source" && isOneOf(value, MODEL_SOURCES)) { + return { ...config, model: { ...config.model, source: value } }; + } + if (key === "url" && typeof value === "string") { + return { ...config, model: { ...config.model, url: value } }; + } + if (key === "scale" && isFiniteNumber(value)) { + return { ...config, model: { ...config.model, scale: value } }; + } + if (key === "yaw" && isFiniteNumber(value)) { + return { ...config, model: { ...config.model, yaw: value } }; + } + if (key === "pitch" && isFiniteNumber(value)) { + return { ...config, model: { ...config.model, pitch: value } }; + } + if (key === "roll" && isFiniteNumber(value)) { + return { ...config, model: { ...config.model, roll: value } }; + } + if (key === "truckColor" && typeof value === "string") { + return { ...config, model: { ...config.model, truckColor: value } }; + } + } + if (section === "ghost") { + if (key === "style" && isOneOf(value, GHOST_STYLES)) { + return { ...config, ghost: { ...config.ghost, style: value } }; + } + if (key === "color" && typeof value === "string") { + return { ...config, ghost: { ...config.ghost, color: value } }; + } + if (key === "opacity" && isFiniteNumber(value)) { + return { ...config, ghost: { ...config.ghost, opacity: clamp(value, 0, 1) } }; + } + if (key === "showTimeLabel" && typeof value === "boolean") { + return { ...config, ghost: { ...config.ghost, showTimeLabel: value } }; + } + } + if (section === "path") { + if (key === "color" && typeof value === "string") { + return { ...config, path: { ...config.path, color: value } }; + } + if (key === "highlightSegment" && typeof value === "boolean") { + return { ...config, path: { ...config.path, highlightSegment: value } }; + } + } + if (section === "view") { + if (key === "follow" && isOneOf(value, FOLLOW_MODES)) { + return { ...config, view: { ...config.view, follow: value } }; + } + if (key === "showGrid" && typeof value === "boolean") { + return { ...config, view: { ...config.view, showGrid: value } }; + } + } + return config; +} + +function mergeGeneral(value: unknown): GhostPreviewConfig["general"] { + const record = asRecord(value); + const fallback = DEFAULT_CONFIG.general; + if (!record) { + return { ...fallback }; + } + return { + poseTopic: pickString(record["poseTopic"], fallback.poseTopic), + childFrameId: pickString(record["childFrameId"], fallback.childFrameId), + interpolation: pickEnum(record["interpolation"], INTERPOLATION_MODES, fallback.interpolation), + }; +} + +function mergeModel(value: unknown): GhostPreviewConfig["model"] { + const record = asRecord(value); + const fallback = DEFAULT_CONFIG.model; + if (!record) { + return { ...fallback }; + } + return { + source: pickEnum(record["source"], MODEL_SOURCES, fallback.source), + url: pickString(record["url"], fallback.url), + scale: pickNumber(record["scale"], fallback.scale), + yaw: pickNumber(record["yaw"], fallback.yaw), + pitch: pickNumber(record["pitch"], fallback.pitch), + roll: pickNumber(record["roll"], fallback.roll), + truckColor: pickString(record["truckColor"], fallback.truckColor), + }; +} + +function mergeGhost(value: unknown): GhostPreviewConfig["ghost"] { + const record = asRecord(value); + const fallback = DEFAULT_CONFIG.ghost; + if (!record) { + return { ...fallback }; + } + return { + visible: typeof record["visible"] === "boolean" ? record["visible"] : fallback.visible, + style: pickEnum(record["style"], GHOST_STYLES, fallback.style), + color: pickString(record["color"], fallback.color), + opacity: clamp(pickNumber(record["opacity"], fallback.opacity), 0, 1), + showTimeLabel: + typeof record["showTimeLabel"] === "boolean" ? record["showTimeLabel"] : fallback.showTimeLabel, + }; +} + +function mergePath(value: unknown): GhostPreviewConfig["path"] { + const record = asRecord(value); + const fallback = DEFAULT_CONFIG.path; + if (!record) { + return { ...fallback }; + } + return { + visible: typeof record["visible"] === "boolean" ? record["visible"] : fallback.visible, + color: pickString(record["color"], fallback.color), + highlightSegment: + typeof record["highlightSegment"] === "boolean" + ? record["highlightSegment"] + : fallback.highlightSegment, + }; +} + +function mergeView(value: unknown): GhostPreviewConfig["view"] { + const record = asRecord(value); + const fallback = DEFAULT_CONFIG.view; + if (!record) { + return { ...fallback }; + } + return { + follow: pickEnum(record["follow"], FOLLOW_MODES, fallback.follow), + showGrid: typeof record["showGrid"] === "boolean" ? record["showGrid"] : fallback.showGrid, + }; +} + +function pickString(value: unknown, fallback: string): string { + return typeof value === "string" ? value : fallback; +} + +function pickNumber(value: unknown, fallback: number): number { + return isFiniteNumber(value) ? value : fallback; +} + +function pickEnum(value: unknown, allowed: readonly T[], fallback: T): T { + if (typeof value !== "string") { + return fallback; + } + for (const option of allowed) { + if (option === value) { + return option; + } + } + return fallback; +} + +function isOneOf(value: unknown, allowed: readonly T[]): value is T { + if (typeof value !== "string") { + return false; + } + for (const option of allowed) { + if (option === value) { + return true; + } + } + return false; +} + +function isFiniteNumber(value: unknown): value is number { + return typeof value === "number" && Number.isFinite(value); +} + +function clamp(value: number, min: number, max: number): number { + return Math.min(max, Math.max(min, value)); +} + +function asRecord(value: unknown): Record | undefined { + if (typeof value !== "object" || value == null) { + return undefined; + } + return value as Record; +} diff --git a/extensions/model_ghost_preview/extension/src/time.test.ts b/extensions/model_ghost_preview/extension/src/time.test.ts new file mode 100644 index 0000000..7649d4c --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/time.test.ts @@ -0,0 +1,39 @@ +import { describe, expect, it } from "vitest"; + +import { normalizePreviewTime, toSec } from "./time"; + +describe("toSec", () => { + it("combines seconds and nanoseconds", () => { + expect(toSec({ sec: 10, nsec: 500_000_000 })).toBeCloseTo(10.5); + expect(toSec({ sec: 0, nsec: 0 })).toBe(0); + }); +}); + +describe("normalizePreviewTime", () => { + const start = { sec: 1_700_000_000, nsec: 0 }; + + it("returns undefined when preview time is unset", () => { + expect(normalizePreviewTime(undefined, start)).toBeUndefined(); + }); + + it("keeps absolute preview times that already include the start", () => { + expect(normalizePreviewTime(1_700_000_010, start)).toBe(1_700_000_010); + }); + + it("adds start time when the preview value looks relative", () => { + expect(normalizePreviewTime(10, start)).toBe(1_700_000_010); + }); + + it("leaves values within one second before the start unchanged", () => { + expect(normalizePreviewTime(start.sec - 0.5, start)).toBe(start.sec - 0.5); + }); + + it("does not treat the value as relative when the recording starts near zero", () => { + expect(normalizePreviewTime(5, { sec: 0, nsec: 0 })).toBe(5); + expect(normalizePreviewTime(0.25, { sec: 1, nsec: 0 })).toBe(0.25); + }); + + it("returns the raw value when start time is missing", () => { + expect(normalizePreviewTime(12, undefined)).toBe(12); + }); +}); diff --git a/extensions/model_ghost_preview/extension/src/time.ts b/extensions/model_ghost_preview/extension/src/time.ts new file mode 100644 index 0000000..3c413e2 --- /dev/null +++ b/extensions/model_ghost_preview/extension/src/time.ts @@ -0,0 +1,31 @@ +export type TimeLike = { + sec: number; + nsec: number; +}; + +export function toSec(time: TimeLike): number { + return time.sec + time.nsec / 1e9; +} + +/** + * Foxglove's `previewTime` is absolute seconds (`toSec(startTime) + hoverOffset`). + * Some callers pass a small offset instead. When `startTime` is far from the epoch + * and `previewTime` falls more than one second before it, treat the value as relative. + */ +export function normalizePreviewTime( + previewTime: number | undefined, + startTime: TimeLike | undefined, +): number | undefined { + if (previewTime == undefined) { + return undefined; + } + if (startTime == undefined) { + return previewTime; + } + const startSec = toSec(startTime); + const startIsNonTrivial = Math.abs(startSec) > 1; + if (startIsNonTrivial && previewTime < startSec - 1) { + return previewTime + startSec; + } + return previewTime; +} diff --git a/extensions/model_ghost_preview/extension/tsconfig.json b/extensions/model_ghost_preview/extension/tsconfig.json new file mode 100644 index 0000000..f55872b --- /dev/null +++ b/extensions/model_ghost_preview/extension/tsconfig.json @@ -0,0 +1,26 @@ +{ + "extends": "create-foxglove-extension/tsconfig/tsconfig.json", + + "include": ["./src/**/*"], + "compilerOptions": { + "rootDir": "./src", + "outDir": "./dist", + "lib": ["es2022", "dom"], + + // These two settings prevent typescript from emitting .d.ts files we don't need in + // the compiled extension. + "composite": false, + "declaration": false, + + // Additional TypeScript error reporting checks are enabled by default to improve code quality. + // Enable/disable these checks as necessary to suit your coding preferences or work with + // existing code + "noFallthroughCasesInSwitch": true, + "noImplicitAny": true, + "noImplicitReturns": true, + "noUncheckedIndexedAccess": true, + "noUnusedLocals": true, + "noUnusedParameters": true, + "forceConsistentCasingInFileNames": true + } +} diff --git a/extensions/model_ghost_preview/extension/vitest.config.ts b/extensions/model_ghost_preview/extension/vitest.config.ts new file mode 100644 index 0000000..c1433e6 --- /dev/null +++ b/extensions/model_ghost_preview/extension/vitest.config.ts @@ -0,0 +1,8 @@ +import { defineConfig } from "vitest/config"; + +export default defineConfig({ + test: { + environment: "node", + include: ["src/**/*.test.ts"], + }, +}); diff --git a/extensions/model_ghost_preview/foxglove_layouts/model_ghost_preview.json b/extensions/model_ghost_preview/foxglove_layouts/model_ghost_preview.json new file mode 100644 index 0000000..1ea6ca6 --- /dev/null +++ b/extensions/model_ghost_preview/foxglove_layouts/model_ghost_preview.json @@ -0,0 +1,97 @@ +{ + "configById": { + "Model Ghost Preview.Model Ghost Preview!ghost": { + "general": { + "poseTopic": "/truck/pose", + "childFrameId": "", + "interpolation": "interpolate" + }, + "model": { + "source": "truck", + "url": "", + "scale": 1, + "yaw": 0, + "pitch": 0, + "roll": 0, + "truckColor": "#e6b422" + }, + "ghost": { + "visible": true, + "style": "wireframe", + "color": "#4fc3f7", + "opacity": 0.6, + "showTimeLabel": true + }, + "path": { + "visible": true, + "color": "#2b3cff", + "highlightSegment": true + }, + "view": { + "follow": "off", + "showGrid": true + } + }, + "3D!scene": { + "followTf": "truck", + "followMode": "follow-pose", + "scene": { + "meshUpAxis": "z_up", + "transforms": { + "labelSize": 0 + } + }, + "topics": { + "/scene/road": { + "visible": true + }, + "/tf": { + "visible": true + } + }, + "layers": { + "grid": { + "visible": true, + "layerId": "foxglove.Grid", + "size": 20, + "divisions": 20, + "color": "#248eff" + } + }, + "cameraState": { + "perspective": true, + "distance": 40, + "phi": 55, + "thetaOffset": 30, + "target": [0, 0, 0], + "targetOffset": [0, 0, 0], + "targetOrientation": [0, 0, 0, 1], + "fovy": 45, + "near": 0.5, + "far": 5000 + } + }, + "RawMessages!pose": { + "topicPath": "/truck/pose", + "diffEnabled": false, + "showFullMessageForDiff": false, + "fontSize": 12 + } + }, + "globalVariables": {}, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": { + "direction": "row", + "first": "Model Ghost Preview.Model Ghost Preview!ghost", + "second": { + "direction": "column", + "first": "3D!scene", + "second": "RawMessages!pose", + "splitPercentage": 68 + }, + "splitPercentage": 58 + } +} diff --git a/extensions/model_ghost_preview/media/current-truck.png b/extensions/model_ghost_preview/media/current-truck.png new file mode 100644 index 0000000..cade422 Binary files /dev/null and b/extensions/model_ghost_preview/media/current-truck.png differ diff --git a/extensions/model_ghost_preview/media/ghost-preview.png b/extensions/model_ghost_preview/media/ghost-preview.png new file mode 100644 index 0000000..e7dfb6c Binary files /dev/null and b/extensions/model_ghost_preview/media/ghost-preview.png differ