rm-gxf-computing-rusts 0.0.24 → 0.0.26

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rm-gxf-computing-rusts",
-  "version": "0.0.24",
+  "version": "0.0.26",
   "description": "",
   "author": "初秋",
   "type": "commonjs",

package/src/index.d.ts

@@ -9,6 +9,19 @@ export interface CheckLineSideVisibilityOption {
   trajectorys: Record<string, Vector3F64>
 }
 
+export interface CheckLineSideVisibilityOption {
+  view?: boolean
+  pcdDir: string
+  lines: Array<Line>
+  trajectorys: Record<string, Vector3F64>
+}
+
+export interface CheckResult {
+  originalVertices: Array<Square>
+  allCenterPoints: Array<Point>
+  offsets?: Array<number>
+}
+
 export interface CheckResult {
   originalVertices: Array<Square>
   allCenterPoints: Array<Point>
@@ -25,6 +38,30 @@ export interface DepthFilter {
   depthThreshold: number
 }
 
+export interface DepthFilter {
+  searchRadius: number
+  depthThreshold: number
+}
+
+export interface DepthFilter {
+  searchRadius: number
+  depthThreshold: number
+}
+
+export interface HasQquareBehindOptions {
+  view?: boolean
+  lines: Array<ParseLineResult>
+}
+
+export interface HasQquareBehindOptions {
+  view?: boolean
+  lines: Array<ParseLineResult>
+}
+
+export interface Index {
+  index: number
+}
+
 export interface Index {
   index: number
 }
@@ -39,6 +76,22 @@ export interface Line {
   end: Vector3F64
 }
 
+export interface Line {
+  start: Vector3F64
+  end: Vector3F64
+}
+
+export interface Line {
+  start: Vector3F64
+  end: Vector3F64
+}
+
+export interface LineData {
+  start: Vector3F64
+  end: Vector3F64
+  checkResults: Array<CheckResult>
+}
+
 export interface LineData {
   start: Vector3F64
   end: Vector3F64
@@ -53,6 +106,22 @@ export interface ParseLineResult {
   intersectionSegments: Array<Array<Index>>
 }
 
+export interface ParseLineResult {
+  start?: Vector3F64
+  end?: Vector3F64
+  missingCheckResults: Array<Quads>
+  existSegments: Array<Quads>
+  intersectionSegments: Array<Array<Index>>
+}
+
+export interface PcBackfaceTestOptions {
+  view?: boolean
+  pcdDir: string
+  lines: LineDataList
+  trajectorys: Record<string, Trajectory>
+  distProjection: boolean
+}
+
 export interface PcBackfaceTestOptions {
   view?: boolean
   pcdDir: string
@@ -84,6 +153,23 @@ export interface Quads {
   allCenterPoints: Array<Vector3F64>
 }
 
+export interface Quads {
+  originalVertices: Array<Array<Vector3F64>>
+  allCenterPoints: Array<Vector3F64>
+}
+
+export interface Results {
+  results: Array<Array<Array<number>>>
+  positions: Array<Vector3F64>
+  objIds: Array<Array<string>>
+}
+
+export interface Results {
+  results: Array<Array<Array<number>>>
+  positions: Array<Vector3F64>
+  objIds: Array<Array<string>>
+}
+
 export interface Results {
   results: Array<Array<Array<number>>>
   positions: Array<Vector3F64>
@@ -142,13 +228,62 @@ export interface SamplePointsByImageOption {
   excludeCategoryList?: Array<string>
 }
 
+export interface SamplePointsByImageOption {
+  view?: boolean
+  /** pcd url，pcd_chunk为true时，该值为目录 */
+  pcdPath: string
+  /** 是否使用pcd片段 */
+  pcdChunk?: boolean
+  /** 图片url列表 */
+  imageUrls: Array<string>
+  /** 点云z轴小于该值的过滤掉 */
+  minZ?: number
+  /** 当前使用版本 */
+  version?: string
+  /** 点云蔟过滤 */
+  clusterFilter?: boolean
+  /** 点云蔟分类距离 */
+  distanceThreshold?: number
+  /** 深度过滤 */
+  depthFilter?: DepthFilter
+  /** 过滤类型列表 */
+  excludeCategoryList?: Array<string>
+}
+
+export interface SamplePointsByImageOption {
+  view?: boolean
+  /** pcd url，pcd_chunk为true时，该值为目录 */
+  pcdPath: string
+  /** 是否使用pcd片段 */
+  pcdChunk?: boolean
+  /** 图片url列表 */
+  imageUrls: Array<string>
+  /** 点云z轴小于该值的过滤掉 */
+  minZ?: number
+  /** 当前使用版本 */
+  version?: string
+  /** 点云蔟过滤 */
+  clusterFilter?: boolean
+  /** 点云蔟分类距离 */
+  distanceThreshold?: number
+  /** 深度过滤 */
+  depthFilter?: DepthFilter
+  /** 过滤类型列表 */
+  excludeCategoryList?: Array<string>
+}
+
 export declare function squareBackfacePointCloudTest(option: PcBackfaceTestOptions): Array<number>
 
-export declare function squareBackfaceSquareTest(option: SquareBackfaceTestOptions): Array<number>
+export declare function squareHasSquareBehind(option: HasQquareBehindOptions): Array<number>
 
-export interface SquareBackfaceTestOptions {
-  view?: boolean
-  lines: Array<ParseLineResult>
+export interface Trajectory {
+  x: number
+  y: number
+  z: number
+  qx: number
+  qy: number
+  qz: number
+  qw: number
 }
 
 export interface Trajectory {
@@ -167,3 +302,10 @@ export interface Vector3F64 {
   y: number
   z: number
 }
+
+/** 三维向量，包含 x、y、z 分量 */
+export interface Vector3F64 {
+  x: number
+  y: number
+  z: number
+}

package/src/index.js

@@ -591,4 +591,4 @@ module.exports.checkLineSideVisibility = nativeBinding.checkLineSideVisibility
 module.exports.pointCloudObjectEcognizer = nativeBinding.pointCloudObjectEcognizer
 module.exports.samplePointsByImage = nativeBinding.samplePointsByImage
 module.exports.squareBackfacePointCloudTest = nativeBinding.squareBackfacePointCloudTest
-module.exports.squareBackfaceSquareTest = nativeBinding.squareBackfaceSquareTest
+module.exports.squareHasSquareBehind = nativeBinding.squareHasSquareBehind

package/src/main.js

@@ -125,7 +125,7 @@ function squareBackfacePointCloudTest(params) {
  * @param {import("./index").SquareBackfaceTestOptions} params
  * @returns 
  */
-function squareBackfaceSquareTest(params) {
+function squareHasSquareBehind(params) {
     // params.lines 参数验证
     if (!Array.isArray(params.lines)) {
         throw new Error("params.lines must be an array");
@@ -157,7 +157,7 @@ function squareBackfaceSquareTest(params) {
         }
     }
 
-    return gxf.squareBackfaceSquareTest(params)
+    return gxf.squareHasSquareBehind(params)
 }
 
 /**
@@ -181,5 +181,5 @@ function samplePointsByImage(params) {
 module.exports.checkLineSideVisibility = checkLineSideVisibility
 module.exports.squareBackfacePointCloudTest = squareBackfacePointCloudTest
 module.exports.pointCloudObjectEcognizer = pointCloudObjectEcognizer
-module.exports.squareBackfaceSquareTest = squareBackfaceSquareTest
+module.exports.squareHasSquareBehind = squareHasSquareBehind
 module.exports.samplePointsByImage = samplePointsByImage