label-3d-points/public/js/box_op.js

import * as THREE from "./lib/three.module.js";

import { logger } from "./log.js";
import { Quaternion, Vector3 } from "./lib/three.module.js";

import { ml } from "./ml.js";
import {
  dotproduct,
  transpose,
  matmul,
  euler_angle_to_rotate_matrix_3by3,
} from "./util.js";

function BoxOp() {
  console.log("BoxOp called");
  this.grow_box_distance_threshold = 0.3;
  this.init_scale_ratio = { x: 2, y: 2, z: 3 };

  this.fit_bottom = function (box) {
    let bottom = box.world.lidar.findBottom(box, { x: 2, y: 2, z: 3 });
    this.translate_box(box, "z", bottom + box.scale.z / 2);
  };

  this.fit_top = function (box) {
    let top = box.world.lidar.findTop(box, { x: 1.2, y: 1.2, z: 2 });
    this.translate_box(box, "z", top - box.scale.z / 2);
  };

  this.fit_left = function (box) {
    var extreme = box.world.lidar.grow_box(
      box,
      this.grow_box_distance_threshold,
      this.init_scale_ratio
    );

    if (extreme) {
      this.translate_box(box, "y", extreme.max.y - box.scale.y / 2);
    }
  };

  this.fit_right = function (box) {
    var extreme = box.world.lidar.grow_box(
      box,
      this.grow_box_distance_threshold,
      this.init_scale_ratio
    );

    if (extreme) {
      this.translate_box(box, "y", extreme.min.y + box.scale.y / 2);
    }
  };

  this.fit_front = function (box) {
    var extreme = box.world.lidar.grow_box(
      box,
      this.grow_box_distance_threshold,
      this.init_scale_ratio
    );

    if (extreme) {
      this.translate_box(box, "x", extreme.max.x - box.scale.x / 2);
    }
  };

  this.fit_rear = function (box) {
    var extreme = box.world.lidar.grow_box(
      box,
      this.grow_box_distance_threshold,
      this.init_scale_ratio
    );

    if (extreme) {
      this.translate_box(box, "x", extreme.min.x + box.scale.x / 2);
    }
  };

  this.fit_size = function (box, axies) {
    this.grow_box(
      box,
      this.grow_box_distance_threshold,
      { x: 2, y: 2, z: 3 },
      axies
    );
  };

  this.justifyAutoAdjResult = function (orgBox, box) {
    let distance = Math.sqrt(
      (box.position.x - orgBox.position.x) *
        (box.position.x - orgBox.position.x) +
        (box.position.y - orgBox.position.y) *
          (box.position.y - orgBox.position.y) +
        (box.position.z - orgBox.position.z) *
          (box.position.z - orgBox.position.z)
    );

    if (
      distance >
      Math.sqrt(
        box.scale.x * box.scale.x +
          box.scale.y * box.scale.y +
          box.scale.z * box.scale.z
      )
    ) {
      return false;
    }

    // if (Math.abs(box.rotation.z - orgBox.rotation.z) > Math.PI/4)
    // {
    //     return false;
    // }

    if (
      box.scale.x > orgBox.scale.x * 3 ||
      box.scale.y > orgBox.scale.y * 3 ||
      box.scale.z > orgBox.scale.z * 3
    ) {
      return false;
    }

    return true;
  };

  this.auto_rotate_xyz = async function (
    box,
    callback,
    apply_mask,
    on_box_changed,
    noscaling,
    rotate_method
  ) {
    let orgBox = box;
    box = {
      position: { x: box.position.x, y: box.position.y, z: box.position.z },
      rotation: { x: box.rotation.x, y: box.rotation.y, z: box.rotation.z },
      scale: { x: box.scale.x, y: box.scale.y, z: box.scale.z },
      world: box.world,
    };

    // auto grow
    // save scale
    let grow = (box) => {
      let org_scale = {
        x: box.scale.x,
        y: box.scale.y,
        z: box.scale.z,
      };
      this.grow_box(box, this.grow_box_distance_threshold, {
        x: 2,
        y: 2,
        z: 3,
      });
      this.auto_shrink_box(box);
      // now box has been centered.

      let points_indices = box.world.lidar.get_points_of_box(box, 1.0).index;
      let extreme = box.world.lidar.get_dimension_of_points(
        points_indices,
        box
      );
      // restore scale
      if (noscaling) {
        box.scale.x = org_scale.x;
        box.scale.y = org_scale.y;
        box.scale.z = org_scale.z;
      }
      //
      return extreme;
    };

    //points is N*3 shape

    let applyRotation = (ret, extreme_after_grow) => {
      let angle = ret.angle;
      if (!angle) {
        console.log("prediction not implemented?");
        return;
      }

      //var points_indices = box.world.get_points_indices_of_box(box);
      let points_indices = box.world.lidar.get_points_of_box(box, 1.0).index;

      var euler_delta = {
        x: angle[0],
        y: angle[1],
        z: angle[2],
      };

      if (euler_delta.z > Math.PI) {
        euler_delta.z -= Math.PI * 2;
      }

      /*
                var composite_angel = linalg_std.euler_angle_composite(box.rotation, euler_delta);
    
                console.log("orig ", box.rotation.x, box.rotation.y, box.rotation.z);
                console.log("delt ", euler_delta.x, euler_delta.y, euler_delta.z);
                console.log("comp ", composite_angel.x, composite_angel.y, composite_angel.z);
    
                box.rotation.x = composite_angel.x;
                box.rotation.y = composite_angel.y;
                box.rotation.z = composite_angel.z;
                */

      if (apply_mask) {
        if (apply_mask.x) box.rotation.x = euler_delta.x;
        if (apply_mask.y) box.rotation.y = euler_delta.y;
        if (apply_mask.z) box.rotation.z = euler_delta.z;
      } else {
        box.rotation.x = euler_delta.x;
        box.rotation.y = euler_delta.y;
        box.rotation.z = euler_delta.z;
      }

      // rotation set, now rescaling the box
      // important: should use original points before rotation set
      var extreme = box.world.lidar.get_dimension_of_points(
        points_indices,
        box
      );

      let auto_adj_dimension = [];

      if (apply_mask) {
        if (apply_mask.x || apply_mask.y) auto_adj_dimension.push("z");

        if (apply_mask.x || apply_mask.z) auto_adj_dimension.push("y");

        if (apply_mask.y || apply_mask.z) auto_adj_dimension.push("x");
      } else {
        auto_adj_dimension = ["x", "y", "z"];
      }

      if (!noscaling) {
        auto_adj_dimension.forEach((axis) => {
          this.translate_box(
            box,
            axis,
            (extreme.max[axis] + extreme.min[axis]) / 2
          );
          box.scale[axis] = extreme.max[axis] - extreme.min[axis];
        });
      } else {
        //anyway, we move the box in a way
        let trans = euler_angle_to_rotate_matrix_3by3(box.rotation);
        trans = transpose(trans, 3);

        // compute the relative position of the origin point,that is, the lidar's position
        // note the origin point is offseted, we need to restore first.
        let boxpos = box.position;
        let orgPoint = [-boxpos.x, -boxpos.y, -boxpos.z];
        let orgPointInBoxCoord = matmul(trans, orgPoint, 3);
        let relativePosition = {
          x: orgPointInBoxCoord[0],
          y: orgPointInBoxCoord[1],
          z: 1, //orgPointInBoxCoord[2],
        };

        if (extreme_after_grow) extreme = extreme_after_grow;

        auto_adj_dimension.forEach((axis) => {
          if (relativePosition[axis] > 0) {
            //stick to max
            this.translate_box(
              box,
              axis,
              extreme.max[axis] - box.scale[axis] / 2
            );
          } else {
            //stick to min
            this.translate_box(
              box,
              axis,
              extreme.min[axis] + box.scale[axis] / 2
            );
          }
        });
      }

      return box;
    };

    let postProc = (box) => {
      if (this.justifyAutoAdjResult(orgBox, box)) {
        // copy back
        orgBox.position.x = box.position.x;
        orgBox.position.y = box.position.y;
        orgBox.position.z = box.position.z;

        orgBox.rotation.x = box.rotation.x;
        orgBox.rotation.y = box.rotation.y;
        orgBox.rotation.z = box.rotation.z;

        orgBox.scale.x = box.scale.x;
        orgBox.scale.y = box.scale.y;
        orgBox.scale.z = box.scale.z;
      }

      if (on_box_changed) on_box_changed(orgBox);

      if (callback) {
        callback();
      }
      return orgBox;
    };

    let extreme_after_grow = grow(box);

    if (!rotate_method) {
      let points =
        box.world.lidar.get_points_relative_coordinates_of_box_wo_rotation(
          box,
          1
        );
      //let points = box.world.get_points_relative_coordinates_of_box(box, 1.0);

      points = points.filter(function (p) {
        return p[2] > -box.scale.z / 2 + 0.3;
      });

      let retBox = await ml
        .predict_rotation(points)
        .then(applyRotation)
        .then(postProc);

      return retBox;
    }
    if (rotate_method == "moving-direction") {
      let estimatedRot = this.estimate_rotation_by_moving_direciton(box);

      applyRotation(
        {
          angle: [
            box.rotation.x, // use original rotation
            box.rotation.y, // use original rotation
            estimatedRot ? estimatedRot.z : box.rotation.z, // use original rotation
          ],
        },
        extreme_after_grow
      );

      postProc(box);
      return box;
    } else {
      //dont rotate, or null
      applyRotation(
        {
          angle: [
            box.rotation.x, // use original rotation
            box.rotation.y, // use original rotation
            box.rotation.z, // use original rotation
          ],
        },
        extreme_after_grow
      );

      postProc(box);
      return box;
    }
  };

  this.auto_shrink_box = function (box) {
    var extreme = box.world.lidar.get_points_dimmension_of_box(box);

    ["x", "y", "z"].forEach((axis) => {
      this.translate_box(
        box,
        axis,
        (extreme.max[axis] + extreme.min[axis]) / 2
      );
      box.scale[axis] = extreme.max[axis] - extreme.min[axis];
    });
  };

  this.estimate_rotation_by_moving_direciton = function (box) {
    let prevWorld = box.world.data.findWorld(
      box.world.frameInfo.scene,
      box.world.frameInfo.frame_index - 1
    );

    let nextWorld = box.world.data.findWorld(
      box.world.frameInfo.scene,
      box.world.frameInfo.frame_index + 1
    );

    let prevBox = prevWorld
      ? prevWorld.annotation.findBoxByTrackId(box.obj_track_id)
      : null;
    let nextBox = nextWorld
      ? nextWorld.annotation.findBoxByTrackId(box.obj_track_id)
      : null;

    if (prevBox && nextBox) {
      if (
        (prevBox.annotator && nextBox.annotator) ||
        (!prevBox.annotator && !nextBox.annotator)
      ) {
        // all annotated by machine or man, it's ok
      } else {
        // only one is manually annotated, use this one.
        if (prevBox.annotator) prevBox = null;

        if (nextBox.annotator) nextBox = null;
      }
    }

    if (!nextBox && !prevBox) {
      logger.logcolor(
        "red",
        "Cannot estimate direction: neither previous nor next frame/box loaded/annotated."
      );
      return null;
    }

    let currentP = box.world.lidarPosToUtm(box.position);
    let nextP = nextBox ? nextBox.world.lidarPosToUtm(nextBox.position) : null;
    let prevP = prevBox ? prevBox.world.lidarPosToUtm(prevBox.position) : null;

    if (!prevP) prevP = currentP;

    if (!nextP) nextP = currentP;

    let azimuth = Math.atan2(nextP.y - prevP.y, nextP.x - prevP.x);

    let estimatedRot = box.world.utmRotToLidar(
      new THREE.Euler(0, 0, azimuth, "XYZ")
    );

    return estimatedRot;
  };

  this.grow_box = function (box, min_distance, init_scale_ratio, axies) {
    if (!axies) {
      axies = ["x", "y", "z"];
    }

    var extreme = box.world.lidar.grow_box(box, min_distance, init_scale_ratio);

    if (extreme) {
      axies.forEach((axis) => {
        this.translate_box(
          box,
          axis,
          (extreme.max[axis] + extreme.min[axis]) / 2
        );
        box.scale[axis] = extreme.max[axis] - extreme.min[axis];
      });
    }
  };

  this.change_rotation_y = function (box, theta, sticky, on_box_changed) {
    //box.rotation.x += theta;
    //on_box_changed(box);

    var points_indices = box.world.lidar.get_points_indices_of_box(box);

    var _tempQuaternion = new Quaternion();
    var rotationAxis = new Vector3(0, 1, 0);

    // NOTE: the front/end subview is different from top/side view, that we look at the reverse direction of y-axis
    //       it's end view acturally.
    //       we could project front-view, but the translation (left, right) will be in reverse direction of top view.
    ///       that would be frustrating.
    box.quaternion
      .multiply(_tempQuaternion.setFromAxisAngle(rotationAxis, -theta))
      .normalize();

    if (sticky) {
      var extreme = box.world.lidar.get_dimension_of_points(
        points_indices,
        box
      );

      ["x", "z"].forEach((axis) => {
        this.translate_box(
          box,
          axis,
          (extreme.max[axis] + extreme.min[axis]) / 2
        );
        box.scale[axis] = extreme.max[axis] - extreme.min[axis];
      });
    }

    if (on_box_changed) on_box_changed(box);
  };

  this.auto_rotate_y = function (box, on_box_changed) {
    let points = box.world.lidar.get_points_of_box(box, 2.0);

    // 1. find surounding points
    var side_indices = [];
    var side_points = [];
    points.position.forEach(function (p, i) {
      if (
        (p[0] > box.scale.x / 2 || p[0] < -box.scale.x / 2) &&
        p[1] < box.scale.y / 2 &&
        p[1] > -box.scale.y / 2
      ) {
        side_indices.push(points.index[i]);
        side_points.push(points.position[i]);
      }
    });

    var end_indices = [];
    var end_points = [];
    points.position.forEach(function (p, i) {
      if (
        p[0] < box.scale.x / 2 &&
        p[0] > -box.scale.x / 2 &&
        (p[1] > box.scale.y / 2 || p[1] < -box.scale.y / 2)
      ) {
        end_indices.push(points.index[i]);
        end_points.push(points.position[i]);
      }
    });

    // 2. grid by 0.3 by 0.3

    // compute slope (derivative)
    // for side part (pitch/tilt), use y,z axis
    // for end part (row), use x, z axis

    // box.world.lidar.set_spec_points_color(side_indices, {x:1,y:0,z:0});
    // box.world.lidar.set_spec_points_color(end_indices, {x:0,y:0,z:1});
    // box.world.lidar.update_points_color();

    var x = end_points.map(function (x) {
      return x[0];
    });
    //var y = side_points.map(function(x){return x[1]});
    var z = end_points.map(function (x) {
      return x[2];
    });
    var z_mean =
      z.reduce(function (x, y) {
        return x + y;
      }, 0) / z.length;
    var z = z.map(function (x) {
      return x - z_mean;
    });
    var theta = Math.atan2(dotproduct(x, z), dotproduct(x, x));
    console.log(theta);

    this.change_rotation_y(box, theta, false, on_box_changed);
  };

  this.change_rotation_x = function (box, theta, sticky, on_box_changed) {
    var points_indices = box.world.lidar.get_points_indices_of_box(box);

    //box.rotation.x += theta;
    //on_box_changed(box);
    var _tempQuaternion = new Quaternion();
    var rotationAxis = new Vector3(1, 0, 0);
    box.quaternion
      .multiply(_tempQuaternion.setFromAxisAngle(rotationAxis, theta))
      .normalize();

    if (sticky) {
      var extreme = box.world.lidar.get_dimension_of_points(
        points_indices,
        box
      );

      ["y", "z"].forEach((axis) => {
        this.translate_box(
          box,
          axis,
          (extreme.max[axis] + extreme.min[axis]) / 2
        );
        box.scale[axis] = extreme.max[axis] - extreme.min[axis];
      });
    }

    if (on_box_changed) on_box_changed(box);
  };

  this.auto_rotate_x = function (box, on_box_changed) {
    console.log("x auto ratote");

    let points = box.world.lidar.get_points_of_box(box, 2.0);

    // 1. find surounding points
    var side_indices = [];
    var side_points = [];
    points.position.forEach(function (p, i) {
      if (
        (p[0] > box.scale.x / 2 || p[0] < -box.scale.x / 2) &&
        p[1] < box.scale.y / 2 &&
        p[1] > -box.scale.y / 2
      ) {
        side_indices.push(points.index[i]);
        side_points.push(points.position[i]);
      }
    });

    var end_indices = [];
    var end_points = [];
    points.position.forEach(function (p, i) {
      if (
        p[0] < box.scale.x / 2 &&
        p[0] > -box.scale.x / 2 &&
        (p[1] > box.scale.y / 2 || p[1] < -box.scale.y / 2)
      ) {
        end_indices.push(points.index[i]);
        end_points.push(points.position[i]);
      }
    });

    // 2. grid by 0.3 by 0.3

    // compute slope (derivative)
    // for side part (pitch/tilt), use y,z axis
    // for end part (row), use x, z axis

    // box.world.lidar.set_spec_points_color(side_indices, {x:1,y:0,z:0});
    // box.world.lidar.set_spec_points_color(end_indices, {x:0,y:0,z:1});
    // box.world.lidar.update_points_color();
    //render();

    var x = side_points.map(function (x) {
      return x[0];
    });
    var y = side_points.map(function (x) {
      return x[1];
    });
    var z = side_points.map(function (x) {
      return x[2];
    });
    var z_mean =
      z.reduce(function (x, y) {
        return x + y;
      }, 0) / z.length;
    var z = z.map(function (x) {
      return x - z_mean;
    });
    var theta = Math.atan2(dotproduct(y, z), dotproduct(y, y));
    console.log(theta);

    this.change_rotation_x(box, theta, false, on_box_changed);
  };

  this.translate_box = function (box, axis, delta) {
    let t = { x: 0, y: 0, z: 0 };

    t[axis] = delta;

    // switch (axis){
    //     case 'x':

    //         box.position.x += delta*Math.cos(box.rotation.z);
    //         box.position.y += delta*Math.sin(box.rotation.z);
    //         break;
    //     case 'y':
    //         box.position.x += delta*Math.cos(Math.PI/2 + box.rotation.z);
    //         box.position.y += delta*Math.sin(Math.PI/2 + box.rotation.z);
    //         break;
    //     case 'z':
    //         box.position.z += delta;
    //         break;

    // }

    let trans = this.translateBoxInBoxCoord(box.rotation, t);
    box.position.x += trans.x;
    box.position.y += trans.y;
    box.position.z += trans.z;
  };

  this.translateBoxInBoxCoord = function (rotation, t) {
    // euler
    let euler = new THREE.Euler(rotation.x, rotation.y, rotation.z, "XYZ");

    let trans = new THREE.Vector3(t.x, t.y, t.z).applyEuler(euler);

    return trans;
  };

  (this.rotate_z = function (box, theta, sticky) {
    // points indices shall be obtained before rotation.
    var points_indices = box.world.lidar.get_points_indices_of_box(box);

    var _tempQuaternion = new Quaternion();
    var rotationAxis = new Vector3(0, 0, 1);
    box.quaternion
      .multiply(_tempQuaternion.setFromAxisAngle(rotationAxis, theta))
      .normalize();

    if (sticky) {
      var extreme = box.world.lidar.get_dimension_of_points(
        points_indices,
        box
      );

      ["x", "y"].forEach((axis) => {
        this.translate_box(
          box,
          axis,
          (extreme.max[axis] + extreme.min[axis]) / 2
        );
        box.scale[axis] = extreme.max[axis] - extreme.min[axis];
      });
    }
  }),
    (this.interpolate_selected_object = function (
      sceneName,
      objTrackId,
      currentFrame,
      done
    ) {
      // var xhr = new XMLHttpRequest();
      // // we defined the xhr
      // xhr.onreadystatechange = function () {
      //     if (this.readyState != 4)
      //         return;
      //     if (this.status == 200) {
      //         var ret = JSON.parse(this.responseText);
      //         console.log(ret);
      //         if (done)
      //             done(sceneName, ret);
      //     }
      // };
      // xhr.open('GET', "/interpolate?scene="+sceneName+"&frame="+currentFrame+"&obj_id="+objTrackId, true);
      // xhr.send();
    });

  this.highlightBox = function (box) {
    if (box) {
      box.material.color.r = 1;
      box.material.color.g = 0;
      box.material.color.b = 1;
      box.material.opacity = 1;
    }
  };

  this.unhighlightBox = function (box) {
    if (box) {
      // box.material.color = new THREE.Color(parseInt("0x"+get_obj_cfg_by_type(box.obj_type).color.slice(1)));

      // box.material.opacity = box.world.data.cfg.box_opacity;

      box.world.annotation.color_box(box);
    }
  };

  this.interpolateAsync = async function (worldList, boxList, applyIndList) {
    // if annotator is not null, it's annotated by us algorithms
    let anns = boxList.map((b) =>
      !b || b.annotator ? null : b.world.annotation.ann_to_vector_global(b)
    );
    console.log(anns);
    let ret = await ml.interpolate_annotation(anns);
    console.log(ret);

    let refObj = boxList.find((b) => !!b);
    let obj_type = refObj.obj_type;
    let obj_track_id = refObj.obj_track_id;
    let obj_attr = refObj.obj_attr;

    for (let i = 0; i < boxList.length; i++) {
      if (!applyIndList[i]) {
        continue;
      }

      //
      let world = worldList[i];
      let ann = world.annotation.vector_global_to_ann(ret[i]);

      // don't roate x/y
      if (!pointsGlobalConfig.enableAutoRotateXY) {
        ann.rotation.x = 0;
        ann.rotation.y = 0;
      }

      // if (world.lidar.get_box_points_number(ann) == 0)
      // {
      //     continue;
      // }

      if (!boxList[i]) {
        // create new box
        let newBox = world.annotation.add_box(
          ann.position,
          ann.scale,
          ann.rotation,
          obj_type,
          obj_track_id,
          obj_attr
        );
        newBox.annotator = "i";
        world.annotation.load_box(newBox);
        world.annotation.setModified();
      } else if (boxList[i].annotator) {
        // modify box attributes
        let b = ann;

        boxList[i].position.x = b.position.x;
        boxList[i].position.y = b.position.y;
        boxList[i].position.z = b.position.z;

        boxList[i].scale.x = b.scale.x;
        boxList[i].scale.y = b.scale.y;
        boxList[i].scale.z = b.scale.z;

        boxList[i].rotation.x = b.rotation.x;
        boxList[i].rotation.y = b.rotation.y;
        boxList[i].rotation.z = b.rotation.z;

        boxList[i].annotator = "i";

        boxList[i].world.annotation.setModified();
      }
    }
  };

  this.interpolateAndAutoAdjustAsync = async function (
    worldList,
    boxList,
    onFinishOneBoxCB,
    applyIndList,
    dontRotate
  ) {
    // if annotator is not null, it's annotated by us algorithms
    let anns = boxList.map((b, i) => {
      if (!b) return null;

      if (b.annotator) return null;

      return b.world.annotation.ann_to_vector_global(b);
    });

    console.log("anns to interpolate", anns);

    let autoAdjAsync = async (index, newAnn) => {
      //let box = boxList[index];
      let world = worldList[index];

      let tempBox = world.annotation.vector_global_to_ann(newAnn);
      tempBox.world = world;

      // autoadj is timecomsuming
      // jump this step
      let rotateThis = dontRotate;
      if (!applyIndList[index]) {
        rotateThis = "dontrotate";
      }

      let adjustedBox = await this.auto_rotate_xyz(
        tempBox,
        null,
        null,
        null,
        true,
        rotateThis
      );
      return world.annotation.ann_to_vector_global(adjustedBox);
    };

    let refObj = boxList.find((b) => !!b);
    let obj_type = refObj.obj_type;
    let obj_track_id = refObj.obj_track_id;
    let obj_attr = refObj.obj_attr;

    let onFinishOneBox = (index) => {
      console.log(
        `auto insert ${index} ${worldList[index].frameInfo.frame}done`
      );
      let i = index;

      if (!applyIndList[i]) {
        return;
      }

      if (!boxList[i]) {
        // create new box
        let world = worldList[i];
        let ann = world.annotation.vector_global_to_ann(anns[i]);

        let newBox = world.annotation.add_box(
          ann.position,
          ann.scale,
          ann.rotation,
          obj_type,
          obj_track_id,
          obj_attr
        );
        newBox.annotator = "a";
        world.annotation.load_box(newBox);
      } else if (boxList[i].annotator) {
        // modify box attributes
        let b = boxList[i].world.annotation.vector_global_to_ann(anns[i]);
        boxList[i].position.x = b.position.x;
        boxList[i].position.y = b.position.y;
        boxList[i].position.z = b.position.z;

        boxList[i].scale.x = b.scale.x;
        boxList[i].scale.y = b.scale.y;
        boxList[i].scale.z = b.scale.z;

        boxList[i].rotation.x = b.rotation.x;
        boxList[i].rotation.y = b.rotation.y;
        boxList[i].rotation.z = b.rotation.z;

        boxList[i].annotator = "a";
      }

      if (onFinishOneBoxCB) onFinishOneBoxCB(i);
    };

    let ret = await ml.interpolate_annotation(
      anns,
      autoAdjAsync,
      onFinishOneBox
    );
    console.log(ret);

    // for (let i = 0; i< boxList.length; i++){
    //     onFinishOneBox(i);
    // }
  };
}

export { BoxOp };