Merge pull request #332 from lihqi/feat/pointcloud-fisheye-polygon-lhq

fix: Dont display results without groundHeight
open-mmlab · Oct 16, 2023 · b6977f3 · b6977f3
2 parents e92fc8c + f0b38e6
commit b6977f3
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/packages/lb-components/src/components/pointCloudView/PointCloud2DView.tsx b/packages/lb-components/src/components/pointCloudView/PointCloud2DView.tsx
@@ -16,6 +16,7 @@ import EscSvg from '@/assets/annotation/common/icon_esc.svg';
 import LeftSquareOutlined from '@/assets/annotation/common/icon_left_squareOutlined.svg';
 import RightSquareOutlined from '@/assets/annotation/common/icon_right_squareOutlined.svg';
 import { IMappingImg } from '@/types/data';
+import { isNumber } from 'lodash';
 
 // TODO, It will be deleted when the exported type of lb-annotation is work.
 export interface IAnnotationDataTemporarily {
@@ -29,8 +30,6 @@ export interface IAnnotationDataTemporarily {
   };
 }
 
-const DEFAULT_GROUND_HEIGHT = -1.345;
-
 interface ITransferViewData {
   type: string;
   pointList: {
@@ -195,13 +194,15 @@ const PointCloud2DView = ({
 
         const imageSize = imageSizes[mappingData?.path ?? ''];
 
-        if (imageSize) {
+        if (imageSize && isNumber(mappingData?.calib?.groundHeight)) {
           polygonList.forEach((polygon) => {
             // eslint-disable-next-line
             const polygonPoints = polygon.pointList.map((v) => ({
               ...v,
-              z: mappingData?.calib?.groundHeight ?? DEFAULT_GROUND_HEIGHT,
+              z: mappingData?.calib?.groundHeight,
             }));
+            // 上面用isNumber确保z的值是number，但是ts还是报错，所以这里用//@ts-ignore忽略
+            // @ts-ignore
             const result = pointListLidar2Img(polygonPoints, mappingData?.calib, imageSize);
 
             if (result) {