@viamrobotics/motion-tools 1.30.0 → 1.31.0

package/dist/loaders/pcd/worker.inline.js

@@ -3608,7 +3608,7 @@ void main() {
 	#include <fog_fragment>
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-\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let x=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(x[d.x])),s.push(parseFloat(x[d.y])),s.push(parseFloat(x[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(I=>I==="rgb"),T=i.type[b],A=parseFloat(x[d.rgb]),E=A;if(T==="F"){let I=new Float32Array(1);I[0]=A,E=new Int32Array(I.buffer)[0]}let S=(E>>16&255)/255,R=(E>>8&255)/255,P=(E>>0&255)/255;c.setRGB(S,R,P,W),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(x[d.normal_x])),r.push(parseFloat(x[d.normal_y])),r.push(parseFloat(x[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(x[d.intensity])),d.label!==void 0&&o.push(parseInt(x[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let x=0;x<i.points;x++){if(y.x!==void 0){let b=i.fields.indexOf("x"),T=i.fields.indexOf("y"),A=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*x,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[T]*x,i.type[T],i.size[T])),s.push(this._getDataView(g,i.points*y.z+i.size[A]*x,i.type[A],i.size[A]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),T=g.getUint8(i.points*y.rgb+i.size[b]*x+2)/255,A=g.getUint8(i.points*y.rgb+i.size[b]*x+1)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*x+0)/255;c.setRGB(T,A,E,W),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),T=i.fields.indexOf("normal_y"),A=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*x,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[T]*x,i.type[T],i.size[T])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[A]*x,i.type[A],i.size[A]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*x,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(this._getDataView(g,i.points*y.label+i.size[b]*x,i.type[b],i.size[b]))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),x=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[x],i.size[x]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,x=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,x,W),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),x=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[x],i.size[x]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}if(h.label!==void 0){let g=i.fields.indexOf("label");o.push(this._getDataView(d,_+h.label,i.type[g],i.size[g]))}}}let u=new Be;s.length>0&&u.setAttribute("position",new he(s,3)),r.length>0&&u.setAttribute("normal",new he(r,3)),a.length>0&&u.setAttribute("color",new he(a,3)),l.length>0&&u.setAttribute("intensity",new he(l,1)),o.length>0&&u.setAttribute("label",new \$e(o,1)),u.computeBoundingSphere();let f=new ze({size:.005});return a.length>0&&(f.vertexColors=!0),new Qe(u,f)}};var Sa=new Bt;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=Sa.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??void 0,r=s?new Uint8Array(s.length):void 0;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
+\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let x=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(x[d.x])),s.push(parseFloat(x[d.y])),s.push(parseFloat(x[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(I=>I==="rgb"),T=i.type[b],A=parseFloat(x[d.rgb]),E=A;if(T==="F"){let I=new Float32Array(1);I[0]=A,E=new Int32Array(I.buffer)[0]}let S=(E>>16&255)/255,R=(E>>8&255)/255,P=(E>>0&255)/255;c.setRGB(S,R,P,W),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(x[d.normal_x])),r.push(parseFloat(x[d.normal_y])),r.push(parseFloat(x[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(x[d.intensity])),d.label!==void 0&&o.push(parseInt(x[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let x=0;x<i.points;x++){if(y.x!==void 0){let b=i.fields.indexOf("x"),T=i.fields.indexOf("y"),A=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*x,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[T]*x,i.type[T],i.size[T])),s.push(this._getDataView(g,i.points*y.z+i.size[A]*x,i.type[A],i.size[A]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),T=g.getUint8(i.points*y.rgb+i.size[b]*x+2)/255,A=g.getUint8(i.points*y.rgb+i.size[b]*x+1)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*x+0)/255;c.setRGB(T,A,E,W),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),T=i.fields.indexOf("normal_y"),A=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*x,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[T]*x,i.type[T],i.size[T])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[A]*x,i.type[A],i.size[A]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*x,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(this._getDataView(g,i.points*y.label+i.size[b]*x,i.type[b],i.size[b]))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),x=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[x],i.size[x]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,x=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,x,W),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),x=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[x],i.size[x]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}if(h.label!==void 0){let g=i.fields.indexOf("label");o.push(this._getDataView(d,_+h.label,i.type[g],i.size[g]))}}}let u=new Be;s.length>0&&u.setAttribute("position",new he(s,3)),r.length>0&&u.setAttribute("normal",new he(r,3)),a.length>0&&u.setAttribute("color",new he(a,3)),l.length>0&&u.setAttribute("intensity",new he(l,1)),o.length>0&&u.setAttribute("label",new \$e(o,1)),u.computeBoundingSphere();let f=new ze({size:.005});return a.length>0&&(f.vertexColors=!0),new Qe(u,f)}};var Sa=new Bt;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=Sa.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??void 0,r=s?new Uint8Array(s.length):void 0;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},{transfer:r?[i.buffer,r.buffer]:[i.buffer]})}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
 /*! Bundled license information:
 
 three/build/three.core.js:

package/dist/loaders/pcd/worker.js

@@ -22,7 +22,9 @@ globalThis.onmessage = async (event) => {
                     colors[i] = Math.round(colorsFloat[i] * 255);
                 }
             }
-            postMessage({ positions, colors, id }, colors ? [positions.buffer, colors.buffer] : [positions.buffer]);
+            postMessage({ positions, colors, id }, {
+                transfer: colors ? [positions.buffer, colors.buffer] : [positions.buffer],
+            });
         }
         else {
             postMessage({ id, error: 'Failed to extract geometry' });

package/dist/plugins/Selection/Ellipse.svelte

@@ -3,7 +3,7 @@
 
 	import { useThrelte } from '@threlte/core'
 	import earcut from 'earcut'
-	import { Not } from 'koota'
+	import { type Entity, Not } from 'koota'
 	import { Box3, Triangle, Vector3 } from 'three'
 
 	import { createBufferGeometry } from '../../attribute'
@@ -11,6 +11,7 @@
 	import { useCameraControls } from '../../hooks/useControls.svelte'
 
 	import Debug from './Debug.svelte'
+	import * as selectionRelations from './relations'
 	import * as selectionTraits from './traits'
 	import { getTriangleBoxesFromIndices, getTriangleFromIndex, raycast } from './utils'
 
@@ -168,7 +169,7 @@
 		max.set(ellipseBox.maxX, ellipseBox.maxY, Number.POSITIVE_INFINITY)
 		box3.set(min, max)
 
-		const enclosedPoints: number[] = []
+		const enclosedPoints = new Map<Entity, number[]>()
 
 		for (const pointsEntity of world.query(
 			traits.Points,
@@ -202,7 +203,8 @@
 							getTriangleFromIndex(i, indices, positions, triangle)
 
 							if (triangle.containsPoint(point)) {
-								enclosedPoints.push(point.x, point.y, point.z)
+								if (!enclosedPoints.has(pointsEntity)) enclosedPoints.set(pointsEntity, [])
+								enclosedPoints.get(pointsEntity)!.push(point.x, point.y, point.z)
 							}
 						}
 					}
@@ -211,19 +213,22 @@
 			} as ShapecastCallbacks)
 		}
 
-		const ellipseResultGeometry = createBufferGeometry(new Float32Array(enclosedPoints))
-
-		world.spawn(
-			traits.Name('Ellipse result'),
-			traits.BufferGeometry(ellipseResultGeometry),
-			traits.Color({ r: 1, g: 0, b: 0 }),
-			traits.RenderOrder(999),
-			traits.Material({ depthTest: false }),
-			traits.Points,
-			traits.Removable,
-			selectionTraits.SelectionEnclosedPoints,
-			selectionTraits.PointsCapturedBy(ellipse)
-		)
+		for (const [sourceEntity, points] of enclosedPoints) {
+			const ellipseResultGeometry = createBufferGeometry(new Float32Array(points))
+
+			world.spawn(
+				traits.Name('Ellipse result'),
+				traits.BufferGeometry(ellipseResultGeometry),
+				traits.Color({ r: 1, g: 0, b: 0 }),
+				traits.RenderOrder(999),
+				traits.Material({ depthTest: false }),
+				traits.Points,
+				traits.Removable,
+				selectionTraits.SelectionEnclosedPoints,
+				selectionRelations.SelectedFrom(sourceEntity),
+				selectionRelations.PointsCapturedBy(ellipse)
+			)
+		}
 	}
 
 	const onkeydown = (event: KeyboardEvent) => {

package/dist/plugins/Selection/Lasso.svelte

@@ -3,7 +3,7 @@
 
 	import { useThrelte } from '@threlte/core'
 	import earcut from 'earcut'
-	import { Not } from 'koota'
+	import { type Entity, Not } from 'koota'
 	import { Box3, Triangle, Vector3 } from 'three'
 
 	import { createBufferGeometry } from '../../attribute'
@@ -11,6 +11,7 @@
 	import { useCameraControls } from '../../hooks/useControls.svelte'
 
 	import Debug from './Debug.svelte'
+	import * as selectionRelations from './relations'
 	import * as selectionTraits from './traits'
 	import { getTriangleBoxesFromIndices, getTriangleFromIndex, raycast } from './utils'
 
@@ -149,7 +150,7 @@
 		max.set(lassoBox.maxX, lassoBox.maxY, Number.POSITIVE_INFINITY)
 		box3.set(min, max)
 
-		const enclosedPoints: number[] = []
+		const enclosedPoints = new Map<Entity, number[]>()
 
 		for (const pointsEntity of world.query(
 			traits.Points,
@@ -183,7 +184,8 @@
 							getTriangleFromIndex(i, indices, positions, triangle)
 
 							if (triangle.containsPoint(point)) {
-								enclosedPoints.push(point.x, point.y, point.z)
+								if (!enclosedPoints.has(pointsEntity)) enclosedPoints.set(pointsEntity, [])
+								enclosedPoints.get(pointsEntity)!.push(point.x, point.y, point.z)
 							}
 						}
 					}
@@ -192,19 +194,22 @@
 			} as ShapecastCallbacks)
 		}
 
-		const lassoResultGeometry = createBufferGeometry(new Float32Array(enclosedPoints))
-
-		world.spawn(
-			traits.Name('Lasso result'),
-			traits.BufferGeometry(lassoResultGeometry),
-			traits.Color({ r: 1, g: 0, b: 0 }),
-			traits.RenderOrder(999),
-			traits.Material({ depthTest: false }),
-			traits.Points,
-			traits.Removable,
-			selectionTraits.SelectionEnclosedPoints,
-			selectionTraits.PointsCapturedBy(lasso)
-		)
+		for (const [sourceEntity, points] of enclosedPoints) {
+			const lassoResultGeometry = createBufferGeometry(new Float32Array(points))
+
+			world.spawn(
+				traits.Name('Lasso result'),
+				traits.BufferGeometry(lassoResultGeometry),
+				traits.Color({ r: 1, g: 0, b: 0 }),
+				traits.RenderOrder(999),
+				traits.Material({ depthTest: false }),
+				traits.Points,
+				traits.Removable,
+				selectionTraits.SelectionEnclosedPoints,
+				selectionRelations.PointsCapturedBy(lasso),
+				selectionRelations.SelectedFrom(sourceEntity)
+			)
+		}
 	}
 
 	const onkeydown = (event: KeyboardEvent) => {

package/dist/plugins/Selection/relations.d.ts

@@ -0,0 +1,6 @@
+export declare const SelectedFrom: import("koota").Relation<import("koota").Trait<Record<string, never>>>;
+/**
+ * Captured points are removable, so we want to also destroy
+ * the source selection every time a user deletes one.
+ */
+export declare const PointsCapturedBy: import("koota").Relation<import("koota").Trait<Record<string, never>>>;

package/dist/plugins/Selection/relations.js

@@ -0,0 +1,7 @@
+import { relation } from 'koota';
+export const SelectedFrom = relation();
+/**
+ * Captured points are removable, so we want to also destroy
+ * the source selection every time a user deletes one.
+ */
+export const PointsCapturedBy = relation({ autoDestroy: 'target' });

package/dist/plugins/Selection/traits.d.ts

@@ -1,11 +1,6 @@
 export declare const Lasso: import("koota").Trait<() => boolean>;
 export declare const Ellipse: import("koota").Trait<() => boolean>;
 export declare const SelectionEnclosedPoints: import("koota").Trait<() => boolean>;
-/**
- * Captured points are removable, so we want to also destroy
- * the source selection every time a user deletes one.
- */
-export declare const PointsCapturedBy: import("koota").Relation<import("koota").Trait<Record<string, never>>>;
 export interface AABB {
     minX: number;
     minY: number;

package/dist/plugins/Selection/traits.js

@@ -1,12 +1,7 @@
-import { relation, trait } from 'koota';
+import { trait } from 'koota';
 export const Lasso = trait(() => true);
 export const Ellipse = trait(() => true);
 export const SelectionEnclosedPoints = trait(() => true);
-/**
- * Captured points are removable, so we want to also destroy
- * the source selection every time a user deletes one.
- */
-export const PointsCapturedBy = relation({ autoDestroy: 'target' });
 export const Box = trait({
     minX: 0,
     minY: 0,

package/dist/plugins/index.d.ts

@@ -1,5 +1,6 @@
 export { default as SelectionTool } from './Selection/SelectionTool.svelte';
 export * as selectionTraits from './Selection/traits';
+export * as selectionRelations from './Selection/relations';
 export { useSelectionPlugin } from './Selection/useSelectionPlugin.svelte';
 export { default as DrawService } from './DrawService/DrawService.svelte';
 export { default as Skybox } from './Skybox/Skybox.svelte';

package/dist/plugins/index.js

@@ -1,6 +1,7 @@
 // Selection
 export { default as SelectionTool } from './Selection/SelectionTool.svelte';
 export * as selectionTraits from './Selection/traits';
+export * as selectionRelations from './Selection/relations';
 export { useSelectionPlugin } from './Selection/useSelectionPlugin.svelte';
 // DrawService
 export { default as DrawService } from './DrawService/DrawService.svelte';

package/dist/snapshot.d.ts

@@ -31,3 +31,17 @@ export interface ReconcileResult {
     updated: SnapshotEntity[];
 }
 export declare const reconcileSnapshotEntities: (world: World, snapshot: Snapshot, prev: Map<string, SnapshotEntity>) => ReconcileResult;
+export interface SnapshotPointCloud {
+    name: string;
+    positions: Float32Array;
+    colors?: Uint8Array;
+}
+/**
+ * Decodes every point-cloud drawing in a snapshot into `{ name, positions, colors }`,
+ * keyed and merged by `referenceFrame`. Chunked clouds share a referenceFrame, so their
+ * positions/colors are concatenated back into one cloud. Inverse of `DrawPoints`.
+ *
+ * Colors are gated through `isVertexColors`: only genuine per-vertex color arrays are kept;
+ * single-uniform-color arrays (3 bytes) are discarded as `undefined`.
+ */
+export declare const decodeDrawnSnapshotPointClouds: (snapshot: Snapshot) => SnapshotPointCloud[];

package/dist/snapshot.js

@@ -1,5 +1,6 @@
 import { RenderArmModels } from './buf/draw/v1/scene_pb';
 import { traits } from './ecs';
+import { asFloat32Array, inMeters, isVertexColors } from './buffer';
 import { rgbToHex } from './color';
 import { drawDrawing, drawTransform, updateDrawing, updateModel, updateTransform, uuidBytesToString, } from './draw';
 /**
@@ -160,3 +161,25 @@ const getRenderArmModels = (renderArmModels) => {
         }
     }
 };
+/**
+ * Decodes every point-cloud drawing in a snapshot into `{ name, positions, colors }`,
+ * keyed and merged by `referenceFrame`. Chunked clouds share a referenceFrame, so their
+ * positions/colors are concatenated back into one cloud. Inverse of `DrawPoints`.
+ *
+ * Colors are gated through `isVertexColors`: only genuine per-vertex color arrays are kept;
+ * single-uniform-color arrays (3 bytes) are discarded as `undefined`.
+ */
+export const decodeDrawnSnapshotPointClouds = (snapshot) => {
+    const snapshotPointClouds = [];
+    for (const drawing of snapshot.drawings) {
+        const name = drawing.referenceFrame;
+        const geometryType = drawing.physicalObject?.geometryType;
+        if (geometryType?.case === 'points') {
+            const positions = asFloat32Array(geometryType.value.positions, inMeters);
+            const rawColors = drawing.metadata?.colors;
+            const colors = isVertexColors(rawColors) ? rawColors : undefined;
+            snapshotPointClouds.push({ name, positions, colors });
+        }
+    }
+    return snapshotPointClouds;
+};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.30.0",
+  "version": "1.31.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -17,7 +17,7 @@
     "@skeletonlabs/skeleton": "3.2.0",
     "@skeletonlabs/skeleton-svelte": "1.5.1",
     "@sveltejs/adapter-static": "3.0.9",
-    "@sveltejs/kit": "2.55.0",
+    "@sveltejs/kit": "2.60.1",
     "@sveltejs/package": "2.5.7",
     "@sveltejs/vite-plugin-svelte": "6.1.4",
     "@tailwindcss/forms": "0.5.10",