@labelbee/lb-annotation 1.27.0-alpha.28 → 1.27.0-alpha.29

package/dist/_virtual/highlightWorker.js

@@ -1 +1 @@
-"use strict";var _rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory=require("./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js"),WorkerFactory=_rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory.createBase64WorkerFactory("Lyogcm9sbHVwLXBsdWdpbi13ZWItd29ya2VyLWxvYWRlciAqLwp2YXIgd29ya2VyX2NvZGU9ZnVuY3Rpb24oeCl7InVzZSBzdHJpY3QiO2Z1bmN0aW9uIHAodCl7Y29uc3QgZT0tNyxpPTMsbz1pLWU7cmV0dXJuIHQ8ZSYmKHQ9ZSksdD5pJiYodD1pKSxNYXRoLmZsb29yKCh0LWUpL28qMjU1KX1mdW5jdGlvbiBoKCl7bGV0IHQ7Y29uc3QgZT1uZXcgQXJyYXkoMjU2KS5maWxsKCIiKS5tYXAoKCk9Pm5ldyBBcnJheSgzKS5maWxsKCIiKSk7Zm9yKGxldCBpPTA7aTwyMDtpKyspe2Zvcih0PTA7dDwzMjt0KyspZVt0XVswXT0xMjgrNCp0LGVbdF1bMV09MCxlW3RdWzJdPTA7Zm9yKGVbMzJdWzBdPTI1NSxlWzMyXVsxXT0wLGVbMzJdWzJdPTAsdD0wO3Q8NjM7dCsrKWVbMzMrdF1bMF09MjU1LGVbMzMrdF1bMV09NCs0KnQsZVszMyt0XVsyXT0wO2ZvcihlWzk2XVswXT0yNTQsZVs5Nl1bMV09MjU1LGVbOTZdWzJdPTIsdD0wO3Q8NjI7dCsrKWVbOTcrdF1bMF09MjUwLTQqdCxlWzk3K3RdWzFdPTI1NSxlWzk3K3RdWzJdPTYrNCp0O2ZvcihlWzE1OV1bMF09MSxlWzE1OV1bMV09MjU1LGVbMTU5XVsyXT0yNTQsdD0wO3Q8NjQ7dCsrKWVbMTYwK3RdWzBdPTAsZVsxNjArdF1bMV09MjUyLXQqNCxlWzE2MCt0XVsyXT0yNTU7Zm9yKHQ9MDt0PDMyO3QrKyllWzIyNCt0XVswXT0wLGVbMjI0K3RdWzFdPTAsZVsyMjQrdF1bMl09MjUyLTQqdH1yZXR1cm4gZX1jb25zdCBDPWgoKTtmdW5jdGlvbiBkKHQsZSxpPTApe2xldCBvPTAscyxhLHIsZjtlPVsuLi5lXSxpPT09MSYmKGU9Y3JlYXRlU21vb3RoQ3VydmVQb2ludHMoZS5yZWR1Y2UoKGMsdSk9PlsuLi5jLHUueCx1LnldLFtdKSwuNSwhMCxTRUdNRU5UX05VTUJFUikpLFtyXT1lO2NvbnN0IG49ZS5sZW5ndGg7Zm9yKHM9MTtzPD1uO3MrKylmPWVbcyVuXSx0Lng+TWF0aC5taW4oci54LGYueCkmJnQueDw9TWF0aC5tYXgoci54LGYueCkmJnQueTw9TWF0aC5tYXgoci55LGYueSkmJnIueCE9PWYueCYmKGE9KHQueC1yLngpKihmLnktci55KS8oZi54LXIueCkrci55LChyLnk9PT1mLnl8fHQueTw9YSkmJm8rKykscj1mO3JldHVybiBvJTIhPTB9ZnVuY3Rpb24gYih7ek1pbjp0LHpNYXg6ZSxwb2x5Z29uUG9pbnRMaXN0OmksYXR0cmlidXRlOm8seDpzLHk6YSx6OnIsY29sb3JMaXN0OmYsdmFsaWQ6bn0pe2lmKGQoe3g6cyx5OmF9LGkpJiZyPj10JiZyPD1lKXJldHVybiBuPT09ITE/WzEsMTAzLzI1NSwxMDIvMjU1XTpmW29dP2Zbb10ucmdiYS5zbGljZSgwLDMpLm1hcCh1PT51LzI1NSk6WzEsMCwwXX1yZXR1cm4gb25tZXNzYWdlPWZ1bmN0aW9uKGUpe2NvbnN0e3Bvc2l0aW9uOmksY29sb3I6byxjdWJvaWRMaXN0OnMsY29sb3JMaXN0OmEsaGlnaGxpZ2h0SW5kZXg6cn09ZS5kYXRhO2xldCBmPTA7Zm9yKGxldCBuPTA7bjxpLmxlbmd0aDtuKz0zKXtjb25zdCBjPWlbbl0sdT1pW24rMV0sZz1pW24rMl0sbT1zLm1hcChsPT5iKHtwb2x5Z29uUG9pbnRMaXN0OmwucG9seWdvblBvaW50TGlzdCx6TWluOmwuek1pbix6TWF4Omwuek1heCx4OmMseTp1LHo6ZyxhdHRyaWJ1dGU6bC5hdHRyaWJ1dGUsY29sb3JMaXN0OmEsdmFsaWQ6bC52YWxpZH0pKS5maWx0ZXIobD0+bCkucG9wKCk7aWYobSl7ZisrO2NvbnN0W2wseSxNXT1tO29bbl09bCxvW24rMV09eSxvW24rMl09TX1lbHNle2NvbnN0IGw9TWF0aC5mbG9vcihuLzMpO2lmKHImJnJbbF09PT0xKW9bbl09MCxvW24rMV09MCxvW24rMl09MDtlbHNle2NvbnN0IHk9cChnKSxNPUNbeV0sW3csSSxfXT1NO29bbl09dy8yNTUsb1tuKzFdPUkvMjU1LG9bbisyXT1fLzI1NX19fXBvc3RNZXNzYWdlKHtwb2ludHM6aSxjb2xvcjpvLG51bTpmfSl9LHguaXNJblBvbHlnb249ZCxPYmplY3QuZGVmaW5lUHJvcGVydHkoeCwiX19lc01vZHVsZSIse3ZhbHVlOiEwfSkseH0oe30pOwoK",null,!1);module.exports=WorkerFactory;
+"use strict";var _rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory=require("./_rollup-plugin-web-worker-loader__helper__browser__createBase64WorkerFactory.js"),WorkerFactory=_rollupPluginWebWorkerLoader__helper__browser__createBase64WorkerFactory.createBase64WorkerFactory("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",null,!1);module.exports=WorkerFactory;

package/dist/core/pointCloud/index.js

@@ -1,4 +1,4 @@
-"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(y){if(y&&y.__esModule)return y;var t=Object.create(null);return y&&Object.keys(y).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(y,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return y[e]}})}}),t.default=y,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=(y,t,e)=>t in y?__defProp(y,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):y[t]=e,__spreadValues=(y,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(y,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(y,e,t[e]);return y},__spreadProps=(y,t)=>__defProps(y,__getOwnPropDescs(t)),__async=(y,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(y,t)).next())});const DEFAULT_DISTANCE=30,highlightWorker=new highlightWorker$1({type:"module"});class PointCloud extends eventListener{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:o="#4C4C4C",config:a,isSegment:s,checkMode:l}){super();this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.highlightGroupName="highlightBoxes",this.showDirection=!0,this.pointsMaterialSize=1,this.isSegment=!1,this.checkMode=!1,this.workerLoading=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(n,c="blue")=>{var h;const d=(h=n.id)!=null?h:uuid();this.removeObjectByName(d,"sphere");const{radius:p,widthSegments:m,heightSegments:g}=lbUtils.DEFAULT_SPHERE_PARAMS,{center:u}=n,f=new THREE__namespace.Group,x=new THREE__namespace.SphereGeometry(p,m,g),w=new THREE__namespace.MeshBasicMaterial({color:c}),C=new THREE__namespace.Mesh(x,w);C.position.set(u.x,u.y,u.z),f.add(C),f.name=`sphere${d}`,this.scene.add(f)},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:p,width:m,height:g,depth:u,rotation:f}=n,x=new THREE__namespace.Group,w=new THREE__namespace.BoxGeometry(m,g,u),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),p&&x.position.set(p.x,p.y,p.z),f&&x.rotation.set(0,0,f),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:`
+"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(y){if(y&&y.__esModule)return y;var t=Object.create(null);return y&&Object.keys(y).forEach(function(e){if(e!=="default"){var i=Object.getOwnPropertyDescriptor(y,e);Object.defineProperty(t,e,i.get?i:{enumerable:!0,get:function(){return y[e]}})}}),t.default=y,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=(y,t,e)=>t in y?__defProp(y,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):y[t]=e,__spreadValues=(y,t)=>{for(var e in t||(t={}))__hasOwnProp.call(t,e)&&__defNormalProp(y,e,t[e]);if(__getOwnPropSymbols)for(var e of __getOwnPropSymbols(t))__propIsEnum.call(t,e)&&__defNormalProp(y,e,t[e]);return y},__spreadProps=(y,t)=>__defProps(y,__getOwnPropDescs(t)),__async=(y,t,e)=>new Promise((i,r)=>{var s=l=>{try{o(e.next(l))}catch(n){r(n)}},a=l=>{try{o(e.throw(l))}catch(n){r(n)}},o=l=>l.done?i(l.value):Promise.resolve(l.value).then(s,a);o((e=e.apply(y,t)).next())});const DEFAULT_DISTANCE=30,highlightWorker=new highlightWorker$1({type:"module"});class PointCloud extends eventListener{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:s="#4C4C4C",config:a,isSegment:o,checkMode:l}){super();this.zAxisLimit=10,this.initCameraPosition=this.DEFAULT_INIT_CAMERA_POSITION,this.isOrthographicCamera=!1,this.pointsUuid="",this.pointCloudObjectName="pointCloud",this.rangeObjectName="range",this.highlightGroupName="highlightBoxes",this.showDirection=!0,this.pointsMaterialSize=1,this.isSegment=!1,this.checkMode=!1,this.workerLoading=!1,this.nextTick=()=>{!this.segmentOperation||this.segmentOperation._raycasting()},this.keydown=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!0,this.store.setForbidOperation(!0);break}},this.keyup=n=>{if(!!this.store)switch(n.key){case" ":this.controls.enablePan=!1,this.store.setForbidOperation(!1);break}},this.addSphereToSense=(n,c="blue")=>{var h;const d=(h=n.id)!=null?h:uuid();this.removeObjectByName(d,"sphere");const{radius:p,widthSegments:x,heightSegments:g}=lbUtils.DEFAULT_SPHERE_PARAMS,{center:u}=n,m=new THREE__namespace.Group,f=new THREE__namespace.SphereGeometry(p,x,g),w=new THREE__namespace.MeshBasicMaterial({color:c}),C=new THREE__namespace.Mesh(f,w);C.position.set(u.x,u.y,u.z),m.add(C),m.name=`sphere${d}`,this.scene.add(m)},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:p,width:x,height:g,depth:u,rotation:m}=n,f=new THREE__namespace.Group,w=new THREE__namespace.BoxGeometry(x,g,u),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&&f.add(P),f.add(v),f.add(M),p&&f.position.set(p.x,p.y,p.z),m&&f.rotation.set(0,0,m),f.name=`box${d}`,this.scene.add(f)},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:`
       attribute vec3 dimensions;
       varying vec3 vDimensions;
       uniform float pointSize;
@@ -28,4 +28,4 @@
 
         // Output the final color        
         gl_FragColor = vec4(color, 1.0);
-      }`,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:p}=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(p,3)),this.initCloudData(d);const g=new THREE__namespace.Points(m);this.renderPointCloud(g,h),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>__async(this,[n],function*({mappingImgList:c,points:h}){const d=u=>__async(this,null,function*(){try{return yield ImgUtils.default.load(u)}catch(f){return console.error("Error loading image:",f),null}}),p=c.length===0?[]:(yield Promise.all(c.map(u=>__async(this,null,function*(){let f=yield d(u.url);return!f&&u.fallbackUrl&&(f=yield d(u.fallbackUrl)),f})))).filter(u=>u!==null),m=c.map((u,f)=>{var x;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(x=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?x:[];const w=matrix.getHighlightIndexByPoints({points:h,calib:u.calib,width:p[f].width,height:p[f].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,w),w});return matrix.mergeHighlightList(m)}),this.filterPreResult=(n,c,h)=>__async(this,null,function*(){const{points:d}=yield this.cacheInstance.loadPCDFile(n),p=yield this.cacheInstance.loadIndexMap(n,d);return new Promise(m=>{const g=h.map(u=>{const f=MathUtils.default.calculatePointsInsideBox({indexMap:p,polygon:matrix.getCuboidFromPointCloudBox(u).polygonPointList,zScope:[u.center.z-u.depth/2,u.center.z+u.depth/2],box:u}),x=f>=c.lowerLimitPointsNumInBox;return __spreadProps(__spreadValues({},u),{valid:x,count:f})});m(g)})}),this.loadPCDFileByBox=(n,c,h)=>__async(this,null,function*(){const d=(g,u)=>__async(this,null,function*(){const{width:f=0,height:x=0,depth:w=0}=h!=null?h:{},C=yield this.filterPointsByBox(__spreadProps(__spreadValues({},c),{width:c.width+f,height:c.height+x,depth:c.depth+w}),g,u);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:p,color:m}=yield this.cacheInstance.loadPCDFile(n);d(p,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,p=16776960,m=new THREE__namespace.ArrowHelper(c,h,d,p);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 p=new filterBoxWorker;p.postMessage(h),p.onmessage=m=>{const{color:g,position:u,num:f}=m.data,x=new THREE__namespace.BufferGeometry;x.setAttribute("position",new THREE__namespace.Float32BufferAttribute(u,3)),x.setAttribute("color",new THREE__namespace.Float32BufferAttribute(g,3)),x.computeBoundingSphere(),p.terminate(),d({geometry:x,num:f})}})}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,p=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,p.needsUpdate=!0,r.geometry.setAttribute("dimensions",p),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),p=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,p);e.add(m);const g=new THREE__namespace.PlaneGeometry(n,l);g.rotateY(Math.PI/2),g.rotateZ(c);const u=new THREE__namespace.Vector3(s/2,0,0),f=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(c);u.applyMatrix4(f),g.translate(r+u.x,o+u.y,a+u.z);const x=new THREE__namespace.MeshBasicMaterial({color:h,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(g,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],p=MathUtils.default.getFootOfPerpendicular({x:l,y:n},c,d,!1,!0).length;(!i[h]||p<i[h].distance)&&(i[h]={distance:p,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(g=>g.uuid===this.pointsUuid);let l=0,n=0,c=0,h=0,d=[],p=[];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 g=0;g<m.length;g+=3){const u=m[g],f=m[g+1],x=m[g+2];polygonTool.isInPolygon({x:u,y:f},t)&&(x||x===0)&&p.push({x:u,y:f,z:x})}return p.length?(i&&(p=this.filterNoise(p),d=this.getFittedCoordinates(t,p)),p.sort((g,u)=>g.z-u.z),l=p[0].z-.01,n=p[p.length-1].z+.01,h=p.length,e&&(c=p.filter(({z:g})=>g>=e[0]&&g<=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(u=>new THREE__namespace.Vector3(u.x,u.y,u.z)).map(u=>u.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.omniCamera11VTransfer=matrix.omniCamera11VTransfer,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;
+      }`,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:p}=yield this.cacheInstance.loadPCDFile(c),x=new THREE__namespace.BufferGeometry;x.setAttribute("position",new THREE__namespace.BufferAttribute(d,3)),this.isSegment||x.setAttribute("dimensions",new THREE__namespace.BufferAttribute(p,3)),this.initCloudData(d);const g=new THREE__namespace.Points(x);this.renderPointCloud(g,h),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>__async(this,[n],function*({mappingImgList:c,points:h}){const d=u=>__async(this,null,function*(){try{return yield ImgUtils.default.load(u)}catch(m){return console.error("Error loading image:",m),null}}),p=c.length===0?[]:(yield Promise.all(c.map(u=>__async(this,null,function*(){let m=yield d(u.url);return!m&&u.fallbackUrl&&(m=yield d(u.fallbackUrl)),m})))).filter(u=>u!==null),x=c.map((u,m)=>{var f;if(this.cacheInstance.cache2DHighlightIndex.has(u.url))return(f=this.cacheInstance.cache2DHighlightIndex.get(u.url))!=null?f:[];const w=matrix.getHighlightIndexByPoints({points:h,calib:u.calib,width:p[m].width,height:p[m].height});return this.cacheInstance.cache2DHighlightIndex.set(u.url,w),w});return matrix.mergeHighlightList(x)}),this.filterPreResult=(n,c,h)=>__async(this,null,function*(){const{points:d}=yield this.cacheInstance.loadPCDFile(n),p=yield this.cacheInstance.loadIndexMap(n,d);return new Promise(x=>{const g=h.map(u=>{const m=MathUtils.default.calculatePointsInsideBox({indexMap:p,polygon:matrix.getCuboidFromPointCloudBox(u).polygonPointList,zScope:[u.center.z-u.depth/2,u.center.z+u.depth/2],box:u}),f=m>=c.lowerLimitPointsNumInBox;return __spreadProps(__spreadValues({},u),{valid:f,count:m})});x(g)})}),this.loadPCDFileByBox=(n,c,h)=>__async(this,null,function*(){const d=(g,u)=>__async(this,null,function*(){const{width:m=0,height:f=0,depth:w=0}=h!=null?h:{},C=yield this.filterPointsByBox(__spreadProps(__spreadValues({},c),{width:c.width+m,height:c.height+f,depth:c.depth+w}),g,u);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:p,color:x}=yield this.cacheInstance.loadPCDFile(n);d(p,x)}),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,p=16776960,x=new THREE__namespace.ArrowHelper(c,h,d,p);return x.visible=this.showDirection,x},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=s,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,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:a,far:o}=t;this.camera.left=e,this.camera.right=i,this.camera.top=r,this.camera.bottom=s,this.camera.near=a,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,a=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,h=-100,d=500/c;return{left:a,right:o,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:s,height:a,depth:o,rotation:l}=t,n=this.getCameraVector(r,l,{width:s,height:a,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,a;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=(a=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:a.array}if(window.Worker){const{zMin:o,zMax:l,polygonPointList:n}=matrix.getCuboidFromPointCloudBox(t),c=e;i=i!=null?i:new Float32Array([]);const h={boxParams:t,zMin:o,zMax:l,polygonPointList:n,color:i,position:c};return new Promise(d=>{const p=new filterBoxWorker;p.postMessage(h),p.onmessage=x=>{const{color:g,position:u,num:m}=x.data,f=new THREE__namespace.BufferGeometry;f.setAttribute("position",new THREE__namespace.Float32BufferAttribute(u,3)),f.setAttribute("color",new THREE__namespace.Float32BufferAttribute(g,3)),f.computeBoundingSphere(),p.terminate(),d({geometry:f,num:m})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=lbUtils.EPerspectiveView.Front,s=DEFAULT_DISTANCE){let a=lbUtils.PerspectiveShiftUtils.frontViewMatrix4(s);switch(r){case lbUtils.EPerspectiveView.Front:break;case lbUtils.EPerspectiveView.Back:a=lbUtils.PerspectiveShiftUtils.backViewMatrix4(s);break;case lbUtils.EPerspectiveView.Left:a=lbUtils.PerspectiveShiftUtils.leftViewMatrix4(s);break;case lbUtils.EPerspectiveView.Right:a=lbUtils.PerspectiveShiftUtils.rightViewMatrix4(s);break;case lbUtils.EPerspectiveView.Top:a=lbUtils.PerspectiveShiftUtils.topViewMatrix4(s);break;case lbUtils.EPerspectiveView.LFT:a=lbUtils.PerspectiveShiftUtils.leftFrontTopViewMatrix4(s,i);break;case lbUtils.EPerspectiveView.RBT:a=lbUtils.PerspectiveShiftUtils.rightBackTopViewMatrix4(s,i);break}const o=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(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}),a=new THREE__namespace.Line(r,s);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],s=t[e+2];this.store.cloudData.set(`${i}@${r}@${s}`,{visible:!1})}this.store.setOriginPoints(t)}}handleWebworker(t){return __async(this,null,function*(){return new Promise((e,i)=>{if(this.workerLoading){i(new Error("highlightWorker called repeatedly, new call discarded"));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=[],r={modifiedBoxIds:[],resetAreas:[]}){const{modifiedBoxIds:s,resetAreas:a}=r,o=this.scene.getObjectByName(this.pointCloudObjectName);if(!!o)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((l,n)=>{if(window.Worker){const h=(e?[...e]:[]).map(u=>matrix.getCuboidFromPointCloudBox(u)),d=this.getAllAttributeColor(h),p=o.geometry.attributes.position.array,x=o.geometry.attributes.dimensions.array,g={cuboidList:h,position:p,color:x,colorList:d,highlightIndex:i,modifiedBoxIds:s,resetAreas:a};this.handleWebworker(g).then(u=>{const{color:m}=u;let f=m;(s.length||a.length)&&(f=m.map((C,b)=>C===-1?x[b]:C));const w=new THREE__namespace.BufferAttribute(f,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||o.geometry.attributes.position.array.length!==m.length){n(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,f),this.highlightPCDSrc=void 0,w.needsUpdate=!0,o.geometry.setAttribute("dimensions",w),o.geometry.attributes.dimensions.needsUpdate=!0,l(f),this.render()}).catch(u=>{n(u)})}})})}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:a},width:o,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(o,l,n),p=new THREE__namespace.MeshBasicMaterial({color:h,transparent:!0,opacity:.2,depthTest:!1});d.rotateZ(c),d.translate(r,s,a);const x=new THREE__namespace.Mesh(d,p);e.add(x);const g=new THREE__namespace.PlaneGeometry(n,l);g.rotateY(Math.PI/2),g.rotateZ(c);const u=new THREE__namespace.Vector3(o/2,0,0),m=new THREE__namespace.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(c);u.applyMatrix4(m),g.translate(r+u.x,s+u.y,a+u.z);const f=new THREE__namespace.MeshBasicMaterial({color:h,side:THREE__namespace.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new THREE__namespace.Mesh(g,f);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 s=.005,a=Math.floor(e.length*(1-s));e=e.slice(0,a),e.sort((h,d)=>h.x-d.x);const o=Math.floor(e.length*s),l=Math.floor(e.length*(1-s));e=e.slice(o,l),e.sort((h,d)=>h.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,h)=>{const d=r[h+1],p=MathUtils.default.getFootOfPerpendicular({x:l,y:n},c,d,!1,!0).length;(!i[h]||p<i[h].distance)&&(i[h]={distance:p,point:{x:l,y:n}})})}),r=[t[t.length-1],...t,t[0]];const s=[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:s[n].point,line1:[c,h],p2:s[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,s,a;const o=this.scene.children.find(g=>g.uuid===this.pointsUuid);let l=0,n=0,c=0,h=0,d=[],p=[];const x=((a=(s=(r=o==null?void 0:o.geometry)==null?void 0:r.attributes)==null?void 0:s.position)==null?void 0:a.array)||[];for(let g=0;g<x.length;g+=3){const u=x[g],m=x[g+1],f=x[g+2];polygonTool.isInPolygon({x:u,y:m},t)&&(f||f===0)&&p.push({x:u,y:m,z:f})}return p.length?(i&&(p=this.filterNoise(p),d=this.getFittedCoordinates(t,p)),p.sort((g,u)=>g.z-u.z),l=p[0].z-.01,n=p[p.length-1].z+.01,h=p.length,e&&(c=p.filter(({z:g})=>g>=e[0]&&g<=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:s,width:a,depth:o}=t,l={x:e+a/2,y:i+s/2,z:r-o/2},n={x:e+a/2,y:i+s/2,z:r+o/2},c={x:e-a/2,y:i+s/2,z:r+o/2},h={x:e-a/2,y:i+s/2,z:r-o/2};return[l,n,c,h]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:s,width:a,depth:o}=t,l={x:e-a/2,y:i+s/2,z:r+o/2},n={x:e-a/2,y:i+s/2,z:r-o/2},c={x:e-a/2,y:i-s/2,z:r-o/2},h={x:e-a/2,y:i-s/2,z:r+o/2};return[l,n,c,h]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:s,width:a,depth:o}=t,l={x:e+a/2,y:i+s/2,z:r+o/2},n={x:e+a/2,y:i-s/2,z:r+o/2},c={x:e-a/2,y:i-s/2,z:r+o/2},h={x:e-a/2,y:i+s/2,z:r+o/2};return[l,n,c,h]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:s}=t,a=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(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:s}=t,a=new THREE__namespace.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),o=new THREE__namespace.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(a).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=o;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/s;return{polygon2d:l,zoom:Math.min(n,c)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:s}=t,{radius:a}=lbUtils.DEFAULT_SPHERE_PARAMS,o={center:e,attribute:i,id:r,valid:s,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(o)).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)},s=this.containerWidth/(i*2),a=this.containerHeight/(i*2);return{point2d:r,zoom:Math.min(s,a)/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)})),a=this.containerWidth/e,o=this.containerHeight/i;return{polygon2d:s,zoom:Math.min(a,o)/2}}getNewBoxBySideUpdate(t,e,i,r){const s=new THREE__namespace.Matrix4().makeRotationZ(r.rotation),a=new THREE__namespace.Vector3(-t.x,0,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+a.x,y:o.center.y+a.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),a=new THREE__namespace.Vector3(0,-t.x,0).applyMatrix4(s);let o=r;return o.center={x:o.center.x+a.x,y:o.center.y+a.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 a=(s=this.sideMatrix)==null?void 0:s.invert();if(!this.sideMatrix||!a){console.error("No sideMatrix");return}this.camera.zoom=1,this.camera.updateProjectionMatrix();const o=t.map(u=>new THREE__namespace.Vector3(u.x,u.y,u.z)).map(u=>u.applyMatrix4(a)),[l,n,c,h]=o,d=Math.max(Math.abs(l.x-c.x),Math.abs(l.x-n.x)),x=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-x.x,y:r.center.y-x.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:a}=r;for(let o=0;o<a;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.omniCamera11VTransfer=matrix.omniCamera11VTransfer,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;

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

@@ -256,7 +256,10 @@ export declare class PointCloud extends EventListener {
      * @param boxParams
      * @returns
      */
-    highlightOriginPointCloud(pointCloudBoxList?: IPointCloudBox[], highlightIndex?: number[]): Promise<THREE.BufferAttribute[] | undefined>;
+    highlightOriginPointCloud(pointCloudBoxList?: IPointCloudBox[], highlightIndex?: number[], config?: {
+        modifiedBoxIds: string[];
+        resetAreas: ICoordinate[][];
+    }): Promise<THREE.BufferAttribute[] | undefined>;
     /**
      * Clean all highlightBox
      */

package/es/_virtual/highlightWorker.js

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

package/es/core/pointCloud/index.js

@@ -1,4 +1,4 @@
-import*as a from"three";import{toolStyleConverter as k,PerspectiveShiftUtils as S,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 L from"../../utils/uuid.js";import A from"../../utils/MathUtils.js";import W from"../../utils/ImgUtils.js";import{PCDLoader as U}from"./PCDLoader.js";import{OrbitControls as Z}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,omniCamera11VTransfer,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,M=(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},v=(w,t)=>tt(w,et(t)),P=(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:L();this.removeObjectByName(u,"sphere");const{radius:p,widthSegments:f,heightSegments:g}=O,{center:m}=n,y=new a.Group,x=new a.SphereGeometry(p,f,g),b=new a.MeshBasicMaterial({color:l}),B=new a.Mesh(x,b);B.position.set(m.x,m.y,m.z),y.add(B),y.name=`sphere${u}`,this.scene.add(y)},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:L();this.removeObjectByName(u,"box");const{center:p,width:f,height:g,depth:m,rotation:y}=n,x=new a.Group,b=new a.BoxGeometry(f,g,m),B=new a.MeshBasicMaterial({color:"blue"}),z=new a.Mesh(b,B),N=new a.BoxHelper(z,l),F=this.generateBoxArrow(n),T=this.generateBoxTrackID(n);T&&x.add(T),x.add(N),x.add(F),p&&x.position.set(p.x,p.y,p.z),y&&x.rotation.set(0,0,y),x.name=`box${u}`,this.scene.add(x)},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:`
+import*as a from"three";import{toolStyleConverter as k,PerspectiveShiftUtils as S,EPerspectiveView as b,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 L from"../../utils/uuid.js";import A from"../../utils/MathUtils.js";import W from"../../utils/ImgUtils.js";import{PCDLoader as U}from"./PCDLoader.js";import{OrbitControls as Z}from"./OrbitControls.js";import{PointCloudCache as G}from"./cache.js";import{getCuboidFromPointCloudBox as I,getHighlightIndexByPoints as $,mergeHighlightList as Y}from"./matrix.js";export{createThreeMatrix4,getCuboidFromPointCloudBox,getHighlightIndexByPoints,isFisheyeCalibValid,isInImage,isMatrixValid,isMatrixValidByArr,lidar2FisheyeImage,lidar2image,mergeHighlightList,oCamFisheyeTransfer,omniCamera11VTransfer,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=(C,t,e)=>t in C?J(C,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):C[t]=e,P=(C,t)=>{for(var e in t||(t={}))it.call(t,e)&&j(C,e,t[e]);if(_)for(var e of _(t))rt.call(t,e)&&j(C,e,t[e]);return C},B=(C,t)=>tt(C,et(t)),v=(C,t,e)=>new Promise((i,r)=>{var s=d=>{try{o(e.next(d))}catch(n){r(n)}},h=d=>{try{o(e.throw(d))}catch(n){r(n)}},o=d=>d.done?i(d.value):Promise.resolve(d.value).then(s,h);o((e=e.apply(C,t)).next())});const nt=30,D=new V({type:"module"});class ot extends Q{constructor({container:t,noAppend:e,isOrthographicCamera:i,orthographicParams:r,backgroundColor:s="#4C4C4C",config:h,isSegment:o,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:L();this.removeObjectByName(u,"sphere");const{radius:p,widthSegments:x,heightSegments:g}=O,{center:m}=n,f=new a.Group,y=new a.SphereGeometry(p,x,g),w=new a.MeshBasicMaterial({color:l}),M=new a.Mesh(y,w);M.position.set(m.x,m.y,m.z),f.add(M),f.name=`sphere${u}`,this.scene.add(f)},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:L();this.removeObjectByName(u,"box");const{center:p,width:x,height:g,depth:m,rotation:f}=n,y=new a.Group,w=new a.BoxGeometry(x,g,m),M=new a.MeshBasicMaterial({color:"blue"}),z=new a.Mesh(w,M),N=new a.BoxHelper(z,l),F=this.generateBoxArrow(n),T=this.generateBoxTrackID(n);T&&y.add(T),y.add(N),y.add(F),p&&y.position.set(p.x,p.y,p.z),f&&y.rotation.set(0,0,f),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:`
       attribute vec3 dimensions;
       varying vec3 vDimensions;
       uniform float pointSize;
@@ -28,4 +28,4 @@ import*as a from"three";import{toolStyleConverter as k,PerspectiveShiftUtils as
 
         // Output the final color        
         gl_FragColor = vec4(color, 1.0);
-      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>P(this,[...n],function*(l=this.currentPCDSrc,c){if(!l)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=l;const{points:u,color:p}=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(p,3)),this.initCloudData(u);const g=new a.Points(f);this.renderPointCloud(g,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>P(this,[n],function*({mappingImgList:l,points:c}){const u=m=>P(this,null,function*(){try{return yield W.load(m)}catch(y){return console.error("Error loading image:",y),null}}),p=l.length===0?[]:(yield Promise.all(l.map(m=>P(this,null,function*(){let y=yield u(m.url);return!y&&m.fallbackUrl&&(y=yield u(m.fallbackUrl)),y})))).filter(m=>m!==null),f=l.map((m,y)=>{var x;if(this.cacheInstance.cache2DHighlightIndex.has(m.url))return(x=this.cacheInstance.cache2DHighlightIndex.get(m.url))!=null?x:[];const b=$({points:c,calib:m.calib,width:p[y].width,height:p[y].height});return this.cacheInstance.cache2DHighlightIndex.set(m.url,b),b});return Y(f)}),this.filterPreResult=(n,l,c)=>P(this,null,function*(){const{points:u}=yield this.cacheInstance.loadPCDFile(n),p=yield this.cacheInstance.loadIndexMap(n,u);return new Promise(f=>{const g=c.map(m=>{const y=A.calculatePointsInsideBox({indexMap:p,polygon:D(m).polygonPointList,zScope:[m.center.z-m.depth/2,m.center.z+m.depth/2],box:m}),x=y>=l.lowerLimitPointsNumInBox;return v(M({},m),{valid:x,count:y})});f(g)})}),this.loadPCDFileByBox=(n,l,c)=>P(this,null,function*(){const u=(g,m)=>P(this,null,function*(){const{width:y=0,height:x=0,depth:b=0}=c!=null?c:{},B=yield this.filterPointsByBox(v(M({},l),{width:l.width+y,height:l.height+x,depth:l.depth+b}),g,m);if(!B){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const z=new a.Points(B.geometry);z.name=this.pointCloudObjectName,this.scene.add(z),this.render()}),{points:p,color:f}=yield this.cacheInstance.loadPCDFile(n);u(p,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,p=16776960,f=new a.ArrowHelper(l,c,u,p);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 Z(this.camera,s?this.container:this.renderer.domElement),this.pcdLoader=new U,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(M({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new K(v(M({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 M({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 k.getColorFromConfig({attribute:t},v(M({},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 p=new R;p.postMessage(c),p.onmessage=f=>{const{color:g,position:m,num:y}=f.data,x=new a.BufferGeometry;x.setAttribute("position",new a.Float32BufferAttribute(m,3)),x.setAttribute("color",new a.Float32BufferAttribute(g,3)),x.computeBoundingSphere(),p.terminate(),u({geometry:x,num:y})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=C.Front,o=nt){let h=S.frontViewMatrix4(o);switch(r){case C.Front:break;case C.Back:h=S.backViewMatrix4(o);break;case C.Left:h=S.leftViewMatrix4(o);break;case C.Right:h=S.rightViewMatrix4(o);break;case C.Top:h=S.topViewMatrix4(o);break;case C.LFT:h=S.leftFrontTopViewMatrix4(o,i);break;case C.RBT:h=S.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 P(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 P(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,p=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,p.needsUpdate=!0,r.geometry.setAttribute("dimensions",p),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}=k.getColorFromConfig({attribute:i.attribute},v(M({},this.config),{attributeConfigurable:!0}),{}),u=new a.BoxGeometry(s,d,n),p=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,p);e.add(f);const g=new a.PlaneGeometry(n,d);g.rotateY(Math.PI/2),g.rotateZ(l);const m=new a.Vector3(s/2,0,0),y=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(l);m.applyMatrix4(y),g.translate(r+m.x,o+m.y,h+m.z);const x=new a.MeshBasicMaterial({color:c,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),b=new a.Mesh(g,x);e.add(b)}),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],p=A.getFootOfPerpendicular({x:d,y:n},l,u,!1,!0).length;(!i[c]||p<i[c].distance)&&(i[c]={distance:p,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(g=>g.uuid===this.pointsUuid);let d=0,n=0,l=0,c=0,u=[],p=[];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 g=0;g<f.length;g+=3){const m=f[g],y=f[g+1],x=f[g+2];H({x:m,y},t)&&(x||x===0)&&p.push({x:m,y,z:x})}return p.length?(i&&(p=this.filterNoise(p),u=this.getFittedCoordinates(t,p)),p.sort((g,m)=>g.z-m.z),d=p[0].z-.01,n=p[p.length-1].z+.01,c=p.length,e&&(l=p.filter(({z:g})=>g>=e[0]&&g<=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=v(M({},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=v(M({},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(m=>new a.Vector3(m.x,m.y,m.z)).map(m=>m.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:v(M({},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};
+      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>v(this,[...n],function*(l=this.currentPCDSrc,c){if(!l)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=l;const{points:u,color:p}=yield this.cacheInstance.loadPCDFile(l),x=new a.BufferGeometry;x.setAttribute("position",new a.BufferAttribute(u,3)),this.isSegment||x.setAttribute("dimensions",new a.BufferAttribute(p,3)),this.initCloudData(u);const g=new a.Points(x);this.renderPointCloud(g,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>v(this,[n],function*({mappingImgList:l,points:c}){const u=m=>v(this,null,function*(){try{return yield W.load(m)}catch(f){return console.error("Error loading image:",f),null}}),p=l.length===0?[]:(yield Promise.all(l.map(m=>v(this,null,function*(){let f=yield u(m.url);return!f&&m.fallbackUrl&&(f=yield u(m.fallbackUrl)),f})))).filter(m=>m!==null),x=l.map((m,f)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(m.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(m.url))!=null?y:[];const w=$({points:c,calib:m.calib,width:p[f].width,height:p[f].height});return this.cacheInstance.cache2DHighlightIndex.set(m.url,w),w});return Y(x)}),this.filterPreResult=(n,l,c)=>v(this,null,function*(){const{points:u}=yield this.cacheInstance.loadPCDFile(n),p=yield this.cacheInstance.loadIndexMap(n,u);return new Promise(x=>{const g=c.map(m=>{const f=A.calculatePointsInsideBox({indexMap:p,polygon:I(m).polygonPointList,zScope:[m.center.z-m.depth/2,m.center.z+m.depth/2],box:m}),y=f>=l.lowerLimitPointsNumInBox;return B(P({},m),{valid:y,count:f})});x(g)})}),this.loadPCDFileByBox=(n,l,c)=>v(this,null,function*(){const u=(g,m)=>v(this,null,function*(){const{width:f=0,height:y=0,depth:w=0}=c!=null?c:{},M=yield this.filterPointsByBox(B(P({},l),{width:l.width+f,height:l.height+y,depth:l.depth+w}),g,m);if(!M){console.error("filter Error");return}this.clearPointCloud(),this.currentPCDSrc=n;const z=new a.Points(M.geometry);z.name=this.pointCloudObjectName,this.scene.add(z),this.render()}),{points:p,color:x}=yield this.cacheInstance.loadPCDFile(n);u(p,x)}),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,p=16776960,x=new a.ArrowHelper(l,c,u,p);return x.visible=this.showDirection,x},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=s,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 Z(this.camera,o?this.container:this.renderer.domElement),this.pcdLoader=new U,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(P({dom:this.container,store:this.store},this.eventBus)),this.pointCloudRender=new K(B(P({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 P({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: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 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 k.getColorFromConfig({attribute:t},B(P({},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,d=e.y+r/2+s,n=e.y-r/2-s,l=100,c=-100,u=500/l;return{left:h,right:o,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:s,height:h,depth:o,rotation:d}=t,n=this.getCameraVector(r,d,{width:s,height:h,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,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:d,polygonPointList:n}=I(t),l=e;i=i!=null?i:new Float32Array([]);const c={boxParams:t,zMin:o,zMax:d,polygonPointList:n,color:i,position:l};return new Promise(u=>{const p=new R;p.postMessage(c),p.onmessage=x=>{const{color:g,position:m,num:f}=x.data,y=new a.BufferGeometry;y.setAttribute("position",new a.Float32BufferAttribute(m,3)),y.setAttribute("color",new a.Float32BufferAttribute(g,3)),y.computeBoundingSphere(),p.terminate(),u({geometry:y,num:f})}})}return Promise.resolve(void 0)}getCameraVector(t,e,i,r=b.Front,s=nt){let h=S.frontViewMatrix4(s);switch(r){case b.Front:break;case b.Back:h=S.backViewMatrix4(s);break;case b.Left:h=S.leftViewMatrix4(s);break;case b.Right:h=S.rightViewMatrix4(s);break;case b.Top:h=S.topViewMatrix4(s);break;case b.LFT:h=S.leftFrontTopViewMatrix4(s,i);break;case b.RBT:h=S.rightBackTopViewMatrix4(s,i);break}const o=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(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}),h=new a.Line(r,s);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],s=t[e+2];this.store.cloudData.set(`${i}@${r}@${s}`,{visible:!1})}this.store.setOriginPoints(t)}}handleWebworker(t){return v(this,null,function*(){return new Promise((e,i)=>{if(this.workerLoading){i(new Error("highlightWorker called repeatedly, new call discarded"));return}this.workerLoading=!0,D.postMessage(t),D.onmessage=r=>{e(r.data),this.workerLoading=!1},D.onerror=r=>{i(r),this.workerLoading=!1}})})}highlightOriginPointCloud(t){return v(this,arguments,function*(e,i=[],r={modifiedBoxIds:[],resetAreas:[]}){const{modifiedBoxIds:s,resetAreas:h}=r,o=this.scene.getObjectByName(this.pointCloudObjectName);if(!!o)return this.highlightPCDSrc=this.currentPCDSrc,new Promise((d,n)=>{if(window.Worker){const c=(e?[...e]:[]).map(m=>I(m)),u=this.getAllAttributeColor(c),p=o.geometry.attributes.position.array,x=o.geometry.attributes.dimensions.array,g={cuboidList:c,position:p,color:x,colorList:u,highlightIndex:i,modifiedBoxIds:s,resetAreas:h};this.handleWebworker(g).then(m=>{const{color:f}=m;let y=f;(s.length||h.length)&&(y=f.map((M,z)=>M===-1?x[z]:M));const w=new a.BufferAttribute(y,3);if(!this.highlightPCDSrc||this.highlightPCDSrc!==this.currentPCDSrc||o.geometry.attributes.position.array.length!==f.length){n(new Error("Error Path"));return}this.cacheInstance.updateColor(this.highlightPCDSrc,y),this.highlightPCDSrc=void 0,w.needsUpdate=!0,o.geometry.setAttribute("dimensions",w),o.geometry.attributes.dimensions.needsUpdate=!0,d(y),this.render()}).catch(m=>{n(m)})}})})}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:h},width:o,height:d,depth:n,rotation:l}=i,{fill:c}=k.getColorFromConfig({attribute:i.attribute},B(P({},this.config),{attributeConfigurable:!0}),{}),u=new a.BoxGeometry(o,d,n),p=new a.MeshBasicMaterial({color:c,transparent:!0,opacity:.2,depthTest:!1});u.rotateZ(l),u.translate(r,s,h);const x=new a.Mesh(u,p);e.add(x);const g=new a.PlaneGeometry(n,d);g.rotateY(Math.PI/2),g.rotateZ(l);const m=new a.Vector3(o/2,0,0),f=new a.Matrix4().makeRotationY(Math.PI/2).makeRotationZ(l);m.applyMatrix4(f),g.translate(r+m.x,s+m.y,h+m.z);const y=new a.MeshBasicMaterial({color:c,side:a.DoubleSide,transparent:!0,opacity:.8,depthTest:!1}),w=new a.Mesh(g,y);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 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 s=.005,h=Math.floor(e.length*(1-s));e=e.slice(0,h),e.sort((c,u)=>c.x-u.x);const o=Math.floor(e.length*s),d=Math.floor(e.length*(1-s));e=e.slice(o,d),e.sort((c,u)=>c.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,c)=>{const u=r[c+1],p=A.getFootOfPerpendicular({x:d,y:n},l,u,!1,!0).length;(!i[c]||p<i[c].distance)&&(i[c]={distance:p,point:{x:d,y:n}})})}),r=[t[t.length-1],...t,t[0]];const s=[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:s[n].point,line1:[l,c],p2:s[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,s,h;const o=this.scene.children.find(g=>g.uuid===this.pointsUuid);let d=0,n=0,l=0,c=0,u=[],p=[];const x=((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 g=0;g<x.length;g+=3){const m=x[g],f=x[g+1],y=x[g+2];H({x:m,y:f},t)&&(y||y===0)&&p.push({x:m,y:f,z:y})}return p.length?(i&&(p=this.filterNoise(p),u=this.getFittedCoordinates(t,p)),p.sort((g,m)=>g.z-m.z),d=p[0].z-.01,n=p[p.length-1].z+.01,c=p.length,e&&(l=p.filter(({z:g})=>g>=e[0]&&g<=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:s,width:h,depth:o}=t,d={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},l={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};return[d,n,l,c]}getPolygonBackPoints(t){const{center:{x:e,y:i,z:r},height:s,width:h,depth:o}=t,d={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},l={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};return[d,n,l,c]}getPolygonTopPoints(t){const{center:{x:e,y:i,z:r},height:s,width:h,depth:o}=t,d={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},l={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};return[d,n,l,c]}getModelTransformationMatrix(t){const{center:{x:e,y:i,z:r},rotation:s}=t,h=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(h)}getBoxSidePolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,b.Left)}getBoxBackPolygon2DCoordinate(t){return this.getBoxPolygon2DCoordinate(t,b.Back)}getSphereSidePoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}getSphereBackPoint2DCoordinate(t){return this.getSpherePoint2DCoordinate(t)}boxParams2ViewPolygon(t,e){switch(e){case b.Left:return this.getPolygonSidePoints(t);case b.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 a.Matrix4().premultiply(this.camera.matrixWorldInverse).premultiply(this.camera.projectionMatrix),o=new a.Matrix4().premultiply(this.getModelTransformationMatrix(t)).premultiply(h).premultiply(this.basicCoordinate2CanvasMatrix4);this.sideMatrix=o;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/s;return{polygon2d:d,zoom:Math.min(n,l)/2}}getSpherePoint2DCoordinate(t){const{center:e,attribute:i,id:r,valid:s}=t,{radius:h}=O,o={center:e,attribute:i,id:r,valid:s,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(o)).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)},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(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,o=this.containerHeight/i;return{polygon2d:s,zoom:Math.min(h,o)/2}}getNewBoxBySideUpdate(t,e,i,r){const s=new a.Matrix4().makeRotationZ(r.rotation),h=new a.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=B(P({},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),h=new a.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=B(P({},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(m=>new a.Vector3(m.x,m.y,m.z)).map(m=>m.applyMatrix4(h)),[d,n,l,c]=o,u=Math.max(Math.abs(d.x-l.x),Math.abs(d.x-n.x)),x=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:B(P({},r),{center:{x:r.center.x-x.x,y:r.center.y-x.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:h}=r;for(let o=0;o<h;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};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@labelbee/lb-annotation",
-  "version": "1.27.0-alpha.28",
+  "version": "1.27.0-alpha.29",
   "description": "Annotation tool collection",
   "keywords": [
     "annotation",