@labelbee/lb-annotation 1.27.0-alpha.31 → 1.27.0-alpha.33
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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"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,
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"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,h)=>c+u*__pow(p,h),0);return a.x=a.x/x*s,a.y=a.y/x*s,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+v*o[_],0)),f=l[0],a=l[1],x=l[2];if(!(x>=.01&&isFinite(x)))return;const p=[[r[0][0],r[0][1]],[r[1][0],r[1][1]]],s=r[0][2],y=r[1][2],c=Math.sqrt(f*f+a*a),u=Math.atan2(c,x),h=u+i.reduce((g,M,v)=>g+M*Math.pow(u,2*v+3),0);let m,d;c!==0?(m=f*h/c,d=a*h/c):(m=0,d=0);const T=p[0][0]*m+p[0][1]*d,P=p[1][0]*m+p[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(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 n*l-o*i}function buildConvexHull(e){const t=sortPoints(e),r=[];for(let o=0;o<t.length;o++){for(;r.length>=2&&crossProduct(r[r.length-2],r[r.length-1],t[o])<=0;)r.pop();r.push(t[o])}const n=[];for(let o=t.length-1;o>=0;o--){for(;n.length>=2&&crossProduct(n[n.length-2],n[n.length-1],t[o])<=0;)n.pop();n.push(t[o])}return r.pop(),n.pop(),r.concat(n)}const point3DLidar2Image=(e,t)=>{var r;if(isFisheyeCalibValid(t))return lidar2FisheyeImage(e,t);const{P:n,R:i,T:o}=t,{composeMatrix4:l}=(r=transferKitti2Matrix(n,i,o))!=null?r:{};if(!!l)return lidar2image(e,l)},isInImage=({point:e,calib:t,width:r,height:n})=>{if(!t)return!1;const i=point3DLidar2Image(e,t);return i?i.x>=0&&i.x<=r&&i.y>=0&&i.y<=n:!1},getHighlightIndexByPoints=({points:e,calib:t,width:r,height:n})=>{const i=[];for(let o=0;o<e.length;o+=3){const l=e[o],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 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 x=e.length/3,p={};for(let s=0;s<x;s++){const y={x:e[s*3],y:e[s*3+1],z:e[s*3+2]};let c;if(i?c=lidar2FisheyeImage(y,t):c=a&&lidar2image({x:e[s*3],y:e[s*3+1],z:e[s*3+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;p[s]={x:u,y:h}}}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 y;if(i?y=lidar2FisheyeImage(s,t):y=a&&lidar2image(s,a),y){const{x:c,y:u}=y;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;
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import*as p from"three";import{MatrixUtils as M,ECameraType as
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import*as 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),y=C(C(a.x,2)+C(a.y,2),.5),h=Math.atan(a.z/y),i=n.reduce((l,u,m)=>l+u*C(h,m),0);return a.x=a.x/y*i,a.y=a.y/y*i,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+L*o[Z],0)),f=c[0],a=c[1],y=c[2];if(!(y>=.01&&isFinite(y)))return;const h=[[e[0][0],e[0][1]],[e[1][0],e[1][1]]],i=e[0][2],x=e[1][2],l=Math.sqrt(f*f+a*a),u=Math.atan2(l,y),m=u+s.reduce((z,I,L)=>z+I*Math.pow(u,2*L+3),0);let P,_;l!==0?(P=f*m/l,_=a*m/l):(P=0,_=0);const q=h[0][0]*P+h[0][1]*_,N=h[1][0]*P+h[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(y=>{const h=F(y,t,o);return{x:h.x,y:h.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 n*c-o*s}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:y}=t;let h;if(c===!1){const{composeMatrix4:l}=(n=v(f,a,y))!=null?n:{};if(!l)return;h=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):h&&w(u,h)).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 y=r.length/3,h={};for(let i=0;i<y;i++){const x={x:r[i*3],y:r[i*3+1],z:r[i*3+2]};let l;if(s?l=T(x,t):l=a&&w({x:r[i*3],y:r[i*3+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;h[i]={x:u,y:m}}}return{pcdMapping:h}}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 y=[];if(r.forEach(i=>{let x;if(s?x=T(i,t):x=a&&w(i,a),x){const{x:l,y:u}=x;y.push({x:l,y:u})}}),y.some(i=>i.x>0&&i.x<e.width&&i.y>0&&i.y<e.height))return y}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};
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