Merge pull request #313 from open-mmlab/feat/pointCloudSegment-projec…

…tion Feat/point cloud segment projection
open-mmlab · Sep 21, 2023 · 240593e · 240593e
2 parents a36eae0 + 206476c
commit 240593e
Show file tree

Hide file tree

Showing 6 changed files with 24 additions and 27 deletions.
diff --git a/packages/lb-annotation/src/core/pointCloud/store/index.ts b/packages/lb-annotation/src/core/pointCloud/store/index.ts
@@ -564,11 +564,6 @@ class PointCloudStore {
   }
 
   public clearStash() {
-    if (this.isCheckStatus) {
-      this.resetSelectedSegmentStatus();
-      return;
-    }
-
     if (this.isEditStatus && this.cacheSegData) {
       this.updateCloudDataStatus(this.cacheSegData.points, { visible: false });
       if (this.segmentData.has(this.cacheSegData.id)) {
@@ -584,6 +579,7 @@ class PointCloudStore {
       }
       this.syncSegmentData();
     }
+    this.resetSelectedSegmentStatus();
   }
 
   public deleteSelectedSegmentData(id = '') {

diff --git a/packages/lb-annotation/src/core/toolOperation/ViewOperation.ts b/packages/lb-annotation/src/core/toolOperation/ViewOperation.ts
@@ -626,7 +626,7 @@ export default class ViewOperation extends BasicToolOperation {
     }
 
     // 1. Get the cached.
-    const uid = this.imgNode.src + data.length;
+    const uid = this.imgNode.src + data.length + annotation.defaultRGBA;
     const cacheCanvas = this.cacheCanvas?.[uid];
     if (cacheCanvas) {
       DrawUtils.drawImg(this.canvas, cacheCanvas, {
@@ -640,8 +640,13 @@ export default class ViewOperation extends BasicToolOperation {
     const size = { width: this.imgNode.width, height: this.imgNode.height };
     const { ctx, canvas: offsetCanvas } = CanvasUtils.createCanvas(size);
     if (ctx && data?.length > 0) {
-      // 1.
-      DrawUtils.drawPixel({ canvas: offsetCanvas, points: data, size });
+      DrawUtils.drawPixel({
+        canvas: offsetCanvas,
+        points: data,
+        size,
+        defaultRGBA: annotation.defaultRGBA,
+        pixelSize: 13,
+      });
       DrawUtils.drawImg(this.canvas, offsetCanvas, {
         zoom: this.zoom,
         currentPos: this.currentPos,

diff --git a/packages/lb-annotation/src/utils/tool/DrawUtils.ts b/packages/lb-annotation/src/utils/tool/DrawUtils.ts
@@ -1,6 +1,6 @@
 import type { ICuboid, ICuboidConfig, IDrawingCuboid } from '@/types/tool/cuboid';
 import rgba from 'color-rgba';
-import { IPixelPoints, MathUtils } from '@labelbee/lb-utils';
+import { IPixelPoints, MathUtils, NULL_COLOR } from '@labelbee/lb-utils';
 import { DEFAULT_FONT, ELineTypes, SEGMENT_NUMBER } from '../../constant/tool';
 import { IPolygonPoint } from '../../types/tool/polygon';
 import PolygonUtils from './PolygonUtils';
@@ -850,30 +850,31 @@ export default class DrawUtils {
     canvas,
     points,
     size,
+    defaultRGBA,
+    pixelSize = 13,
   }: {
     canvas: HTMLCanvasElement;
     points: IPixelPoints[];
     size: ISize;
+    defaultRGBA?: string;
+    pixelSize?: number;
   }) {
     const ctx = canvas.getContext('2d')!;
     const { width, height } = size;
     const imageData = ctx.getImageData(0, 0, width, height);
-    const updateColor = (baseIndex: number, color: string) => {
-      const [red, green, blue, alpha] = rgba(color);
+    const [red, green, blue, alpha] = rgba(defaultRGBA ?? NULL_COLOR);
+    const updateColor = (baseIndex: number) => {
       imageData.data[baseIndex] = red;
       imageData.data[baseIndex + 1] = green;
       imageData.data[baseIndex + 2] = blue;
       imageData.data[baseIndex + 3] = Math.floor(255 * alpha);
     };
 
-    const maxSize = Math.max(width, height);
-    const pixelSize = Math.floor(Math.pow(MathUtils.calculateThousandsPlace(maxSize), 2));
     const offsetArr = MathUtils.generateCoordinates(pixelSize);
-
     points.forEach((item) => {
       for (const [x, y] of offsetArr) {
         const baseIndex = (item.y + y) * (imageData.width * 4) + (item.x + x) * 4;
-        updateColor(baseIndex, item.color);
+        updateColor(baseIndex);
       }
     });
 

diff --git a/packages/lb-components/src/components/pointCloudView/PointCloudSegment2DView.tsx b/packages/lb-components/src/components/pointCloudView/PointCloudSegment2DView.tsx
@@ -69,13 +69,13 @@ const PointCloudSegment2DSingleView = ({
   }, [ptSegmentInstance]);
 
   // Highlight the points by indexes & pcdMapping.
-  const highlight2DPoints = useCallback((indexes: number[], color: string) => {
+  const highlight2DPoints = useCallback((indexes: number[], defaultRGBA: string) => {
     if (indexes) {
       if (imgSizeRef.current) {
         const cacheMap = pcdMapping.current;
         const highlightWorker = new HighlightSegmentWorker();
         setLoading(true);
-        highlightWorker.postMessage({ cacheMap, indexes, color });
+        highlightWorker.postMessage({ cacheMap, indexes, defaultRGBA });
         highlightWorker.onmessage = (e: any) => {
           setAnnotations(e.data.annotations);
           highlightWorker.terminate();
@@ -107,11 +107,7 @@ const PointCloudSegment2DSingleView = ({
           setAnnotations(
             annotations.map((v) => ({
               ...v,
-              annotation: {
-                ...v.annotation,
-                fill: toolStyle.fill,
-                stroke: toolStyle.fill,
-              },
+              defaultRGBA: toolStyle.stroke,
             })),
           );
         }

diff --git a/packages/lb-components/src/components/pointCloudView/highlightSegmentWorker.js b/packages/lb-components/src/components/pointCloudView/highlightSegmentWorker.js
@@ -1,16 +1,14 @@
 onmessage = function onmessage(e) {
-  const { cacheMap, indexes, color } = e.data;
-  const dataList = [];
+  const { cacheMap, indexes, defaultRGBA } = e.data;
   const len = indexes.length;
   const annotation = [];
   for (let i = 0; i < len; i = i + 1) {
     const point2d = cacheMap[indexes[i]];
     if (point2d) {
       annotation.push({
         ...point2d,
-        color,
       });
     }
   }
-  postMessage({ annotations: [{ type: 'pixelPoints', annotation }] });
+  postMessage({ annotations: [{ type: 'pixelPoints', annotation, defaultRGBA }] });
 };
diff --git a/packages/lb-utils/src/types/annotationView.ts b/packages/lb-utils/src/types/annotationView.ts
@@ -96,7 +96,7 @@ export interface ICuboid extends IDrawingCuboid, IBasicStyle {
 }
 
 export interface IPixelPoints extends ICoordinate {
-  color: string;
+  color?: string;
 }
 
 export type TAnnotationViewRect = {
@@ -137,6 +137,7 @@ export declare type TAnnotationViewCuboid = {
 export declare type TAnnotationViewPixelPoints = {
   type: 'pixelPoints';
   annotation: IPixelPoints[];
+  defaultRGBA?: string;
 };
 
 export type TAnnotationViewData =