npm - @labelbee/lb-annotation - Versions diffs - 1.27.0-alpha.30 → 1.27.0-alpha.32 - Mend

@labelbee/lb-annotation 1.27.0-alpha.30 → 1.27.0-alpha.32

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Files changed (5) hide show

package/dist/core/pointCloud/index.js +2 -2
package/dist/core/pointCloud/matrix.js +1 -1
package/es/core/pointCloud/index.js +2 -2
package/es/core/pointCloud/matrix.js +1 -1
package/package.json +1 -1

package/dist/core/pointCloud/index.js CHANGED Viewed

@@ -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 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:`
+"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;let 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),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;
+      }`,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)=>{this.workerLoading&&(console.error("highlightWorker called repeatedly, old call discarded"),highlightWorker.terminate(),highlightWorker=new highlightWorker$1({type:"module"})),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/core/pointCloud/matrix.js CHANGED Viewed

	@@ -1 +1 @@
1	- "use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),uuid=require("../../utils/uuid.js"),omniCamera=require("./omniCamera.js");function _interopNamespace(e){if(e&&e.__esModule)return e;var t=Object.create(null);return e&&Object.keys(e).forEach(function(r){if(r!=="default"){var n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:function(){return e[r]}})}}),t.default=e,Object.freeze(t)}var THREE__namespace=_interopNamespace(THREE),__defProp=Object.defineProperty,__defProps=Object.defineProperties,__getOwnPropDescs=Object.getOwnPropertyDescriptors,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__pow=Math.pow,__defNormalProp=(e,t,r)=>t in e?__defProp(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,__spreadValues=(e,t)=>{for(var r in t\|\|(t={}))__hasOwnProp.call(t,r)&&__defNormalProp(e,r,t[r]);if(__getOwnPropSymbols)for(var r of __getOwnPropSymbols(t))__propIsEnum.call(t,r)&&__defNormalProp(e,r,t[r]);return e},__spreadProps=(e,t)=>__defProps(e,__getOwnPropDescs(t));function createThreeMatrix4(e){return new THREE__namespace.Matrix4().set(...e)}function transferKitti2Matrix(e,t,r){try{const n=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),i=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),o=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),l=createThreeMatrix4(n),f=createThreeMatrix4(i),a=createThreeMatrix4(o);return{composeMatrix4:a.clone().premultiply(f).premultiply(l),PM:l,RM:f,TM:a}}catch(n){console.error(n)}}function rotatePoint(e,t,r){var n;const i=new THREE__namespace.Vector3(e.x,e.y,(n=e==null?void 0:e.z)!=null?n:1),o=new THREE__namespace.Matrix4().makeRotationZ(r),l=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),f=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(f).applyMatrix4(o).applyMatrix4(l)}function isMatrixValid(e,t,r){return!(e.length!==t\|\|e.some(n=>n.length!==r))}const isMatrixValidByArr=(e,t)=>t.some(r=>isMatrixValid(e,r[0],r[1])),isFisheyeCalibValid=e=>{var t;return!!(((t=e.fisheyeDistortion)==null?void 0:t.length)>0&&isMatrixValidByArr(e.P,[[3,4],[4,4]])&&isMatrixValidByArr(e.T,[[3,4],[4,4]]))},oCamFisheyeTransfer=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:r,fisheyeDistortion:n,T:i}=t,o=new THREE__namespace.Vector4(e.x,e.y,e.z),l=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(i)),f=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r)),a=o.applyMatrix4(l),x=__pow(__pow(a.x,2)+__pow(a.y,2),.5),p=Math.atan(a.z/x),s=n.reduce((c,u,y)=>c+u__pow(p,y),0);return a.x=a.x/xs,a.y=a.y/xs,a.z=1,a.applyMatrix4(f)},omniCamera11VTransfer=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:r,fisheyeDistortion:n,T:i}=t,o=omniCamera.transformPointCloudToImage([[e.x,e.y,e.z]],i,r,n);return new THREE__namespace.Vector4(o[0][0],o[0][1],1)},~~batchPolyval~~=(e,t)=>{const r~~=e.length;let~~ n~~=0;const~~ i=~~[];for(let~~ o=~~0;o<~~e.~~length;o++)i~~.~~push(~~e~~[r-o-~~1]+nt),n=e[~~r-o-1~~]~~+nt;return n}~~,~~kbCamFisheyeTransfer~~=(e,~~t)=>{const{P:r,fisheyeDistortion:n}~~=t,{x~~:i,y:o,z:l}~~=~~e,f=~~[[r[0][0],r[0][1]],[r[1][0],r[1][1]]],a=r[0][2],x=r[1][2],p=1/Math.~~hypot~~(~~i,o~~),s=[],h=~~Math~~.~~atan2~~(Math.~~hypot~~(i,o),l),c~~=batchPolyval~~(~~n,h);return s[0]~~=ipc,~~s[1]~~=opc,{x:f[0][0]~~s[0]~~+f[0][1]~~s[1]+a~~,~~y:f~~[1][0]~~s[0]~~+f[1][1]s~~[1]~~+x}},lidar2FisheyeImage=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.OmniCamera)return oCamFisheyeTransfer(e,t);if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.KannalaBrandt)return kbCamFisheyeTransfer(e,t);if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.OmniCamera11V)return omniCamera11VTransfer(e,t)};function lidar2image(e,t){const n=new THREE__namespace.Vector4(e.x,e.y,e.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new THREE__namespace.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function getCuboidFromPointCloudBox(e){const{center:t,width:r,height:n,depth:i,rotation:o}=e,l=[{x:t.x+r/2,y:t.y-n/2},{x:t.x+r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y-n/2}].map(x=>{const p=rotatePoint(x,t,o);return{x:p.x,y:p.y}}),f=t.z+i/2,a=t.z-i/2;return __spreadProps(__spreadValues({},e),{polygonPointList:l,zMax:f,zMin:a})}function sortPoints(e){const t=e.slice();return t.sort((r,n)=>r.x===n.x?n.y-r.y:r.x-n.x),t}function crossProduct(e,t,r){const n=t.x-e.x,i=t.y-e.y,o=r.x-e.x,l=r.y-e.y;return nl-oi}function buildConvexHull(e){const t=sortPoints(e),r=[];for(let o=0;o<t.length;o++){for(;r.length>=2&&crossProduct(r[r.length-2],r[r.length-1],t[o])<=0;)r.pop();r.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&crossProduct(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return r.pop(),n.pop(),r.concat(n)}const point3DLidar2Image=(e,t)=>{var r;if(isFisheyeCalibValid(t))return lidar2FisheyeImage(e,t);const{P:n,R:i,T:o}=t,{composeMatrix4:l}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};if(!!l)return lidar2image(e,l)},isInImage=({point:e,calib:t,width:r,height:n})=>{if(!t)return!1;const i=point3DLidar2Image(e,t);return i?i.x>=0&&i.x<=r&&i.y>=0&&i.y<=n:!1},getHighlightIndexByPoints=({points:e,calib:t,width:r,height:n})=>{const i=[];for(let o=0;o<e.length;o+=3){const l=e[o],f=e[o+1],a=e[o+2];isInImage({point:{x:l,y:f,z:a},calib:t,width:r,height:n})?i.push(1):i.push(0)}return i},mergeHighlightList=e=>{if(e.length===0)return[];const t=[];for(let r=0;r<e[0].length;r++){for(let n=0;n<e.length;n++)if(e[n][r]===1){t.push(1);break}t.length===r&&t.push(0)}return t};function pointCloudLidar2image(e,t,r={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=r,o=lbUtils.PointCloudUtils.getAllViewData(e),l=isFisheyeCalibValid(t),{P:f,R:a,T:x}=t;let p;if(l===!1){const{composeMatrix4:c}=(n=transferKitti2Matrix(f,a,x))!=null?n:{};if(!c)return;p=c}const s=o.map(c=>({type:c.type,pointList:c.pointList.map(u=>rotatePoint(u,e.center,e.rotation)).map(u=>l?lidar2FisheyeImage(u,t):p&&lidar2image(u,p)).map(u=>{if(!!u)return{id:uuid(),x:u==null?void 0:u.x,y:u==null?void 0:u.y}}).filter(u=>u!==void 0)})).filter(c=>c.pointList.length!==0);s[0]&&s[0].pointList&&l&&(s[0].pointList=s[0].pointList.map(c=>__spreadProps(__spreadValues({},c),{specialEdge:!0})));let h=[];if(s.length===6&&i===!0){const c=s[0].pointList,u=s[1].pointList;h=buildConvexHull([...c,...u])}return{transferViewData:s,viewRangePointList:h}}function pointMappingLidar2image(e,t,r){var n;const i=isFisheyeCalibValid(t),{P:o,R:l,T:f}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=transferKitti2Matrix(o,l,f))!=null?n:{};if(!s)return;a=s}const x=e.length/3,p={};for(let s=0;s<x;s++){const h={x:e[s3],y:e[s3+1],z:e[s3+2]};let c;if(i?c=lidar2FisheyeImage(h,t):c=a&&lidar2image({x:e[s3],y:e[s3+1],z:e[s*3+2]},a),c){const u=Math.floor(c.x),y=Math.floor(c.y);if(u>r.width\|\|y>r.height\|\|u<0\|\|y<0)continue;p[s]={x:u,y}}}return{pcdMapping:p}}function pointListLidar2Img(e,t,r){var n;if(!t\|\|!r)return;const i=isFisheyeCalibValid(t),{P:o,R:l,T:f}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=transferKitti2Matrix(o,l,f))!=null?n:{};if(!s)return;a=s}const x=[];if(e.forEach(s=>{let h;if(i?h=lidar2FisheyeImage(s,t):h=a&&lidar2image(s,a),h){const{x:c,y:u}=h;x.push({x:c,y:u})}}),x.some(s=>s.x>0&&s.x<r.width&&s.y>0&&s.y<r.height))return x}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=getHighlightIndexByPoints,exports.isFisheyeCalibValid=isFisheyeCalibValid,exports.isInImage=isInImage,exports.isMatrixValid=isMatrixValid,exports.isMatrixValidByArr=isMatrixValidByArr,exports.lidar2FisheyeImage=lidar2FisheyeImage,exports.lidar2image=lidar2image,exports.mergeHighlightList=mergeHighlightList,exports.oCamFisheyeTransfer=oCamFisheyeTransfer,exports.omniCamera11VTransfer=omniCamera11VTransfer,exports.point3DLidar2Image=point3DLidar2Image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.pointListLidar2Img=pointListLidar2Img,exports.pointMappingLidar2image=pointMappingLidar2image,exports.rotatePoint=rotatePoint,exports.transferKitti2Matrix=transferKitti2Matrix;
1	+ "use strict";Object.defineProperty(exports,"__esModule",{value:!0});var THREE=require("three"),lbUtils=require("@labelbee/lb-utils"),uuid=require("../../utils/uuid.js"),omniCamera=require("./omniCamera.js");function _interopNamespace(e){if(e&&e.__esModule)return e;var t=Object.create(null);return e&&Object.keys(e).forEach(function(r){if(r!=="default"){var n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:function(){return e[r]}})}}),t.default=e,Object.freeze(t)}var THREE__namespace=_interopNamespace(THREE),__defProp=Object.defineProperty,__defProps=Object.defineProperties,__getOwnPropDescs=Object.getOwnPropertyDescriptors,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__pow=Math.pow,__defNormalProp=(e,t,r)=>t in e?__defProp(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,__spreadValues=(e,t)=>{for(var r in t\|\|(t={}))__hasOwnProp.call(t,r)&&__defNormalProp(e,r,t[r]);if(__getOwnPropSymbols)for(var r of __getOwnPropSymbols(t))__propIsEnum.call(t,r)&&__defNormalProp(e,r,t[r]);return e},__spreadProps=(e,t)=>__defProps(e,__getOwnPropDescs(t));function createThreeMatrix4(e){return new THREE__namespace.Matrix4().set(...e)}function transferKitti2Matrix(e,t,r){try{const n=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(e),i=lbUtils.MatrixUtils.transferMatrix33FromKitti2Three(t),o=lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r),l=createThreeMatrix4(n),f=createThreeMatrix4(i),a=createThreeMatrix4(o);return{composeMatrix4:a.clone().premultiply(f).premultiply(l),PM:l,RM:f,TM:a}}catch(n){console.error(n)}}function rotatePoint(e,t,r){var n;const i=new THREE__namespace.Vector3(e.x,e.y,(n=e==null?void 0:e.z)!=null?n:1),o=new THREE__namespace.Matrix4().makeRotationZ(r),l=new THREE__namespace.Matrix4().makeTranslation(t.x,t.y,t.z),f=new THREE__namespace.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return i.clone().applyMatrix4(f).applyMatrix4(o).applyMatrix4(l)}function isMatrixValid(e,t,r){return!(e.length!==t\|\|e.some(n=>n.length!==r))}const isMatrixValidByArr=(e,t)=>t.some(r=>isMatrixValid(e,r[0],r[1])),isFisheyeCalibValid=e=>{var t;return!!(((t=e.fisheyeDistortion)==null?void 0:t.length)>0&&isMatrixValidByArr(e.P,[[3,4],[4,4]])&&isMatrixValidByArr(e.T,[[3,4],[4,4]]))},oCamFisheyeTransfer=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:r,fisheyeDistortion:n,T:i}=t,o=new THREE__namespace.Vector4(e.x,e.y,e.z),l=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(i)),f=createThreeMatrix4(lbUtils.MatrixUtils.transferMatrix34FromKitti2Three(r)),a=o.applyMatrix4(l),p=__pow(__pow(a.x,2)+__pow(a.y,2),.5),x=Math.atan(a.z/p),s=n.reduce((c,u,h)=>c+u__pow(x,h),0);return a.x=a.x/ps,a.y=a.y/ps,a.z=1,a.applyMatrix4(f)},omniCamera11VTransfer=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:r,fisheyeDistortion:n,T:i}=t,o=omniCamera.transformPointCloudToImage([[e.x,e.y,e.z]],i,r,n);return new THREE__namespace.Vector4(o[0][0],o[0][1],1)},kbCamFisheyeTransfer=(e,t)=>{const{P:r,T:n,fisheyeDistortion:i}=t,o=[e.x,e.y,e.z,1],l=n.map(g=>g.reduce((M,v,_)=>M+vo[_],0)),f=l[0],a=l[1],p=l[2],x=[[r[0][0],r[0][1]],[r[1][0],r[1][1]]],s=r[0][2],y=r[1][2],c=Math.sqrt(ff+aa),u=Math.atan2(c,p),h=u+i.reduce((g,M,v)=>g+MMath.pow(u,2v+3),0);let m,d;c!==0?(m=fh/c,d=ah/c):(m=0,d=0);const T=x[0][0]m+x[0][1]d,P=x[1][0]m+x[1][1]d;return{x:T+s,y:P+y}},lidar2FisheyeImage=(e,t)=>{if(isFisheyeCalibValid(t)===!1){console.error("Error Calib, it need fisheye calib");return}if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.OmniCamera)return oCamFisheyeTransfer(e,t);if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.KannalaBrandt)return kbCamFisheyeTransfer(e,t);if((t==null?void 0:t.cameraType)===lbUtils.ECameraType.OmniCamera11V)return omniCamera11VTransfer(e,t)};function lidar2image(e,t){const n=new THREE__namespace.Vector4(e.x,e.y,e.z).applyMatrix4(t);if(n.z<0)return;const i=1/n.z,o=new THREE__namespace.Matrix4().set(i,0,0,0,0,i,0,0,0,0,i,0,0,0,0,1);return n.applyMatrix4(o)}function getCuboidFromPointCloudBox(e){const{center:t,width:r,height:n,depth:i,rotation:o}=e,l=[{x:t.x+r/2,y:t.y-n/2},{x:t.x+r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y+n/2},{x:t.x-r/2,y:t.y-n/2}].map(p=>{const x=rotatePoint(p,t,o);return{x:x.x,y:x.y}}),f=t.z+i/2,a=t.z-i/2;return __spreadProps(__spreadValues({},e),{polygonPointList:l,zMax:f,zMin:a})}function sortPoints(e){const t=e.slice();return t.sort((r,n)=>r.x===n.x?n.y-r.y:r.x-n.x),t}function crossProduct(e,t,r){const n=t.x-e.x,i=t.y-e.y,o=r.x-e.x,l=r.y-e.y;return nl-oi}function buildConvexHull(e){const t=sortPoints(e),r=[];for(let o=0;o<t.length;o++){for(;r.length>=2&&crossProduct(r[r.length-2],r[r.length-1],t[o])<=0;)r.pop();r.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&crossProduct(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return r.pop(),n.pop(),r.concat(n)}const point3DLidar2Image=(e,t)=>{var r;if(isFisheyeCalibValid(t))return lidar2FisheyeImage(e,t);const{P:n,R:i,T:o}=t,{composeMatrix4:l}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};if(!!l)return lidar2image(e,l)},isInImage=({point:e,calib:t,width:r,height:n})=>{if(!t)return!1;const i=point3DLidar2Image(e,t);return i?i.x>=0&&i.x<=r&&i.y>=0&&i.y<=n:!1},getHighlightIndexByPoints=({points:e,calib:t,width:r,height:n})=>{const i=[];for(let o=0;o<e.length;o+=3){const l=e[o],f=e[o+1],a=e[o+2];isInImage({point:{x:l,y:f,z:a},calib:t,width:r,height:n})?i.push(1):i.push(0)}return i},mergeHighlightList=e=>{if(e.length===0)return[];const t=[];for(let r=0;r<e[0].length;r++){for(let n=0;n<e.length;n++)if(e[n][r]===1){t.push(1);break}t.length===r&&t.push(0)}return t};function pointCloudLidar2image(e,t,r={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:i}=r,o=lbUtils.PointCloudUtils.getAllViewData(e),l=isFisheyeCalibValid(t),{P:f,R:a,T:p}=t;let x;if(l===!1){const{composeMatrix4:c}=(n=transferKitti2Matrix(f,a,p))!=null?n:{};if(!c)return;x=c}const s=o.map(c=>({type:c.type,pointList:c.pointList.map(u=>rotatePoint(u,e.center,e.rotation)).map(u=>l?lidar2FisheyeImage(u,t):x&&lidar2image(u,x)).map(u=>{if(!!u)return{id:uuid(),x:u==null?void 0:u.x,y:u==null?void 0:u.y}}).filter(u=>u!==void 0)})).filter(c=>c.pointList.length!==0);s[0]&&s[0].pointList&&l&&(s[0].pointList=s[0].pointList.map(c=>__spreadProps(__spreadValues({},c),{specialEdge:!0})));let y=[];if(s.length===6&&i===!0){const c=s[0].pointList,u=s[1].pointList;y=buildConvexHull([...c,...u])}return{transferViewData:s,viewRangePointList:y}}function pointMappingLidar2image(e,t,r){var n;const i=isFisheyeCalibValid(t),{P:o,R:l,T:f}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=transferKitti2Matrix(o,l,f))!=null?n:{};if(!s)return;a=s}const p=e.length/3,x={};for(let s=0;s<p;s++){const y={x:e[s3],y:e[s3+1],z:e[s3+2]};let c;if(i?c=lidar2FisheyeImage(y,t):c=a&&lidar2image({x:e[s3],y:e[s3+1],z:e[s3+2]},a),c){const u=Math.floor(c.x),h=Math.floor(c.y);if(u>r.width\|\|h>r.height\|\|u<0\|\|h<0)continue;x[s]={x:u,y:h}}}return{pcdMapping:x}}function pointListLidar2Img(e,t,r){var n;if(!t\|\|!r)return;const i=isFisheyeCalibValid(t),{P:o,R:l,T:f}=t;let a;if(i===!1){const{composeMatrix4:s}=(n=transferKitti2Matrix(o,l,f))!=null?n:{};if(!s)return;a=s}const p=[];if(e.forEach(s=>{let y;if(i?y=lidar2FisheyeImage(s,t):y=a&&lidar2image(s,a),y){const{x:c,y:u}=y;p.push({x:c,y:u})}}),p.some(s=>s.x>0&&s.x<r.width&&s.y>0&&s.y<r.height))return p}exports.createThreeMatrix4=createThreeMatrix4,exports.getCuboidFromPointCloudBox=getCuboidFromPointCloudBox,exports.getHighlightIndexByPoints=getHighlightIndexByPoints,exports.isFisheyeCalibValid=isFisheyeCalibValid,exports.isInImage=isInImage,exports.isMatrixValid=isMatrixValid,exports.isMatrixValidByArr=isMatrixValidByArr,exports.lidar2FisheyeImage=lidar2FisheyeImage,exports.lidar2image=lidar2image,exports.mergeHighlightList=mergeHighlightList,exports.oCamFisheyeTransfer=oCamFisheyeTransfer,exports.omniCamera11VTransfer=omniCamera11VTransfer,exports.point3DLidar2Image=point3DLidar2Image,exports.pointCloudLidar2image=pointCloudLidar2image,exports.pointListLidar2Img=pointListLidar2Img,exports.pointMappingLidar2image=pointMappingLidar2image,exports.rotatePoint=rotatePoint,exports.transferKitti2Matrix=transferKitti2Matrix;

package/es/core/pointCloud/index.js CHANGED Viewed

@@ -1,4 +1,4 @@
-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:`
+import*as a from"three";import{toolStyleConverter as k,PerspectiveShiftUtils as S,EPerspectiveView as b,PointCloudUtils as V,DEFAULT_SPHERE_PARAMS as I}from"@labelbee/lb-utils";import L from"../../_virtual/highlightWorker.js";import R from"../../_virtual/filterBoxWorker.js";import{isInPolygon as H}from"../../utils/tool/polygonTool.js";import A from"../../utils/uuid.js";import j 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,N=(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)&&N(C,e,t[e]);if(_)for(var e of _(t))rt.call(t,e)&&N(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;let O=new L({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:A();this.removeObjectByName(u,"sphere");const{radius:p,widthSegments:x,heightSegments:g}=I,{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:A();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),F=new a.BoxHelper(z,l),E=this.generateBoxArrow(n),T=this.generateBoxTrackID(n);T&&y.add(T),y.add(F),y.add(E),p&&y.position.set(p.x,p.y,p.z),f&&y.rotation.set(0,0,f),y.name=`box${u}`,this.scene.add(y)},this.applyCameraTarget=n=>{if(this.camera.type==="OrthographicCamera"&&n){const l=this.getOrthographicCameraTarget(n);this.updateCameraZoom(n.zoom),this.updateCamera(n.position,l)}},this.initShaderMaterial=()=>({vertexShader:`
       attribute vec3 dimensions;
       varying vec3 vDimensions;
       uniform float pointSize;
@@ -28,4 +28,4 @@ import*as a from"three";import{toolStyleConverter as k,PerspectiveShiftUtils as
         // Output the final color
         gl_FragColor = vec4(color, 1.0);
-      }`,uniforms:{pointSize:{value:this.pointsMaterialSize}}}),this.loadPCDFile=(...n)=>v(this,[...n],function*(l=this.currentPCDSrc,c){if(!l)return;this.clearPointCloud(),this.cacheInstance.clearCache2DHighlightIndex(),this.currentPCDSrc=l;const{points:u,color:p}=yield this.cacheInstance.loadPCDFile(l),x=new a.BufferGeometry;x.setAttribute("position",new a.BufferAttribute(u,3)),this.isSegment||x.setAttribute("dimensions",new a.BufferAttribute(p,3)),this.initCloudData(u);const g=new a.Points(x);this.renderPointCloud(g,c),this.emit("loadPCDFileEnd")}),this.getHighlightIndexByMappingImgList=n=>v(this,[n],function*({mappingImgList:l,points:c}){const u=m=>v(this,null,function*(){try{return yield W.load(m)}catch(f){return console.error("Error loading image:",f),null}}),p=l.length===0?[]:(yield Promise.all(l.map(m=>v(this,null,function*(){let f=yield u(m.url);return!f&&m.fallbackUrl&&(f=yield u(m.fallbackUrl)),f})))).filter(m=>m!==null),x=l.map((m,f)=>{var y;if(this.cacheInstance.cache2DHighlightIndex.has(m.url))return(y=this.cacheInstance.cache2DHighlightIndex.get(m.url))!=null?y:[];const w=$({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};
+      }`,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=j.calculatePointsInsideBox({indexMap:p,polygon:D(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}=I,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}=D(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)=>{this.workerLoading&&(console.error("highlightWorker called repeatedly, old call discarded"),O.terminate(),O=new L({type:"module"})),this.workerLoading=!0,O.postMessage(t),O.onmessage=r=>{e(r.data),this.workerLoading=!1},O.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=>D(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=j.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 V.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}=I,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}=I,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/es/core/pointCloud/matrix.js CHANGED Viewed

	@@ -1 +1 @@
1	- importas p from"three";import{MatrixUtils as M,ECameraType as _,PointCloudUtils as K}from"@labelbee/lb-utils";import A from"../../utils/uuid.js";import{transformPointCloudToImage as k}from"./omniCamera.js";var B=Object.defineProperty,N=Object.defineProperties,U=Object.getOwnPropertyDescriptors,I=Object.getOwnPropertySymbols~~,Z=~~Object.prototype.hasOwnProperty,q=Object.prototype.propertyIsEnumerable,T=Math.pow,L=(r,t,e)=>t in r?B(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,V=(r,t)=>{for(var e in t\|\|(t={}))Z.call(t,e)&&L(r,e,t[e]);if(I)for(var e of I(t))q.call(t,e)&&L(r,e,t[e]);return r},F=(r,t)=>N(r,U(t));function g(r){return new p.Matrix4().set(...r)}function v(r,t,e){try{const n=M.transferMatrix34FromKitti2Three(r),s=M.transferMatrix33FromKitti2Three(t),o=M.transferMatrix34FromKitti2Three(e),c=g(n),f=g(s),a=g(o);return{composeMatrix4:a.clone().premultiply(f).premultiply(c),PM:c,RM:f,TM:a}}catch(n){console.error(n)}}function C(r,t,e){var n;const s=new p.Vector3(r.x,r.y,(n=r==null?void 0:r.z)!=null?n:1),o=new p.Matrix4().makeRotationZ(e),c=new p.Matrix4().makeTranslation(t.x,t.y,t.z),f=new p.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return s.clone().applyMatrix4(f).applyMatrix4(o).applyMatrix4(c)}function O(r,t,e){return!(r.length!==t\|\|r.some(n=>n.length!==e))}const z=(r,t)=>t.some(e=>O(r,e[0],e[1])),m=r=>{var t;return!!(((t=r.fisheyeDistortion)==null?void 0:t.length)>0&&z(r.P,[[3,4],[4,4]])&&z(r.T,[[3,4],[4,4]]))},R=(r,t)=>{if(m(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:e,fisheyeDistortion:n,T:s}=t,o=new p.Vector4(r.x,r.y,r.z),c=g(M.transferMatrix34FromKitti2Three(s)),f=g(M.transferMatrix34FromKitti2Three(e)),a=o.applyMatrix4(c),h=T(T(a.x,2)+T(a.y,2),.5),y=Math.atan(a.z/h),i=n.reduce((l,u,d)=>l+uT(y,d),0);return a.x=a.x/hi,a.y=a.y/hi,a.z=1,a.applyMatrix4(f)},E=(r,t)=>{if(m(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:e,fisheyeDistortion:n,T:s}=t,o=k([[r.x,r.y,r.z]],s,e,n);return new p.Vector4(o[0][0],o[0][1],1)},G=(r,t)=>{const e~~=r.length;let~~ n~~=0;const~~ s=~~[];for(let~~ o=~~0;o<~~r.~~length;o++)s~~.~~push(~~r~~[e-o-~~1]+nt),n=r[~~e-o-1~~]~~+nt;return n}~~,J=(r,~~t)=>{const{P:e,fisheyeDistortion:n}~~=t,~~{x:s,~~y~~:o,z:c}~~=~~r,f=~~[[e[0][0],e[0][1]],[e[1][0],e[1][1]]],a=e[0][2],h=e[1][2],y=1/Math.~~hypot~~(~~s,o~~),i=~~[],x=~~Math.atan2(~~Math~~.~~hypot~~(s,o),c)~~,l=G~~(n,x);~~return~~ i[0]=syl,~~i[1]~~=oyl,~~{x:f~~[0][0]~~i[0]~~+f[0][1]~~i[1]+a~~,y:f[1][0]~~i[0]~~+f[1][1]i~~[1]~~+h}},P=(r,t)=>{if(m(t)===!1){console.error("Error Calib, it need fisheye calib");return}if((t==null?void 0:t.cameraType)===_.OmniCamera)return R(r,t);if((t==null?void 0:t.cameraType)===_.KannalaBrandt)return J(r,t);if((t==null?void 0:t.cameraType)===_.OmniCamera11V)return E(r,t)};function w(r,t){const n=new p.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(n.z<0)return;const s=1/n.z,o=new p.Matrix4().set(s,0,0,0,0,s,0,0,0,0,s,0,0,0,0,1);return n.applyMatrix4(o)}function Q(r){const{center:t,width:e,height:n,depth:s,rotation:o}=r,c=[{x:t.x+e/2,y:t.y-n/2},{x:t.x+e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y-n/2}].map(h=>{const y=C(h,t,o);return{x:y.x,y:y.y}}),f=t.z+s/2,a=t.z-s/2;return F(V({},r),{polygonPointList:c,zMax:f,zMin:a})}function W(r){const t=r.slice();return t.sort((e,n)=>e.x===n.x?n.y-e.y:e.x-n.x),t}function D(r,t,e){const n=t.x-r.x,s=t.y-r.y,o=e.x-r.x,c=e.y-r.y;return nc-os}function X(r){const t=W(r),e=[];for(let o=0;o<t.length;o++){for(;e.length>=2&&D(e[e.length-2],e[e.length-1],t[o])<=0;)e.pop();e.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&D(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return e.pop(),n.pop(),e.concat(n)}const H=(r,t)=>{var e;if(m(t))return P(r,t);const{P:n,R:s,T:o}=t,{composeMatrix4:c}=(e=v(n,s,o))!=null?e:{};if(!!c)return w(r,c)},j=({point:r,calib:t,width:e,height:n})=>{if(!t)return!1;const s=H(r,t);return s?s.x>=0&&s.x<=e&&s.y>=0&&s.y<=n:!1},Y=({points:r,calib:t,width:e,height:n})=>{const s=[];for(let o=0;o<r.length;o+=3){const c=r[o],f=r[o+1],a=r[o+2];j({point:{x:c,y:f,z:a},calib:t,width:e,height:n})?s.push(1):s.push(0)}return s}~~,$=~~r=>{if(r.length===0)return[];const t=[];for(let e=0;e<r[0].length;e++){for(let n=0;n<r.length;n++)if(r[n][e]===1){t.push(1);break}t.length===e&&t.push(0)}return t};function S(r,t,e={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:s}=e,o=K.getAllViewData(r),c=m(t),{P:f,R:a,T:h}=t;let y;if(c===!1){const{composeMatrix4:l}=(n=v(f,a,h))!=null?n:{};if(!l)return;y=l}const i=o.map(l=>({type:l.type,pointList:l.pointList.map(u=>C(u,r.center,r.rotation)).map(u=>c?P(u,t):y&&w(u,y)).map(u=>{if(!!u)return{id:A(),x:u==null?void 0:u.x,y:u==null?void 0:u.y}}).filter(u=>u!==void 0)})).filter(l=>l.pointList.length!==0);i[0]&&i[0].pointList&&c&&(i[0].pointList=i[0].pointList.map(l=>F(V({},l),{specialEdge:!0})));let x=[];if(i.length===6&&s===!0){const l=i[0].pointList,u=i[1].pointList;x=X([...l,...u])}return{transferViewData:i,viewRangePointList:x}}function b(r,t,e){var n;const s=m(t),{P:o,R:c,T:f}=t;let a;if(s===!1){const{composeMatrix4:i}=(n=v(o,c,f))!=null?n:{};if(!i)return;a=i}const h=r.length/3,y={};for(let i=0;i<h;i++){const x={x:r[i3],y:r[i3+1],z:r[i3+2]};let l;if(s?l=P(x,t):l=a&&w({x:r[i3],y:r[i3+1],z:r[i3+2]},a),l){const u=Math.floor(l.x),d=Math.floor(l.y);if(u>e.width\|\|d>e.height\|\|u<0\|\|d<0)continue;y[i]={x:u,y:d}}}return{pcdMapping:y}}function tt(r,t,e){var n;if(!t\|\|!e)return;const s=m(t),{P:o,R:c,T:f}=t;let a;if(s===!1){const{composeMatrix4:i}=(n=v(o,c,f))!=null?n:{};if(!i)return;a=i}const h=[];if(r.forEach(i=>{let x;if(s?x=P(i,t):x=a&&w(i,a),x){const{x:l,y:u}=x;h.push({x:l,y:u})}}),h.some(i=>i.x>0&&i.x<e.width&&i.y>0&&i.y<e.height))return h}export{g as createThreeMatrix4,Q as getCuboidFromPointCloudBox,Y as getHighlightIndexByPoints,m as isFisheyeCalibValid,j as isInImage,O as isMatrixValid,z as isMatrixValidByArr,P as lidar2FisheyeImage,w as lidar2image,$ as mergeHighlightList,R as oCamFisheyeTransfer,E as omniCamera11VTransfer,H as point3DLidar2Image,S as pointCloudLidar2image,tt as pointListLidar2Img,b as pointMappingLidar2image,C as rotatePoint,v as transferKitti2Matrix};
1	+ importas p from"three";import{MatrixUtils as M,ECameraType as V,PointCloudUtils as G}from"@labelbee/lb-utils";import J from"../../utils/uuid.js";import{transformPointCloudToImage as Q}from"./omniCamera.js";var W=Object.defineProperty,X=Object.defineProperties,Y=Object.getOwnPropertyDescriptors,R=Object.getOwnPropertySymbols,$=Object.prototype.hasOwnProperty,S=Object.prototype.propertyIsEnumerable,C=Math.pow,D=(r,t,e)=>t in r?W(r,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):r[t]=e,E=(r,t)=>{for(var e in t\|\|(t={}))$.call(t,e)&&D(r,e,t[e]);if(R)for(var e of R(t))S.call(t,e)&&D(r,e,t[e]);return r},A=(r,t)=>X(r,Y(t));function g(r){return new p.Matrix4().set(...r)}function v(r,t,e){try{const n=M.transferMatrix34FromKitti2Three(r),s=M.transferMatrix33FromKitti2Three(t),o=M.transferMatrix34FromKitti2Three(e),c=g(n),f=g(s),a=g(o);return{composeMatrix4:a.clone().premultiply(f).premultiply(c),PM:c,RM:f,TM:a}}catch(n){console.error(n)}}function F(r,t,e){var n;const s=new p.Vector3(r.x,r.y,(n=r==null?void 0:r.z)!=null?n:1),o=new p.Matrix4().makeRotationZ(e),c=new p.Matrix4().makeTranslation(t.x,t.y,t.z),f=new p.Matrix4().makeTranslation(-t.x,-t.y,-t.z);return s.clone().applyMatrix4(f).applyMatrix4(o).applyMatrix4(c)}function H(r,t,e){return!(r.length!==t\|\|r.some(n=>n.length!==e))}const O=(r,t)=>t.some(e=>H(r,e[0],e[1])),d=r=>{var t;return!!(((t=r.fisheyeDistortion)==null?void 0:t.length)>0&&O(r.P,[[3,4],[4,4]])&&O(r.T,[[3,4],[4,4]]))},j=(r,t)=>{if(d(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:e,fisheyeDistortion:n,T:s}=t,o=new p.Vector4(r.x,r.y,r.z),c=g(M.transferMatrix34FromKitti2Three(s)),f=g(M.transferMatrix34FromKitti2Three(e)),a=o.applyMatrix4(c),h=C(C(a.x,2)+C(a.y,2),.5),y=Math.atan(a.z/h),i=n.reduce((l,u,m)=>l+uC(y,m),0);return a.x=a.x/hi,a.y=a.y/hi,a.z=1,a.applyMatrix4(f)},K=(r,t)=>{if(d(t)===!1){console.error("Error Calib, it need fisheye calib");return}const{P:e,fisheyeDistortion:n,T:s}=t,o=Q([[r.x,r.y,r.z]],s,e,n);return new p.Vector4(o[0][0],o[0][1],1)},b=(r,t)=>{const{P:e,T:n,fisheyeDistortion:s}=t,o=[r.x,r.y,r.z,1],c=n.map(z=>z.reduce((I,L,Z)=>I+Lo[Z],0)),f=c[0],a=c[1],h=c[2],y=[[e[0][0],e[0][1]],[e[1][0],e[1][1]]],i=e[0][2],x=e[1][2],l=Math.sqrt(ff+aa),u=Math.atan2(l,h),m=u+s.reduce((z,I,L)=>z+IMath.pow(u,2L+3),0);let P,_;l!==0?(P=fm/l,_=am/l):(P=0,_=0);const q=y[0][0]P+y[0][1]_,N=y[1][0]P+y[1][1]_;return{x:q+i,y:N+x}},T=(r,t)=>{if(d(t)===!1){console.error("Error Calib, it need fisheye calib");return}if((t==null?void 0:t.cameraType)===V.OmniCamera)return j(r,t);if((t==null?void 0:t.cameraType)===V.KannalaBrandt)return b(r,t);if((t==null?void 0:t.cameraType)===V.OmniCamera11V)return K(r,t)};function w(r,t){const n=new p.Vector4(r.x,r.y,r.z).applyMatrix4(t);if(n.z<0)return;const s=1/n.z,o=new p.Matrix4().set(s,0,0,0,0,s,0,0,0,0,s,0,0,0,0,1);return n.applyMatrix4(o)}function tt(r){const{center:t,width:e,height:n,depth:s,rotation:o}=r,c=[{x:t.x+e/2,y:t.y-n/2},{x:t.x+e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y+n/2},{x:t.x-e/2,y:t.y-n/2}].map(h=>{const y=F(h,t,o);return{x:y.x,y:y.y}}),f=t.z+s/2,a=t.z-s/2;return A(E({},r),{polygonPointList:c,zMax:f,zMin:a})}function rt(r){const t=r.slice();return t.sort((e,n)=>e.x===n.x?n.y-e.y:e.x-n.x),t}function k(r,t,e){const n=t.x-r.x,s=t.y-r.y,o=e.x-r.x,c=e.y-r.y;return nc-os}function et(r){const t=rt(r),e=[];for(let o=0;o<t.length;o++){for(;e.length>=2&&k(e[e.length-2],e[e.length-1],t[o])<=0;)e.pop();e.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&k(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return e.pop(),n.pop(),e.concat(n)}const B=(r,t)=>{var e;if(d(t))return T(r,t);const{P:n,R:s,T:o}=t,{composeMatrix4:c}=(e=v(n,s,o))!=null?e:{};if(!!c)return w(r,c)},U=({point:r,calib:t,width:e,height:n})=>{if(!t)return!1;const s=B(r,t);return s?s.x>=0&&s.x<=e&&s.y>=0&&s.y<=n:!1},nt=({points:r,calib:t,width:e,height:n})=>{const s=[];for(let o=0;o<r.length;o+=3){const c=r[o],f=r[o+1],a=r[o+2];U({point:{x:c,y:f,z:a},calib:t,width:e,height:n})?s.push(1):s.push(0)}return s},ot=r=>{if(r.length===0)return[];const t=[];for(let e=0;e<r[0].length;e++){for(let n=0;n<r.length;n++)if(r[n][e]===1){t.push(1);break}t.length===e&&t.push(0)}return t};function st(r,t,e={createRange:!1}){var n;if(!t)return{transferViewData:[],viewRangePointList:[]};const{createRange:s}=e,o=G.getAllViewData(r),c=d(t),{P:f,R:a,T:h}=t;let y;if(c===!1){const{composeMatrix4:l}=(n=v(f,a,h))!=null?n:{};if(!l)return;y=l}const i=o.map(l=>({type:l.type,pointList:l.pointList.map(u=>F(u,r.center,r.rotation)).map(u=>c?T(u,t):y&&w(u,y)).map(u=>{if(!!u)return{id:J(),x:u==null?void 0:u.x,y:u==null?void 0:u.y}}).filter(u=>u!==void 0)})).filter(l=>l.pointList.length!==0);i[0]&&i[0].pointList&&c&&(i[0].pointList=i[0].pointList.map(l=>A(E({},l),{specialEdge:!0})));let x=[];if(i.length===6&&s===!0){const l=i[0].pointList,u=i[1].pointList;x=et([...l,...u])}return{transferViewData:i,viewRangePointList:x}}function it(r,t,e){var n;const s=d(t),{P:o,R:c,T:f}=t;let a;if(s===!1){const{composeMatrix4:i}=(n=v(o,c,f))!=null?n:{};if(!i)return;a=i}const h=r.length/3,y={};for(let i=0;i<h;i++){const x={x:r[i3],y:r[i3+1],z:r[i3+2]};let l;if(s?l=T(x,t):l=a&&w({x:r[i3],y:r[i3+1],z:r[i*3+2]},a),l){const u=Math.floor(l.x),m=Math.floor(l.y);if(u>e.width\|\|m>e.height\|\|u<0\|\|m<0)continue;y[i]={x:u,y:m}}}return{pcdMapping:y}}function at(r,t,e){var n;if(!t\|\|!e)return;const s=d(t),{P:o,R:c,T:f}=t;let a;if(s===!1){const{composeMatrix4:i}=(n=v(o,c,f))!=null?n:{};if(!i)return;a=i}const h=[];if(r.forEach(i=>{let x;if(s?x=T(i,t):x=a&&w(i,a),x){const{x:l,y:u}=x;h.push({x:l,y:u})}}),h.some(i=>i.x>0&&i.x<e.width&&i.y>0&&i.y<e.height))return h}export{g as createThreeMatrix4,tt as getCuboidFromPointCloudBox,nt as getHighlightIndexByPoints,d as isFisheyeCalibValid,U as isInImage,H as isMatrixValid,O as isMatrixValidByArr,T as lidar2FisheyeImage,w as lidar2image,ot as mergeHighlightList,j as oCamFisheyeTransfer,K as omniCamera11VTransfer,B as point3DLidar2Image,st as pointCloudLidar2image,at as pointListLidar2Img,it as pointMappingLidar2image,F as rotatePoint,v as transferKitti2Matrix};

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@labelbee/lb-annotation",
-  "version": "1.27.0-alpha.30",
+  "version": "1.27.0-alpha.32",
   "description": "Annotation tool collection",
   "keywords": [
     "annotation",