rm-gxf-computing-rusts 0.0.45 → 0.0.48

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rm-gxf-computing-rusts",
-  "version": "0.0.45",
+  "version": "0.0.48",
   "description": "",
   "author": "初秋",
   "type": "commonjs",

package/src/index.d.ts

@@ -6,6 +6,17 @@ export declare class SquareBackfacePointCloudTest {
   compute(): Array<number>
 }
 
+export declare class SquareHasObjectInFront {
+  constructor(option: HasObjectInFrontOptions)
+  push(data: ArgumentLine2): void
+  compute(): Array<number>
+}
+
+export interface ArgumentBox3 {
+  min: Vector3F64
+  max: Vector3F64
+}
+
 export interface ArgumentBox3 {
   min: Vector3F64
   max: Vector3F64
@@ -16,6 +27,20 @@ export interface ArgumentBoxInfo {
   positionArr: Array<Vector3F64>
 }
 
+export interface ArgumentBoxInfo {
+  box3: ArgumentBox3
+  positionArr: Array<Vector3F64>
+}
+
+export interface ArgumentLine {
+  start?: Vector3F64
+  end?: Vector3F64
+  missingCheckResults: Array<Quads>
+  existSegments: Array<Quads>
+  intersectionSegments?: Array<Array<Index>>
+  objPositionArr?: Array<Array<number>>
+}
+
 export interface ArgumentLine {
   start?: Vector3F64
   end?: Vector3F64
@@ -32,6 +57,13 @@ export interface ArgumentLine2 {
   existSegments: Array<Quads>
 }
 
+export interface ArgumentLine2 {
+  start?: Vector3F64
+  end?: Vector3F64
+  checkResults: Array<Quads>
+  existSegments: Array<Quads>
+}
+
 export declare function checkLineSideVisibility(option: CheckLineSideVisibilityOption): Array<number>
 
 export interface CheckLineSideVisibilityOption {
@@ -41,6 +73,19 @@ 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>
@@ -52,6 +97,17 @@ export interface DepthFilter {
   depthThreshold: number
 }
 
+export interface DepthFilter {
+  searchRadius: number
+  depthThreshold: number
+}
+
+export interface HasObjectInFrontOptions {
+  view?: boolean
+  lines: Array<ArgumentLine2>
+  boxInfos: Array<ArgumentBoxInfo>
+}
+
 export interface HasObjectInFrontOptions {
   view?: boolean
   lines: Array<ArgumentLine2>
@@ -63,6 +119,53 @@ export interface HasQquareBehindOptions {
   lines: Array<ArgumentLine>
 }
 
+export interface HasQquareBehindOptions {
+  view?: boolean
+  lines: Array<ArgumentLine>
+}
+
+export interface ImageInfo {
+  x: number
+  y: number
+  z: number
+  qx: number
+  qy: number
+  qz: number
+  qw: number
+  cq: number
+  fx: number
+  fy: number
+  cx: number
+  cy: number
+  width: number
+  height: number
+  dist: Array<number>
+  url: string
+}
+
+export interface ImageInfo {
+  x: number
+  y: number
+  z: number
+  qx: number
+  qy: number
+  qz: number
+  qw: number
+  cq: number
+  fx: number
+  fy: number
+  cx: number
+  cy: number
+  width: number
+  height: number
+  dist: Array<number>
+  url: string
+}
+
+export interface Index {
+  index: number
+}
+
 export interface Index {
   index: number
 }
@@ -77,12 +180,29 @@ 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
+  checkResults: Array<CheckResult>
+}
+
+/** 模型 缩略图 */
 export declare function modelPreview(option: Parameter): ModelPreviewResults
 
 export interface ModelPreviewResults {
@@ -91,6 +211,41 @@ export interface ModelPreviewResults {
   height: number
 }
 
+export interface ModelPreviewResults {
+  data: Array<number>
+  width: number
+  height: number
+}
+
+/** 着色全景 */
+export declare function panorama(option: PanoramaOption): PanoramaResults
+
+export interface PanoramaOption {
+  view?: boolean
+  imageGroups: Array<Array<ImageInfo>>
+}
+
+export interface PanoramaOption {
+  view?: boolean
+  imageGroups: Array<Array<ImageInfo>>
+}
+
+export interface PanoramaResults {
+
+}
+
+export interface PanoramaResults {
+
+}
+
+export interface Parameter {
+  view?: boolean
+  width: number
+  height: number
+  url: string
+  outUrl?: string
+}
+
 export interface Parameter {
   view?: boolean
   width: number
@@ -107,6 +262,19 @@ export interface PcBackfaceTestOptions {
   distProjection: boolean
 }
 
+export interface PcBackfaceTestOptions {
+  view?: boolean
+  pcdDir: string
+  lines: LineDataList
+  trajectorys: Record<string, Trajectory>
+  distProjection: boolean
+}
+
+export interface Quads {
+  originalVertices: Array<Array<Vector3F64>>
+  allCenterPoints: Array<Vector3F64>
+}
+
 export interface Quads {
   originalVertices: Array<Array<Vector3F64>>
   allCenterPoints: Array<Vector3F64>
@@ -118,6 +286,13 @@ export interface Results {
   objIds: Array<Array<string>>
 }
 
+export interface Results {
+  results: Array<Array<Array<number>>>
+  positions: Array<Vector3F64>
+  objIds: Array<Array<string>>
+}
+
+/** 通过图片对点云投影采样 */
 export declare function samplePointsByImage(option: SamplePointsByImageOption): Results
 
 export interface SamplePointsByImageOption {
@@ -146,8 +321,39 @@ export interface SamplePointsByImageOption {
   edgeCorrosionSize?: number
 }
 
+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>
+  /** 形状使用轮廓 */
+  contourMode?: boolean
+  /** 边缘腐蚀大小 */
+  edgeCorrosionSize?: number
+}
+
+/** 检测小方块背面是否有点云 */
+export declare function squareBackfacePointCloudTest(option: PcBackfaceTestOptions): Array<number>
+
+/** 检测 小方块 前面是否有 box 且没有其他小方块 */
 export declare function squareHasObjectInFront(option: HasObjectInFrontOptions): Array<number>
 
+/** 检测 小方块 是否被 其他小方块遮挡 */
 export declare function squareHasSquareBehind(option: HasQquareBehindOptions): Array<number>
 
 export interface Trajectory {
@@ -160,6 +366,23 @@ export interface Trajectory {
   qw: number
 }
 
+export interface Trajectory {
+  x: number
+  y: number
+  z: number
+  qx: number
+  qy: number
+  qz: number
+  qw: number
+}
+
+/** 三维向量，包含 x、y、z 分量 */
+export interface Vector3F64 {
+  x: number
+  y: number
+  z: number
+}
+
 /** 三维向量，包含 x、y、z 分量 */
 export interface Vector3F64 {
   x: number

package/src/index.js

@@ -588,8 +588,11 @@ if (!nativeBinding) {
 
 module.exports = nativeBinding
 module.exports.SquareBackfacePointCloudTest = nativeBinding.SquareBackfacePointCloudTest
+module.exports.SquareHasObjectInFront = nativeBinding.SquareHasObjectInFront
 module.exports.checkLineSideVisibility = nativeBinding.checkLineSideVisibility
 module.exports.modelPreview = nativeBinding.modelPreview
+module.exports.panorama = nativeBinding.panorama
 module.exports.samplePointsByImage = nativeBinding.samplePointsByImage
+module.exports.squareBackfacePointCloudTest = nativeBinding.squareBackfacePointCloudTest
 module.exports.squareHasObjectInFront = nativeBinding.squareHasObjectInFront
 module.exports.squareHasSquareBehind = nativeBinding.squareHasSquareBehind

package/src/main.js

@@ -184,4 +184,7 @@ module.exports.squareHasSquareBehind = squareHasSquareBehind
 module.exports.samplePointsByImage = samplePointsByImage
 module.exports.modelPreview = modelPreview
 module.exports.squareHasObjectInFront = gxf.squareHasObjectInFront
+module.exports.panorama = gxf.panorama
 module.exports.SquareBackfacePointCloudTest = gxf.SquareBackfacePointCloudTest
+module.exports.SquareHasObjectInFront = gxf.SquareHasObjectInFront
+