rm-gxf-computing-rusts 0.0.25 → 0.0.27

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rm-gxf-computing-rusts",
-  "version": "0.0.25",
+  "version": "0.0.27",
   "description": "",
   "author": "初秋",
   "type": "commonjs",

package/src/index.d.ts

@@ -22,10 +22,9 @@ export interface CheckResult {
   offsets?: Array<number>
 }
 
-export interface CheckResult {
-  originalVertices: Array<Square>
-  allCenterPoints: Array<Point>
-  offsets?: Array<number>
+export interface DepthFilter {
+  searchRadius: number
+  depthThreshold: number
 }
 
 export interface DepthFilter {
@@ -38,27 +37,27 @@ export interface DepthFilter {
   depthThreshold: number
 }
 
-export interface Index {
-  index: number
+export interface DepthFilter {
+  searchRadius: number
+  depthThreshold: number
 }
 
-export interface Index {
-  index: number
+export interface HasQquareBehindOptions {
+  view?: boolean
+  lines: Array<ParseLineResult>
 }
 
-export interface Line {
-  start: Vector3F64
-  end: Vector3F64
+export interface HasQquareBehindOptions {
+  view?: boolean
+  lines: Array<ParseLineResult>
 }
 
-export interface Line {
-  start: Vector3F64
-  end: Vector3F64
+export interface Index {
+  index: number
 }
 
-export interface Line {
-  start: Vector3F64
-  end: Vector3F64
+export interface Index {
+  index: number
 }
 
 export interface Line {
@@ -66,10 +65,9 @@ export interface Line {
   end: Vector3F64
 }
 
-export interface LineData {
+export interface Line {
   start: Vector3F64
   end: Vector3F64
-  checkResults: Array<CheckResult>
 }
 
 export interface LineData {
@@ -102,32 +100,6 @@ export interface PcBackfaceTestOptions {
   distProjection: boolean
 }
 
-export interface PcBackfaceTestOptions {
-  view?: boolean
-  pcdDir: string
-  lines: LineDataList
-  trajectorys: Record<string, Trajectory>
-  distProjection: boolean
-}
-
-export interface PcObjectEcognizerOption {
-  view?: boolean
-  pcdUrl: string
-  imageUrls: Array<string>
-  groundZ: number
-  version?: string
-}
-
-export interface PcObjectEcognizerOption {
-  view?: boolean
-  pcdUrl: string
-  imageUrls: Array<string>
-  groundZ: number
-  version?: string
-}
-
-export declare function pointCloudObjectEcognizer(option: PcObjectEcognizerOption): Array<Array<Array<number>>>
-
 export interface Quads {
   originalVertices: Array<Array<Vector3F64>>
   allCenterPoints: Array<Vector3F64>
@@ -150,6 +122,18 @@ export interface Results {
   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>
+  objIds: Array<Array<string>>
+}
+
 export declare function samplePointsByImage(option: SamplePointsByImageOption): Results
 
 export interface SamplePointsByImageOption {
@@ -194,31 +178,63 @@ export interface SamplePointsByImageOption {
   depthFilter?: DepthFilter
   /** 过滤类型列表 */
   excludeCategoryList?: Array<string>
+  /** 形状使用轮廓 */
+  contourMode?: boolean
+  /** 边缘腐蚀大小 */
+  edgeCorrosionSize?: number
 }
 
-export declare function squareBackfacePointCloudTest(option: PcBackfaceTestOptions): Array<number>
-
-export declare function squareBackfaceSquareTest(option: SquareBackfaceTestOptions): Array<number>
-
-export interface SquareBackfaceTestOptions {
+export interface SamplePointsByImageOption {
   view?: boolean
-  lines: Array<ParseLineResult>
+  /** 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 SquareBackfaceTestOptions {
+export interface SamplePointsByImageOption {
   view?: boolean
-  lines: Array<ParseLineResult>
+  /** 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>
+  /** 形状使用轮廓 */
+  contourMode?: boolean
+  /** 边缘腐蚀大小 */
+  edgeCorrosionSize?: number
 }
 
-export interface Trajectory {
-  x: number
-  y: number
-  z: number
-  qx: number
-  qy: number
-  qz: number
-  qw: number
-}
+export declare function squareBackfacePointCloudTest(option: PcBackfaceTestOptions): Array<number>
+
+export declare function squareHasSquareBehind(option: HasQquareBehindOptions): Array<number>
 
 export interface Trajectory {
   x: number
@@ -236,10 +252,3 @@ 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

@@ -588,7 +588,6 @@ if (!nativeBinding) {
 
 module.exports = nativeBinding
 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");
@@ -157,16 +157,7 @@ function squareBackfaceSquareTest(params) {
         }
     }
 
-    return gxf.squareBackfaceSquareTest(params)
-}
-
-/**
- * 
- * @param {import("./index").PcObjectEcognizerOption} params
- * @returns 
- */
-function pointCloudObjectEcognizer(params) {
-    return gxf.pointCloudObjectEcognizer(params)
+    return gxf.squareHasSquareBehind(params)
 }
 
 /**
@@ -180,6 +171,5 @@ 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