@labelbee/lb-annotation 1.26.0-beta.3 → 1.26.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/constant/tool.js +1 -1
- package/dist/core/pointCloud/index.js +2 -2
- package/dist/core/toolOperation/ScribbleTool.js +1 -1
- package/dist/types/constant/tool.d.ts +1 -3
- package/dist/types/core/pointCloud/index.d.ts +3 -1
- package/dist/types/core/toolOperation/ScribbleTool.d.ts +3 -2
- package/es/constant/tool.js +1 -1
- package/es/core/pointCloud/index.js +2 -2
- package/es/core/toolOperation/ScribbleTool.js +1 -1
- package/package.json +2 -2
package/dist/constant/tool.js
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"use strict";Object.defineProperty(exports,"__esModule",{value:!0});const editStepWidth=320;exports.EPointCloudName=void 0,function(o){o.PointCloud="pointCloudTool"}(exports.EPointCloudName||(exports.EPointCloudName={})),exports.EVideoToolName=void 0,function(o){o.VideoTextTool="videoTextTool",o.VideoTagTool="videoTagTool",o.VideoClipTool="videoClipTool"}(exports.EVideoToolName||(exports.EVideoToolName={})),exports.EAudioToolName=void 0,function(o){o.AudioTextTool="audioTextTool"}(exports.EAudioToolName||(exports.EAudioToolName={})),exports.EToolType=void 0,function(o){o[o.Rect=0]="Rect",o[o.Tag=1]="Tag"}(exports.EToolType||(exports.EToolType={})),exports.EToolName=void 0,function(o){o.Rect="rectTool",o.Tag="tagTool",o.Point="pointTool",o.PointMarker="pointMarkerTool",o.Segmentation="segmentationTool",o.Filter="filterTool",o.Text="textTool",o.Polygon="polygonTool",o.Line="lineTool",o.LineMarker="lineMarkerTool",o.Empty="emptyTool",o.FolderTag="folderTagTool",o.RectTrack="rectTrackTool",o.ScribbleTool="scribbleTool",o.Face="faceTool",o.ClientAttribute="clientAttributeTool",o.OCRRelation="OCRRelationTool",o.SegmentByRect="segmentByRectTool",o.Cuboid="cuboidTool",o.PointCloudPolygon="pointCloudPolygon",o.LLM="LLMTool"
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"use strict";Object.defineProperty(exports,"__esModule",{value:!0});const editStepWidth=320;exports.EPointCloudName=void 0,function(o){o.PointCloud="pointCloudTool"}(exports.EPointCloudName||(exports.EPointCloudName={})),exports.EVideoToolName=void 0,function(o){o.VideoTextTool="videoTextTool",o.VideoTagTool="videoTagTool",o.VideoClipTool="videoClipTool"}(exports.EVideoToolName||(exports.EVideoToolName={})),exports.EAudioToolName=void 0,function(o){o.AudioTextTool="audioTextTool"}(exports.EAudioToolName||(exports.EAudioToolName={})),exports.EToolType=void 0,function(o){o[o.Rect=0]="Rect",o[o.Tag=1]="Tag"}(exports.EToolType||(exports.EToolType={})),exports.EToolName=void 0,function(o){o.Rect="rectTool",o.Tag="tagTool",o.Point="pointTool",o.PointMarker="pointMarkerTool",o.Segmentation="segmentationTool",o.Filter="filterTool",o.Text="textTool",o.Polygon="polygonTool",o.Line="lineTool",o.LineMarker="lineMarkerTool",o.Empty="emptyTool",o.FolderTag="folderTagTool",o.RectTrack="rectTrackTool",o.ScribbleTool="scribbleTool",o.Face="faceTool",o.ClientAttribute="clientAttributeTool",o.OCRRelation="OCRRelationTool",o.SegmentByRect="segmentByRectTool",o.Cuboid="cuboidTool",o.PointCloudPolygon="pointCloudPolygon",o.LLM="LLMTool"}(exports.EToolName||(exports.EToolName={})),exports.ECheckModel=void 0,function(o){o.Check="check"}(exports.ECheckModel||(exports.ECheckModel={})),exports.ERectPattern=void 0,function(o){o[o.nothing=0]="nothing",o[o.RectBG=1]="RectBG",o[o.showOrder=2]="showOrder"}(exports.ERectPattern||(exports.ERectPattern={}));const TOOL_NAME={[exports.EToolName.Rect]:"\u62C9\u6846",[exports.EToolName.Tag]:"\u6807\u7B7E",[exports.EToolName.Point]:"\u6807\u70B9",[exports.EToolName.PointMarker]:"\u5217\u8868\u6807\u70B9",[exports.EToolName.Segmentation]:"\u524D\u666F\u5206\u5272",[exports.EToolName.Filter]:"\u7B5B\u9009",[exports.EToolName.Text]:"\u6587\u672C",[exports.EToolName.Polygon]:"\u591A\u8FB9\u5F62",[exports.EToolName.Line]:"\u7EBF\u6761",[exports.EToolName.LineMarker]:"\u5217\u8868\u7EBF\u6761",[exports.EToolName.FolderTag]:"\u6587\u4EF6\u5939\u6807\u7B7E",[exports.EToolName.RectTrack]:"\u62C9\u6846\u8DDF\u8E2A",[exports.EToolName.Face]:"\u4EBA\u8138106\u5DE5\u5177",[exports.EToolName.ClientAttribute]:"\u5BA2\u6237\u7AEF\u5C5E\u6027\u5DE5\u5177",[exports.EToolName.OCRRelation]:"OCR\u5173\u8054\u5173\u7CFB\u5DE5\u5177",[exports.EToolName.SegmentByRect]:"\u7B97\u6CD5\u5206\u5272\u8F85\u52A9\u5DE5\u5177",[exports.EVideoToolName.VideoTextTool]:"\u89C6\u9891\u6587\u672C",[exports.EVideoToolName.VideoTagTool]:"\u89C6\u9891\u6807\u7B7E",[exports.EVideoToolName.VideoClipTool]:"\u89C6\u9891\u622A\u53D6",[exports.EPointCloudName.PointCloud]:"\u70B9\u4E91",[exports.EToolName.Cuboid]:"\u7ACB\u4F53\u6846",[exports.EToolName.LLM]:"\u5927\u6A21\u578B"},TOOL_NAME_EN={[exports.EToolName.Rect]:"Rect",[exports.EToolName.Tag]:"Tag",[exports.EToolName.Point]:"Point",[exports.EToolName.PointMarker]:"PointMarker",[exports.EToolName.Segmentation]:"Segmentation",[exports.EToolName.Filter]:"Filter",[exports.EToolName.Text]:"Text",[exports.EToolName.Polygon]:"Polygon",[exports.EToolName.Line]:"Line",[exports.EToolName.LineMarker]:"LineMarker",[exports.EToolName.FolderTag]:"FolderTag",[exports.EToolName.RectTrack]:"RectTrack",[exports.EToolName.Face]:"Face",[exports.EToolName.ClientAttribute]:"ClientAttribute",[exports.EToolName.OCRRelation]:"OCRRelation",[exports.EToolName.SegmentByRect]:"SegmentByRect",[exports.EVideoToolName.VideoTextTool]:"VideoTextTool",[exports.EVideoToolName.VideoTagTool]:"VideoTagTool",[exports.EVideoToolName.VideoClipTool]:"VideoClipTool",[exports.EPointCloudName.PointCloud]:"PointCloud",[exports.EToolName.Cuboid]:"Cuboid",[exports.EToolName.LLM]:"LLM"};exports.EDependPattern=void 0,function(o){o[o.noDepend=1]="noDepend",o[o.dependOrigin=2]="dependOrigin",o[o.dependShape=3]="dependShape",o[o.dependLine=4]="dependLine",o[o.dependPolygon=5]="dependPolygon",o[o.dependPreShape=101]="dependPreShape",o[o.dependPreLine=102]="dependPreLine",o[o.dependPrePolygon=103]="dependPrePolygon"}(exports.EDependPattern||(exports.EDependPattern={})),exports.EFilterToolOperation=void 0,function(o){o.lc="leftClick",o.rc="rightClick",o.clc="ctrlLeftClick",o.crc="ctrlRightClick"}(exports.EFilterToolOperation||(exports.EFilterToolOperation={}));const OPERATION_LIST={leftClick:"\u9F20\u6807\u5DE6\u952E",rightClick:"\u9F20\u6807\u53F3\u952E",ctrlLeftClick:"ctrl + \u9F20\u6807\u5DE6\u952E",ctrlRightClick:"ctrl + \u9F20\u6807\u53F3\u952E"};exports.EAnnotationMode=void 0,function(o){o[o.Normal=1]="Normal",o[o.Modify=2]="Modify"}(exports.EAnnotationMode||(exports.EAnnotationMode={})),exports.ELineTypes=void 0,function(o){o[o.Line=0]="Line",o[o.Curve=1]="Curve"}(exports.ELineTypes||(exports.ELineTypes={})),exports.ELineColor=void 0,function(o){o[o.SingleColor=0]="SingleColor",o[o.MultiColor=1]="MultiColor"}(exports.ELineColor||(exports.ELineColor={})),exports.ESelectedType=void 0,function(o){o[o.Form=1]="Form",o[o.Json=2]="Json"}(exports.ESelectedType||(exports.ESelectedType={})),exports.EDragTarget=void 0,function(o){o[o.Point=0]="Point",o[o.Line=1]="Line",o[o.Plane=2]="Plane"}(exports.EDragTarget||(exports.EDragTarget={})),exports.EDrawPointPattern=void 0,function(o){o[o.None=0]="None",o[o.Drawing=1]="Drawing",o[o.Edit=2]="Edit"}(exports.EDrawPointPattern||(exports.EDrawPointPattern={})),exports.EPageOperator=void 0,function(o){o[o.Backward=0]="Backward",o[o.Forward=1]="Forward",o[o.JumpSkip=2]="JumpSkip",o[o.None=3]="None"}(exports.EPageOperator||(exports.EPageOperator={})),exports.EAuditStatus=void 0,function(o){o[o.Wait=0]="Wait",o[o.Pass=1]="Pass",o[o.Fail=2]="Fail",o[o.Loading=3]="Loading"}(exports.EAuditStatus||(exports.EAuditStatus={})),exports.ETextType=void 0,function(o){o[o.AnyString=0]="AnyString",o[o.Order=1]="Order",o[o.EnglishOnly=2]="EnglishOnly",o[o.NumberOnly=3]="NumberOnly",o[o.CustomFormat=4]="CustomFormat"}(exports.ETextType||(exports.ETextType={}));const TEXT_TYPE={0:"\u4EFB\u610F\u5B57\u7B26",1:"\u5E8F\u53F7",2:"\u4EC5\u82F1\u6587",3:"\u4EC5\u6570\u5B57"},TEXT_ATTRIBUTE_MAX_LENGTH=1e3,TEXT_ATTRIBUTE_LINE_HEIGHT=16,DEFAULT_TEXT_MAX_WIDTH=300,DEFAULT_FONT="normal normal 500 14px Arial";exports.EThumbnailOption=void 0,function(o){o[o.ImgList=1e3]="ImgList",o[o.TrackPrediction=1001]="TrackPrediction",o[o.ImgSearch=1002]="ImgSearch"}(exports.EThumbnailOption||(exports.EThumbnailOption={}));const CLIENT_TOOL_HEAD_TYPE={[exports.EPointCloudName.PointCloud]:"sensebeepc",[exports.EToolName.ClientAttribute]:"sensebeepc-EnumAttributeTool",[exports.EToolName.Face]:"sensebeepc-FacePointsLabellingTool",[exports.EToolName.OCRRelation]:"sensebeepc-OCRRelationTool"},CLIENT_TOOL_NAME={[exports.EPointCloudName.PointCloud]:"\u70B9\u4E91\u5BA2\u6237\u7AEF",[exports.EToolName.ClientAttribute]:"\u5BA2\u6237\u7AEF\u5C5E\u6027\u5DE5\u5177",[exports.EToolName.Face]:"\u4EBA\u8138106\u70B9\u5DE5\u5177",[exports.EToolName.OCRRelation]:"OCR\u5173\u8054\u5173\u7CFB\u5DE5\u5177"},SEGMENT_NUMBER=16,edgeAdsorptionScope=10;exports.EPolygonPattern=void 0,function(o){o[o.Normal=0]="Normal",o[o.Rect=1]="Rect"}(exports.EPolygonPattern||(exports.EPolygonPattern={})),exports.EScribblePattern=void 0,function(o){o[o.Scribble=1]="Scribble",o[o.Erase=2]="Erase"}(exports.EScribblePattern||(exports.EScribblePattern={})),exports.EOperationMode=void 0,function(o){o[o.General=1]="General",o[o.MultiMove=2]="MultiMove"}(exports.EOperationMode||(exports.EOperationMode={})),exports.CLIENT_TOOL_HEAD_TYPE=CLIENT_TOOL_HEAD_TYPE,exports.CLIENT_TOOL_NAME=CLIENT_TOOL_NAME,exports.DEFAULT_FONT=DEFAULT_FONT,exports.DEFAULT_TEXT_MAX_WIDTH=DEFAULT_TEXT_MAX_WIDTH,exports.OPERATION_LIST=OPERATION_LIST,exports.SEGMENT_NUMBER=SEGMENT_NUMBER,exports.TEXT_ATTRIBUTE_LINE_HEIGHT=TEXT_ATTRIBUTE_LINE_HEIGHT,exports.TEXT_ATTRIBUTE_MAX_LENGTH=TEXT_ATTRIBUTE_MAX_LENGTH,exports.TEXT_TYPE=TEXT_TYPE,exports.TOOL_NAME=TOOL_NAME,exports.TOOL_NAME_EN=TOOL_NAME_EN,exports.edgeAdsorptionScope=edgeAdsorptionScope,exports.editStepWidth=editStepWidth;
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"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),highlightWorker$1=require("../../_virtual/highlightWorker.js"),filterBoxWorker=require("../../_virtual/filterBoxWorker.js"),polygonTool=require("../../utils/tool/polygonTool.js"),uuid=require("../../utils/uuid.js"),MathUtils=require("../../utils/MathUtils.js"),ImgUtils=require("../../utils/ImgUtils.js"),PCDLoader=require("./PCDLoader.js"),OrbitControls=require("./OrbitControls.js"),cache=require("./cache.js"),matrix=require("./matrix.js"),segmentation=require("./segmentation.js"),index=require("./store/index.js"),index$1=require("./render/index.js"),eventListener=require("../toolOperation/eventListener.js");require("../../constant/tool.js"),require("../scheduler.js");function _interopNamespace(f){if(f&&f.__esModule)return f;var t=Object.create(null);return f&&Object.keys(f).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(f,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return f[e]}})}}),t.default=f,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=(f,t,e)=>t in f?__defProp(f,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):f[t]=e,__spreadValues=(f,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(f,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(f,e,t[e]);return f},__spreadProps=(f,t)=>__defProps(f,__getOwnPropDescs(t)),__async=(f,t,e)=>new Promise((i,r)=>{var
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"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),highlightWorker$1=require("../../_virtual/highlightWorker.js"),filterBoxWorker=require("../../_virtual/filterBoxWorker.js"),polygonTool=require("../../utils/tool/polygonTool.js"),uuid=require("../../utils/uuid.js"),MathUtils=require("../../utils/MathUtils.js"),ImgUtils=require("../../utils/ImgUtils.js"),PCDLoader=require("./PCDLoader.js"),OrbitControls=require("./OrbitControls.js"),cache=require("./cache.js"),matrix=require("./matrix.js"),segmentation=require("./segmentation.js"),index=require("./store/index.js"),index$1=require("./render/index.js"),eventListener=require("../toolOperation/eventListener.js");require("../../constant/tool.js"),require("../scheduler.js");function _interopNamespace(f){if(f&&f.__esModule)return f;var t=Object.create(null);return f&&Object.keys(f).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(f,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return f[e]}})}}),t.default=f,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=(f,t,e)=>t in f?__defProp(f,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):f[t]=e,__spreadValues=(f,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(f,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(f,e,t[e]);return f},__spreadProps=(f,t)=>__defProps(f,__getOwnPropDescs(t)),__async=(f,t,e)=>new Promise((i,r)=>{var o=l=>{try{s(e.next(l))}catch(n){r(n)}},a=l=>{try{s(e.throw(l))}catch(n){r(n)}},s=l=>l.done?i(l.value):Promise.resolve(l.value).then(o,a);s((e=e.apply(f,t)).next())});const DEFAULT_DISTANCE=30,highlightWorker=new highlightWorker$1({type:"module"});class PointCloud extends eventListener{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:o="#4C4C4C",config:a,isSegment:s,checkMode:l}){super();this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.highlightGroupName="highlightBoxes",this.showDirection=!0,this.pointsMaterialSize=1,this.isSegment=!1,this.checkMode=!1,this.workerLoading=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(n,c="blue")=>{var h;const d=(h=n.id)!=null?h:uuid();this.removeObjectByName(d,"sphere");const{radius:u,widthSegments:m,heightSegments:p}=lbUtils.DEFAULT_SPHERE_PARAMS,{center:g}=n,y=new THREE__namespace.Group,x=new THREE__namespace.SphereGeometry(u,m,p),w=new THREE__namespace.MeshBasicMaterial({color:c}),C=new THREE__namespace.Mesh(x,w);C.position.set(g.x,g.y,g.z),y.add(C),y.name=`sphere${d}`,this.scene.add(y)},this.generateSphere=n=>{const{fill:c}=this.getColorFromConfig(n.attribute);this.addSphereToSense(n,c),this.render()},this.generateSpheres=n=>{n.forEach(c=>{const{fill:h}=this.getColorFromConfig(c.attribute);this.addSphereToSense(c,h)}),this.render()},this.addBoxToSense=(n,c=16777215)=>{var h;const d=(h=n.id)!=null?h:uuid();this.removeObjectByName(d,"box");const{center:u,width:m,height:p,depth:g,rotation:y}=n,x=new THREE__namespace.Group,w=new THREE__namespace.BoxGeometry(m,p,g),C=new THREE__namespace.MeshBasicMaterial({color:"blue"}),b=new THREE__namespace.Mesh(w,C),v=new THREE__namespace.BoxHelper(b,c),M=this.generateBoxArrow(n),P=this.generateBoxTrackID(n);P&&x.add(P),x.add(v),x.add(M),u&&x.position.set(u.x,u.y,u.z),y&&x.rotation.set(0,0,y),x.name=`box${d}`,this.scene.add(x)},this.applyCameraTarget=n=>{if(this.camera.type==="OrthographicCamera"&&n){const c=this.getOrthographicCameraTarget(n);this.updateCameraZoom(n.zoom),this.updateCamera(n.position,c)}},this.initShaderMaterial=()=>({vertexShader:`
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uniform float pointSize;
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gl_FragColor = vec4(color, 1.0);
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}`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>__async(this,[...n],function*(c=this.currentPCDSrc,a){if(!c)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=c;const{points:d,color:u}=yield this.cacheInstance.loadPCDFile(c),m=new THREE__namespace.BufferGeometry;m.setAttribute("position",new THREE__namespace.BufferAttribute(d,3)),this.isSegment||m.setAttribute("dimensions",new THREE__namespace.BufferAttribute(u,3)),this.initCloudData(d);const p=new THREE__namespace.Points(m);this.renderPointCloud(p,a),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>__async(this,[n],function*({mappingImgList:c,points:a}){const d=c.length===0?[]:yield Promise.all(c.map(p=>ImgUtils.default.load(p.url))),u=c.map((p,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(p.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(p.url))!=null?y:[];const x=matrix.getHighlightIndexByPoints({points:a,calib:p.calib,width:d[g].width,height:d[g].height});return this.cacheInstance.cache2DHighlightIndex.set(p.url,x),x});return matrix.mergeHighlightList(u)}),this.filterPreResult=(n,c,a)=>__async(this,null,function*(){const{points:d}=yield this.cacheInstance.loadPCDFile(n),u=yield this.cacheInstance.loadIndexMap(n,d);return new Promise(m=>{const p=a.map(g=>{const y=MathUtils.default.calculatePointsInsideBox({indexMap:u,polygon:matrix.getCuboidFromPointCloudBox(g).polygonPointList,zScope:[g.center.z-g.depth/2,g.center.z+g.depth/2],box:g}),x=y>=c.lowerLimitPointsNumInBox;return __spreadProps(__spreadValues({},g),{valid:x,count:y})});m(p)})}),this.loadPCDFileByBox=(n,c,a)=>__async(this,null,function*(){const d=(p,g)=>__async(this,null,function*(){const{width:y=0,height:x=0,depth:w=0}=a!=null?a:{},C=yield this.filterPointsByBox(__spreadProps(__spreadValues({},c),{width:c.width+y,height:c.height+x,depth:c.depth+w}),p,g);if(!C){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const b=new THREE__namespace.Points(C.geometry);b.name=this.pointCloudObjectName,this.scene.add(b),this.render()}),{points:u,color:m}=yield this.cacheInstance.loadPCDFile(n);d(u,m)}),this.generateRange=n=>{const c=this.createRange(n);this.scene.add(c)},this.generateBoxArrow=({width:n})=>{const c=new THREE__namespace.Vector3(1,0,0),a=new THREE__namespace.Vector3(n/2,0,0),d=2,u=16776960,m=new THREE__namespace.ArrowHelper(c,a,d,u);return m.visible=this.showDirection,m},this.generateBoxTrackID=n=>{if(!n.trackID)return;const c=new THREE__namespace.Texture(this.getTextCanvas(n.trackID.toString()));c.needsUpdate=!0;const a=new THREE__namespace.SpriteMaterial({map:c,depthWrite:!1}),d=new THREE__namespace.Sprite(a);return d.scale.set(5,5,5),d.position.set(-n.width/2,0,n.depth/2+.5),d},this.applyZAxisPoints=n=>{this.zAxisLimit=n,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:n,customSize:c})=>{const a=this.scene.getObjectByName(this.pointCloudObjectName);if(!a)return;const d=a.material.uniforms.pointSize.value;n?a.material.uniforms.pointSize.value=Math.min(d*1.2,10):a.material.uniforms.pointSize.value=Math.max(d/1.2,1),c&&(a.material.uniforms.pointSize.value=c,this.pointsMaterialSize=c),a.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=s,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,o?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(),o===!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})),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,config:this.config},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){var e;this.config=t,(e=this.store)==null||e.setConfig(t)}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:i,top:r,bottom:s,near:h,far:o}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=s,this.camera.near=h,this.camera.far=o,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,s=10,h=e.x-i/2-s,o=e.x-i/2+s,l=e.y+r/2+s,n=e.y-r/2-s,c=100,a=-100,d=500/c;return{left:h,right:o,top:l,bottom:n,near:c,far:a,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:s,height:h,depth:o,rotation:l}=t,n=this.getCameraVector(r,l,{width:s,height:h,depth:o},e);return i?(this.updateCamera(i,r),new THREE__namespace.Vector3(i.x,i.y,i.z)):(this.updateCamera(n,r),n)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=lbUtils.DEFAULT_SPHERE_PARAMS,s=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},e);return this.updateCamera(s,i),s}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,s,h;if(!e){const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(h=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:h.array}if(window.Worker){const{zMin:o,zMax:l,polygonPointList:n}=matrix.getCuboidFromPointCloudBox(t),c=e;i=i!=null?i:new Float32Array([]);const a={boxParams:t,zMin:o,zMax:l,polygonPointList:n,color:i,position:c};return new Promise(d=>{const u=new filterBoxWorker;u.postMessage(a),u.onmessage=m=>{const{color:p,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(p,3)),x.computeBoundingSphere(),u.terminate(),d({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=lbUtils.EPerspectiveView.Front,s=DEFAULT_DISTANCE){let h=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(s);switch(r){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:h=lbUtils.PerspectiveShiftUtils.backViewMatrix4(s);break;case lbUtils.EPerspectiveView.Left:h=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(s);break;case lbUtils.EPerspectiveView.Right:h=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(s);break;case lbUtils.EPerspectiveView.Top:h=lbUtils.PerspectiveShiftUtils.topViewMatrix4(s);break;case lbUtils.EPerspectiveView.LFT:h=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(s,i);break;case lbUtils.EPerspectiveView.RBT:h=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(s,i);break}const o=this.createThreeMatrix4(h),l=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),n=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),c=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(o).applyMatrix4(l).applyMatrix4(c).applyMatrix4(n)}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),s=new THREE__namespace.LineBasicMaterial({color:16711680}),h=new THREE__namespace.Line(r,s);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],s=t[e+2];this.store.cloudData.set(`${i}@${r}@${s}`,{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,s)=>{if(window.Worker){const o=(t?[...t]:[]).map(c=>matrix.getCuboidFromPointCloudBox(c)),l=this.getAllAttributeColor(o),n={cuboidList:o,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:l,highlightIndex:e};highlightWorker.postMessage(n),highlightWorker.onmessage=c=>{const{color:a}=c.data,d=new THREE__namespace.BufferAttribute(a,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==a.length){s(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,a),this.highlightPCDSrc=void 0,d.needsUpdate=!0,i.geometry.setAttribute("dimensions",d),i.geometry.attributes.dimensions.needsUpdate=!0,r(a),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:s,z:h},width:o,height:l,depth:n,rotation:c}=i,{fill:a}=lbUtils.toolStyleConverter.getColorFromConfig({attribute:i.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),d=new THREE__namespace.BoxGeometry(o,l,n),u=new THREE__namespace.MeshBasicMaterial({color:a,transparent:!0,opacity:.2,depthTest:!1});d.rotateZ(c),d.translate(r,s,h);const m=new THREE__namespace.Mesh(d,u);e.add(m);const p=new THREE__namespace.PlaneGeometry(n,l);p.rotateY(Math.PI/2),p.rotateZ(c);const g=new THREE__namespace.Vector3(o/2,0,0),y=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(c);g.applyMatrix4(y),p.translate(r+g.x,s+g.y,h+g.z);const x=new THREE__namespace.MeshBasicMaterial({color:a,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(p,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((a,d)=>a.z-d.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:a})=>a>r.z+.1);const s=.005,h=Math.floor(e.length*(1-s));e=e.slice(0,h),e.sort((a,d)=>a.x-d.x);const o=Math.floor(e.length*s),l=Math.floor(e.length*(1-s));e=e.slice(o,l),e.sort((a,d)=>a.y-d.y);const n=Math.floor(e.length*s),c=Math.floor(e.length*(1-s));return e=e.slice(n,c),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:l,y:n})=>{t.forEach((c,a)=>{const d=r[a+1],u=MathUtils.default.getFootOfPerpendicular({x:l,y:n},c,d,!1,!0).length;(!i[a]||u<i[a].distance)&&(i[a]={distance:u,point:{x:l,y:n}})})}),r=[t[t.length-1],...t,t[0]];const s=[i[i.length-1],...i],h=t.map((l,n)=>{const c=r[n],a=r[n+1],d=r[n+2];return lbUtils.PointCloudUtils.getIntersectionBySlope({p1:s[n].point,line1:[c,a],p2:s[n+1].point,line2:[a,d]})});return h.some(l=>!(Number.isFinite(l.x)&&Number.isFinite(l.y)))?t:h}getSensesPointZAxisInPolygon(t,e,i){var r,s,h;const o=this.scene.children.find(p=>p.uuid===this.pointsUuid);let l=0,n=0,c=0,a=0,d=[],u=[];const m=((h=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:h.array)||[];for(let p=0;p<m.length;p+=3){const g=m[p],y=m[p+1],x=m[p+2];polygonTool.isInPolygon({x:g,y},t)&&(x||x===0)&&u.push({x:g,y,z:x})}return u.length?(i&&(u=this.filterNoise(u),d=this.getFittedCoordinates(t,u)),u.sort((p,g)=>p.z-g.z),l=u[0].z-.01,n=u[u.length-1].z+.01,a=u.length,e&&(c=u.filter(({z:p})=>p>=e[0]&&p<=e[1]).length),{maxZ:n,minZ:l,count:c,zCount:a,fittedCoordinates:d}):{maxZ:n,minZ:l,count:c,zCount:a,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:s,width:h,depth:o}=t,l={x:e+h/2,y:i+s/2,z:r-o/2},n={x:e+h/2,y:i+s/2,z:r+o/2},c={x:e-h/2,y:i+s/2,z:r+o/2},a={x:e-h/2,y:i+s/2,z:r-o/2};return[l,n,c,a]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:s,width:h,depth:o}=t,l={x:e-h/2,y:i+s/2,z:r+o/2},n={x:e-h/2,y:i+s/2,z:r-o/2},c={x:e-h/2,y:i-s/2,z:r-o/2},a={x:e-h/2,y:i-s/2,z:r+o/2};return[l,n,c,a]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:s,width:h,depth:o}=t,l={x:e+h/2,y:i+s/2,z:r+o/2},n={x:e+h/2,y:i-s/2,z:r+o/2},c={x:e-h/2,y:i-s/2,z:r+o/2},a={x:e-h/2,y:i+s/2,z:r+o/2};return[l,n,c,a]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:s}=t,h=new THREE__namespace.Matrix4().makeTranslation(-e,-i,-r),o=new THREE__namespace.Matrix4().makeTranslation(e,i,r),l=new THREE__namespace.Matrix4().makeRotationZ(s);return new THREE__namespace.Matrix4().multiply(o).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:s}=t,h=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),o=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(h).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=o;const l=i.map(a=>new THREE__namespace.Vector3(a.x,a.y,a.z)).map(a=>a.applyMatrix4(this.sideMatrix)),n=this.containerWidth/r,c=this.containerHeight/s;return{polygon2d:l,zoom:Math.min(n,c)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:s}=t,{radius:h}=lbUtils.DEFAULT_SPHERE_PARAMS,o={center:e,attribute:i,id:r,valid:s,width:h*2,height:h*2,depth:h*2,rotation:0},l=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(o)).premultiply(l).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const c=new THREE__namespace.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),a=this.containerWidth/(h*2),d=this.containerHeight/(h*2);return{point2d:c,zoom:Math.min(a,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)},s=this.containerWidth/(i*2),h=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(s,h)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,s=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,o=this.containerHeight/i;return{polygon2d:s,zoom:Math.min(h,o)/2}}getNewBoxBySideUpdate(t,e,i,r){const s=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+h.x,y:o.center.y+h.y,z:o.center.z-t.z},o=__spreadProps(__spreadValues({},o),{width:Math.abs(o.width+e),height:o.height,depth:Math.abs(o.depth+i)}),{newBoxParams:o}}getNewBoxByBackUpdate(t,e,i,r){const s=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),h=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+h.x,y:o.center.y+h.y,z:o.center.z-t.z},o=__spreadProps(__spreadValues({},o),{width:o.width,height:Math.abs(o.height+e),depth:Math.abs(o.depth+i)}),{newBoxParams:o}}getNewBoxBySideUpdateByPoints(t,e,i,r){var s;const h=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!h){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const o=t.map(g=>new THREE__namespace.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(h)),[l,n,c,a]=o,d=Math.max(Math.abs(l.x-c.x),Math.abs(l.x-n.x)),m=n.add(a).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,s=[],{count:h}=r;for(let o=0;o<h;o++){const l=r.getZ(o);s.push(l>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new THREE__namespace.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}exports.createThreeMatrix4=matrix.createThreeMatrix4,exports.getCuboidFromPointCloudBox=matrix.getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=matrix.getHighlightIndexByPoints,exports.isFisheyeCalibValid=matrix.isFisheyeCalibValid,exports.isInImage=matrix.isInImage,exports.isMatrixValid=matrix.isMatrixValid,exports.isMatrixValidByArr=matrix.isMatrixValidByArr,exports.lidar2FisheyeImage=matrix.lidar2FisheyeImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.oCamFisheyeTransfer=matrix.oCamFisheyeTransfer,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointListLidar2Img=matrix.pointListLidar2Img,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;
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31
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+
}`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>__async(this,[...n],function*(c=this.currentPCDSrc,h){if(!c)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=c;const{points:d,color:u}=yield this.cacheInstance.loadPCDFile(c),m=new THREE__namespace.BufferGeometry;m.setAttribute("position",new THREE__namespace.BufferAttribute(d,3)),this.isSegment||m.setAttribute("dimensions",new THREE__namespace.BufferAttribute(u,3)),this.initCloudData(d);const p=new THREE__namespace.Points(m);this.renderPointCloud(p,h),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>__async(this,[n],function*({mappingImgList:c,points:h}){const d=c.length===0?[]:yield Promise.all(c.map(p=>ImgUtils.default.load(p.url))),u=c.map((p,g)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(p.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(p.url))!=null?y:[];const x=matrix.getHighlightIndexByPoints({points:h,calib:p.calib,width:d[g].width,height:d[g].height});return this.cacheInstance.cache2DHighlightIndex.set(p.url,x),x});return matrix.mergeHighlightList(u)}),this.filterPreResult=(n,c,h)=>__async(this,null,function*(){const{points:d}=yield this.cacheInstance.loadPCDFile(n),u=yield this.cacheInstance.loadIndexMap(n,d);return new Promise(m=>{const p=h.map(g=>{const y=MathUtils.default.calculatePointsInsideBox({indexMap:u,polygon:matrix.getCuboidFromPointCloudBox(g).polygonPointList,zScope:[g.center.z-g.depth/2,g.center.z+g.depth/2],box:g}),x=y>=c.lowerLimitPointsNumInBox;return __spreadProps(__spreadValues({},g),{valid:x,count:y})});m(p)})}),this.loadPCDFileByBox=(n,c,h)=>__async(this,null,function*(){const d=(p,g)=>__async(this,null,function*(){const{width:y=0,height:x=0,depth:w=0}=h!=null?h:{},C=yield this.filterPointsByBox(__spreadProps(__spreadValues({},c),{width:c.width+y,height:c.height+x,depth:c.depth+w}),p,g);if(!C){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const b=new THREE__namespace.Points(C.geometry);b.name=this.pointCloudObjectName,this.scene.add(b),this.render()}),{points:u,color:m}=yield this.cacheInstance.loadPCDFile(n);d(u,m)}),this.generateRange=n=>{const c=this.createRange(n);this.scene.add(c)},this.generateBoxArrow=({width:n})=>{const c=new THREE__namespace.Vector3(1,0,0),h=new THREE__namespace.Vector3(n/2,0,0),d=2,u=16776960,m=new THREE__namespace.ArrowHelper(c,h,d,u);return m.visible=this.showDirection,m},this.generateBoxTrackID=n=>{if(!n.trackID)return;const c=new THREE__namespace.Texture(this.getTextCanvas(n.trackID.toString()));c.needsUpdate=!0;const h=new THREE__namespace.SpriteMaterial({map:c,depthWrite:!1}),d=new THREE__namespace.Sprite(h);return d.scale.set(5,5,5),d.position.set(-n.width/2,0,n.depth/2+.5),d},this.applyZAxisPoints=n=>{this.zAxisLimit=n,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:n,customSize:c})=>{const h=this.scene.getObjectByName(this.pointCloudObjectName);if(!h)return;const d=h.material.uniforms.pointSize.value;n?h.material.uniforms.pointSize.value=Math.min(d*1.2,10):h.material.uniforms.pointSize.value=Math.max(d/1.2,1),c&&(h.material.uniforms.pointSize.value=c,this.pointsMaterialSize=c),h.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new THREE__namespace.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=a,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,s?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(),s===!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})),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,config:this.config},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){var e;this.config=t,(e=this.store)==null||e.setConfig(t)}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:i,top:r,bottom:o,near:a,far:s}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=a,this.camera.far=s,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,a=e.x-i/2-o,s=e.x-i/2+o,l=e.y+r/2+o,n=e.y-r/2-o,c=100,h=-100,d=500/c;return{left:a,right:s,top:l,bottom:n,near:c,far:h,zoom:d}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:a,depth:s,rotation:l}=t,n=this.getCameraVector(r,l,{width:o,height:a,depth:s},e);return i?(this.updateCamera(i,r),new THREE__namespace.Vector3(i.x,i.y,i.z)):(this.updateCamera(n,r),n)}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,a;if(!e){const s=this.scene.getObjectByName(this.pointCloudObjectName);if(!s)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(a=(o=(r=s==null?void 0:s.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:a.array}if(window.Worker){const{zMin:s,zMax:l,polygonPointList:n}=matrix.getCuboidFromPointCloudBox(t),c=e;i=i!=null?i:new Float32Array([]);const h={boxParams:t,zMin:s,zMax:l,polygonPointList:n,color:i,position:c};return new Promise(d=>{const u=new filterBoxWorker;u.postMessage(h),u.onmessage=m=>{const{color:p,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(p,3)),x.computeBoundingSphere(),u.terminate(),d({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=lbUtils.EPerspectiveView.Front,o=DEFAULT_DISTANCE){let a=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(o);switch(r){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:a=lbUtils.PerspectiveShiftUtils.backViewMatrix4(o);break;case lbUtils.EPerspectiveView.Left:a=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(o);break;case lbUtils.EPerspectiveView.Right:a=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(o);break;case lbUtils.EPerspectiveView.Top:a=lbUtils.PerspectiveShiftUtils.topViewMatrix4(o);break;case lbUtils.EPerspectiveView.LFT:a=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(o,i);break;case lbUtils.EPerspectiveView.RBT:a=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(o,i);break}const s=this.createThreeMatrix4(a),l=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z),n=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),c=new THREE__namespace.Matrix4().makeRotationZ(e);return new THREE__namespace.Vector3(t.x,t.y,t.z).clone().applyMatrix4(s).applyMatrix4(l).applyMatrix4(c).applyMatrix4(n)}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}),a=new THREE__namespace.Line(r,o);return a.name=this.rangeObjectName,a}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)}}handleWebworker(t){return __async(this,null,function*(){return new Promise((e,i)=>{if(this.workerLoading){i(new Error("workerLoading"));return}this.workerLoading=!0,highlightWorker.postMessage(t),highlightWorker.onmessage=r=>{e(r.data),this.workerLoading=!1},highlightWorker.onerror=r=>{i(r),this.workerLoading=!1}})})}highlightOriginPointCloud(t){return __async(this,arguments,function*(e,i=[]){const r=this.scene.getObjectByName(this.pointCloudObjectName);if(!!r)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((o,a)=>{if(window.Worker){const l=(e?[...e]:[]).map(h=>matrix.getCuboidFromPointCloudBox(h)),n=this.getAllAttributeColor(l),c={cuboidList:l,position:r.geometry.attributes.position.array,color:r.geometry.attributes.dimensions.array,colorList:n,highlightIndex:i};this.handleWebworker(c).then(h=>{const{color:d}=h,u=new THREE__namespace.BufferAttribute(d,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||r.geometry.attributes.position.array.length!==d.length){a(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,d),this.highlightPCDSrc=void 0,u.needsUpdate=!0,r.geometry.setAttribute("dimensions",u),r.geometry.attributes.dimensions.needsUpdate=!0,o(d),this.render()}).catch(h=>{a(h)})}})})}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:a},width:s,height:l,depth:n,rotation:c}=i,{fill:h}=lbUtils.toolStyleConverter.getColorFromConfig({attribute:i.attribute},__spreadProps(__spreadValues({},this.config),{attributeConfigurable:!0}),{}),d=new THREE__namespace.BoxGeometry(s,l,n),u=new THREE__namespace.MeshBasicMaterial({color:h,transparent:!0,opacity:.2,depthTest:!1});d.rotateZ(c),d.translate(r,o,a);const m=new THREE__namespace.Mesh(d,u);e.add(m);const p=new THREE__namespace.PlaneGeometry(n,l);p.rotateY(Math.PI/2),p.rotateZ(c);const g=new THREE__namespace.Vector3(s/2,0,0),y=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(c);g.applyMatrix4(y),p.translate(r+g.x,o+g.y,a+g.z);const x=new THREE__namespace.MeshBasicMaterial({color:h,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(p,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((h,d)=>h.z-d.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:h})=>h>r.z+.1);const o=.005,a=Math.floor(e.length*(1-o));e=e.slice(0,a),e.sort((h,d)=>h.x-d.x);const s=Math.floor(e.length*o),l=Math.floor(e.length*(1-o));e=e.slice(s,l),e.sort((h,d)=>h.y-d.y);const n=Math.floor(e.length*o),c=Math.floor(e.length*(1-o));return e=e.slice(n,c),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:l,y:n})=>{t.forEach((c,h)=>{const d=r[h+1],u=MathUtils.default.getFootOfPerpendicular({x:l,y:n},c,d,!1,!0).length;(!i[h]||u<i[h].distance)&&(i[h]={distance:u,point:{x:l,y:n}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i],a=t.map((l,n)=>{const c=r[n],h=r[n+1],d=r[n+2];return lbUtils.PointCloudUtils.getIntersectionBySlope({p1:o[n].point,line1:[c,h],p2:o[n+1].point,line2:[h,d]})});return a.some(l=>!(Number.isFinite(l.x)&&Number.isFinite(l.y)))?t:a}getSensesPointZAxisInPolygon(t,e,i){var r,o,a;const s=this.scene.children.find(p=>p.uuid===this.pointsUuid);let l=0,n=0,c=0,h=0,d=[],u=[];const m=((a=(o=(r=s==null?void 0:s.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:a.array)||[];for(let p=0;p<m.length;p+=3){const g=m[p],y=m[p+1],x=m[p+2];polygonTool.isInPolygon({x:g,y},t)&&(x||x===0)&&u.push({x:g,y,z:x})}return u.length?(i&&(u=this.filterNoise(u),d=this.getFittedCoordinates(t,u)),u.sort((p,g)=>p.z-g.z),l=u[0].z-.01,n=u[u.length-1].z+.01,h=u.length,e&&(c=u.filter(({z:p})=>p>=e[0]&&p<=e[1]).length),{maxZ:n,minZ:l,count:c,zCount:h,fittedCoordinates:d}):{maxZ:n,minZ:l,count:c,zCount:h,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:a,depth:s}=t,l={x:e+a/2,y:i+o/2,z:r-s/2},n={x:e+a/2,y:i+o/2,z:r+s/2},c={x:e-a/2,y:i+o/2,z:r+s/2},h={x:e-a/2,y:i+o/2,z:r-s/2};return[l,n,c,h]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:a,depth:s}=t,l={x:e-a/2,y:i+o/2,z:r+s/2},n={x:e-a/2,y:i+o/2,z:r-s/2},c={x:e-a/2,y:i-o/2,z:r-s/2},h={x:e-a/2,y:i-o/2,z:r+s/2};return[l,n,c,h]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:a,depth:s}=t,l={x:e+a/2,y:i+o/2,z:r+s/2},n={x:e+a/2,y:i-o/2,z:r+s/2},c={x:e-a/2,y:i-o/2,z:r+s/2},h={x:e-a/2,y:i+o/2,z:r+s/2};return[l,n,c,h]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,a=new THREE__namespace.Matrix4().makeTranslation(-e,-i,-r),s=new THREE__namespace.Matrix4().makeTranslation(e,i,r),l=new THREE__namespace.Matrix4().makeRotationZ(o);return new THREE__namespace.Matrix4().multiply(s).multiply(l).multiply(a)}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,a=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const l=i.map(h=>new THREE__namespace.Vector3(h.x,h.y,h.z)).map(h=>h.applyMatrix4(this.sideMatrix)),n=this.containerWidth/r,c=this.containerHeight/o;return{polygon2d:l,zoom:Math.min(n,c)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:a}=lbUtils.DEFAULT_SPHERE_PARAMS,s={center:e,attribute:i,id:r,valid:o,width:a*2,height:a*2,depth:a*2,rotation:0},l=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(s)).premultiply(l).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const c=new THREE__namespace.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),h=this.containerWidth/(a*2),d=this.containerHeight/(a*2);return{point2d:c,zoom:Math.min(h,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),a=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(o,a)/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)})),a=this.containerWidth/e,s=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(a,s)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),a=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(o);let s=r;return s.center={x:s.center.x+a.x,y:s.center.y+a.y,z:s.center.z-t.z},s=__spreadProps(__spreadValues({},s),{width:Math.abs(s.width+e),height:s.height,depth:Math.abs(s.depth+i)}),{newBoxParams:s}}getNewBoxByBackUpdate(t,e,i,r){const o=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),a=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(o);let s=r;return s.center={x:s.center.x+a.x,y:s.center.y+a.y,z:s.center.z-t.z},s=__spreadProps(__spreadValues({},s),{width:s.width,height:Math.abs(s.height+e),depth:Math.abs(s.depth+i)}),{newBoxParams:s}}getNewBoxBySideUpdateByPoints(t,e,i,r){var o;const a=(o=this.sideMatrix)==null?void 0:o.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const s=t.map(g=>new THREE__namespace.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(a)),[l,n,c,h]=s,d=Math.max(Math.abs(l.x-c.x),Math.abs(l.x-n.x)),m=n.add(h).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:a}=r;for(let s=0;s<a;s++){const l=r.getZ(s);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.isMatrixValidByArr=matrix.isMatrixValidByArr,exports.lidar2FisheyeImage=matrix.lidar2FisheyeImage,exports.lidar2image=matrix.lidar2image,exports.mergeHighlightList=matrix.mergeHighlightList,exports.oCamFisheyeTransfer=matrix.oCamFisheyeTransfer,exports.point3DLidar2Image=matrix.point3DLidar2Image,exports.pointCloudLidar2image=matrix.pointCloudLidar2image,exports.pointListLidar2Img=matrix.pointListLidar2Img,exports.pointMappingLidar2image=matrix.pointMappingLidar2image,exports.rotatePoint=matrix.rotatePoint,exports.transferKitti2Matrix=matrix.transferKitti2Matrix,exports.PointCloud=PointCloud;
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"use strict";var lbUtils=require("@labelbee/lb-utils"),AxisUtils=require("../../utils/tool/AxisUtils.js"),DrawUtils=require("../../utils/tool/DrawUtils.js"),tool=require("../../constant/tool.js"),CommonToolUtils=require("../../utils/tool/CommonToolUtils.js"),AttributeUtils=require("../../utils/tool/AttributeUtils.js"),keyCode=require("../../constant/keyCode.js"),basicToolOperation=require("./basicToolOperation.js");const DEFAULT_PEN_SIZE=20,DEFAULT_COLOR="white";class ScribbleTool extends basicToolOperation.BasicToolOperation{constructor(t){super(t);this.toolName=tool.EToolName.ScribbleTool,this.action=tool.EScribblePattern.Scribble,this.getOriginCoordinate=i=>AxisUtils.default.changePointByZoom(this.getCoordinateUnderZoomByRotate(i),1/this.zoom),this.onMouseDown=i=>{super.onMouseDown(i)||this.forbidMouseOperation||!this.imgInfo||(this.initCacheCanvas(this.imgNode),this.mouseEvents("onMouseDown").call(this,i))},this.onMouseMove=i=>{super.onMouseMove(i)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseMove").call(this,i)},this.onMouseUp=i=>{super.onMouseUp(i)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseUp").call(this,i)},this.mouseEvents=i=>({[tool.EScribblePattern.Scribble]:{onMouseMove:this.onScribbleMove,onMouseUp:this.onScribbleEnd,onMouseDown:this.onScribbleStart},[tool.EScribblePattern.Erase]:{onMouseMove:this.onEraseMove,onMouseUp:this.onEraseEnd,onMouseDown:this.onEraseStart}})[this.action][i],this.setPattern=i=>{switch(this.action=i,i){case tool.EScribblePattern.Erase:{this.setCustomCursor(this.cursorErase);break}default:{this.setCustomCursor("none");break}}};var e;if(this.penSize=DEFAULT_PEN_SIZE,this.isHidden=!1,this.pointList=[],this.curIndexOnLine=0,((e=this.config.attributeList)==null?void 0:e.length)>0){const i=this.config.attributeList[0];this.setDefaultAttribute(i.value)}}get cursorErase(){const t='<?xml version="1.0" encoding="UTF-8"?><svg width="24" heighst="24" viewBox="0 0 48 48" fill="none" xmlns="http://www.w3.org/2000/svg"><g clip-path="url(#icon-65e7e1747c11bad3)"><path d="M44.7818 24.1702L31.918 7.09935L14.1348 20.5L27.5 37L30.8556 34.6643L44.7818 24.1702Z" fill="#141414" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M27.4998 37L23.6613 40.0748L13.0978 40.074L10.4973 36.6231L4.06543 28.0876L14.4998 20.2248" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M13.2056 40.072L44.5653 40.072" stroke="#000000" stroke-width="4" stroke-linecap="round"/></g><defs><clipPath id="icon-65e7e1747c11bad3"><rect width="48" height="48" fill="#df4c4c"/></clipPath></defs></svg>';return`url(${`data:image/svg+xml;base64,${window.btoa(unescape(encodeURIComponent(t)))}`}) 0 0, auto`}get defaultCursor(){return this.action===tool.EScribblePattern.Erase?this.cursorErase:this.isShowDefaultCursor?"default":"none"}get color(){var t,e;return(e=(t=this==null?void 0:this.defaultAttributeInfo)==null?void 0:t.color)!=null?e:DEFAULT_COLOR}get penSizeWithZoom(){return this.penSize/this.zoom}get cacheCanvasToDataUrl(){var t;return(t=this.cacheCanvas)==null?void 0:t.toDataURL("image/png",0)}setPenSize(t){this.penSize=t,this.render()}initCacheCanvas(t){if(this.cacheCanvas||!t)return;const{canvas:e,ctx:i}=lbUtils.ImgConversionUtils.createCanvas(t);this.cacheCanvas=e,this.cacheContext=i}updateCacheCanvasSize(t){this.cacheCanvas&&(this.cacheCanvas.width=t.width,this.cacheCanvas.height=t.height)}updateUrl2CacheContext(t){lbUtils.ImgConversionUtils.createImgDom(t).then(e=>{this.cacheContext||this.initCacheCanvas(e),this.cacheContext&&(this.cacheContext.save(),this.clearCacheCanvas(),this.cacheContext.drawImage(e,0,0,e.width,e.height),this.cacheContext.restore(),this.render())})}setImgNode(t,e){super.setImgNode(t,e),this.cacheCanvas?this.updateCacheCanvasSize(t):this.initCacheCanvas(t)}setResult(t){var e,i;let{url:s}=(e=t==null?void 0:t[0])!=null?e:{};if(this.clearCacheCanvas(),s||(s=(i=this.cacheCanvasToDataUrl)!=null?i:""),this.history.initRecord([s],!0),!s){this.render();return}this.updateUrl2CacheContext(s)}onKeyDown(t){if(!CommonToolUtils.hotkeyFilter(t)
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"use strict";var lbUtils=require("@labelbee/lb-utils"),AxisUtils=require("../../utils/tool/AxisUtils.js"),DrawUtils=require("../../utils/tool/DrawUtils.js"),tool=require("../../constant/tool.js"),CommonToolUtils=require("../../utils/tool/CommonToolUtils.js"),AttributeUtils=require("../../utils/tool/AttributeUtils.js"),keyCode=require("../../constant/keyCode.js"),basicToolOperation=require("./basicToolOperation.js");const DEFAULT_PEN_SIZE=20,DEFAULT_COLOR="white";class ScribbleTool extends basicToolOperation.BasicToolOperation{constructor(t){super(t);this.toolName=tool.EToolName.ScribbleTool,this.action=tool.EScribblePattern.Scribble,this.getOriginCoordinate=i=>AxisUtils.default.changePointByZoom(this.getCoordinateUnderZoomByRotate(i),1/this.zoom),this.onMouseDown=i=>{super.onMouseDown(i)||this.forbidMouseOperation||!this.imgInfo||(this.initCacheCanvas(this.imgNode),this.mouseEvents("onMouseDown").call(this,i))},this.onMouseMove=i=>{super.onMouseMove(i)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseMove").call(this,i)},this.onMouseUp=i=>{super.onMouseUp(i)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseUp").call(this,i)},this.mouseEvents=i=>({[tool.EScribblePattern.Scribble]:{onMouseMove:this.onScribbleMove,onMouseUp:this.onScribbleEnd,onMouseDown:this.onScribbleStart},[tool.EScribblePattern.Erase]:{onMouseMove:this.onEraseMove,onMouseUp:this.onEraseEnd,onMouseDown:this.onEraseStart}})[this.action][i],this.setPattern=i=>{switch(this.action=i,i){case tool.EScribblePattern.Erase:{this.setCustomCursor(this.cursorErase);break}default:{this.setCustomCursor("none");break}}};var e;if(this.penSize=DEFAULT_PEN_SIZE,this.isHidden=!1,this.pointList=[],this.curIndexOnLine=0,((e=this.config.attributeList)==null?void 0:e.length)>0){const i=this.config.attributeList[0];this.setDefaultAttribute(i.value)}}get cursorErase(){const t='<?xml version="1.0" encoding="UTF-8"?><svg width="24" heighst="24" viewBox="0 0 48 48" fill="none" xmlns="http://www.w3.org/2000/svg"><g clip-path="url(#icon-65e7e1747c11bad3)"><path d="M44.7818 24.1702L31.918 7.09935L14.1348 20.5L27.5 37L30.8556 34.6643L44.7818 24.1702Z" fill="#141414" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M27.4998 37L23.6613 40.0748L13.0978 40.074L10.4973 36.6231L4.06543 28.0876L14.4998 20.2248" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M13.2056 40.072L44.5653 40.072" stroke="#000000" stroke-width="4" stroke-linecap="round"/></g><defs><clipPath id="icon-65e7e1747c11bad3"><rect width="48" height="48" fill="#df4c4c"/></clipPath></defs></svg>';return`url(${`data:image/svg+xml;base64,${window.btoa(unescape(encodeURIComponent(t)))}`}) 0 0, auto`}get defaultCursor(){return this.action===tool.EScribblePattern.Erase?this.cursorErase:this.isShowDefaultCursor?"default":"none"}get color(){var t,e;return(e=(t=this==null?void 0:this.defaultAttributeInfo)==null?void 0:t.color)!=null?e:DEFAULT_COLOR}get penSizeWithZoom(){return this.penSize/this.zoom}get cacheCanvasToDataUrl(){var t;return(t=this.cacheCanvas)==null?void 0:t.toDataURL("image/png",0)}setPenSize(t){this.penSize=t,this.render()}initCacheCanvas(t){if(this.cacheCanvas||!t)return;const{canvas:e,ctx:i}=lbUtils.ImgConversionUtils.createCanvas(t);this.cacheCanvas=e,this.cacheContext=i}updateCacheCanvasSize(t){this.cacheCanvas&&(this.cacheCanvas.width=t.width,this.cacheCanvas.height=t.height)}updateUrl2CacheContext(t){lbUtils.ImgConversionUtils.createImgDom(t).then(e=>{this.cacheContext||this.initCacheCanvas(e),this.cacheContext&&(this.cacheContext.save(),this.clearCacheCanvas(),this.cacheContext.drawImage(e,0,0,e.width,e.height),this.cacheContext.restore(),this.render())})}setImgNode(t,e){super.setImgNode(t,e),this.cacheCanvas?this.updateCacheCanvasSize(t):this.initCacheCanvas(t)}setResult(t){var e,i;let{url:s}=(e=t==null?void 0:t[0])!=null?e:{};if(this.clearCacheCanvas(),s||(s=(i=this.cacheCanvasToDataUrl)!=null?i:""),this.history.initRecord([s],!0),!s){this.render();return}this.updateUrl2CacheContext(s)}onKeyDown(t){if(!CommonToolUtils.hotkeyFilter(t))return;const{keyCode:e}=t,i=AttributeUtils.default.getAttributeByKeycode(e,this.config.attributeList);i!==void 0&&this.setDefaultAttribute(i),e===keyCode.Z&&!t.ctrlKey&&this.toggleIsHide(),t.ctrlKey&&(this.action===tool.EScribblePattern.Scribble&&(this.lineActive=!0),e===keyCode.Z&&(this.lineActive=!1,t.shiftKey?this.redo():this.undo()),this.render())}onKeyUp(t){super.onKeyUp(t),t.keyCode===keyCode.Ctrl&&(this.lineActive=!1,this.pointList=[],this.curIndexOnLine=0,this.render())}toggleIsHide(){this.setIsHidden(!this.isHidden),this.render()}eventBinding(){super.eventBinding()}setDefaultAttribute(t){const e=this.config.attributeList.find(i=>i.value===t);e&&(this.defaultAttribute=e.value,this.defaultAttributeInfo=e,this.emit("changeAttributeSidebar"),this.render())}clearStatusAfterLeave(){this.onScribbleEnd(),this.startPoint=void 0}onMouseLeave(){super.onMouseLeave(),this.clearStatusAfterLeave()}onScribbleStart(t){if(!this.cacheContext)return;this.cacheContext.save(),this.cacheContext.beginPath(),this.cacheContext.strokeStyle=this.color,this.cacheContext.lineWidth=this.penSizeWithZoom,this.cacheContext.lineCap="round",this.cacheContext.lineJoin="round";const e=this.getOriginCoordinate(t);this.cacheContext.moveTo(e.x,e.y),this.startPoint=e}scribbleOnImgByLine(t){const e=this.cacheContext;!e||(this.pointList=this.pointList.slice(0,this.curIndexOnLine+1),this.pointList.push(t),this.pointList.length>1&&(this.curIndexOnLine=this.pointList.length-1,this.pointList.forEach((i,s)=>{if(e.beginPath(),s>0){const n=this.pointList[s-1];e.save(),e.moveTo(n.x,n.y),e.lineTo(i.x,i.y),e.stroke(),e.restore()}})))}onScribbleMove(t){const e=this.getOriginCoordinate(t);if(this.lineActive){this.prePoint=e;return}t.buttons===1&&this.cacheContext&&this.startPoint&&(this.cacheContext.lineTo(e.x,e.y),this.cacheContext.stroke())}onScribbleEnd(t){if(!t||(t==null?void 0:t.button)===2)return;const e=this.getOriginCoordinate(t);this.lineActive?this.scribbleOnImgByLine(e):this.cacheContext&&(this.cacheContext.lineTo(e.x,e.y),this.cacheContext.stroke()),this.saveUrlIntoHistory()}saveUrlIntoHistory(){var t,e;(t=this.cacheContext)==null||t.closePath(),(e=this.cacheContext)==null||e.restore(),this.startPoint=void 0,this.history.pushHistory(this.cacheCanvasToDataUrl)}eraseArc(t){var e;if(this.cacheContext){const i=this.getOriginCoordinate(t);this.cacheContext.save(),this.cacheContext.beginPath(),this.cacheContext.arc(i.x,i.y,this.penSizeWithZoom/2,0,Math.PI*2,!1),this.cacheContext.clip(),this.cacheContext.clearRect(0,0,this.cacheContext.canvas.width,this.cacheContext.canvas.height),(e=this.cacheContext)==null||e.restore()}}onEraseStart(t){!this.cacheContext||t.buttons!==1||this.isHidden||this.eraseArc(t)}onEraseMove(t){!this.cacheContext||t.buttons!==1||this.isHidden||this.eraseArc(t)}onEraseEnd(){}exportData(){const t=this.cacheCanvasToDataUrl;return[[],this.basicImgInfo,{imgBase64:t}]}clearCacheCanvas(){var t;(t=this.cacheContext)==null||t.clearRect(0,0,this.cacheContext.canvas.width,this.cacheContext.canvas.height),this.render()}clearResult(){this.curIndexOnLine=0,this.pointList=[],this.clearCacheCanvas(),this.history.pushHistory(this.cacheCanvasToDataUrl)}renderPoint(t){DrawUtils.drawCircleWithFill(this.canvas,this.coord,t,{color:this.color})}renderBorderPoint(t){DrawUtils.drawCircle(this.canvas,this.coord,t,{color:"black"})}drawLineSegment(){if(this.prePoint&&this.pointList.length>0){const i=[this.pointList[this.curIndexOnLine]].concat(this.prePoint).map(s=>this.getCoordinateUnderZoomByRotateFromImgPoint(s));this.drawStraightLine(i,{color:this.color,lineWidth:this.penSize,globalAlpha:.5})}}render(){if(super.render(),!this.ctx||!this.cacheCanvas)return;this.lineActive&&(this.renderCursorLine(this.color),this.drawLineSegment());const t=this.penSize/2;if(this.isHidden){this.action===tool.EScribblePattern.Scribble&&this.renderPoint(t);return}this.ctx.save(),this.ctx.globalAlpha=.5,DrawUtils.drawImg(this.canvas,this.cacheCanvas,{zoom:this.zoom,currentPos:this.currentPos,rotate:this.rotate}),this.ctx.restore(),!(this.forbidOperation||this.forbidCursorLine)&&(this.action===tool.EScribblePattern.Erase?this.renderBorderPoint(t):this.renderPoint(t))}undo(){var t,e;if(this.lineActive&&(this.curIndexOnLine<1||((t=this.pointList)==null?void 0:t.length)<1))return;this.curIndexOnLine>0&&((e=this.pointList)==null?void 0:e.length)>0&&(this.curIndexOnLine-=1);const i=this.history.undo();i&&this.cacheCanvas&&this.updateUrl2CacheContext(i)}redo(){var t,e;this.curIndexOnLine<((t=this.pointList)==null?void 0:t.length)-1&&((e=this.pointList)==null?void 0:e.length)>0&&(this.curIndexOnLine+=1);const i=this.history.redo();i&&this.cacheCanvas&&this.updateUrl2CacheContext(i)}}module.exports=ScribbleTool;
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@@ -62,9 +62,7 @@ export declare enum EToolName {
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/** 点云多边形工具 */
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PointCloudPolygon = "pointCloudPolygon",
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/** LLM标注工具-大模型 */
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LLM = "LLMTool"
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/** NLP标注工具-大模型 */
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NLP = "NLPTool"
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LLM = "LLMTool"
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}
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export declare enum ECheckModel {
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Check = "check"
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@@ -79,6 +79,7 @@ export declare class PointCloud extends EventListener {
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private segmentOperation?;
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private isSegment;
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private checkMode;
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private workerLoading;
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constructor({ container, noAppend, isOrthographicCamera, orthographicParams, backgroundColor, // GRAY_BACKGROUND
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config, isSegment, checkMode, }: IProps);
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initSegment(): void;
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@@ -248,12 +249,13 @@ export declare class PointCloud extends EventListener {
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points: ArrayLike<number>;
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}) => Promise<number[]>;
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filterPreResult: (src: string, config: any, boxParamsList: IPointCloudBox[]) => Promise<unknown>;
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handleWebworker(params: any): Promise<unknown>;
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/**
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* It needs to be updated after load PointCloud's data.
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* @param boxParams
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* @returns
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*/
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highlightOriginPointCloud(pointCloudBoxList?: IPointCloudBox[], highlightIndex?: number[]): Promise<THREE.BufferAttribute[] | undefined
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highlightOriginPointCloud(pointCloudBoxList?: IPointCloudBox[], highlightIndex?: number[]): Promise<THREE.BufferAttribute[] | undefined>;
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/**
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* Clean all highlightBox
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*/
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@@ -47,7 +47,7 @@ declare class ScribbleTool extends BasicToolOperation {
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onMouseDown: (e: MouseEvent) => undefined;
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onMouseMove: (e: MouseEvent) => undefined;
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onMouseUp: (e: MouseEvent) => undefined;
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mouseEvents: (eventType: 'onMouseMove' | 'onMouseUp' | 'onMouseDown') => (() => void) | ((e: MouseEvent) => void) | ((e: MouseEvent) => void) | ((e: MouseEvent) => void) | (() => void) | ((e: MouseEvent) => void);
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mouseEvents: (eventType: 'onMouseMove' | 'onMouseUp' | 'onMouseDown') => ((e?: MouseEvent) => void) | ((e: MouseEvent) => void) | ((e: MouseEvent) => void) | ((e: MouseEvent) => void) | (() => void) | ((e: MouseEvent) => void);
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setPattern: (pattern: EScribblePattern) => void;
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setDefaultAttribute(attributeValue: string): void;
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clearStatusAfterLeave(): void;
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@@ -55,7 +55,8 @@ declare class ScribbleTool extends BasicToolOperation {
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onScribbleStart(e: MouseEvent): void;
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scribbleOnImgByLine(endPoint: ICoordinate): void;
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onScribbleMove(e: MouseEvent): void;
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onScribbleEnd(): void;
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onScribbleEnd(e?: MouseEvent): void;
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saveUrlIntoHistory(): void;
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eraseArc(e: MouseEvent): void;
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onEraseStart(e: MouseEvent): void;
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onEraseMove(e: MouseEvent): void;
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package/es/constant/tool.js
CHANGED
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@@ -1 +1 @@
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const M=320;var n;(function(o){o.PointCloud="pointCloudTool"})(n||(n={}));var i;(function(o){o.VideoTextTool="videoTextTool",o.VideoTagTool="videoTagTool",o.VideoClipTool="videoClipTool"})(i||(i={}));var l;(function(o){o.AudioTextTool="audioTextTool"})(l||(l={}));var e;(function(o){o[o.Rect=0]="Rect",o[o.Tag=1]="Tag"})(e||(e={}));var u;(function(o){o.Rect="rectTool",o.Tag="tagTool",o.Point="pointTool",o.PointMarker="pointMarkerTool",o.Segmentation="segmentationTool",o.Filter="filterTool",o.Text="textTool",o.Polygon="polygonTool",o.Line="lineTool",o.LineMarker="lineMarkerTool",o.Empty="emptyTool",o.FolderTag="folderTagTool",o.RectTrack="rectTrackTool",o.ScribbleTool="scribbleTool",o.Face="faceTool",o.ClientAttribute="clientAttributeTool",o.OCRRelation="OCRRelationTool",o.SegmentByRect="segmentByRectTool",o.Cuboid="cuboidTool",o.PointCloudPolygon="pointCloudPolygon",o.LLM="LLMTool"
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const M=320;var n;(function(o){o.PointCloud="pointCloudTool"})(n||(n={}));var i;(function(o){o.VideoTextTool="videoTextTool",o.VideoTagTool="videoTagTool",o.VideoClipTool="videoClipTool"})(i||(i={}));var l;(function(o){o.AudioTextTool="audioTextTool"})(l||(l={}));var e;(function(o){o[o.Rect=0]="Rect",o[o.Tag=1]="Tag"})(e||(e={}));var u;(function(o){o.Rect="rectTool",o.Tag="tagTool",o.Point="pointTool",o.PointMarker="pointMarkerTool",o.Segmentation="segmentationTool",o.Filter="filterTool",o.Text="textTool",o.Polygon="polygonTool",o.Line="lineTool",o.LineMarker="lineMarkerTool",o.Empty="emptyTool",o.FolderTag="folderTagTool",o.RectTrack="rectTrackTool",o.ScribbleTool="scribbleTool",o.Face="faceTool",o.ClientAttribute="clientAttributeTool",o.OCRRelation="OCRRelationTool",o.SegmentByRect="segmentByRectTool",o.Cuboid="cuboidTool",o.PointCloudPolygon="pointCloudPolygon",o.LLM="LLMTool"})(u||(u={}));var c;(function(o){o.Check="check"})(c||(c={}));var t;(function(o){o[o.nothing=0]="nothing",o[o.RectBG=1]="RectBG",o[o.showOrder=2]="showOrder"})(t||(t={}));const _={[u.Rect]:"\u62C9\u6846",[u.Tag]:"\u6807\u7B7E",[u.Point]:"\u6807\u70B9",[u.PointMarker]:"\u5217\u8868\u6807\u70B9",[u.Segmentation]:"\u524D\u666F\u5206\u5272",[u.Filter]:"\u7B5B\u9009",[u.Text]:"\u6587\u672C",[u.Polygon]:"\u591A\u8FB9\u5F62",[u.Line]:"\u7EBF\u6761",[u.LineMarker]:"\u5217\u8868\u7EBF\u6761",[u.FolderTag]:"\u6587\u4EF6\u5939\u6807\u7B7E",[u.RectTrack]:"\u62C9\u6846\u8DDF\u8E2A",[u.Face]:"\u4EBA\u8138106\u5DE5\u5177",[u.ClientAttribute]:"\u5BA2\u6237\u7AEF\u5C5E\u6027\u5DE5\u5177",[u.OCRRelation]:"OCR\u5173\u8054\u5173\u7CFB\u5DE5\u5177",[u.SegmentByRect]:"\u7B97\u6CD5\u5206\u5272\u8F85\u52A9\u5DE5\u5177",[i.VideoTextTool]:"\u89C6\u9891\u6587\u672C",[i.VideoTagTool]:"\u89C6\u9891\u6807\u7B7E",[i.VideoClipTool]:"\u89C6\u9891\u622A\u53D6",[n.PointCloud]:"\u70B9\u4E91",[u.Cuboid]:"\u7ACB\u4F53\u6846",[u.LLM]:"\u5927\u6A21\u578B"},b={[u.Rect]:"Rect",[u.Tag]:"Tag",[u.Point]:"Point",[u.PointMarker]:"PointMarker",[u.Segmentation]:"Segmentation",[u.Filter]:"Filter",[u.Text]:"Text",[u.Polygon]:"Polygon",[u.Line]:"Line",[u.LineMarker]:"LineMarker",[u.FolderTag]:"FolderTag",[u.RectTrack]:"RectTrack",[u.Face]:"Face",[u.ClientAttribute]:"ClientAttribute",[u.OCRRelation]:"OCRRelation",[u.SegmentByRect]:"SegmentByRect",[i.VideoTextTool]:"VideoTextTool",[i.VideoTagTool]:"VideoTagTool",[i.VideoClipTool]:"VideoClipTool",[n.PointCloud]:"PointCloud",[u.Cuboid]:"Cuboid",[u.LLM]:"LLM"};var r;(function(o){o[o.noDepend=1]="noDepend",o[o.dependOrigin=2]="dependOrigin",o[o.dependShape=3]="dependShape",o[o.dependLine=4]="dependLine",o[o.dependPolygon=5]="dependPolygon",o[o.dependPreShape=101]="dependPreShape",o[o.dependPreLine=102]="dependPreLine",o[o.dependPrePolygon=103]="dependPrePolygon"})(r||(r={}));var C;(function(o){o.lc="leftClick",o.rc="rightClick",o.clc="ctrlLeftClick",o.crc="ctrlRightClick"})(C||(C={}));const O={leftClick:"\u9F20\u6807\u5DE6\u952E",rightClick:"\u9F20\u6807\u53F3\u952E",ctrlLeftClick:"ctrl + \u9F20\u6807\u5DE6\u952E",ctrlRightClick:"ctrl + \u9F20\u6807\u53F3\u952E"};var d;(function(o){o[o.Normal=1]="Normal",o[o.Modify=2]="Modify"})(d||(d={}));var T;(function(o){o[o.Line=0]="Line",o[o.Curve=1]="Curve"})(T||(T={}));var F;(function(o){o[o.SingleColor=0]="SingleColor",o[o.MultiColor=1]="MultiColor"})(F||(F={}));var g;(function(o){o[o.Form=1]="Form",o[o.Json=2]="Json"})(g||(g={}));var L;(function(o){o[o.Point=0]="Point",o[o.Line=1]="Line",o[o.Plane=2]="Plane"})(L||(L={}));var B;(function(o){o[o.None=0]="None",o[o.Drawing=1]="Drawing",o[o.Edit=2]="Edit"})(B||(B={}));var R;(function(o){o[o.Backward=0]="Backward",o[o.Forward=1]="Forward",o[o.JumpSkip=2]="JumpSkip",o[o.None=3]="None"})(R||(R={}));var s;(function(o){o[o.Wait=0]="Wait",o[o.Pass=1]="Pass",o[o.Fail=2]="Fail",o[o.Loading=3]="Loading"})(s||(s={}));var a;(function(o){o[o.AnyString=0]="AnyString",o[o.Order=1]="Order",o[o.EnglishOnly=2]="EnglishOnly",o[o.NumberOnly=3]="NumberOnly",o[o.CustomFormat=4]="CustomFormat"})(a||(a={}));const S={0:"\u4EFB\u610F\u5B57\u7B26",1:"\u5E8F\u53F7",2:"\u4EC5\u82F1\u6587",3:"\u4EC5\u6570\u5B57"},h=1e3,I=16,m=300,V="normal normal 500 14px Arial";var k;(function(o){o[o.ImgList=1e3]="ImgList",o[o.TrackPrediction=1001]="TrackPrediction",o[o.ImgSearch=1002]="ImgSearch"})(k||(k={}));const y={[n.PointCloud]:"sensebeepc",[u.ClientAttribute]:"sensebeepc-EnumAttributeTool",[u.Face]:"sensebeepc-FacePointsLabellingTool",[u.OCRRelation]:"sensebeepc-OCRRelationTool"},G={[n.PointCloud]:"\u70B9\u4E91\u5BA2\u6237\u7AEF",[u.ClientAttribute]:"\u5BA2\u6237\u7AEF\u5C5E\u6027\u5DE5\u5177",[u.Face]:"\u4EBA\u8138106\u70B9\u5DE5\u5177",[u.OCRRelation]:"OCR\u5173\u8054\u5173\u7CFB\u5DE5\u5177"},x=16,P=10;var f;(function(o){o[o.Normal=0]="Normal",o[o.Rect=1]="Rect"})(f||(f={}));var A;(function(o){o[o.Scribble=1]="Scribble",o[o.Erase=2]="Erase"})(A||(A={}));var v;(function(o){o[o.General=1]="General",o[o.MultiMove=2]="MultiMove"})(v||(v={}));export{y as CLIENT_TOOL_HEAD_TYPE,G as CLIENT_TOOL_NAME,V as DEFAULT_FONT,m as DEFAULT_TEXT_MAX_WIDTH,d as EAnnotationMode,l as EAudioToolName,s as EAuditStatus,c as ECheckModel,r as EDependPattern,L as EDragTarget,B as EDrawPointPattern,C as EFilterToolOperation,F as ELineColor,T as ELineTypes,v as EOperationMode,R as EPageOperator,n as EPointCloudName,f as EPolygonPattern,t as ERectPattern,A as EScribblePattern,g as ESelectedType,a as ETextType,k as EThumbnailOption,u as EToolName,e as EToolType,i as EVideoToolName,O as OPERATION_LIST,x as SEGMENT_NUMBER,I as TEXT_ATTRIBUTE_LINE_HEIGHT,h as TEXT_ATTRIBUTE_MAX_LENGTH,S as TEXT_TYPE,_ as TOOL_NAME,b as TOOL_NAME_EN,P as edgeAdsorptionScope,M as editStepWidth};
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@@ -1,4 +1,4 @@
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import*as a from"three";import{toolStyleConverter as
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import*as a from"three";import{toolStyleConverter as L,PerspectiveShiftUtils as B,EPerspectiveView as C,PointCloudUtils as E,DEFAULT_SPHERE_PARAMS as O}from"@labelbee/lb-utils";import V from"../../_virtual/highlightWorker.js";import R from"../../_virtual/filterBoxWorker.js";import{isInPolygon as H}from"../../utils/tool/polygonTool.js";import k from"../../utils/uuid.js";import A 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 D,getHighlightIndexByPoints as $,mergeHighlightList as Y}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isFisheyeCalibValid,isInImage,isMatrixValid,isMatrixValidByArr,lidar2FisheyeImage,lidar2image,mergeHighlightList,oCamFisheyeTransfer,point3DLidar2Image,pointCloudLidar2image,pointListLidar2Img,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,_=Object.getOwnPropertySymbols,it=Object.prototype.hasOwnProperty,rt=Object.prototype.propertyIsEnumerable,j=(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)&&j(w,e,t[e]);if(_)for(var e of _(t))rt.call(t,e)&&j(w,e,t[e]);return w},P=(w,t)=>tt(w,et(t)),S=(w,t,e)=>new Promise((i,r)=>{var o=d=>{try{s(e.next(d))}catch(n){r(n)}},h=d=>{try{s(e.throw(d))}catch(n){r(n)}},s=d=>d.done?i(d.value):Promise.resolve(d.value).then(o,h);s((e=e.apply(w,t)).next())});const nt=30,I=new V({type:"module"});class ot extends Q{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:o="#4C4C4C",config:h,isSegment:s,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.workerLoading=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(n,l="blue")=>{var c;const u=(c=n.id)!=null?c:k();this.removeObjectByName(u,"sphere");const{radius:m,widthSegments:f,heightSegments:p}=O,{center:g}=n,x=new a.Group,y=new a.SphereGeometry(m,f,p),M=new a.MeshBasicMaterial({color:l}),v=new a.Mesh(y,M);v.position.set(g.x,g.y,g.z),x.add(v),x.name=`sphere${u}`,this.scene.add(x)},this.generateSphere=n=>{const{fill:l}=this.getColorFromConfig(n.attribute);this.addSphereToSense(n,l),this.render()},this.generateSpheres=n=>{n.forEach(l=>{const{fill:c}=this.getColorFromConfig(l.attribute);this.addSphereToSense(l,c)}),this.render()},this.addBoxToSense=(n,l=16777215)=>{var c;const u=(c=n.id)!=null?c:k();this.removeObjectByName(u,"box");const{center:m,width:f,height:p,depth:g,rotation:x}=n,y=new a.Group,M=new a.BoxGeometry(f,p,g),v=new a.MeshBasicMaterial({color:"blue"}),z=new a.Mesh(M,v),N=new a.BoxHelper(z,l),F=this.generateBoxArrow(n),T=this.generateBoxTrackID(n);T&&y.add(T),y.add(N),y.add(F),m&&y.position.set(m.x,m.y,m.z),x&&y.rotation.set(0,0,x),y.name=`box${u}`,this.scene.add(y)},this.applyCameraTarget=n=>{if(this.camera.type==="OrthographicCamera"&&n){const l=this.getOrthographicCameraTarget(n);this.updateCameraZoom(n.zoom),this.updateCamera(n.position,l)}},this.initShaderMaterial=()=>({vertexShader:`
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attribute vec3 dimensions;
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varying vec3 vDimensions;
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uniform float pointSize;
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@@ -28,4 +28,4 @@ import*as a from"three";import{toolStyleConverter as T,PerspectiveShiftUtils as
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// Output the final color
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gl_FragColor = vec4(color, 1.0);
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}`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>S(this,[...n],function*(l=this.currentPCDSrc,h){if(!l)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=l;const{points:u,color:m}=yield this.cacheInstance.loadPCDFile(l),f=new a.BufferGeometry;f.setAttribute("position",new a.BufferAttribute(u,3)),this.isSegment||f.setAttribute("dimensions",new a.BufferAttribute(m,3)),this.initCloudData(u);const p=new a.Points(f);this.renderPointCloud(p,h),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>S(this,[n],function*({mappingImgList:l,points:h}){const u=l.length===0?[]:yield Promise.all(l.map(p=>W.load(p.url))),m=l.map((p,g)=>{var x;if(this.cacheInstance.cache2DHighlightIndex.has(p.url))return(x=this.cacheInstance.cache2DHighlightIndex.get(p.url))!=null?x:[];const y=$({points:h,calib:p.calib,width:u[g].width,height:u[g].height});return this.cacheInstance.cache2DHighlightIndex.set(p.url,y),y});return Y(m)}),this.filterPreResult=(n,l,h)=>S(this,null,function*(){const{points:u}=yield this.cacheInstance.loadPCDFile(n),m=yield this.cacheInstance.loadIndexMap(n,u);return new Promise(f=>{const p=h.map(g=>{const x=L.calculatePointsInsideBox({indexMap:m,polygon:D(g).polygonPointList,zScope:[g.center.z-g.depth/2,g.center.z+g.depth/2],box:g}),y=x>=l.lowerLimitPointsNumInBox;return P(b({},g),{valid:y,count:x})});f(p)})}),this.loadPCDFileByBox=(n,l,h)=>S(this,null,function*(){const u=(p,g)=>S(this,null,function*(){const{width:x=0,height:y=0,depth:M=0}=h!=null?h:{},v=yield this.filterPointsByBox(P(b({},l),{width:l.width+x,height:l.height+y,depth:l.depth+M}),p,g);if(!v){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const z=new a.Points(v.geometry);z.name=this.pointCloudObjectName,this.scene.add(z),this.render()}),{points:m,color:f}=yield this.cacheInstance.loadPCDFile(n);u(m,f)}),this.generateRange=n=>{const l=this.createRange(n);this.scene.add(l)},this.generateBoxArrow=({width:n})=>{const l=new a.Vector3(1,0,0),h=new a.Vector3(n/2,0,0),u=2,m=16776960,f=new a.ArrowHelper(l,h,u,m);return f.visible=this.showDirection,f},this.generateBoxTrackID=n=>{if(!n.trackID)return;const l=new a.Texture(this.getTextCanvas(n.trackID.toString()));l.needsUpdate=!0;const h=new a.SpriteMaterial({map:l,depthWrite:!1}),u=new a.Sprite(h);return u.scale.set(5,5,5),u.position.set(-n.width/2,0,n.depth/2+.5),u},this.applyZAxisPoints=n=>{this.zAxisLimit=n,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:n,customSize:l})=>{const h=this.scene.getObjectByName(this.pointCloudObjectName);if(!h)return;const u=h.material.uniforms.pointSize.value;n?h.material.uniforms.pointSize.value=Math.min(u*1.2,10):h.material.uniforms.pointSize.value=Math.max(u/1.2,1),l&&(h.material.uniforms.pointSize.value=l,this.pointsMaterialSize=l),h.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new a.WebGLRenderer({antialias:!0}),this.backgroundColor=s,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,o?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(),o===!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(P(b({store:this.store},this.eventBus),{nextTick:this.nextTick})),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,config:this.config},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){var e;this.config=t,(e=this.store)==null||e.setConfig(t)}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:i,top:r,bottom:s,near:c,far:o}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=s,this.camera.near=c,this.camera.far=o,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},P(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,s=10,c=e.x-i/2-s,o=e.x-i/2+s,d=e.y+r/2+s,n=e.y-r/2-s,l=100,h=-100,u=500/l;return{left:c,right:o,top:d,bottom:n,near:l,far:h,zoom:u}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:s,height:c,depth:o,rotation:d}=t,n=this.getCameraVector(r,d,{width:s,height:c,depth:o},e);return i?(this.updateCamera(i,r),new a.Vector3(i.x,i.y,i.z)):(this.updateCamera(n,r),n)}updateCameraBySphere(t,e){const{center:i}=t,{radius:r}=O,s=this.getCameraVector(i,0,{width:r*2,height:r*2,depth:r*2},e);return this.updateCamera(s,i),s}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,s,c;if(!e){const o=this.scene.getObjectByName(this.pointCloudObjectName);if(!o)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(c=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:c.array}if(window.Worker){const{zMin:o,zMax:d,polygonPointList:n}=D(t),l=e;i=i!=null?i:new Float32Array([]);const h={boxParams:t,zMin:o,zMax:d,polygonPointList:n,color:i,position:l};return new Promise(u=>{const m=new R;m.postMessage(h),m.onmessage=f=>{const{color:p,position:g,num:x}=f.data,y=new a.BufferGeometry;y.setAttribute("position",new a.Float32BufferAttribute(g,3)),y.setAttribute("color",new a.Float32BufferAttribute(p,3)),y.computeBoundingSphere(),m.terminate(),u({geometry:y,num:x})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=C.Front,s=nt){let c=B.frontViewMatrix4(s);switch(r){case C.Front:break;case C.Back:c=B.backViewMatrix4(s);break;case C.Left:c=B.leftViewMatrix4(s);break;case C.Right:c=B.rightViewMatrix4(s);break;case C.Top:c=B.topViewMatrix4(s);break;case C.LFT:c=B.leftFrontTopViewMatrix4(s,i);break;case C.RBT:c=B.rightBackTopViewMatrix4(s,i);break}const o=this.createThreeMatrix4(c),d=new a.Matrix4().makeTranslation(-t.x,-t.y,-t.z),n=new a.Matrix4().makeTranslation(t.x,t.y,t.z),l=new a.Matrix4().makeRotationZ(e);return new a.Vector3(t.x,t.y,t.z).clone().applyMatrix4(o).applyMatrix4(d).applyMatrix4(l).applyMatrix4(n)}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),s=new a.LineBasicMaterial({color:16711680}),c=new a.Line(r,s);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],s=t[e+2];this.store.cloudData.set(`${i}@${r}@${s}`,{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,s)=>{if(window.Worker){const o=(t?[...t]:[]).map(l=>D(l)),d=this.getAllAttributeColor(o),n={cuboidList:o,position:i.geometry.attributes.position.array,color:i.geometry.attributes.dimensions.array,colorList:d,highlightIndex:e};_.postMessage(n),_.onmessage=l=>{const{color:h}=l.data,u=new a.BufferAttribute(h,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||i.geometry.attributes.position.array.length!==h.length){s(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,h),this.highlightPCDSrc=void 0,u.needsUpdate=!0,i.geometry.setAttribute("dimensions",u),i.geometry.attributes.dimensions.needsUpdate=!0,r(h),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:s,z:c},width:o,height:d,depth:n,rotation:l}=i,{fill:h}=T.getColorFromConfig({attribute:i.attribute},P(b({},this.config),{attributeConfigurable:!0}),{}),u=new a.BoxGeometry(o,d,n),m=new a.MeshBasicMaterial({color:h,transparent:!0,opacity:.2,depthTest:!1});u.rotateZ(l),u.translate(r,s,c);const f=new a.Mesh(u,m);e.add(f);const p=new a.PlaneGeometry(n,d);p.rotateY(Math.PI/2),p.rotateZ(l);const g=new a.Vector3(o/2,0,0),x=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(l);g.applyMatrix4(x),p.translate(r+g.x,s+g.y,c+g.z);const y=new a.MeshBasicMaterial({color:h,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),M=new a.Mesh(p,y);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((h,u)=>h.z-u.z);const i=Math.floor(e.length*.05),r=e[i];e=e.filter(({z:h})=>h>r.z+.1);const s=.005,c=Math.floor(e.length*(1-s));e=e.slice(0,c),e.sort((h,u)=>h.x-u.x);const o=Math.floor(e.length*s),d=Math.floor(e.length*(1-s));e=e.slice(o,d),e.sort((h,u)=>h.y-u.y);const n=Math.floor(e.length*s),l=Math.floor(e.length*(1-s));return e=e.slice(n,l),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:d,y:n})=>{t.forEach((l,h)=>{const u=r[h+1],m=L.getFootOfPerpendicular({x:d,y:n},l,u,!1,!0).length;(!i[h]||m<i[h].distance)&&(i[h]={distance:m,point:{x:d,y:n}})})}),r=[t[t.length-1],...t,t[0]];const s=[i[i.length-1],...i],c=t.map((d,n)=>{const l=r[n],h=r[n+1],u=r[n+2];return E.getIntersectionBySlope({p1:s[n].point,line1:[l,h],p2:s[n+1].point,line2:[h,u]})});return c.some(d=>!(Number.isFinite(d.x)&&Number.isFinite(d.y)))?t:c}getSensesPointZAxisInPolygon(t,e,i){var r,s,c;const o=this.scene.children.find(p=>p.uuid===this.pointsUuid);let d=0,n=0,l=0,h=0,u=[],m=[];const f=((c=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:c.array)||[];for(let p=0;p<f.length;p+=3){const g=f[p],x=f[p+1],y=f[p+2];H({x:g,y:x},t)&&(y||y===0)&&m.push({x:g,y:x,z:y})}return m.length?(i&&(m=this.filterNoise(m),u=this.getFittedCoordinates(t,m)),m.sort((p,g)=>p.z-g.z),d=m[0].z-.01,n=m[m.length-1].z+.01,h=m.length,e&&(l=m.filter(({z:p})=>p>=e[0]&&p<=e[1]).length),{maxZ:n,minZ:d,count:l,zCount:h,fittedCoordinates:u}):{maxZ:n,minZ:d,count:l,zCount:h,fittedCoordinates:u}}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:s,width:c,depth:o}=t,d={x:e+c/2,y:i+s/2,z:r-o/2},n={x:e+c/2,y:i+s/2,z:r+o/2},l={x:e-c/2,y:i+s/2,z:r+o/2},h={x:e-c/2,y:i+s/2,z:r-o/2};return[d,n,l,h]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:s,width:c,depth:o}=t,d={x:e-c/2,y:i+s/2,z:r+o/2},n={x:e-c/2,y:i+s/2,z:r-o/2},l={x:e-c/2,y:i-s/2,z:r-o/2},h={x:e-c/2,y:i-s/2,z:r+o/2};return[d,n,l,h]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:s,width:c,depth:o}=t,d={x:e+c/2,y:i+s/2,z:r+o/2},n={x:e+c/2,y:i-s/2,z:r+o/2},l={x:e-c/2,y:i-s/2,z:r+o/2},h={x:e-c/2,y:i+s/2,z:r+o/2};return[d,n,l,h]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:s}=t,c=new a.Matrix4().makeTranslation(-e,-i,-r),o=new a.Matrix4().makeTranslation(e,i,r),d=new a.Matrix4().makeRotationZ(s);return new a.Matrix4().multiply(o).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:s}=t,c=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),o=new a.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(c).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=o;const d=i.map(h=>new a.Vector3(h.x,h.y,h.z)).map(h=>h.applyMatrix4(this.sideMatrix)),n=this.containerWidth/r,l=this.containerHeight/s;return{polygon2d:d,zoom:Math.min(n,l)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:s}=t,{radius:c}=O,o={center:e,attribute:i,id:r,valid:s,width:c*2,height:c*2,depth:c*2,rotation:0},d=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new a.Matrix4().premultiply(this.getModelTransformationMatrix(o)).premultiply(d).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const l=new a.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),h=this.containerWidth/(c*2),u=this.containerHeight/(c*2);return{point2d:l,zoom:Math.min(h,u)/2}}getSphereTopPoint2DCoordinate(t){const{center:e}=t,{radius:i}=O,r={x:-(e.y-this.containerWidth/2),y:-(e.x-this.containerHeight/2)},s=this.containerWidth/(i*2),c=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(s,c)/2}}getBoxTopPolygon2DCoordinate(t){const{width:e,height:i}=t,s=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,o=this.containerHeight/i;return{polygon2d:s,zoom:Math.min(c,o)/2}}getNewBoxBySideUpdate(t,e,i,r){const s=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(-t.x,0,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+c.x,y:o.center.y+c.y,z:o.center.z-t.z},o=P(b({},o),{width:Math.abs(o.width+e),height:o.height,depth:Math.abs(o.depth+i)}),{newBoxParams:o}}getNewBoxByBackUpdate(t,e,i,r){const s=new a.Matrix4().makeRotationZ(r.rotation),c=new a.Vector3(0,-t.x,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+c.x,y:o.center.y+c.y,z:o.center.z-t.z},o=P(b({},o),{width:o.width,height:Math.abs(o.height+e),depth:Math.abs(o.depth+i)}),{newBoxParams:o}}getNewBoxBySideUpdateByPoints(t,e,i,r){var s;const c=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!c){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const o=t.map(g=>new a.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(c)),[d,n,l,h]=o,u=Math.max(Math.abs(d.x-l.x),Math.abs(d.x-n.x)),f=n.add(h).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:P(b({},r),{center:{x:r.center.x-f.x,y:r.center.y-f.y,z:r.center.z-i},width:u,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,s=[],{count:c}=r;for(let o=0;o<c;o++){const d=r.getZ(o);s.push(d>this.zAxisLimit?0:1)}e.geometry.setAttribute("visibility",new a.Float32BufferAttribute(s,1)),e.geometry.attributes.visibility.needsUpdate=!0}}render(){this.renderer.render(this.scene,this.camera)}}export{ot as PointCloud};
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+
}`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>S(this,[...n],function*(l=this.currentPCDSrc,c){if(!l)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=l;const{points:u,color:m}=yield this.cacheInstance.loadPCDFile(l),f=new a.BufferGeometry;f.setAttribute("position",new a.BufferAttribute(u,3)),this.isSegment||f.setAttribute("dimensions",new a.BufferAttribute(m,3)),this.initCloudData(u);const p=new a.Points(f);this.renderPointCloud(p,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>S(this,[n],function*({mappingImgList:l,points:c}){const u=l.length===0?[]:yield Promise.all(l.map(p=>W.load(p.url))),m=l.map((p,g)=>{var x;if(this.cacheInstance.cache2DHighlightIndex.has(p.url))return(x=this.cacheInstance.cache2DHighlightIndex.get(p.url))!=null?x:[];const y=$({points:c,calib:p.calib,width:u[g].width,height:u[g].height});return this.cacheInstance.cache2DHighlightIndex.set(p.url,y),y});return Y(m)}),this.filterPreResult=(n,l,c)=>S(this,null,function*(){const{points:u}=yield this.cacheInstance.loadPCDFile(n),m=yield this.cacheInstance.loadIndexMap(n,u);return new Promise(f=>{const p=c.map(g=>{const x=A.calculatePointsInsideBox({indexMap:m,polygon:D(g).polygonPointList,zScope:[g.center.z-g.depth/2,g.center.z+g.depth/2],box:g}),y=x>=l.lowerLimitPointsNumInBox;return P(b({},g),{valid:y,count:x})});f(p)})}),this.loadPCDFileByBox=(n,l,c)=>S(this,null,function*(){const u=(p,g)=>S(this,null,function*(){const{width:x=0,height:y=0,depth:M=0}=c!=null?c:{},v=yield this.filterPointsByBox(P(b({},l),{width:l.width+x,height:l.height+y,depth:l.depth+M}),p,g);if(!v){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const z=new a.Points(v.geometry);z.name=this.pointCloudObjectName,this.scene.add(z),this.render()}),{points:m,color:f}=yield this.cacheInstance.loadPCDFile(n);u(m,f)}),this.generateRange=n=>{const l=this.createRange(n);this.scene.add(l)},this.generateBoxArrow=({width:n})=>{const l=new a.Vector3(1,0,0),c=new a.Vector3(n/2,0,0),u=2,m=16776960,f=new a.ArrowHelper(l,c,u,m);return f.visible=this.showDirection,f},this.generateBoxTrackID=n=>{if(!n.trackID)return;const l=new a.Texture(this.getTextCanvas(n.trackID.toString()));l.needsUpdate=!0;const c=new a.SpriteMaterial({map:l,depthWrite:!1}),u=new a.Sprite(c);return u.scale.set(5,5,5),u.position.set(-n.width/2,0,n.depth/2+.5),u},this.applyZAxisPoints=n=>{this.zAxisLimit=n,this.filterZAxisPoints(),this.render()},this.updatePointSize=({zoomIn:n,customSize:l})=>{const c=this.scene.getObjectByName(this.pointCloudObjectName);if(!c)return;const u=c.material.uniforms.pointSize.value;n?c.material.uniforms.pointSize.value=Math.min(u*1.2,10):c.material.uniforms.pointSize.value=Math.max(u/1.2,1),l&&(c.material.uniforms.pointSize.value=l,this.pointsMaterialSize=l),c.material.uniformsNeedUpdate=!0,this.render()},this.container=t,this.renderer=new a.WebGLRenderer({antialias:!0}),this.backgroundColor=o,this.config=h,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,s?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(),s===!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(P(b({store:this.store},this.eventBus),{nextTick:this.nextTick})),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,config:this.config},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){var e;this.config=t,(e=this.store)==null||e.setConfig(t)}initOrthographicCamera(t){if(this.camera.type!=="OrthographicCamera")return;const{left:e,right:i,top:r,bottom:o,near:h,far:s}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=o,this.camera.near=h,this.camera.far=s,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 L.getColorFromConfig({attribute:t},P(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,h=e.x-i/2-o,s=e.x-i/2+o,d=e.y+r/2+o,n=e.y-r/2-o,l=100,c=-100,u=500/l;return{left:h,right:s,top:d,bottom:n,near:l,far:c,zoom:u}}updateCameraZoom(t){this.camera.zoom=t,this.camera.updateProjectionMatrix()}updateCameraByBox(t,e,i){const{center:r,width:o,height:h,depth:s,rotation:d}=t,n=this.getCameraVector(r,d,{width:o,height:h,depth:s},e);return i?(this.updateCamera(i,r),new a.Vector3(i.x,i.y,i.z)):(this.updateCamera(n,r),n)}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,h;if(!e){const s=this.scene.getObjectByName(this.pointCloudObjectName);if(!s)return console.error("There is no corresponding point cloud object"),Promise.resolve(void 0);e=(h=(o=(r=s==null?void 0:s.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array}if(window.Worker){const{zMin:s,zMax:d,polygonPointList:n}=D(t),l=e;i=i!=null?i:new Float32Array([]);const c={boxParams:t,zMin:s,zMax:d,polygonPointList:n,color:i,position:l};return new Promise(u=>{const m=new R;m.postMessage(c),m.onmessage=f=>{const{color:p,position:g,num:x}=f.data,y=new a.BufferGeometry;y.setAttribute("position",new a.Float32BufferAttribute(g,3)),y.setAttribute("color",new a.Float32BufferAttribute(p,3)),y.computeBoundingSphere(),m.terminate(),u({geometry:y,num:x})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=C.Front,o=nt){let h=B.frontViewMatrix4(o);switch(r){case C.Front:break;case C.Back:h=B.backViewMatrix4(o);break;case C.Left:h=B.leftViewMatrix4(o);break;case C.Right:h=B.rightViewMatrix4(o);break;case C.Top:h=B.topViewMatrix4(o);break;case C.LFT:h=B.leftFrontTopViewMatrix4(o,i);break;case C.RBT:h=B.rightBackTopViewMatrix4(o,i);break}const s=this.createThreeMatrix4(h),d=new a.Matrix4().makeTranslation(-t.x,-t.y,-t.z),n=new a.Matrix4().makeTranslation(t.x,t.y,t.z),l=new a.Matrix4().makeRotationZ(e);return new a.Vector3(t.x,t.y,t.z).clone().applyMatrix4(s).applyMatrix4(d).applyMatrix4(l).applyMatrix4(n)}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}),h=new a.Line(r,o);return h.name=this.rangeObjectName,h}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)}}handleWebworker(t){return S(this,null,function*(){return new Promise((e,i)=>{if(this.workerLoading){i(new Error("workerLoading"));return}this.workerLoading=!0,I.postMessage(t),I.onmessage=r=>{e(r.data),this.workerLoading=!1},I.onerror=r=>{i(r),this.workerLoading=!1}})})}highlightOriginPointCloud(t){return S(this,arguments,function*(e,i=[]){const r=this.scene.getObjectByName(this.pointCloudObjectName);if(!!r)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((o,h)=>{if(window.Worker){const d=(e?[...e]:[]).map(c=>D(c)),n=this.getAllAttributeColor(d),l={cuboidList:d,position:r.geometry.attributes.position.array,color:r.geometry.attributes.dimensions.array,colorList:n,highlightIndex:i};this.handleWebworker(l).then(c=>{const{color:u}=c,m=new a.BufferAttribute(u,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||r.geometry.attributes.position.array.length!==u.length){h(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,u),this.highlightPCDSrc=void 0,m.needsUpdate=!0,r.geometry.setAttribute("dimensions",m),r.geometry.attributes.dimensions.needsUpdate=!0,o(u),this.render()}).catch(c=>{h(c)})}})})}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:h},width:s,height:d,depth:n,rotation:l}=i,{fill:c}=L.getColorFromConfig({attribute:i.attribute},P(b({},this.config),{attributeConfigurable:!0}),{}),u=new a.BoxGeometry(s,d,n),m=new a.MeshBasicMaterial({color:c,transparent:!0,opacity:.2,depthTest:!1});u.rotateZ(l),u.translate(r,o,h);const f=new a.Mesh(u,m);e.add(f);const p=new a.PlaneGeometry(n,d);p.rotateY(Math.PI/2),p.rotateZ(l);const g=new a.Vector3(s/2,0,0),x=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(l);g.applyMatrix4(x),p.translate(r+g.x,o+g.y,h+g.z);const y=new a.MeshBasicMaterial({color:c,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),M=new a.Mesh(p,y);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((c,u)=>c.z-u.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,u)=>c.x-u.x);const s=Math.floor(e.length*o),d=Math.floor(e.length*(1-o));e=e.slice(s,d),e.sort((c,u)=>c.y-u.y);const n=Math.floor(e.length*o),l=Math.floor(e.length*(1-o));return e=e.slice(n,l),e.length>100?e:t}getFittedCoordinates(t,e){const i=[];let r=[...t,t[0]];e.forEach(({x:d,y:n})=>{t.forEach((l,c)=>{const u=r[c+1],m=A.getFootOfPerpendicular({x:d,y:n},l,u,!1,!0).length;(!i[c]||m<i[c].distance)&&(i[c]={distance:m,point:{x:d,y:n}})})}),r=[t[t.length-1],...t,t[0]];const o=[i[i.length-1],...i],h=t.map((d,n)=>{const l=r[n],c=r[n+1],u=r[n+2];return E.getIntersectionBySlope({p1:o[n].point,line1:[l,c],p2:o[n+1].point,line2:[c,u]})});return h.some(d=>!(Number.isFinite(d.x)&&Number.isFinite(d.y)))?t:h}getSensesPointZAxisInPolygon(t,e,i){var r,o,h;const s=this.scene.children.find(p=>p.uuid===this.pointsUuid);let d=0,n=0,l=0,c=0,u=[],m=[];const f=((h=(o=(r=s==null?void 0:s.geometry)==null?void 0:r.attributes)==null?void 0:o.position)==null?void 0:h.array)||[];for(let p=0;p<f.length;p+=3){const g=f[p],x=f[p+1],y=f[p+2];H({x:g,y:x},t)&&(y||y===0)&&m.push({x:g,y:x,z:y})}return m.length?(i&&(m=this.filterNoise(m),u=this.getFittedCoordinates(t,m)),m.sort((p,g)=>p.z-g.z),d=m[0].z-.01,n=m[m.length-1].z+.01,c=m.length,e&&(l=m.filter(({z:p})=>p>=e[0]&&p<=e[1]).length),{maxZ:n,minZ:d,count:l,zCount:c,fittedCoordinates:u}):{maxZ:n,minZ:d,count:l,zCount:c,fittedCoordinates:u}}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:h,depth:s}=t,d={x:e+h/2,y:i+o/2,z:r-s/2},n={x:e+h/2,y:i+o/2,z:r+s/2},l={x:e-h/2,y:i+o/2,z:r+s/2},c={x:e-h/2,y:i+o/2,z:r-s/2};return[d,n,l,c]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:s}=t,d={x:e-h/2,y:i+o/2,z:r+s/2},n={x:e-h/2,y:i+o/2,z:r-s/2},l={x:e-h/2,y:i-o/2,z:r-s/2},c={x:e-h/2,y:i-o/2,z:r+s/2};return[d,n,l,c]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:o,width:h,depth:s}=t,d={x:e+h/2,y:i+o/2,z:r+s/2},n={x:e+h/2,y:i-o/2,z:r+s/2},l={x:e-h/2,y:i-o/2,z:r+s/2},c={x:e-h/2,y:i+o/2,z:r+s/2};return[d,n,l,c]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:o}=t,h=new a.Matrix4().makeTranslation(-e,-i,-r),s=new a.Matrix4().makeTranslation(e,i,r),d=new a.Matrix4().makeRotationZ(o);return new a.Matrix4().multiply(s).multiply(d).multiply(h)}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,h=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),s=new a.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(h).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=s;const d=i.map(c=>new a.Vector3(c.x,c.y,c.z)).map(c=>c.applyMatrix4(this.sideMatrix)),n=this.containerWidth/r,l=this.containerHeight/o;return{polygon2d:d,zoom:Math.min(n,l)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:o}=t,{radius:h}=O,s={center:e,attribute:i,id:r,valid:o,width:h*2,height:h*2,depth:h*2,rotation:0},d=new a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),n=new a.Matrix4().premultiply(this.getModelTransformationMatrix(s)).premultiply(d).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=n;const l=new a.Vector3(e.x,e.y,e.z).applyMatrix4(this.sideMatrix),c=this.containerWidth/(h*2),u=this.containerHeight/(h*2);return{point2d:l,zoom:Math.min(c,u)/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),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(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)})),h=this.containerWidth/e,s=this.containerHeight/i;return{polygon2d:o,zoom:Math.min(h,s)/2}}getNewBoxBySideUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),h=new a.Vector3(-t.x,0,0).applyMatrix4(o);let s=r;return s.center={x:s.center.x+h.x,y:s.center.y+h.y,z:s.center.z-t.z},s=P(b({},s),{width:Math.abs(s.width+e),height:s.height,depth:Math.abs(s.depth+i)}),{newBoxParams:s}}getNewBoxByBackUpdate(t,e,i,r){const o=new a.Matrix4().makeRotationZ(r.rotation),h=new a.Vector3(0,-t.x,0).applyMatrix4(o);let s=r;return s.center={x:s.center.x+h.x,y:s.center.y+h.y,z:s.center.z-t.z},s=P(b({},s),{width:s.width,height:Math.abs(s.height+e),depth:Math.abs(s.depth+i)}),{newBoxParams:s}}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 s=t.map(g=>new a.Vector3(g.x,g.y,g.z)).map(g=>g.applyMatrix4(h)),[d,n,l,c]=s,u=Math.max(Math.abs(d.x-l.x),Math.abs(d.x-n.x)),f=n.add(c).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:P(b({},r),{center:{x:r.center.x-f.x,y:r.center.y-f.y,z:r.center.z-i},width:u,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 s=0;s<h;s++){const d=r.getZ(s);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};
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@@ -1 +1 @@
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1
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-
import{ImgConversionUtils as
|
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1
|
+
import{ImgConversionUtils as a}from"@labelbee/lb-utils";import c from"../../utils/tool/AxisUtils.js";import n from"../../utils/tool/DrawUtils.js";import{EToolName as l,EScribblePattern as o}from"../../constant/tool.js";import u from"../../utils/tool/CommonToolUtils.js";import d from"../../utils/tool/AttributeUtils.js";import r from"../../constant/keyCode.js";import{BasicToolOperation as C}from"./basicToolOperation.js";const v=20,f="white";class p extends C{constructor(t){super(t);this.toolName=l.ScribbleTool,this.action=o.Scribble,this.getOriginCoordinate=e=>c.changePointByZoom(this.getCoordinateUnderZoomByRotate(e),1/this.zoom),this.onMouseDown=e=>{super.onMouseDown(e)||this.forbidMouseOperation||!this.imgInfo||(this.initCacheCanvas(this.imgNode),this.mouseEvents("onMouseDown").call(this,e))},this.onMouseMove=e=>{super.onMouseMove(e)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseMove").call(this,e)},this.onMouseUp=e=>{super.onMouseUp(e)||this.forbidMouseOperation||!this.imgInfo||this.mouseEvents("onMouseUp").call(this,e)},this.mouseEvents=e=>({[o.Scribble]:{onMouseMove:this.onScribbleMove,onMouseUp:this.onScribbleEnd,onMouseDown:this.onScribbleStart},[o.Erase]:{onMouseMove:this.onEraseMove,onMouseUp:this.onEraseEnd,onMouseDown:this.onEraseStart}})[this.action][e],this.setPattern=e=>{switch(this.action=e,e){case o.Erase:{this.setCustomCursor(this.cursorErase);break}default:{this.setCustomCursor("none");break}}};var i;if(this.penSize=v,this.isHidden=!1,this.pointList=[],this.curIndexOnLine=0,((i=this.config.attributeList)==null?void 0:i.length)>0){const e=this.config.attributeList[0];this.setDefaultAttribute(e.value)}}get cursorErase(){const t='<?xml version="1.0" encoding="UTF-8"?><svg width="24" heighst="24" viewBox="0 0 48 48" fill="none" xmlns="http://www.w3.org/2000/svg"><g clip-path="url(#icon-65e7e1747c11bad3)"><path d="M44.7818 24.1702L31.918 7.09935L14.1348 20.5L27.5 37L30.8556 34.6643L44.7818 24.1702Z" fill="#141414" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M27.4998 37L23.6613 40.0748L13.0978 40.074L10.4973 36.6231L4.06543 28.0876L14.4998 20.2248" stroke="#000000" stroke-width="4" stroke-linejoin="miter"/><path d="M13.2056 40.072L44.5653 40.072" stroke="#000000" stroke-width="4" stroke-linecap="round"/></g><defs><clipPath id="icon-65e7e1747c11bad3"><rect width="48" height="48" fill="#df4c4c"/></clipPath></defs></svg>';return`url(${`data:image/svg+xml;base64,${window.btoa(unescape(encodeURIComponent(t)))}`}) 0 0, auto`}get defaultCursor(){return this.action===o.Erase?this.cursorErase:this.isShowDefaultCursor?"default":"none"}get color(){var t,i;return(i=(t=this==null?void 0:this.defaultAttributeInfo)==null?void 0:t.color)!=null?i:f}get penSizeWithZoom(){return this.penSize/this.zoom}get cacheCanvasToDataUrl(){var t;return(t=this.cacheCanvas)==null?void 0:t.toDataURL("image/png",0)}setPenSize(t){this.penSize=t,this.render()}initCacheCanvas(t){if(this.cacheCanvas||!t)return;const{canvas:i,ctx:e}=a.createCanvas(t);this.cacheCanvas=i,this.cacheContext=e}updateCacheCanvasSize(t){this.cacheCanvas&&(this.cacheCanvas.width=t.width,this.cacheCanvas.height=t.height)}updateUrl2CacheContext(t){a.createImgDom(t).then(i=>{this.cacheContext||this.initCacheCanvas(i),this.cacheContext&&(this.cacheContext.save(),this.clearCacheCanvas(),this.cacheContext.drawImage(i,0,0,i.width,i.height),this.cacheContext.restore(),this.render())})}setImgNode(t,i){super.setImgNode(t,i),this.cacheCanvas?this.updateCacheCanvasSize(t):this.initCacheCanvas(t)}setResult(t){var i,e;let{url:s}=(i=t==null?void 0:t[0])!=null?i:{};if(this.clearCacheCanvas(),s||(s=(e=this.cacheCanvasToDataUrl)!=null?e:""),this.history.initRecord([s],!0),!s){this.render();return}this.updateUrl2CacheContext(s)}onKeyDown(t){if(!u.hotkeyFilter(t))return;const{keyCode:i}=t,e=d.getAttributeByKeycode(i,this.config.attributeList);e!==void 0&&this.setDefaultAttribute(e),i===r.Z&&!t.ctrlKey&&this.toggleIsHide(),t.ctrlKey&&(this.action===o.Scribble&&(this.lineActive=!0),i===r.Z&&(this.lineActive=!1,t.shiftKey?this.redo():this.undo()),this.render())}onKeyUp(t){super.onKeyUp(t),t.keyCode===r.Ctrl&&(this.lineActive=!1,this.pointList=[],this.curIndexOnLine=0,this.render())}toggleIsHide(){this.setIsHidden(!this.isHidden),this.render()}eventBinding(){super.eventBinding()}setDefaultAttribute(t){const i=this.config.attributeList.find(e=>e.value===t);i&&(this.defaultAttribute=i.value,this.defaultAttributeInfo=i,this.emit("changeAttributeSidebar"),this.render())}clearStatusAfterLeave(){this.onScribbleEnd(),this.startPoint=void 0}onMouseLeave(){super.onMouseLeave(),this.clearStatusAfterLeave()}onScribbleStart(t){if(!this.cacheContext)return;this.cacheContext.save(),this.cacheContext.beginPath(),this.cacheContext.strokeStyle=this.color,this.cacheContext.lineWidth=this.penSizeWithZoom,this.cacheContext.lineCap="round",this.cacheContext.lineJoin="round";const i=this.getOriginCoordinate(t);this.cacheContext.moveTo(i.x,i.y),this.startPoint=i}scribbleOnImgByLine(t){const i=this.cacheContext;!i||(this.pointList=this.pointList.slice(0,this.curIndexOnLine+1),this.pointList.push(t),this.pointList.length>1&&(this.curIndexOnLine=this.pointList.length-1,this.pointList.forEach((e,s)=>{if(i.beginPath(),s>0){const h=this.pointList[s-1];i.save(),i.moveTo(h.x,h.y),i.lineTo(e.x,e.y),i.stroke(),i.restore()}})))}onScribbleMove(t){const i=this.getOriginCoordinate(t);if(this.lineActive){this.prePoint=i;return}t.buttons===1&&this.cacheContext&&this.startPoint&&(this.cacheContext.lineTo(i.x,i.y),this.cacheContext.stroke())}onScribbleEnd(t){if(!t||(t==null?void 0:t.button)===2)return;const i=this.getOriginCoordinate(t);this.lineActive?this.scribbleOnImgByLine(i):this.cacheContext&&(this.cacheContext.lineTo(i.x,i.y),this.cacheContext.stroke()),this.saveUrlIntoHistory()}saveUrlIntoHistory(){var t,i;(t=this.cacheContext)==null||t.closePath(),(i=this.cacheContext)==null||i.restore(),this.startPoint=void 0,this.history.pushHistory(this.cacheCanvasToDataUrl)}eraseArc(t){var i;if(this.cacheContext){const e=this.getOriginCoordinate(t);this.cacheContext.save(),this.cacheContext.beginPath(),this.cacheContext.arc(e.x,e.y,this.penSizeWithZoom/2,0,Math.PI*2,!1),this.cacheContext.clip(),this.cacheContext.clearRect(0,0,this.cacheContext.canvas.width,this.cacheContext.canvas.height),(i=this.cacheContext)==null||i.restore()}}onEraseStart(t){!this.cacheContext||t.buttons!==1||this.isHidden||this.eraseArc(t)}onEraseMove(t){!this.cacheContext||t.buttons!==1||this.isHidden||this.eraseArc(t)}onEraseEnd(){}exportData(){const t=this.cacheCanvasToDataUrl;return[[],this.basicImgInfo,{imgBase64:t}]}clearCacheCanvas(){var t;(t=this.cacheContext)==null||t.clearRect(0,0,this.cacheContext.canvas.width,this.cacheContext.canvas.height),this.render()}clearResult(){this.curIndexOnLine=0,this.pointList=[],this.clearCacheCanvas(),this.history.pushHistory(this.cacheCanvasToDataUrl)}renderPoint(t){n.drawCircleWithFill(this.canvas,this.coord,t,{color:this.color})}renderBorderPoint(t){n.drawCircle(this.canvas,this.coord,t,{color:"black"})}drawLineSegment(){if(this.prePoint&&this.pointList.length>0){const e=[this.pointList[this.curIndexOnLine]].concat(this.prePoint).map(s=>this.getCoordinateUnderZoomByRotateFromImgPoint(s));this.drawStraightLine(e,{color:this.color,lineWidth:this.penSize,globalAlpha:.5})}}render(){if(super.render(),!this.ctx||!this.cacheCanvas)return;this.lineActive&&(this.renderCursorLine(this.color),this.drawLineSegment());const t=this.penSize/2;if(this.isHidden){this.action===o.Scribble&&this.renderPoint(t);return}this.ctx.save(),this.ctx.globalAlpha=.5,n.drawImg(this.canvas,this.cacheCanvas,{zoom:this.zoom,currentPos:this.currentPos,rotate:this.rotate}),this.ctx.restore(),!(this.forbidOperation||this.forbidCursorLine)&&(this.action===o.Erase?this.renderBorderPoint(t):this.renderPoint(t))}undo(){var t,i;if(this.lineActive&&(this.curIndexOnLine<1||((t=this.pointList)==null?void 0:t.length)<1))return;this.curIndexOnLine>0&&((i=this.pointList)==null?void 0:i.length)>0&&(this.curIndexOnLine-=1);const e=this.history.undo();e&&this.cacheCanvas&&this.updateUrl2CacheContext(e)}redo(){var t,i;this.curIndexOnLine<((t=this.pointList)==null?void 0:t.length)-1&&((i=this.pointList)==null?void 0:i.length)>0&&(this.curIndexOnLine+=1);const e=this.history.redo();e&&this.cacheCanvas&&this.updateUrl2CacheContext(e)}}export{p as default};
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package/package.json
CHANGED
|
@@ -1,6 +1,6 @@
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|
|
1
1
|
{
|
|
2
2
|
"name": "@labelbee/lb-annotation",
|
|
3
|
-
"version": "1.26.0
|
|
3
|
+
"version": "1.26.0",
|
|
4
4
|
"description": "Annotation tool collection",
|
|
5
5
|
"keywords": [
|
|
6
6
|
"annotation",
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|
@@ -94,7 +94,7 @@
|
|
|
94
94
|
"typescript": "^4.2.3"
|
|
95
95
|
},
|
|
96
96
|
"dependencies": {
|
|
97
|
-
"@labelbee/lb-utils": "1.18.0
|
|
97
|
+
"@labelbee/lb-utils": "1.18.0",
|
|
98
98
|
"@turf/turf": "5.1.6",
|
|
99
99
|
"color-rgba": "^2.3.0",
|
|
100
100
|
"lodash": "^4.17.20",
|