@labelbee/lb-annotation 1.20.0-alpha.5 → 1.20.0-alpha.6

package/dist/core/pointCloud/index.js

@@ -28,4 +28,4 @@
 
         // Output the final color        
         gl_FragColor = vec4(color, 1.0);
-      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...s)=>__async(this,[...s],function*(a=this.currentPCDSrc,c){if(!a)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=a;const{points:d,color:p}=yield this.cacheInstance.loadPCDFile(a),m=new THREE__namespace.BufferGeometry;m.setAttribute("position",new THREE__namespace.BufferAttribute(d,3)),this.isSegment||m.setAttribute("dimensions",new THREE__namespace.BufferAttribute(p,3)),this.initCloudData(d);const u=new THREE__namespace.Points(m);this.renderPointCloud(u,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=s=>__async(this,[s],function*({mappingImgList:a,points:c}){const d=a.length===0?[]:yield Promise.all(a.map(u=>ImgUtils.default.load(u.url))),p=a.map((u,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?y:[];const x=matrix.getHighlightIndexByPoints({points:c,calib:u.calib,width:d[g].width,height:d[g].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,x),x});return matrix.mergeHighlightList(p)}),this.loadPCDFileByBox=(s,a,c)=>__async(this,null,function*(){const d=(u,g)=>__async(this,null,function*(){const{width:y=0,height:x=0,depth:w=0}=c!=null?c:{},b=yield this.filterPointsByBox(__spreadProps(__spreadValues({},a),{width:a.width+y,height:a.height+x,depth:a.depth+w}),u,g);if(!b){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=s;const C=new THREE__namespace.Points(b.geometry);C.name=this.pointCloudObjectName,this.scene.add(C),this.render()}),{points:p,color:m}=yield this.cacheInstance.loadPCDFile(s);d(p,m)}),this.generateRange=s=>{const a=this.createRange(s);this.scene.add(a)},this.generateBoxArrow=({width:s})=>{const a=new THREE__namespace.Vector3(1,0,0),c=new THREE__namespace.Vector3(s/2,0,0),d=2,p=16776960,m=new THREE__namespace.ArrowHelper(a,c,d,p);return m.visible=this.showDirection,m},this.generateBoxTrackID=s=>{if(!s.trackID)return;const a=new THREE__namespace.Texture(this.getTextCanvas(s.trackID.toString()));a.needsUpdate=!0;const c=new THREE__namespace.SpriteMaterial({map:a,depthWrite:!1}),d=new THREE__namespace.Sprite(c);return d.scale.set(5,5,5),d.position.set(-s.width/2,0,s.depth/2+.5),d},this.applyZAxisPoints=s=>{this.zAxisLimit=s,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:s,customSize:a})=>{const c=this.scene.getObjectByName(this.pointCloudObjectName);if(!c)return;const d=c.material.uniforms.pointSize.value;s?c.material.uniforms.pointSize.value=Math.min(d*1.2,10):c.material.uniforms.pointSize.value=Math.max(d/1.2,1),a&&(c.material.uniforms.pointSize.value=a,this.pointsMaterialSize=a),c.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=h,this.checkMode=l!=null?l:!1,i&&r?(this.isOrthographicCamera=!0,this.camera=new THREE__namespace.OrthographicCamera(r.left,r.right,r.top,r.bottom,r.near,r.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,n?this.container: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(),n===!0&&(this.initSegment(),this.isSegment=!0)}initSegment(){this.store=new index(this.pointCloudDelegate),this.controls.enablePan=!1,this.controls.addEventListener("start",this.orbiterStart.bind(this)),this.controls.addEventListener("change",this.orbiterChange.bind(this)),this.controls.addEventListener("end",this.orbiterEnd.bind(this)),this.segmentOperation=new segmentation.PointCloudSegmentOperation(__spreadValues({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new index$1(__spreadProps(__spreadValues({store:this.store},this.eventBus),{nextTick:this.nextTick,config:this.config})),this.initMsg(),document.addEventListener("keydown",this.keydown),document.addEventListener("keyup",this.keyup)}orbiterStart(){}orbiterChange(){!this.store||(this.store.orbiting=!0)}orbiterEnd(){!this.store||(this.store.orbiting=!1)}get currentSegmentTool(){var t;return(t=this.segmentOperation)==null?void 0:t.currentToolName}get pointCloudObject(){return this.scene.getObjectByName(this.pointCloudObjectName)}initMsg(){!this.segmentOperation||(this.on("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.on("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.on("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.on("clearPointCloud",this.clearPointCloud.bind(this)),this.on("loadPCDFile",this.loadPCDFile.bind(this)))}unbindMsg(){!this.segmentOperation||(this.unbind("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.unbind("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.unbind("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.unbind("clearPointCloud",this.clearPointCloud.bind(this)),this.unbind("loadPCDFile",this.loadPCDFile.bind(this)))}get eventBus(){return{on:this.on.bind(this),emit:this.emit.bind(this),unbind:this.unbind.bind(this)}}get pointCloudDelegate(){return __spreadValues({container:this.container,scene:this.scene,camera:this.camera,renderer:this.renderer,checkMode:this.checkMode},this.eventBus)}get DEFAULT_INIT_CAMERA_POSITION(){return new THREE__namespace.Vector3(-.01,0,1e3)}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:r,bottom:o,near:h,far:n}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=h,this.camera.far=n,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:r}=this.initCameraPosition;t.position.set(e,i,r)}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,e=""){const i=this.scene.getObjectByName(e+t);i&&i.removeFromParent()}getColorFromConfig(t){return lbUtils.toolStyleConverter.getColorFromConfig({attribute:t},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{})}generateBox(t,e=16777215){const i=e;this.addBoxToSense(t,i),this.render()}getAllAttributeColor(t){return t.reduce((e,i)=>(e[i.attribute]=this.getColorFromConfig(i.attribute),e),{})}generateBoxes(t){t.forEach(e=>{this.addBoxToSense(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:i,height:r}=t,o=10,h=e.x-i/2-o,n=e.x-i/2+o,l=e.y+r/2+o,s=e.y-r/2-o,a=100,c=-100,d=500/a;return{left:h,right:n,top:l,bottom:s,near:a,far:c,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:h,depth:n,rotation:l}=t,s=this.getCameraVector(r,l,{width:o,height:h,depth:n},e);return i?(this.updateCamera(i,r),new THREE__namespace.Vector3(i.x,i.y,i.z)):(this.updateCamera(s,r),s)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=lbUtils.DEFAULT_SPHERE_PARAMS,o=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},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}}updateOrthoCameraBySphere(t,e){const i=this.updateCameraBySphere(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})}getOrthographicCameraTarget(t){const e=new THREE__namespace.Vector3(0,0,-1).applyQuaternion(t.quaternion);return t.position.clone().add(e)}createThreeMatrix4(t){return new THREE__namespace.Matrix4().set(...t)}filterPointsByBox(t,e,i){var r,o,h;if(!e){const n=this.scene.getObjectByName(this.pointCloudObjectName);if(!n)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(h=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array}if(window.Worker){const{zMin:n,zMax:l,polygonPointList:s}=matrix.getCuboidFromPointCloudBox(t),a=e;i=i!=null?i:new Float32Array([]);const c={boxParams:t,zMin:n,zMax:l,polygonPointList:s,color:i,position:a};return new Promise(d=>{const p=new filterBoxWorker;p.postMessage(c),p.onmessage=m=>{const{color:u,position:g,num:y}=m.data,x=new THREE__namespace.BufferGeometry;x.setAttribute("position",new THREE__namespace.Float32BufferAttribute(g,3)),x.setAttribute("color",new THREE__namespace.Float32BufferAttribute(u,3)),x.computeBoundingSphere(),p.terminate(),d({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=lbUtils.EPerspectiveView.Front,o=DEFAULT_DISTANCE){let h=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(o);switch(r){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:h=lbUtils.PerspectiveShiftUtils.backViewMatrix4(o);break;case lbUtils.EPerspectiveView.Left:h=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(o);break;case lbUtils.EPerspectiveView.Right:h=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(o);break;case lbUtils.EPerspectiveView.Top:h=lbUtils.PerspectiveShiftUtils.topViewMatrix4(o);break;case lbUtils.EPerspectiveView.LFT:h=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(o,i);break;case lbUtils.EPerspectiveView.RBT:h=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(o,i);break}const n=this.createThreeMatrix4(h),l=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),s=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),a=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(n).applyMatrix4(l).applyMatrix4(a).applyMatrix4(s)}createRange(t){this.removeObjectByName(this.rangeObjectName);const i=new THREE__namespace.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),r=new THREE__namespace.BufferGeometry().setFromPoints(i),o=new THREE__namespace.LineBasicMaterial({color:16711680}),h=new THREE__namespace.Line(r,o);return h.name=this.rangeObjectName,h}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const i=new THREE__namespace.ShaderMaterial(this.initShaderMaterial());e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=i,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearAllBox(){this.clearAllGroupByPrefix("box")}clearAllSphere(){this.clearAllGroupByPrefix("sphere")}clearAllGroupByPrefix(t=""){const e=this.scene.children;for(let i=e.length-1;i>=0;i--){const r=e[i];r.type==="Group"&&r.name.startsWith(t)&&this.removeObjectByName(r.name)}}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}initCloudData(t){if(!!this.store){for(let e=0;e<t.length;e+=3){const i=t[e],r=t[e+1],o=t[e+2];this.store.cloudData.set(`${i}@${r}@${o}`,{visible:!1})}this.store.setOriginPoints(t)}}highlightOriginPointCloud(t,e=[]){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!!i)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((r,o)=>{if(window.Worker){const n=(t?[...t]:[]).map(a=>matrix.getCuboidFromPointCloudBox(a)),l=this.getAllAttributeColor(n),s={cuboidList:n,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:l,highlightIndex:e};highlightWorker.postMessage(s),highlightWorker.onmessage=a=>{const{color:c}=a.data,d=new THREE__namespace.BufferAttribute(c,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==c.length){o(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,c),this.highlightPCDSrc=void 0,d.needsUpdate=!0,i.geometry.setAttribute("dimensions",d),i.geometry.attributes.dimensions.needsUpdate=!0,r(c),this.render()}}})}clearHighlightBoxes(){this.removeObjectByName(this.highlightGroupName)}clearHighlightBoxesAndRender(){this.clearHighlightBoxes(),this.render()}highlightBoxes(t){const e=new THREE__namespace.Group;t.forEach(i=>{const{center:{x:r,y:o,z:h},width:n,height:l,depth:s,rotation:a}=i,{fill:c}=lbUtils.toolStyleConverter.getColorFromConfig({attribute:i.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),d=new THREE__namespace.BoxGeometry(n,l,s),p=new THREE__namespace.MeshBasicMaterial({color:c,transparent:!0,opacity:.2,depthTest:!1});d.rotateZ(a),d.translate(r,o,h);const m=new THREE__namespace.Mesh(d,p);e.add(m);const u=new THREE__namespace.PlaneGeometry(s,l);u.rotateY(Math.PI/2),u.rotateZ(a);const g=new THREE__namespace.Vector3(n/2,0,0),y=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(a);g.applyMatrix4(y),u.translate(r+g.x,o+g.y,h+g.z);const x=new THREE__namespace.MeshBasicMaterial({color:c,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(u,x);e.add(w)}),e.name=this.highlightGroupName,this.scene.add(e),this.render()}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const i=new THREE__namespace.BufferAttribute(t,3);e.geometry.setAttribute("dimensions",i),e.geometry.attributes.dimensions.needsUpdate=!0,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}filterNoise(t){let e=[...t];e.sort((c,d)=>c.z-d.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:c})=>c>r.z+.1);const o=.005,h=Math.floor(e.length*(1-o));e=e.slice(0,h),e.sort((c,d)=>c.x-d.x);const n=Math.floor(e.length*o),l=Math.floor(e.length*(1-o));e=e.slice(n,l),e.sort((c,d)=>c.y-d.y);const s=Math.floor(e.length*o),a=Math.floor(e.length*(1-o));return e=e.slice(s,a),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:n,y:l})=>{t.forEach((s,a)=>{const c=r[a+1],d=MathUtils.default.getFootOfPerpendicular({x:n,y:l},s,c,!1,!0).length;(!i[a]||d<i[a].distance)&&(i[a]={distance:d,point:{x:n,y:l}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i];return t.map((n,l)=>{const s=r[l],a=r[l+1],c=r[l+2];return lbUtils.PointCloudUtils.getIntersectionBySlope({p1:o[l].point,line1:[s,a],p2:o[l+1].point,line2:[a,c]})})}getSensesPointZAxisInPolygon(t,e,i){var r,o,h;const n=this.scene.children.find(u=>u.uuid===this.pointsUuid);let l=0,s=0,a=0,c=0,d=[],p=[];const m=((h=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array)||[];for(let u=0;u<m.length;u+=3){const g=m[u],y=m[u+1],x=m[u+2];polygonTool.isInPolygon({x:g,y},t)&&(x||x===0)&&p.push({x:g,y,z:x})}return p.length?(i&&(p=this.filterNoise(p),d=this.getFittedCoordinates(t,p)),p.sort((u,g)=>u.z-g.z),l=p[0].z-.01,s=p[p.length-1].z+.01,c=p.length,e&&(a=p.filter(({z:u})=>u>=e[0]&&u<=e[1]).length),{maxZ:s,minZ:l,count:a,zCount:c,fittedCoordinates:d}):{maxZ:s,minZ:l,count:a,zCount:c,fittedCoordinates:d}}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:r},height:o,width:h,depth:n}=t,l={x:e+h/2,y:i+o/2,z:r-n/2},s={x:e+h/2,y:i+o/2,z:r+n/2},a={x:e-h/2,y:i+o/2,z:r+n/2},c={x:e-h/2,y:i+o/2,z:r-n/2};return[l,s,a,c]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:n}=t,l={x:e-h/2,y:i+o/2,z:r+n/2},s={x:e-h/2,y:i+o/2,z:r-n/2},a={x:e-h/2,y:i-o/2,z:r-n/2},c={x:e-h/2,y:i-o/2,z:r+n/2};return[l,s,a,c]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:n}=t,l={x:e+h/2,y:i+o/2,z:r+n/2},s={x:e+h/2,y:i-o/2,z:r+n/2},a={x:e-h/2,y:i-o/2,z:r+n/2},c={x:e-h/2,y:i+o/2,z:r+n/2};return[l,s,a,c]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,h=new THREE__namespace.Matrix4().makeTranslation(-e,-i,-r),n=new THREE__namespace.Matrix4().makeTranslation(e,i,r),l=new THREE__namespace.Matrix4().makeRotationZ(o);return new THREE__namespace.Matrix4().multiply(n).multiply(l).multiply(h)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Back)}getSphereSidePoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}getSphereBackPoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}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:r,height:o}=t,h=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(h).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const l=i.map(c=>new THREE__namespace.Vector3(c.x,c.y,c.z)).map(c=>c.applyMatrix4(this.sideMatrix)),s=this.containerWidth/r,a=this.containerHeight/o;return{polygon2d:l,zoom:Math.min(s,a)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:h}=lbUtils.DEFAULT_SPHERE_PARAMS,n={center:e,attribute:i,id:r,valid:o,width:h*2,height:h*2,depth:h*2,rotation:0},l=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(n)).premultiply(l).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const a=new THREE__namespace.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),c=this.containerWidth/(h*2),d=this.containerHeight/(h*2);return{point2d:a,zoom:Math.min(c,d)/2}}getSphereTopPoint2DCoordinate(t){const{center:e}=t,{radius:i}=lbUtils.DEFAULT_SPHERE_PARAMS,r={x:-(e.y-this.containerWidth/2),y:-(e.x-this.containerHeight/2)},o=this.containerWidth/(i*2),h=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(o,h)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,o=this.getPolygonTopPoints(t).map(l=>new THREE__namespace.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.getModelTransformationMatrix(t))).map(l=>({x:l.y,y:l.x})).map(l=>({x:-(l.x-this.containerWidth/2),y:-(l.y-this.containerHeight/2)})),h=this.containerWidth/e,n=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(h,n)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+h.x,y:n.center.y+h.y,z:n.center.z-t.z},n=__spreadProps(__spreadValues({},n),{width:Math.abs(n.width+e),height:n.height,depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxByBackUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+h.x,y:n.center.y+h.y,z:n.center.z-t.z},n=__spreadProps(__spreadValues({},n),{width:n.width,height:Math.abs(n.height+e),depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxBySideUpdateByPoints(t,e,i,r){var o;const h=(o=this.sideMatrix)==null?void 0:o.invert();if(!this.sideMatrix||!h){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const n=t.map(g=>new THREE__namespace.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(h)),[l,s,a,c]=n,d=Math.max(Math.abs(l.x-a.x),Math.abs(l.x-s.x)),m=s.add(c).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(r.center.x,r.center.y,r.center.z));return{newBoxParams:__spreadProps(__spreadValues({},r),{center:{x:r.center.x-m.x,y:r.center.y-m.y,z:r.center.z-i},width:d,height:r.height,depth:r.depth+e,rotation:r.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(i=>i.uuid===this.pointsUuid);if(e){const{attributes:i}=e.geometry,{position:r}=i,o=[],{count:h}=r;for(let n=0;n<h;n++){const l=r.getZ(n);o.push(l>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new THREE__namespace.Float32BufferAttribute(o,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=matrix.getHighlightIndexByPoints,exports.isInImage=matrix.isInImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.point2dTo3D=matrix.point2dTo3D,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;
+      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...s)=>__async(this,[...s],function*(a=this.currentPCDSrc,c){if(!a)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=a;const{points:d,color:p}=yield this.cacheInstance.loadPCDFile(a),m=new THREE__namespace.BufferGeometry;m.setAttribute("position",new THREE__namespace.BufferAttribute(d,3)),this.isSegment||m.setAttribute("dimensions",new THREE__namespace.BufferAttribute(p,3)),this.initCloudData(d);const u=new THREE__namespace.Points(m);this.renderPointCloud(u,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=s=>__async(this,[s],function*({mappingImgList:a,points:c}){const d=a.length===0?[]:yield Promise.all(a.map(u=>ImgUtils.default.load(u.url))),p=a.map((u,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?y:[];const x=matrix.getHighlightIndexByPoints({points:c,calib:u.calib,width:d[g].width,height:d[g].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,x),x});return matrix.mergeHighlightList(p)}),this.loadPCDFileByBox=(s,a,c)=>__async(this,null,function*(){const d=(u,g)=>__async(this,null,function*(){const{width:y=0,height:x=0,depth:w=0}=c!=null?c:{},b=yield this.filterPointsByBox(__spreadProps(__spreadValues({},a),{width:a.width+y,height:a.height+x,depth:a.depth+w}),u,g);if(!b){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=s;const C=new THREE__namespace.Points(b.geometry);C.name=this.pointCloudObjectName,this.scene.add(C),this.render()}),{points:p,color:m}=yield this.cacheInstance.loadPCDFile(s);d(p,m)}),this.generateRange=s=>{const a=this.createRange(s);this.scene.add(a)},this.generateBoxArrow=({width:s})=>{const a=new THREE__namespace.Vector3(1,0,0),c=new THREE__namespace.Vector3(s/2,0,0),d=2,p=16776960,m=new THREE__namespace.ArrowHelper(a,c,d,p);return m.visible=this.showDirection,m},this.generateBoxTrackID=s=>{if(!s.trackID)return;const a=new THREE__namespace.Texture(this.getTextCanvas(s.trackID.toString()));a.needsUpdate=!0;const c=new THREE__namespace.SpriteMaterial({map:a,depthWrite:!1}),d=new THREE__namespace.Sprite(c);return d.scale.set(5,5,5),d.position.set(-s.width/2,0,s.depth/2+.5),d},this.applyZAxisPoints=s=>{this.zAxisLimit=s,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:s,customSize:a})=>{const c=this.scene.getObjectByName(this.pointCloudObjectName);if(!c)return;const d=c.material.uniforms.pointSize.value;s?c.material.uniforms.pointSize.value=Math.min(d*1.2,10):c.material.uniforms.pointSize.value=Math.max(d/1.2,1),a&&(c.material.uniforms.pointSize.value=a,this.pointsMaterialSize=a),c.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=h,this.checkMode=l!=null?l:!1,i&&r?(this.isOrthographicCamera=!0,this.camera=new THREE__namespace.OrthographicCamera(r.left,r.right,r.top,r.bottom,r.near,r.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,n?this.container: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(),n===!0&&(this.initSegment(),this.isSegment=!0)}initSegment(){this.store=new index(this.pointCloudDelegate),this.controls.enablePan=!1,this.controls.addEventListener("start",this.orbiterStart.bind(this)),this.controls.addEventListener("change",this.orbiterChange.bind(this)),this.controls.addEventListener("end",this.orbiterEnd.bind(this)),this.segmentOperation=new segmentation.PointCloudSegmentOperation(__spreadValues({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new index$1(__spreadProps(__spreadValues({store:this.store},this.eventBus),{nextTick:this.nextTick,config:this.config})),this.initMsg(),document.addEventListener("keydown",this.keydown),document.addEventListener("keyup",this.keyup)}orbiterStart(){}orbiterChange(){!this.store||(this.store.orbiting=!0)}orbiterEnd(){!this.store||(this.store.orbiting=!1)}get currentSegmentTool(){var t;return(t=this.segmentOperation)==null?void 0:t.currentToolName}get pointCloudObject(){return this.scene.getObjectByName(this.pointCloudObjectName)}initMsg(){!this.segmentOperation||(this.on("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.on("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.on("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.on("clearPointCloud",this.clearPointCloud.bind(this)),this.on("loadPCDFile",this.loadPCDFile.bind(this)))}unbindMsg(){!this.segmentOperation||(this.unbind("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.unbind("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.unbind("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.unbind("clearPointCloud",this.clearPointCloud.bind(this)),this.unbind("loadPCDFile",this.loadPCDFile.bind(this)))}get eventBus(){return{on:this.on.bind(this),emit:this.emit.bind(this),unbind:this.unbind.bind(this)}}get pointCloudDelegate(){return __spreadValues({container:this.container,scene:this.scene,camera:this.camera,renderer:this.renderer,checkMode:this.checkMode},this.eventBus)}get DEFAULT_INIT_CAMERA_POSITION(){return new THREE__namespace.Vector3(-.01,0,1e3)}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:r,bottom:o,near:h,far:n}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=h,this.camera.far=n,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:r}=this.initCameraPosition;t.position.set(e,i,r)}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,e=""){const i=this.scene.getObjectByName(e+t);i&&i.removeFromParent()}getColorFromConfig(t){return lbUtils.toolStyleConverter.getColorFromConfig({attribute:t},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{})}generateBox(t,e=16777215){const i=e;this.addBoxToSense(t,i),this.render()}getAllAttributeColor(t){return t.reduce((e,i)=>(e[i.attribute]=this.getColorFromConfig(i.attribute),e),{})}generateBoxes(t){t.forEach(e=>{this.addBoxToSense(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:i,height:r}=t,o=10,h=e.x-i/2-o,n=e.x-i/2+o,l=e.y+r/2+o,s=e.y-r/2-o,a=100,c=-100,d=500/a;return{left:h,right:n,top:l,bottom:s,near:a,far:c,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:h,depth:n,rotation:l}=t,s=this.getCameraVector(r,l,{width:o,height:h,depth:n},e);return i?(this.updateCamera(i,r),new THREE__namespace.Vector3(i.x,i.y,i.z)):(this.updateCamera(s,r),s)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=lbUtils.DEFAULT_SPHERE_PARAMS,o=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},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}}updateOrthoCameraBySphere(t,e){const i=this.updateCameraBySphere(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})}getOrthographicCameraTarget(t){const e=new THREE__namespace.Vector3(0,0,-1).applyQuaternion(t.quaternion);return t.position.clone().add(e)}createThreeMatrix4(t){return new THREE__namespace.Matrix4().set(...t)}filterPointsByBox(t,e,i){var r,o,h;if(!e){const n=this.scene.getObjectByName(this.pointCloudObjectName);if(!n)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(h=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array}if(window.Worker){const{zMin:n,zMax:l,polygonPointList:s}=matrix.getCuboidFromPointCloudBox(t),a=e;i=i!=null?i:new Float32Array([]);const c={boxParams:t,zMin:n,zMax:l,polygonPointList:s,color:i,position:a};return new Promise(d=>{const p=new filterBoxWorker;p.postMessage(c),p.onmessage=m=>{const{color:u,position:g,num:y}=m.data,x=new THREE__namespace.BufferGeometry;x.setAttribute("position",new THREE__namespace.Float32BufferAttribute(g,3)),x.setAttribute("color",new THREE__namespace.Float32BufferAttribute(u,3)),x.computeBoundingSphere(),p.terminate(),d({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=lbUtils.EPerspectiveView.Front,o=DEFAULT_DISTANCE){let h=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(o);switch(r){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:h=lbUtils.PerspectiveShiftUtils.backViewMatrix4(o);break;case lbUtils.EPerspectiveView.Left:h=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(o);break;case lbUtils.EPerspectiveView.Right:h=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(o);break;case lbUtils.EPerspectiveView.Top:h=lbUtils.PerspectiveShiftUtils.topViewMatrix4(o);break;case lbUtils.EPerspectiveView.LFT:h=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(o,i);break;case lbUtils.EPerspectiveView.RBT:h=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(o,i);break}const n=this.createThreeMatrix4(h),l=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),s=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),a=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(n).applyMatrix4(l).applyMatrix4(a).applyMatrix4(s)}createRange(t){this.removeObjectByName(this.rangeObjectName);const i=new THREE__namespace.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),r=new THREE__namespace.BufferGeometry().setFromPoints(i),o=new THREE__namespace.LineBasicMaterial({color:16711680}),h=new THREE__namespace.Line(r,o);return h.name=this.rangeObjectName,h}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const i=new THREE__namespace.ShaderMaterial(this.initShaderMaterial());e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=i,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearAllBox(){this.clearAllGroupByPrefix("box")}clearAllSphere(){this.clearAllGroupByPrefix("sphere")}clearAllGroupByPrefix(t=""){const e=this.scene.children;for(let i=e.length-1;i>=0;i--){const r=e[i];r.type==="Group"&&r.name.startsWith(t)&&this.removeObjectByName(r.name)}}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}initCloudData(t){if(!!this.store){for(let e=0;e<t.length;e+=3){const i=t[e],r=t[e+1],o=t[e+2];this.store.cloudData.set(`${i}@${r}@${o}`,{visible:!1})}this.store.setOriginPoints(t)}}highlightOriginPointCloud(t,e=[]){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!!i)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((r,o)=>{if(window.Worker){const n=(t?[...t]:[]).map(a=>matrix.getCuboidFromPointCloudBox(a)),l=this.getAllAttributeColor(n),s={cuboidList:n,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:l,highlightIndex:e};highlightWorker.postMessage(s),highlightWorker.onmessage=a=>{const{color:c}=a.data,d=new THREE__namespace.BufferAttribute(c,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==c.length){o(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,c),this.highlightPCDSrc=void 0,d.needsUpdate=!0,i.geometry.setAttribute("dimensions",d),i.geometry.attributes.dimensions.needsUpdate=!0,r(c),this.render()}}})}clearHighlightBoxes(){this.removeObjectByName(this.highlightGroupName)}clearHighlightBoxesAndRender(){this.clearHighlightBoxes(),this.render()}highlightBoxes(t){const e=new THREE__namespace.Group;t.forEach(i=>{const{center:{x:r,y:o,z:h},width:n,height:l,depth:s,rotation:a}=i,{fill:c}=lbUtils.toolStyleConverter.getColorFromConfig({attribute:i.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),d=new THREE__namespace.BoxGeometry(n,l,s),p=new THREE__namespace.MeshBasicMaterial({color:c,transparent:!0,opacity:.2,depthTest:!1});d.rotateZ(a),d.translate(r,o,h);const m=new THREE__namespace.Mesh(d,p);e.add(m);const u=new THREE__namespace.PlaneGeometry(s,l);u.rotateY(Math.PI/2),u.rotateZ(a);const g=new THREE__namespace.Vector3(n/2,0,0),y=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(a);g.applyMatrix4(y),u.translate(r+g.x,o+g.y,h+g.z);const x=new THREE__namespace.MeshBasicMaterial({color:c,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(u,x);e.add(w)}),e.name=this.highlightGroupName,this.scene.add(e),this.render()}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const i=new THREE__namespace.BufferAttribute(t,3);e.geometry.setAttribute("dimensions",i),e.geometry.attributes.dimensions.needsUpdate=!0,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}filterNoise(t){let e=[...t];e.sort((c,d)=>c.z-d.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:c})=>c>r.z+.1);const o=.005,h=Math.floor(e.length*(1-o));e=e.slice(0,h),e.sort((c,d)=>c.x-d.x);const n=Math.floor(e.length*o),l=Math.floor(e.length*(1-o));e=e.slice(n,l),e.sort((c,d)=>c.y-d.y);const s=Math.floor(e.length*o),a=Math.floor(e.length*(1-o));return e=e.slice(s,a),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:n,y:l})=>{t.forEach((s,a)=>{const c=r[a+1],d=MathUtils.default.getFootOfPerpendicular({x:n,y:l},s,c,!1,!0).length;(!i[a]||d<i[a].distance)&&(i[a]={distance:d,point:{x:n,y:l}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i];return t.map((n,l)=>{const s=r[l],a=r[l+1],c=r[l+2];return lbUtils.PointCloudUtils.getIntersectionBySlope({p1:o[l].point,line1:[s,a],p2:o[l+1].point,line2:[a,c]})})}getSensesPointZAxisInPolygon(t,e,i){var r,o,h;const n=this.scene.children.find(u=>u.uuid===this.pointsUuid);let l=0,s=0,a=0,c=0,d=[],p=[];const m=((h=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array)||[];for(let u=0;u<m.length;u+=3){const g=m[u],y=m[u+1],x=m[u+2];polygonTool.isInPolygon({x:g,y},t)&&(x||x===0)&&p.push({x:g,y,z:x})}return p.length?(i&&(p=this.filterNoise(p),d=this.getFittedCoordinates(t,p)),p.sort((u,g)=>u.z-g.z),l=p[0].z-.01,s=p[p.length-1].z+.01,c=p.length,e&&(a=p.filter(({z:u})=>u>=e[0]&&u<=e[1]).length),{maxZ:s,minZ:l,count:a,zCount:c,fittedCoordinates:d}):{maxZ:s,minZ:l,count:a,zCount:c,fittedCoordinates:d}}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:r},height:o,width:h,depth:n}=t,l={x:e+h/2,y:i+o/2,z:r-n/2},s={x:e+h/2,y:i+o/2,z:r+n/2},a={x:e-h/2,y:i+o/2,z:r+n/2},c={x:e-h/2,y:i+o/2,z:r-n/2};return[l,s,a,c]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:n}=t,l={x:e-h/2,y:i+o/2,z:r+n/2},s={x:e-h/2,y:i+o/2,z:r-n/2},a={x:e-h/2,y:i-o/2,z:r-n/2},c={x:e-h/2,y:i-o/2,z:r+n/2};return[l,s,a,c]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:n}=t,l={x:e+h/2,y:i+o/2,z:r+n/2},s={x:e+h/2,y:i-o/2,z:r+n/2},a={x:e-h/2,y:i-o/2,z:r+n/2},c={x:e-h/2,y:i+o/2,z:r+n/2};return[l,s,a,c]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,h=new THREE__namespace.Matrix4().makeTranslation(-e,-i,-r),n=new THREE__namespace.Matrix4().makeTranslation(e,i,r),l=new THREE__namespace.Matrix4().makeRotationZ(o);return new THREE__namespace.Matrix4().multiply(n).multiply(l).multiply(h)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,lbUtils.EPerspectiveView.Back)}getSphereSidePoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}getSphereBackPoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}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:r,height:o}=t,h=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(h).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const l=i.map(c=>new THREE__namespace.Vector3(c.x,c.y,c.z)).map(c=>c.applyMatrix4(this.sideMatrix)),s=this.containerWidth/r,a=this.containerHeight/o;return{polygon2d:l,zoom:Math.min(s,a)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:h}=lbUtils.DEFAULT_SPHERE_PARAMS,n={center:e,attribute:i,id:r,valid:o,width:h*2,height:h*2,depth:h*2,rotation:0},l=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(n)).premultiply(l).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const a=new THREE__namespace.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),c=this.containerWidth/(h*2),d=this.containerHeight/(h*2);return{point2d:a,zoom:Math.min(c,d)/2}}getSphereTopPoint2DCoordinate(t){const{center:e}=t,{radius:i}=lbUtils.DEFAULT_SPHERE_PARAMS,r={x:-(e.y-this.containerWidth/2),y:-(e.x-this.containerHeight/2)},o=this.containerWidth/(i*2),h=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(o,h)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,o=this.getPolygonTopPoints(t).map(l=>new THREE__namespace.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.getModelTransformationMatrix(t))).map(l=>({x:l.y,y:l.x})).map(l=>({x:-(l.x-this.containerWidth/2),y:-(l.y-this.containerHeight/2)})),h=this.containerWidth/e,n=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(h,n)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+h.x,y:n.center.y+h.y,z:n.center.z-t.z},n=__spreadProps(__spreadValues({},n),{width:Math.abs(n.width+e),height:n.height,depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxByBackUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+h.x,y:n.center.y+h.y,z:n.center.z-t.z},n=__spreadProps(__spreadValues({},n),{width:n.width,height:Math.abs(n.height+e),depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxBySideUpdateByPoints(t,e,i,r){var o;const h=(o=this.sideMatrix)==null?void 0:o.invert();if(!this.sideMatrix||!h){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const n=t.map(g=>new THREE__namespace.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(h)),[l,s,a,c]=n,d=Math.max(Math.abs(l.x-a.x),Math.abs(l.x-s.x)),m=s.add(c).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(r.center.x,r.center.y,r.center.z));return{newBoxParams:__spreadProps(__spreadValues({},r),{center:{x:r.center.x-m.x,y:r.center.y-m.y,z:r.center.z-i},width:d,height:r.height,depth:r.depth+e,rotation:r.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(i=>i.uuid===this.pointsUuid);if(e){const{attributes:i}=e.geometry,{position:r}=i,o=[],{count:h}=r;for(let n=0;n<h;n++){const l=r.getZ(n);o.push(l>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new THREE__namespace.Float32BufferAttribute(o,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=matrix.getHighlightIndexByPoints,exports.isFisheyeCalibValid=matrix.isFisheyeCalibValid,exports.isInImage=matrix.isInImage,exports.isMatrixValid=matrix.isMatrixValid,exports.lidar2FisheyeImage=matrix.lidar2FisheyeImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;

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(e){if(e&&e.__esModule)return e;var t=Object.create(null);return e&&Object.keys(e).forEach(function(r){if(r!=="default"){var n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:function(){return e[r]}})}}),t.default=e,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=(e,t,r)=>t in e?__defProp(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,__spreadValues=(e,t)=>{for(var r in t||(t={}))__hasOwnProp.call(t,r)&&__defNormalProp(e,r,t[r]);if(__getOwnPropSymbols)for(var r of __getOwnPropSymbols(t))__propIsEnum.call(t,r)&&__defNormalProp(e,r,t[r]);return e},__spreadProps=(e,t)=>__defProps(e,__getOwnPropDescs(t));function createThreeMatrix4(e){return new THREE__namespace.Matrix4().set(...e)}function transferKitti2Matrix(e,t,r){try{const n=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),i=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),o=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),s=createThreeMatrix4(n),c=createThreeMatrix4(i),u=createThreeMatrix4(o);return{composeMatrix4:u.clone().premultiply(c).premultiply(s),PM:s,RM:c,TM:u}}catch(n){console.error(n)}}function rotatePoint(e,t,r){var n;const i=new THREE__namespace.Vector3(e.x,e.y,(n=e==null?void 0:e.z)!=null?n:1),o=new THREE__namespace.Matrix4().makeRotationZ(r),s=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),c=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(c).applyMatrix4(o).applyMatrix4(s)}function lidar2image(e,t){const n=new THREE__namespace.Vector4(e.x,e.y,e.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new THREE__namespace.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function getCuboidFromPointCloudBox(e){const{center:t,width:r,height:n,depth:i,rotation:o}=e,s=[{x:t.x+r/2,y:t.y-n/2},{x:t.x+r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y-n/2}].map(x=>{const l=rotatePoint(x,t,o);return{x:l.x,y:l.y}}),c=t.z+i/2,u=t.z-i/2;return __spreadProps(__spreadValues({},e),{polygonPointList:s,zMax:c,zMin:u})}function sortPoints(e){const t=e.slice();return t.sort((r,n)=>r.x===n.x?n.y-r.y:r.x-n.x),t}function crossProduct(e,t,r){const n=t.x-e.x,i=t.y-e.y,o=r.x-e.x,s=r.y-e.y;return n*s-o*i}function buildConvexHull(e){const t=sortPoints(e),r=[];for(let o=0;o<t.length;o++){for(;r.length>=2&&crossProduct(r[r.length-2],r[r.length-1],t[o])<=0;)r.pop();r.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&crossProduct(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return r.pop(),n.pop(),r.concat(n)}const point3DLidar2Image=(e,t)=>{var r;const{P:n,R:i,T:o}=t,{composeMatrix4:s}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};if(!!s)return lidar2image(e,s)},point2dTo3D=(e,t)=>{var r;const{P:n,R:i,T:o}=t,{composeMatrix4:s}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};return s?new THREE__namespace.Vector4(e.x,e.y,e.z).applyMatrix4(s.invert()):void 0},isInImage=({point:e,calib:t,width:r,height:n})=>{if(!t)return!1;const i=point3DLidar2Image(e,t);return i?i.x>=0&&i.x<=r&&i.y>=0&&i.y<=n:!1},getHighlightIndexByPoints=({points:e,calib:t,width:r,height:n})=>{const i=[];for(let o=0;o<e.length;o+=3){const s=e[o],c=e[o+1],u=e[o+2];isInImage({point:{x:s,y:c,z:u},calib:t,width:r,height:n})?i.push(1):i.push(0)}return i},mergeHighlightList=e=>{if(e.length===0)return[];const t=[];for(let r=0;r<e[0].length;r++){for(let n=0;n<e.length;n++)if(e[n][r]===1){t.push(1);break}t.length===r&&t.push(0)}return t};function pointCloudLidar2image(e,t,r={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=r,o=lbUtils.PointCloudUtils.getAllViewData(e),{P:s,R:c,T:u}=t,{composeMatrix4:x}=(n=transferKitti2Matrix(s,c,u))!=null?n:{};if(!x)return;const l=o.map(p=>({type:p.type,pointList:p.pointList.map(a=>rotatePoint(a,e.center,e.rotation)).map(a=>lidar2image(a,x)).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(p=>p.pointList.length!==0);let f=[];if(l.length===6&&i===!0){const p=l[0].pointList,a=l[1].pointList;f=buildConvexHull([...p,...a])}return{transferViewData:l,viewRangePointList:f}}function pointMappingLidar2image(e,t,r){var n;const{P:i,R:o,T:s}=t,{composeMatrix4:c}=(n=transferKitti2Matrix(i,o,s))!=null?n:{};if(!c)return;const u=e.length/3,x={};for(let l=0;l<u;l++){const f=lidar2image({x:e[l*3],y:e[l*3+1],z:e[l*3+2]},c);if(f){const p=Math.floor(f.x),a=Math.floor(f.y);if(p>r.width||a>r.height||p<0||a<0)continue;x[l]={x:p,y:a}}}return{pcdMapping:x}}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=getHighlightIndexByPoints,exports.isInImage=isInImage,exports.lidar2image=lidar2image,exports.mergeHighlightList=mergeHighlightList,exports.point2dTo3D=point2dTo3D,exports.point3DLidar2Image=point3DLidar2Image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.pointMappingLidar2image=pointMappingLidar2image,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(e){if(e&&e.__esModule)return e;var t=Object.create(null);return e&&Object.keys(e).forEach(function(r){if(r!=="default"){var n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:function(){return e[r]}})}}),t.default=e,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,__pow=Math.pow,__defNormalProp=(e,t,r)=>t in e?__defProp(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,__spreadValues=(e,t)=>{for(var r in t||(t={}))__hasOwnProp.call(t,r)&&__defNormalProp(e,r,t[r]);if(__getOwnPropSymbols)for(var r of __getOwnPropSymbols(t))__propIsEnum.call(t,r)&&__defNormalProp(e,r,t[r]);return e},__spreadProps=(e,t)=>__defProps(e,__getOwnPropDescs(t));function createThreeMatrix4(e){return new THREE__namespace.Matrix4().set(...e)}function transferKitti2Matrix(e,t,r){try{const n=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),i=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),o=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),l=createThreeMatrix4(n),p=createThreeMatrix4(i),a=createThreeMatrix4(o);return{composeMatrix4:a.clone().premultiply(p).premultiply(l),PM:l,RM:p,TM:a}}catch(n){console.error(n)}}function rotatePoint(e,t,r){var n;const i=new THREE__namespace.Vector3(e.x,e.y,(n=e==null?void 0:e.z)!=null?n:1),o=new THREE__namespace.Matrix4().makeRotationZ(r),l=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),p=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(p).applyMatrix4(o).applyMatrix4(l)}function isMatrixValid(e,t,r){return!(e.length!==t||e.some(n=>n.length!==r))}const isFisheyeCalibValid=e=>{var t;return!!(((t=e.fisheyeDistortion)==null?void 0:t.length)>0&&isMatrixValid(e.P,3,4)&&isMatrixValid(e.T,3,4))},lidar2FisheyeImage=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:r,fisheyeDistortion:n,T:i}=t,o=new THREE__namespace.Vector4(e.x,e.y,e.z),l=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(i)),p=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r)),a=o.applyMatrix4(l),x=__pow(__pow(a.x,2)+__pow(a.y,2),.5),f=Math.atan(a.z/x),s=n.reduce((u,c,y)=>u+c*__pow(f,y),0);return a.x=a.x/x*s,a.y=a.y/x*s,a.z=1,a.applyMatrix4(p)};function lidar2image(e,t){const n=new THREE__namespace.Vector4(e.x,e.y,e.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new THREE__namespace.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function getCuboidFromPointCloudBox(e){const{center:t,width:r,height:n,depth:i,rotation:o}=e,l=[{x:t.x+r/2,y:t.y-n/2},{x:t.x+r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y-n/2}].map(x=>{const f=rotatePoint(x,t,o);return{x:f.x,y:f.y}}),p=t.z+i/2,a=t.z-i/2;return __spreadProps(__spreadValues({},e),{polygonPointList:l,zMax:p,zMin:a})}function sortPoints(e){const t=e.slice();return t.sort((r,n)=>r.x===n.x?n.y-r.y:r.x-n.x),t}function crossProduct(e,t,r){const n=t.x-e.x,i=t.y-e.y,o=r.x-e.x,l=r.y-e.y;return n*l-o*i}function buildConvexHull(e){const t=sortPoints(e),r=[];for(let o=0;o<t.length;o++){for(;r.length>=2&&crossProduct(r[r.length-2],r[r.length-1],t[o])<=0;)r.pop();r.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&crossProduct(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return r.pop(),n.pop(),r.concat(n)}const point3DLidar2Image=(e,t)=>{var r;if(isFisheyeCalibValid(t))return lidar2FisheyeImage(e,t);const{P:n,R:i,T:o}=t,{composeMatrix4:l}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};if(!!l)return lidar2image(e,l)},isInImage=({point:e,calib:t,width:r,height:n})=>{if(!t)return!1;const i=point3DLidar2Image(e,t);return i?i.x>=0&&i.x<=r&&i.y>=0&&i.y<=n:!1},getHighlightIndexByPoints=({points:e,calib:t,width:r,height:n})=>{const i=[];for(let o=0;o<e.length;o+=3){const l=e[o],p=e[o+1],a=e[o+2];isInImage({point:{x:l,y:p,z:a},calib:t,width:r,height:n})?i.push(1):i.push(0)}return i},mergeHighlightList=e=>{if(e.length===0)return[];const t=[];for(let r=0;r<e[0].length;r++){for(let n=0;n<e.length;n++)if(e[n][r]===1){t.push(1);break}t.length===r&&t.push(0)}return t};function pointCloudLidar2image(e,t,r={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=r,o=lbUtils.PointCloudUtils.getAllViewData(e),l=isFisheyeCalibValid(t),{P:p,R:a,T:x}=t;let f;if(l===!1){const{composeMatrix4:u}=(n=transferKitti2Matrix(p,a,x))!=null?n:{};if(!u)return;f=u}const s=o.map(u=>({type:u.type,pointList:u.pointList.map(c=>rotatePoint(c,e.center,e.rotation)).map(c=>l?lidar2FisheyeImage(c,t):f&&lidar2image(c,f)).map(c=>{if(!!c)return{id:uuid(),x:c==null?void 0:c.x,y:c==null?void 0:c.y}}).filter(c=>c!==void 0)})).filter(u=>u.pointList.length!==0);s[0]&&s[0].pointList&&l&&(s[0].pointList=s[0].pointList.map(u=>__spreadProps(__spreadValues({},u),{specialEdge:!0})));let h=[];if(s.length===6&&i===!0){const u=s[0].pointList,c=s[1].pointList;h=buildConvexHull([...u,...c])}return{transferViewData:s,viewRangePointList:h}}function pointMappingLidar2image(e,t,r){var n;const i=isFisheyeCalibValid(t),{P:o,R:l,T:p}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=transferKitti2Matrix(o,l,p))!=null?n:{};if(!s)return;a=s}const x=e.length/3,f={};for(let s=0;s<x;s++){const h={x:e[s*3],y:e[s*3+1],z:e[s*3+2]};let u;if(i?u=lidar2FisheyeImage(h,t):u=a&&lidar2image({x:e[s*3],y:e[s*3+1],z:e[s*3+2]},a),u){const c=Math.floor(u.x),y=Math.floor(u.y);if(c>r.width||y>r.height||c<0||y<0)continue;f[s]={x:c,y}}}return{pcdMapping:f}}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=getHighlightIndexByPoints,exports.isFisheyeCalibValid=isFisheyeCalibValid,exports.isInImage=isInImage,exports.isMatrixValid=isMatrixValid,exports.lidar2FisheyeImage=lidar2FisheyeImage,exports.lidar2image=lidar2image,exports.mergeHighlightList=mergeHighlightList,exports.point3DLidar2Image=point3DLidar2Image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.pointMappingLidar2image=pointMappingLidar2image,exports.rotatePoint=rotatePoint,exports.transferKitti2Matrix=transferKitti2Matrix;

package/dist/index.js

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var rectOperation=require("./core/toolOperation/rectOperation.js"),tagOperation=require("./core/toolOperation/tagOperation.js"),pointOperation=require("./core/toolOperation/pointOperation.js"),LineToolOperation=require("./core/toolOperation/LineToolOperation.js"),TextToolOperation=require("./core/toolOperation/TextToolOperation.js"),polygonOperation=require("./core/toolOperation/polygonOperation.js"),measureOperation=require("./core/toolOperation/measureOperation.js"),pointCloud2DRectOperation=require("./core/toolOperation/pointCloud2DRectOperation.js"),basicToolOperation=require("./core/toolOperation/basicToolOperation.js"),ViewOperation=require("./core/toolOperation/ViewOperation.js"),ScribbleTool=require("./core/toolOperation/ScribbleTool.js"),pointCloud2dOperation=require("./core/toolOperation/pointCloud2dOperation.js"),annotation=require("./constant/annotation.js"),annotationTask=require("./constant/annotationTask.js"),keyCode=require("./constant/keyCode.js"),style=require("./constant/style.js"),tool=require("./constant/tool.js"),TagUtils=require("./utils/tool/TagUtils.js"),uuid=require("./utils/uuid.js"),EnhanceCommonToolUtils=require("./utils/tool/EnhanceCommonToolUtils.js"),MarkerUtils=require("./utils/tool/MarkerUtils.js"),RectUtils=require("./utils/tool/RectUtils.js"),AxisUtils=require("./utils/tool/AxisUtils.js"),DrawUtils=require("./utils/tool/DrawUtils.js"),ImgUtils=require("./utils/ImgUtils.js"),MathUtils=require("./utils/MathUtils.js"),AttributeUtils=require("./utils/tool/AttributeUtils.js"),ActionsHistory=require("./utils/ActionsHistory.js"),EventBus=require("./utils/EventBus.js"),DblClickEventListener=require("./utils/tool/DblClickEventListener.js"),index=require("./core/index.js"),UnitUtils=require("./utils/tool/UnitUtils.js"),StyleUtils=require("./utils/tool/StyleUtils.js"),CanvasScheduler=require("./newCore/CanvasScheduler.js"),index$1=require("./core/pointCloud/index.js"),matrix=require("./core/pointCloud/matrix.js"),annotation$1=require("./core/pointCloud/annotation.js");function _interopNamespaceDefaultOnly(e){return Object.freeze({__proto__:null,default:e})}var keyCode__namespace=_interopNamespaceDefaultOnly(keyCode);const CommonToolUtils=EnhanceCommonToolUtils.default,toolUtils=EnhanceCommonToolUtils.default;exports.RectOperation=rectOperation.RectOperation,exports.TagOperation=tagOperation,exports.PointOperation=pointOperation,exports.LineToolOperation=LineToolOperation.default,exports.TextToolOperation=TextToolOperation,exports.PolygonOperation=polygonOperation,exports.MeasureOperation=measureOperation,exports.PointCloud2DRectOperation=pointCloud2DRectOperation,exports.BasicToolOperation=basicToolOperation.BasicToolOperation,exports.ViewOperation=ViewOperation,exports.ScribbleTool=ScribbleTool,exports.PointCloud2dOperation=pointCloud2dOperation,exports.cAnnotation=annotation,exports.cAnnotationTask=annotationTask,exports.cKeyCode=keyCode__namespace,exports.cStyle=style,exports.CLIENT_TOOL_HEAD_TYPE=tool.CLIENT_TOOL_HEAD_TYPE,exports.CLIENT_TOOL_NAME=tool.CLIENT_TOOL_NAME,exports.DEFAULT_FONT=tool.DEFAULT_FONT,exports.DEFAULT_TEXT_MAX_WIDTH=tool.DEFAULT_TEXT_MAX_WIDTH,Object.defineProperty(exports,"EAnnotationMode",{enumerable:!0,get:function(){return tool.EAnnotationMode}}),Object.defineProperty(exports,"EAudioToolName",{enumerable:!0,get:function(){return tool.EAudioToolName}}),Object.defineProperty(exports,"EAuditStatus",{enumerable:!0,get:function(){return tool.EAuditStatus}}),Object.defineProperty(exports,"ECheckModel",{enumerable:!0,get:function(){return tool.ECheckModel}}),Object.defineProperty(exports,"EDependPattern",{enumerable:!0,get:function(){return tool.EDependPattern}}),Object.defineProperty(exports,"EDragTarget",{enumerable:!0,get:function(){return tool.EDragTarget}}),Object.defineProperty(exports,"EDrawPointPattern",{enumerable:!0,get:function(){return tool.EDrawPointPattern}}),Object.defineProperty(exports,"EFilterToolOperation",{enumerable:!0,get:function(){return tool.EFilterToolOperation}}),Object.defineProperty(exports,"ELineColor",{enumerable:!0,get:function(){return tool.ELineColor}}),Object.defineProperty(exports,"ELineTypes",{enumerable:!0,get:function(){return tool.ELineTypes}}),Object.defineProperty(exports,"EOperationMode",{enumerable:!0,get:function(){return tool.EOperationMode}}),Object.defineProperty(exports,"EPageOperator",{enumerable:!0,get:function(){return tool.EPageOperator}}),Object.defineProperty(exports,"EPointCloudName",{enumerable:!0,get:function(){return tool.EPointCloudName}}),Object.defineProperty(exports,"EPolygonPattern",{enumerable:!0,get:function(){return tool.EPolygonPattern}}),Object.defineProperty(exports,"ERectPattern",{enumerable:!0,get:function(){return tool.ERectPattern}}),Object.defineProperty(exports,"EScribblePattern",{enumerable:!0,get:function(){return tool.EScribblePattern}}),Object.defineProperty(exports,"ESelectedType",{enumerable:!0,get:function(){return tool.ESelectedType}}),Object.defineProperty(exports,"ETextType",{enumerable:!0,get:function(){return tool.ETextType}}),Object.defineProperty(exports,"EThumbnailOption",{enumerable:!0,get:function(){return tool.EThumbnailOption}}),Object.defineProperty(exports,"EToolName",{enumerable:!0,get:function(){return tool.EToolName}}),Object.defineProperty(exports,"EToolType",{enumerable:!0,get:function(){return tool.EToolType}}),Object.defineProperty(exports,"EVideoToolName",{enumerable:!0,get:function(){return tool.EVideoToolName}}),exports.OPERATION_LIST=tool.OPERATION_LIST,exports.SEGMENT_NUMBER=tool.SEGMENT_NUMBER,exports.TEXT_ATTRIBUTE_LINE_HEIGHT=tool.TEXT_ATTRIBUTE_LINE_HEIGHT,exports.TEXT_ATTRIBUTE_MAX_LENGTH=tool.TEXT_ATTRIBUTE_MAX_LENGTH,exports.TEXT_TYPE=tool.TEXT_TYPE,exports.TOOL_NAME=tool.TOOL_NAME,exports.TOOL_NAME_EN=tool.TOOL_NAME_EN,exports.cTool=tool,exports.edgeAdsorptionScope=tool.edgeAdsorptionScope,exports.editStepWidth=tool.editStepWidth,exports.TagUtils=TagUtils,exports.uuid=uuid,exports.MarkerUtils=MarkerUtils,exports.RectUtils=RectUtils,exports.AxisUtils=AxisUtils.default,exports.DrawUtils=DrawUtils,exports.ImgUtils=ImgUtils.default,exports.MathUtils=MathUtils.default,exports.AttributeUtils=AttributeUtils.default,exports.ActionsHistory=ActionsHistory,exports.EventBus=EventBus,exports.DblClickEventListener=DblClickEventListener,exports.AnnotationEngine=index,exports.UnitUtils=UnitUtils,exports.StyleUtils=StyleUtils,exports.CanvasScheduler=CanvasScheduler.CanvasScheduler,exports.PointCloud=index$1.PointCloud,exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=matrix.getHighlightIndexByPoints,exports.isInImage=matrix.isInImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.point2dTo3D=matrix.point2dTo3D,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloudAnnotation=annotation$1.PointCloudAnnotation,exports.CommonToolUtils=CommonToolUtils,exports.toolUtils=toolUtils;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var rectOperation=require("./core/toolOperation/rectOperation.js"),tagOperation=require("./core/toolOperation/tagOperation.js"),pointOperation=require("./core/toolOperation/pointOperation.js"),LineToolOperation=require("./core/toolOperation/LineToolOperation.js"),TextToolOperation=require("./core/toolOperation/TextToolOperation.js"),polygonOperation=require("./core/toolOperation/polygonOperation.js"),measureOperation=require("./core/toolOperation/measureOperation.js"),pointCloud2DRectOperation=require("./core/toolOperation/pointCloud2DRectOperation.js"),basicToolOperation=require("./core/toolOperation/basicToolOperation.js"),ViewOperation=require("./core/toolOperation/ViewOperation.js"),ScribbleTool=require("./core/toolOperation/ScribbleTool.js"),pointCloud2dOperation=require("./core/toolOperation/pointCloud2dOperation.js"),annotation=require("./constant/annotation.js"),annotationTask=require("./constant/annotationTask.js"),keyCode=require("./constant/keyCode.js"),style=require("./constant/style.js"),tool=require("./constant/tool.js"),TagUtils=require("./utils/tool/TagUtils.js"),uuid=require("./utils/uuid.js"),EnhanceCommonToolUtils=require("./utils/tool/EnhanceCommonToolUtils.js"),MarkerUtils=require("./utils/tool/MarkerUtils.js"),RectUtils=require("./utils/tool/RectUtils.js"),AxisUtils=require("./utils/tool/AxisUtils.js"),DrawUtils=require("./utils/tool/DrawUtils.js"),ImgUtils=require("./utils/ImgUtils.js"),MathUtils=require("./utils/MathUtils.js"),AttributeUtils=require("./utils/tool/AttributeUtils.js"),ActionsHistory=require("./utils/ActionsHistory.js"),EventBus=require("./utils/EventBus.js"),DblClickEventListener=require("./utils/tool/DblClickEventListener.js"),index=require("./core/index.js"),UnitUtils=require("./utils/tool/UnitUtils.js"),StyleUtils=require("./utils/tool/StyleUtils.js"),CanvasScheduler=require("./newCore/CanvasScheduler.js"),index$1=require("./core/pointCloud/index.js"),matrix=require("./core/pointCloud/matrix.js"),annotation$1=require("./core/pointCloud/annotation.js");function _interopNamespaceDefaultOnly(e){return Object.freeze({__proto__:null,default:e})}var keyCode__namespace=_interopNamespaceDefaultOnly(keyCode);const CommonToolUtils=EnhanceCommonToolUtils.default,toolUtils=EnhanceCommonToolUtils.default;exports.RectOperation=rectOperation.RectOperation,exports.TagOperation=tagOperation,exports.PointOperation=pointOperation,exports.LineToolOperation=LineToolOperation.default,exports.TextToolOperation=TextToolOperation,exports.PolygonOperation=polygonOperation,exports.MeasureOperation=measureOperation,exports.PointCloud2DRectOperation=pointCloud2DRectOperation,exports.BasicToolOperation=basicToolOperation.BasicToolOperation,exports.ViewOperation=ViewOperation,exports.ScribbleTool=ScribbleTool,exports.PointCloud2dOperation=pointCloud2dOperation,exports.cAnnotation=annotation,exports.cAnnotationTask=annotationTask,exports.cKeyCode=keyCode__namespace,exports.cStyle=style,exports.CLIENT_TOOL_HEAD_TYPE=tool.CLIENT_TOOL_HEAD_TYPE,exports.CLIENT_TOOL_NAME=tool.CLIENT_TOOL_NAME,exports.DEFAULT_FONT=tool.DEFAULT_FONT,exports.DEFAULT_TEXT_MAX_WIDTH=tool.DEFAULT_TEXT_MAX_WIDTH,Object.defineProperty(exports,"EAnnotationMode",{enumerable:!0,get:function(){return tool.EAnnotationMode}}),Object.defineProperty(exports,"EAudioToolName",{enumerable:!0,get:function(){return tool.EAudioToolName}}),Object.defineProperty(exports,"EAuditStatus",{enumerable:!0,get:function(){return tool.EAuditStatus}}),Object.defineProperty(exports,"ECheckModel",{enumerable:!0,get:function(){return tool.ECheckModel}}),Object.defineProperty(exports,"EDependPattern",{enumerable:!0,get:function(){return tool.EDependPattern}}),Object.defineProperty(exports,"EDragTarget",{enumerable:!0,get:function(){return tool.EDragTarget}}),Object.defineProperty(exports,"EDrawPointPattern",{enumerable:!0,get:function(){return tool.EDrawPointPattern}}),Object.defineProperty(exports,"EFilterToolOperation",{enumerable:!0,get:function(){return tool.EFilterToolOperation}}),Object.defineProperty(exports,"ELineColor",{enumerable:!0,get:function(){return tool.ELineColor}}),Object.defineProperty(exports,"ELineTypes",{enumerable:!0,get:function(){return tool.ELineTypes}}),Object.defineProperty(exports,"EOperationMode",{enumerable:!0,get:function(){return tool.EOperationMode}}),Object.defineProperty(exports,"EPageOperator",{enumerable:!0,get:function(){return tool.EPageOperator}}),Object.defineProperty(exports,"EPointCloudName",{enumerable:!0,get:function(){return tool.EPointCloudName}}),Object.defineProperty(exports,"EPolygonPattern",{enumerable:!0,get:function(){return tool.EPolygonPattern}}),Object.defineProperty(exports,"ERectPattern",{enumerable:!0,get:function(){return tool.ERectPattern}}),Object.defineProperty(exports,"EScribblePattern",{enumerable:!0,get:function(){return tool.EScribblePattern}}),Object.defineProperty(exports,"ESelectedType",{enumerable:!0,get:function(){return tool.ESelectedType}}),Object.defineProperty(exports,"ETextType",{enumerable:!0,get:function(){return tool.ETextType}}),Object.defineProperty(exports,"EThumbnailOption",{enumerable:!0,get:function(){return tool.EThumbnailOption}}),Object.defineProperty(exports,"EToolName",{enumerable:!0,get:function(){return tool.EToolName}}),Object.defineProperty(exports,"EToolType",{enumerable:!0,get:function(){return tool.EToolType}}),Object.defineProperty(exports,"EVideoToolName",{enumerable:!0,get:function(){return tool.EVideoToolName}}),exports.OPERATION_LIST=tool.OPERATION_LIST,exports.SEGMENT_NUMBER=tool.SEGMENT_NUMBER,exports.TEXT_ATTRIBUTE_LINE_HEIGHT=tool.TEXT_ATTRIBUTE_LINE_HEIGHT,exports.TEXT_ATTRIBUTE_MAX_LENGTH=tool.TEXT_ATTRIBUTE_MAX_LENGTH,exports.TEXT_TYPE=tool.TEXT_TYPE,exports.TOOL_NAME=tool.TOOL_NAME,exports.TOOL_NAME_EN=tool.TOOL_NAME_EN,exports.cTool=tool,exports.edgeAdsorptionScope=tool.edgeAdsorptionScope,exports.editStepWidth=tool.editStepWidth,exports.TagUtils=TagUtils,exports.uuid=uuid,exports.MarkerUtils=MarkerUtils,exports.RectUtils=RectUtils,exports.AxisUtils=AxisUtils.default,exports.DrawUtils=DrawUtils,exports.ImgUtils=ImgUtils.default,exports.MathUtils=MathUtils.default,exports.AttributeUtils=AttributeUtils.default,exports.ActionsHistory=ActionsHistory,exports.EventBus=EventBus,exports.DblClickEventListener=DblClickEventListener,exports.AnnotationEngine=index,exports.UnitUtils=UnitUtils,exports.StyleUtils=StyleUtils,exports.CanvasScheduler=CanvasScheduler.CanvasScheduler,exports.PointCloud=index$1.PointCloud,exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=matrix.getHighlightIndexByPoints,exports.isFisheyeCalibValid=matrix.isFisheyeCalibValid,exports.isInImage=matrix.isInImage,exports.isMatrixValid=matrix.isMatrixValid,exports.lidar2FisheyeImage=matrix.lidar2FisheyeImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloudAnnotation=annotation$1.PointCloudAnnotation,exports.CommonToolUtils=CommonToolUtils,exports.toolUtils=toolUtils;

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

@@ -2,7 +2,7 @@
  * The set of Matrix multiplication
  */
 import * as THREE from 'three';
-import { TMatrix4Tuple, IPointCloudBox, I3DSpaceCoord, TMatrix14Tuple, TMatrix13Tuple, IPolygonPoint, ICalib } from '@labelbee/lb-utils';
+import { TMatrix4Tuple, IPointCloudBox, I3DSpaceCoord, TMatrix14Tuple, TMatrix13Tuple, IPolygonPoint, ICalib, IBasicBox3d } from '@labelbee/lb-utils';
 export declare function createThreeMatrix4(matrix4: TMatrix4Tuple): THREE.Matrix4;
 /**
  * Transfer the Kitti format (defined by array) to Three Matrix (flatten array)
@@ -22,6 +22,30 @@ export declare function rotatePoint(points: {
     y: number;
     z?: number;
 }, centerPoint: I3DSpaceCoord, rotationZ: number): THREE.Vector3;
+/**
+ * Check if the matrix is valid
+ * @param matrix
+ * @param numRows
+ * @param numColumns
+ * @returns
+ */
+export declare function isMatrixValid(matrix: number[][], numRows: number, numColumns: number): boolean;
+/**
+ * Check if the calib is in fisheyeCalib.
+ * @param calib
+ * @returns
+ */
+export declare const isFisheyeCalibValid: (calib: ICalib) => boolean;
+/**
+ * Calculate lidar to fisheyeImage.
+ *
+ * In comparison to "lidar2Image",
+ * the main difference lies in the computation of distortion parameters during the 2's step.
+ * @param point
+ * @param calib
+ * @returns
+ */
+export declare const lidar2FisheyeImage: (point: I3DSpaceCoord, calib: ICalib) => THREE.Vector4 | undefined;
 export declare function lidar2image(point: {
     x: number;
     y: number;
@@ -54,12 +78,7 @@ export declare const point3DLidar2Image: (point: {
     x: number;
     y: number;
     z: number;
-}, cameraMatrix: ICalib) => THREE.Vector4 | undefined;
-export declare const point2dTo3D: (point: {
-    x: number;
-    y: number;
-    z: number;
-}, cameraMatrix: ICalib) => THREE.Vector4 | undefined;
+}, calib: ICalib) => THREE.Vector4 | undefined;
 export declare const isInImage: ({ point, calib, width, height, }: {
     point: I3DSpaceCoord;
     calib?: ICalib | undefined;
@@ -78,11 +97,7 @@ export declare const getHighlightIndexByPoints: ({ points, calib, width, height,
  * @returns
  */
 export declare const mergeHighlightList: (indexList: number[][]) => number[];
-export declare function pointCloudLidar2image(boxParams: IPointCloudBox, cameraMatrix?: {
-    P: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
-    R: [TMatrix13Tuple, TMatrix13Tuple, TMatrix13Tuple];
-    T: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
-}, options?: {
+export declare function pointCloudLidar2image(boxParams: IPointCloudBox | IBasicBox3d, calib?: ICalib, options?: {
     createRange: boolean;
 }): {
     transferViewData: {
@@ -102,11 +117,7 @@ export declare function pointCloudLidar2image(boxParams: IPointCloudBox, cameraM
  * @param filterSize
  * @returns
  */
-export declare function pointMappingLidar2image(points: Float32Array, cameraMatrix: {
-    P: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
-    R: [TMatrix13Tuple, TMatrix13Tuple, TMatrix13Tuple];
-    T: [TMatrix14Tuple, TMatrix14Tuple, TMatrix14Tuple];
-}, filterSize: {
+export declare function pointMappingLidar2image(points: Float32Array, calib: ICalib, filterSize: {
     width: number;
     height: number;
 }): {

package/es/core/pointCloud/index.js

@@ -1,4 +1,4 @@
-import*as a from"three";import{toolStyleConverter as T,PerspectiveShiftUtils as v,EPerspectiveView as C,PointCloudUtils as E,DEFAULT_SPHERE_PARAMS as O}from"@labelbee/lb-utils";import F from"../../_virtual/highlightWorker.js";import V from"../../_virtual/filterBoxWorker.js";import{isInPolygon as R}from"../../utils/tool/polygonTool.js";import I from"../../utils/uuid.js";import H from"../../utils/MathUtils.js";import W from"../../utils/ImgUtils.js";import{PCDLoader as Z}from"./PCDLoader.js";import{OrbitControls as U}from"./OrbitControls.js";import{PointCloudCache as G}from"./cache.js";import{getCuboidFromPointCloudBox as A,getHighlightIndexByPoints as $,mergeHighlightList as Y}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isInImage,lidar2image,mergeHighlightList,point2dTo3D,point3DLidar2Image,pointCloudLidar2image,pointMappingLidar2image,rotatePoint,transferKitti2Matrix}from"./matrix.js";import{PointCloudSegmentOperation as X}from"./segmentation.js";import q from"./store/index.js";import K from"./render/index.js";import Q from"../toolOperation/eventListener.js";import"../../constant/tool.js";import"../scheduler.js";var J=Object.defineProperty,tt=Object.defineProperties,et=Object.getOwnPropertyDescriptors,j=Object.getOwnPropertySymbols,it=Object.prototype.hasOwnProperty,rt=Object.prototype.propertyIsEnumerable,k=(w,t,e)=>t in w?J(w,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):w[t]=e,b=(w,t)=>{for(var e in t||(t={}))it.call(t,e)&&k(w,e,t[e]);if(j)for(var e of j(t))rt.call(t,e)&&k(w,e,t[e]);return w},S=(w,t)=>tt(w,et(t)),z=(w,t,e)=>new Promise((i,r)=>{var o=d=>{try{n(e.next(d))}catch(s){r(s)}},c=d=>{try{n(e.throw(d))}catch(s){r(s)}},n=d=>d.done?i(d.value):Promise.resolve(d.value).then(o,c);n((e=e.apply(w,t)).next())});const nt=30,L=new F({type:"module"});class ot extends Q{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:o="#4C4C4C",config:c,isSegment:n,checkMode:d}){super();this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.highlightGroupName="highlightBoxes",this.showDirection=!0,this.pointsMaterialSize=1,this.isSegment=!1,this.checkMode=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=s=>{if(!!this.store)switch(s.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=s=>{if(!!this.store)switch(s.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(s,h="blue")=>{var l;const m=(l=s.id)!=null?l:I();this.removeObjectByName(m,"sphere");const{radius:p,widthSegments:f,heightSegments:u}=O,{center:g}=s,y=new a.Group,x=new a.SphereGeometry(p,f,u),M=new a.MeshBasicMaterial({color:h}),P=new a.Mesh(x,M);P.position.set(g.x,g.y,g.z),y.add(P),y.name=`sphere${m}`,this.scene.add(y)},this.generateSphere=s=>{const{fill:h}=this.getColorFromConfig(s.attribute);this.addSphereToSense(s,h),this.render()},this.generateSpheres=s=>{s.forEach(h=>{const{fill:l}=this.getColorFromConfig(h.attribute);this.addSphereToSense(h,l)}),this.render()},this.addBoxToSense=(s,h=16777215)=>{var l;const m=(l=s.id)!=null?l:I();this.removeObjectByName(m,"box");const{center:p,width:f,height:u,depth:g,rotation:y}=s,x=new a.Group,M=new a.BoxGeometry(f,u,g),P=new a.MeshBasicMaterial({color:"blue"}),B=new a.Mesh(M,P),_=new a.BoxHelper(B,h),N=this.generateBoxArrow(s),D=this.generateBoxTrackID(s);D&&x.add(D),x.add(_),x.add(N),p&&x.position.set(p.x,p.y,p.z),y&&x.rotation.set(0,0,y),x.name=`box${m}`,this.scene.add(x)},this.applyCameraTarget=s=>{if(this.camera.type==="OrthographicCamera"&&s){const h=this.getOrthographicCameraTarget(s);this.updateCameraZoom(s.zoom),this.updateCamera(s.position,h)}},this.initShaderMaterial=()=>({vertexShader:`
+import*as a from"three";import{toolStyleConverter as T,PerspectiveShiftUtils as v,EPerspectiveView as C,PointCloudUtils as F,DEFAULT_SPHERE_PARAMS as O}from"@labelbee/lb-utils";import E from"../../_virtual/highlightWorker.js";import V from"../../_virtual/filterBoxWorker.js";import{isInPolygon as R}from"../../utils/tool/polygonTool.js";import I from"../../utils/uuid.js";import H from"../../utils/MathUtils.js";import W from"../../utils/ImgUtils.js";import{PCDLoader as Z}from"./PCDLoader.js";import{OrbitControls as U}from"./OrbitControls.js";import{PointCloudCache as G}from"./cache.js";import{getCuboidFromPointCloudBox as A,getHighlightIndexByPoints as $,mergeHighlightList as Y}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isFisheyeCalibValid,isInImage,isMatrixValid,lidar2FisheyeImage,lidar2image,mergeHighlightList,point3DLidar2Image,pointCloudLidar2image,pointMappingLidar2image,rotatePoint,transferKitti2Matrix}from"./matrix.js";import{PointCloudSegmentOperation as X}from"./segmentation.js";import q from"./store/index.js";import K from"./render/index.js";import Q from"../toolOperation/eventListener.js";import"../../constant/tool.js";import"../scheduler.js";var J=Object.defineProperty,tt=Object.defineProperties,et=Object.getOwnPropertyDescriptors,j=Object.getOwnPropertySymbols,it=Object.prototype.hasOwnProperty,rt=Object.prototype.propertyIsEnumerable,k=(w,t,e)=>t in w?J(w,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):w[t]=e,b=(w,t)=>{for(var e in t||(t={}))it.call(t,e)&&k(w,e,t[e]);if(j)for(var e of j(t))rt.call(t,e)&&k(w,e,t[e]);return w},S=(w,t)=>tt(w,et(t)),z=(w,t,e)=>new Promise((i,r)=>{var o=d=>{try{n(e.next(d))}catch(s){r(s)}},c=d=>{try{n(e.throw(d))}catch(s){r(s)}},n=d=>d.done?i(d.value):Promise.resolve(d.value).then(o,c);n((e=e.apply(w,t)).next())});const nt=30,L=new E({type:"module"});class ot extends Q{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:o="#4C4C4C",config:c,isSegment:n,checkMode:d}){super();this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.highlightGroupName="highlightBoxes",this.showDirection=!0,this.pointsMaterialSize=1,this.isSegment=!1,this.checkMode=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=s=>{if(!!this.store)switch(s.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=s=>{if(!!this.store)switch(s.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(s,h="blue")=>{var l;const m=(l=s.id)!=null?l:I();this.removeObjectByName(m,"sphere");const{radius:p,widthSegments:f,heightSegments:u}=O,{center:g}=s,y=new a.Group,x=new a.SphereGeometry(p,f,u),M=new a.MeshBasicMaterial({color:h}),P=new a.Mesh(x,M);P.position.set(g.x,g.y,g.z),y.add(P),y.name=`sphere${m}`,this.scene.add(y)},this.generateSphere=s=>{const{fill:h}=this.getColorFromConfig(s.attribute);this.addSphereToSense(s,h),this.render()},this.generateSpheres=s=>{s.forEach(h=>{const{fill:l}=this.getColorFromConfig(h.attribute);this.addSphereToSense(h,l)}),this.render()},this.addBoxToSense=(s,h=16777215)=>{var l;const m=(l=s.id)!=null?l:I();this.removeObjectByName(m,"box");const{center:p,width:f,height:u,depth:g,rotation:y}=s,x=new a.Group,M=new a.BoxGeometry(f,u,g),P=new a.MeshBasicMaterial({color:"blue"}),B=new a.Mesh(M,P),_=new a.BoxHelper(B,h),N=this.generateBoxArrow(s),D=this.generateBoxTrackID(s);D&&x.add(D),x.add(_),x.add(N),p&&x.position.set(p.x,p.y,p.z),y&&x.rotation.set(0,0,y),x.name=`box${m}`,this.scene.add(x)},this.applyCameraTarget=s=>{if(this.camera.type==="OrthographicCamera"&&s){const h=this.getOrthographicCameraTarget(s);this.updateCameraZoom(s.zoom),this.updateCamera(s.position,h)}},this.initShaderMaterial=()=>({vertexShader:`
       attribute vec3 dimensions;
       varying vec3 vDimensions;
       uniform float pointSize;
@@ -28,4 +28,4 @@ import*as a from"three";import{toolStyleConverter as T,PerspectiveShiftUtils as
 
         // Output the final color        
         gl_FragColor = vec4(color, 1.0);
-      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...s)=>z(this,[...s],function*(h=this.currentPCDSrc,l){if(!h)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=h;const{points:m,color:p}=yield this.cacheInstance.loadPCDFile(h),f=new a.BufferGeometry;f.setAttribute("position",new a.BufferAttribute(m,3)),this.isSegment||f.setAttribute("dimensions",new a.BufferAttribute(p,3)),this.initCloudData(m);const u=new a.Points(f);this.renderPointCloud(u,l),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=s=>z(this,[s],function*({mappingImgList:h,points:l}){const m=h.length===0?[]:yield Promise.all(h.map(u=>W.load(u.url))),p=h.map((u,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?y:[];const x=$({points:l,calib:u.calib,width:m[g].width,height:m[g].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,x),x});return Y(p)}),this.loadPCDFileByBox=(s,h,l)=>z(this,null,function*(){const m=(u,g)=>z(this,null,function*(){const{width:y=0,height:x=0,depth:M=0}=l!=null?l:{},P=yield this.filterPointsByBox(S(b({},h),{width:h.width+y,height:h.height+x,depth:h.depth+M}),u,g);if(!P){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=s;const B=new a.Points(P.geometry);B.name=this.pointCloudObjectName,this.scene.add(B),this.render()}),{points:p,color:f}=yield this.cacheInstance.loadPCDFile(s);m(p,f)}),this.generateRange=s=>{const h=this.createRange(s);this.scene.add(h)},this.generateBoxArrow=({width:s})=>{const h=new a.Vector3(1,0,0),l=new a.Vector3(s/2,0,0),m=2,p=16776960,f=new a.ArrowHelper(h,l,m,p);return f.visible=this.showDirection,f},this.generateBoxTrackID=s=>{if(!s.trackID)return;const h=new a.Texture(this.getTextCanvas(s.trackID.toString()));h.needsUpdate=!0;const l=new a.SpriteMaterial({map:h,depthWrite:!1}),m=new a.Sprite(l);return m.scale.set(5,5,5),m.position.set(-s.width/2,0,s.depth/2+.5),m},this.applyZAxisPoints=s=>{this.zAxisLimit=s,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:s,customSize:h})=>{const l=this.scene.getObjectByName(this.pointCloudObjectName);if(!l)return;const m=l.material.uniforms.pointSize.value;s?l.material.uniforms.pointSize.value=Math.min(m*1.2,10):l.material.uniforms.pointSize.value=Math.max(m/1.2,1),h&&(l.material.uniforms.pointSize.value=h,this.pointsMaterialSize=h),l.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new a.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=c,this.checkMode=d!=null?d:!1,i&&r?(this.isOrthographicCamera=!0,this.camera=new a.OrthographicCamera(r.left,r.right,r.top,r.bottom,r.near,r.far)):this.camera=new a.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new a.Scene,this.controls=new U(this.camera,n?this.container:this.renderer.domElement),this.pcdLoader=new Z,this.axesHelper=new a.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=G.getInstance(),n===!0&&(this.initSegment(),this.isSegment=!0)}initSegment(){this.store=new q(this.pointCloudDelegate),this.controls.enablePan=!1,this.controls.addEventListener("start",this.orbiterStart.bind(this)),this.controls.addEventListener("change",this.orbiterChange.bind(this)),this.controls.addEventListener("end",this.orbiterEnd.bind(this)),this.segmentOperation=new X(b({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new K(S(b({store:this.store},this.eventBus),{nextTick:this.nextTick,config:this.config})),this.initMsg(),document.addEventListener("keydown",this.keydown),document.addEventListener("keyup",this.keyup)}orbiterStart(){}orbiterChange(){!this.store||(this.store.orbiting=!0)}orbiterEnd(){!this.store||(this.store.orbiting=!1)}get currentSegmentTool(){var t;return(t=this.segmentOperation)==null?void 0:t.currentToolName}get pointCloudObject(){return this.scene.getObjectByName(this.pointCloudObjectName)}initMsg(){!this.segmentOperation||(this.on("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.on("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.on("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.on("clearPointCloud",this.clearPointCloud.bind(this)),this.on("loadPCDFile",this.loadPCDFile.bind(this)))}unbindMsg(){!this.segmentOperation||(this.unbind("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.unbind("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.unbind("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.unbind("clearPointCloud",this.clearPointCloud.bind(this)),this.unbind("loadPCDFile",this.loadPCDFile.bind(this)))}get eventBus(){return{on:this.on.bind(this),emit:this.emit.bind(this),unbind:this.unbind.bind(this)}}get pointCloudDelegate(){return b({container:this.container,scene:this.scene,camera:this.camera,renderer:this.renderer,checkMode:this.checkMode},this.eventBus)}get DEFAULT_INIT_CAMERA_POSITION(){return new a.Vector3(-.01,0,1e3)}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:r,bottom:o,near:c,far:n}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=c,this.camera.far=n,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:r}=this.initCameraPosition;t.position.set(e,i,r)}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 a.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 a.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t,e=""){const i=this.scene.getObjectByName(e+t);i&&i.removeFromParent()}getColorFromConfig(t){return T.getColorFromConfig({attribute:t},S(b({},this.config),{attributeConfigurable:!0}),{})}generateBox(t,e=16777215){const i=e;this.addBoxToSense(t,i),this.render()}getAllAttributeColor(t){return t.reduce((e,i)=>(e[i.attribute]=this.getColorFromConfig(i.attribute),e),{})}generateBoxes(t){t.forEach(e=>{this.addBoxToSense(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:i,height:r}=t,o=10,c=e.x-i/2-o,n=e.x-i/2+o,d=e.y+r/2+o,s=e.y-r/2-o,h=100,l=-100,m=500/h;return{left:c,right:n,top:d,bottom:s,near:h,far:l,zoom:m}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:c,depth:n,rotation:d}=t,s=this.getCameraVector(r,d,{width:o,height:c,depth:n},e);return i?(this.updateCamera(i,r),new a.Vector3(i.x,i.y,i.z)):(this.updateCamera(s,r),s)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=O,o=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},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}}updateOrthoCameraBySphere(t,e){const i=this.updateCameraBySphere(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 a.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}getOrthographicCameraTarget(t){const e=new a.Vector3(0,0,-1).applyQuaternion(t.quaternion);return t.position.clone().add(e)}createThreeMatrix4(t){return new a.Matrix4().set(...t)}filterPointsByBox(t,e,i){var r,o,c;if(!e){const n=this.scene.getObjectByName(this.pointCloudObjectName);if(!n)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(c=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:c.array}if(window.Worker){const{zMin:n,zMax:d,polygonPointList:s}=A(t),h=e;i=i!=null?i:new Float32Array([]);const l={boxParams:t,zMin:n,zMax:d,polygonPointList:s,color:i,position:h};return new Promise(m=>{const p=new V;p.postMessage(l),p.onmessage=f=>{const{color:u,position:g,num:y}=f.data,x=new a.BufferGeometry;x.setAttribute("position",new a.Float32BufferAttribute(g,3)),x.setAttribute("color",new a.Float32BufferAttribute(u,3)),x.computeBoundingSphere(),p.terminate(),m({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=C.Front,o=nt){let c=v.frontViewMatrix4(o);switch(r){case C.Front:break;case C.Back:c=v.backViewMatrix4(o);break;case C.Left:c=v.leftViewMatrix4(o);break;case C.Right:c=v.rightViewMatrix4(o);break;case C.Top:c=v.topViewMatrix4(o);break;case C.LFT:c=v.leftFrontTopViewMatrix4(o,i);break;case C.RBT:c=v.rightBackTopViewMatrix4(o,i);break}const n=this.createThreeMatrix4(c),d=new a.Matrix4().makeTranslation(-t.x,-t.y,-t.z),s=new a.Matrix4().makeTranslation(t.x,t.y,t.z),h=new a.Matrix4().makeRotationZ(e);return new a.Vector3(t.x,t.y,t.z).clone().applyMatrix4(n).applyMatrix4(d).applyMatrix4(h).applyMatrix4(s)}createRange(t){this.removeObjectByName(this.rangeObjectName);const i=new a.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),r=new a.BufferGeometry().setFromPoints(i),o=new a.LineBasicMaterial({color:16711680}),c=new a.Line(r,o);return c.name=this.rangeObjectName,c}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const i=new a.ShaderMaterial(this.initShaderMaterial());e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=i,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearAllBox(){this.clearAllGroupByPrefix("box")}clearAllSphere(){this.clearAllGroupByPrefix("sphere")}clearAllGroupByPrefix(t=""){const e=this.scene.children;for(let i=e.length-1;i>=0;i--){const r=e[i];r.type==="Group"&&r.name.startsWith(t)&&this.removeObjectByName(r.name)}}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}initCloudData(t){if(!!this.store){for(let e=0;e<t.length;e+=3){const i=t[e],r=t[e+1],o=t[e+2];this.store.cloudData.set(`${i}@${r}@${o}`,{visible:!1})}this.store.setOriginPoints(t)}}highlightOriginPointCloud(t,e=[]){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!!i)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((r,o)=>{if(window.Worker){const n=(t?[...t]:[]).map(h=>A(h)),d=this.getAllAttributeColor(n),s={cuboidList:n,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:d,highlightIndex:e};L.postMessage(s),L.onmessage=h=>{const{color:l}=h.data,m=new a.BufferAttribute(l,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==l.length){o(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,l),this.highlightPCDSrc=void 0,m.needsUpdate=!0,i.geometry.setAttribute("dimensions",m),i.geometry.attributes.dimensions.needsUpdate=!0,r(l),this.render()}}})}clearHighlightBoxes(){this.removeObjectByName(this.highlightGroupName)}clearHighlightBoxesAndRender(){this.clearHighlightBoxes(),this.render()}highlightBoxes(t){const e=new a.Group;t.forEach(i=>{const{center:{x:r,y:o,z:c},width:n,height:d,depth:s,rotation:h}=i,{fill:l}=T.getColorFromConfig({attribute:i.attribute},S(b({},this.config),{attributeConfigurable:!0}),{}),m=new a.BoxGeometry(n,d,s),p=new a.MeshBasicMaterial({color:l,transparent:!0,opacity:.2,depthTest:!1});m.rotateZ(h),m.translate(r,o,c);const f=new a.Mesh(m,p);e.add(f);const u=new a.PlaneGeometry(s,d);u.rotateY(Math.PI/2),u.rotateZ(h);const g=new a.Vector3(n/2,0,0),y=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(h);g.applyMatrix4(y),u.translate(r+g.x,o+g.y,c+g.z);const x=new a.MeshBasicMaterial({color:l,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),M=new a.Mesh(u,x);e.add(M)}),e.name=this.highlightGroupName,this.scene.add(e),this.render()}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const i=new a.BufferAttribute(t,3);e.geometry.setAttribute("dimensions",i),e.geometry.attributes.dimensions.needsUpdate=!0,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}filterNoise(t){let e=[...t];e.sort((l,m)=>l.z-m.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:l})=>l>r.z+.1);const o=.005,c=Math.floor(e.length*(1-o));e=e.slice(0,c),e.sort((l,m)=>l.x-m.x);const n=Math.floor(e.length*o),d=Math.floor(e.length*(1-o));e=e.slice(n,d),e.sort((l,m)=>l.y-m.y);const s=Math.floor(e.length*o),h=Math.floor(e.length*(1-o));return e=e.slice(s,h),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:n,y:d})=>{t.forEach((s,h)=>{const l=r[h+1],m=H.getFootOfPerpendicular({x:n,y:d},s,l,!1,!0).length;(!i[h]||m<i[h].distance)&&(i[h]={distance:m,point:{x:n,y:d}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i];return t.map((n,d)=>{const s=r[d],h=r[d+1],l=r[d+2];return E.getIntersectionBySlope({p1:o[d].point,line1:[s,h],p2:o[d+1].point,line2:[h,l]})})}getSensesPointZAxisInPolygon(t,e,i){var r,o,c;const n=this.scene.children.find(u=>u.uuid===this.pointsUuid);let d=0,s=0,h=0,l=0,m=[],p=[];const f=((c=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:c.array)||[];for(let u=0;u<f.length;u+=3){const g=f[u],y=f[u+1],x=f[u+2];R({x:g,y},t)&&(x||x===0)&&p.push({x:g,y,z:x})}return p.length?(i&&(p=this.filterNoise(p),m=this.getFittedCoordinates(t,p)),p.sort((u,g)=>u.z-g.z),d=p[0].z-.01,s=p[p.length-1].z+.01,l=p.length,e&&(h=p.filter(({z:u})=>u>=e[0]&&u<=e[1]).length),{maxZ:s,minZ:d,count:h,zCount:l,fittedCoordinates:m}):{maxZ:s,minZ:d,count:h,zCount:l,fittedCoordinates:m}}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 a.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 a.Vector3(t.x/e-e/2,-(t.y/i-i/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e+c/2,y:i+o/2,z:r-n/2},s={x:e+c/2,y:i+o/2,z:r+n/2},h={x:e-c/2,y:i+o/2,z:r+n/2},l={x:e-c/2,y:i+o/2,z:r-n/2};return[d,s,h,l]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e-c/2,y:i+o/2,z:r+n/2},s={x:e-c/2,y:i+o/2,z:r-n/2},h={x:e-c/2,y:i-o/2,z:r-n/2},l={x:e-c/2,y:i-o/2,z:r+n/2};return[d,s,h,l]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e+c/2,y:i+o/2,z:r+n/2},s={x:e+c/2,y:i-o/2,z:r+n/2},h={x:e-c/2,y:i-o/2,z:r+n/2},l={x:e-c/2,y:i+o/2,z:r+n/2};return[d,s,h,l]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,c=new a.Matrix4().makeTranslation(-e,-i,-r),n=new a.Matrix4().makeTranslation(e,i,r),d=new a.Matrix4().makeRotationZ(o);return new a.Matrix4().multiply(n).multiply(d).multiply(c)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,C.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,C.Back)}getSphereSidePoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}getSphereBackPoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}boxParams2ViewPolygon(t,e){switch(e){case C.Left:return this.getPolygonSidePoints(t);case C.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const i=this.boxParams2ViewPolygon(t,e),{width:r,height:o}=t,c=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new a.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(c).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const d=i.map(l=>new a.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.sideMatrix)),s=this.containerWidth/r,h=this.containerHeight/o;return{polygon2d:d,zoom:Math.min(s,h)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:c}=O,n={center:e,attribute:i,id:r,valid:o,width:c*2,height:c*2,depth:c*2,rotation:0},d=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new a.Matrix4().premultiply(this.getModelTransformationMatrix(n)).premultiply(d).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const h=new a.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),l=this.containerWidth/(c*2),m=this.containerHeight/(c*2);return{point2d:h,zoom:Math.min(l,m)/2}}getSphereTopPoint2DCoordinate(t){const{center:e}=t,{radius:i}=O,r={x:-(e.y-this.containerWidth/2),y:-(e.x-this.containerHeight/2)},o=this.containerWidth/(i*2),c=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(o,c)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,o=this.getPolygonTopPoints(t).map(d=>new a.Vector3(d.x,d.y,d.z)).map(d=>d.applyMatrix4(this.getModelTransformationMatrix(t))).map(d=>({x:d.y,y:d.x})).map(d=>({x:-(d.x-this.containerWidth/2),y:-(d.y-this.containerHeight/2)})),c=this.containerWidth/e,n=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(c,n)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(-t.x,0,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+c.x,y:n.center.y+c.y,z:n.center.z-t.z},n=S(b({},n),{width:Math.abs(n.width+e),height:n.height,depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxByBackUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(0,-t.x,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+c.x,y:n.center.y+c.y,z:n.center.z-t.z},n=S(b({},n),{width:n.width,height:Math.abs(n.height+e),depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxBySideUpdateByPoints(t,e,i,r){var o;const c=(o=this.sideMatrix)==null?void 0:o.invert();if(!this.sideMatrix||!c){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const n=t.map(g=>new a.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(c)),[d,s,h,l]=n,m=Math.max(Math.abs(d.x-h.x),Math.abs(d.x-s.x)),f=s.add(l).applyMatrix3(new a.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new a.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new a.Vector3(r.center.x,r.center.y,r.center.z));return{newBoxParams:S(b({},r),{center:{x:r.center.x-f.x,y:r.center.y-f.y,z:r.center.z-i},width:m,height:r.height,depth:r.depth+e,rotation:r.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(i=>i.uuid===this.pointsUuid);if(e){const{attributes:i}=e.geometry,{position:r}=i,o=[],{count:c}=r;for(let n=0;n<c;n++){const d=r.getZ(n);o.push(d>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new a.Float32BufferAttribute(o,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}export{ot as PointCloud};
+      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...s)=>z(this,[...s],function*(h=this.currentPCDSrc,l){if(!h)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=h;const{points:m,color:p}=yield this.cacheInstance.loadPCDFile(h),f=new a.BufferGeometry;f.setAttribute("position",new a.BufferAttribute(m,3)),this.isSegment||f.setAttribute("dimensions",new a.BufferAttribute(p,3)),this.initCloudData(m);const u=new a.Points(f);this.renderPointCloud(u,l),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=s=>z(this,[s],function*({mappingImgList:h,points:l}){const m=h.length===0?[]:yield Promise.all(h.map(u=>W.load(u.url))),p=h.map((u,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?y:[];const x=$({points:l,calib:u.calib,width:m[g].width,height:m[g].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,x),x});return Y(p)}),this.loadPCDFileByBox=(s,h,l)=>z(this,null,function*(){const m=(u,g)=>z(this,null,function*(){const{width:y=0,height:x=0,depth:M=0}=l!=null?l:{},P=yield this.filterPointsByBox(S(b({},h),{width:h.width+y,height:h.height+x,depth:h.depth+M}),u,g);if(!P){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=s;const B=new a.Points(P.geometry);B.name=this.pointCloudObjectName,this.scene.add(B),this.render()}),{points:p,color:f}=yield this.cacheInstance.loadPCDFile(s);m(p,f)}),this.generateRange=s=>{const h=this.createRange(s);this.scene.add(h)},this.generateBoxArrow=({width:s})=>{const h=new a.Vector3(1,0,0),l=new a.Vector3(s/2,0,0),m=2,p=16776960,f=new a.ArrowHelper(h,l,m,p);return f.visible=this.showDirection,f},this.generateBoxTrackID=s=>{if(!s.trackID)return;const h=new a.Texture(this.getTextCanvas(s.trackID.toString()));h.needsUpdate=!0;const l=new a.SpriteMaterial({map:h,depthWrite:!1}),m=new a.Sprite(l);return m.scale.set(5,5,5),m.position.set(-s.width/2,0,s.depth/2+.5),m},this.applyZAxisPoints=s=>{this.zAxisLimit=s,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:s,customSize:h})=>{const l=this.scene.getObjectByName(this.pointCloudObjectName);if(!l)return;const m=l.material.uniforms.pointSize.value;s?l.material.uniforms.pointSize.value=Math.min(m*1.2,10):l.material.uniforms.pointSize.value=Math.max(m/1.2,1),h&&(l.material.uniforms.pointSize.value=h,this.pointsMaterialSize=h),l.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new a.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=c,this.checkMode=d!=null?d:!1,i&&r?(this.isOrthographicCamera=!0,this.camera=new a.OrthographicCamera(r.left,r.right,r.top,r.bottom,r.near,r.far)):this.camera=new a.PerspectiveCamera(30,this.containerWidth/this.containerHeight,1,1e3),this.initCamera(),this.scene=new a.Scene,this.controls=new U(this.camera,n?this.container:this.renderer.domElement),this.pcdLoader=new Z,this.axesHelper=new a.AxesHelper(1e3),this.scene.add(this.camera),e||t.appendChild(this.renderer.domElement),this.init(),this.cacheInstance=G.getInstance(),n===!0&&(this.initSegment(),this.isSegment=!0)}initSegment(){this.store=new q(this.pointCloudDelegate),this.controls.enablePan=!1,this.controls.addEventListener("start",this.orbiterStart.bind(this)),this.controls.addEventListener("change",this.orbiterChange.bind(this)),this.controls.addEventListener("end",this.orbiterEnd.bind(this)),this.segmentOperation=new X(b({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new K(S(b({store:this.store},this.eventBus),{nextTick:this.nextTick,config:this.config})),this.initMsg(),document.addEventListener("keydown",this.keydown),document.addEventListener("keyup",this.keyup)}orbiterStart(){}orbiterChange(){!this.store||(this.store.orbiting=!0)}orbiterEnd(){!this.store||(this.store.orbiting=!1)}get currentSegmentTool(){var t;return(t=this.segmentOperation)==null?void 0:t.currentToolName}get pointCloudObject(){return this.scene.getObjectByName(this.pointCloudObjectName)}initMsg(){!this.segmentOperation||(this.on("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.on("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.on("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.on("clearPointCloud",this.clearPointCloud.bind(this)),this.on("loadPCDFile",this.loadPCDFile.bind(this)))}unbindMsg(){!this.segmentOperation||(this.unbind("CircleSelector",this.segmentOperation.updateSelector2Circle.bind(this.segmentOperation)),this.unbind("LassoSelector",this.segmentOperation.updateSelector2Lasso.bind(this.segmentOperation)),this.unbind("RectSelector",this.segmentOperation.updateSelector2Rect.bind(this.segmentOperation)),this.unbind("clearPointCloud",this.clearPointCloud.bind(this)),this.unbind("loadPCDFile",this.loadPCDFile.bind(this)))}get eventBus(){return{on:this.on.bind(this),emit:this.emit.bind(this),unbind:this.unbind.bind(this)}}get pointCloudDelegate(){return b({container:this.container,scene:this.scene,camera:this.camera,renderer:this.renderer,checkMode:this.checkMode},this.eventBus)}get DEFAULT_INIT_CAMERA_POSITION(){return new a.Vector3(-.01,0,1e3)}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:r,bottom:o,near:c,far:n}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=c,this.camera.far=n,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:r}=this.initCameraPosition;t.position.set(e,i,r)}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 a.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 a.Color(this.backgroundColor),this.initControls(),this.initRenderer()}removeObjectByName(t,e=""){const i=this.scene.getObjectByName(e+t);i&&i.removeFromParent()}getColorFromConfig(t){return T.getColorFromConfig({attribute:t},S(b({},this.config),{attributeConfigurable:!0}),{})}generateBox(t,e=16777215){const i=e;this.addBoxToSense(t,i),this.render()}getAllAttributeColor(t){return t.reduce((e,i)=>(e[i.attribute]=this.getColorFromConfig(i.attribute),e),{})}generateBoxes(t){t.forEach(e=>{this.addBoxToSense(e)}),this.render()}getOrthographicCamera(t){const{center:e,width:i,height:r}=t,o=10,c=e.x-i/2-o,n=e.x-i/2+o,d=e.y+r/2+o,s=e.y-r/2-o,h=100,l=-100,m=500/h;return{left:c,right:n,top:d,bottom:s,near:h,far:l,zoom:m}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:c,depth:n,rotation:d}=t,s=this.getCameraVector(r,d,{width:o,height:c,depth:n},e);return i?(this.updateCamera(i,r),new a.Vector3(i.x,i.y,i.z)):(this.updateCamera(s,r),s)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=O,o=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},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}}updateOrthoCameraBySphere(t,e){const i=this.updateCameraBySphere(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 a.Vector3(e.x,e.y,e.z),this.controls.update()}resetCamera(){this.updateCamera(this.DEFAULT_INIT_CAMERA_POSITION,{x:0,y:0,z:0})}getOrthographicCameraTarget(t){const e=new a.Vector3(0,0,-1).applyQuaternion(t.quaternion);return t.position.clone().add(e)}createThreeMatrix4(t){return new a.Matrix4().set(...t)}filterPointsByBox(t,e,i){var r,o,c;if(!e){const n=this.scene.getObjectByName(this.pointCloudObjectName);if(!n)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(c=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:c.array}if(window.Worker){const{zMin:n,zMax:d,polygonPointList:s}=A(t),h=e;i=i!=null?i:new Float32Array([]);const l={boxParams:t,zMin:n,zMax:d,polygonPointList:s,color:i,position:h};return new Promise(m=>{const p=new V;p.postMessage(l),p.onmessage=f=>{const{color:u,position:g,num:y}=f.data,x=new a.BufferGeometry;x.setAttribute("position",new a.Float32BufferAttribute(g,3)),x.setAttribute("color",new a.Float32BufferAttribute(u,3)),x.computeBoundingSphere(),p.terminate(),m({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=C.Front,o=nt){let c=v.frontViewMatrix4(o);switch(r){case C.Front:break;case C.Back:c=v.backViewMatrix4(o);break;case C.Left:c=v.leftViewMatrix4(o);break;case C.Right:c=v.rightViewMatrix4(o);break;case C.Top:c=v.topViewMatrix4(o);break;case C.LFT:c=v.leftFrontTopViewMatrix4(o,i);break;case C.RBT:c=v.rightBackTopViewMatrix4(o,i);break}const n=this.createThreeMatrix4(c),d=new a.Matrix4().makeTranslation(-t.x,-t.y,-t.z),s=new a.Matrix4().makeTranslation(t.x,t.y,t.z),h=new a.Matrix4().makeRotationZ(e);return new a.Vector3(t.x,t.y,t.z).clone().applyMatrix4(n).applyMatrix4(d).applyMatrix4(h).applyMatrix4(s)}createRange(t){this.removeObjectByName(this.rangeObjectName);const i=new a.EllipseCurve(0,0,t,t,0,2*Math.PI,!1,0).getPoints(50),r=new a.BufferGeometry().setFromPoints(i),o=new a.LineBasicMaterial({color:16711680}),c=new a.Line(r,o);return c.name=this.rangeObjectName,c}renderPointCloud(t,e){t.name=this.pointCloudObjectName;const i=new a.ShaderMaterial(this.initShaderMaterial());e&&this.generateRange(e),this.pointsUuid=t.uuid,t.material=i,this.filterZAxisPoints(t),this.scene.add(t),this.render()}clearAllBox(){this.clearAllGroupByPrefix("box")}clearAllSphere(){this.clearAllGroupByPrefix("sphere")}clearAllGroupByPrefix(t=""){const e=this.scene.children;for(let i=e.length-1;i>=0;i--){const r=e[i];r.type==="Group"&&r.name.startsWith(t)&&this.removeObjectByName(r.name)}}clearPointCloud(){this.removeObjectByName(this.pointCloudObjectName)}clearPointCloudAndRender(){this.clearPointCloud(),this.render()}initCloudData(t){if(!!this.store){for(let e=0;e<t.length;e+=3){const i=t[e],r=t[e+1],o=t[e+2];this.store.cloudData.set(`${i}@${r}@${o}`,{visible:!1})}this.store.setOriginPoints(t)}}highlightOriginPointCloud(t,e=[]){const i=this.scene.getObjectByName(this.pointCloudObjectName);if(!!i)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((r,o)=>{if(window.Worker){const n=(t?[...t]:[]).map(h=>A(h)),d=this.getAllAttributeColor(n),s={cuboidList:n,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:d,highlightIndex:e};L.postMessage(s),L.onmessage=h=>{const{color:l}=h.data,m=new a.BufferAttribute(l,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==l.length){o(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,l),this.highlightPCDSrc=void 0,m.needsUpdate=!0,i.geometry.setAttribute("dimensions",m),i.geometry.attributes.dimensions.needsUpdate=!0,r(l),this.render()}}})}clearHighlightBoxes(){this.removeObjectByName(this.highlightGroupName)}clearHighlightBoxesAndRender(){this.clearHighlightBoxes(),this.render()}highlightBoxes(t){const e=new a.Group;t.forEach(i=>{const{center:{x:r,y:o,z:c},width:n,height:d,depth:s,rotation:h}=i,{fill:l}=T.getColorFromConfig({attribute:i.attribute},S(b({},this.config),{attributeConfigurable:!0}),{}),m=new a.BoxGeometry(n,d,s),p=new a.MeshBasicMaterial({color:l,transparent:!0,opacity:.2,depthTest:!1});m.rotateZ(h),m.translate(r,o,c);const f=new a.Mesh(m,p);e.add(f);const u=new a.PlaneGeometry(s,d);u.rotateY(Math.PI/2),u.rotateZ(h);const g=new a.Vector3(n/2,0,0),y=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(h);g.applyMatrix4(y),u.translate(r+g.x,o+g.y,c+g.z);const x=new a.MeshBasicMaterial({color:l,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),M=new a.Mesh(u,x);e.add(M)}),e.name=this.highlightGroupName,this.scene.add(e),this.render()}updateColor(t){const e=this.scene.getObjectByName(this.pointCloudObjectName);if(e){const i=new a.BufferAttribute(t,3);e.geometry.setAttribute("dimensions",i),e.geometry.attributes.dimensions.needsUpdate=!0,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}filterNoise(t){let e=[...t];e.sort((l,m)=>l.z-m.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:l})=>l>r.z+.1);const o=.005,c=Math.floor(e.length*(1-o));e=e.slice(0,c),e.sort((l,m)=>l.x-m.x);const n=Math.floor(e.length*o),d=Math.floor(e.length*(1-o));e=e.slice(n,d),e.sort((l,m)=>l.y-m.y);const s=Math.floor(e.length*o),h=Math.floor(e.length*(1-o));return e=e.slice(s,h),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:n,y:d})=>{t.forEach((s,h)=>{const l=r[h+1],m=H.getFootOfPerpendicular({x:n,y:d},s,l,!1,!0).length;(!i[h]||m<i[h].distance)&&(i[h]={distance:m,point:{x:n,y:d}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i];return t.map((n,d)=>{const s=r[d],h=r[d+1],l=r[d+2];return F.getIntersectionBySlope({p1:o[d].point,line1:[s,h],p2:o[d+1].point,line2:[h,l]})})}getSensesPointZAxisInPolygon(t,e,i){var r,o,c;const n=this.scene.children.find(u=>u.uuid===this.pointsUuid);let d=0,s=0,h=0,l=0,m=[],p=[];const f=((c=(o=(r=n==null?void 0:n.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:c.array)||[];for(let u=0;u<f.length;u+=3){const g=f[u],y=f[u+1],x=f[u+2];R({x:g,y},t)&&(x||x===0)&&p.push({x:g,y,z:x})}return p.length?(i&&(p=this.filterNoise(p),m=this.getFittedCoordinates(t,p)),p.sort((u,g)=>u.z-g.z),d=p[0].z-.01,s=p[p.length-1].z+.01,l=p.length,e&&(h=p.filter(({z:u})=>u>=e[0]&&u<=e[1]).length),{maxZ:s,minZ:d,count:h,zCount:l,fittedCoordinates:m}):{maxZ:s,minZ:d,count:h,zCount:l,fittedCoordinates:m}}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 a.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 a.Vector3(t.x/e-e/2,-(t.y/i-i/2),1)}getPolygonSidePoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e+c/2,y:i+o/2,z:r-n/2},s={x:e+c/2,y:i+o/2,z:r+n/2},h={x:e-c/2,y:i+o/2,z:r+n/2},l={x:e-c/2,y:i+o/2,z:r-n/2};return[d,s,h,l]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e-c/2,y:i+o/2,z:r+n/2},s={x:e-c/2,y:i+o/2,z:r-n/2},h={x:e-c/2,y:i-o/2,z:r-n/2},l={x:e-c/2,y:i-o/2,z:r+n/2};return[d,s,h,l]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:c,depth:n}=t,d={x:e+c/2,y:i+o/2,z:r+n/2},s={x:e+c/2,y:i-o/2,z:r+n/2},h={x:e-c/2,y:i-o/2,z:r+n/2},l={x:e-c/2,y:i+o/2,z:r+n/2};return[d,s,h,l]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,c=new a.Matrix4().makeTranslation(-e,-i,-r),n=new a.Matrix4().makeTranslation(e,i,r),d=new a.Matrix4().makeRotationZ(o);return new a.Matrix4().multiply(n).multiply(d).multiply(c)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,C.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,C.Back)}getSphereSidePoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}getSphereBackPoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}boxParams2ViewPolygon(t,e){switch(e){case C.Left:return this.getPolygonSidePoints(t);case C.Back:return this.getPolygonBackPoints(t);default:return this.getPolygonTopPoints(t)}}getBoxPolygon2DCoordinate(t,e){const i=this.boxParams2ViewPolygon(t,e),{width:r,height:o}=t,c=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new a.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(c).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const d=i.map(l=>new a.Vector3(l.x,l.y,l.z)).map(l=>l.applyMatrix4(this.sideMatrix)),s=this.containerWidth/r,h=this.containerHeight/o;return{polygon2d:d,zoom:Math.min(s,h)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:c}=O,n={center:e,attribute:i,id:r,valid:o,width:c*2,height:c*2,depth:c*2,rotation:0},d=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new a.Matrix4().premultiply(this.getModelTransformationMatrix(n)).premultiply(d).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const h=new a.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),l=this.containerWidth/(c*2),m=this.containerHeight/(c*2);return{point2d:h,zoom:Math.min(l,m)/2}}getSphereTopPoint2DCoordinate(t){const{center:e}=t,{radius:i}=O,r={x:-(e.y-this.containerWidth/2),y:-(e.x-this.containerHeight/2)},o=this.containerWidth/(i*2),c=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(o,c)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,o=this.getPolygonTopPoints(t).map(d=>new a.Vector3(d.x,d.y,d.z)).map(d=>d.applyMatrix4(this.getModelTransformationMatrix(t))).map(d=>({x:d.y,y:d.x})).map(d=>({x:-(d.x-this.containerWidth/2),y:-(d.y-this.containerHeight/2)})),c=this.containerWidth/e,n=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(c,n)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(-t.x,0,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+c.x,y:n.center.y+c.y,z:n.center.z-t.z},n=S(b({},n),{width:Math.abs(n.width+e),height:n.height,depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxByBackUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(0,-t.x,0).applyMatrix4(o);let n=r;return n.center={x:n.center.x+c.x,y:n.center.y+c.y,z:n.center.z-t.z},n=S(b({},n),{width:n.width,height:Math.abs(n.height+e),depth:Math.abs(n.depth+i)}),{newBoxParams:n}}getNewBoxBySideUpdateByPoints(t,e,i,r){var o;const c=(o=this.sideMatrix)==null?void 0:o.invert();if(!this.sideMatrix||!c){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const n=t.map(g=>new a.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(c)),[d,s,h,l]=n,m=Math.max(Math.abs(d.x-h.x),Math.abs(d.x-s.x)),f=s.add(l).applyMatrix3(new a.Matrix3().set(1/2,0,0,0,1/2,0,0,0,1/2)).clone().applyMatrix3(new a.Matrix3().set(-1,0,0,0,-1,0,0,0,-1)).add(new a.Vector3(r.center.x,r.center.y,r.center.z));return{newBoxParams:S(b({},r),{center:{x:r.center.x-f.x,y:r.center.y-f.y,z:r.center.z-i},width:m,height:r.height,depth:r.depth+e,rotation:r.rotation})}}filterZAxisPoints(t){const e=t||this.scene.children.find(i=>i.uuid===this.pointsUuid);if(e){const{attributes:i}=e.geometry,{position:r}=i,o=[],{count:c}=r;for(let n=0;n<c;n++){const d=r.getZ(n);o.push(d>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new a.Float32BufferAttribute(o,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}export{ot as PointCloud};

package/es/core/pointCloud/matrix.js

@@ -1 +1 @@
-import*as x from"three";import{MatrixUtils as M,PointCloudUtils as z}from"@labelbee/lb-utils";import R from"../../utils/uuid.js";var O=Object.defineProperty,V=Object.defineProperties,L=Object.getOwnPropertyDescriptors,v=Object.getOwnPropertySymbols,I=Object.prototype.hasOwnProperty,D=Object.prototype.propertyIsEnumerable,w=(r,t,e)=>t in r?O(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,H=(r,t)=>{for(var e in t||(t={}))I.call(t,e)&&w(r,e,t[e]);if(v)for(var e of v(t))D.call(t,e)&&w(r,e,t[e]);return r},j=(r,t)=>V(r,L(t));function g(r){return new x.Matrix4().set(...r)}function h(r,t,e){try{const n=M.transferMatrix34FromKitti2Three(r),i=M.transferMatrix33FromKitti2Three(t),o=M.transferMatrix34FromKitti2Three(e),s=g(n),c=g(i),u=g(o);return{composeMatrix4:u.clone().premultiply(c).premultiply(s),PM:s,RM:c,TM:u}}catch(n){console.error(n)}}function d(r,t,e){var n;const i=new x.Vector3(r.x,r.y,(n=r==null?void 0:r.z)!=null?n:1),o=new x.Matrix4().makeRotationZ(e),s=new x.Matrix4().makeTranslation(t.x,t.y,t.z),c=new x.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(c).applyMatrix4(o).applyMatrix4(s)}function m(r,t){const n=new x.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new x.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function b(r){const{center:t,width:e,height:n,depth:i,rotation:o}=r,s=[{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 l=d(f,t,o);return{x:l.x,y:l.y}}),c=t.z+i/2,u=t.z-i/2;return j(H({},r),{polygonPointList:s,zMax:c,zMin:u})}function C(r){const t=r.slice();return t.sort((e,n)=>e.x===n.x?n.y-e.y:e.x-n.x),t}function P(r,t,e){const n=t.x-r.x,i=t.y-r.y,o=e.x-r.x,s=e.y-r.y;return n*s-o*i}function F(r){const t=C(r),e=[];for(let o=0;o<t.length;o++){for(;e.length>=2&&P(e[e.length-2],e[e.length-1],t[o])<=0;)e.pop();e.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&P(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return e.pop(),n.pop(),e.concat(n)}const _=(r,t)=>{var e;const{P:n,R:i,T:o}=t,{composeMatrix4:s}=(e=h(n,i,o))!=null?e:{};if(!!s)return m(r,s)},k=(r,t)=>{var e;const{P:n,R:i,T:o}=t,{composeMatrix4:s}=(e=h(n,i,o))!=null?e:{};return s?new x.Vector4(r.x,r.y,r.z).applyMatrix4(s.invert()):void 0},T=({point:r,calib:t,width:e,height:n})=>{if(!t)return!1;const i=_(r,t);return i?i.x>=0&&i.x<=e&&i.y>=0&&i.y<=n:!1},A=({points:r,calib:t,width:e,height:n})=>{const i=[];for(let o=0;o<r.length;o+=3){const s=r[o],c=r[o+1],u=r[o+2];T({point:{x:s,y:c,z:u},calib:t,width:e,height:n})?i.push(1):i.push(0)}return i},E=r=>{if(r.length===0)return[];const t=[];for(let e=0;e<r[0].length;e++){for(let n=0;n<r.length;n++)if(r[n][e]===1){t.push(1);break}t.length===e&&t.push(0)}return t};function K(r,t,e={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=e,o=z.getAllViewData(r),{P:s,R:c,T:u}=t,{composeMatrix4:f}=(n=h(s,c,u))!=null?n:{};if(!f)return;const l=o.map(p=>({type:p.type,pointList:p.pointList.map(a=>d(a,r.center,r.rotation)).map(a=>m(a,f)).map(a=>{if(!!a)return{id:R(),x:a==null?void 0:a.x,y:a==null?void 0:a.y}}).filter(a=>a!==void 0)})).filter(p=>p.pointList.length!==0);let y=[];if(l.length===6&&i===!0){const p=l[0].pointList,a=l[1].pointList;y=F([...p,...a])}return{transferViewData:l,viewRangePointList:y}}function B(r,t,e){var n;const{P:i,R:o,T:s}=t,{composeMatrix4:c}=(n=h(i,o,s))!=null?n:{};if(!c)return;const u=r.length/3,f={};for(let l=0;l<u;l++){const y=m({x:r[l*3],y:r[l*3+1],z:r[l*3+2]},c);if(y){const p=Math.floor(y.x),a=Math.floor(y.y);if(p>e.width||a>e.height||p<0||a<0)continue;f[l]={x:p,y:a}}}return{pcdMapping:f}}export{g as createThreeMatrix4,b as getCuboidFromPointCloudBox,A as getHighlightIndexByPoints,T as isInImage,m as lidar2image,E as mergeHighlightList,k as point2dTo3D,_ as point3DLidar2Image,K as pointCloudLidar2image,B as pointMappingLidar2image,d as rotatePoint,h as transferKitti2Matrix};
+import*as h from"three";import{MatrixUtils as d,PointCloudUtils as D}from"@labelbee/lb-utils";import H from"../../utils/uuid.js";var j=Object.defineProperty,E=Object.defineProperties,K=Object.getOwnPropertyDescriptors,L=Object.getOwnPropertySymbols,k=Object.prototype.hasOwnProperty,A=Object.prototype.propertyIsEnumerable,v=Math.pow,C=(r,t,e)=>t in r?j(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,O=(r,t)=>{for(var e in t||(t={}))k.call(t,e)&&C(r,e,t[e]);if(L)for(var e of L(t))A.call(t,e)&&C(r,e,t[e]);return r},R=(r,t)=>E(r,K(t));function y(r){return new h.Matrix4().set(...r)}function w(r,t,e){try{const n=d.transferMatrix34FromKitti2Three(r),i=d.transferMatrix33FromKitti2Three(t),o=d.transferMatrix34FromKitti2Three(e),l=y(n),f=y(i),a=y(o);return{composeMatrix4:a.clone().premultiply(f).premultiply(l),PM:l,RM:f,TM:a}}catch(n){console.error(n)}}function T(r,t,e){var n;const i=new h.Vector3(r.x,r.y,(n=r==null?void 0:r.z)!=null?n:1),o=new h.Matrix4().makeRotationZ(e),l=new h.Matrix4().makeTranslation(t.x,t.y,t.z),f=new h.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(f).applyMatrix4(o).applyMatrix4(l)}function z(r,t,e){return!(r.length!==t||r.some(n=>n.length!==e))}const M=r=>{var t;return!!(((t=r.fisheyeDistortion)==null?void 0:t.length)>0&&z(r.P,3,4)&&z(r.T,3,4))},_=(r,t)=>{if(M(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:e,fisheyeDistortion:n,T:i}=t,o=new h.Vector4(r.x,r.y,r.z),l=y(d.transferMatrix34FromKitti2Three(i)),f=y(d.transferMatrix34FromKitti2Three(e)),a=o.applyMatrix4(l),x=v(v(a.x,2)+v(a.y,2),.5),p=Math.atan(a.z/x),s=n.reduce((u,c,m)=>u+c*v(p,m),0);return a.x=a.x/x*s,a.y=a.y/x*s,a.z=1,a.applyMatrix4(f)};function P(r,t){const n=new h.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new h.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function B(r){const{center:t,width:e,height:n,depth:i,rotation:o}=r,l=[{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(x=>{const p=T(x,t,o);return{x:p.x,y:p.y}}),f=t.z+i/2,a=t.z-i/2;return R(O({},r),{polygonPointList:l,zMax:f,zMin:a})}function U(r){const t=r.slice();return t.sort((e,n)=>e.x===n.x?n.y-e.y:e.x-n.x),t}function V(r,t,e){const n=t.x-r.x,i=t.y-r.y,o=e.x-r.x,l=e.y-r.y;return n*l-o*i}function N(r){const t=U(r),e=[];for(let o=0;o<t.length;o++){for(;e.length>=2&&V(e[e.length-2],e[e.length-1],t[o])<=0;)e.pop();e.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&V(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return e.pop(),n.pop(),e.concat(n)}const F=(r,t)=>{var e;if(M(t))return _(r,t);const{P:n,R:i,T:o}=t,{composeMatrix4:l}=(e=w(n,i,o))!=null?e:{};if(!!l)return P(r,l)},I=({point:r,calib:t,width:e,height:n})=>{if(!t)return!1;const i=F(r,t);return i?i.x>=0&&i.x<=e&&i.y>=0&&i.y<=n:!1},S=({points:r,calib:t,width:e,height:n})=>{const i=[];for(let o=0;o<r.length;o+=3){const l=r[o],f=r[o+1],a=r[o+2];I({point:{x:l,y:f,z:a},calib:t,width:e,height:n})?i.push(1):i.push(0)}return i},Z=r=>{if(r.length===0)return[];const t=[];for(let e=0;e<r[0].length;e++){for(let n=0;n<r.length;n++)if(r[n][e]===1){t.push(1);break}t.length===e&&t.push(0)}return t};function b(r,t,e={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=e,o=D.getAllViewData(r),l=M(t),{P:f,R:a,T:x}=t;let p;if(l===!1){const{composeMatrix4:u}=(n=w(f,a,x))!=null?n:{};if(!u)return;p=u}const s=o.map(u=>({type:u.type,pointList:u.pointList.map(c=>T(c,r.center,r.rotation)).map(c=>l?_(c,t):p&&P(c,p)).map(c=>{if(!!c)return{id:H(),x:c==null?void 0:c.x,y:c==null?void 0:c.y}}).filter(c=>c!==void 0)})).filter(u=>u.pointList.length!==0);s[0]&&s[0].pointList&&l&&(s[0].pointList=s[0].pointList.map(u=>R(O({},u),{specialEdge:!0})));let g=[];if(s.length===6&&i===!0){const u=s[0].pointList,c=s[1].pointList;g=N([...u,...c])}return{transferViewData:s,viewRangePointList:g}}function q(r,t,e){var n;const i=M(t),{P:o,R:l,T:f}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=w(o,l,f))!=null?n:{};if(!s)return;a=s}const x=r.length/3,p={};for(let s=0;s<x;s++){const g={x:r[s*3],y:r[s*3+1],z:r[s*3+2]};let u;if(i?u=_(g,t):u=a&&P({x:r[s*3],y:r[s*3+1],z:r[s*3+2]},a),u){const c=Math.floor(u.x),m=Math.floor(u.y);if(c>e.width||m>e.height||c<0||m<0)continue;p[s]={x:c,y:m}}}return{pcdMapping:p}}export{y as createThreeMatrix4,B as getCuboidFromPointCloudBox,S as getHighlightIndexByPoints,M as isFisheyeCalibValid,I as isInImage,z as isMatrixValid,_ as lidar2FisheyeImage,P as lidar2image,Z as mergeHighlightList,F as point3DLidar2Image,b as pointCloudLidar2image,q as pointMappingLidar2image,T as rotatePoint,w as transferKitti2Matrix};

package/es/index.js

@@ -1 +1 @@
-export{RectOperation}from"./core/toolOperation/rectOperation.js";export{default as TagOperation}from"./core/toolOperation/tagOperation.js";export{default as PointOperation}from"./core/toolOperation/pointOperation.js";export{default as LineToolOperation}from"./core/toolOperation/LineToolOperation.js";export{default as TextToolOperation}from"./core/toolOperation/TextToolOperation.js";export{default as PolygonOperation}from"./core/toolOperation/polygonOperation.js";export{default as MeasureOperation}from"./core/toolOperation/measureOperation.js";export{default as PointCloud2DRectOperation}from"./core/toolOperation/pointCloud2DRectOperation.js";export{BasicToolOperation}from"./core/toolOperation/basicToolOperation.js";export{default as ViewOperation}from"./core/toolOperation/ViewOperation.js";export{default as ScribbleTool}from"./core/toolOperation/ScribbleTool.js";export{default as PointCloud2dOperation}from"./core/toolOperation/pointCloud2dOperation.js";import*as t from"./constant/annotation.js";export{t as cAnnotation};import*as e from"./constant/annotationTask.js";export{e as cAnnotationTask};import*as r from"./constant/keyCode.js";export{r as cKeyCode};import*as a from"./constant/style.js";export{a as cStyle};import*as i from"./constant/tool.js";export{i as cTool};export{CLIENT_TOOL_HEAD_TYPE,CLIENT_TOOL_NAME,DEFAULT_FONT,DEFAULT_TEXT_MAX_WIDTH,EAnnotationMode,EAudioToolName,EAuditStatus,ECheckModel,EDependPattern,EDragTarget,EDrawPointPattern,EFilterToolOperation,ELineColor,ELineTypes,EOperationMode,EPageOperator,EPointCloudName,EPolygonPattern,ERectPattern,EScribblePattern,ESelectedType,ETextType,EThumbnailOption,EToolName,EToolType,EVideoToolName,OPERATION_LIST,SEGMENT_NUMBER,TEXT_ATTRIBUTE_LINE_HEIGHT,TEXT_ATTRIBUTE_MAX_LENGTH,TEXT_TYPE,TOOL_NAME,TOOL_NAME_EN,edgeAdsorptionScope,editStepWidth}from"./constant/tool.js";export{default as TagUtils}from"./utils/tool/TagUtils.js";export{default as uuid}from"./utils/uuid.js";import o from"./utils/tool/EnhanceCommonToolUtils.js";export{default as MarkerUtils}from"./utils/tool/MarkerUtils.js";export{default as RectUtils}from"./utils/tool/RectUtils.js";export{default as AxisUtils}from"./utils/tool/AxisUtils.js";export{default as DrawUtils}from"./utils/tool/DrawUtils.js";export{default as ImgUtils}from"./utils/ImgUtils.js";export{default as MathUtils}from"./utils/MathUtils.js";export{default as AttributeUtils}from"./utils/tool/AttributeUtils.js";export{default as ActionsHistory}from"./utils/ActionsHistory.js";export{default as EventBus}from"./utils/EventBus.js";export{default as DblClickEventListener}from"./utils/tool/DblClickEventListener.js";export{default as AnnotationEngine}from"./core/index.js";export{default as UnitUtils}from"./utils/tool/UnitUtils.js";export{default as StyleUtils}from"./utils/tool/StyleUtils.js";export{CanvasScheduler}from"./newCore/CanvasScheduler.js";export{PointCloud}from"./core/pointCloud/index.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isInImage,lidar2image,mergeHighlightList,point2dTo3D,point3DLidar2Image,pointCloudLidar2image,pointMappingLidar2image,rotatePoint,transferKitti2Matrix}from"./core/pointCloud/matrix.js";export{PointCloudAnnotation}from"./core/pointCloud/annotation.js";const s=o,l=o;export{s as CommonToolUtils,l as toolUtils};
+export{RectOperation}from"./core/toolOperation/rectOperation.js";export{default as TagOperation}from"./core/toolOperation/tagOperation.js";export{default as PointOperation}from"./core/toolOperation/pointOperation.js";export{default as LineToolOperation}from"./core/toolOperation/LineToolOperation.js";export{default as TextToolOperation}from"./core/toolOperation/TextToolOperation.js";export{default as PolygonOperation}from"./core/toolOperation/polygonOperation.js";export{default as MeasureOperation}from"./core/toolOperation/measureOperation.js";export{default as PointCloud2DRectOperation}from"./core/toolOperation/pointCloud2DRectOperation.js";export{BasicToolOperation}from"./core/toolOperation/basicToolOperation.js";export{default as ViewOperation}from"./core/toolOperation/ViewOperation.js";export{default as ScribbleTool}from"./core/toolOperation/ScribbleTool.js";export{default as PointCloud2dOperation}from"./core/toolOperation/pointCloud2dOperation.js";import*as t from"./constant/annotation.js";export{t as cAnnotation};import*as e from"./constant/annotationTask.js";export{e as cAnnotationTask};import*as r from"./constant/keyCode.js";export{r as cKeyCode};import*as a from"./constant/style.js";export{a as cStyle};import*as i from"./constant/tool.js";export{i as cTool};export{CLIENT_TOOL_HEAD_TYPE,CLIENT_TOOL_NAME,DEFAULT_FONT,DEFAULT_TEXT_MAX_WIDTH,EAnnotationMode,EAudioToolName,EAuditStatus,ECheckModel,EDependPattern,EDragTarget,EDrawPointPattern,EFilterToolOperation,ELineColor,ELineTypes,EOperationMode,EPageOperator,EPointCloudName,EPolygonPattern,ERectPattern,EScribblePattern,ESelectedType,ETextType,EThumbnailOption,EToolName,EToolType,EVideoToolName,OPERATION_LIST,SEGMENT_NUMBER,TEXT_ATTRIBUTE_LINE_HEIGHT,TEXT_ATTRIBUTE_MAX_LENGTH,TEXT_TYPE,TOOL_NAME,TOOL_NAME_EN,edgeAdsorptionScope,editStepWidth}from"./constant/tool.js";export{default as TagUtils}from"./utils/tool/TagUtils.js";export{default as uuid}from"./utils/uuid.js";import o from"./utils/tool/EnhanceCommonToolUtils.js";export{default as MarkerUtils}from"./utils/tool/MarkerUtils.js";export{default as RectUtils}from"./utils/tool/RectUtils.js";export{default as AxisUtils}from"./utils/tool/AxisUtils.js";export{default as DrawUtils}from"./utils/tool/DrawUtils.js";export{default as ImgUtils}from"./utils/ImgUtils.js";export{default as MathUtils}from"./utils/MathUtils.js";export{default as AttributeUtils}from"./utils/tool/AttributeUtils.js";export{default as ActionsHistory}from"./utils/ActionsHistory.js";export{default as EventBus}from"./utils/EventBus.js";export{default as DblClickEventListener}from"./utils/tool/DblClickEventListener.js";export{default as AnnotationEngine}from"./core/index.js";export{default as UnitUtils}from"./utils/tool/UnitUtils.js";export{default as StyleUtils}from"./utils/tool/StyleUtils.js";export{CanvasScheduler}from"./newCore/CanvasScheduler.js";export{PointCloud}from"./core/pointCloud/index.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isFisheyeCalibValid,isInImage,isMatrixValid,lidar2FisheyeImage,lidar2image,mergeHighlightList,point3DLidar2Image,pointCloudLidar2image,pointMappingLidar2image,rotatePoint,transferKitti2Matrix}from"./core/pointCloud/matrix.js";export{PointCloudAnnotation}from"./core/pointCloud/annotation.js";const s=o,l=o;export{s as CommonToolUtils,l as toolUtils};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@labelbee/lb-annotation",
-  "version": "1.20.0-alpha.5",
+  "version": "1.20.0-alpha.6",
   "description": "Annotation tool collection",
   "keywords": [
     "annotation",
@@ -94,7 +94,7 @@
     "typescript": "^4.2.3"
   },
   "dependencies": {
-    "@labelbee/lb-utils": "1.13.0-alpha.4",
+    "@labelbee/lb-utils": "1.13.0-alpha.5",
     "@turf/turf": "5.1.6",
     "color-rgba": "^2.3.0",
     "lodash": "^4.17.20",