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1570 lines
42 KiB
JavaScript
1570 lines
42 KiB
JavaScript
import * as THREE from "./lib/three.module.js";
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import {
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matmul,
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euler_angle_to_rotate_matrix,
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transpose,
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psr_to_xyz,
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array_as_vector_range,
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array_as_vector_index_range,
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vector_range,
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euler_angle_to_rotate_matrix_3by3,
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} from "./util.js";
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import { PCDLoader } from "./lib/PCDLoader.js";
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import { globalObjectCategory } from "./obj_cfg.js";
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import { settings } from "./settings.js";
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function Lidar(sceneMeta, world, frameInfo) {
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this.world = world;
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this.data = world.data;
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this.frameInfo = frameInfo;
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this.sceneMeta = sceneMeta;
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this.points = null;
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this.points_load_time = 0;
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this.remove_high_ponts = function (pcd, z) {
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let position = [];
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let color = [];
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let normal = [];
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let intensity = [];
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//3, 3, 3, 1
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for (let i = 0; i < pcd.position.length / 3; i++) {
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if (pcd.position[i * 3 + 2] < z) {
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position.push(pcd.position[i * 3 + 0]);
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position.push(pcd.position[i * 3 + 1]);
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position.push(pcd.position[i * 3 + 2]);
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if (pcd.color.length > 0) {
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color.push(pcd.color[i * 3 + 0]);
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color.push(pcd.color[i * 3 + 1]);
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color.push(pcd.color[i * 3 + 2]);
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}
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if (pcd.normal.length > 0) {
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normal.push(pcd.normal[i * 3 + 0]);
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normal.push(pcd.normal[i * 3 + 1]);
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normal.push(pcd.normal[i * 3 + 2]);
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}
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if (pcd.intensity) {
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intensity.push(pcd.intensity[i]);
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}
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}
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}
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pcd.position = position;
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pcd.intensity = intensity;
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pcd.color = color;
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pcd.normal = normal;
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return pcd;
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};
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this.preload = function (on_preload_finished) {
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this.on_preload_finished = on_preload_finished;
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var loader = new PCDLoader();
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var _self = this;
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// 定义实际的点云加载函数
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const doPcdLoad = function() {
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loader.load(
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_self.frameInfo.get_pcd_path(),
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//ok
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function (pcd) {
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_self.points_parse_time = new Date().getTime();
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console.log(
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_self.points_load_time,
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_self.frameInfo.scene,
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_self.frameInfo.frame,
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"parse pionts ",
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_self.points_parse_time - _self.create_time,
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"ms"
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);
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// if (_self.frameInfo.transform_matrix){
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// var arr = position;
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// var num = position.length;
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// var ni = 3;
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// for (var i=0; i<num/ni; i++){
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// var np = _self.frameInfo.transform_point(_self.frameInfo.transform_matrix, arr[i*ni+0], arr[i*ni+1], arr[i*ni+2]);
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// arr[i*ni+0]=np[0];
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// arr[i*ni+1]=np[1];
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// arr[i*ni+2]=np[2];
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// }
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// //points.geometry.computeBoundingSphere();
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// }
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if (_self.data.cfg.enableFilterPoints) {
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// do some filtering work here
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pcd = _self.remove_high_ponts(pcd, _self.data.cfg.filterPointsZ);
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}
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let position = pcd.position;
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// build geometry
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_self.world.data.dbg.alloc();
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var geometry = new THREE.BufferGeometry();
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if (position.length > 0)
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geometry.setAttribute(
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"position",
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new THREE.Float32BufferAttribute(position, 3)
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);
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let normal = pcd.normal;
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// normal and colore are note used in av scenes.
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if (normal.length > 0)
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geometry.setAttribute(
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"normal",
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new THREE.Float32BufferAttribute(normal, 3)
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);
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let color = pcd.color;
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if (color.length == 0) {
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color = [];
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// by default we set all points to same color
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for (let i = 0; i < position.length; ++i) {
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color.push(_self.data.cfg.point_brightness);
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}
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// if enabled intensity we color points by intensity.
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if (
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_self.data.cfg.color_points == "intensity" &&
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pcd.intensity.length > 0
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) {
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// map intensity to color
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for (var i = 0; i < pcd.intensity.length; ++i) {
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let intensity = pcd.intensity[i];
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intensity *= 8;
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if (intensity > 1) intensity = 1.0;
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//color.push( 2 * Math.abs(0.5-intensity));
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color[i * 3] = intensity;
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color[i * 3 + 1] = intensity;
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color[i * 3 + 2] = 1 - intensity;
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}
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}
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// save color, in case color needs to be restored.
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pcd.color = color;
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}
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geometry.setAttribute(
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"color",
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new THREE.Float32BufferAttribute(color, 3)
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);
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geometry.computeBoundingSphere();
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// build material
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var material = new THREE.PointsMaterial({
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size: _self.data.cfg.point_size,
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vertexColors: THREE.VertexColors,
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});
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/*
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if ( color.length > 0 ) {
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material.vertexColors = color;
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} else {
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//material.color.setHex(0xffffff);
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material.color.r = 0.6;
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material.color.g = 0.6;
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material.color.b = 0.6;
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}
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*/
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//material.size = 2;
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material.sizeAttenuation = false;
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// build mesh
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var mesh = new THREE.Points(geometry, material);
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mesh.name = "pcd";
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//return mesh;
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// add to parent.
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_self.world.webglGroup.add(mesh);
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_self.points = mesh;
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_self.pcd = pcd;
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//_self.points_backup = mesh;
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_self.build_points_index();
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_self.points_load_time = new Date().getTime();
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console.log(
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_self.points_load_time,
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_self.frameInfo.scene,
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_self.frameInfo.frame,
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"loaded pionts ",
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_self.points_load_time - _self.create_time,
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"ms"
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);
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_self._afterPreload();
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},
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// on progress,
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function () {},
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// on error
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function () {
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//error
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console.log("load pcd failed.");
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_self._afterPreload();
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},
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// on file loaded
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function () {
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_self.points_readfile_time = new Date().getTime();
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console.log(
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_self.points_load_time,
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_self.frameInfo.scene,
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_self.frameInfo.frame,
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"read file ",
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_self.points_readfile_time - _self.create_time,
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"ms"
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);
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}
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);
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};
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// 如果已经有注释数据，立即加载点云
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if (this.frameInfo.annotationData !== null) {
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doPcdLoad();
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} else {
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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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this.frameInfo.loadCallback = doPcdLoad;
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}
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};
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this.deleteAll = function () {
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return this.remove_all_points();
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};
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this._afterPreload = function () {
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this.preloaded = true;
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console.log("lidar preloaded");
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//go ahead, may load picture
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if (this.on_preload_finished) {
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this.on_preload_finished();
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}
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if (this.go_cmd_received) {
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this.go(this.webglScene, this.on_go_finished);
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}
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};
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this.loaded = false;
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this.webglScene = null;
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this.go_cmd_received = false;
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this.on_go_finished = null;
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this.go = function (webglScene, on_go_finished) {
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this.webglScene = webglScene;
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if (this.preloaded) {
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if (!this.world.data.cfg.show_background) {
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this.hide_background();
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}
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if (this.data.cfg.color_obj != "no") {
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this.color_objects();
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}
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if (on_go_finished) on_go_finished();
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} else {
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this.go_cmd_received = true;
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this.on_go_finished = on_go_finished;
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}
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};
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this.unload = function () {
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this.cancel_highlight();
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if (this.points) {
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// this.world.webglGroup.remove(this.points);
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// if (this.points.points_backup){
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// let backup = this.points.points_backup;
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// this.points.points_backup = null;
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// this.remove_all_points();
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// this.points = backup;
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// }
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}
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};
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this.deleteAll = function () {
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this.remove_all_points();
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};
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this.set_point_size = function (v) {
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if (this.points) {
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this.points.material.size = v;
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// this could happen if the points are still loading
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if (this.points.points_backup) {
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this.points.points_backup.material.size = v;
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if (this.points.points_backup.points_backup) {
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this.points.points_backup.points_backup.material.size = v;
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}
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}
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}
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};
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this.color_objects = function () {
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if (this.data.cfg.color_obj != "no") {
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this.world.annotation.boxes.map((b) => {
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if (!b.annotator) this.set_box_points_color(b);
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});
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}
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};
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// color points according to object category
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this.color_points = function () {
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// color all points inside these boxes
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let color = this.points.geometry.getAttribute("color").array;
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// step 1, color all points.
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if (
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this.data.cfg.color_points == "intensity" &&
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this.pcd.intensity.length > 0
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) {
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// by intensity
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for (var i = 0; i < this.pcd.intensity.length; ++i) {
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let intensity = this.pcd.intensity[i];
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intensity *= 8;
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if (intensity > 1) intensity = 1.0;
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//color.push( 2 * Math.abs(0.5-intensity));
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color[i * 3] = intensity;
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color[i * 3 + 1] = intensity;
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color[i * 3 + 2] = 1 - intensity;
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}
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} else {
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// mono color
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for (let i = 0; i < this.pcd.position.length; ++i) {
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color[i] = this.data.cfg.point_brightness;
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}
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}
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// step 2 color objects
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this.color_objects();
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//this.update_points_color();
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};
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this.transformPointsByEgoPose = function (points) {
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if (!this.world.transLidar) return points;
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let newPoints = [];
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for (let i = 0; i < points.length; i += 3) {
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let p = matmul(
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this.world.transLidar,
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[points[i], points[i + 1], points[i + 2], 1],
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4
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);
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newPoints.push(p[0]);
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newPoints.push(p[1]);
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newPoints.push(p[2]);
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}
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return newPoints;
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};
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this.get_all_pionts = function () {
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return this.points.geometry.getAttribute("position");
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};
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this.computeCenter = function () {
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if (!this.center) {
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let position = this.points.geometry.getAttribute("position");
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// computer center position
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let center = { x: 0, y: 0, z: 0 };
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for (let i = 0; i < position.count; i++) {
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center.x += position.array[i * 3];
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center.y += position.array[i * 3 + 1];
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center.z += position.array[i * 3 + 2];
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}
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center.x /= position.count;
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center.y /= position.count;
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center.z /= position.count;
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this.center = center;
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}
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return this.center;
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};
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this.build_points_index = function () {
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var ps = this.points.geometry.getAttribute("position");
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var points_index = {};
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if (ps) {
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// points may be empty
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for (var i = 0; i < ps.count; i++) {
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var k = this.get_position_key(
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ps.array[i * 3],
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ps.array[i * 3 + 1],
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ps.array[i * 3 + 2]
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);
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k = this.key_to_str(k);
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if (points_index[k]) {
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points_index[k].push(i);
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} else {
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points_index[k] = [i];
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}
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}
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}
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this.points.points_index = points_index;
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};
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(this.points_index_grid_size = 1),
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(this.get_position_key = function (x, y, z) {
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return [
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Math.floor(x / this.points_index_grid_size),
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Math.floor(y / this.points_index_grid_size),
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Math.floor(z / this.points_index_grid_size),
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];
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});
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this.key_to_str = function (k) {
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return k[0] + "," + k[1] + "," + k[2];
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};
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// candidate pionts, covering the box(center, scale), but larger.
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this.get_covering_position_indices = function (
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points,
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center,
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scale,
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rotation,
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scale_ratio
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) {
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/*
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var ck = this.get_position_key(center.x, center.y, center.z);
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var radius = Math.sqrt(scale.x*scale.x + scale.y*scale.y + scale.z*scale.z)/2;
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var radius_grid = Math.ceil(radius/this.points_index_grid_size);// + 1;
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var indices = [];
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for(var x = -radius_grid; x <= radius_grid; x++){
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for(var y = -radius_grid; y <= radius_grid; y++){
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for(var z = -radius_grid; z <= radius_grid; z++){
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var temp = points.points_index[this.key_to_str([ck[0]+x, ck[1]+y, ck[2]+z])];
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if (temp)
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indices = indices.concat(temp);
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}
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}
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}
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console.log("found indices 1: " + indices.length);
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//return indices;
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*/
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if (typeof scale_ratio == "number") {
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scale_ratio = {
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x: scale_ratio,
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y: scale_ratio,
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z: scale_ratio,
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};
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}
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var indices = [];
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var scaled_scale = {
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x: scale.x * scale_ratio.x,
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y: scale.y * scale_ratio.y,
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z: scale.z * scale_ratio.z,
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};
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var box_corners = psr_to_xyz(center, scaled_scale, rotation);
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var extreme = array_as_vector_range(box_corners, 4);
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var indices = [];
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for (
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var x = Math.floor(extreme.min[0] / this.points_index_grid_size);
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x <= Math.floor(extreme.max[0] / this.points_index_grid_size);
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x++
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) {
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for (
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var y = Math.floor(extreme.min[1] / this.points_index_grid_size);
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y <= Math.floor(extreme.max[1] / this.points_index_grid_size);
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y++
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) {
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for (
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var z = Math.floor(extreme.min[2] / this.points_index_grid_size);
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z <= Math.floor(extreme.max[2] / this.points_index_grid_size);
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z++
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) {
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var temp = points.points_index[this.key_to_str([x, y, z])];
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if (temp) indices = indices.concat(temp);
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}
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}
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}
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//console.log("found indices 2: " + indices.length);
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return indices;
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};
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this.toggle_background = function () {
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if (this.points.points_backup) {
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// cannot differentiate highlighted-scene and no-background-whole-scene
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this.cancel_highlight();
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return;
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} else {
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this.hide_background();
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}
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};
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// hide all points not inside any box
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this.hide_background = function () {
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if (this.points.points_backup) {
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//already hidden, or in highlight mode
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return;
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}
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var _self = this;
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var pos = this.points.geometry.getAttribute("position");
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var color = this.points.geometry.getAttribute("color");
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var hl_point = [];
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var hl_color = [];
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var highlight_point_indices = [];
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this.world.annotation.boxes.forEach(function (box) {
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var indices = _self._get_points_index_of_box(_self.points, box, 1);
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indices.forEach(function (i) {
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hl_point.push(pos.array[i * 3]);
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hl_point.push(pos.array[i * 3 + 1]);
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hl_point.push(pos.array[i * 3 + 2]);
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hl_color.push(color.array[i * 3]);
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hl_color.push(color.array[i * 3 + 1]);
|
|
hl_color.push(color.array[i * 3 + 2]);
|
|
});
|
|
|
|
highlight_point_indices = highlight_point_indices.concat(indices);
|
|
});
|
|
|
|
// build new geometry
|
|
this.world.data.dbg.alloc();
|
|
var geometry = new THREE.BufferGeometry();
|
|
|
|
if (hl_point.length > 0) {
|
|
geometry.setAttribute(
|
|
"position",
|
|
new THREE.Float32BufferAttribute(hl_point, 3)
|
|
);
|
|
geometry.setAttribute(
|
|
"color",
|
|
new THREE.Float32BufferAttribute(hl_color, 3)
|
|
);
|
|
}
|
|
|
|
geometry.computeBoundingSphere();
|
|
|
|
var material = new THREE.PointsMaterial({
|
|
size: _self.data.cfg.point_size,
|
|
vertexColors: THREE.VertexColors,
|
|
});
|
|
|
|
material.sizeAttenuation = false;
|
|
|
|
var mesh = new THREE.Points(geometry, material);
|
|
mesh.name = "pcd";
|
|
mesh.points_backup = this.points;
|
|
mesh.highlight_point_indices = highlight_point_indices;
|
|
|
|
//swith geometry
|
|
this.world.webglGroup.remove(this.points);
|
|
|
|
this.points = mesh;
|
|
this.build_points_index();
|
|
this.world.webglGroup.add(mesh);
|
|
};
|
|
|
|
this.cancel_highlight = function (box) {
|
|
if (this.points && this.points.points_backup) {
|
|
this.world.annotation.set_box_opacity(this.data.cfg.box_opacity);
|
|
|
|
//copy colors, maybe changed.
|
|
if (this.data.cfg.color_obj != "no") {
|
|
var highlight_point_color = this.points.geometry.getAttribute("color");
|
|
var backup_point_color =
|
|
this.points.points_backup.geometry.getAttribute("color");
|
|
|
|
this.points.highlight_point_indices.forEach(function (n, i) {
|
|
backup_point_color.array[n * 3] = highlight_point_color.array[i * 3];
|
|
backup_point_color.array[n * 3 + 1] =
|
|
highlight_point_color.array[i * 3 + 1];
|
|
backup_point_color.array[n * 3 + 2] =
|
|
highlight_point_color.array[i * 3 + 2];
|
|
});
|
|
}
|
|
|
|
//switch
|
|
var points_backup = this.points.points_backup;
|
|
this.points.points_backup = null;
|
|
|
|
this.world.webglGroup.remove(this.points);
|
|
this.remove_all_points(); //this.points is null now
|
|
this.points = points_backup;
|
|
|
|
if (box) {
|
|
// in highlighted mode, the box my be moved outof the highlighted area, so
|
|
// we need to color them again.
|
|
if (this.data.cfg.color_obj != "no") this.set_box_points_color(box);
|
|
}
|
|
|
|
if (this.data.cfg.color_obj != "no") this.update_points_color();
|
|
|
|
this.world.webglGroup.add(this.points);
|
|
}
|
|
};
|
|
|
|
this.reset_points = function (points) {
|
|
// coordinates of points
|
|
|
|
this.world.data.dbg.alloc();
|
|
var geometry = new THREE.BufferGeometry();
|
|
|
|
geometry.setAttribute(
|
|
"position",
|
|
new THREE.Float32BufferAttribute(points, 3)
|
|
);
|
|
geometry.computeBoundingSphere();
|
|
|
|
var material = new THREE.PointsMaterial({ size: this.data.cfg.point_size });
|
|
|
|
material.sizeAttenuation = false;
|
|
|
|
var mesh = new THREE.Points(geometry, material);
|
|
mesh.name = "pcd";
|
|
|
|
//swith geometry
|
|
this.world.webglGroup.remove(this.points);
|
|
this.remove_all_points();
|
|
|
|
this.points = mesh;
|
|
this.world.webglGroup.add(mesh);
|
|
};
|
|
|
|
this.highlight_box_points = function (box) {
|
|
if (this.points.highlighted_box) {
|
|
//already highlighted.
|
|
return;
|
|
}
|
|
|
|
// hide all other boxes
|
|
this.world.annotation.set_box_opacity(0);
|
|
|
|
// keep myself
|
|
box.material.opacity = 1;
|
|
|
|
var _self = this;
|
|
var pos = this.points.geometry.getAttribute("position");
|
|
var color = this.points.geometry.getAttribute("color");
|
|
|
|
var hl_point = [];
|
|
var hl_color = [];
|
|
|
|
var highlight_point_indices = this._get_points_index_of_box(
|
|
this.points,
|
|
box,
|
|
3
|
|
);
|
|
|
|
highlight_point_indices.forEach(function (i) {
|
|
hl_point.push(pos.array[i * 3]);
|
|
hl_point.push(pos.array[i * 3 + 1]);
|
|
hl_point.push(pos.array[i * 3 + 2]);
|
|
|
|
hl_color.push(color.array[i * 3]);
|
|
hl_color.push(color.array[i * 3 + 1]);
|
|
hl_color.push(color.array[i * 3 + 2]);
|
|
});
|
|
|
|
// build new geometry
|
|
this.world.data.dbg.alloc();
|
|
var geometry = new THREE.BufferGeometry();
|
|
|
|
if (hl_point.length > 0) {
|
|
geometry.setAttribute(
|
|
"position",
|
|
new THREE.Float32BufferAttribute(hl_point, 3)
|
|
);
|
|
geometry.setAttribute(
|
|
"color",
|
|
new THREE.Float32BufferAttribute(hl_color, 3)
|
|
);
|
|
}
|
|
|
|
geometry.computeBoundingSphere();
|
|
|
|
var material = new THREE.PointsMaterial({
|
|
size: _self.data.cfg.point_size,
|
|
vertexColors: THREE.VertexColors,
|
|
});
|
|
|
|
material.sizeAttenuation = false;
|
|
|
|
var mesh = new THREE.Points(geometry, material);
|
|
mesh.name = "highlighted_pcd";
|
|
|
|
//swith geometry
|
|
this.world.webglGroup.remove(this.points);
|
|
|
|
mesh.points_backup = this.points;
|
|
mesh.highlight_point_indices = highlight_point_indices;
|
|
mesh.highlighted_box = box;
|
|
|
|
this.points = mesh;
|
|
this.build_points_index();
|
|
this.world.webglGroup.add(mesh);
|
|
};
|
|
|
|
this.get_points_indices_of_box = function (box) {
|
|
return this._get_points_of_box(this.points, box, 1).index;
|
|
};
|
|
|
|
this.get_points_of_box_in_box_coord = function (box) {
|
|
return this._get_points_of_box(this.points, box, 1).position;
|
|
};
|
|
|
|
// IMPORTANT
|
|
// ground plane affects auto-adjustment
|
|
// we don't count in the ponits of lowest part to reduce the affection.
|
|
// note how the 'lower part' is defined, we count
|
|
// lowest_part_type has two options: lowest_point, or lowest_box
|
|
this.get_points_dimmension_of_box = function (box, use_box_bottom_as_limit) {
|
|
var p = this._get_points_of_box(this.points, box, 1).position; //position is relative to box coordinates
|
|
|
|
var lowest_limit = -box.scale.z / 2;
|
|
|
|
if (!use_box_bottom_as_limit) {
|
|
var extreme1 = vector_range(p, 3);
|
|
lowest_limit = extreme1.min[2];
|
|
}
|
|
|
|
//filter out lowest part
|
|
var p = p.filter(function (x) {
|
|
return x[2] - settings.ground_filter_height > lowest_limit;
|
|
});
|
|
|
|
//compute range again.
|
|
var extreme2 = vector_range(p, 3);
|
|
|
|
return {
|
|
max: {
|
|
x: extreme2.max[0],
|
|
y: extreme2.max[1],
|
|
z: extreme2.max[2],
|
|
},
|
|
min: {
|
|
x: extreme2.min[0],
|
|
y: extreme2.min[1],
|
|
z: lowest_limit,
|
|
},
|
|
};
|
|
};
|
|
|
|
// given points and box, calculate new box scale
|
|
this.get_dimension_of_points = function (indices, box) {
|
|
var p = this._get_points_of_box(this.points, box, 1, indices).position;
|
|
var extreme1 = vector_range(p, 3);
|
|
|
|
//filter out lowest part, to calculate x-y size.
|
|
var p = p.filter(function (x) {
|
|
return x[2] - settings.ground_filter_height > extreme1.min[2];
|
|
});
|
|
|
|
//compute range again.
|
|
var extreme2 = vector_range(p, 3);
|
|
|
|
return {
|
|
max: {
|
|
x: extreme2.max[0],
|
|
y: extreme2.max[1],
|
|
z: extreme1.max[2], // orignal extreme.
|
|
},
|
|
min: {
|
|
x: extreme2.min[0],
|
|
y: extreme2.min[1],
|
|
z: extreme1.min[2],
|
|
},
|
|
};
|
|
};
|
|
|
|
//centered, but without rotation
|
|
this.get_points_relative_coordinates_of_box_wo_rotation = function (
|
|
box,
|
|
scale_ratio
|
|
) {
|
|
return this._get_points_of_box(this.points, box, scale_ratio)
|
|
.position_wo_rotation;
|
|
};
|
|
|
|
this.get_points_of_box = function (box, scale_ratio) {
|
|
return this._get_points_of_box(this.points, box, scale_ratio);
|
|
};
|
|
|
|
this.get_points_relative_coordinates_of_box = function (box, scale_ratio) {
|
|
var ret = this._get_points_of_box(this.points, box, scale_ratio);
|
|
return ret.position;
|
|
};
|
|
|
|
this._get_points_index_of_box = function (points, box, scale_ratio) {
|
|
return this._get_points_of_box(points, box, scale_ratio).index;
|
|
};
|
|
|
|
// this
|
|
this._get_points_of_box = function (points, box, scale_ratio, point_indices) {
|
|
if (!scale_ratio) {
|
|
scale_ratio = 1;
|
|
}
|
|
var pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
var relative_position = [];
|
|
var relative_position_wo_rotation = [];
|
|
|
|
var r = box.rotation;
|
|
var trans = transpose(
|
|
euler_angle_to_rotate_matrix(r, { x: 0, y: 0, z: 0 }),
|
|
4
|
|
);
|
|
|
|
var indices = [];
|
|
var cand_point_indices = point_indices;
|
|
if (!point_indices) {
|
|
cand_point_indices = this.get_covering_position_indices(
|
|
points,
|
|
box.position,
|
|
box.scale,
|
|
box.rotation,
|
|
scale_ratio
|
|
);
|
|
}
|
|
|
|
cand_point_indices.forEach(function (i) {
|
|
//for (var i = 0; i < pos.count; i++){
|
|
var x = pos_array[i * 3];
|
|
var y = pos_array[i * 3 + 1];
|
|
var z = pos_array[i * 3 + 2];
|
|
|
|
var p = [x - box.position.x, y - box.position.y, z - box.position.z, 1];
|
|
|
|
var tp = matmul(trans, p, 4);
|
|
|
|
if (!point_indices) {
|
|
// if indices is provided by caller, don't filter
|
|
if (
|
|
Math.abs(tp[0]) > (box.scale.x / 2) * scale_ratio + 0.01 ||
|
|
Math.abs(tp[1]) > (box.scale.y / 2) * scale_ratio + 0.01 ||
|
|
Math.abs(tp[2]) > (box.scale.z / 2) * scale_ratio + 0.01
|
|
) {
|
|
return;
|
|
}
|
|
|
|
indices.push(i);
|
|
}
|
|
|
|
relative_position.push([tp[0], tp[1], tp[2]]);
|
|
relative_position_wo_rotation.push([p[0], p[1], p[2]]);
|
|
});
|
|
|
|
//console.log("found indices: " + indices.length);
|
|
|
|
return {
|
|
index: indices,
|
|
position: relative_position,
|
|
position_wo_rotation: relative_position_wo_rotation,
|
|
};
|
|
};
|
|
|
|
this.findTop = function (box, init_scale_ratio) {
|
|
var points = this.points;
|
|
var pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
var trans = transpose(
|
|
euler_angle_to_rotate_matrix(box.rotation, { x: 0, y: 0, z: 0 }),
|
|
4
|
|
);
|
|
|
|
var cand_point_indices = this.get_covering_position_indices(
|
|
points,
|
|
box.position,
|
|
box.scale,
|
|
box.rotation,
|
|
init_scale_ratio
|
|
);
|
|
// all cand points are translated into box coordinates
|
|
|
|
let translated_cand_points = cand_point_indices.map(function (i) {
|
|
let x = pos_array[i * 3];
|
|
let y = pos_array[i * 3 + 1];
|
|
let z = pos_array[i * 3 + 2];
|
|
|
|
let p = [x - box.position.x, y - box.position.y, z - box.position.z, 1];
|
|
let tp = matmul(trans, p, 4);
|
|
return tp;
|
|
});
|
|
|
|
let maxZ = -1000;
|
|
|
|
translated_cand_points.forEach((tp, i) => {
|
|
if (
|
|
Math.abs(tp[0]) < (box.scale.x * init_scale_ratio.x) / 2 &&
|
|
Math.abs(tp[1]) < (box.scale.y * init_scale_ratio.y) / 2 &&
|
|
Math.abs(tp[2]) < (box.scale.z * init_scale_ratio.z) / 2
|
|
) {
|
|
if (tp[2] > maxZ) maxZ = tp[2];
|
|
}
|
|
});
|
|
|
|
return maxZ;
|
|
};
|
|
|
|
// find bottom and top points, in range of init_scale_ratio
|
|
this.findBottom = function (box, init_scale_ratio) {
|
|
var points = this.points;
|
|
var pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
var trans = transpose(
|
|
euler_angle_to_rotate_matrix(box.rotation, { x: 0, y: 0, z: 0 }),
|
|
4
|
|
);
|
|
|
|
var cand_point_indices = this.get_covering_position_indices(
|
|
points,
|
|
box.position,
|
|
box.scale,
|
|
box.rotation,
|
|
init_scale_ratio
|
|
);
|
|
// all cand points are translated into box coordinates
|
|
|
|
let translated_cand_points = cand_point_indices.map(function (i) {
|
|
let x = pos_array[i * 3];
|
|
let y = pos_array[i * 3 + 1];
|
|
let z = pos_array[i * 3 + 2];
|
|
|
|
let p = [x - box.position.x, y - box.position.y, z - box.position.z, 1];
|
|
let tp = matmul(trans, p, 4);
|
|
return tp;
|
|
});
|
|
|
|
let minZ = 1000;
|
|
|
|
translated_cand_points.forEach((tp, i) => {
|
|
if (
|
|
Math.abs(tp[0]) < (box.scale.x * init_scale_ratio.x) / 2 &&
|
|
Math.abs(tp[1]) < (box.scale.y * init_scale_ratio.y) / 2 &&
|
|
Math.abs(tp[2]) < (box.scale.z * init_scale_ratio.z) / 2
|
|
) {
|
|
if (tp[2] < minZ) minZ = tp[2];
|
|
}
|
|
});
|
|
|
|
return minZ;
|
|
};
|
|
|
|
this.grow_box = function (box, min_distance, init_scale_ratio) {
|
|
console.log(
|
|
"grow box, min_distance",
|
|
min_distance,
|
|
box.scale,
|
|
init_scale_ratio
|
|
);
|
|
let start_time = new Date().getTime();
|
|
var points = this.points;
|
|
var pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
var trans = transpose(
|
|
euler_angle_to_rotate_matrix(box.rotation, { x: 0, y: 0, z: 0 }),
|
|
4
|
|
);
|
|
|
|
var cand_point_indices = this.get_covering_position_indices(
|
|
points,
|
|
box.position,
|
|
box.scale,
|
|
box.rotation,
|
|
init_scale_ratio
|
|
);
|
|
|
|
//todo: different definition.
|
|
let groundLevel = 0.3;
|
|
|
|
if (this.data.cfg.enableDynamicGroundLevel) {
|
|
groundLevel = Math.min(
|
|
box.scale.z / 3,
|
|
Math.max(0.2, box.scale.x / 10, box.scale.y / 10)
|
|
);
|
|
console.log("ground level", groundLevel, box.scale);
|
|
}
|
|
|
|
// all cand points are translated into box coordinates
|
|
|
|
let translated_cand_points = cand_point_indices.map(function (i) {
|
|
let x = pos_array[i * 3];
|
|
let y = pos_array[i * 3 + 1];
|
|
let z = pos_array[i * 3 + 2];
|
|
|
|
let p = [x - box.position.x, y - box.position.y, z - box.position.z, 1];
|
|
let tp = matmul(trans, p, 4);
|
|
return tp;
|
|
});
|
|
|
|
let extreme = {
|
|
max: {
|
|
x: -100000,
|
|
y: -100000,
|
|
z: -100000,
|
|
},
|
|
|
|
min: {
|
|
x: 1000000,
|
|
y: 1000000,
|
|
z: 1000000,
|
|
},
|
|
};
|
|
|
|
let inside_points = 0;
|
|
translated_cand_points.forEach((tp, i) => {
|
|
if (
|
|
Math.abs(tp[0]) > box.scale.x / 2 + 0.01 ||
|
|
Math.abs(tp[1]) > box.scale.y / 2 + 0.01 ||
|
|
Math.abs(tp[2]) > box.scale.z / 2 + 0.01
|
|
) {
|
|
return;
|
|
} else {
|
|
if (
|
|
box.scale.z < 0.6 ||
|
|
(box.scale.z > 0.6 && tp[2] > -box.scale.z / 2 + groundLevel)
|
|
) {
|
|
inside_points += 1;
|
|
|
|
if (tp[0] > extreme.max.x) {
|
|
extreme.max.x = tp[0];
|
|
}
|
|
|
|
if (tp[0] < extreme.min.x) {
|
|
extreme.min.x = tp[0];
|
|
}
|
|
|
|
if (tp[1] > extreme.max.y) {
|
|
extreme.max.y = tp[1];
|
|
}
|
|
|
|
if (tp[1] < extreme.min.y) {
|
|
extreme.min.y = tp[1];
|
|
}
|
|
}
|
|
|
|
if (tp[2] > extreme.max.z) {
|
|
extreme.max.z = tp[2];
|
|
}
|
|
|
|
if (tp[2] < extreme.min.z) {
|
|
extreme.min.z = tp[2];
|
|
}
|
|
}
|
|
});
|
|
|
|
if (inside_points < 10) {
|
|
//too few points, give up.
|
|
return {
|
|
max: {
|
|
x: box.scale.x / 2,
|
|
y: box.scale.y / 2,
|
|
z: box.scale.z / 2,
|
|
},
|
|
min: {
|
|
x: -box.scale.x / 2,
|
|
y: -box.scale.y / 2,
|
|
z: -box.scale.z / 2,
|
|
},
|
|
};
|
|
}
|
|
|
|
//let translated_cand_points_with_ground = translated_cand_points;
|
|
|
|
// filter ground points
|
|
// translated_cand_points = translated_cand_points.filter(function(tp, i){
|
|
// return tp[2] > -box.scale.z/2 + groundLevel;
|
|
// });
|
|
|
|
let extreme_adjusted = true;
|
|
let loop_count = 0;
|
|
while (extreme_adjusted) {
|
|
loop_count++;
|
|
if (loop_count > 100000) {
|
|
console.log("deep loops in grow_box");
|
|
break;
|
|
}
|
|
|
|
extreme_adjusted = false;
|
|
|
|
// x+
|
|
let find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[0] > extreme.max.x &&
|
|
tp[0] < extreme.max.x + min_distance / 2 &&
|
|
tp[1] < extreme.max.y &&
|
|
tp[1] > extreme.min.y &&
|
|
tp[2] < extreme.max.z &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.max.x += min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
|
|
// x -
|
|
find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[0] < extreme.min.x &&
|
|
tp[0] > extreme.min.x - min_distance / 2 &&
|
|
tp[1] < extreme.max.y &&
|
|
tp[1] > extreme.min.y &&
|
|
tp[2] < extreme.max.z &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.min.x -= min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
|
|
// y+
|
|
find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[1] > extreme.max.y &&
|
|
tp[1] < extreme.max.y + min_distance / 2 &&
|
|
tp[0] < extreme.max.x &&
|
|
tp[0] > extreme.min.x &&
|
|
tp[2] < extreme.max.z &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.max.y += min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
|
|
// y -
|
|
find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[1] < extreme.min.y &&
|
|
tp[1] > extreme.min.y - min_distance / 2 &&
|
|
tp[0] < extreme.max.x &&
|
|
tp[0] > extreme.min.x &&
|
|
tp[2] < extreme.max.z &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.min.y -= min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
|
|
// z+
|
|
find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[0] < extreme.max.x &&
|
|
tp[0] > extreme.min.x &&
|
|
tp[1] < extreme.max.y &&
|
|
tp[1] > extreme.min.y &&
|
|
tp[2] > extreme.max.z &&
|
|
tp[2] < extreme.max.z + min_distance / 2
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.max.z += min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
|
|
// z-
|
|
find_point = translated_cand_points.find((tp) => {
|
|
return (
|
|
tp[0] < extreme.max.x &&
|
|
tp[0] > extreme.min.x &&
|
|
tp[1] < extreme.max.y &&
|
|
tp[1] > extreme.min.y &&
|
|
tp[2] < extreme.min.z &&
|
|
tp[2] > extreme.min.z - min_distance / 2
|
|
);
|
|
});
|
|
|
|
if (find_point) {
|
|
extreme.min.z -= min_distance / 2;
|
|
extreme_adjusted = true;
|
|
}
|
|
}
|
|
|
|
// refine extreme values
|
|
//1 set initial value
|
|
let refined_extreme = {
|
|
max: {
|
|
x: extreme.max.x - min_distance / 2,
|
|
y: extreme.max.y - min_distance / 2,
|
|
z: extreme.max.z - min_distance / 2,
|
|
},
|
|
|
|
min: {
|
|
x: extreme.min.x + min_distance / 2,
|
|
y: extreme.min.y + min_distance / 2,
|
|
z: extreme.min.z + min_distance / 2,
|
|
},
|
|
};
|
|
|
|
//2 find refined values.
|
|
translated_cand_points.forEach((tp) => {
|
|
if (
|
|
tp[0] > extreme.max.x ||
|
|
tp[0] < extreme.min.x ||
|
|
tp[1] > extreme.max.y ||
|
|
tp[1] < extreme.min.y ||
|
|
tp[2] > extreme.max.z ||
|
|
tp[2] < extreme.min.z
|
|
) {
|
|
} else {
|
|
if (
|
|
tp[0] > refined_extreme.max.x &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
) {
|
|
refined_extreme.max.x = tp[0];
|
|
}
|
|
|
|
if (
|
|
tp[0] < refined_extreme.min.x &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
) {
|
|
refined_extreme.min.x = tp[0];
|
|
}
|
|
|
|
if (
|
|
tp[1] > refined_extreme.max.y &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
) {
|
|
refined_extreme.max.y = tp[1];
|
|
}
|
|
|
|
if (
|
|
tp[1] < refined_extreme.min.y &&
|
|
tp[2] > extreme.min.z + groundLevel
|
|
) {
|
|
refined_extreme.min.y = tp[1];
|
|
}
|
|
|
|
if (tp[2] > refined_extreme.max.z) {
|
|
refined_extreme.max.z = tp[2];
|
|
}
|
|
|
|
if (tp[2] < refined_extreme.min.z) {
|
|
refined_extreme.min.z = tp[2];
|
|
}
|
|
}
|
|
});
|
|
|
|
refined_extreme.min.z -= groundLevel;
|
|
console.log("refined extreme", JSON.stringify(refined_extreme));
|
|
return refined_extreme;
|
|
};
|
|
|
|
this.get_box_points_number = function (box) {
|
|
var indices = this._get_points_index_of_box(this.points, box, 1.0);
|
|
return indices.length;
|
|
};
|
|
|
|
this.reset_box_points_color = function (box) {
|
|
let color = this.points.geometry.getAttribute("color").array;
|
|
let indices = this._get_points_index_of_box(this.points, box, 1.0);
|
|
if (this.data.cfg.color_points == "intensity") {
|
|
indices.forEach((i) => {
|
|
let intensity = this.pcd.intensity[i];
|
|
intensity *= 8;
|
|
|
|
if (intensity > 1) intensity = 1.0;
|
|
|
|
color[i * 3] = intensity;
|
|
color[i * 3 + 1] = intensity;
|
|
color[i * 3 + 2] = 1 - intensity;
|
|
});
|
|
} else {
|
|
indices.forEach((i) => {
|
|
color[i * 3] = this.data.cfg.point_brightness;
|
|
color[i * 3 + 1] = this.data.cfg.point_brightness;
|
|
color[i * 3 + 2] = this.data.cfg.point_brightness;
|
|
});
|
|
}
|
|
};
|
|
|
|
this.set_box_points_color = function (box, target_color) {
|
|
//var pos = this.points.geometry.getAttribute("position");
|
|
var color = this.points.geometry.getAttribute("color");
|
|
|
|
if (!target_color) {
|
|
if (this.data.cfg.color_obj == "category") {
|
|
target_color = globalObjectCategory.get_color_by_category(box.obj_type);
|
|
} else if (this.data.cfg.color_obj == "id") {
|
|
// by id
|
|
let idx = box.obj_track_id
|
|
? parseInt(box.obj_track_id)
|
|
: box.obj_local_id;
|
|
target_color = globalObjectCategory.get_color_by_id(idx);
|
|
} // no color
|
|
else {
|
|
}
|
|
}
|
|
|
|
if (target_color) {
|
|
var indices = this._get_points_index_of_box(this.points, box, 1.0);
|
|
indices.forEach(function (i) {
|
|
color.array[i * 3] = target_color.x;
|
|
color.array[i * 3 + 1] = target_color.y;
|
|
color.array[i * 3 + 2] = target_color.z;
|
|
});
|
|
}
|
|
};
|
|
|
|
this.set_spec_points_color = function (point_indices, target_color) {
|
|
//var pos = this.points.geometry.getAttribute("position");
|
|
var color = this.points.geometry.getAttribute("color");
|
|
|
|
point_indices.forEach(function (i) {
|
|
color.array[i * 3] = target_color.x;
|
|
color.array[i * 3 + 1] = target_color.y;
|
|
color.array[i * 3 + 2] = target_color.z;
|
|
});
|
|
};
|
|
|
|
// this is used when pointbrightness is updated.
|
|
this.recolor_all_points = function () {
|
|
this.set_points_color({
|
|
x: this.data.cfg.point_brightness,
|
|
y: this.data.cfg.point_brightness,
|
|
z: this.data.cfg.point_brightness,
|
|
});
|
|
this.color_points();
|
|
this.update_points_color();
|
|
};
|
|
|
|
// set all points to specified color
|
|
this.set_points_color = function (target_color) {
|
|
var color = this.points.geometry.getAttribute("color");
|
|
for (var i = 0; i < color.count; i++) {
|
|
color.array[i * 3] = target_color.x;
|
|
color.array[i * 3 + 1] = target_color.y;
|
|
color.array[i * 3 + 2] = target_color.z;
|
|
}
|
|
};
|
|
|
|
this.update_points_color = function () {
|
|
if (this.points) {
|
|
//some time points may fail to load.
|
|
this.points.geometry.getAttribute("color").needsUpdate = true;
|
|
//this.points.geometry.removeAttribute("color");
|
|
//this.points.geometry.setAttribute("color", new THREE.Float32BufferAttribute(color.array, 3 ));
|
|
}
|
|
};
|
|
|
|
this.remove_all_points = function () {
|
|
if (this.points) {
|
|
this.world.data.dbg.free();
|
|
this.points.geometry.dispose();
|
|
this.points.material.dispose();
|
|
|
|
if (this.points.points_backup) {
|
|
this.world.data.dbg.free();
|
|
this.points.points_backup.geometry.dispose();
|
|
this.points.points_backup.material.dispose();
|
|
|
|
if (this.points.points_backup.points_backup) {
|
|
this.world.data.dbg.free();
|
|
this.points.points_backup.points_backup.geometry.dispose();
|
|
this.points.points_backup.points_backup.material.dispose();
|
|
this.points.points_backup.points_backup = null;
|
|
}
|
|
|
|
this.points.points_backup = null;
|
|
}
|
|
|
|
this.points = null;
|
|
} else {
|
|
console.error("destroy empty world!");
|
|
}
|
|
};
|
|
|
|
this.select_points_by_view_rect = function (x, y, w, h, camera) {
|
|
var points = this.points;
|
|
var pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
var indices = [];
|
|
var points = [];
|
|
var p = new THREE.Vector3();
|
|
|
|
for (var i = 0; i < pos_array.length / 3; i++) {
|
|
p.set(pos_array[i * 3], pos_array[i * 3 + 1], pos_array[i * 3 + 2]);
|
|
p = this.world.lidarPosToScene(p);
|
|
p.project(camera);
|
|
//p.x = p.x/p.z;
|
|
//p.y = p.y/p.z;
|
|
//console.log(p);
|
|
if (p.x >= x && p.x <= x + w && p.y >= y && p.y <= y + h && p.z > 0) {
|
|
indices.push(i);
|
|
points.push([
|
|
pos_array[i * 3],
|
|
pos_array[i * 3 + 1],
|
|
pos_array[i * 3 + 2],
|
|
]);
|
|
}
|
|
}
|
|
|
|
console.log("select rect points", indices.length);
|
|
|
|
//this.set_spec_points_color(indices, {x:1,y:0,z:0});
|
|
//this.update_points_color();
|
|
|
|
return points;
|
|
};
|
|
|
|
this.get_centroid = function (point_indices) {
|
|
let points = this.points;
|
|
let pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
let center = {
|
|
x: 0,
|
|
y: 0,
|
|
z: 0,
|
|
};
|
|
|
|
point_indices.forEach((i) => {
|
|
center.x += pos_array[i * 3];
|
|
center.y += pos_array[i * 3 + 1];
|
|
center.z += pos_array[i * 3 + 2];
|
|
});
|
|
|
|
center.x /= point_indices.length;
|
|
center.y /= point_indices.length;
|
|
center.z /= point_indices.length;
|
|
|
|
return center;
|
|
};
|
|
|
|
this.create_box_by_points = function (point_indices, camera) {
|
|
let indices = point_indices;
|
|
let points = this.points;
|
|
let pos_array = points.geometry.getAttribute("position").array;
|
|
|
|
// todo: copied the following code from next function. refactor it!
|
|
console.log("select rect points", indices.length);
|
|
|
|
//compute center, no need to tranform to box coordinates, and can't do it in this stage.
|
|
/*
|
|
var extreme = array_as_vector_index_range(pos_array, 3, indices);
|
|
|
|
var center = {
|
|
x: (extreme.max[0]+extreme.min[0])/2,
|
|
y: (extreme.max[1]+extreme.min[1])/2,
|
|
z: (extreme.max[2]+extreme.min[2])/2,
|
|
};
|
|
*/
|
|
var rotation_z = camera.rotation.z + Math.PI / 2;
|
|
var trans = transpose(
|
|
euler_angle_to_rotate_matrix(
|
|
{ x: 0, y: 0, z: rotation_z },
|
|
{ x: 0, y: 0, z: 0 }
|
|
),
|
|
4
|
|
);
|
|
|
|
let center = {
|
|
x: 0,
|
|
y: 0,
|
|
z: 0,
|
|
};
|
|
|
|
point_indices.forEach((i) => {
|
|
center.x += pos_array[i * 3];
|
|
center.y += pos_array[i * 3 + 1];
|
|
center.z += pos_array[i * 3 + 2];
|
|
});
|
|
|
|
center.x /= point_indices.length;
|
|
center.y /= point_indices.length;
|
|
center.z /= point_indices.length;
|
|
center.z = 0;
|
|
|
|
var relative_position = [];
|
|
indices.forEach(function (i) {
|
|
//for (var i = 0; i < pos.count; i++){
|
|
var x = pos_array[i * 3];
|
|
var y = pos_array[i * 3 + 1];
|
|
var z = pos_array[i * 3 + 2];
|
|
var p = [x - center.x, y - center.y, z - center.z, 1];
|
|
var tp = matmul(trans, p, 4);
|
|
relative_position.push([tp[0], tp[1], tp[2]]);
|
|
});
|
|
|
|
var relative_extreme = vector_range(relative_position);
|
|
var scale = {
|
|
x: relative_extreme.max[0] - relative_extreme.min[0],
|
|
y: relative_extreme.max[1] - relative_extreme.min[1],
|
|
z: relative_extreme.max[2] - relative_extreme.min[2],
|
|
};
|
|
|
|
// enlarge scale a little
|
|
|
|
// adjust center
|
|
this.world.annotation.translate_box_position(
|
|
center,
|
|
rotation_z,
|
|
"x",
|
|
relative_extreme.min[0] + scale.x / 2
|
|
);
|
|
this.world.annotation.translate_box_position(
|
|
center,
|
|
rotation_z,
|
|
"y",
|
|
relative_extreme.min[1] + scale.y / 2
|
|
);
|
|
this.world.annotation.translate_box_position(
|
|
center,
|
|
rotation_z,
|
|
"z",
|
|
relative_extreme.min[2] + scale.z / 2
|
|
);
|
|
|
|
scale.x += 0.02;
|
|
scale.y += 0.02;
|
|
scale.z += 0.02;
|
|
|
|
return this.world.annotation.add_box(
|
|
center,
|
|
scale,
|
|
{ x: 0, y: 0, z: rotation_z },
|
|
"Unknown",
|
|
""
|
|
);
|
|
};
|
|
}
|
|
|
|
export { Lidar };
|