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

import { World } from "./world.js";
import { Debug } from "./debug.js";
import { logger } from "./log.js";

class Data {
  constructor(cfg) {
    this.cfg = cfg;
  }

  async readSceneList() {
    const req = new Request("/get_all_scene_desc");
    let init = {
      method: "GET",
      //body: JSON.stringify({"points": data})
    };
    // we defined the xhr

    return fetch(req, init)
      .then((response) => {
        if (!response.ok) {
          throw new Error(`HTTP error! status: ${response.status}`);
        } else {
          return response.json();
        }
      })
      .then((ret) => {
        console.log(ret);
        this.sceneDescList = ret;
        return ret;
      })
      .catch((reject) => {
        console.log("error read scene list!");
      });
  }

  async init() {
    await this.readSceneList();
  }

  // multiple world support
  // place world by a offset so they don't overlap
  dbg = new Debug();

  worldGap = 1000.0;
  worldList = [];
  MaxWorldNumber = 80;
  createWorldIndex = 0; // this index shall not repeat, so it increases permanently

  async getWorld(sceneName, frame, on_preload_finished) {
    // find in list

    if (!this.meta[sceneName]) {
      await this.readSceneMetaData(sceneName);
    }

    if (!this.meta[sceneName]) {
      logger.log("load scene failed", sceneName);
      return null;
    }

    let world = this.worldList.find((w) => {
      return w.frameInfo.scene == sceneName && w.frameInfo.frame == frame;
    });
    if (world)
      // found!
      return world;

    world = this._createWorld(sceneName, frame, on_preload_finished);

    return world;
  }

  _createWorld(sceneName, frame, on_preload_finished) {
    let [x, y, z] = this.allocateOffset();
    console.log("create world", x, y, z);
    let world = new World(
      this,
      sceneName,
      frame,
      [this.worldGap * x, this.worldGap * y, this.worldGap * z],
      on_preload_finished
    );
    world.offsetIndex = [x, y, z];
    this.createWorldIndex++;
    this.worldList.push(world);

    return world;
  }

  findWorld(sceneName, frameIndex) {
    let world = this.worldList.find((w) => {
      return (
        w.frameInfo.scene == sceneName && w.frameInfo.frame_index == frameIndex
      );
    });
    if (world)
      // found!
      return world;
    else return null;
  }

  offsetList = [[0, 0, 0]];
  lastSeedOffset = [0, 0, 0];
  offsetsAliveCount = 0;
  allocateOffset() {
    // we need to make sure the first frame loaded in a scene
    // got to locate in [0,0,0]

    if (this.offsetsAliveCount == 0) {
      //reset offsets.
      this.offsetList = [[0, 0, 0]];
      this.lastSeedOffset = [0, 0, 0];
    }

    if (this.offsetList.length == 0) {
      let [x, y, z] = this.lastSeedOffset;

      if (x == y) {
        x = x + 1;
        y = 0;
      } else {
        y = y + 1;
      }

      this.lastSeedOffset = [x, y, 0];

      this.offsetList.push([x, y, 0]);

      if (x != 0) this.offsetList.push([-x, y, 0]);
      if (y != 0) this.offsetList.push([x, -y, 0]);
      if (x * y != 0) this.offsetList.push([-x, -y, 0]);

      if (x != y) {
        this.offsetList.push([y, x, 0]);

        if (y != 0) this.offsetList.push([-y, x, 0]);
        if (x != 0) this.offsetList.push([y, -x, 0]);
        if (x * y != 0) this.offsetList.push([-y, -x, 0]);
      }
    }

    let ret = this.offsetList.pop();
    this.offsetsAliveCount++;

    return ret;
  }

  returnOffset(offset) {
    this.offsetList.push(offset);
    this.offsetsAliveCount--;
  }

  deleteDistantWorlds(world) {
    let currentWorldIndex = world.frameInfo.frame_index;

    let disposable = (w) => {
      let distant =
        Math.abs(w.frameInfo.frame_index - currentWorldIndex) >
        this.MaxWorldNumber;
      let active = w.everythingDone;
      if (w.annotation.modified) {
        console.log("deleting world not saved. stop.");
      }

      return distant && !active && !w.annotation.modified;
    };

    let distantWorldList = this.worldList.filter((w) => disposable(w));

    distantWorldList.forEach((w) => {
      this.returnOffset(w.offsetIndex);
      w.deleteAll();
    });

    this.worldList = this.worldList.filter((w) => !disposable(w));
  }

  deleteOtherWorldsExcept = function (keepScene) {
    // release resources if scene changed
    this.worldList.forEach((w) => {
      if (w.frameInfo.scene != keepScene) {
        this.returnOffset(w.offsetIndex);
        w.deleteAll();

        this.removeRefEgoPoseOfScene(w.frameInfo.scene);
      }
    });
    this.worldList = this.worldList.filter(
      (w) => w.frameInfo.scene == keepScene
    );
  };

  refEgoPose = {};
  getRefEgoPose(sceneName, currentPose) {
    if (this.refEgoPose[sceneName]) {
      return this.refEgoPose[sceneName];
    } else {
      this.refEgoPose[sceneName] = currentPose;
      return currentPose;
    }
  }

  removeRefEgoPoseOfScene(sceneName) {
    if (this.refEgoPose[sceneName]) delete this.refEgoPose[sceneName];
  }

  forcePreloadScene(sceneName, currentWorld) {
    //this.deleteOtherWorldsExcept(sceneName);
    let meta = currentWorld.sceneMeta;

    let currentWorldIndex = currentWorld.frameInfo.frame_index;
    let startIndex = Math.max(0, currentWorldIndex - this.MaxWorldNumber / 2);
    let endIndex = Math.min(
      meta.frames.length,
      startIndex + this.MaxWorldNumber
    );

    this._doPreload(sceneName, startIndex, endIndex);

    logger.log(`${endIndex - startIndex} frames created`);
  }

  preloadScene(sceneName, currentWorld) {
    // clean other scenes.
    this.deleteOtherWorldsExcept(sceneName);
    this.deleteDistantWorlds(currentWorld);

    if (!this.cfg.enablePreload) return;

    this.forcePreloadScene(sceneName, currentWorld);
  }

  _doPreload(sceneName, startIndex, endIndex) {
    let meta = this.getMetaBySceneName(sceneName);

    let numLoaded = 0;
    let _need_create = (frame) => {
      let world = this.worldList.find((w) => {
        return w.frameInfo.scene == sceneName && w.frameInfo.frame == frame;
      });

      return !world;
    };

    let _do_create = (frame) => {
      this._createWorld(sceneName, frame);
      numLoaded++;
    };

    let pendingFrames = meta.frames
      .slice(startIndex, endIndex)
      .filter(_need_create);

    logger.log(`preload ${meta.scene} ${pendingFrames}`);
    // if (numLoaded > 0){
    //     meta.frames.slice(endIndex, Math.min(endIndex+5, meta.frames.length)).forEach(_do_create);
    //     meta.frames.slice(Math.max(0, startIndex-5), startIndex).forEach(_do_create);
    // }

    pendingFrames.forEach(_do_create);
  }

  reloadAllAnnotation = function (done) {
    this.worldList.forEach((w) => w.reloadAnnotation(done));
  };

  onAnnotationUpdatedByOthers(scene, frames) {
    frames.forEach((f) => {
      let world = this.worldList.find(
        (w) => w.frameInfo.scene == scene && w.frameInfo.frame == f
      );
      if (world) world.annotation.reloadAnnotation();
    });
  }

  webglScene = null;
  set_webglScene = function (scene, mainScene) {
    this.webglScene = scene;
    this.webglMainScene = mainScene;
  };

  scale_point_size(v) {
    this.cfg.point_size *= v;
    // if (this.world){
    //     this.world.lidar.set_point_size(this.cfg.point_size);
    // }

    this.worldList.forEach((w) => {
      w.lidar.set_point_size(this.cfg.point_size);
    });
  }

  scale_point_brightness(v) {
    this.cfg.point_brightness *= v;

    // if (this.world){
    //     this.world.lidar.recolor_all_points();
    // }

    this.worldList.forEach((w) => {
      w.lidar.recolor_all_points();
    });
  }

  set_box_opacity(opacity) {
    this.cfg.box_opacity = opacity;

    this.worldList.forEach((w) => {
      w.annotation.set_box_opacity(this.cfg.box_opacity);
    });
  }

  toggle_background() {
    this.cfg.show_background = !this.cfg.show_background;

    if (this.cfg.show_background) {
      this.world.lidar.cancel_highlight();
    } else {
      this.world.lidar.hide_background();
    }
  }

  set_obj_color_scheme(scheme) {
    pointsGlobalConfig.color_obj = scheme;

    // if (pointsGlobalConfig.color_obj != "no"){
    //     this.world.lidar.color_points();
    // } else {
    //     this.world.lidar.set_points_color({
    //         x: this.cfg.point_brightness,
    //         y: this.cfg.point_brightness,
    //         z: this.cfg.point_brightness,
    //     });
    // }

    // this.world.lidar.update_points_color();
    // this.world.annotation.color_boxes();

    // toto: move to world
    this.worldList.forEach((w) => {
      if (pointsGlobalConfig.color_obj == "no") {
        w.lidar.color_points();
      } else {
        w.lidar.color_objects();
      }

      w.lidar.update_points_color();

      w.annotation.color_boxes();
    });
  }

  // active_camera_name = "";

  // // return null means not changed.
  // set_active_image(name){
  //     if (name === this.active_camera_name){
  //         return null;
  //     }

  //     this.active_camera_name = name;
  //     if (this.world){
  //         this.world.cameras.activate(name);
  //     }
  //     this.worldList.forEach(w=>w.cameras.activate(name));

  //     return name;
  // };

  world = null;

  // this.future_world_buffer = [];
  // this.put_world_into_buffer= function(world){
  //     this.future_world_buffer.push(world);
  // };

  // this.reset_world_buffer= function(){
  //     this.future_world_buffer=[];
  // };

  // this.activateMultiWorld=function(world, on_finished){
  //     world.activate(this.webglScene,
  //         null,  //don't destroy old world
  //         on_finished);
  //     this.worldList.push(world);
  // };

  activate_world = function (world, on_finished, dontDestroyOldWorld) {
    if (dontDestroyOldWorld) {
      world.activate(this.webglScene, null, on_finished);
    } else {
      var old_world = this.world; // current world, should we get current world later?
      this.world = world; // swich when everything is ready. otherwise data.world is half-baked, causing mysterious problems.

      world.activate(
        this.webglMainScene,
        function () {
          if (old_world) old_world.unload();
        },
        on_finished
      );
    }
  };

  meta = {}; //meta data

  getMetaBySceneName = (sceneName) => {
    return this.meta[sceneName];
  };

  get_current_world_scene_meta() {
    return this.getMetaBySceneName(this.world.frameInfo.scene);
  }

  readSceneMetaData(sceneName) {
    let self = this;
    return new Promise(function (resolve, reject) {
      let xhr = new XMLHttpRequest();

      xhr.onreadystatechange = function () {
        if (this.readyState != 4) return;

        if (this.status == 200) {
          let sceneMeta = JSON.parse(this.responseText);
          self.meta[sceneName] = sceneMeta;
          resolve(sceneMeta);
        }
      };

      xhr.open("GET", `/scenemeta?scene=${sceneName}`, true);
      xhr.send();
    });
  }
}

export { Data };