@labelbee/lb-annotation 1.12.0-alpha.7 → 1.12.0-alpha.8

package/dist/_virtual/filterBoxWorker.js

@@ -1 +1 @@
-"use strict";var _rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory=require("./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js"),WorkerFactory=_rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory.createBase64WorkerFactory("Lyogcm9sbHVwLXBsdWdpbi13ZWItd29ya2VyLWxvYWRlciAqLwp2YXIgd29ya2VyX2NvZGU9ZnVuY3Rpb24oZil7InVzZSBzdHJpY3QiO2Z1bmN0aW9uIGMoaSxzLGw9MCl7bGV0IHg9MCx1LG8sdCxlO3M9Wy4uLnNdLGw9PT0xJiYocz1jcmVhdGVTbW9vdGhDdXJ2ZVBvaW50cyhzLnJlZHVjZSgoYSxuKT0+Wy4uLmEsbi54LG4ueV0sW10pLC41LCEwLFNFR01FTlRfTlVNQkVSKSksW3RdPXM7Y29uc3Qgcj1zLmxlbmd0aDtmb3IodT0xO3U8PXI7dSsrKWU9c1t1JXJdLGkueD5NYXRoLm1pbih0LngsZS54KSYmaS54PD1NYXRoLm1heCh0LngsZS54KSYmaS55PD1NYXRoLm1heCh0LnksZS55KSYmdC54IT09ZS54JiYobz0oaS54LXQueCkqKGUueS10LnkpLyhlLngtdC54KSt0LnksKHQueT09PWUueXx8aS55PD1vKSYmeCsrKSx0PWU7cmV0dXJuIHglMiE9MH1yZXR1cm4gb25tZXNzYWdlPWZ1bmN0aW9uKHMpe2NvbnN0e3pNaW46bCx6TWF4OngscG9seWdvblBvaW50TGlzdDp1LHBvc2l0aW9uOm8sY29sb3I6dH09cy5kYXRhLGU9W10scj1bXTtsZXQgYT0wO2ZvcihsZXQgbj0wO248by5sZW5ndGg7bis9Myl7Y29uc3QgaD1vW25dLE09b1tuKzFdLHk9b1tuKzJdO2Moe3g6aCx5Ok19LHUpJiZ5Pj1sJiZ5PD14JiYoZS5wdXNoKGgpLGUucHVzaChNKSxlLnB1c2goeSksci5wdXNoKHRbbl0pLHIucHVzaCh0W24rMV0pLHIucHVzaCh0W24rMl0pLGErKyl9dGhpcy5wb3N0TWVzc2FnZSh7cG9zaXRpb246ZSxjb2xvcjpyLG51bTphfSl9LGYuaXNJblBvbHlnb249YyxPYmplY3QuZGVmaW5lUHJvcGVydHkoZiwiX19lc01vZHVsZSIse3ZhbHVlOiEwfSksZn0oe30pOwoK",null,!1);module.exports=WorkerFactory;
+"use strict";var _rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory=require("./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js"),WorkerFactory=_rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory.createBase64WorkerFactory("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",null,!1);module.exports=WorkerFactory;

package/dist/core/pointCloud/cache.js

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var PCDLoader=require("./PCDLoader.js");class PointCloudCache{constructor(){this.MAX_SIZE=50,this.cacheList=[],this.loadPCDFile=e=>new Promise((s,a)=>{var i;const n=(i=this.pointsMap.get(e))==null?void 0:i.clone();if(n){s(n);return}if(this.cacheList.length>this.MAX_SIZE){const t=this.cacheList.shift();t&&this.pointsMap.delete(t.src)}this.cacheList.push({src:e}),this.pcdLoader.load(e,t=>{this.pointsMap.set(e,t.clone()),s(t)},()=>{},t=>{a(t)})}),this.pcdLoader=new PCDLoader.PCDLoader,this.pointsMap=new Map}static getInstance(){return this.instance==null&&(this.instance=new PointCloudCache),this.instance}}exports.PointCloudCache=PointCloudCache;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var PCDLoader=require("./PCDLoader.js");class PointCloudCache{constructor(){this.MAX_SIZE=50,this.cacheList=[],this.loadPCDFile=t=>new Promise((s,n)=>{const o=this.pointsMap.get(t),i=this.colorMap.get(t);if(o&&i){s({points:o,color:i});return}if(this.cacheList.length>this.MAX_SIZE){const e=this.cacheList.shift();e&&this.pointsMap.delete(e.src)}this.cacheList.push({src:t}),this.pcdLoader.load(t,e=>{const r=e.geometry.attributes.position.array,a=e.geometry.attributes.color.array;this.pointsMap.set(t,r),this.colorMap.set(t,a),s({points:r,color:a})},()=>{},e=>{n(e)})}),this.pcdLoader=new PCDLoader.PCDLoader,this.pointsMap=new Map,this.colorMap=new Map}static getInstance(){return this.instance==null&&(this.instance=new PointCloudCache),this.instance}updateColor(t,s){this.colorMap.set(t,s)}}exports.PointCloudCache=PointCloudCache;

package/dist/core/pointCloud/index.js

@@ -1,11 +1,11 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),highlightWorker$1=require("../../_virtual/highlightWorker.js"),filterBoxWorker=require("../../_virtual/filterBoxWorker.js"),polygonTool=require("../../utils/tool/polygonTool.js"),uuid=require("../../utils/uuid.js"),PCDLoader=require("./PCDLoader.js"),OrbitControls=require("./OrbitControls.js"),cache=require("./cache.js"),matrix=require("./matrix.js");require("../../constant/tool.js"),require("../../constant/annotation.js"),require("../../utils/MathUtils.js"),require("@turf/turf"),require("../../utils/tool/CommonToolUtils.js"),require("../../utils/tool/LineToolUtils.js"),require("../../utils/tool/DrawUtils.js"),require("../../constant/keyCode.js"),require("../../locales/index.js"),require("../../locales/constants.js"),require("lodash"),require("../../constant/style.js"),require("../../utils/tool/CanvasUtils.js"),require("../../utils/tool/ZoomUtils.js");function _interopNamespace(u){if(u&&u.__esModule)return u;var t=Object.create(null);return u&&Object.keys(u).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(u,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return u[e]}})}}),t.default=u,Object.freeze(t)}var THREE__namespace=_interopNamespace(THREE),__defProp=Object.defineProperty,__defProps=Object.defineProperties,__getOwnPropDescs=Object.getOwnPropertyDescriptors,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__defNormalProp=(u,t,e)=>t in u?__defProp(u,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):u[t]=e,__spreadValues=(u,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(u,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(u,e,t[e]);return u},__spreadProps=(u,t)=>__defProps(u,__getOwnPropDescs(t)),__async=(u,t,e)=>new Promise((i,n)=>{var s=o=>{try{r(e.next(o))}catch(c){n(c)}},a=o=>{try{r(e.throw(o))}catch(c){n(c)}},r=o=>o.done?i(o.value):Promise.resolve(o.value).then(s,a);r((e=e.apply(u,t)).next())});const DEFAULT_DISTANCE=30,highlightWorker=new highlightWorker$1({type:"module"});class PointCloud{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:n,backgroundColor:s="black",config:a}){this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.showDirection=!0,this.AddBoxToSense=(r,o=16777215)=>{var c;const h=(c=r.id)!=null?c:uuid();this.removeObjectByName(h);const{center:l,width:d,height:x,depth:g,rotation:m}=r,p=new THREE__namespace.Group,y=new THREE__namespace.BoxGeometry(d,x,g),w=new THREE__namespace.MeshBasicMaterial({color:"blue"}),f=new THREE__namespace.Mesh(y,w),b=new THREE__namespace.BoxHelper(f,o),C=this.generateBoxArrow(r);p.add(b),p.add(C),p.position.set(l.x,l.y,l.z),p.rotation.set(0,0,m),p.name=h,this.scene.add(p)},this.overridePointShader=r=>{r.vertexShader=`
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),highlightWorker$1=require("../../_virtual/highlightWorker.js"),filterBoxWorker=require("../../_virtual/filterBoxWorker.js"),polygonTool=require("../../utils/tool/polygonTool.js"),uuid=require("../../utils/uuid.js"),PCDLoader=require("./PCDLoader.js"),OrbitControls=require("./OrbitControls.js"),cache=require("./cache.js"),matrix=require("./matrix.js");require("../../constant/tool.js"),require("../../constant/annotation.js"),require("../../utils/MathUtils.js"),require("@turf/turf"),require("../../utils/tool/CommonToolUtils.js"),require("../../utils/tool/LineToolUtils.js"),require("../../utils/tool/DrawUtils.js"),require("../../constant/keyCode.js"),require("../../locales/index.js"),require("../../locales/constants.js"),require("lodash"),require("../../constant/style.js"),require("../../utils/tool/CanvasUtils.js"),require("../../utils/tool/ZoomUtils.js");function _interopNamespace(d){if(d&&d.__esModule)return d;var t=Object.create(null);return d&&Object.keys(d).forEach(function(e){if(e!=="default"){var r=Object.getOwnPropertyDescriptor(d,e);Object.defineProperty(t,e,r.get?r:{enumerable:!0,get:function(){return d[e]}})}}),t.default=d,Object.freeze(t)}var THREE__namespace=_interopNamespace(THREE),__defProp=Object.defineProperty,__defProps=Object.defineProperties,__getOwnPropDescs=Object.getOwnPropertyDescriptors,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__defNormalProp=(d,t,e)=>t in d?__defProp(d,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):d[t]=e,__spreadValues=(d,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(d,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(d,e,t[e]);return d},__spreadProps=(d,t)=>__defProps(d,__getOwnPropDescs(t)),__async=(d,t,e)=>new Promise((r,n)=>{var s=o=>{try{i(e.next(o))}catch(c){n(c)}},a=o=>{try{i(e.throw(o))}catch(c){n(c)}},i=o=>o.done?r(o.value):Promise.resolve(o.value).then(s,a);i((e=e.apply(d,t)).next())});const DEFAULT_DISTANCE=30,highlightWorker=new highlightWorker$1({type:"module"});class PointCloud{constructor({container:t,noAppend:e,isOrthographicCamera:r,orthographicParams:n,backgroundColor:s="black",config:a}){this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.showDirection=!0,this.AddBoxToSense=(i,o=16777215)=>{var c;const h=(c=i.id)!=null?c:uuid();this.removeObjectByName(h);const{center:l,width:u,height:m,depth:x,rotation:y}=i,p=new THREE__namespace.Group,w=new THREE__namespace.BoxGeometry(u,m,x),g=new THREE__namespace.MeshBasicMaterial({color:"blue"}),f=new THREE__namespace.Mesh(w,g),C=new THREE__namespace.BoxHelper(f,o),P=this.generateBoxArrow(i);p.add(C),p.add(P),p.position.set(l.x,l.y,l.z),p.rotation.set(0,0,y),p.name=h,this.scene.add(p)},this.overridePointShader=i=>{i.vertexShader=`
     attribute float sizes;
     attribute float visibility;
     varying float vVisible;
-  ${r.vertexShader}`.replace("gl_PointSize = size;",`gl_PointSize = size;
+  ${i.vertexShader}`.replace("gl_PointSize = size;",`gl_PointSize = size;
       vVisible = visibility;
-    `),r.fragmentShader=`
+    `),i.fragmentShader=`
     varying float vVisible;
-  ${r.fragmentShader}`.replace("#include <clipping_planes_fragment>",`
+  ${i.fragmentShader}`.replace("#include <clipping_planes_fragment>",`
       if (vVisible < 0.5) discard;
-    #include <clipping_planes_fragment>`)},this.loadPCDFile=(r,o)=>__async(this,null,function*(){this.clearPointCloud();const c=yield this.cacheInstance.loadPCDFile(r);c.name=this.pointCloudObjectName,this.renderPointCloud(c,o)}),this.loadPCDFileByBox=(r,o,c)=>__async(this,null,function*(){const h=d=>__async(this,null,function*(){const{width:x=0,height:g=0,depth:m=0}=c!=null?c:{},p=yield this.filterPointsByBox(__spreadProps(__spreadValues({},o),{width:o.width+x,height:o.height+g,depth:o.depth+m}),d);if(!p){console.error("filter Error");return}this.clearPointCloud();const y=new THREE__namespace.Points(p.geometry,d.material);y.name=this.pointCloudObjectName,this.scene.add(y),this.render()}),l=yield this.cacheInstance.loadPCDFile(r);h(l)}),this.generateRange=r=>{const o=this.createRange(r);this.scene.add(o)},this.generateBoxArrow=({width:r})=>{const o=new THREE__namespace.Vector3(1,0,0),c=new THREE__namespace.Vector3(r/2,0,0),h=2,l=16776960,d=new THREE__namespace.ArrowHelper(o,c,h,l);return d.visible=this.showDirection,d},this.generateBoxTrackID=r=>{if(!r.trackID)return;const o=new THREE__namespace.Texture(this.getTextCanvas(r.trackID.toString()));o.needsUpdate=!0;const c=new THREE__namespace.SpriteMaterial({map:o,depthWrite:!1}),h=new THREE__namespace.Sprite(c);return h.scale.set(5,5,5),h.position.set(-r.width/2,0,r.depth/2+.5),h},this.applyZAxisPoints=r=>{this.zAxisLimit=r,this.filterZAxisPoints(),this.render()},this.updatePointSize=r=>{const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return;const c=o.material.size;r?o.material.size=Math.min(c*1.2,10):o.material.size=Math.max(c/1.2,1),this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=s,this.config=a,i&&n?(this.isOrthographicCamera=!0,this.camera=new THREE__namespace.OrthographicCamera(n.left,n.right,n.top,n.bottom,n.near,n.far)):this.camera=new THREE__namespace.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new THREE__namespace.Scene,this.controls=new OrbitControls.OrbitControls(this.camera,this.renderer.domElement),this.pcdLoader=new PCDLoader.PCDLoader,this.axesHelper=new THREE__namespace.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=cache.PointCloudCache.getInstance()}get DEFAULT_INIT_CAMERA_POSITION(){return new THREE__namespace.Vector3(-.01,0,10)}get containerWidth(){return this.container.clientWidth}get containerHeight(){return this.container.clientHeight}setInitCameraPosition(t){this.initCameraPosition=t}setConfig(t){this.config=t}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:i,top:n,bottom:s,near:a,far:r}=t;this.camera.left=e,this.camera.right=i,this.camera.top=n,this.camera.bottom=s,this.camera.near=a,this.camera.far=r,this.camera.updateProjectionMatrix()}initPerspectiveCamera(){this.camera.type==="PerspectiveCamera"&&(this.camera.fov=30,this.camera.aspect=this.containerWidth/this.containerHeight,this.camera.near=1,this.camera.far=1e3,this.camera.updateProjectionMatrix())}initCamera(){const{camera:t}=this;if(this.isOrthographicCamera){const{x:e,y:i,z:n}=this.initCameraPosition;t.position.set(e,i,n)}else t.position.set(-1,0,500);t.up.set(0,0,1)}initControls(){const{controls:t}=this;t.addEventListener("change",()=>{this.render()}),this.setDefaultControls()}setDefaultControls(){const{controls:t}=this,e=[0,0,0];t.target=new THREE__namespace.Vector3(...e),t.addEventListener("change",()=>{this.render()}),t.maxPolarAngle=Math.PI/2,t.update()}initRenderer(){const{renderer:t}=this;t.setPixelRatio(window.devicePixelRatio),t.setSize(this.containerWidth,this.containerHeight)}init(){const{scene:t}=this;t.background=new THREE__namespace.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t){const e=this.scene.getObjectByName(t);e&&e.removeFromParent()}generateBox(t,e=16777215){const i=e;this.AddBoxToSense(t,i),this.render()}getAllAttributeColor(t){return t.reduce((e,i)=>(e[i.attribute]=lbUtils.toolStyleConverter.getColorFromConfig({attribute:i.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),e),{})}generateBoxes(t){t.forEach(e=>{this.generateBox(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:i,height:n}=t,s=10,a=e.x-i/2-s,r=e.x-i/2+s,o=e.y+n/2+s,c=e.y-n/2-s,h=100,l=-100,d=500/h;return{left:a,right:r,top:o,bottom:c,near:h,far:l,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e){const{center:i,width:n,height:s,depth:a,rotation:r}=t,o=this.getCameraVector(i,r,{width:n,height:s,depth:a},e);return this.updateCamera(o,i),o}updateOrthoCamera(t,e){const i=this.updateCameraByBox(t,e);return this.camera.zoom=1,this.camera.updateProjectionMatrix(),{cameraPositionVector:i}}updateTopCamera(){this.setInitCameraPosition(this.DEFAULT_INIT_CAMERA_POSITION),this.camera.zoom=1,this.initCamera(),this.setDefaultControls(),this.camera.updateProjectionMatrix(),this.render()}updateCamera(t,e){this.camera.position.set(t.x,t.y,t.z),this.controls.target=new THREE__namespace.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}createThreeMatrix4(t){return new THREE__namespace.Matrix4().set(...t)}filterPointsByBox(t,e){if(!e){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!i)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=i}if(window.Worker){const{zMin:i,zMax:n,polygonPointList:s}=matrix.getCuboidFromPointCloudBox(t),a=e.geometry.attributes.position.array,r=e.geometry.attributes.color.array,o={boxParams:t,zMin:i,zMax:n,polygonPointList:s,color:r,position:a};return new Promise(c=>{const h=new filterBoxWorker;h.postMessage(o),h.onmessage=l=>{const{color:d,position:x,num:g}=l.data,m=new THREE__namespace.BufferGeometry;m.setAttribute("position",new THREE__namespace.Float32BufferAttribute(x,3)),m.setAttribute("color",new THREE__namespace.Float32BufferAttribute(d,3)),m.computeBoundingSphere(),h.terminate(),c({geometry:m,num:g})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,n=lbUtils.EPerspectiveView.Front,s=DEFAULT_DISTANCE){let a=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(s);switch(n){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:a=lbUtils.PerspectiveShiftUtils.backViewMatrix4(s);break;case lbUtils.EPerspectiveView.Left:a=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(s);break;case lbUtils.EPerspectiveView.Right:a=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(s);break;case lbUtils.EPerspectiveView.Top:a=lbUtils.PerspectiveShiftUtils.topViewMatrix4(s);break;case lbUtils.EPerspectiveView.LFT:a=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(s,i);break;case lbUtils.EPerspectiveView.RBT:a=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(s,i);break}const r=this.createThreeMatrix4(a),o=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),c=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),h=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(r).applyMatrix4(o).applyMatrix4(h).applyMatrix4(c)}createRange(t){this.removeObjectByName(this.rangeObjectName);const i=new THREE__namespace.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),n=new THREE__namespace.BufferGeometry().setFromPoints(i),s=new THREE__namespace.LineBasicMaterial({color:16711680}),a=new THREE__namespace.Line(n,s);return a.name=this.rangeObjectName,a}renderPointCloud(t,e){t.material.size=1,t.name=this.pointCloudObjectName;const i=new THREE__namespace.PointsMaterial({vertexColors:!0});i.onBeforeCompile=this.overridePointShader,e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=i,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}highlightOriginPointCloud(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(!!e)return new Promise(i=>{if(window.Worker){const s=(t?[...t]:[]).map(o=>matrix.getCuboidFromPointCloudBox(o)),a=this.getAllAttributeColor(s),r={cuboidList:s,position:e.geometry.attributes.position.array,color:e.geometry.attributes.color.array,colorList:a};highlightWorker.postMessage(r),highlightWorker.onmessage=o=>{const{color:c}=o.data,h=new THREE__namespace.BufferAttribute(c,3);h.needsUpdate=!0,e.geometry.setAttribute("color",h),i(c),this.render()}}})}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const i=new THREE__namespace.BufferAttribute(t,3);i.needsUpdate=!0,e.geometry.setAttribute("color",i),this.render()}}setShowDirection(t){this.showDirection=t,this.scene.children.forEach(e=>{e.type==="Group"&&e.children.forEach(i=>{i.type==="ArrowHelper"&&(i.visible=t)})}),this.render()}getTextCanvas(t){const e=document.createElement("canvas"),i=e.getContext("2d");return i&&(i.font=`${50}px " bold`,i.fillStyle="white",i.textAlign="center",i.textBaseline="middle",i.fillText(t,e.width/2,e.height/2)),e}getSensesPointZAxisInPolygon(t,e){const i=this.scene.children.find(o=>o.uuid===this.pointsUuid);let n=0,s=0,a=0,r=0;if(i&&(i==null?void 0:i.geometry)){const o=i==null?void 0:i.geometry.attributes.position.array;for(let c=0;c<o.length;c+=3){const h=o[c],l=o[c+1],d=o[c+2];polygonTool.isInPolygon({x:h,y:l},t)&&d&&(s=Math.max(d,s),n=Math.min(d,n),r++,e&&d>=e[0]&&d<=e[1]&&a++)}}return{maxZ:s,minZ:n,count:a,zCount:r}}getBasicCoordinate2Canvas(t){const e=this.containerWidth/2,i=this.containerHeight/2;return{x:t.x*e+e,y:t.y*i+i,z:t.z}}get basicCoordinate2CanvasMatrix4(){const t=this.containerWidth/2,e=this.containerHeight/2;return new THREE__namespace.Matrix4().set(t,0,0,t,0,e,0,e,0,0,1,0,0,0,0,1)}getCanvas2BasicCoordinate(t){const e=this.containerWidth/2,i=this.containerHeight/2;return new THREE__namespace.Vector3(t.x/e-e/2,-(t.y/i-i/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:i,z:n},height:s,width:a,depth:r}=t,o={x:e+a/2,y:i+s/2,z:n-r/2},c={x:e+a/2,y:i+s/2,z:n+r/2},h={x:e-a/2,y:i+s/2,z:n+r/2},l={x:e-a/2,y:i+s/2,z:n-r/2};return[o,c,h,l]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:n},height:s,width:a,depth:r}=t,o={x:e-a/2,y:i+s/2,z:n+r/2},c={x:e-a/2,y:i+s/2,z:n-r/2},h={x:e-a/2,y:i-s/2,z:n-r/2},l={x:e-a/2,y:i-s/2,z:n+r/2};return[o,c,h,l]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:n},height:s,width:a,depth:r}=t,o={x:e+a/2,y:i+s/2,z:n+r/2},c={x:e+a/2,y:i-s/2,z:n+r/2},h={x:e-a/2,y:i-s/2,z:n+r/2},l={x:e-a/2,y:i+s/2,z:n+r/2};return[o,c,h,l]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:n},rotation:s}=t,a=new THREE__namespace.Matrix4().makeTranslation(-e,-i,-n),r=new THREE__namespace.Matrix4().makeTranslation(e,i,n),o=new THREE__namespace.Matrix4().makeRotationZ(s);return new THREE__namespace.Matrix4().multiply(r).multiply(o).multiply(a)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Back)}boxParams2ViewPolygon(t,e){switch(e){case lbUtils.EPerspectiveView.Left:return this.getPolygonSidePoints(t);case lbUtils.EPerspectiveView.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const i=this.boxParams2ViewPolygon(t,e),{width:n,height:s}=t,a=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),r=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=r;const o=i.map(l=>new THREE__namespace.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.sideMatrix)),c=this.containerWidth/n,h=this.containerHeight/s;return{polygon2d:o,zoom:Math.min(c,h)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,s=this.getPolygonTopPoints(t).map(o=>new THREE__namespace.Vector3(o.x,o.y,o.z)).map(o=>o.applyMatrix4(this.getModelTransformationMatrix(t))).map(o=>({x:o.y,y:o.x})).map(o=>({x:-(o.x-this.containerWidth/2),y:-(o.y-this.containerHeight/2)})),a=this.containerWidth/e,r=this.containerHeight/i;return{polygon2d:s,zoom:Math.min(a,r)/2}}getNewBoxBySideUpdate(t,e,i,n){const s=new THREE__namespace.Matrix4().makeRotationZ(n.rotation),a=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(s);let r=n;return r.center={x:r.center.x+a.x,y:r.center.y+a.y,z:r.center.z-t.z},r=__spreadProps(__spreadValues({},r),{width:r.width+e,height:r.height,depth:r.depth+i}),{newBoxParams:r}}getNewBoxByBackUpdate(t,e,i,n){const s=new THREE__namespace.Matrix4().makeRotationZ(n.rotation),a=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(s);let r=n;return r.center={x:r.center.x+a.x,y:r.center.y+a.y,z:r.center.z-t.z},r=__spreadProps(__spreadValues({},r),{width:r.width,height:r.height+e,depth:r.depth+i}),{newBoxParams:r}}getNewBoxBySideUpdateByPoints(t,e,i,n){var s;const a=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const r=t.map(p=>new THREE__namespace.Vector3(p.x,p.y,p.z)).map(p=>p.applyMatrix4(a)),[o,c,h,l]=r,d=Math.max(Math.abs(o.x-h.x),Math.abs(o.x-c.x)),g=c.add(l).applyMatrix3(new THREE__namespace.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new THREE__namespace.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new THREE__namespace.Vector3(n.center.x,n.center.y,n.center.z));return{newBoxParams:__spreadProps(__spreadValues({},n),{center:{x:n.center.x-g.x,y:n.center.y-g.y,z:n.center.z-i},width:d,height:n.height,depth:n.depth+e,rotation:n.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(i=>i.uuid===this.pointsUuid);if(e){const{attributes:i}=e.geometry,{position:n}=i,s=[],{count:a}=n;for(let r=0;r<a;r++){const o=n.getZ(r);s.push(o>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new THREE__namespace.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.lidar2image=matrix.lidar2image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;
+    #include <clipping_planes_fragment>`)},this.loadPCDFile=(i,o)=>__async(this,null,function*(){this.clearPointCloud(),this.currentPCDSrc=i;const{points:c,color:h}=yield this.cacheInstance.loadPCDFile(i),l=new THREE__namespace.BufferGeometry;l.setAttribute("position",new THREE__namespace.BufferAttribute(c,3)),l.setAttribute("color",new THREE__namespace.BufferAttribute(h,3));const u=new THREE__namespace.Points(l);this.renderPointCloud(u,o)}),this.loadPCDFileByBox=(i,o,c)=>__async(this,null,function*(){const h=(m,x)=>__async(this,null,function*(){const{width:y=0,height:p=0,depth:w=0}=c!=null?c:{},g=yield this.filterPointsByBox(__spreadProps(__spreadValues({},o),{width:o.width+y,height:o.height+p,depth:o.depth+w}),m,x);if(!g){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=i;const f=new THREE__namespace.Points(g.geometry);f.name=this.pointCloudObjectName,this.scene.add(f),this.render()}),{points:l,color:u}=yield this.cacheInstance.loadPCDFile(i);h(l,u)}),this.generateRange=i=>{const o=this.createRange(i);this.scene.add(o)},this.generateBoxArrow=({width:i})=>{const o=new THREE__namespace.Vector3(1,0,0),c=new THREE__namespace.Vector3(i/2,0,0),h=2,l=16776960,u=new THREE__namespace.ArrowHelper(o,c,h,l);return u.visible=this.showDirection,u},this.generateBoxTrackID=i=>{if(!i.trackID)return;const o=new THREE__namespace.Texture(this.getTextCanvas(i.trackID.toString()));o.needsUpdate=!0;const c=new THREE__namespace.SpriteMaterial({map:o,depthWrite:!1}),h=new THREE__namespace.Sprite(c);return h.scale.set(5,5,5),h.position.set(-i.width/2,0,i.depth/2+.5),h},this.applyZAxisPoints=i=>{this.zAxisLimit=i,this.filterZAxisPoints(),this.render()},this.updatePointSize=i=>{const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return;const c=o.material.size;i?o.material.size=Math.min(c*1.2,10):o.material.size=Math.max(c/1.2,1),this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=s,this.config=a,r&&n?(this.isOrthographicCamera=!0,this.camera=new THREE__namespace.OrthographicCamera(n.left,n.right,n.top,n.bottom,n.near,n.far)):this.camera=new THREE__namespace.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new THREE__namespace.Scene,this.controls=new OrbitControls.OrbitControls(this.camera,this.renderer.domElement),this.pcdLoader=new PCDLoader.PCDLoader,this.axesHelper=new THREE__namespace.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=cache.PointCloudCache.getInstance()}get DEFAULT_INIT_CAMERA_POSITION(){return new THREE__namespace.Vector3(-.01,0,10)}get containerWidth(){return this.container.clientWidth}get containerHeight(){return this.container.clientHeight}setInitCameraPosition(t){this.initCameraPosition=t}setConfig(t){this.config=t}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:r,top:n,bottom:s,near:a,far:i}=t;this.camera.left=e,this.camera.right=r,this.camera.top=n,this.camera.bottom=s,this.camera.near=a,this.camera.far=i,this.camera.updateProjectionMatrix()}initPerspectiveCamera(){this.camera.type==="PerspectiveCamera"&&(this.camera.fov=30,this.camera.aspect=this.containerWidth/this.containerHeight,this.camera.near=1,this.camera.far=1e3,this.camera.updateProjectionMatrix())}initCamera(){const{camera:t}=this;if(this.isOrthographicCamera){const{x:e,y:r,z:n}=this.initCameraPosition;t.position.set(e,r,n)}else t.position.set(-1,0,500);t.up.set(0,0,1)}initControls(){const{controls:t}=this;t.addEventListener("change",()=>{this.render()}),this.setDefaultControls()}setDefaultControls(){const{controls:t}=this,e=[0,0,0];t.target=new THREE__namespace.Vector3(...e),t.addEventListener("change",()=>{this.render()}),t.maxPolarAngle=Math.PI/2,t.update()}initRenderer(){const{renderer:t}=this;t.setPixelRatio(window.devicePixelRatio),t.setSize(this.containerWidth,this.containerHeight)}init(){const{scene:t}=this;t.background=new THREE__namespace.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t){const e=this.scene.getObjectByName(t);e&&e.removeFromParent()}generateBox(t,e=16777215){const r=e;this.AddBoxToSense(t,r),this.render()}getAllAttributeColor(t){return t.reduce((e,r)=>(e[r.attribute]=lbUtils.toolStyleConverter.getColorFromConfig({attribute:r.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),e),{})}generateBoxes(t){t.forEach(e=>{this.generateBox(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:r,height:n}=t,s=10,a=e.x-r/2-s,i=e.x-r/2+s,o=e.y+n/2+s,c=e.y-n/2-s,h=100,l=-100,u=500/h;return{left:a,right:i,top:o,bottom:c,near:h,far:l,zoom:u}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e){const{center:r,width:n,height:s,depth:a,rotation:i}=t,o=this.getCameraVector(r,i,{width:n,height:s,depth:a},e);return this.updateCamera(o,r),o}updateOrthoCamera(t,e){const r=this.updateCameraByBox(t,e);return this.camera.zoom=1,this.camera.updateProjectionMatrix(),{cameraPositionVector:r}}updateTopCamera(){this.setInitCameraPosition(this.DEFAULT_INIT_CAMERA_POSITION),this.camera.zoom=1,this.initCamera(),this.setDefaultControls(),this.camera.updateProjectionMatrix(),this.render()}updateCamera(t,e){this.camera.position.set(t.x,t.y,t.z),this.controls.target=new THREE__namespace.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}createThreeMatrix4(t){return new THREE__namespace.Matrix4().set(...t)}filterPointsByBox(t,e,r){var n,s,a;if(!e){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!i)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(a=(s=(n=i==null?void 0:i.geometry)==null?void 0:n.attributes)==null?void 0:s.position)==null?void 0:a.array}if(window.Worker){const{zMin:i,zMax:o,polygonPointList:c}=matrix.getCuboidFromPointCloudBox(t),l={boxParams:t,zMin:i,zMax:o,polygonPointList:c,color:r,position:e};return new Promise(u=>{const m=new filterBoxWorker;m.postMessage(l),m.onmessage=x=>{const{color:y,position:p,num:w}=x.data,g=new THREE__namespace.BufferGeometry;g.setAttribute("position",new THREE__namespace.Float32BufferAttribute(p,3)),g.setAttribute("color",new THREE__namespace.Float32BufferAttribute(y,3)),g.computeBoundingSphere(),m.terminate(),u({geometry:g,num:w})}})}return Promise.resolve(void 0)}getCameraVector(t,e,r,n=lbUtils.EPerspectiveView.Front,s=DEFAULT_DISTANCE){let a=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(s);switch(n){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:a=lbUtils.PerspectiveShiftUtils.backViewMatrix4(s);break;case lbUtils.EPerspectiveView.Left:a=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(s);break;case lbUtils.EPerspectiveView.Right:a=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(s);break;case lbUtils.EPerspectiveView.Top:a=lbUtils.PerspectiveShiftUtils.topViewMatrix4(s);break;case lbUtils.EPerspectiveView.LFT:a=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(s,r);break;case lbUtils.EPerspectiveView.RBT:a=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(s,r);break}const i=this.createThreeMatrix4(a),o=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),c=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),h=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(i).applyMatrix4(o).applyMatrix4(h).applyMatrix4(c)}createRange(t){this.removeObjectByName(this.rangeObjectName);const r=new THREE__namespace.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),n=new THREE__namespace.BufferGeometry().setFromPoints(r),s=new THREE__namespace.LineBasicMaterial({color:16711680}),a=new THREE__namespace.Line(n,s);return a.name=this.rangeObjectName,a}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const r=new THREE__namespace.PointsMaterial({vertexColors:!0});r.onBeforeCompile=this.overridePointShader,r.size=1.2,e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=r,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}highlightOriginPointCloud(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(!!e)return this.highlightPCDSrc=this.currentPCDSrc,new Promise(r=>{if(window.Worker){const s=(t?[...t]:[]).map(o=>matrix.getCuboidFromPointCloudBox(o)),a=this.getAllAttributeColor(s),i={cuboidList:s,position:e.geometry.attributes.position.array,color:e.geometry.attributes.color.array,colorList:a};highlightWorker.postMessage(i),highlightWorker.onmessage=o=>{const{color:c}=o.data,h=new THREE__namespace.BufferAttribute(c,3);this.highlightPCDSrc&&(this.cacheInstance.updateColor(this.highlightPCDSrc,c),this.highlightPCDSrc=void 0),h.needsUpdate=!0,e.geometry.setAttribute("color",h),r(c),this.render()}}})}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const r=new THREE__namespace.BufferAttribute(t,3);r.needsUpdate=!0,e.geometry.setAttribute("color",r),this.render()}}setShowDirection(t){this.showDirection=t,this.scene.children.forEach(e=>{e.type==="Group"&&e.children.forEach(r=>{r.type==="ArrowHelper"&&(r.visible=t)})}),this.render()}getTextCanvas(t){const e=document.createElement("canvas"),r=e.getContext("2d");return r&&(r.font=`${50}px " bold`,r.fillStyle="white",r.textAlign="center",r.textBaseline="middle",r.fillText(t,e.width/2,e.height/2)),e}getSensesPointZAxisInPolygon(t,e){const r=this.scene.children.find(o=>o.uuid===this.pointsUuid);let n=0,s=0,a=0,i=0;if(r&&(r==null?void 0:r.geometry)){const o=r==null?void 0:r.geometry.attributes.position.array;for(let c=0;c<o.length;c+=3){const h=o[c],l=o[c+1],u=o[c+2];polygonTool.isInPolygon({x:h,y:l},t)&&u&&(s=Math.max(u,s),n=Math.min(u,n),i++,e&&u>=e[0]&&u<=e[1]&&a++)}}return{maxZ:s,minZ:n,count:a,zCount:i}}getBasicCoordinate2Canvas(t){const e=this.containerWidth/2,r=this.containerHeight/2;return{x:t.x*e+e,y:t.y*r+r,z:t.z}}get basicCoordinate2CanvasMatrix4(){const t=this.containerWidth/2,e=this.containerHeight/2;return new THREE__namespace.Matrix4().set(t,0,0,t,0,e,0,e,0,0,1,0,0,0,0,1)}getCanvas2BasicCoordinate(t){const e=this.containerWidth/2,r=this.containerHeight/2;return new THREE__namespace.Vector3(t.x/e-e/2,-(t.y/r-r/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n-i/2},c={x:e+a/2,y:r+s/2,z:n+i/2},h={x:e-a/2,y:r+s/2,z:n+i/2},l={x:e-a/2,y:r+s/2,z:n-i/2};return[o,c,h,l]}getPolygonBackPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e-a/2,y:r+s/2,z:n+i/2},c={x:e-a/2,y:r+s/2,z:n-i/2},h={x:e-a/2,y:r-s/2,z:n-i/2},l={x:e-a/2,y:r-s/2,z:n+i/2};return[o,c,h,l]}getPolygonTopPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n+i/2},c={x:e+a/2,y:r-s/2,z:n+i/2},h={x:e-a/2,y:r-s/2,z:n+i/2},l={x:e-a/2,y:r+s/2,z:n+i/2};return[o,c,h,l]}getModelTransformationMatrix(t){const{center:{x:e,y:r,z:n},rotation:s}=t,a=new THREE__namespace.Matrix4().makeTranslation(-e,-r,-n),i=new THREE__namespace.Matrix4().makeTranslation(e,r,n),o=new THREE__namespace.Matrix4().makeRotationZ(s);return new THREE__namespace.Matrix4().multiply(i).multiply(o).multiply(a)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Back)}boxParams2ViewPolygon(t,e){switch(e){case lbUtils.EPerspectiveView.Left:return this.getPolygonSidePoints(t);case lbUtils.EPerspectiveView.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const r=this.boxParams2ViewPolygon(t,e),{width:n,height:s}=t,a=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),i=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=i;const o=r.map(l=>new THREE__namespace.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.sideMatrix)),c=this.containerWidth/n,h=this.containerHeight/s;return{polygon2d:o,zoom:Math.min(c,h)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:r}=t,s=this.getPolygonTopPoints(t).map(o=>new THREE__namespace.Vector3(o.x,o.y,o.z)).map(o=>o.applyMatrix4(this.getModelTransformationMatrix(t))).map(o=>({x:o.y,y:o.x})).map(o=>({x:-(o.x-this.containerWidth/2),y:-(o.y-this.containerHeight/2)})),a=this.containerWidth/e,i=this.containerHeight/r;return{polygon2d:s,zoom:Math.min(a,i)/2}}getNewBoxBySideUpdate(t,e,r,n){const s=new THREE__namespace.Matrix4().makeRotationZ(n.rotation),a=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=__spreadProps(__spreadValues({},i),{width:i.width+e,height:i.height,depth:i.depth+r}),{newBoxParams:i}}getNewBoxByBackUpdate(t,e,r,n){const s=new THREE__namespace.Matrix4().makeRotationZ(n.rotation),a=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=__spreadProps(__spreadValues({},i),{width:i.width,height:i.height+e,depth:i.depth+r}),{newBoxParams:i}}getNewBoxBySideUpdateByPoints(t,e,r,n){var s;const a=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const i=t.map(p=>new THREE__namespace.Vector3(p.x,p.y,p.z)).map(p=>p.applyMatrix4(a)),[o,c,h,l]=i,u=Math.max(Math.abs(o.x-h.x),Math.abs(o.x-c.x)),x=c.add(l).applyMatrix3(new THREE__namespace.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new THREE__namespace.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new THREE__namespace.Vector3(n.center.x,n.center.y,n.center.z));return{newBoxParams:__spreadProps(__spreadValues({},n),{center:{x:n.center.x-x.x,y:n.center.y-x.y,z:n.center.z-r},width:u,height:n.height,depth:n.depth+e,rotation:n.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(r=>r.uuid===this.pointsUuid);if(e){const{attributes:r}=e.geometry,{position:n}=r,s=[],{count:a}=n;for(let i=0;i<a;i++){const o=n.getZ(i);s.push(o>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new THREE__namespace.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.lidar2image=matrix.lidar2image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;

package/dist/types/core/pointCloud/cache.d.ts

@@ -8,9 +8,19 @@ export declare class PointCloudCache {
     pcdLoader: PCDLoader;
     MAX_SIZE: number;
     private pointsMap;
+    private colorMap;
     private cacheList;
     private static instance;
     private constructor();
     static getInstance(): PointCloudCache;
-    loadPCDFile: (src: string) => Promise<THREE.Points>;
+    /**
+     * Directly update the color of PointCloud
+     * @param src
+     * @param color
+     */
+    updateColor(src: string, color: Float32Array): void;
+    loadPCDFile: (src: string) => Promise<{
+        points: Float32Array;
+        color: Float32Array;
+    }>;
 }

package/dist/types/core/pointCloud/index.d.ts

@@ -47,6 +47,13 @@ export declare class PointCloud {
     private rangeObjectName;
     private cacheInstance;
     private showDirection;
+    private currentPCDSrc?;
+    /**
+     * Record the src of Highlight PCD.
+     *
+     * Avoiding src error problems caused by asynchronous
+     */
+    private highlightPCDSrc?;
     constructor({ container, noAppend, isOrthographicCamera, orthographicParams, backgroundColor, config, }: IProps);
     get DEFAULT_INIT_CAMERA_POSITION(): THREE.Vector3;
     get containerWidth(): number;
@@ -127,7 +134,7 @@ export declare class PointCloud {
      * @param color
      * @returns
      */
-    filterPointsByBox(boxParams: IPointCloudBox, points?: THREE.Points): Promise<{
+    filterPointsByBox(boxParams: IPointCloudBox, points?: Float32Array, color?: Float32Array): Promise<{
         geometry: any;
         num: number;
     } | undefined>;

package/es/_virtual/filterBoxWorker.js

@@ -1 +1 @@
-import{createBase64WorkerFactory as L}from"./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js";var b=L("Lyogcm9sbHVwLXBsdWdpbi13ZWItd29ya2VyLWxvYWRlciAqLwp2YXIgd29ya2VyX2NvZGU9ZnVuY3Rpb24oZil7InVzZSBzdHJpY3QiO2Z1bmN0aW9uIGMoaSxzLGw9MCl7bGV0IHg9MCx1LG8sdCxlO3M9Wy4uLnNdLGw9PT0xJiYocz1jcmVhdGVTbW9vdGhDdXJ2ZVBvaW50cyhzLnJlZHVjZSgoYSxuKT0+Wy4uLmEsbi54LG4ueV0sW10pLC41LCEwLFNFR01FTlRfTlVNQkVSKSksW3RdPXM7Y29uc3Qgcj1zLmxlbmd0aDtmb3IodT0xO3U8PXI7dSsrKWU9c1t1JXJdLGkueD5NYXRoLm1pbih0LngsZS54KSYmaS54PD1NYXRoLm1heCh0LngsZS54KSYmaS55PD1NYXRoLm1heCh0LnksZS55KSYmdC54IT09ZS54JiYobz0oaS54LXQueCkqKGUueS10LnkpLyhlLngtdC54KSt0LnksKHQueT09PWUueXx8aS55PD1vKSYmeCsrKSx0PWU7cmV0dXJuIHglMiE9MH1yZXR1cm4gb25tZXNzYWdlPWZ1bmN0aW9uKHMpe2NvbnN0e3pNaW46bCx6TWF4OngscG9seWdvblBvaW50TGlzdDp1LHBvc2l0aW9uOm8sY29sb3I6dH09cy5kYXRhLGU9W10scj1bXTtsZXQgYT0wO2ZvcihsZXQgbj0wO248by5sZW5ndGg7bis9Myl7Y29uc3QgaD1vW25dLE09b1tuKzFdLHk9b1tuKzJdO2Moe3g6aCx5Ok19LHUpJiZ5Pj1sJiZ5PD14JiYoZS5wdXNoKGgpLGUucHVzaChNKSxlLnB1c2goeSksci5wdXNoKHRbbl0pLHIucHVzaCh0W24rMV0pLHIucHVzaCh0W24rMl0pLGErKyl9dGhpcy5wb3N0TWVzc2FnZSh7cG9zaXRpb246ZSxjb2xvcjpyLG51bTphfSl9LGYuaXNJblBvbHlnb249YyxPYmplY3QuZGVmaW5lUHJvcGVydHkoZiwiX19lc01vZHVsZSIse3ZhbHVlOiEwfSksZn0oe30pOwoK",null,!1);export{b as default};
+import{createBase64WorkerFactory as d}from"./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js";var b=d("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",null,!1);export{b as default};

package/es/core/pointCloud/cache.js

@@ -1 +1 @@
-import{PCDLoader as c}from"./PCDLoader.js";class s{constructor(){this.MAX_SIZE=50,this.cacheList=[],this.loadPCDFile=i=>new Promise((e,h)=>{var n;const a=(n=this.pointsMap.get(i))==null?void 0:n.clone();if(a){e(a);return}if(this.cacheList.length>this.MAX_SIZE){const t=this.cacheList.shift();t&&this.pointsMap.delete(t.src)}this.cacheList.push({src:i}),this.pcdLoader.load(i,t=>{this.pointsMap.set(i,t.clone()),e(t)},()=>{},t=>{h(t)})}),this.pcdLoader=new c,this.pointsMap=new Map}static getInstance(){return this.instance==null&&(this.instance=new s),this.instance}}export{s as PointCloudCache};
+import{PCDLoader as h}from"./PCDLoader.js";class i{constructor(){this.MAX_SIZE=50,this.cacheList=[],this.loadPCDFile=t=>new Promise((s,c)=>{const e=this.pointsMap.get(t),a=this.colorMap.get(t);if(e&&a){s({points:e,color:a});return}if(this.cacheList.length>this.MAX_SIZE){const o=this.cacheList.shift();o&&this.pointsMap.delete(o.src)}this.cacheList.push({src:t}),this.pcdLoader.load(t,o=>{const n=o.geometry.attributes.position.array,r=o.geometry.attributes.color.array;this.pointsMap.set(t,n),this.colorMap.set(t,r),s({points:n,color:r})},()=>{},o=>{c(o)})}),this.pcdLoader=new h,this.pointsMap=new Map,this.colorMap=new Map}static getInstance(){return this.instance==null&&(this.instance=new i),this.instance}updateColor(t,s){this.colorMap.set(t,s)}}export{i as PointCloudCache};

package/es/core/pointCloud/index.js

@@ -1,4 +1,4 @@
-import*as c from"three";import{toolStyleConverter as V,PerspectiveShiftUtils as f,EPerspectiveView as g}from"@labelbee/lb-utils";import k from"../../_virtual/highlightWorker.js";import L from"../../_virtual/filterBoxWorker.js";import{isInPolygon as N}from"../../utils/tool/polygonTool.js";import I from"../../utils/uuid.js";import{PCDLoader as S}from"./PCDLoader.js";import{OrbitControls as D}from"./OrbitControls.js";import{PointCloudCache as E}from"./cache.js";import{getCuboidFromPointCloudBox as v}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,lidar2image,pointCloudLidar2image,rotatePoint,transferKitti2Matrix}from"./matrix.js";import"../../constant/tool.js";import"../../constant/annotation.js";import"../../utils/MathUtils.js";import"@turf/turf";import"../../utils/tool/CommonToolUtils.js";import"../../utils/tool/LineToolUtils.js";import"../../utils/tool/DrawUtils.js";import"../../constant/keyCode.js";import"../../locales/index.js";import"../../locales/constants.js";import"lodash";import"../../constant/style.js";import"../../utils/tool/CanvasUtils.js";import"../../utils/tool/ZoomUtils.js";var F=Object.defineProperty,R=Object.defineProperties,U=Object.getOwnPropertyDescriptors,z=Object.getOwnPropertySymbols,W=Object.prototype.hasOwnProperty,H=Object.prototype.propertyIsEnumerable,B=(u,t,e)=>t in u?F(u,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):u[t]=e,C=(u,t)=>{for(var e in t||(t={}))W.call(t,e)&&B(u,e,t[e]);if(z)for(var e of z(t))H.call(t,e)&&B(u,e,t[e]);return u},b=(u,t)=>R(u,U(t)),P=(u,t,e)=>new Promise((r,n)=>{var s=o=>{try{i(e.next(o))}catch(h){n(h)}},a=o=>{try{i(e.throw(o))}catch(h){n(h)}},i=o=>o.done?r(o.value):Promise.resolve(o.value).then(s,a);i((e=e.apply(u,t)).next())});const Z=30,j=new k({type:"module"});class G{constructor({container:t,noAppend:e,isOrthographicCamera:r,orthographicParams:n,backgroundColor:s="black",config:a}){this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.showDirection=!0,this.AddBoxToSense=(i,o=16777215)=>{var h;const l=(h=i.id)!=null?h:I();this.removeObjectByName(l);const{center:m,width:d,height:w,depth:x,rotation:y}=i,p=new c.Group,M=new c.BoxGeometry(d,w,x),O=new c.MeshBasicMaterial({color:"blue"}),T=new c.Mesh(M,O),A=new c.BoxHelper(T,o),_=this.generateBoxArrow(i);p.add(A),p.add(_),p.position.set(m.x,m.y,m.z),p.rotation.set(0,0,y),p.name=l,this.scene.add(p)},this.overridePointShader=i=>{i.vertexShader=`
+import*as c from"three";import{toolStyleConverter as S,PerspectiveShiftUtils as w,EPerspectiveView as g}from"@labelbee/lb-utils";import V from"../../_virtual/highlightWorker.js";import k from"../../_virtual/filterBoxWorker.js";import{isInPolygon as L}from"../../utils/tool/polygonTool.js";import I from"../../utils/uuid.js";import{PCDLoader as N}from"./PCDLoader.js";import{OrbitControls as D}from"./OrbitControls.js";import{PointCloudCache as E}from"./cache.js";import{getCuboidFromPointCloudBox as z}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,lidar2image,pointCloudLidar2image,rotatePoint,transferKitti2Matrix}from"./matrix.js";import"../../constant/tool.js";import"../../constant/annotation.js";import"../../utils/MathUtils.js";import"@turf/turf";import"../../utils/tool/CommonToolUtils.js";import"../../utils/tool/LineToolUtils.js";import"../../utils/tool/DrawUtils.js";import"../../constant/keyCode.js";import"../../locales/index.js";import"../../locales/constants.js";import"lodash";import"../../constant/style.js";import"../../utils/tool/CanvasUtils.js";import"../../utils/tool/ZoomUtils.js";var F=Object.defineProperty,R=Object.defineProperties,U=Object.getOwnPropertyDescriptors,j=Object.getOwnPropertySymbols,W=Object.prototype.hasOwnProperty,H=Object.prototype.propertyIsEnumerable,A=(u,t,e)=>t in u?F(u,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):u[t]=e,P=(u,t)=>{for(var e in t||(t={}))W.call(t,e)&&A(u,e,t[e]);if(j)for(var e of j(t))H.call(t,e)&&A(u,e,t[e]);return u},M=(u,t)=>R(u,U(t)),B=(u,t,e)=>new Promise((r,n)=>{var s=o=>{try{i(e.next(o))}catch(h){n(h)}},a=o=>{try{i(e.throw(o))}catch(h){n(h)}},i=o=>o.done?r(o.value):Promise.resolve(o.value).then(s,a);i((e=e.apply(u,t)).next())});const Z=30,T=new V({type:"module"});class G{constructor({container:t,noAppend:e,isOrthographicCamera:r,orthographicParams:n,backgroundColor:s="black",config:a}){this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.showDirection=!0,this.AddBoxToSense=(i,o=16777215)=>{var h;const l=(h=i.id)!=null?h:I();this.removeObjectByName(l);const{center:d,width:m,height:y,depth:f,rotation:C}=i,p=new c.Group,b=new c.BoxGeometry(m,y,f),x=new c.MeshBasicMaterial({color:"blue"}),v=new c.Mesh(b,x),O=new c.BoxHelper(v,o),_=this.generateBoxArrow(i);p.add(O),p.add(_),p.position.set(d.x,d.y,d.z),p.rotation.set(0,0,C),p.name=l,this.scene.add(p)},this.overridePointShader=i=>{i.vertexShader=`
     attribute float sizes;
     attribute float visibility;
     varying float vVisible;
@@ -8,4 +8,4 @@ import*as c from"three";import{toolStyleConverter as V,PerspectiveShiftUtils as
     varying float vVisible;
   ${i.fragmentShader}`.replace("#include <clipping_planes_fragment>",`
       if (vVisible < 0.5) discard;
-    #include <clipping_planes_fragment>`)},this.loadPCDFile=(i,o)=>P(this,null,function*(){this.clearPointCloud();const h=yield this.cacheInstance.loadPCDFile(i);h.name=this.pointCloudObjectName,this.renderPointCloud(h,o)}),this.loadPCDFileByBox=(i,o,h)=>P(this,null,function*(){const l=d=>P(this,null,function*(){const{width:w=0,height:x=0,depth:y=0}=h!=null?h:{},p=yield this.filterPointsByBox(b(C({},o),{width:o.width+w,height:o.height+x,depth:o.depth+y}),d);if(!p){console.error("filter Error");return}this.clearPointCloud();const M=new c.Points(p.geometry,d.material);M.name=this.pointCloudObjectName,this.scene.add(M),this.render()}),m=yield this.cacheInstance.loadPCDFile(i);l(m)}),this.generateRange=i=>{const o=this.createRange(i);this.scene.add(o)},this.generateBoxArrow=({width:i})=>{const o=new c.Vector3(1,0,0),h=new c.Vector3(i/2,0,0),l=2,m=16776960,d=new c.ArrowHelper(o,h,l,m);return d.visible=this.showDirection,d},this.generateBoxTrackID=i=>{if(!i.trackID)return;const o=new c.Texture(this.getTextCanvas(i.trackID.toString()));o.needsUpdate=!0;const h=new c.SpriteMaterial({map:o,depthWrite:!1}),l=new c.Sprite(h);return l.scale.set(5,5,5),l.position.set(-i.width/2,0,i.depth/2+.5),l},this.applyZAxisPoints=i=>{this.zAxisLimit=i,this.filterZAxisPoints(),this.render()},this.updatePointSize=i=>{const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return;const h=o.material.size;i?o.material.size=Math.min(h*1.2,10):o.material.size=Math.max(h/1.2,1),this.render()},this.container=t,this.renderer=new c.WebGLRenderer({antialias:!0}),this.backgroundColor=s,this.config=a,r&&n?(this.isOrthographicCamera=!0,this.camera=new c.OrthographicCamera(n.left,n.right,n.top,n.bottom,n.near,n.far)):this.camera=new c.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new c.Scene,this.controls=new D(this.camera,this.renderer.domElement),this.pcdLoader=new S,this.axesHelper=new c.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=E.getInstance()}get DEFAULT_INIT_CAMERA_POSITION(){return new c.Vector3(-.01,0,10)}get containerWidth(){return this.container.clientWidth}get containerHeight(){return this.container.clientHeight}setInitCameraPosition(t){this.initCameraPosition=t}setConfig(t){this.config=t}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:r,top:n,bottom:s,near:a,far:i}=t;this.camera.left=e,this.camera.right=r,this.camera.top=n,this.camera.bottom=s,this.camera.near=a,this.camera.far=i,this.camera.updateProjectionMatrix()}initPerspectiveCamera(){this.camera.type==="PerspectiveCamera"&&(this.camera.fov=30,this.camera.aspect=this.containerWidth/this.containerHeight,this.camera.near=1,this.camera.far=1e3,this.camera.updateProjectionMatrix())}initCamera(){const{camera:t}=this;if(this.isOrthographicCamera){const{x:e,y:r,z:n}=this.initCameraPosition;t.position.set(e,r,n)}else t.position.set(-1,0,500);t.up.set(0,0,1)}initControls(){const{controls:t}=this;t.addEventListener("change",()=>{this.render()}),this.setDefaultControls()}setDefaultControls(){const{controls:t}=this,e=[0,0,0];t.target=new c.Vector3(...e),t.addEventListener("change",()=>{this.render()}),t.maxPolarAngle=Math.PI/2,t.update()}initRenderer(){const{renderer:t}=this;t.setPixelRatio(window.devicePixelRatio),t.setSize(this.containerWidth,this.containerHeight)}init(){const{scene:t}=this;t.background=new c.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t){const e=this.scene.getObjectByName(t);e&&e.removeFromParent()}generateBox(t,e=16777215){const r=e;this.AddBoxToSense(t,r),this.render()}getAllAttributeColor(t){return t.reduce((e,r)=>(e[r.attribute]=V.getColorFromConfig({attribute:r.attribute},b(C({},this.config),{attributeConfigurable:!0}),{}),e),{})}generateBoxes(t){t.forEach(e=>{this.generateBox(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:r,height:n}=t,s=10,a=e.x-r/2-s,i=e.x-r/2+s,o=e.y+n/2+s,h=e.y-n/2-s,l=100,m=-100,d=500/l;return{left:a,right:i,top:o,bottom:h,near:l,far:m,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e){const{center:r,width:n,height:s,depth:a,rotation:i}=t,o=this.getCameraVector(r,i,{width:n,height:s,depth:a},e);return this.updateCamera(o,r),o}updateOrthoCamera(t,e){const r=this.updateCameraByBox(t,e);return this.camera.zoom=1,this.camera.updateProjectionMatrix(),{cameraPositionVector:r}}updateTopCamera(){this.setInitCameraPosition(this.DEFAULT_INIT_CAMERA_POSITION),this.camera.zoom=1,this.initCamera(),this.setDefaultControls(),this.camera.updateProjectionMatrix(),this.render()}updateCamera(t,e){this.camera.position.set(t.x,t.y,t.z),this.controls.target=new c.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}createThreeMatrix4(t){return new c.Matrix4().set(...t)}filterPointsByBox(t,e){if(!e){const r=this.scene.getObjectByName(this.pointCloudObjectName);if(!r)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=r}if(window.Worker){const{zMin:r,zMax:n,polygonPointList:s}=v(t),a=e.geometry.attributes.position.array,i=e.geometry.attributes.color.array,o={boxParams:t,zMin:r,zMax:n,polygonPointList:s,color:i,position:a};return new Promise(h=>{const l=new L;l.postMessage(o),l.onmessage=m=>{const{color:d,position:w,num:x}=m.data,y=new c.BufferGeometry;y.setAttribute("position",new c.Float32BufferAttribute(w,3)),y.setAttribute("color",new c.Float32BufferAttribute(d,3)),y.computeBoundingSphere(),l.terminate(),h({geometry:y,num:x})}})}return Promise.resolve(void 0)}getCameraVector(t,e,r,n=g.Front,s=Z){let a=f.frontViewMatrix4(s);switch(n){case g.Front:break;case g.Back:a=f.backViewMatrix4(s);break;case g.Left:a=f.leftViewMatrix4(s);break;case g.Right:a=f.rightViewMatrix4(s);break;case g.Top:a=f.topViewMatrix4(s);break;case g.LFT:a=f.leftFrontTopViewMatrix4(s,r);break;case g.RBT:a=f.rightBackTopViewMatrix4(s,r);break}const i=this.createThreeMatrix4(a),o=new c.Matrix4().makeTranslation(-t.x,-t.y,-t.z),h=new c.Matrix4().makeTranslation(t.x,t.y,t.z),l=new c.Matrix4().makeRotationZ(e);return new c.Vector3(t.x,t.y,t.z).clone().applyMatrix4(i).applyMatrix4(o).applyMatrix4(l).applyMatrix4(h)}createRange(t){this.removeObjectByName(this.rangeObjectName);const r=new c.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),n=new c.BufferGeometry().setFromPoints(r),s=new c.LineBasicMaterial({color:16711680}),a=new c.Line(n,s);return a.name=this.rangeObjectName,a}renderPointCloud(t,e){t.material.size=1,t.name=this.pointCloudObjectName;const r=new c.PointsMaterial({vertexColors:!0});r.onBeforeCompile=this.overridePointShader,e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=r,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}highlightOriginPointCloud(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(!!e)return new Promise(r=>{if(window.Worker){const s=(t?[...t]:[]).map(o=>v(o)),a=this.getAllAttributeColor(s),i={cuboidList:s,position:e.geometry.attributes.position.array,color:e.geometry.attributes.color.array,colorList:a};j.postMessage(i),j.onmessage=o=>{const{color:h}=o.data,l=new c.BufferAttribute(h,3);l.needsUpdate=!0,e.geometry.setAttribute("color",l),r(h),this.render()}}})}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const r=new c.BufferAttribute(t,3);r.needsUpdate=!0,e.geometry.setAttribute("color",r),this.render()}}setShowDirection(t){this.showDirection=t,this.scene.children.forEach(e=>{e.type==="Group"&&e.children.forEach(r=>{r.type==="ArrowHelper"&&(r.visible=t)})}),this.render()}getTextCanvas(t){const e=document.createElement("canvas"),r=e.getContext("2d");return r&&(r.font=`${50}px " bold`,r.fillStyle="white",r.textAlign="center",r.textBaseline="middle",r.fillText(t,e.width/2,e.height/2)),e}getSensesPointZAxisInPolygon(t,e){const r=this.scene.children.find(o=>o.uuid===this.pointsUuid);let n=0,s=0,a=0,i=0;if(r&&(r==null?void 0:r.geometry)){const o=r==null?void 0:r.geometry.attributes.position.array;for(let h=0;h<o.length;h+=3){const l=o[h],m=o[h+1],d=o[h+2];N({x:l,y:m},t)&&d&&(s=Math.max(d,s),n=Math.min(d,n),i++,e&&d>=e[0]&&d<=e[1]&&a++)}}return{maxZ:s,minZ:n,count:a,zCount:i}}getBasicCoordinate2Canvas(t){const e=this.containerWidth/2,r=this.containerHeight/2;return{x:t.x*e+e,y:t.y*r+r,z:t.z}}get basicCoordinate2CanvasMatrix4(){const t=this.containerWidth/2,e=this.containerHeight/2;return new c.Matrix4().set(t,0,0,t,0,e,0,e,0,0,1,0,0,0,0,1)}getCanvas2BasicCoordinate(t){const e=this.containerWidth/2,r=this.containerHeight/2;return new c.Vector3(t.x/e-e/2,-(t.y/r-r/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n-i/2},h={x:e+a/2,y:r+s/2,z:n+i/2},l={x:e-a/2,y:r+s/2,z:n+i/2},m={x:e-a/2,y:r+s/2,z:n-i/2};return[o,h,l,m]}getPolygonBackPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e-a/2,y:r+s/2,z:n+i/2},h={x:e-a/2,y:r+s/2,z:n-i/2},l={x:e-a/2,y:r-s/2,z:n-i/2},m={x:e-a/2,y:r-s/2,z:n+i/2};return[o,h,l,m]}getPolygonTopPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n+i/2},h={x:e+a/2,y:r-s/2,z:n+i/2},l={x:e-a/2,y:r-s/2,z:n+i/2},m={x:e-a/2,y:r+s/2,z:n+i/2};return[o,h,l,m]}getModelTransformationMatrix(t){const{center:{x:e,y:r,z:n},rotation:s}=t,a=new c.Matrix4().makeTranslation(-e,-r,-n),i=new c.Matrix4().makeTranslation(e,r,n),o=new c.Matrix4().makeRotationZ(s);return new c.Matrix4().multiply(i).multiply(o).multiply(a)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,g.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,g.Back)}boxParams2ViewPolygon(t,e){switch(e){case g.Left:return this.getPolygonSidePoints(t);case g.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const r=this.boxParams2ViewPolygon(t,e),{width:n,height:s}=t,a=new c.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),i=new c.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=i;const o=r.map(m=>new c.Vector3(m.x,m.y,m.z)).map(m=>m.applyMatrix4(this.sideMatrix)),h=this.containerWidth/n,l=this.containerHeight/s;return{polygon2d:o,zoom:Math.min(h,l)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:r}=t,s=this.getPolygonTopPoints(t).map(o=>new c.Vector3(o.x,o.y,o.z)).map(o=>o.applyMatrix4(this.getModelTransformationMatrix(t))).map(o=>({x:o.y,y:o.x})).map(o=>({x:-(o.x-this.containerWidth/2),y:-(o.y-this.containerHeight/2)})),a=this.containerWidth/e,i=this.containerHeight/r;return{polygon2d:s,zoom:Math.min(a,i)/2}}getNewBoxBySideUpdate(t,e,r,n){const s=new c.Matrix4().makeRotationZ(n.rotation),a=new c.Vector3(-t.x,0,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=b(C({},i),{width:i.width+e,height:i.height,depth:i.depth+r}),{newBoxParams:i}}getNewBoxByBackUpdate(t,e,r,n){const s=new c.Matrix4().makeRotationZ(n.rotation),a=new c.Vector3(0,-t.x,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=b(C({},i),{width:i.width,height:i.height+e,depth:i.depth+r}),{newBoxParams:i}}getNewBoxBySideUpdateByPoints(t,e,r,n){var s;const a=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const i=t.map(p=>new c.Vector3(p.x,p.y,p.z)).map(p=>p.applyMatrix4(a)),[o,h,l,m]=i,d=Math.max(Math.abs(o.x-l.x),Math.abs(o.x-h.x)),x=h.add(m).applyMatrix3(new c.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new c.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new c.Vector3(n.center.x,n.center.y,n.center.z));return{newBoxParams:b(C({},n),{center:{x:n.center.x-x.x,y:n.center.y-x.y,z:n.center.z-r},width:d,height:n.height,depth:n.depth+e,rotation:n.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(r=>r.uuid===this.pointsUuid);if(e){const{attributes:r}=e.geometry,{position:n}=r,s=[],{count:a}=n;for(let i=0;i<a;i++){const o=n.getZ(i);s.push(o>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new c.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}export{G as PointCloud};
+    #include <clipping_planes_fragment>`)},this.loadPCDFile=(i,o)=>B(this,null,function*(){this.clearPointCloud(),this.currentPCDSrc=i;const{points:h,color:l}=yield this.cacheInstance.loadPCDFile(i),d=new c.BufferGeometry;d.setAttribute("position",new c.BufferAttribute(h,3)),d.setAttribute("color",new c.BufferAttribute(l,3));const m=new c.Points(d);this.renderPointCloud(m,o)}),this.loadPCDFileByBox=(i,o,h)=>B(this,null,function*(){const l=(y,f)=>B(this,null,function*(){const{width:C=0,height:p=0,depth:b=0}=h!=null?h:{},x=yield this.filterPointsByBox(M(P({},o),{width:o.width+C,height:o.height+p,depth:o.depth+b}),y,f);if(!x){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=i;const v=new c.Points(x.geometry);v.name=this.pointCloudObjectName,this.scene.add(v),this.render()}),{points:d,color:m}=yield this.cacheInstance.loadPCDFile(i);l(d,m)}),this.generateRange=i=>{const o=this.createRange(i);this.scene.add(o)},this.generateBoxArrow=({width:i})=>{const o=new c.Vector3(1,0,0),h=new c.Vector3(i/2,0,0),l=2,d=16776960,m=new c.ArrowHelper(o,h,l,d);return m.visible=this.showDirection,m},this.generateBoxTrackID=i=>{if(!i.trackID)return;const o=new c.Texture(this.getTextCanvas(i.trackID.toString()));o.needsUpdate=!0;const h=new c.SpriteMaterial({map:o,depthWrite:!1}),l=new c.Sprite(h);return l.scale.set(5,5,5),l.position.set(-i.width/2,0,i.depth/2+.5),l},this.applyZAxisPoints=i=>{this.zAxisLimit=i,this.filterZAxisPoints(),this.render()},this.updatePointSize=i=>{const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return;const h=o.material.size;i?o.material.size=Math.min(h*1.2,10):o.material.size=Math.max(h/1.2,1),this.render()},this.container=t,this.renderer=new c.WebGLRenderer({antialias:!0}),this.backgroundColor=s,this.config=a,r&&n?(this.isOrthographicCamera=!0,this.camera=new c.OrthographicCamera(n.left,n.right,n.top,n.bottom,n.near,n.far)):this.camera=new c.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new c.Scene,this.controls=new D(this.camera,this.renderer.domElement),this.pcdLoader=new N,this.axesHelper=new c.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=E.getInstance()}get DEFAULT_INIT_CAMERA_POSITION(){return new c.Vector3(-.01,0,10)}get containerWidth(){return this.container.clientWidth}get containerHeight(){return this.container.clientHeight}setInitCameraPosition(t){this.initCameraPosition=t}setConfig(t){this.config=t}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:r,top:n,bottom:s,near:a,far:i}=t;this.camera.left=e,this.camera.right=r,this.camera.top=n,this.camera.bottom=s,this.camera.near=a,this.camera.far=i,this.camera.updateProjectionMatrix()}initPerspectiveCamera(){this.camera.type==="PerspectiveCamera"&&(this.camera.fov=30,this.camera.aspect=this.containerWidth/this.containerHeight,this.camera.near=1,this.camera.far=1e3,this.camera.updateProjectionMatrix())}initCamera(){const{camera:t}=this;if(this.isOrthographicCamera){const{x:e,y:r,z:n}=this.initCameraPosition;t.position.set(e,r,n)}else t.position.set(-1,0,500);t.up.set(0,0,1)}initControls(){const{controls:t}=this;t.addEventListener("change",()=>{this.render()}),this.setDefaultControls()}setDefaultControls(){const{controls:t}=this,e=[0,0,0];t.target=new c.Vector3(...e),t.addEventListener("change",()=>{this.render()}),t.maxPolarAngle=Math.PI/2,t.update()}initRenderer(){const{renderer:t}=this;t.setPixelRatio(window.devicePixelRatio),t.setSize(this.containerWidth,this.containerHeight)}init(){const{scene:t}=this;t.background=new c.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t){const e=this.scene.getObjectByName(t);e&&e.removeFromParent()}generateBox(t,e=16777215){const r=e;this.AddBoxToSense(t,r),this.render()}getAllAttributeColor(t){return t.reduce((e,r)=>(e[r.attribute]=S.getColorFromConfig({attribute:r.attribute},M(P({},this.config),{attributeConfigurable:!0}),{}),e),{})}generateBoxes(t){t.forEach(e=>{this.generateBox(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:r,height:n}=t,s=10,a=e.x-r/2-s,i=e.x-r/2+s,o=e.y+n/2+s,h=e.y-n/2-s,l=100,d=-100,m=500/l;return{left:a,right:i,top:o,bottom:h,near:l,far:d,zoom:m}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e){const{center:r,width:n,height:s,depth:a,rotation:i}=t,o=this.getCameraVector(r,i,{width:n,height:s,depth:a},e);return this.updateCamera(o,r),o}updateOrthoCamera(t,e){const r=this.updateCameraByBox(t,e);return this.camera.zoom=1,this.camera.updateProjectionMatrix(),{cameraPositionVector:r}}updateTopCamera(){this.setInitCameraPosition(this.DEFAULT_INIT_CAMERA_POSITION),this.camera.zoom=1,this.initCamera(),this.setDefaultControls(),this.camera.updateProjectionMatrix(),this.render()}updateCamera(t,e){this.camera.position.set(t.x,t.y,t.z),this.controls.target=new c.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}createThreeMatrix4(t){return new c.Matrix4().set(...t)}filterPointsByBox(t,e,r){var n,s,a;if(!e){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!i)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(a=(s=(n=i==null?void 0:i.geometry)==null?void 0:n.attributes)==null?void 0:s.position)==null?void 0:a.array}if(window.Worker){const{zMin:i,zMax:o,polygonPointList:h}=z(t),d={boxParams:t,zMin:i,zMax:o,polygonPointList:h,color:r,position:e};return new Promise(m=>{const y=new k;y.postMessage(d),y.onmessage=f=>{const{color:C,position:p,num:b}=f.data,x=new c.BufferGeometry;x.setAttribute("position",new c.Float32BufferAttribute(p,3)),x.setAttribute("color",new c.Float32BufferAttribute(C,3)),x.computeBoundingSphere(),y.terminate(),m({geometry:x,num:b})}})}return Promise.resolve(void 0)}getCameraVector(t,e,r,n=g.Front,s=Z){let a=w.frontViewMatrix4(s);switch(n){case g.Front:break;case g.Back:a=w.backViewMatrix4(s);break;case g.Left:a=w.leftViewMatrix4(s);break;case g.Right:a=w.rightViewMatrix4(s);break;case g.Top:a=w.topViewMatrix4(s);break;case g.LFT:a=w.leftFrontTopViewMatrix4(s,r);break;case g.RBT:a=w.rightBackTopViewMatrix4(s,r);break}const i=this.createThreeMatrix4(a),o=new c.Matrix4().makeTranslation(-t.x,-t.y,-t.z),h=new c.Matrix4().makeTranslation(t.x,t.y,t.z),l=new c.Matrix4().makeRotationZ(e);return new c.Vector3(t.x,t.y,t.z).clone().applyMatrix4(i).applyMatrix4(o).applyMatrix4(l).applyMatrix4(h)}createRange(t){this.removeObjectByName(this.rangeObjectName);const r=new c.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),n=new c.BufferGeometry().setFromPoints(r),s=new c.LineBasicMaterial({color:16711680}),a=new c.Line(n,s);return a.name=this.rangeObjectName,a}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const r=new c.PointsMaterial({vertexColors:!0});r.onBeforeCompile=this.overridePointShader,r.size=1.2,e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=r,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}highlightOriginPointCloud(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(!!e)return this.highlightPCDSrc=this.currentPCDSrc,new Promise(r=>{if(window.Worker){const s=(t?[...t]:[]).map(o=>z(o)),a=this.getAllAttributeColor(s),i={cuboidList:s,position:e.geometry.attributes.position.array,color:e.geometry.attributes.color.array,colorList:a};T.postMessage(i),T.onmessage=o=>{const{color:h}=o.data,l=new c.BufferAttribute(h,3);this.highlightPCDSrc&&(this.cacheInstance.updateColor(this.highlightPCDSrc,h),this.highlightPCDSrc=void 0),l.needsUpdate=!0,e.geometry.setAttribute("color",l),r(h),this.render()}}})}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const r=new c.BufferAttribute(t,3);r.needsUpdate=!0,e.geometry.setAttribute("color",r),this.render()}}setShowDirection(t){this.showDirection=t,this.scene.children.forEach(e=>{e.type==="Group"&&e.children.forEach(r=>{r.type==="ArrowHelper"&&(r.visible=t)})}),this.render()}getTextCanvas(t){const e=document.createElement("canvas"),r=e.getContext("2d");return r&&(r.font=`${50}px " bold`,r.fillStyle="white",r.textAlign="center",r.textBaseline="middle",r.fillText(t,e.width/2,e.height/2)),e}getSensesPointZAxisInPolygon(t,e){const r=this.scene.children.find(o=>o.uuid===this.pointsUuid);let n=0,s=0,a=0,i=0;if(r&&(r==null?void 0:r.geometry)){const o=r==null?void 0:r.geometry.attributes.position.array;for(let h=0;h<o.length;h+=3){const l=o[h],d=o[h+1],m=o[h+2];L({x:l,y:d},t)&&m&&(s=Math.max(m,s),n=Math.min(m,n),i++,e&&m>=e[0]&&m<=e[1]&&a++)}}return{maxZ:s,minZ:n,count:a,zCount:i}}getBasicCoordinate2Canvas(t){const e=this.containerWidth/2,r=this.containerHeight/2;return{x:t.x*e+e,y:t.y*r+r,z:t.z}}get basicCoordinate2CanvasMatrix4(){const t=this.containerWidth/2,e=this.containerHeight/2;return new c.Matrix4().set(t,0,0,t,0,e,0,e,0,0,1,0,0,0,0,1)}getCanvas2BasicCoordinate(t){const e=this.containerWidth/2,r=this.containerHeight/2;return new c.Vector3(t.x/e-e/2,-(t.y/r-r/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n-i/2},h={x:e+a/2,y:r+s/2,z:n+i/2},l={x:e-a/2,y:r+s/2,z:n+i/2},d={x:e-a/2,y:r+s/2,z:n-i/2};return[o,h,l,d]}getPolygonBackPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e-a/2,y:r+s/2,z:n+i/2},h={x:e-a/2,y:r+s/2,z:n-i/2},l={x:e-a/2,y:r-s/2,z:n-i/2},d={x:e-a/2,y:r-s/2,z:n+i/2};return[o,h,l,d]}getPolygonTopPoints(t){const{center:{x:e,y:r,z:n},height:s,width:a,depth:i}=t,o={x:e+a/2,y:r+s/2,z:n+i/2},h={x:e+a/2,y:r-s/2,z:n+i/2},l={x:e-a/2,y:r-s/2,z:n+i/2},d={x:e-a/2,y:r+s/2,z:n+i/2};return[o,h,l,d]}getModelTransformationMatrix(t){const{center:{x:e,y:r,z:n},rotation:s}=t,a=new c.Matrix4().makeTranslation(-e,-r,-n),i=new c.Matrix4().makeTranslation(e,r,n),o=new c.Matrix4().makeRotationZ(s);return new c.Matrix4().multiply(i).multiply(o).multiply(a)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,g.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,g.Back)}boxParams2ViewPolygon(t,e){switch(e){case g.Left:return this.getPolygonSidePoints(t);case g.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const r=this.boxParams2ViewPolygon(t,e),{width:n,height:s}=t,a=new c.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),i=new c.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=i;const o=r.map(d=>new c.Vector3(d.x,d.y,d.z)).map(d=>d.applyMatrix4(this.sideMatrix)),h=this.containerWidth/n,l=this.containerHeight/s;return{polygon2d:o,zoom:Math.min(h,l)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:r}=t,s=this.getPolygonTopPoints(t).map(o=>new c.Vector3(o.x,o.y,o.z)).map(o=>o.applyMatrix4(this.getModelTransformationMatrix(t))).map(o=>({x:o.y,y:o.x})).map(o=>({x:-(o.x-this.containerWidth/2),y:-(o.y-this.containerHeight/2)})),a=this.containerWidth/e,i=this.containerHeight/r;return{polygon2d:s,zoom:Math.min(a,i)/2}}getNewBoxBySideUpdate(t,e,r,n){const s=new c.Matrix4().makeRotationZ(n.rotation),a=new c.Vector3(-t.x,0,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=M(P({},i),{width:i.width+e,height:i.height,depth:i.depth+r}),{newBoxParams:i}}getNewBoxByBackUpdate(t,e,r,n){const s=new c.Matrix4().makeRotationZ(n.rotation),a=new c.Vector3(0,-t.x,0).applyMatrix4(s);let i=n;return i.center={x:i.center.x+a.x,y:i.center.y+a.y,z:i.center.z-t.z},i=M(P({},i),{width:i.width,height:i.height+e,depth:i.depth+r}),{newBoxParams:i}}getNewBoxBySideUpdateByPoints(t,e,r,n){var s;const a=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const i=t.map(p=>new c.Vector3(p.x,p.y,p.z)).map(p=>p.applyMatrix4(a)),[o,h,l,d]=i,m=Math.max(Math.abs(o.x-l.x),Math.abs(o.x-h.x)),f=h.add(d).applyMatrix3(new c.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new c.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new c.Vector3(n.center.x,n.center.y,n.center.z));return{newBoxParams:M(P({},n),{center:{x:n.center.x-f.x,y:n.center.y-f.y,z:n.center.z-r},width:m,height:n.height,depth:n.depth+e,rotation:n.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(r=>r.uuid===this.pointsUuid);if(e){const{attributes:r}=e.geometry,{position:n}=r,s=[],{count:a}=n;for(let i=0;i<a;i++){const o=n.getZ(i);s.push(o>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new c.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}export{G as PointCloud};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@labelbee/lb-annotation",
-  "version": "1.12.0-alpha.7",
+  "version": "1.12.0-alpha.8",
   "description": "Annotation tool collection",
   "keywords": [
     "annotation",
@@ -92,11 +92,11 @@
     "typescript": "^4.2.3"
   },
   "dependencies": {
-    "@labelbee/lb-utils": "^1.5.0-alpha.7",
+    "@labelbee/lb-utils": "^1.5.0-alpha.8",
     "@turf/turf": "5.1.6",
     "color-rgba": "^2.3.0",
     "lodash": "^4.17.20",
     "three": ">=0.141.0"
   },
-  "gitHead": "47a05462b795baaad6d5ec881545fe6499e63933"
+  "gitHead": "5b44e6b46d5a2550688e6d9daba52a82204ba9d0"
 }