@labelbee/lb-annotation 1.15.0-alpha.5 → 1.15.0

package/dist/core/pointCloud/matrix.js

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),uuid=require("../../utils/uuid.js");function _interopNamespace(r){if(r&&r.__esModule)return r;var t=Object.create(null);return r&&Object.keys(r).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(r,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return r[e]}})}}),t.default=r,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=(r,t,e)=>t in r?__defProp(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,__spreadValues=(r,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(r,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(r,e,t[e]);return r},__spreadProps=(r,t)=>__defProps(r,__getOwnPropDescs(t));function createThreeMatrix4(r){return new THREE__namespace.Matrix4().set(...r)}function transferKitti2Matrix(r,t,e){const i=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),n=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),l=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),o=createThreeMatrix4(i),s=createThreeMatrix4(n),u=createThreeMatrix4(l);return{composeMatrix4:u.clone().premultiply(s).premultiply(o),PM:o,RM:s,TM:u}}function rotatePoint(r,t,e){var i;const n=new THREE__namespace.Vector3(r.x,r.y,(i=r==null?void 0:r.z)!=null?i:1),l=new THREE__namespace.Matrix4().makeRotationZ(e),o=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),s=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return n.clone().applyMatrix4(s).applyMatrix4(l).applyMatrix4(o)}function lidar2image(r,t){const i=new THREE__namespace.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(i.z<0)return;const n=1/i.z,l=new THREE__namespace.Matrix4().set(n,0,0,0,0,n,0,0,0,0,n,0,0,0,0,1);return i.applyMatrix4(l)}function getCuboidFromPointCloudBox(r){const{center:t,width:e,height:i,depth:n,rotation:l}=r,o=[{x:t.x+e/2,y:t.y-i/2},{x:t.x+e/2,y:t.y+i/2},{x:t.x-e/2,y:t.y+i/2},{x:t.x-e/2,y:t.y-i/2}].map(c=>{const a=rotatePoint(c,t,l);return{x:a.x,y:a.y}}),s=t.z+n/2,u=t.z-n/2;return __spreadProps(__spreadValues({},r),{polygonPointList:o,zMax:s,zMin:u})}function orientation(r,t,e){const i=(t.y-r.y)*(e.x-t.x)-(t.x-r.x)*(e.y-t.y);return i===0?0:i>0?1:2}function convexHull(r){const t=r.length;if(t<3)return[];const e=[];let i=0;for(let o=1;o<t;o++)r[o].x<r[i].x&&(i=o);let n=i,l;do{e.push(r[n]),l=(n+1)%t;for(let o=0;o<t;o++)orientation(r[n],r[o],r[l])===2&&(l=o);n=l}while(n!==i);return e}function pointCloudLidar2image(r,t){const e=lbUtils.PointCloudUtils.getAllViewData(r),{P:i,R:n,T:l}=t,{composeMatrix4:o}=transferKitti2Matrix(i,n,l),s=e.map(c=>({type:c.type,pointList:c.pointList.map(a=>rotatePoint(a,r.center,r.rotation)).map(a=>lidar2image(a,o)).map(a=>{if(!!a)return{id:uuid(),x:a==null?void 0:a.x,y:a==null?void 0:a.y}}).filter(a=>a!==void 0)})).filter(c=>c.pointList.length!==0);let u=[];if(s.length===6){const c=s[0].pointList,a=s[1].pointList;u=convexHull([...c,...a])}return{transferViewData:s,viewRangePointList:u}}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.lidar2image=lidar2image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.rotatePoint=rotatePoint,exports.transferKitti2Matrix=transferKitti2Matrix;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),uuid=require("../../utils/uuid.js");function _interopNamespace(r){if(r&&r.__esModule)return r;var t=Object.create(null);return r&&Object.keys(r).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(r,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return r[e]}})}}),t.default=r,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=(r,t,e)=>t in r?__defProp(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,__spreadValues=(r,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(r,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(r,e,t[e]);return r},__spreadProps=(r,t)=>__defProps(r,__getOwnPropDescs(t));function createThreeMatrix4(r){return new THREE__namespace.Matrix4().set(...r)}function transferKitti2Matrix(r,t,e){const i=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),n=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),a=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),o=createThreeMatrix4(i),s=createThreeMatrix4(n),c=createThreeMatrix4(a);return{composeMatrix4:c.clone().premultiply(s).premultiply(o),PM:o,RM:s,TM:c}}function rotatePoint(r,t,e){var i;const n=new THREE__namespace.Vector3(r.x,r.y,(i=r==null?void 0:r.z)!=null?i:1),a=new THREE__namespace.Matrix4().makeRotationZ(e),o=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),s=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return n.clone().applyMatrix4(s).applyMatrix4(a).applyMatrix4(o)}function lidar2image(r,t){const i=new THREE__namespace.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(i.z<0)return;const n=1/i.z,a=new THREE__namespace.Matrix4().set(n,0,0,0,0,n,0,0,0,0,n,0,0,0,0,1);return i.applyMatrix4(a)}function getCuboidFromPointCloudBox(r){const{center:t,width:e,height:i,depth:n,rotation:a}=r,o=[{x:t.x+e/2,y:t.y-i/2},{x:t.x+e/2,y:t.y+i/2},{x:t.x-e/2,y:t.y+i/2},{x:t.x-e/2,y:t.y-i/2}].map(u=>{const x=rotatePoint(u,t,a);return{x:x.x,y:x.y}}),s=t.z+n/2,c=t.z-n/2;return __spreadProps(__spreadValues({},r),{polygonPointList:o,zMax:s,zMin:c})}function orientation(r,t,e){const i=(t.y-r.y)*(e.x-t.x)-(t.x-r.x)*(e.y-t.y);return i===0?0:i>0?1:2}function convexHull(r){const t=r.length;if(t<3)return[];const e=[];let i=0;for(let o=1;o<t;o++)r[o].x<r[i].x&&(i=o);let n=i,a;do{e.push(r[n]),a=(n+1)%t;for(let o=0;o<t;o++)orientation(r[n],r[o],r[a])===2&&(a=o);n=a}while(n!==i);return e}function pointCloudLidar2image(r,t,e={createRange:!1}){const{createRange:i}=e,n=lbUtils.PointCloudUtils.getAllViewData(r),{P:a,R:o,T:s}=t,{composeMatrix4:c}=transferKitti2Matrix(a,o,s),u=n.map(p=>({type:p.type,pointList:p.pointList.map(l=>rotatePoint(l,r.center,r.rotation)).map(l=>lidar2image(l,c)).map(l=>{if(!!l)return{id:uuid(),x:l==null?void 0:l.x,y:l==null?void 0:l.y}}).filter(l=>l!==void 0)})).filter(p=>p.pointList.length!==0);let x=[];if(u.length===6&&i===!0){const p=u[0].pointList,l=u[1].pointList;x=convexHull([...p,...l])}return{transferViewData:u,viewRangePointList:x}}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.lidar2image=lidar2image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.rotatePoint=rotatePoint,exports.transferKitti2Matrix=transferKitti2Matrix;

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

@@ -53,6 +53,8 @@ export declare function pointCloudLidar2image(boxParams: IPointCloudBox, cameraM
     P: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
     R: [TMatrix13Tuple, TMatrix13Tuple, TMatrix13Tuple];
     T: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
+}, options?: {
+    createRange: boolean;
 }): {
     transferViewData: {
         type: string;

package/es/core/pointCloud/matrix.js

@@ -1 +1 @@
-import*as p from"three";import{MatrixUtils as f,PointCloudUtils as w}from"@labelbee/lb-utils";import _ from"../../utils/uuid.js";var h=Object.defineProperty,g=Object.defineProperties,P=Object.getOwnPropertyDescriptors,m=Object.getOwnPropertySymbols,z=Object.prototype.hasOwnProperty,O=Object.prototype.propertyIsEnumerable,M=(r,t,e)=>t in r?h(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,T=(r,t)=>{for(var e in t||(t={}))z.call(t,e)&&M(r,e,t[e]);if(m)for(var e of m(t))O.call(t,e)&&M(r,e,t[e]);return r},L=(r,t)=>g(r,P(t));function x(r){return new p.Matrix4().set(...r)}function d(r,t,e){const o=f.transferMatrix34FromKitti2Three(r),n=f.transferMatrix33FromKitti2Three(t),l=f.transferMatrix34FromKitti2Three(e),i=x(o),s=x(n),u=x(l);return{composeMatrix4:u.clone().premultiply(s).premultiply(i),PM:i,RM:s,TM:u}}function y(r,t,e){var o;const n=new p.Vector3(r.x,r.y,(o=r==null?void 0:r.z)!=null?o:1),l=new p.Matrix4().makeRotationZ(e),i=new p.Matrix4().makeTranslation(t.x,t.y,t.z),s=new p.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return n.clone().applyMatrix4(s).applyMatrix4(l).applyMatrix4(i)}function v(r,t){const o=new p.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(o.z<0)return;const n=1/o.z,l=new p.Matrix4().set(n,0,0,0,0,n,0,0,0,0,n,0,0,0,0,1);return o.applyMatrix4(l)}function V(r){const{center:t,width:e,height:o,depth:n,rotation:l}=r,i=[{x:t.x+e/2,y:t.y-o/2},{x:t.x+e/2,y:t.y+o/2},{x:t.x-e/2,y:t.y+o/2},{x:t.x-e/2,y:t.y-o/2}].map(c=>{const a=y(c,t,l);return{x:a.x,y:a.y}}),s=t.z+n/2,u=t.z-n/2;return L(T({},r),{polygonPointList:i,zMax:s,zMin:u})}function R(r,t,e){const o=(t.y-r.y)*(e.x-t.x)-(t.x-r.x)*(e.y-t.y);return o===0?0:o>0?1:2}function b(r){const t=r.length;if(t<3)return[];const e=[];let o=0;for(let i=1;i<t;i++)r[i].x<r[o].x&&(o=i);let n=o,l;do{e.push(r[n]),l=(n+1)%t;for(let i=0;i<t;i++)R(r[n],r[i],r[l])===2&&(l=i);n=l}while(n!==o);return e}function j(r,t){const e=w.getAllViewData(r),{P:o,R:n,T:l}=t,{composeMatrix4:i}=d(o,n,l),s=e.map(c=>({type:c.type,pointList:c.pointList.map(a=>y(a,r.center,r.rotation)).map(a=>v(a,i)).map(a=>{if(!!a)return{id:_(),x:a==null?void 0:a.x,y:a==null?void 0:a.y}}).filter(a=>a!==void 0)})).filter(c=>c.pointList.length!==0);let u=[];if(s.length===6){const c=s[0].pointList,a=s[1].pointList;u=b([...c,...a])}return{transferViewData:s,viewRangePointList:u}}export{x as createThreeMatrix4,V as getCuboidFromPointCloudBox,v as lidar2image,j as pointCloudLidar2image,y as rotatePoint,d as transferKitti2Matrix};
+import*as s from"three";import{MatrixUtils as m,PointCloudUtils as g}from"@labelbee/lb-utils";import h from"../../utils/uuid.js";var P=Object.defineProperty,z=Object.defineProperties,O=Object.getOwnPropertyDescriptors,d=Object.getOwnPropertySymbols,T=Object.prototype.hasOwnProperty,L=Object.prototype.propertyIsEnumerable,v=(r,t,e)=>t in r?P(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,R=(r,t)=>{for(var e in t||(t={}))T.call(t,e)&&v(r,e,t[e]);if(d)for(var e of d(t))L.call(t,e)&&v(r,e,t[e]);return r},V=(r,t)=>z(r,O(t));function y(r){return new s.Matrix4().set(...r)}function w(r,t,e){const n=m.transferMatrix34FromKitti2Three(r),o=m.transferMatrix33FromKitti2Three(t),a=m.transferMatrix34FromKitti2Three(e),i=y(n),c=y(o),u=y(a);return{composeMatrix4:u.clone().premultiply(c).premultiply(i),PM:i,RM:c,TM:u}}function M(r,t,e){var n;const o=new s.Vector3(r.x,r.y,(n=r==null?void 0:r.z)!=null?n:1),a=new s.Matrix4().makeRotationZ(e),i=new s.Matrix4().makeTranslation(t.x,t.y,t.z),c=new s.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return o.clone().applyMatrix4(c).applyMatrix4(a).applyMatrix4(i)}function _(r,t){const n=new s.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(n.z<0)return;const o=1/n.z,a=new s.Matrix4().set(o,0,0,0,0,o,0,0,0,0,o,0,0,0,0,1);return n.applyMatrix4(a)}function b(r){const{center:t,width:e,height:n,depth:o,rotation:a}=r,i=[{x:t.x+e/2,y:t.y-n/2},{x:t.x+e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y-n/2}].map(f=>{const x=M(f,t,a);return{x:x.x,y:x.y}}),c=t.z+o/2,u=t.z-o/2;return V(R({},r),{polygonPointList:i,zMax:c,zMin:u})}function j(r,t,e){const n=(t.y-r.y)*(e.x-t.x)-(t.x-r.x)*(e.y-t.y);return n===0?0:n>0?1:2}function F(r){const t=r.length;if(t<3)return[];const e=[];let n=0;for(let i=1;i<t;i++)r[i].x<r[n].x&&(n=i);let o=n,a;do{e.push(r[o]),a=(o+1)%t;for(let i=0;i<t;i++)j(r[o],r[i],r[a])===2&&(a=i);o=a}while(o!==n);return e}function A(r,t,e={createRange:!1}){const{createRange:n}=e,o=g.getAllViewData(r),{P:a,R:i,T:c}=t,{composeMatrix4:u}=w(a,i,c),f=o.map(p=>({type:p.type,pointList:p.pointList.map(l=>M(l,r.center,r.rotation)).map(l=>_(l,u)).map(l=>{if(!!l)return{id:h(),x:l==null?void 0:l.x,y:l==null?void 0:l.y}}).filter(l=>l!==void 0)})).filter(p=>p.pointList.length!==0);let x=[];if(f.length===6&&n===!0){const p=f[0].pointList,l=f[1].pointList;x=F([...p,...l])}return{transferViewData:f,viewRangePointList:x}}export{y as createThreeMatrix4,b as getCuboidFromPointCloudBox,_ as lidar2image,A as pointCloudLidar2image,M as rotatePoint,w as transferKitti2Matrix};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@labelbee/lb-annotation",
-  "version": "1.15.0-alpha.5",
+  "version": "1.15.0",
   "description": "Annotation tool collection",
   "keywords": [
     "annotation",
@@ -94,7 +94,7 @@
     "typescript": "^4.2.3"
   },
   "dependencies": {
-    "@labelbee/lb-utils": "1.7.1-alpha.2",
+    "@labelbee/lb-utils": "1.7.1",
     "@turf/turf": "5.1.6",
     "color-rgba": "^2.3.0",
     "lodash": "^4.17.20",