@x-humanoid-cloud/bic-map 0.0.1
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.
- package/LICENSE +30 -0
- package/README.en.md +157 -0
- package/README.md +157 -0
- package/THIRD-PARTY-LICENSES.md +223 -0
- package/dist/bic-map.mjs +12421 -0
- package/dist/bic-map.umd.js +1 -0
- package/dist/cdn/bicMap.ext.min.js +22 -0
- package/package.json +50 -0
package/LICENSE
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
1
|
+
MIT License
|
|
2
|
+
|
|
3
|
+
Copyright (c) 2024-2026 北京人形机器人创新中心 (Beijing Innovation Center of Humanoid Robotics)
|
|
4
|
+
|
|
5
|
+
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
6
|
+
of this software and associated documentation files (the "Software"), to deal
|
|
7
|
+
in the Software without restriction, including without limitation the rights
|
|
8
|
+
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
9
|
+
copies of the Software, and to permit persons to whom the Software is
|
|
10
|
+
furnished to do so, subject to the following conditions:
|
|
11
|
+
|
|
12
|
+
The above copyright notice and this permission notice shall be included in all
|
|
13
|
+
copies or substantial portions of the Software.
|
|
14
|
+
|
|
15
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
16
|
+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
17
|
+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
18
|
+
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
19
|
+
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
20
|
+
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
21
|
+
SOFTWARE.
|
|
22
|
+
|
|
23
|
+
-------------------------------------------------------------------------------
|
|
24
|
+
|
|
25
|
+
This product bundles and redistributes third-party open source components.
|
|
26
|
+
Their copyright notices and license texts are provided separately in
|
|
27
|
+
THIRD-PARTY-LICENSES.md.
|
|
28
|
+
|
|
29
|
+
本产品打包并再分发了第三方开源组件，其版权声明与许可证文本见同目录下的
|
|
30
|
+
THIRD-PARTY-LICENSES.md。
|
package/README.en.md
ADDED
|
@@ -0,0 +1,157 @@
|
|
|
1
|
+
<p align="right">
|
|
2
|
+
English | <a href="./README.md">中文</a>
|
|
3
|
+
</p>
|
|
4
|
+
|
|
5
|
+
<p align="right">
|
|
6
|
+
<a href="https://maven.x-humanoid-cloud.com/repository/pnpm-hosted/">
|
|
7
|
+
<img src="https://img.shields.io/badge/version-0.0.1-1d81f5.svg?style=flat-square" alt="version" />
|
|
8
|
+
</a>
|
|
9
|
+
<a href="./LICENSE">
|
|
10
|
+
<img src="https://img.shields.io/badge/license-MIT-green.svg?style=flat-square" alt="license" />
|
|
11
|
+
</a>
|
|
12
|
+
<a href="https://vuejs.org">
|
|
13
|
+
<img src="https://img.shields.io/badge/Vue-3.x-42b883.svg?style=flat-square" alt="vue" />
|
|
14
|
+
</a>
|
|
15
|
+
<a href="https://maplibre.org">
|
|
16
|
+
<img src="https://img.shields.io/badge/MapLibre%20GL-3.6-2d4ea0.svg?style=flat-square" alt="maplibre" />
|
|
17
|
+
</a>
|
|
18
|
+
</p>
|
|
19
|
+
|
|
20
|
+
<h1 align="center">BicMap | <a href="https://bicmap.x-humanoid-cloud.com/">Documentation</a></h1>
|
|
21
|
+
|
|
22
|
+
<h5 align="center">Seamless indoor/outdoor GPU map rendering & interaction SDK · Built for robotics</h5>
|
|
23
|
+
|
|
24
|
+
[](http://localhost:5173/)
|
|
25
|
+
|
|
26
|
+
BicMap (`@x-humanoid-cloud/bic-map`) is a WebGL-based map rendering library built on top of [MapLibre GL](https://maplibre.org), [Three.js](https://threejs.org), and [Turf](https://turfjs.org), extended with robotics-oriented features including **indoor SLAM maps, outdoor tile/HD maps, point clouds, 3D models, POI markers, drawing tools, path planning, and robot orchestration** — all ready to use out of the box.
|
|
27
|
+
|
|
28
|
+
BicMap maps **data** (GeoJSON / point clouds / robot poses) to a set of composable **layers and overlays**. Developers can build seamless indoor/outdoor visualization scenes through a single `bicMap` instance without worrying about engine initialization, coordinate transformations, or asset hosting.
|
|
29
|
+
|
|
30
|
+
Key Features:
|
|
31
|
+
|
|
32
|
+
* **Unified indoor/outdoor rendering** — SLAM grid maps, tile base maps, HD maps, 2D/3D point clouds, and 3D models in the same scene
|
|
33
|
+
* **Rich overlay types** — direction markers, batch POIs, robot markers, rectangles, polygons, circles, polylines, and wide line segments
|
|
34
|
+
* **Interactive drawing** — rectangles, polygons, polylines, circles, and traversable-area drawing & editing
|
|
35
|
+
* **Robotics capabilities** — pose tracking, relocalization, real-time positioning, path planning & playback, task orchestration
|
|
36
|
+
* **Zero-config engine** — `maplibre-gl` / `three` / `@turf/turf` / `urdf-loader` bundled via npm, CSS and fonts injected at runtime automatically
|
|
37
|
+
|
|
38
|
+
## Installation
|
|
39
|
+
|
|
40
|
+
### NPM Module
|
|
41
|
+
|
|
42
|
+
```bash
|
|
43
|
+
# .npmrc
|
|
44
|
+
@x-humanoid-cloud:registry=https://maven.x-humanoid-cloud.com/repository/pnpm-hosted/
|
|
45
|
+
```
|
|
46
|
+
|
|
47
|
+
```bash
|
|
48
|
+
pnpm add @x-humanoid-cloud/bic-map
|
|
49
|
+
```
|
|
50
|
+
|
|
51
|
+
```js
|
|
52
|
+
import bicMap from '@x-humanoid-cloud/bic-map'
|
|
53
|
+
|
|
54
|
+
await bicMap.init()
|
|
55
|
+
|
|
56
|
+
const map = bicMap.createMap({
|
|
57
|
+
container: 'map',
|
|
58
|
+
center: [116.397, 39.908],
|
|
59
|
+
zoom: 16
|
|
60
|
+
})
|
|
61
|
+
```
|
|
62
|
+
|
|
63
|
+
Use as a Vue plugin (accessible via `this.$bicMap`):
|
|
64
|
+
|
|
65
|
+
```js
|
|
66
|
+
import { createApp } from 'vue'
|
|
67
|
+
import bicMap from '@x-humanoid-cloud/bic-map'
|
|
68
|
+
import App from './App.vue'
|
|
69
|
+
|
|
70
|
+
createApp(App).use(bicMap).mount('#app')
|
|
71
|
+
```
|
|
72
|
+
|
|
73
|
+
### Script Tag / CDN
|
|
74
|
+
|
|
75
|
+
For environments without a build step (uniapp renderJS, plain `<script>` tags, etc.), access via `window.bicMap` after loading:
|
|
76
|
+
|
|
77
|
+
```html
|
|
78
|
+
<script src="https://your-cdn/bicMap.ext.min.js"></script>
|
|
79
|
+
<script>
|
|
80
|
+
bicMap.init().then(() => {
|
|
81
|
+
const map = bicMap.createMap({ container: 'map' })
|
|
82
|
+
})
|
|
83
|
+
</script>
|
|
84
|
+
```
|
|
85
|
+
|
|
86
|
+
## Feature Gallery
|
|
87
|
+
|
|
88
|
+
| | | |
|
|
89
|
+
| :---: | :---: | :---: |
|
|
90
|
+
| <br/>Robot Mapping | <br/>3D Model Control | <br/>Real-time Location |
|
|
91
|
+
| <br/>POI Markers | <br/>Graphic Drawing | <br/>Cleaning Robot Scene |
|
|
92
|
+
| <br/>Transit Hub Map Guide | <br/>Museum Tour Guide | <br/>Community 24h Inspection |
|
|
93
|
+
| <br/>Outdoor Buildings | <br/>Outdoor Point Cloud | <br/>HD Map Loading |
|
|
94
|
+
|
|
95
|
+
<p align="right"><a href="https://bicmap.x-humanoid-cloud.com/">View more examples →</a></p>
|
|
96
|
+
|
|
97
|
+
## Local Development & Examples
|
|
98
|
+
|
|
99
|
+
The repository includes a built-in example portal covering 30+ examples across indoor / outdoor / basic / extended / scene categories:
|
|
100
|
+
|
|
101
|
+
```bash
|
|
102
|
+
pnpm install
|
|
103
|
+
pnpm dev # Start the example portal at http://localhost:5173/
|
|
104
|
+
```
|
|
105
|
+
|
|
106
|
+
Build commands:
|
|
107
|
+
|
|
108
|
+
```bash
|
|
109
|
+
pnpm build # Build npm package (ESM + UMD), third-party deps external
|
|
110
|
+
pnpm build:cdn # Build CDN version (IIFE self-contained single file)
|
|
111
|
+
pnpm build:web # Build example portal static site
|
|
112
|
+
pnpm build:all # Build both npm package and CDN version
|
|
113
|
+
```
|
|
114
|
+
|
|
115
|
+
## Resources
|
|
116
|
+
|
|
117
|
+
* [Online API Docs](http://localhost:5173/) — Example portal and latest API reference
|
|
118
|
+
* [Example Portal](http://localhost:5173/) — Interactive preview of all examples; click any card to open the corresponding demo
|
|
119
|
+
|
|
120
|
+
## Tech Stack
|
|
121
|
+
|
|
122
|
+
BicMap is built on top of the following open-source projects:
|
|
123
|
+
|
|
124
|
+
* [MapLibre GL JS](https://maplibre.org) — Core map rendering engine
|
|
125
|
+
* [Three.js](https://threejs.org) — 3D model and custom layer rendering
|
|
126
|
+
* [Turf.js](https://turfjs.org) — Geospatial computation
|
|
127
|
+
* [Vue 3](https://vuejs.org) + [Vite](https://vite.dev) — Example portal and build toolchain
|
|
128
|
+
* [urdf-loader](https://github.com/gkjohnson/urdf-loaders) — URDF robot model loading
|
|
129
|
+
|
|
130
|
+
## Contributors
|
|
131
|
+
|
|
132
|
+
Thanks to the following developers for their contributions to BicMap:
|
|
133
|
+
|
|
134
|
+
<table>
|
|
135
|
+
<tr>
|
|
136
|
+
<td align="center">
|
|
137
|
+
<a href="https://github.com/JMSChen">
|
|
138
|
+
<img src="https://github.com/JMSChen.png" width="80" height="80" style="border-radius:50%" alt="JMSChen"/>
|
|
139
|
+
<br/>
|
|
140
|
+
<sub><b>JMSChen</b></sub>
|
|
141
|
+
</a>
|
|
142
|
+
</td>
|
|
143
|
+
<td align="center">
|
|
144
|
+
<a href="https://github.com/lxycreate">
|
|
145
|
+
<img src="https://github.com/lxycreate.png" width="80" height="80" style="border-radius:50%" alt="lxycreate"/>
|
|
146
|
+
<br/>
|
|
147
|
+
<sub><b>lxycreate</b></sub>
|
|
148
|
+
</a>
|
|
149
|
+
</td>
|
|
150
|
+
</tr>
|
|
151
|
+
</table>
|
|
152
|
+
|
|
153
|
+
## License
|
|
154
|
+
|
|
155
|
+
[MIT](./LICENSE) © 2024-2026 Beijing Innovation Center of Humanoid Robotics
|
|
156
|
+
|
|
157
|
+
This project bundles and redistributes several third-party open-source libraries. Their copyright and license notices are listed in [THIRD-PARTY-LICENSES.md](./THIRD-PARTY-LICENSES.md).
|
package/README.md
ADDED
|
@@ -0,0 +1,157 @@
|
|
|
1
|
+
<p align="right">
|
|
2
|
+
<a href="./README.en.md">English</a> | 中文
|
|
3
|
+
</p>
|
|
4
|
+
|
|
5
|
+
<p align="right">
|
|
6
|
+
<a href="https://maven.x-humanoid-cloud.com/repository/pnpm-hosted/">
|
|
7
|
+
<img src="https://img.shields.io/badge/version-0.0.1-1d81f5.svg?style=flat-square" alt="version" />
|
|
8
|
+
</a>
|
|
9
|
+
<a href="./LICENSE">
|
|
10
|
+
<img src="https://img.shields.io/badge/license-MIT-green.svg?style=flat-square" alt="license" />
|
|
11
|
+
</a>
|
|
12
|
+
<a href="https://vuejs.org">
|
|
13
|
+
<img src="https://img.shields.io/badge/Vue-3.x-42b883.svg?style=flat-square" alt="vue" />
|
|
14
|
+
</a>
|
|
15
|
+
<a href="https://maplibre.org">
|
|
16
|
+
<img src="https://img.shields.io/badge/MapLibre%20GL-3.6-2d4ea0.svg?style=flat-square" alt="maplibre" />
|
|
17
|
+
</a>
|
|
18
|
+
</p>
|
|
19
|
+
|
|
20
|
+
<h1 align="center">BicMap | <a href="https://bicmap.x-humanoid-cloud.com/">在线文档</a></h1>
|
|
21
|
+
|
|
22
|
+
<h5 align="center">室内外一体化的 GPU 地图渲染与交互解决方案 · 面向机器人场景</h5>
|
|
23
|
+
|
|
24
|
+
[](http://localhost:5173/)
|
|
25
|
+
|
|
26
|
+
BicMap（`@x-humanoid-cloud/bic-map`）是一套基于 WebGL 的地图渲染库，在 [MapLibre GL](https://maplibre.org) + [Three.js](https://threejs.org) + [Turf](https://turfjs.org) 之上做了面向机器人业务的二次封装，提供 **室内 SLAM 地图、室外瓦片/高精地图、点云、3D 模型、POI 标注、绘制工具、路径规划与机器人编排** 等开箱即用的能力。
|
|
27
|
+
|
|
28
|
+
BicMap 将 **数据**（GeoJSON / 点云 / 机器人位姿）映射为一组可组合的 **图层与覆盖物**，开发者通过统一的 `bicMap` 单例即可快速搭建室内外一体化的可视化场景，无需关心底层引擎的加载、坐标转换与资源托管细节。
|
|
29
|
+
|
|
30
|
+
核心特性：
|
|
31
|
+
|
|
32
|
+
* 室内外一体化：SLAM 栅格地图、瓦片底图、高精地图、二三维点云、3D 模型同场景渲染
|
|
33
|
+
* 丰富的覆盖物：方向标记、批量 POI、机器人标记、矩形/多边形/圆形/折线/宽线段
|
|
34
|
+
* 交互式绘制：矩形、多边形、折线、圆形、可通行区域绘制与编辑
|
|
35
|
+
* 机器人能力：位姿跟随、重定位、实时定位、路径规划与回放、任务编排
|
|
36
|
+
* 引擎内置：`maplibre-gl` / `three` / `@turf/turf` / `urdf-loader` 通过 npm 静态打包，CSS 与字体运行时自动注入，零额外配置
|
|
37
|
+
|
|
38
|
+
## 安装方式
|
|
39
|
+
|
|
40
|
+
### NPM Module
|
|
41
|
+
|
|
42
|
+
```bash
|
|
43
|
+
# .npmrc
|
|
44
|
+
@x-humanoid-cloud:registry=https://maven.x-humanoid-cloud.com/repository/pnpm-hosted/
|
|
45
|
+
```
|
|
46
|
+
|
|
47
|
+
```bash
|
|
48
|
+
pnpm add @x-humanoid-cloud/bic-map
|
|
49
|
+
```
|
|
50
|
+
|
|
51
|
+
```js
|
|
52
|
+
import bicMap from '@x-humanoid-cloud/bic-map'
|
|
53
|
+
|
|
54
|
+
await bicMap.init()
|
|
55
|
+
|
|
56
|
+
const map = bicMap.createMap({
|
|
57
|
+
container: 'map',
|
|
58
|
+
center: [116.397, 39.908],
|
|
59
|
+
zoom: 16
|
|
60
|
+
})
|
|
61
|
+
```
|
|
62
|
+
|
|
63
|
+
作为 Vue 插件使用（可通过 `this.$bicMap` 访问）：
|
|
64
|
+
|
|
65
|
+
```js
|
|
66
|
+
import { createApp } from 'vue'
|
|
67
|
+
import bicMap from '@x-humanoid-cloud/bic-map'
|
|
68
|
+
import App from './App.vue'
|
|
69
|
+
|
|
70
|
+
createApp(App).use(bicMap).mount('#app')
|
|
71
|
+
```
|
|
72
|
+
|
|
73
|
+
### Script Tag / CDN
|
|
74
|
+
|
|
75
|
+
适配 uniapp renderJS、`<script>` 直引等无构建环境，加载后通过 `window.bicMap` 使用：
|
|
76
|
+
|
|
77
|
+
```html
|
|
78
|
+
<script src="https://your-cdn/bicMap.ext.min.js"></script>
|
|
79
|
+
<script>
|
|
80
|
+
bicMap.init().then(() => {
|
|
81
|
+
const map = bicMap.createMap({ container: 'map' })
|
|
82
|
+
})
|
|
83
|
+
</script>
|
|
84
|
+
```
|
|
85
|
+
|
|
86
|
+
## 能力速览
|
|
87
|
+
|
|
88
|
+
| | | |
|
|
89
|
+
| :---: | :---: | :---: |
|
|
90
|
+
| <br/>机器人建图 | <br/>3D 模型控制 | <br/>实时位置更新 |
|
|
91
|
+
| <br/>点位 Marker | <br/>图形绘制 | <br/>扫地机器人场景 |
|
|
92
|
+
| <br/>三站一场地图引导 | <br/>博物馆导览讲解 | <br/>社区 24h 无人值守巡检 |
|
|
93
|
+
| <br/>室外建筑物 | <br/>室外点云 | <br/>高精地图加载 |
|
|
94
|
+
|
|
95
|
+
<p align="right"><a href="https://bicmap.x-humanoid-cloud.com/">查看更多示例 →</a></p>
|
|
96
|
+
|
|
97
|
+
## 本地开发与示例
|
|
98
|
+
|
|
99
|
+
仓库内置了一套示例门户，覆盖室内/室外/基础/扩展/场景共 30+ 个示例：
|
|
100
|
+
|
|
101
|
+
```bash
|
|
102
|
+
pnpm install
|
|
103
|
+
pnpm dev # 启动示例门户，默认 http://localhost:5173/
|
|
104
|
+
```
|
|
105
|
+
|
|
106
|
+
构建命令：
|
|
107
|
+
|
|
108
|
+
```bash
|
|
109
|
+
pnpm build # 构建 npm 包（ESM + UMD），第三方依赖 external
|
|
110
|
+
pnpm build:cdn # 构建 CDN 版本（IIFE 自包含单文件）
|
|
111
|
+
pnpm build:web # 构建示例门户静态站点
|
|
112
|
+
pnpm build:all # 同时构建 npm 包与 CDN 版本
|
|
113
|
+
```
|
|
114
|
+
|
|
115
|
+
## 学习资源
|
|
116
|
+
|
|
117
|
+
* [在线 API 文档](http://localhost:5173/)：示例门户与最新接口说明
|
|
118
|
+
* [示例门户](http://localhost:5173/)：所有示例的可交互预览，点击卡片即可打开对应示例
|
|
119
|
+
|
|
120
|
+
## 技术栈
|
|
121
|
+
|
|
122
|
+
BicMap 构建于以下开源项目之上：
|
|
123
|
+
|
|
124
|
+
* [MapLibre GL JS](https://maplibre.org) — 底层地图渲染引擎
|
|
125
|
+
* [Three.js](https://threejs.org) — 3D 模型与自定义图层渲染
|
|
126
|
+
* [Turf.js](https://turfjs.org) — 地理空间计算
|
|
127
|
+
* [Vue 3](https://vuejs.org) + [Vite](https://vite.dev) — 示例门户与构建工具链
|
|
128
|
+
* [urdf-loader](https://github.com/gkjohnson/urdf-loaders) — URDF 机器人模型加载
|
|
129
|
+
|
|
130
|
+
## Contributors
|
|
131
|
+
|
|
132
|
+
感谢以下开发者对 BicMap 的贡献：
|
|
133
|
+
|
|
134
|
+
<table>
|
|
135
|
+
<tr>
|
|
136
|
+
<td align="center">
|
|
137
|
+
<a href="https://github.com/JMSChen">
|
|
138
|
+
<img src="https://github.com/JMSChen.png" width="80" height="80" style="border-radius:50%" alt="JMSChen"/>
|
|
139
|
+
<br/>
|
|
140
|
+
<sub><b>JMSChen</b></sub>
|
|
141
|
+
</a>
|
|
142
|
+
</td>
|
|
143
|
+
<td align="center">
|
|
144
|
+
<a href="https://github.com/lxycreate">
|
|
145
|
+
<img src="https://github.com/lxycreate.png" width="80" height="80" style="border-radius:50%" alt="lxycreate"/>
|
|
146
|
+
<br/>
|
|
147
|
+
<sub><b>lxycreate</b></sub>
|
|
148
|
+
</a>
|
|
149
|
+
</td>
|
|
150
|
+
</tr>
|
|
151
|
+
</table>
|
|
152
|
+
|
|
153
|
+
## License
|
|
154
|
+
|
|
155
|
+
[MIT](./LICENSE) © 2024-2026 北京人形机器人创新中心 (Beijing Innovation Center of Humanoid Robotics)
|
|
156
|
+
|
|
157
|
+
本项目打包并再分发了若干第三方开源库，其版权与许可证声明见 [THIRD-PARTY-LICENSES.md](./THIRD-PARTY-LICENSES.md)。
|
|
@@ -0,0 +1,223 @@
|
|
|
1
|
+
# 第三方依赖许可证 / Third-Party Licenses
|
|
2
|
+
|
|
3
|
+
本项目（bic-map）打包并再分发了以下开源第三方库。CDN 构建产物
|
|
4
|
+
（`dist/cdn/bicMap.ext.min.js`）将它们内联到单文件中，npm 构建产物则以依赖形式引用。
|
|
5
|
+
以下为各库的版权与许可证原文，特此保留以满足其许可证要求。
|
|
6
|
+
|
|
7
|
+
This project bundles and redistributes the following third-party open source
|
|
8
|
+
libraries. The CDN build (`dist/cdn/bicMap.ext.min.js`) inlines them into a
|
|
9
|
+
single file; the npm build references them as dependencies. Their copyright
|
|
10
|
+
notices and license texts are reproduced below as required by their licenses.
|
|
11
|
+
|
|
12
|
+
| 库 / Library | 版本 / Version | 许可证 / License | 打包范围 / Bundled in |
|
|
13
|
+
| --- | --- | --- | --- |
|
|
14
|
+
| [MapLibre GL JS](https://github.com/maplibre/maplibre-gl-js) | 3.6.2 | BSD-3-Clause | CDN |
|
|
15
|
+
| [Three.js](https://github.com/mrdoob/three.js) | 0.149.0 | MIT | CDN |
|
|
16
|
+
| [Turf.js (@turf/turf)](https://github.com/Turfjs/turf) | 7.3.5 | MIT | CDN |
|
|
17
|
+
| [urdf-loader](https://github.com/gkjohnson/urdf-loaders) | 0.12.7 | Apache-2.0 | CDN + npm |
|
|
18
|
+
|
|
19
|
+
> 说明：`maplibre-gl` / `three` / `@turf/turf` 在 npm 构建中作为 external 依赖由消费方安装，仅在 CDN 单文件产物中被内联；`urdf-loader` 未被列入 external，因此在 **CDN 与 npm 两种产物中均被打包再分发**。
|
|
20
|
+
|
|
21
|
+
---
|
|
22
|
+
|
|
23
|
+
## MapLibre GL JS
|
|
24
|
+
|
|
25
|
+
BSD-3-Clause License
|
|
26
|
+
|
|
27
|
+
```
|
|
28
|
+
Copyright (c) 2023, MapLibre contributors
|
|
29
|
+
|
|
30
|
+
All rights reserved.
|
|
31
|
+
|
|
32
|
+
Redistribution and use in source and binary forms, with or without modification,
|
|
33
|
+
are permitted provided that the following conditions are met:
|
|
34
|
+
|
|
35
|
+
* Redistributions of source code must retain the above copyright notice,
|
|
36
|
+
this list of conditions and the following disclaimer.
|
|
37
|
+
* Redistributions in binary form must reproduce the above copyright notice,
|
|
38
|
+
this list of conditions and the following disclaimer in the documentation
|
|
39
|
+
and/or other materials provided with the distribution.
|
|
40
|
+
* Neither the name of MapLibre GL JS nor the names of its contributors
|
|
41
|
+
may be used to endorse or promote products derived from this software
|
|
42
|
+
without specific prior written permission.
|
|
43
|
+
|
|
44
|
+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
45
|
+
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
46
|
+
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
47
|
+
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
48
|
+
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
49
|
+
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
50
|
+
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
51
|
+
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
|
52
|
+
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
|
53
|
+
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
54
|
+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
55
|
+
|
|
56
|
+
|
|
57
|
+
-------------------------------------------------------------------------------
|
|
58
|
+
|
|
59
|
+
Contains code from mapbox-gl-js v1.13 and earlier
|
|
60
|
+
|
|
61
|
+
Version v1.13 of mapbox-gl-js and earlier are licensed under a BSD-3-Clause license
|
|
62
|
+
|
|
63
|
+
Copyright (c) 2020, Mapbox
|
|
64
|
+
Redistribution and use in source and binary forms, with or without modification,
|
|
65
|
+
are permitted provided that the following conditions are met:
|
|
66
|
+
|
|
67
|
+
* Redistributions of source code must retain the above copyright notice,
|
|
68
|
+
this list of conditions and the following disclaimer.
|
|
69
|
+
* Redistributions in binary form must reproduce the above copyright notice,
|
|
70
|
+
this list of conditions and the following disclaimer in the documentation
|
|
71
|
+
and/or other materials provided with the distribution.
|
|
72
|
+
* Neither the name of Mapbox GL JS nor the names of its contributors
|
|
73
|
+
may be used to endorse or promote products derived from this software
|
|
74
|
+
without specific prior written permission.
|
|
75
|
+
|
|
76
|
+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
77
|
+
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
78
|
+
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
79
|
+
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
80
|
+
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
81
|
+
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
82
|
+
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
83
|
+
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
|
84
|
+
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
|
85
|
+
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
|
86
|
+
EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
87
|
+
|
|
88
|
+
|
|
89
|
+
-------------------------------------------------------------------------------
|
|
90
|
+
|
|
91
|
+
Contains code from glfx.js
|
|
92
|
+
|
|
93
|
+
Copyright (C) 2011 by Evan Wallace
|
|
94
|
+
|
|
95
|
+
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
96
|
+
of this software and associated documentation files (the "Software"), to deal
|
|
97
|
+
in the Software without restriction, including without limitation the rights
|
|
98
|
+
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
99
|
+
copies of the Software, and to permit persons to whom the Software is
|
|
100
|
+
furnished to do so, subject to the following conditions:
|
|
101
|
+
|
|
102
|
+
The above copyright notice and this permission notice shall be included in
|
|
103
|
+
all copies or substantial portions of the Software.
|
|
104
|
+
|
|
105
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
106
|
+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
107
|
+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
108
|
+
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
109
|
+
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
110
|
+
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
111
|
+
THE SOFTWARE.
|
|
112
|
+
|
|
113
|
+
--------------------------------------------------------------------------------
|
|
114
|
+
|
|
115
|
+
Contains a portion of d3-color https://github.com/d3/d3-color
|
|
116
|
+
|
|
117
|
+
Copyright 2010-2016 Mike Bostock
|
|
118
|
+
All rights reserved.
|
|
119
|
+
|
|
120
|
+
Redistribution and use in source and binary forms, with or without modification,
|
|
121
|
+
are permitted provided that the following conditions are met:
|
|
122
|
+
|
|
123
|
+
* Redistributions of source code must retain the above copyright notice, this
|
|
124
|
+
list of conditions and the following disclaimer.
|
|
125
|
+
|
|
126
|
+
* Redistributions in binary form must reproduce the above copyright notice,
|
|
127
|
+
this list of conditions and the following disclaimer in the documentation
|
|
128
|
+
and/or other materials provided with the distribution.
|
|
129
|
+
|
|
130
|
+
* Neither the name of the author nor the names of contributors may be used to
|
|
131
|
+
endorse or promote products derived from this software without specific prior
|
|
132
|
+
written permission.
|
|
133
|
+
|
|
134
|
+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
|
135
|
+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
136
|
+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
137
|
+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
|
138
|
+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
139
|
+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
140
|
+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
|
141
|
+
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
142
|
+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
143
|
+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
144
|
+
```
|
|
145
|
+
|
|
146
|
+
---
|
|
147
|
+
|
|
148
|
+
## Three.js
|
|
149
|
+
|
|
150
|
+
The MIT License
|
|
151
|
+
|
|
152
|
+
```
|
|
153
|
+
Copyright © 2010-2023 three.js authors
|
|
154
|
+
|
|
155
|
+
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
156
|
+
of this software and associated documentation files (the "Software"), to deal
|
|
157
|
+
in the Software without restriction, including without limitation the rights
|
|
158
|
+
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
159
|
+
copies of the Software, and to permit persons to whom the Software is
|
|
160
|
+
furnished to do so, subject to the following conditions:
|
|
161
|
+
|
|
162
|
+
The above copyright notice and this permission notice shall be included in
|
|
163
|
+
all copies or substantial portions of the Software.
|
|
164
|
+
|
|
165
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
166
|
+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
167
|
+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
168
|
+
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
169
|
+
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
170
|
+
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
171
|
+
THE SOFTWARE.
|
|
172
|
+
```
|
|
173
|
+
|
|
174
|
+
---
|
|
175
|
+
|
|
176
|
+
## Turf.js (@turf/turf)
|
|
177
|
+
|
|
178
|
+
The MIT License (MIT)
|
|
179
|
+
|
|
180
|
+
```
|
|
181
|
+
Copyright (c) 2017 TurfJS
|
|
182
|
+
|
|
183
|
+
Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
184
|
+
this software and associated documentation files (the "Software"), to deal in
|
|
185
|
+
the Software without restriction, including without limitation the rights to
|
|
186
|
+
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
187
|
+
the Software, and to permit persons to whom the Software is furnished to do so,
|
|
188
|
+
subject to the following conditions:
|
|
189
|
+
|
|
190
|
+
The above copyright notice and this permission notice shall be included in all
|
|
191
|
+
copies or substantial portions of the Software.
|
|
192
|
+
|
|
193
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
194
|
+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
195
|
+
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
196
|
+
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
197
|
+
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
198
|
+
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
199
|
+
```
|
|
200
|
+
|
|
201
|
+
---
|
|
202
|
+
|
|
203
|
+
## urdf-loader
|
|
204
|
+
|
|
205
|
+
Apache License 2.0
|
|
206
|
+
|
|
207
|
+
完整协议文本见 <https://www.apache.org/licenses/LICENSE-2.0>。版权与许可声明（来自上游 [gkjohnson/urdf-loaders](https://github.com/gkjohnson/urdf-loaders/blob/master/LICENSE)）如下：
|
|
208
|
+
|
|
209
|
+
```
|
|
210
|
+
Copyright 2020 California Institute of Technology
|
|
211
|
+
|
|
212
|
+
Licensed under the Apache License, Version 2.0 (the "License");
|
|
213
|
+
you may not use this file except in compliance with the License.
|
|
214
|
+
You may obtain a copy of the License at
|
|
215
|
+
|
|
216
|
+
http://www.apache.org/licenses/LICENSE-2.0
|
|
217
|
+
|
|
218
|
+
Unless required by applicable law or agreed to in writing, software
|
|
219
|
+
distributed under the License is distributed on an "AS IS" BASIS,
|
|
220
|
+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
221
|
+
See the License for the specific language governing permissions and
|
|
222
|
+
limitations under the License.
|
|
223
|
+
```
|