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| <html lang="en"> | |
| <head> | |
| <meta charset="UTF-8"> | |
| <meta name="viewport" content="width=device-width, initial-scale=1.0"> | |
| <title>Quadcopter Interceptor Simulation - 3D</title> | |
| <!-- THREE.JS CDN --> | |
| <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script> | |
| <script src="https://cdn.jsdelivr.net/npm/onnxruntime-web/dist/ort.min.js"></script> | |
| <script src="https://cdn.tailwindcss.com"></script> | |
| <style> | |
| /* --- Base & Theming --- */ | |
| :root { | |
| --bg-start: #f4f6f9; | |
| --bg-end: #e2e8f0; | |
| --card-bg: rgba(255, 255, 255, 0.7); | |
| --text-primary: #1f2937; | |
| --text-secondary: #4b5563; | |
| --border-color: rgba(0, 0, 0, 0.1); | |
| --shadow: 0 10px 30px rgba(0, 0, 0, 0.07); | |
| --primary-gradient: linear-gradient(90deg, #3b82f6, #8b5cf6); | |
| --primary-hover-gradient: linear-gradient(90deg, #2563eb, #7c3aed); | |
| --detail-bg: rgba(0, 0, 0, 0.04); | |
| --propeller-color: #64748b; | |
| } | |
| html.dark { | |
| --bg-start: #111827; | |
| --bg-end: #1f2937; | |
| --card-bg: rgba(31, 41, 55, 0.7); | |
| --text-primary: #f9fafb; | |
| --text-secondary: #d1d5db; | |
| --border-color: rgba(255, 255, 255, 0.1); | |
| --shadow: 0 10px 30px rgba(0, 0, 0, 0.2); | |
| --detail-bg: rgba(255, 255, 255, 0.06); | |
| --propeller-color: #94a3b8; | |
| } | |
| body { | |
| background: linear-gradient(-45deg, var(--bg-start), var(--bg-end)); | |
| transition: background 0.5s; | |
| font-family: 'Inter', sans-serif; | |
| overflow: hidden; | |
| /* Prevent body scroll */ | |
| } | |
| /* Helpers */ | |
| .text-text-primary { | |
| color: var(--text-primary); | |
| } | |
| .text-text-secondary { | |
| color: var(--text-secondary); | |
| } | |
| .border-border-color { | |
| border-color: var(--border-color); | |
| } | |
| .bg-card-bg { | |
| background-color: var(--card-bg); | |
| } | |
| .bg-detail-bg { | |
| background-color: var(--detail-bg); | |
| } | |
| .backdrop-blur-xl { | |
| backdrop-filter: blur(16px); | |
| -webkit-backdrop-filter: blur(16px); | |
| } | |
| /* Custom canvas styling */ | |
| #simulation-canvas { | |
| display: block; | |
| width: 100%; | |
| height: 100%; | |
| cursor: grab; | |
| } | |
| #simulation-canvas:active { | |
| cursor: grabbing; | |
| } | |
| /* Custom scrollbar for results & gallery */ | |
| .custom-scrollbar::-webkit-scrollbar { | |
| height: 6px; | |
| width: 6px; | |
| } | |
| .custom-scrollbar::-webkit-scrollbar-track { | |
| background: transparent; | |
| } | |
| .custom-scrollbar::-webkit-scrollbar-thumb { | |
| background: rgba(0, 0, 0, 0.2); | |
| border-radius: 3px; | |
| } | |
| html.dark .custom-scrollbar::-webkit-scrollbar-thumb { | |
| background: rgba(255, 255, 255, 0.2); | |
| } | |
| </style> | |
| <link rel="preconnect" href="https://fonts.googleapis.com"> | |
| <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin> | |
| <link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700&display=swap" rel="stylesheet"> | |
| <script> | |
| tailwind.config = { | |
| darkMode: 'class', | |
| theme: { | |
| extend: { | |
| fontFamily: { | |
| sans: ['Inter', 'sans-serif'], | |
| }, | |
| } | |
| } | |
| } | |
| </script> | |
| </head> | |
| <body class="min-h-screen flex items-center justify-center p-2 sm:p-4 antialiased"> | |
| <!-- Model Loading Overlay --> | |
| <div id="model-loading-overlay" | |
| class="fixed inset-0 bg-black/70 flex flex-col items-center justify-center z-50 transition-opacity duration-300"> | |
| <div class="flex flex-col items-center gap-4"> | |
| <div class="animate-spin rounded-full h-16 w-16 border-b-4 border-blue-400"></div> | |
| <span class="text-white text-2xl font-bold tracking-wide">Loading AI Model...</span> | |
| <span class="text-blue-200 text-sm">This may take a few seconds on first load.</span> | |
| </div> | |
| </div> | |
| <!-- Main Application Card --> | |
| <div | |
| class="w-full max-w-7xl mx-auto bg-card-bg border border-border-color rounded-2xl sm:rounded-3xl shadow-2xl backdrop-blur-xl p-4 md:p-6 transition-all duration-500"> | |
| <div class="grid grid-cols-1 lg:grid-cols-2 gap-4 md:gap-6"> | |
| <!-- Left Panel: 3D Quadcopter Simulation --> | |
| <div class="flex flex-col gap-4"> | |
| <header class="flex justify-between items-center"> | |
| <h1 class="text-lg sm:text-xl md:text-2xl font-bold text-text-primary">3D Quadcopter Simulation</h1> | |
| <button id="theme-switcher" | |
| class="w-10 h-10 flex items-center justify-center rounded-full hover:bg-black/5 dark:hover:bg-white/10 transition" | |
| aria-label="Switch theme" title="Switch theme"> | |
| <svg id="sun-icon" class="w-6 h-6 text-text-secondary" fill="none" stroke="currentColor" | |
| viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M12 3v1m0 16v1m9-9h-1M4 12H3m15.364 6.364l-.707-.707M6.343 6.343l-.707-.707m12.728 0l-.707.707M6.343 17.657l-.707.707M16 12a4 4 0 11-8 0 4 4 0 018 0z"> | |
| </path> | |
| </svg> | |
| <svg id="moon-icon" class="w-6 h-6 text-text-secondary hidden" fill="none" stroke="currentColor" | |
| viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M20.354 15.354A9 9 0 018.646 3.646 9.003 9.003 0 0012 21a9.003 9.003 0 008.354-5.646z"> | |
| </path> | |
| </svg> | |
| </button> | |
| </header> | |
| <div id="simulation-container" | |
| class="relative w-full aspect-square bg-detail-bg rounded-2xl overflow-hidden"> | |
| <!-- Three.js canvas will be inserted here --> | |
| </div> | |
| <div> | |
| <h2 class="text-base sm:text-lg font-semibold text-text-primary mb-2">Flight Telemetry</h2> | |
| <div class="grid grid-cols-2 gap-2 text-left"> | |
| <div class="bg-detail-bg p-2 rounded-lg flex items-center gap-2"> | |
| <svg class="w-5 h-5 text-blue-500" fill="none" stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M3 12l2-2m0 0l7-7 7 7M5 10v10a1 1 0 001 1h3m10-11l2 2m-2-2v10a1 1 0 01-1 1h-3m-6 0a1 1 0 001-1V10a1 1 0 00-1-1H7a1 1 0 00-1 1v10a1 1 0 001 1h2z"> | |
| </path> | |
| </svg> | |
| <div> | |
| <p class="text-xs text-text-secondary font-medium">TARGET</p> | |
| <p id="telemetry-target" class="text-sm sm:text-base font-bold text-text-primary">-</p> | |
| </div> | |
| </div> | |
| <div class="bg-detail-bg p-2 rounded-lg flex items-center gap-2"> | |
| <svg class="w-5 h-5 text-blue-500" fill="none" stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M9 12l2 2 4-4m6 2a9 9 0 11-18 0 9 9 0 0118 0z"></path> | |
| </svg> | |
| <div> | |
| <p class="text-xs text-text-secondary font-medium">STATUS</p> | |
| <p id="telemetry-status" class="text-sm sm:text-base font-bold text-text-primary">IDLE | |
| </p> | |
| </div> | |
| </div> | |
| <div class="bg-detail-bg p-2 rounded-lg flex items-center gap-2"> | |
| <svg class="w-5 h-5 text-blue-500" fill="none" stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M4 8h16M4 16h16"></path> | |
| </svg> | |
| <div> | |
| <p class="text-xs text-text-secondary font-medium">X-VECTOR (ROLL)</p> | |
| <p id="telemetry-x" class="text-sm sm:text-base font-bold text-text-primary">0.00</p> | |
| </div> | |
| </div> | |
| <div class="bg-detail-bg p-2 rounded-lg flex items-center gap-2"> | |
| <svg class="w-5 h-5 text-blue-500" fill="none" stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M8 4v16M16 4v16"></path> | |
| </svg> | |
| <div> | |
| <p class="text-xs text-text-secondary font-medium">Y-VECTOR (PITCH)</p> | |
| <p id="telemetry-y" class="text-sm sm:text-base font-bold text-text-primary">0.00</p> | |
| </div> | |
| </div> | |
| </div> | |
| </div> | |
| </div> | |
| <!-- Right Panel: AI Detector --> | |
| <div id="detector-card" | |
| class="bg-card-bg/50 dark:bg-card-bg/50 border border-border-color rounded-2xl p-4 md:p-6 flex flex-col"> | |
| <header class="flex justify-between items-center mb-4"> | |
| <h1 class="text-lg sm:text-xl md:text-2xl font-bold text-text-primary">AI Vision System</h1> | |
| </header> | |
| <div id="content-area" class="flex-grow flex flex-col min-h-0"> | |
| <div id="uploader-view" class="flex-grow flex flex-col"> | |
| <div id="drop-zone" | |
| class="flex-grow flex flex-col items-center justify-center border-2 border-dashed border-gray-300 dark:border-gray-600 rounded-2xl p-4 text-center cursor-pointer hover:border-blue-500 dark:hover:border-blue-400 hover:scale-[1.01] transition-all duration-300" | |
| tabindex="0"> | |
| <svg class="w-12 h-12 sm:w-16 sm:h-16 opacity-50 text-text-secondary" fill="none" | |
| stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="1.5" | |
| d="M7 16a4 4 0 01-.88-7.903A5 5 0 1115.9 6L16 6a5 5 0 011 9.9M15 13l-3-3m0 0l-3 3m3-3v12"> | |
| </path> | |
| </svg> | |
| <p class="mt-3 font-semibold text-text-primary">Drag & Drop Sky Image</p> | |
| <p class="text-xs sm:text-sm text-text-secondary mt-1">or</p> | |
| <label for="image-upload" | |
| class="mt-3 px-5 py-2 rounded-lg font-semibold text-white cursor-pointer transition-all duration-300 focus:outline-none focus:ring-2 focus:ring-offset-2 focus:ring-blue-500 text-sm" | |
| style="background: var(--primary-gradient);" | |
| onmouseover="this.style.background='var(--primary-hover-gradient)'" | |
| onmouseout="this.style.background='var(--primary-gradient)'"> | |
| Select File | |
| </label> | |
| <input type="file" id="image-upload" class="hidden" accept="image/*"> | |
| </div> | |
| <div class="mt-4"> | |
| <h3 class="text-sm font-semibold text-text-secondary text-center mb-2">Or Select a Preset | |
| </h3> | |
| <div id="preset-gallery" class="custom-scrollbar flex gap-2 overflow-x-auto pb-2"> | |
| </div> | |
| </div> | |
| </div> | |
| <div id="results-view" class="hidden flex-grow flex flex-col min-h-0"> | |
| <div class="relative mb-2 group"> | |
| <canvas id="output-canvas" class="w-full h-auto rounded-xl shadow-md"></canvas> | |
| <button id="reset-button" | |
| class="absolute top-2 right-2 w-9 h-9 bg-black/40 hover:bg-black/60 backdrop-blur-sm rounded-full flex items-center justify-center transition opacity-0 group-hover:opacity-100" | |
| title="Analyze another image"> | |
| <svg class="w-5 h-5 text-white" fill="none" stroke="currentColor" viewBox="0 0 24 24"> | |
| <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" | |
| d="M19 12H5M12 19l-7-7 7-7"></path> | |
| </svg> | |
| </button> | |
| </div> | |
| <div id="results-summary" class="flex-grow overflow-y-auto space-y-2 pr-2 custom-scrollbar"> | |
| </div> | |
| </div> | |
| </div> | |
| <footer id="status-footer" class="mt-4 text-center text-sm text-text-secondary h-5"></footer> | |
| </div> | |
| </div> | |
| </div> | |
| <!-- Toast Notification --> | |
| <div id="toast" | |
| class="fixed bottom-6 right-6 bg-red-600 text-white px-4 py-2 rounded-lg shadow-lg opacity-0 transform translate-y-4 pointer-events-none transition-all duration-300 z-50"> | |
| </div> | |
| <script> | |
| // --- DOM Elements --- | |
| const uploaderView = document.getElementById('uploader-view'); | |
| const resultsView = document.getElementById('results-view'); | |
| const dropZone = document.getElementById('drop-zone'); | |
| const imageUpload = document.getElementById('image-upload'); | |
| const outputCanvas = document.getElementById('output-canvas'); | |
| const resultsSummary = document.getElementById('results-summary'); | |
| const statusFooter = document.getElementById('status-footer'); | |
| const resetButton = document.getElementById('reset-button'); | |
| const themeSwitcher = document.getElementById('theme-switcher'); | |
| const sunIcon = document.getElementById('sun-icon'); | |
| const moonIcon = document.getElementById('moon-icon'); | |
| const modelLoadingOverlay = document.getElementById('model-loading-overlay'); | |
| const toast = document.getElementById('toast'); | |
| const presetGallery = document.getElementById('preset-gallery'); | |
| const simulationContainer = document.getElementById('simulation-container'); | |
| const telemetry = { | |
| target: document.getElementById('telemetry-target'), | |
| status: document.getElementById('telemetry-status'), | |
| x: document.getElementById('telemetry-x'), | |
| y: document.getElementById('telemetry-y'), | |
| }; | |
| let session; | |
| // --- Constants --- | |
| const MODEL_URL = "https://huggingface.co/aaurelions/yolo11n.onnx/resolve/main/yolo11n.onnx"; | |
| const COCO_CLASSES = ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light', 'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow', 'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee', 'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard', 'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple', 'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone', 'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush']; | |
| const TARGET_CLASS = 'airplane'; | |
| const COLORS = ["#3b82f6", "#ef4444", "#22c55e", "#f97316", "#8b5cf6", "#fde047", "#ec4899", "#14b8a6", "#64748b"]; | |
| // --- 3D Simulation Globals --- | |
| let scene, camera, renderer, quadcopter, targetAim, clock; | |
| let targetRotation = { x: 0, y: 0 }; | |
| let motorSpeeds3D = { fl: 0, fr: 0, rl: 0, rr: 0 }; | |
| // --- UI & Initialization Logic --- | |
| function showToast(message, duration = 3000) { | |
| toast.textContent = message; | |
| toast.classList.remove('opacity-0', 'translate-y-4'); | |
| setTimeout(() => { | |
| toast.classList.add('opacity-0', 'translate-y-4'); | |
| }, duration); | |
| } | |
| function showModelLoading(show) { | |
| modelLoadingOverlay.style.display = show ? 'flex' : 'none'; | |
| modelLoadingOverlay.classList.toggle('opacity-0', !show); | |
| } | |
| function setDarkMode(isDark) { | |
| document.documentElement.classList.toggle('dark', isDark); | |
| sunIcon.classList.toggle('hidden', isDark); | |
| moonIcon.classList.toggle('hidden', !isDark); | |
| localStorage.setItem('theme', isDark ? 'dark' : 'light'); | |
| // Update 3D materials if scene exists | |
| if (scene) { | |
| const newGridColor = isDark ? 0x444444 : 0xcccccc; | |
| scene.getObjectByName("grid").material.color.setHex(newGridColor); | |
| } | |
| } | |
| themeSwitcher.addEventListener('click', () => setDarkMode(!document.documentElement.classList.contains('dark'))); | |
| resetButton.addEventListener('click', () => { | |
| resultsView.classList.add('hidden'); | |
| uploaderView.classList.remove('hidden'); | |
| statusFooter.textContent = 'Model is ready. Select an image.'; | |
| imageUpload.value = ''; | |
| resetSimulation(); | |
| }); | |
| // --- Drag & Drop Logic --- | |
| ['dragenter', 'dragover'].forEach(eventName => { | |
| dropZone.addEventListener(eventName, (e) => { | |
| e.preventDefault(); | |
| dropZone.classList.add('ring-4', 'ring-blue-400', 'scale-105', 'border-solid'); | |
| }, false); | |
| }); | |
| ['dragleave', 'drop'].forEach(eventName => { | |
| dropZone.addEventListener(eventName, (e) => { | |
| e.preventDefault(); | |
| dropZone.classList.remove('ring-4', 'ring-blue-400', 'scale-105', 'border-solid'); | |
| }, false); | |
| }); | |
| dropZone.addEventListener('drop', (e) => { | |
| const file = e.dataTransfer.files[0]; | |
| if (file) handleFile(file); | |
| }); | |
| imageUpload.addEventListener('change', (e) => { if (e.target.files[0]) handleFile(e.target.files[0]); }); | |
| // --- 3D Scene Initialization --- | |
| function init3DScene() { | |
| scene = new THREE.Scene(); | |
| clock = new THREE.Clock(); | |
| // Camera | |
| camera = new THREE.PerspectiveCamera(75, simulationContainer.clientWidth / simulationContainer.clientHeight, 0.1, 1000); | |
| camera.position.set(0, 1.5, 4); | |
| camera.lookAt(0, 0, 0); | |
| // Renderer | |
| renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true }); | |
| renderer.setSize(simulationContainer.clientWidth, simulationContainer.clientHeight); | |
| renderer.setPixelRatio(window.devicePixelRatio); | |
| simulationContainer.appendChild(renderer.domElement); | |
| // Lighting | |
| const ambientLight = new THREE.AmbientLight(0xffffff, 0.7); | |
| scene.add(ambientLight); | |
| const directionalLight = new THREE.DirectionalLight(0xffffff, 0.8); | |
| directionalLight.position.set(5, 10, 7.5); | |
| scene.add(directionalLight); | |
| // Ground Grid | |
| const gridColor = document.documentElement.classList.contains('dark') ? 0x444444 : 0xcccccc; | |
| const grid = new THREE.GridHelper(20, 20, gridColor, gridColor); | |
| grid.name = "grid"; | |
| grid.position.y = -2; | |
| scene.add(grid); | |
| // Build Quadcopter from Primitives | |
| quadcopter = new THREE.Group(); | |
| const bodyMaterial = new THREE.MeshStandardMaterial({ color: 0x555555, roughness: 0.6 }); | |
| const armMaterial = new THREE.MeshStandardMaterial({ color: 0x333333, roughness: 0.7 }); | |
| const motorMaterial = new THREE.MeshStandardMaterial({ color: 0x777777, roughness: 0.5 }); | |
| const propMaterial = new THREE.MeshStandardMaterial({ color: 0x222222, transparent: true, opacity: 0.8, side: THREE.DoubleSide }); | |
| // Body | |
| const body = new THREE.Mesh(new THREE.CylinderGeometry(0.5, 0.4, 0.3, 16), bodyMaterial); | |
| quadcopter.add(body); | |
| // Arms | |
| const armGeometry = new THREE.BoxGeometry(2, 0.08, 0.08); | |
| const arm1 = new THREE.Mesh(armGeometry, armMaterial); | |
| arm1.rotation.y = Math.PI / 4; | |
| quadcopter.add(arm1); | |
| const arm2 = new THREE.Mesh(armGeometry, armMaterial); | |
| arm2.rotation.y = -Math.PI / 4; | |
| quadcopter.add(arm2); | |
| // Motors & Propellers | |
| const motorPositions = [ | |
| { x: 0.707, z: 0.707, name: 'fr' }, { x: -0.707, z: 0.707, name: 'fl' }, | |
| { x: 0.707, z: -0.707, name: 'rr' }, { x: -0.707, z: -0.707, name: 'rl' } | |
| ]; | |
| const propGeometry = new THREE.BoxGeometry(0.6, 0.02, 0.1); | |
| motorPositions.forEach(pos => { | |
| const motor = new THREE.Mesh(new THREE.CylinderGeometry(0.1, 0.1, 0.2, 8), motorMaterial); | |
| motor.position.set(pos.x * 1.1, 0.1, pos.z * 1.1); | |
| motor.rotation.x = Math.PI / 2; | |
| quadcopter.add(motor); | |
| const propellerGroup = new THREE.Group(); | |
| const blade1 = new THREE.Mesh(propGeometry, propMaterial); | |
| const blade2 = new THREE.Mesh(propGeometry, propMaterial); | |
| blade2.rotation.y = Math.PI / 2; | |
| propellerGroup.add(blade1, blade2); | |
| propellerGroup.position.set(pos.x * 1.1, 0.2, pos.z * 1.1); | |
| propellerGroup.name = `prop_${pos.name}`; | |
| quadcopter.add(propellerGroup); | |
| }); | |
| scene.add(quadcopter); | |
| // Target Aim | |
| const targetGeometry = new THREE.TorusGeometry(0.5, 0.05, 16, 100); | |
| const targetMaterial = new THREE.MeshBasicMaterial({ color: 0xff0000 }); | |
| targetAim = new THREE.Mesh(targetGeometry, targetMaterial); | |
| targetAim.visible = false; | |
| scene.add(targetAim); | |
| // Camera Controls (simple drag) | |
| let isDragging = false; | |
| let previousMousePosition = { x: 0, y: 0 }; | |
| renderer.domElement.addEventListener('mousedown', () => isDragging = true); | |
| renderer.domElement.addEventListener('mouseup', () => isDragging = false); | |
| renderer.domElement.addEventListener('mouseleave', () => isDragging = false); | |
| renderer.domElement.addEventListener('mousemove', e => { | |
| if (!isDragging) return; | |
| const deltaMove = { | |
| x: e.offsetX - previousMousePosition.x, | |
| y: e.offsetY - previousMousePosition.y | |
| }; | |
| const rotationSpeed = 0.005; | |
| quadcopter.rotation.y += deltaMove.x * rotationSpeed; | |
| quadcopter.rotation.x += deltaMove.y * rotationSpeed; | |
| previousMousePosition = { x: e.offsetX, y: e.offsetY }; | |
| }); | |
| renderer.domElement.addEventListener('wheel', e => { | |
| camera.position.z += e.deltaY * 0.01; | |
| camera.position.z = Math.max(2, Math.min(10, camera.position.z)); | |
| }); | |
| window.addEventListener('resize', onWindowResize, false); | |
| animate3D(); | |
| } | |
| function onWindowResize() { | |
| if (!renderer || !camera) return; | |
| const width = simulationContainer.clientWidth; | |
| const height = simulationContainer.clientHeight; | |
| camera.aspect = width / height; | |
| camera.updateProjectionMatrix(); | |
| renderer.setSize(width, height); | |
| } | |
| // --- 3D Animation Loop --- | |
| function animate3D() { | |
| requestAnimationFrame(animate3D); | |
| const delta = clock.getDelta(); | |
| const lerpFactor = delta * 5; // Smoothing factor for rotation | |
| // Smoothly interpolate quadcopter rotation towards the target | |
| quadcopter.rotation.x = THREE.MathUtils.lerp(quadcopter.rotation.x, targetRotation.x, lerpFactor); | |
| quadcopter.rotation.z = THREE.MathUtils.lerp(quadcopter.rotation.z, targetRotation.y, lerpFactor); // Map roll to Z-axis | |
| // Animate propellers based on motor speeds | |
| const rotationSpeedMultiplier = 0.5; | |
| Object.keys(motorSpeeds3D).forEach(key => { | |
| const prop = scene.getObjectByName(`prop_${key}`); | |
| if (prop) { | |
| const speed = motorSpeeds3D[key]; | |
| // Counter-rotate pairs for torque compensation visual | |
| const direction = (key === 'fr' || key === 'rl') ? 1 : -1; | |
| prop.rotation.y += (speed / 100) * rotationSpeedMultiplier * direction; | |
| } | |
| }); | |
| renderer.render(scene, camera); | |
| } | |
| // --- Quadcopter Simulation Logic --- | |
| function resetSimulation() { | |
| telemetry.target.textContent = '-'; | |
| telemetry.status.textContent = 'IDLE'; | |
| telemetry.x.textContent = '0.00'; | |
| telemetry.y.textContent = '0.00'; | |
| telemetry.status.classList.remove('text-green-500', 'text-red-500', 'text-yellow-500'); | |
| // Reset 3D state | |
| targetRotation.x = 0; | |
| targetRotation.y = 0; | |
| motorSpeeds3D = { fl: 0, fr: 0, rl: 0, rr: 0 }; | |
| if (targetAim) targetAim.visible = false; | |
| } | |
| function calculateMotorSpeeds(target, imageWidth, imageHeight) { | |
| const [x1, y1, x2, y2] = target.box; | |
| const targetX = x1 + (x2 - x1) / 2; | |
| const targetY = y1 + (y2 - y1) / 2; | |
| const normX = (targetX / imageWidth - 0.5) * 2; | |
| const normY = (targetY / imageHeight - 0.5) * 2; | |
| const BASE_SPEED = 60; | |
| const MANEUVER_INTENSITY = 25; | |
| const pitch_adjustment = normY * MANEUVER_INTENSITY; | |
| const roll_adjustment = normX * MANEUVER_INTENSITY; | |
| // Update motor speeds for 3D animation | |
| motorSpeeds3D = { | |
| fl: BASE_SPEED - pitch_adjustment - roll_adjustment, | |
| fr: BASE_SPEED - pitch_adjustment + roll_adjustment, | |
| rl: BASE_SPEED + pitch_adjustment - roll_adjustment, | |
| rr: BASE_SPEED + pitch_adjustment + roll_adjustment, | |
| }; | |
| // Update 3D target rotation (pitch = x-axis, roll = z-axis) | |
| const PITCH_FACTOR = Math.PI / 6; // Max 30 degrees pitch | |
| const ROLL_FACTOR = Math.PI / 6; // Max 30 degrees roll | |
| targetRotation.x = -normY * PITCH_FACTOR; // Invert Y for 3D coordinate system | |
| targetRotation.y = -normX * ROLL_FACTOR; | |
| // Position the 3D target aim helper | |
| const TARGET_DISTANCE = 10; | |
| const viewPlaneHeight = 2 * TARGET_DISTANCE * Math.tan(camera.fov * 0.5 * (Math.PI / 180)); | |
| const viewPlaneWidth = viewPlaneHeight * camera.aspect; | |
| targetAim.position.set(normX * (viewPlaneWidth / 2), -normY * (viewPlaneHeight / 2), -TARGET_DISTANCE); | |
| targetAim.lookAt(camera.position); | |
| targetAim.visible = true; | |
| // Update telemetry UI | |
| telemetry.target.textContent = 'AIRPLANE'; | |
| telemetry.status.textContent = 'TRACKING'; | |
| telemetry.status.classList.remove('text-red-500', 'text-yellow-500'); | |
| telemetry.status.classList.add('text-green-500'); | |
| telemetry.x.textContent = normX.toFixed(2); | |
| telemetry.y.textContent = normY.toFixed(2); | |
| } | |
| // --- Core AI & Rendering Logic --- | |
| async function handleFile(file) { | |
| if (!session) { showToast("AI Model is not loaded yet."); return; } | |
| if (!file || !file.type.startsWith('image/')) { showToast("Please select a valid image file."); return; } | |
| const image = new Image(); | |
| image.src = URL.createObjectURL(file); | |
| image.onload = () => { | |
| runAnalysis(image); | |
| URL.revokeObjectURL(image.src); | |
| }; | |
| image.onerror = () => { | |
| showToast("Could not load the selected image file."); | |
| statusFooter.textContent = "Error: Invalid image."; | |
| } | |
| } | |
| async function handleUrl(url) { | |
| if (!session) { showToast("AI Model is not loaded yet."); return; } | |
| const image = new Image(); | |
| image.crossOrigin = "anonymous"; | |
| image.src = url; | |
| image.onload = () => runAnalysis(image); | |
| image.onerror = () => { | |
| showToast(`Could not load image from URL: ${url}`); | |
| statusFooter.textContent = "Error: Invalid image URL."; | |
| }; | |
| } | |
| async function runAnalysis(image) { | |
| resetSimulation(); | |
| statusFooter.innerHTML = '<div class="flex items-center justify-center gap-2"><div class="animate-spin rounded-full h-4 w-4 border-b-2 border-text-primary"></div><span>Analyzing image...</span></div>'; | |
| uploaderView.classList.add('hidden'); | |
| resultsView.classList.remove('hidden'); | |
| try { | |
| const inputTensor = preprocess(image); | |
| const results = await session.run({ 'images': inputTensor }); | |
| const boxes = postprocess(results.output0, image.width, image.height); | |
| const finalBoxes = nonMaxSuppression(boxes, 0.5, 0.45); | |
| const airplanes = finalBoxes.filter(b => COCO_CLASSES[b.classId] === TARGET_CLASS); | |
| let primaryTarget = null; | |
| if (airplanes.length > 0) { | |
| primaryTarget = airplanes.sort((a, b) => b.confidence - a.confidence)[0]; | |
| calculateMotorSpeeds(primaryTarget, image.naturalWidth, image.naturalHeight); | |
| } else { | |
| telemetry.target.textContent = 'NONE'; | |
| telemetry.status.textContent = 'SCANNING'; | |
| telemetry.status.classList.add('text-yellow-500'); | |
| } | |
| drawDetections(image, finalBoxes, primaryTarget); | |
| displaySummary(finalBoxes); | |
| statusFooter.textContent = `Found ${finalBoxes.length} object(s). ${airplanes.length > 0 ? 'Target acquired.' : 'No target found.'}`; | |
| } catch (e) { | |
| console.error(e); | |
| showToast(`An error occurred: ${e.message}`); | |
| statusFooter.textContent = "Error during analysis."; | |
| resetButton.click(); | |
| } | |
| } | |
| function preprocess(img) { | |
| const canvas = document.createElement('canvas'); | |
| const modelWidth = 640, modelHeight = 640; | |
| canvas.width = modelWidth; | |
| canvas.height = modelHeight; | |
| const ctx = canvas.getContext('2d'); | |
| ctx.drawImage(img, 0, 0, modelWidth, modelHeight); | |
| const imageData = ctx.getImageData(0, 0, modelWidth, modelHeight); | |
| const float32Data = new Float32Array(1 * 3 * modelHeight * modelWidth); | |
| for (let i = 0, j = 0; i < imageData.data.length; i += 4, j++) { | |
| float32Data[j] = imageData.data[i] / 255.0; | |
| float32Data[modelWidth * modelHeight + j] = imageData.data[i + 1] / 255.0; | |
| float32Data[2 * modelWidth * modelHeight + j] = imageData.data[i + 2] / 255.0; | |
| } | |
| return new ort.Tensor('float32', float32Data, [1, 3, modelHeight, modelWidth]); | |
| } | |
| function postprocess(tensor, originalWidth, originalHeight) { | |
| const data = tensor.data; | |
| const boxes = []; | |
| const modelWidth = 640, modelHeight = 640; | |
| const xRatio = originalWidth / modelWidth; | |
| const yRatio = originalHeight / modelHeight; | |
| for (let i = 0; i < tensor.dims[2]; i++) { | |
| const classScores = []; | |
| for (let j = 0; j < COCO_CLASSES.length; j++) { | |
| classScores.push(data[(4 + j) * tensor.dims[2] + i]); | |
| } | |
| const maxScore = Math.max(...classScores); | |
| if (maxScore > 0.25) { | |
| const classId = classScores.indexOf(maxScore); | |
| const [cx, cy, w, h] = [data[i], data[tensor.dims[2] + i], data[2 * tensor.dims[2] + i], data[3 * tensor.dims[2] + i]]; | |
| const x1 = (cx - w / 2) * xRatio; | |
| const y1 = (cy - h / 2) * yRatio; | |
| const x2 = (cx + w / 2) * xRatio; | |
| const y2 = (cy + h / 2) * yRatio; | |
| boxes.push({ classId, confidence: maxScore, box: [x1, y1, x2, y2] }); | |
| } | |
| } | |
| return boxes; | |
| } | |
| function nonMaxSuppression(boxes, iouThreshold, scoreThreshold) { | |
| boxes.sort((a, b) => b.confidence - a.confidence); | |
| const finalBoxes = []; | |
| while (boxes.length > 0) { | |
| const current = boxes.shift(); | |
| if (current.confidence < scoreThreshold) continue; | |
| finalBoxes.push(current); | |
| boxes = boxes.filter(box => { | |
| if (box.classId !== current.classId) return true; | |
| const iou = calculateIoU(current.box, box.box); | |
| return iou <= iouThreshold; | |
| }); | |
| } | |
| return finalBoxes; | |
| } | |
| function calculateIoU(box1, box2) { | |
| const [x1, y1, x2, y2] = box1; | |
| const [x1_b, y1_b, x2_b, y2_b] = box2; | |
| const interX1 = Math.max(x1, x1_b); | |
| const interY1 = Math.max(y1, y1_b); | |
| const interX2 = Math.min(x2, x2_b); | |
| const interY2 = Math.min(y2, y2_b); | |
| const interArea = Math.max(0, interX2 - interX1) * Math.max(0, interY2 - interY1); | |
| const box1Area = (x2 - x1) * (y2 - y1); | |
| const box2Area = (x2_b - x1_b) * (y2_b - y1_b); | |
| const unionArea = box1Area + box2Area - interArea; | |
| return unionArea > 0 ? interArea / unionArea : 0; | |
| } | |
| function drawDetections(img, boxes, primaryTarget) { | |
| const ctx = outputCanvas.getContext('2d'); | |
| outputCanvas.width = img.naturalWidth; | |
| outputCanvas.height = img.naturalHeight; | |
| ctx.drawImage(img, 0, 0, outputCanvas.width, outputCanvas.height); | |
| boxes.forEach(det => { | |
| const isTarget = (det === primaryTarget); | |
| const [x1, y1, x2, y2] = det.box; | |
| const w = x2 - x1; | |
| const h = y2 - y1; | |
| const color = isTarget ? '#ef4444' : COLORS[det.classId % COLORS.length]; | |
| ctx.strokeStyle = color; | |
| ctx.lineWidth = isTarget ? Math.max(4, outputCanvas.width * 0.005) : Math.max(2, outputCanvas.width * 0.003); | |
| ctx.strokeRect(x1, y1, w, h); | |
| ctx.fillStyle = color; | |
| const label = `${COCO_CLASSES[det.classId]} (${(det.confidence * 100).toFixed(1)}%)`; | |
| const fontSize = Math.max(14, outputCanvas.width * 0.015); | |
| ctx.font = `bold ${fontSize}px sans-serif`; | |
| const textWidth = ctx.measureText(label).width; | |
| ctx.fillRect(x1 - (ctx.lineWidth / 2), y1 - (fontSize + 8), textWidth + 10, fontSize + 8); | |
| ctx.fillStyle = '#ffffff'; | |
| ctx.fillText(label, x1 + 5, y1 - 5); | |
| }); | |
| if (primaryTarget) { | |
| const [x1, y1, x2, y2] = primaryTarget.box; | |
| const targetX = x1 + (x2 - x1) / 2; | |
| const targetY = y1 + (y2 - y1) / 2; | |
| const centerX = outputCanvas.width / 2; | |
| const centerY = outputCanvas.height / 2; | |
| ctx.beginPath(); | |
| ctx.moveTo(centerX, centerY); | |
| ctx.lineTo(targetX, targetY); | |
| ctx.strokeStyle = 'rgba(239, 68, 68, 0.8)'; | |
| ctx.lineWidth = 3; | |
| ctx.setLineDash([10, 5]); | |
| ctx.stroke(); | |
| ctx.setLineDash([]); | |
| ctx.beginPath(); | |
| ctx.arc(centerX, centerY, 10, 0, 2 * Math.PI); | |
| ctx.fillStyle = 'rgba(255, 255, 255, 0.9)'; | |
| ctx.fill(); | |
| ctx.strokeStyle = 'rgba(239, 68, 68, 0.9)'; | |
| ctx.stroke(); | |
| } | |
| } | |
| function displaySummary(boxes) { | |
| resultsSummary.innerHTML = ''; | |
| if (boxes.length === 0) { | |
| resultsSummary.innerHTML = '<p class="text-text-secondary text-center">No objects detected.</p>'; | |
| return; | |
| } | |
| boxes.forEach(box => { | |
| const wrapper = document.createElement('div'); | |
| wrapper.className = 'bg-gray-500/10 rounded-lg p-2 flex items-center gap-3'; | |
| const color = COLORS[box.classId % COLORS.length]; | |
| const className = COCO_CLASSES[box.classId]; | |
| wrapper.innerHTML = ` | |
| <div class="w-1 h-8 rounded" style="background-color: ${color}"></div> | |
| <div class="flex-grow"> | |
| <div class="flex justify-between items-center"> | |
| <span class="font-semibold text-sm text-text-primary">${className}</span> | |
| <span class="font-mono text-xs text-text-primary bg-white/50 dark:bg-black/20 px-1.5 py-0.5 rounded">${(box.confidence * 100).toFixed(1)}%</span> | |
| </div> | |
| <p class="text-xs text-text-secondary font-mono"> | |
| Pos: ${Math.round(box.box[0])},${Math.round(box.box[1])} | |
| </p> | |
| </div>`; | |
| resultsSummary.appendChild(wrapper); | |
| }); | |
| } | |
| function populatePresetGallery() { | |
| for (let i = 1; i <= 10; i++) { | |
| const thumbSrc = `https://huggingface.co/spaces/aaurelions/quadrocopter/resolve/main/images/thumbnails/${i}.jpg`; | |
| const fullSrc = `https://huggingface.co/spaces/aaurelions/quadrocopter/resolve/main/images/${i}.jpg`; | |
| const img = document.createElement('img'); | |
| img.src = thumbSrc; | |
| img.className = "w-20 h-20 object-cover rounded-lg cursor-pointer border-2 border-transparent hover:border-blue-500 transition-all duration-200 flex-shrink-0"; | |
| img.loading = "lazy"; | |
| img.alt = `Preset Image ${i}`; | |
| img.onclick = () => handleUrl(fullSrc); | |
| img.onerror = () => { | |
| img.src = `https://placehold.co/80x80/e2e8f0/4b5563?text=Img+${i}`; | |
| img.onclick = null; | |
| }; | |
| presetGallery.appendChild(img); | |
| } | |
| } | |
| // --- App Initialization --- | |
| async function initialize() { | |
| setDarkMode(localStorage.getItem('theme') === 'dark' || (window.matchMedia('(prefers-color-scheme: dark)').matches && !localStorage.getItem('theme'))); | |
| init3DScene(); | |
| populatePresetGallery(); | |
| resetSimulation(); | |
| statusFooter.textContent = 'Initializing AI engine...'; | |
| showModelLoading(true); | |
| try { | |
| session = await ort.InferenceSession.create(MODEL_URL, { executionProviders: ['wasm'] }); | |
| statusFooter.textContent = 'Model is ready. Select an image.'; | |
| } catch (e) { | |
| console.error(e); | |
| statusFooter.textContent = `Error loading model: ${e.message}`; | |
| showToast(`Failed to load the AI model. Please refresh. ${e.message}`); | |
| } finally { | |
| showModelLoading(false); | |
| } | |
| } | |
| document.addEventListener('DOMContentLoaded', initialize); | |
| </script> | |
| </body> | |
| </html> |