diff --git a/jetson/main.py b/jetson/main.py
index 09ceb41..4cb4989 100644
--- a/jetson/main.py
+++ b/jetson/main.py
@@ -133,6 +133,7 @@ def auto_calibrate():
'debug_image': base64.b64encode(jpeg.tobytes()).decode('ascii'),
'lines_detected': {'across': n_across, 'along': n_along},
'points_matched': len(match['points_2d']),
+ 'matched_lines_3d': match.get('matched_lines_3d', []),
}
print(f"[CAM {sensor_id}] Calibrated! Camera at "
f"({cam_pos[0]:.2f}, {cam_pos[1]:.2f}, {cam_pos[2]:.2f}), "
@@ -359,13 +360,51 @@ def _match_court_lines(grouped, side, frame_w, frame_h):
points_2d.append(pt)
points_3d.append([across_3d_x[1], center_service_y, 0])
+ # Build list of matched 3D court lines for visualization
+ matched_lines_3d = []
+ # Baseline
+ matched_lines_3d.append({
+ 'name': 'baseline',
+ 'from': [across_3d_x[0], along_3d_y[0], 0],
+ 'to': [across_3d_x[0], along_3d_y[1], 0],
+ })
+ # Kitchen
+ matched_lines_3d.append({
+ 'name': 'kitchen',
+ 'from': [across_3d_x[1], along_3d_y[0], 0],
+ 'to': [across_3d_x[1], along_3d_y[1], 0],
+ })
+ # Left sideline
+ matched_lines_3d.append({
+ 'name': 'sideline_near',
+ 'from': [across_3d_x[0], along_3d_y[0], 0],
+ 'to': [across_3d_x[1], along_3d_y[0], 0],
+ })
+ # Right sideline
+ matched_lines_3d.append({
+ 'name': 'sideline_far',
+ 'from': [across_3d_x[0], along_3d_y[1], 0],
+ 'to': [across_3d_x[1], along_3d_y[1], 0],
+ })
+ # Center service (if detected)
+ if len(along_sorted) >= 3:
+ matched_lines_3d.append({
+ 'name': 'center_service',
+ 'from': [across_3d_x[0], center_service_y, 0],
+ 'to': [across_3d_x[1], center_service_y, 0],
+ })
+
if len(points_2d) < 4:
return {
'points_2d': None, 'points_3d': None,
+ 'matched_lines_3d': matched_lines_3d,
'error': f'Only {len(points_2d)} intersection points found (need >= 4)',
}
- return {'points_2d': points_2d, 'points_3d': points_3d, 'error': None}
+ return {
+ 'points_2d': points_2d, 'points_3d': points_3d,
+ 'matched_lines_3d': matched_lines_3d, 'error': None,
+ }
diff --git a/src/web/templates/index.html b/src/web/templates/index.html
index 0be2b37..871d6f4 100644
--- a/src/web/templates/index.html
+++ b/src/web/templates/index.html
@@ -335,6 +335,7 @@
border-radius: 4px;
border: 1px solid #333;
display: block;
+ cursor: pointer;
}
.cal-debug-card .cal-live {
opacity: 0.5;
@@ -356,6 +357,23 @@
z-index: 1;
}
+ /* Fullscreen image overlay */
+ .fullscreen-overlay {
+ display: none;
+ position: fixed;
+ top: 0; left: 0; right: 0; bottom: 0;
+ z-index: 1000;
+ background: rgba(0,0,0,0.95);
+ cursor: pointer;
+ align-items: center;
+ justify-content: center;
+ }
+ .fullscreen-overlay.show { display: flex; }
+ .fullscreen-overlay img {
+ max-width: 95vw;
+ max-height: 95vh;
+ object-fit: contain;
+ }
@@ -374,6 +392,9 @@
VAR: Close Call
+
+
![]()
+
@@ -533,6 +554,9 @@ function doCalibrate() {
fetch('/api/calibration/data')
.then(function(r) { return r.json(); })
.then(function(camData) { addCamerasToScene(camData); });
+
+ // Highlight detected court lines on 3D scene
+ if (data.result) highlightDetectedLines(data.result);
} else {
btn.textContent = 'Calibrate';
// Show errors
@@ -555,6 +579,15 @@ function doCalibrate() {
});
}
+// ===================== Fullscreen image viewer =====================
+document.querySelectorAll('.cal-debug-card img').forEach(function(img) {
+ img.addEventListener('click', function() {
+ if (!this.src || this.src === location.href) return;
+ document.getElementById('fullscreenImg').src = this.src;
+ document.getElementById('fullscreenOverlay').classList.add('show');
+ });
+});
+
var systemReady = false;
function updateCalibrationStatus() {
@@ -621,6 +654,38 @@ function addCamerasToScene(camData) {
}
}
+// ===================== Highlight detected court lines on 3D =====================
+var detectedLineMeshes = [];
+
+function highlightDetectedLines(calibResult) {
+ if (!courtSceneInitialized) return;
+
+ // Remove old highlights
+ detectedLineMeshes.forEach(function(m) { courtScene.remove(m); });
+ detectedLineMeshes = [];
+
+ var camColors = { '0': 0x44aaff, '1': 0xff44aa };
+
+ for (var sid in calibResult) {
+ var r = calibResult[sid];
+ var lines3d = r.matched_lines_3d || [];
+ var color = camColors[sid] || 0xffffff;
+
+ for (var i = 0; i < lines3d.length; i++) {
+ var l = lines3d[i];
+ var z = 0.08; // slightly above court surface
+ var geo = new THREE.BufferGeometry().setFromPoints([
+ new THREE.Vector3(l.from[0], l.from[1], z),
+ new THREE.Vector3(l.to[0], l.to[1], z)
+ ]);
+ var mat = new THREE.LineBasicMaterial({ color: color, linewidth: 3 });
+ var mesh = new THREE.Line(geo, mat);
+ courtScene.add(mesh);
+ detectedLineMeshes.push(mesh);
+ }
+ }
+}
+
// ===================== Camera frame polling =====================
var camPrefixes = { 'camera': 'cam', 'calibration': 'cal', 'trajectory': 'traj' };