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<!DOCTYPE html>
<html lang="zh">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>点云抓取可视化系统</title>
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
<style>
body {
margin: 0;
font-family: Arial, sans-serif;
background-color: #f0f0f0;
}
.container {
display: flex;
min-height: 100vh;
}
.sidebar {
width: 300px;
background-color: #fff;
padding: 20px;
box-shadow: 2px 0 5px rgba(0,0,0,0.1);
}
.main-content {
flex: 1;
padding: 20px;
display: flex;
flex-direction: column;
}
.visualization-container {
flex: 1;
background: #000;
border-radius: 8px;
overflow: hidden;
position: relative;
}
.control-panel {
background: rgba(0,0,0,0.7);
padding: 15px;
border-radius: 8px;
margin-top: 20px;
color: white;
}
.control-group {
margin-bottom: 15px;
}
.control-group h3 {
margin: 0 0 10px 0;
color: #fff;
}
button {
background-color: #4CAF50;
color: white;
border: none;
padding: 8px 15px;
border-radius: 4px;
cursor: pointer;
margin: 5px;
transition: background-color 0.3s;
}
button:hover {
background-color: #45a049;
}
.slider-container {
margin: 10px 0;
}
.slider-container label {
display: block;
margin-bottom: 5px;
color: #fff;
}
input[type="range"] {
width: 100%;
}
.status-panel {
background: #fff;
padding: 15px;
border-radius: 8px;
margin-top: 20px;
box-shadow: 0 2px 5px rgba(0,0,0,0.1);
}
.status-item {
margin: 5px 0;
padding: 5px;
border-bottom: 1px solid #eee;
}
.param-item {
margin: 10px 0;
}
.param-item label {
display: block;
margin-bottom: 5px;
color: #333;
}
.param-item input,
.param-item select {
width: 100%;
padding: 5px;
border: 1px solid #ddd;
border-radius: 4px;
}
.param-item input[type="number"] {
width: 100px;
}
.param-item select {
width: 100%;
padding: 8px;
border: 1px solid #ddd;
border-radius: 4px;
background-color: white;
cursor: pointer;
}
.param-item select:hover {
border-color: #4CAF50;
}
/* 添加指南弹窗样式 */
.guide-modal {
display: none;
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
background-color: rgba(0, 0, 0, 0.5);
z-index: 1000;
overflow-y: auto;
}
.guide-content {
position: relative;
background-color: #fff;
margin: 5% auto;
padding: 20px;
width: 80%;
max-width: 800px;
border-radius: 8px;
box-shadow: 0 4px 6px rgba(0, 0, 0, 0.1);
}
.guide-header {
display: flex;
justify-content: space-between;
align-items: center;
margin-bottom: 20px;
padding-bottom: 10px;
border-bottom: 1px solid #eee;
}
.guide-header h2 {
margin: 0;
color: #333;
}
.guide-close {
background: none;
border: none;
font-size: 24px;
cursor: pointer;
color: #666;
padding: 5px;
}
.guide-close:hover {
color: #333;
}
.guide-body {
max-height: 70vh;
overflow-y: auto;
padding-right: 10px;
}
.guide-body h3 {
color: #4CAF50;
margin-top: 20px;
}
.guide-body p {
line-height: 1.6;
color: #666;
}
.guide-body ul {
padding-left: 20px;
}
.guide-body li {
margin: 10px 0;
color: #666;
}
.guide-button {
position: fixed;
bottom: 20px;
right: 20px;
background-color: #4CAF50;
color: white;
padding: 10px 20px;
border: none;
border-radius: 4px;
cursor: pointer;
z-index: 999;
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
}
.guide-button:hover {
background-color: #45a049;
}
</style>
</head>
<body>
<!-- 添加指南弹窗 -->
<div id="guideModal" class="guide-modal">
<div class="guide-content">
<div class="guide-header">
<h2>点云抓取可视化系统使用指南</h2>
<button class="guide-close" onclick="closeGuide()">×</button>
</div>
<div class="guide-body">
<h3>欢迎使用</h3>
<p>欢迎使用我们的点云抓取可视化系统！本系统旨在帮助您直观地查看和分析机器人抓取预测结果。通过本指南，您将了解如何充分利用系统的各项功能。</p>
<h3>快速入门</h3>
<h4>1. 加载数据</h4>
<ul>
<li>点击"加载数据"按钮加载默认数据</li>
<li>或通过文件选择器上传您的H5格式点云文件</li>
<li>系统会自动处理并显示点云数据</li>
</ul>
<h4>2. 基本操作</h4>
<ul>
<li><strong>旋转视角</strong>：按住鼠标左键拖动</li>
<li><strong>缩放</strong>：使用鼠标滚轮</li>
<li><strong>平移</strong>：按住鼠标右键拖动</li>
<li><strong>重置视角</strong>：点击"重置视角"按钮</li>
<li><strong>自动旋转</strong>：点击"切换自动旋转"按钮</li>
</ul>
<h3>功能详解</h3>
<h4>显示控制</h4>
<ul>
<li><strong>切换抓取点显示</strong>：显示/隐藏蓝色抓取点</li>
<li><strong>切换抓取姿态显示</strong>：显示/隐藏夹爪模型</li>
<li>所有显示元素都可以独立控制</li>
</ul>
<h4>参数设置</h4>
<ol>
<li><strong>抓取分数阈值</strong>
<ul>
<li>使用滑块调节（0-1之间）</li>
<li>数值越大，显示的抓取点质量越高</li>
<li>实时更新显示效果</li>
</ul>
</li>
<li><strong>模型参数</strong>
<ul>
<li><strong>模型选择</strong>：GraspNet或DGCNN</li>
<li><strong>物体类别</strong>：支持多种物体类型</li>
<li><strong>采样点数</strong>：可选择512/1024/2048点</li>
</ul>
</li>
</ol>
<h3>使用技巧</h3>
<h4>最佳实践</h4>
<ol>
<li><strong>数据加载</strong>
<ul>
<li>建议先使用默认数据熟悉系统</li>
<li>上传自定义数据时确保格式正确</li>
</ul>
</li>
<li><strong>参数调节</strong>
<ul>
<li>从默认参数开始调整</li>
<li>分数阈值建议从0.5开始调节</li>
<li>采样点数根据物体复杂度选择</li>
</ul>
</li>
<li><strong>视角控制</strong>
<ul>
<li>使用自动旋转功能观察整体效果</li>
<li>需要细节观察时关闭自动旋转</li>
<li>使用重置视角快速回到初始状态</li>
</ul>
</li>
</ol>
<h3>注意事项</h3>
<ul>
<li>确保浏览器支持WebGL</li>
<li>建议使用Chrome或Firefox浏览器</li>
<li>大文件加载可能需要等待</li>
<li>定期保存重要参数设置</li>
</ul>
</div>
</div>
</div>
<!-- 添加指南按钮 -->
<button class="guide-button" onclick="openGuide()">查看使用指南</button>
<div class="container">
<!-- 侧边栏 -->
<div class="sidebar">
<h2>控制面板</h2>
<div class="control-group">
<h3>数据加载</h3>
<button onclick="loadData()">加载数据</button>
<input type="file" id="h5FileInput" accept=".h5" style="margin-top:10px;" onchange="uploadH5File(event)">
</div>
<div class="control-group">
<h3>显示控制</h3>
<button onclick="toggleGraspPoints()">切换抓取点显示</button>
<button onclick="toggleGraspPoses()">切换抓取姿态显示</button>
</div>
<div class="control-group">
<h3>抓取参数</h3>
<div class="slider-container">
<div style="font-weight:bold; color:#333; margin-bottom:4px;">阈值设置</div>
<label for="graspScore">抓取分数阈值: <span id="graspScoreValue">0.5</span></label>
<input type="range" id="graspScore" min="0" max="1" step="0.1" value="0.5" onchange="updateGraspScore()">
</div>
</div>
<div class="control-group">
<h3>模型参数</h3>
<div class="param-item">
<label for="modelSelect">模型选择:</label>
<select id="modelSelect" onchange="updateParams()">
<option value="GraspNet">GraspNet</option>
<option value="DGCNN">DGCNN</option>
</select>
</div>
<div class="param-item">
<label for="category">物体类别:</label>
<select id="category" onchange="updateParams()">
<option value="eyeglasses">eyeglasses</option>
<option value="scissors">scissors</option>
<option value="laptop">laptop</option>
</select>
</div>
<div class="param-item">
<label for="npoint">采样点数:</label>
<select id="npoint" onchange="updateParams()">
<option value="512">512</option>
<option value="1024">1024</option>
<option value="2048" selected>2048</option>
</select>
</div>
</div>
<div class="status-panel">
<h3>系统状态</h3>
<div class="status-item">点云数量: <span id="pointCount">0</span></div>
<div class="status-item">抓取点数量: <span id="graspCount">0</span></div>
<div class="status-item">当前分数阈值: <span id="currentScore">0.5</span></div>
</div>
</div>
<!-- 主要内容区 -->
<div class="main-content">
<div class="visualization-container" id="pointcloud-container"></div>
<div class="control-panel">
<h3>实时控制</h3>
<div class="control-group">
<button onclick="resetCamera()">重置视角</button>
<button onclick="toggleAutoRotate()">切换自动旋转</button>
</div>
</div>
</div>
</div>
<script>
let scene, camera, renderer, controls;
let pointCloud, graspPoints, graspPoses;
let showGraspPoints = true;
let showGraspPoses = true;
let graspScoreThreshold = 0.5;
let autoRotate = false;
let modelParams = {
model: 'GraspNet',
category: 'eyeglasses',
npoint: 2048
};
let uploadedH5Path = null;
init();
animate();
function init() {
const container = document.getElementById('pointcloud-container');
scene = new THREE.Scene();
camera = new THREE.PerspectiveCamera(75, container.clientWidth / container.clientHeight, 0.1, 1000);
renderer = new THREE.WebGLRenderer({ antialias: true });
renderer.setSize(container.clientWidth, container.clientHeight);
container.appendChild(renderer.domElement);
controls = new THREE.OrbitControls(camera, renderer.domElement);
camera.position.z = 5;
// 添加环境光
const ambientLight = new THREE.AmbientLight(0xffffff, 0.5);
scene.add(ambientLight);
// 添加平行光
const directionalLight = new THREE.DirectionalLight(0xffffff, 0.5);
directionalLight.position.set(0, 1, 0);
scene.add(directionalLight);
}
function animate() {
requestAnimationFrame(animate);
controls.update();
renderer.render(scene, camera);
}
function updateParams() {
modelParams.model = document.getElementById('modelSelect').value;
modelParams.category = document.getElementById('category').value;
modelParams.npoint = parseInt(document.getElementById('npoint').value);
}
function uploadH5File(event) {
const file = event.target.files[0];
if (!file) return;
const formData = new FormData();
formData.append('file', file);
const serverUrl = window.location.hostname === 'localhost' ? 'http://localhost:8000' : '';
fetch(`${serverUrl}/upload`, {
method: 'POST',
body: formData
})
.then(response => response.json())
.then(data => {
if (data.error) {
alert('文件上传失败: ' + data.error);
} else {
uploadedH5Path = data.path;
alert('文件上传成功，自动加载！');
loadData();
}
})
.catch(err => {
alert('文件上传失败: ' + err.message);
});
}
function loadData() {
const serverUrl = window.location.hostname === 'localhost' ? 'http://localhost:8000' : '';
fetch(`${serverUrl}/predict`, {
method: 'POST',
headers: {
'Content-Type': 'application/json',
},
body: JSON.stringify({
model: modelParams.model,
log_dir: modelParams.category, // 使用类别作为日志目录
npoint: modelParams.npoint,
category: modelParams.category,
input_h5_path: uploadedH5Path || `/16T/guoyuefan/grasp_data/${modelParams.category}/001402.h5`,
score_threshold: graspScoreThreshold // 添加阈值参数
})
})
.then(response => {
if (!response.ok) {
throw new Error(`HTTP error! status: ${response.status}`);
}
return response.json();
})
.then(data => {
if (data.error) {
throw new Error(data.error);
}
visualizeData(data);
updateStatus(data);
})
.catch(error => {
console.error('Error:', error);
alert('加载数据失败: ' + error.message);
});
}
function visualizeData(data) {
// 清除现有的点云和抓取点
if (pointCloud) scene.remove(pointCloud);
if (graspPoints) scene.remove(graspPoints);
if (graspPoses) {
graspPoses.forEach(pose => scene.remove(pose));
graspPoses = [];
}
// 创建点云（灰色）
const geometry = new THREE.BufferGeometry();
const positions = new Float32Array(data.input_points.flat());
geometry.setAttribute('position', new THREE.BufferAttribute(positions, 3));
const material = new THREE.PointsMaterial({
color: 0x808080,
size: 0.015,
transparent: true,
opacity: 0.6
});
pointCloud = new THREE.Points(geometry, material);
scene.add(pointCloud);
// 创建抓取点（蓝色）
const graspGeometry = new THREE.BufferGeometry();
const graspPositions = new Float32Array(data.grasp_mask_points.flat());
graspGeometry.setAttribute('position', new THREE.BufferAttribute(graspPositions, 3));
const graspMaterial = new THREE.PointsMaterial({
color: 0x0088ff,
size: 0.02,
transparent: true,
opacity: 0.8
});
graspPoints = new THREE.Points(graspGeometry, graspMaterial);
scene.add(graspPoints);
// 创建抓取姿态
graspPoses = [];
data.top_grasp_points.forEach((point, index) => {
const quat = data.top_quats[index];
const pose = createGraspPose(point, quat);
graspPoses.push(pose);
scene.add(pose);
});
// 调整相机位置以适应点云
const box = new THREE.Box3().setFromObject(pointCloud);
const center = box.getCenter(new THREE.Vector3());
const size = box.getSize(new THREE.Vector3());
const maxDim = Math.max(size.x, size.y, size.z);
const fov = camera.fov * (Math.PI / 180);
let cameraZ = Math.abs(maxDim / Math.sin(fov / 2));
camera.position.set(center.x, center.y, center.z + cameraZ * 1.5);
camera.lookAt(center);
controls.target.copy(center);
}
function createGraspPose(point, quat) {
const group = new THREE.Group();
// 掌心（深灰色）
const palmGeometry = new THREE.BoxGeometry(0.04, 0.01, 0.02);
const palmMaterial = new THREE.MeshPhongMaterial({ color: 0x444444, shininess: 80, specular: 0x888888 });
const palm = new THREE.Mesh(palmGeometry, palmMaterial);
palm.position.set(0, 0, 0.01);
group.add(palm);
// 左指（红色，带高光）
const fingerGeometry = new THREE.BoxGeometry(0.01, 0.04, 0.01);
const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xff3333, shininess: 100, specular: 0xffffff });
const leftFinger = new THREE.Mesh(fingerGeometry, fingerMaterial);
leftFinger.position.set(-0.015, 0.025, 0.01);
group.add(leftFinger);
// 右指（红色，带高光）
const rightFinger = new THREE.Mesh(fingerGeometry, fingerMaterial);
rightFinger.position.set(0.015, 0.025, 0.01);
group.add(rightFinger);
// 坐标系
const axesHelper = new THREE.AxesHelper(0.03);
group.add(axesHelper);
// 设置位置和旋转
group.position.set(point[0], point[1], point[2]);
group.quaternion.set(quat[0], quat[1], quat[2], quat[3]);
return group;
}
function toggleGraspPoints() {
if (graspPoints) {
graspPoints.visible = !graspPoints.visible;
}
}
function toggleGraspPoses() {
if (graspPoses) {
graspPoses.forEach(pose => {
pose.visible = !pose.visible;
});
}
}
function updateGraspScore() {
graspScoreThreshold = parseFloat(document.getElementById('graspScore').value);
document.getElementById('currentScore').textContent = graspScoreThreshold.toFixed(1);
document.getElementById('graspScoreValue').textContent = graspScoreThreshold.toFixed(1);
loadData(); // 当阈值改变时重新加载数据
}
function updateStatus(data) {
document.getElementById('pointCount').textContent = data.input_points.length;
document.getElementById('graspCount').textContent = data.grasp_mask_points.length;
}
function resetCamera() {
if (pointCloud) {
const box = new THREE.Box3().setFromObject(pointCloud);
const center = box.getCenter(new THREE.Vector3());
const size = box.getSize(new THREE.Vector3());
const maxDim = Math.max(size.x, size.y, size.z);
const fov = camera.fov * (Math.PI / 180);
let cameraZ = Math.abs(maxDim / Math.sin(fov / 2));
camera.position.set(center.x, center.y, center.z + cameraZ * 1.5);
camera.lookAt(center);
controls.target.copy(center);
}
}
function toggleAutoRotate() {
autoRotate = !autoRotate;
controls.autoRotate = autoRotate;
}
// 响应窗口大小变化
window.addEventListener('resize', onWindowResize, false);
function onWindowResize() {
const container = document.getElementById('pointcloud-container');
camera.aspect = container.clientWidth / container.clientHeight;
camera.updateProjectionMatrix();
renderer.setSize(container.clientWidth, container.clientHeight);
}
// 添加指南弹窗控制函数
function openGuide() {
document.getElementById('guideModal').style.display = 'block';
}
function closeGuide() {
document.getElementById('guideModal').style.display = 'none';
}
// 页面加载时自动打开指南
window.onload = function() {
openGuide();
};
// 点击弹窗外部关闭弹窗
window.onclick = function(event) {
const modal = document.getElementById('guideModal');
if (event.target == modal) {
closeGuide();
}
}
</script>
</body>
</html>