@labelbee/lb-annotation 1.27.0-alpha.32 → 1.27.0-alpha.34
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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),
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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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"use strict";var turf=require("@turf/turf"),annotation=require("../../constant/annotation.js"),CommonToolUtils=require("./CommonToolUtils.js"),tool=require("../../constant/tool.js"),AxisUtils=require("./AxisUtils.js"),MathUtils=require("../MathUtils.js"),LineToolUtils=require("./LineToolUtils.js"),__defProp=Object.defineProperty,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__defNormalProp=(L,e,t)=>e in L?__defProp(L,e,{enumerable:!0,configurable:!0,writable:!0,value:t}):L[e]=t,__spreadValues=(L,e)=>{for(var t in e||(e={}))__hasOwnProp.call(e,t)&&__defNormalProp(L,t,e[t]);if(__getOwnPropSymbols)for(var t of __getOwnPropSymbols(e))__propIsEnum.call(e,t)&&__defNormalProp(L,t,e[t]);return L};class PolygonUtils{static getHoverPolygonID(e,t,n=3,i=tool.ELineTypes.Line){let r="",o=Infinity;const l=AxisUtils.default.axisArea(e,n);return t.forEach(s=>{s.pointList&&l.forEach(u=>{const a=this.calcPolygonSize(s.pointList);this.isInPolygon(u,s.pointList,i)&&a<o&&(r=s.id,o=a)})}),r}static calcPolygonSize(e=[]){if((e==null?void 0:e.length)<=2)return 0;const t=e.length,n=e.reduce((i,r,o,l)=>{const s=l[(o+1)%t];return i+r.x*s.y-s.x*r.y},0);return Math.abs(n)/2}static isInPolygon(e,t,n=tool.ELineTypes.Line){let i=0,r,o,l,s;t=[...t],n===tool.ELineTypes.Curve&&(t=this.createSmoothCurvePoints(t.reduce((a,h)=>[...a,h.x,h.y],[]),.5,!0,20)),[l]=t;const u=t.length;for(r=1;r<=u;r++)s=t[r%u],e.x>Math.min(l.x,s.x)&&e.x<=Math.max(l.x,s.x)&&e.y<=Math.max(l.y,s.y)&&l.x!==s.x&&(o=(e.x-l.x)*(s.y-l.y)/(s.x-l.x)+l.y,(l.y===s.y||e.y<=o)&&i++),l=s;return i%2!=0}static createSmoothCurvePointsFromPointList(e,t=tool.SEGMENT_NUMBER){return this.createSmoothCurvePoints(e.reduce((i,r)=>[...i,r.x,r.y],[]),.5,!1,t).map((i,r)=>{var o;const l=r/(tool.SEGMENT_NUMBER+1),s=Math.floor(l),u=(o=e[s])!=null?o:{};return __spreadValues(s===l?__spreadValues({},u):{specialEdge:u.specialEdge},i)})}static createSmoothCurvePoints(e,t=.5,n=!1,i=tool.SEGMENT_NUMBER){if(e.length<4)return e;const r=[],o=e.slice(0);let l,s,u,a,h,g,P,E,x,m,c,d,f;for(n?(o.unshift(e[e.length-1]),o.unshift(e[e.length-2]),o.unshift(e[e.length-1]),o.unshift(e[e.length-2]),o.push(e[0]),o.push(e[1])):(o.unshift(e[1]),o.unshift(e[0]),o.push(e[e.length-2]),o.push(e[e.length-1])),f=2;f<o.length-4;f+=2)for(u=(o[f+2]-o[f-2])*t,a=(o[f+4]-o[f-0])*t,h=(o[f+3]-o[f-1])*t,g=(o[f+5]-o[f+1])*t,d=0;d<=i;d++)c=d/i,P=2*Math.pow(c,3)-3*Math.pow(c,2)+1,E=-(2*Math.pow(c,3))+3*Math.pow(c,2),x=Math.pow(c,3)-2*Math.pow(c,2)+c,m=Math.pow(c,3)-Math.pow(c,2),l=P*o[f]+E*o[f+2]+x*u+m*a,s=P*o[f+1]+E*o[f+3]+x*h+m*g,r.push(l),r.push(s);const v=[];for(let y=0;y<r.length-1;y+=2)v.push({x:r[y],y:r[y+1]});if(n)for(let y=0;y<i+1;y++){const M=v.shift();v.push(M)}return v}static getPolygonByID(e,t){return e.find(n=>n.id===t)}static getPolygonByIDs(e,t){return t&&(t==null?void 0:t.length)>0?e.filter(n=>t.includes(n.id)):[]}static getHoverEdgeIndex(e,t,n=tool.ELineTypes.Line,i=
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"use strict";var turf=require("@turf/turf"),annotation=require("../../constant/annotation.js"),CommonToolUtils=require("./CommonToolUtils.js"),tool=require("../../constant/tool.js"),AxisUtils=require("./AxisUtils.js"),MathUtils=require("../MathUtils.js"),LineToolUtils=require("./LineToolUtils.js"),__defProp=Object.defineProperty,__getOwnPropSymbols=Object.getOwnPropertySymbols,__hasOwnProp=Object.prototype.hasOwnProperty,__propIsEnum=Object.prototype.propertyIsEnumerable,__defNormalProp=(L,e,t)=>e in L?__defProp(L,e,{enumerable:!0,configurable:!0,writable:!0,value:t}):L[e]=t,__spreadValues=(L,e)=>{for(var t in e||(e={}))__hasOwnProp.call(e,t)&&__defNormalProp(L,t,e[t]);if(__getOwnPropSymbols)for(var t of __getOwnPropSymbols(e))__propIsEnum.call(e,t)&&__defNormalProp(L,t,e[t]);return L};class PolygonUtils{static getHoverPolygonID(e,t,n=3,i=tool.ELineTypes.Line){let r="",o=Infinity;const l=AxisUtils.default.axisArea(e,n);return t.forEach(s=>{s.pointList&&l.forEach(u=>{const a=this.calcPolygonSize(s.pointList);this.isInPolygon(u,s.pointList,i)&&a<o&&(r=s.id,o=a)})}),r}static calcPolygonSize(e=[]){if((e==null?void 0:e.length)<=2)return 0;const t=e.length,n=e.reduce((i,r,o,l)=>{const s=l[(o+1)%t];return i+r.x*s.y-s.x*r.y},0);return Math.abs(n)/2}static isInPolygon(e,t,n=tool.ELineTypes.Line){let i=0,r,o,l,s;t=[...t],n===tool.ELineTypes.Curve&&(t=this.createSmoothCurvePoints(t.reduce((a,h)=>[...a,h.x,h.y],[]),.5,!0,20)),[l]=t;const u=t.length;for(r=1;r<=u;r++)s=t[r%u],e.x>Math.min(l.x,s.x)&&e.x<=Math.max(l.x,s.x)&&e.y<=Math.max(l.y,s.y)&&l.x!==s.x&&(o=(e.x-l.x)*(s.y-l.y)/(s.x-l.x)+l.y,(l.y===s.y||e.y<=o)&&i++),l=s;return i%2!=0}static createSmoothCurvePointsFromPointList(e,t=tool.SEGMENT_NUMBER){return this.createSmoothCurvePoints(e.reduce((i,r)=>[...i,r.x,r.y],[]),.5,!1,t).map((i,r)=>{var o;const l=r/(tool.SEGMENT_NUMBER+1),s=Math.floor(l),u=(o=e[s])!=null?o:{};return __spreadValues(s===l?__spreadValues({},u):{specialEdge:u.specialEdge},i)})}static createSmoothCurvePoints(e,t=.5,n=!1,i=tool.SEGMENT_NUMBER){if(e.length<4)return e;const r=[],o=e.slice(0);let l,s,u,a,h,g,P,E,x,m,c,d,f;for(n?(o.unshift(e[e.length-1]),o.unshift(e[e.length-2]),o.unshift(e[e.length-1]),o.unshift(e[e.length-2]),o.push(e[0]),o.push(e[1])):(o.unshift(e[1]),o.unshift(e[0]),o.push(e[e.length-2]),o.push(e[e.length-1])),f=2;f<o.length-4;f+=2)for(u=(o[f+2]-o[f-2])*t,a=(o[f+4]-o[f-0])*t,h=(o[f+3]-o[f-1])*t,g=(o[f+5]-o[f+1])*t,d=0;d<=i;d++)c=d/i,P=2*Math.pow(c,3)-3*Math.pow(c,2)+1,E=-(2*Math.pow(c,3))+3*Math.pow(c,2),x=Math.pow(c,3)-2*Math.pow(c,2)+c,m=Math.pow(c,3)-Math.pow(c,2),l=P*o[f]+E*o[f+2]+x*u+m*a,s=P*o[f+1]+E*o[f+3]+x*h+m*g,r.push(l),r.push(s);const v=[];for(let y=0;y<r.length-1;y+=2)v.push({x:r[y],y:r[y+1]});if(n)for(let y=0;y<i+1;y++){const M=v.shift();v.push(M)}return v}static getPolygonByID(e,t){return e.find(n=>n.id===t)}static getPolygonByIDs(e,t){return t&&(t==null?void 0:t.length)>0?e.filter(n=>t.includes(n.id)):[]}static getHoverEdgeIndex(e,t,n=tool.ELineTypes.Line,i=5){let r=[...t];n===tool.ELineTypes.Curve?r=this.createSmoothCurvePoints(t.reduce((s,u)=>[...s,u.x,u.y],[]),.5,!0,tool.SEGMENT_NUMBER):n===tool.ELineTypes.Line&&r.push(r[0]);let o=-1,l=i;for(let s=0;s<r.length-1;s++){const{length:u}=MathUtils.default.getFootOfPerpendicular(e,r[s],r[s+1],!0);u<l&&(o=s,l=u)}return o===-1?-1:n===tool.ELineTypes.Curve?Math.floor(o/tool.SEGMENT_NUMBER):o}static getClosestPoint(e,t,n=tool.ELineTypes.Line,i=3,r){var o;let l=!1;const s=(o=r==null?void 0:r.isClose)!=null?o:!0;let u="",a=-1,h=Infinity,g=e;const P=20;let E=!1;return t.forEach(x=>{if(!E&&!!x.pointList)switch(n){case tool.ELineTypes.Line:CommonToolUtils.findAllLine(x.pointList,s).forEach((c,d)=>{if(E)return;let{length:f,footPoint:v}=MathUtils.default.getFootOfPerpendicular(e,c.point1,c.point2);const y=MathUtils.default.getLineLength(c.point1,e),M=MathUtils.default.getLineLength(c.point2,e);y<i*2&&(v=c.point1,f=y,E=!0),M<i*2&&(v=c.point2,f=M,E=!0),f<h&&f<i&&(u=x.id,a=d,h=f,g=v,l=!0)});break;case tool.ELineTypes.Curve:{const m=this.createSmoothCurvePoints(x.pointList.reduce((c,d)=>[...c,d.x,d.y],[]),.5,s,P);for(let c=0;c<m.length-1;c++){const{length:d,footPoint:f}=MathUtils.default.getFootOfPerpendicular(e,m[c],m[c+1]);d<h&&d<i&&(u=x.id,a=Math.floor(c/(P+1)),h=d,g=f,l=!0)}}break}}),{dropFoot:g,closestEdgeIndex:a,closestPolygonID:u,hasClosed:l}}static isPointListInPolygon(e,t,n=tool.ELineTypes.Line){return e.every(i=>this.isInPolygon(i,t,n))}static isPointListOutSidePolygon(e,t,n=tool.ELineTypes.Line){return e.some(i=>!this.isInPolygon(i,t,n))}static getPolygonArea(e){let t=0;for(let n=0,i=e.length;n<i;n++){const r=e[n].x,o=e[n===e.length-1?0:n+1].y,l=e[n===e.length-1?0:n+1].x,s=e[n].y;t+=r*o*.5,t-=l*s*.5}return Math.abs(t)}static updatePolygonByRotate(e,t=1,n){let i=1;return e===annotation.ERotateDirection.Anticlockwise&&(i=-1),i*=t,MathUtils.default.rotateRectPointList(i,n)}static deletePolygonLastPoint(e,t,n,i){return n===i.length-1?e:[...e,{x:t[0],y:t[1]}]}static concatBeginAndEnd(e){return e.length<1?e:[...e,e[0]]}static segmentPolygonByPolygon(e,t){var n,i;try{let r=turf.polygon([[...PolygonUtils.concatBeginAndEnd(e.map(l=>[l.x,l.y]))]]);return t.forEach(l=>{const s=turf.polygon([[...PolygonUtils.concatBeginAndEnd(l.pointList.map(a=>[a.x,a.y]))]]),u=turf.difference(r,s);u&&(r=u)}),((i=(n=r==null?void 0:r.geometry)==null?void 0:n.coordinates.map(l=>{var s;return((s=r==null?void 0:r.geometry)==null?void 0:s.type)==="MultiPolygon"?l[0].reduce(PolygonUtils.deletePolygonLastPoint,[]):l.reduce(PolygonUtils.deletePolygonLastPoint,[])}))!=null?i:[]).reduce((l,s)=>{const u=s.length,a=s.filter((h,g)=>{const P=(g+1)%u;return!AxisUtils.default.getIsInScope(h,s[P],1)});return a.length<3?l:[...l,a]},[])}catch(r){console.error(r)}}static getPolygonPointList(e,t){const n=t.find(i=>i.id===e);return n&&n.pointList&&n.pointList.length>0?n.pointList:[]}static getWrapPolygonIndex(e,t){return t.findIndex(n=>PolygonUtils.isPointListInPolygon(e,n.pointList))}static clipPolygonFromWrapPolygon(e,t){const n=PolygonUtils.isPolygonClosewise(t),i=PolygonUtils.isPolygonClosewise(e),r=PolygonUtils.getClosePointDistanceFromPolygon(e[0],t),o=t[r];let l=[...t.slice(0,r),o,...e,e[0],...t.slice(r,t.length)];return n===i&&(l=[...t.slice(0,r),o,e[0],...e.reverse(),...t.slice(r,t.length)]),l}static isPolygonClosewise(e){const t=e.length;let n,i,r,o=0,l;if(t<3)return 0;for(n=0;n<t;n++)i=(n+1)%t,r=(n+2)%t,l=(e[i].x-e[n].x)*(e[r].y-e[i].y),l-=(e[i].y-e[n].y)*(e[r].x-e[i].x),l<0?o--:l>0&&o++;return o>0?1:o<0?-1:0}static getClosePointDistanceFromPolygon(e,t){let n=Number.MAX_SAFE_INTEGER,i=-1;return t.forEach((r,o)=>{const l=LineToolUtils.default.calcDistance(e,r);l<n&&(n=l,i=o)}),i}static combinePolygonWithPolygon(e,t){var n,i;try{const r=turf.polygon([[...PolygonUtils.concatBeginAndEnd(e.pointList.map(a=>[a.x,a.y]))]]),o=turf.polygon([[...PolygonUtils.concatBeginAndEnd(t.pointList.map(a=>[a.x,a.y]))]]),l=turf.union(r,o),s=[],u=e;if(((i=(n=l==null?void 0:l.geometry)==null?void 0:n.coordinates)==null?void 0:i.length)===1){s.push(t.id);const a=l==null?void 0:l.geometry.coordinates.map(h=>{var g;return((g=l==null?void 0:l.geometry)==null?void 0:g.type)==="MultiPolygon"?h[0].reduce(PolygonUtils.deletePolygonLastPoint,[]):h.reduce(PolygonUtils.deletePolygonLastPoint,[])})[0];u.pointList=a}return{newPolygon:u,unionList:s}}catch(r){console.error(r)}}static composePointList(e,t){let n=0,i=0,r=Number.MAX_VALUE;return e.forEach((o,l)=>{t.forEach((s,u)=>{const a=LineToolUtils.default.calcDistance(o,s);a<r&&(n=l+1,i=u+1,r=a)})}),[...e.slice(0,n),...t.slice(i,t.length),...t.slice(0,i),...e.slice(n,e.length)]}static composeSegmentPolygonList(e){var t,n;const i=[];for(let r=0;r<e.length;r++)for(let o=0;o<e.length;o++){const l=(t=e[r])==null?void 0:t.pointList,s=(n=e[o])==null?void 0:n.pointList;r!==o&&l&&s&&PolygonUtils.isPointListInPolygon(s,l)&&(e[r].pointList=PolygonUtils.composePointList(l,s),i.unshift(o))}return i.forEach(r=>{e.splice(r,1)}),e}}module.exports=PolygonUtils;
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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),
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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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import{polygon as A,difference as B,union as O}from"@turf/turf";import{ERotateDirection as F}from"../../constant/annotation.js";import N from"./CommonToolUtils.js";import{ELineTypes as y,SEGMENT_NUMBER as p}from"../../constant/tool.js";import D from"./AxisUtils.js";import L from"../MathUtils.js";import b from"./LineToolUtils.js";var z=Object.defineProperty,_=Object.getOwnPropertySymbols,R=Object.prototype.hasOwnProperty,T=Object.prototype.propertyIsEnumerable,j=(M,t,e)=>t in M?z(M,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):M[t]=e,S=(M,t)=>{for(var e in t||(t={}))R.call(t,e)&&j(M,e,t[e]);if(_)for(var e of _(t))T.call(t,e)&&j(M,e,t[e]);return M};class h{static getHoverPolygonID(t,e,n=3,i=y.Line){let o="",r=Infinity;const l=D.axisArea(t,n);return e.forEach(s=>{s.pointList&&l.forEach(c=>{const u=this.calcPolygonSize(s.pointList);this.isInPolygon(c,s.pointList,i)&&u<r&&(o=s.id,r=u)})}),o}static calcPolygonSize(t=[]){if((t==null?void 0:t.length)<=2)return 0;const e=t.length,n=t.reduce((i,o,r,l)=>{const s=l[(r+1)%e];return i+o.x*s.y-s.x*o.y},0);return Math.abs(n)/2}static isInPolygon(t,e,n=y.Line){let i=0,o,r,l,s;e=[...e],n===y.Curve&&(e=this.createSmoothCurvePoints(e.reduce((u,d)=>[...u,d.x,d.y],[]),.5,!0,20)),[l]=e;const c=e.length;for(o=1;o<=c;o++)s=e[o%c],t.x>Math.min(l.x,s.x)&&t.x<=Math.max(l.x,s.x)&&t.y<=Math.max(l.y,s.y)&&l.x!==s.x&&(r=(t.x-l.x)*(s.y-l.y)/(s.x-l.x)+l.y,(l.y===s.y||t.y<=r)&&i++),l=s;return i%2!=0}static createSmoothCurvePointsFromPointList(t,e=p){return this.createSmoothCurvePoints(t.reduce((i,o)=>[...i,o.x,o.y],[]),.5,!1,e).map((i,o)=>{var r;const l=o/(p+1),s=Math.floor(l),c=(r=t[s])!=null?r:{};return S(s===l?S({},c):{specialEdge:c.specialEdge},i)})}static createSmoothCurvePoints(t,e=.5,n=!1,i=p){if(t.length<4)return t;const o=[],r=t.slice(0);let l,s,c,u,d,m,v,E,P,I,a,g,f;for(n?(r.unshift(t[t.length-1]),r.unshift(t[t.length-2]),r.unshift(t[t.length-1]),r.unshift(t[t.length-2]),r.push(t[0]),r.push(t[1])):(r.unshift(t[1]),r.unshift(t[0]),r.push(t[t.length-2]),r.push(t[t.length-1])),f=2;f<r.length-4;f+=2)for(c=(r[f+2]-r[f-2])*e,u=(r[f+4]-r[f-0])*e,d=(r[f+3]-r[f-1])*e,m=(r[f+5]-r[f+1])*e,g=0;g<=i;g++)a=g/i,v=2*Math.pow(a,3)-3*Math.pow(a,2)+1,E=-(2*Math.pow(a,3))+3*Math.pow(a,2),P=Math.pow(a,3)-2*Math.pow(a,2)+a,I=Math.pow(a,3)-Math.pow(a,2),l=v*r[f]+E*r[f+2]+P*c+I*u,s=v*r[f+1]+E*r[f+3]+P*d+I*m,o.push(l),o.push(s);const C=[];for(let x=0;x<o.length-1;x+=2)C.push({x:o[x],y:o[x+1]});if(n)for(let x=0;x<i+1;x++){const w=C.shift();C.push(w)}return C}static getPolygonByID(t,e){return t.find(n=>n.id===e)}static getPolygonByIDs(t,e){return e&&(e==null?void 0:e.length)>0?t.filter(n=>e.includes(n.id)):[]}static getHoverEdgeIndex(t,e,n=y.Line,i=
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import{polygon as A,difference as B,union as O}from"@turf/turf";import{ERotateDirection as F}from"../../constant/annotation.js";import N from"./CommonToolUtils.js";import{ELineTypes as y,SEGMENT_NUMBER as p}from"../../constant/tool.js";import D from"./AxisUtils.js";import L from"../MathUtils.js";import b from"./LineToolUtils.js";var z=Object.defineProperty,_=Object.getOwnPropertySymbols,R=Object.prototype.hasOwnProperty,T=Object.prototype.propertyIsEnumerable,j=(M,t,e)=>t in M?z(M,t,{enumerable:!0,configurable:!0,writable:!0,value:e}):M[t]=e,S=(M,t)=>{for(var e in t||(t={}))R.call(t,e)&&j(M,e,t[e]);if(_)for(var e of _(t))T.call(t,e)&&j(M,e,t[e]);return M};class h{static getHoverPolygonID(t,e,n=3,i=y.Line){let o="",r=Infinity;const l=D.axisArea(t,n);return e.forEach(s=>{s.pointList&&l.forEach(c=>{const u=this.calcPolygonSize(s.pointList);this.isInPolygon(c,s.pointList,i)&&u<r&&(o=s.id,r=u)})}),o}static calcPolygonSize(t=[]){if((t==null?void 0:t.length)<=2)return 0;const e=t.length,n=t.reduce((i,o,r,l)=>{const s=l[(r+1)%e];return i+o.x*s.y-s.x*o.y},0);return Math.abs(n)/2}static isInPolygon(t,e,n=y.Line){let i=0,o,r,l,s;e=[...e],n===y.Curve&&(e=this.createSmoothCurvePoints(e.reduce((u,d)=>[...u,d.x,d.y],[]),.5,!0,20)),[l]=e;const c=e.length;for(o=1;o<=c;o++)s=e[o%c],t.x>Math.min(l.x,s.x)&&t.x<=Math.max(l.x,s.x)&&t.y<=Math.max(l.y,s.y)&&l.x!==s.x&&(r=(t.x-l.x)*(s.y-l.y)/(s.x-l.x)+l.y,(l.y===s.y||t.y<=r)&&i++),l=s;return i%2!=0}static createSmoothCurvePointsFromPointList(t,e=p){return this.createSmoothCurvePoints(t.reduce((i,o)=>[...i,o.x,o.y],[]),.5,!1,e).map((i,o)=>{var r;const l=o/(p+1),s=Math.floor(l),c=(r=t[s])!=null?r:{};return S(s===l?S({},c):{specialEdge:c.specialEdge},i)})}static createSmoothCurvePoints(t,e=.5,n=!1,i=p){if(t.length<4)return t;const o=[],r=t.slice(0);let l,s,c,u,d,m,v,E,P,I,a,g,f;for(n?(r.unshift(t[t.length-1]),r.unshift(t[t.length-2]),r.unshift(t[t.length-1]),r.unshift(t[t.length-2]),r.push(t[0]),r.push(t[1])):(r.unshift(t[1]),r.unshift(t[0]),r.push(t[t.length-2]),r.push(t[t.length-1])),f=2;f<r.length-4;f+=2)for(c=(r[f+2]-r[f-2])*e,u=(r[f+4]-r[f-0])*e,d=(r[f+3]-r[f-1])*e,m=(r[f+5]-r[f+1])*e,g=0;g<=i;g++)a=g/i,v=2*Math.pow(a,3)-3*Math.pow(a,2)+1,E=-(2*Math.pow(a,3))+3*Math.pow(a,2),P=Math.pow(a,3)-2*Math.pow(a,2)+a,I=Math.pow(a,3)-Math.pow(a,2),l=v*r[f]+E*r[f+2]+P*c+I*u,s=v*r[f+1]+E*r[f+3]+P*d+I*m,o.push(l),o.push(s);const C=[];for(let x=0;x<o.length-1;x+=2)C.push({x:o[x],y:o[x+1]});if(n)for(let x=0;x<i+1;x++){const w=C.shift();C.push(w)}return C}static getPolygonByID(t,e){return t.find(n=>n.id===e)}static getPolygonByIDs(t,e){return e&&(e==null?void 0:e.length)>0?t.filter(n=>e.includes(n.id)):[]}static getHoverEdgeIndex(t,e,n=y.Line,i=5){let o=[...e];n===y.Curve?o=this.createSmoothCurvePoints(e.reduce((s,c)=>[...s,c.x,c.y],[]),.5,!0,p):n===y.Line&&o.push(o[0]);let r=-1,l=i;for(let s=0;s<o.length-1;s++){const{length:c}=L.getFootOfPerpendicular(t,o[s],o[s+1],!0);c<l&&(r=s,l=c)}return r===-1?-1:n===y.Curve?Math.floor(r/p):r}static getClosestPoint(t,e,n=y.Line,i=3,o){var r;let l=!1;const s=(r=o==null?void 0:o.isClose)!=null?r:!0;let c="",u=-1,d=Infinity,m=t;const v=20;let E=!1;return e.forEach(P=>{if(!E&&!!P.pointList)switch(n){case y.Line:N.findAllLine(P.pointList,s).forEach((a,g)=>{if(E)return;let{length:f,footPoint:C}=L.getFootOfPerpendicular(t,a.point1,a.point2);const x=L.getLineLength(a.point1,t),w=L.getLineLength(a.point2,t);x<i*2&&(C=a.point1,f=x,E=!0),w<i*2&&(C=a.point2,f=w,E=!0),f<d&&f<i&&(c=P.id,u=g,d=f,m=C,l=!0)});break;case y.Curve:{const I=this.createSmoothCurvePoints(P.pointList.reduce((a,g)=>[...a,g.x,g.y],[]),.5,s,v);for(let a=0;a<I.length-1;a++){const{length:g,footPoint:f}=L.getFootOfPerpendicular(t,I[a],I[a+1]);g<d&&g<i&&(c=P.id,u=Math.floor(a/(v+1)),d=g,m=f,l=!0)}}break}}),{dropFoot:m,closestEdgeIndex:u,closestPolygonID:c,hasClosed:l}}static isPointListInPolygon(t,e,n=y.Line){return t.every(i=>this.isInPolygon(i,e,n))}static isPointListOutSidePolygon(t,e,n=y.Line){return t.some(i=>!this.isInPolygon(i,e,n))}static getPolygonArea(t){let e=0;for(let n=0,i=t.length;n<i;n++){const o=t[n].x,r=t[n===t.length-1?0:n+1].y,l=t[n===t.length-1?0:n+1].x,s=t[n].y;e+=o*r*.5,e-=l*s*.5}return Math.abs(e)}static updatePolygonByRotate(t,e=1,n){let i=1;return t===F.Anticlockwise&&(i=-1),i*=e,L.rotateRectPointList(i,n)}static deletePolygonLastPoint(t,e,n,i){return n===i.length-1?t:[...t,{x:e[0],y:e[1]}]}static concatBeginAndEnd(t){return t.length<1?t:[...t,t[0]]}static segmentPolygonByPolygon(t,e){var n,i;try{let o=A([[...h.concatBeginAndEnd(t.map(l=>[l.x,l.y]))]]);return e.forEach(l=>{const s=A([[...h.concatBeginAndEnd(l.pointList.map(u=>[u.x,u.y]))]]),c=B(o,s);c&&(o=c)}),((i=(n=o==null?void 0:o.geometry)==null?void 0:n.coordinates.map(l=>{var s;return((s=o==null?void 0:o.geometry)==null?void 0:s.type)==="MultiPolygon"?l[0].reduce(h.deletePolygonLastPoint,[]):l.reduce(h.deletePolygonLastPoint,[])}))!=null?i:[]).reduce((l,s)=>{const c=s.length,u=s.filter((d,m)=>{const v=(m+1)%c;return!D.getIsInScope(d,s[v],1)});return u.length<3?l:[...l,u]},[])}catch(o){console.error(o)}}static getPolygonPointList(t,e){const n=e.find(i=>i.id===t);return n&&n.pointList&&n.pointList.length>0?n.pointList:[]}static getWrapPolygonIndex(t,e){return e.findIndex(n=>h.isPointListInPolygon(t,n.pointList))}static clipPolygonFromWrapPolygon(t,e){const n=h.isPolygonClosewise(e),i=h.isPolygonClosewise(t),o=h.getClosePointDistanceFromPolygon(t[0],e),r=e[o];let l=[...e.slice(0,o),r,...t,t[0],...e.slice(o,e.length)];return n===i&&(l=[...e.slice(0,o),r,t[0],...t.reverse(),...e.slice(o,e.length)]),l}static isPolygonClosewise(t){const e=t.length;let n,i,o,r=0,l;if(e<3)return 0;for(n=0;n<e;n++)i=(n+1)%e,o=(n+2)%e,l=(t[i].x-t[n].x)*(t[o].y-t[i].y),l-=(t[i].y-t[n].y)*(t[o].x-t[i].x),l<0?r--:l>0&&r++;return r>0?1:r<0?-1:0}static getClosePointDistanceFromPolygon(t,e){let n=Number.MAX_SAFE_INTEGER,i=-1;return e.forEach((o,r)=>{const l=b.calcDistance(t,o);l<n&&(n=l,i=r)}),i}static combinePolygonWithPolygon(t,e){var n,i;try{const o=A([[...h.concatBeginAndEnd(t.pointList.map(u=>[u.x,u.y]))]]),r=A([[...h.concatBeginAndEnd(e.pointList.map(u=>[u.x,u.y]))]]),l=O(o,r),s=[],c=t;if(((i=(n=l==null?void 0:l.geometry)==null?void 0:n.coordinates)==null?void 0:i.length)===1){s.push(e.id);const u=l==null?void 0:l.geometry.coordinates.map(d=>{var m;return((m=l==null?void 0:l.geometry)==null?void 0:m.type)==="MultiPolygon"?d[0].reduce(h.deletePolygonLastPoint,[]):d.reduce(h.deletePolygonLastPoint,[])})[0];c.pointList=u}return{newPolygon:c,unionList:s}}catch(o){console.error(o)}}static composePointList(t,e){let n=0,i=0,o=Number.MAX_VALUE;return t.forEach((r,l)=>{e.forEach((s,c)=>{const u=b.calcDistance(r,s);u<o&&(n=l+1,i=c+1,o=u)})}),[...t.slice(0,n),...e.slice(i,e.length),...e.slice(0,i),...t.slice(n,t.length)]}static composeSegmentPolygonList(t){var e,n;const i=[];for(let o=0;o<t.length;o++)for(let r=0;r<t.length;r++){const l=(e=t[o])==null?void 0:e.pointList,s=(n=t[r])==null?void 0:n.pointList;o!==r&&l&&s&&h.isPointListInPolygon(s,l)&&(t[o].pointList=h.composePointList(l,s),i.unshift(r))}return i.forEach(o=>{t.splice(o,1)}),t}}export{h as default};
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