feat(pointcloud-2d): Filter maaping error data

open-mmlab · Sep 14, 2022 · d3406b4 · d3406b4
1 parent 6512053
commit d3406b4
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Showing 2 changed files with 14 additions and 8 deletions.
diff --git a/packages/lb-annotation/src/core/pointCloud/index.ts b/packages/lb-annotation/src/core/pointCloud/index.ts
@@ -266,13 +266,16 @@ export class PointCloud {
     const { P, R, T } = cameraMatrix;
     const { composeMatrix4 } = this.transferKitti2Matrix(P, R, T);
 
-    const transferViewData = allViewData.map((viewData) => ({
-      type: viewData.type,
-      pointList: viewData.pointList
-        .map((point) => this.rotatePoint(point, boxParams.center, boxParams.rotation))
-        .map((point) => this.lidar2image(point, composeMatrix4))
-        .filter((v) => v !== undefined),
-    }));
+    const transferViewData = allViewData
+      .map((viewData) => ({
+        type: viewData.type,
+        pointList: viewData.pointList
+          .map((point) => this.rotatePoint(point, boxParams.center, boxParams.rotation))
+          .map((point) => this.lidar2image(point, composeMatrix4))
+          .filter((v) => v !== undefined),
+      }))
+      // Clear Empty PointList
+      .filter((v) => v.pointList.length !== 0);
 
     return transferViewData;
   }

diff --git a/packages/lb-components/src/components/pointCloudView/PointCloud2DView.tsx b/packages/lb-components/src/components/pointCloudView/PointCloud2DView.tsx
@@ -103,7 +103,10 @@ const PointCloud2DView = ({ imgInfo }: IProps) => {
       return;
     }
     const selected2data = annotations2d.find((v) => v.annotation.id === selectedBox.info.id);
-    toolInstance.focusPositionByPointList(selected2data?.annotation.pointList);
+
+    if (selected2data?.annotation.pointList?.length > 0) {
+      toolInstance.focusPositionByPointList(selected2data?.annotation.pointList);
+    }
   }, [selectedBox, viewRef.current, annotations2d]);
 
   return (