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@ -7,6 +7,7 @@ import { Annotation } from "./annotation.js";
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import { EgoPose } from "./ego_pose.js";
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import { EgoPose } from "./ego_pose.js";
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import { logger } from "./log.js";
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import { logger } from "./log.js";
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import request from "./request.js";
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import request from "./request.js";
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import fileHttp from "./fileHttp.js";
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import {
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import {
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euler_angle_to_rotate_matrix,
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euler_angle_to_rotate_matrix,
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euler_angle_to_rotate_matrix_3by3,
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euler_angle_to_rotate_matrix_3by3,
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@ -21,12 +22,14 @@ function FrameInfo(data, sceneMeta, sceneName, frame) {
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this.dir = "";
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this.dir = "";
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this.scene = sceneName;
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this.scene = sceneName;
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this.frame = frame;
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this.frame = frame;
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this.annotationData = null;
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this.pcd_ext = "";
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this.pcd_ext = "";
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this.loadCallback = null;
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(this.frame_index = this.sceneMeta.frames.findIndex(function (x) {
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(this.frame_index = this.sceneMeta.frames.findIndex(function (x) {
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return x == frame;
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return x == frame;
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})),
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})),
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(this.transform_matrix = this.sceneMeta.point_transform_matrix),
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(this.transform_matrix = this.sceneMeta.point_transform_matrix),
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(this.annotation_format = this.sceneMeta.boxtype), //xyz(24 number), csr(center, scale, rotation, 9 number)
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(this.annotation_format = this.sceneMeta.boxType), //xyz(24 number), csr(center, scale, rotation, 9 number)
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// this.set = function(scene, frame_index, frame, transform_matrix, annotation_format){
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// this.set = function(scene, frame_index, frame, transform_matrix, annotation_format){
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// this.scene = scene;
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// this.scene = scene;
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// this.frame = frame;
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// this.frame = frame;
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@ -36,15 +39,18 @@ function FrameInfo(data, sceneMeta, sceneName, frame) {
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// };
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// };
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(this.get_pcd_path = function () {
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(this.get_pcd_path = function () {
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if (this.annotationData) {
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return fileHttp + this.annotationData.lidarPcdPath;
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}
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return (
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return (
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request + "/data/" + this.scene + "/lidar/" + this.frame + this.sceneMeta.lidar_ext
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request + "/data/" + this.scene + "/lidar/" + this.frame + this.sceneMeta.lidarExt
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);
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);
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});
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});
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this.get_radar_path = function (name) {
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this.get_radar_path = function (name) {
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return `${request}/data/${this.scene}/radar/${name}/${this.frame}${this.sceneMeta.radar_ext}`;
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return `${request}/data/${this.scene}/radar/${name}/${this.frame}${this.sceneMeta.radarExt}`;
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};
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};
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this.get_aux_lidar_path = function (name) {
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this.get_aux_lidar_path = function (name) {
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return `${request}/data/${this.scene}/aux_lidar/${name}/${this.frame}${this.sceneMeta.radar_ext}`;
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return `${request}/data/${this.scene}/aux_lidar/${name}/${this.frame}${this.sceneMeta.radarExt}`;
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};
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};
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this.get_anno_path = function () {
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this.get_anno_path = function () {
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@ -55,6 +61,17 @@ function FrameInfo(data, sceneMeta, sceneName, frame) {
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}
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}
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};
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};
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// 设置注释数据并触发回调
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this.setAnnotationData = function(data) {
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this.annotationData = data;
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// 如果已经有加载回调但尚未执行，则执行它
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if (this.loadCallback && !this.loadCallback.executed) {
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this.loadCallback.executed = true;
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this.loadCallback();
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}
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};
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this.anno_to_boxes = function (text) {
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this.anno_to_boxes = function (text) {
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var _self = this;
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var _self = this;
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if (this.annotation_format == "psr") {
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if (this.annotation_format == "psr") {
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@ -166,6 +183,11 @@ function FrameInfo(data, sceneMeta, sceneName, frame) {
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function Images(sceneMeta, sceneName, frame) {
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function Images(sceneMeta, sceneName, frame) {
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this.loaded = function () {
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this.loaded = function () {
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// 如果没有相机名称，则认为已加载完成
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if (!this.names || this.names.length === 0) {
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return true;
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}
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for (var n in this.names) {
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for (var n in this.names) {
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if (!this.loaded_flag[this.names[n]]) return false;
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if (!this.loaded_flag[this.names[n]]) return false;
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}
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}
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@ -175,61 +197,94 @@ function Images(sceneMeta, sceneName, frame) {
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this.names = sceneMeta.camera; //["image","left","right"],
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this.names = sceneMeta.camera; //["image","left","right"],
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this.loaded_flag = {};
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this.loaded_flag = {};
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// this.active_name = "";
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this.content = {};
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// this.active_image = function(){
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this.on_all_loaded = null;
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// return this.content[this.active_name];
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this.annotationData = null;
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// };
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this.sceneName = sceneName;
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this.frame = frame;
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this.sceneMeta = sceneMeta;
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this.loadCallback = null;
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this.active_name = null;
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this.getImageByName = function (name) {
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this.getImageByName = function (name) {
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return this.content[name];
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return this.content[name];
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};
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};
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// this.activate = function(name){
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// 设置注释数据并触发图像加载
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// this.active_name = name;
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this.setAnnotationData = function(data) {
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// };
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this.annotationData = data;
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this.content = {};
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// 如果已经有加载回调但尚未执行，则执行它
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this.on_all_loaded = null;
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if (this.loadCallback && !this.loadCallback.executed) {
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this.loadCallback.executed = true;
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this.loadCallback();
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}
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};
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(this.load = function (on_all_loaded, active_name) {
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this.load = function (on_all_loaded, active_name) {
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this.on_all_loaded = on_all_loaded;
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this.on_all_loaded = on_all_loaded;
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this.active_name = active_name;
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// if global camera not set, use first camera as default.
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// if (active_name.length > 0)
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// this.active_name = active_name;
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// else if (this.names && this.names.length>0)
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// this.active_name = this.names[0];
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var _self = this;
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var _self = this;
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// 定义实际的图像加载函数
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const doImageLoad = function() {
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// 如果 global camera 未设置，使用第一个相机作为默认
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// if (active_name.length > 0)
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// this.active_name = active_name;
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// else if (this.names && this.names.length>0)
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// this.active_name = this.names[0];
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if (_self.names) {
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_self.names.forEach(function (cam) {
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_self.content[cam] = new Image();
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_self.content[cam].onload = function () {
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_self.loaded_flag[cam] = true;
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_self.on_image_loaded();
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};
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_self.content[cam].onerror = function () {
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_self.loaded_flag[cam] = true;
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_self.on_image_loaded();
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};
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// 使用注释数据构造图像路径（如果可用）
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if (_self.annotationData) {
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_self.content[cam].src = fileHttp + _self.annotationData[`${cam}ImgPath`]
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} else {
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// 回退到原来的路径
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_self.content[cam].src =
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"data/example/camera/" +
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cam +
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"/000965" +
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_self.sceneMeta.cameraExt;
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}
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console.log("image set", _self.content[cam].src);
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});
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} else {
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// 没有相机名称，直接调用完成回调
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if (_self.on_all_loaded) {
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_self.on_all_loaded();
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}
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}
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};
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if (this.names) {
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// 如果已经有注释数据，立即加载图像
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this.names.forEach(function (cam) {
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if (this.annotationData) {
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_self.content[cam] = new Image();
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doImageLoad();
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_self.content[cam].onload = function () {
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} else {
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_self.loaded_flag[cam] = true;
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// 否则保存回调，等待注释数据到达后再执行
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_self.on_image_loaded();
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this.loadCallback = doImageLoad;
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};
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_self.content[cam].onerror = function () {
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_self.loaded_flag[cam] = true;
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_self.on_image_loaded();
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};
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_self.content[cam].src =
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"data/" +
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sceneName +
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"/camera/" +
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cam +
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"/" +
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frame +
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sceneMeta.camera_ext;
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console.log("image set");
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});
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}
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}
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}),
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};
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(this.on_image_loaded = function () {
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if (this.loaded()) {
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this.on_image_loaded = function () {
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if (this.loaded()) {
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if (this.on_all_loaded) {
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this.on_all_loaded();
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this.on_all_loaded();
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}
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}
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});
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}
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};
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}
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}
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function World(data, sceneName, frame, coordinatesOffset, on_preload_finished) {
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function World(data, sceneName, frame, coordinatesOffset, on_preload_finished) {
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zhoulexin
3 months ago