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export function createWorker(self: Worker) {
let buffer: ArrayBuffer;
let vertexCount = 0;
let viewProj: Float32Array;
// 6*4 + 4 + 4 = 8*4
// XYZ - Position (Float32)
// XYZ - Scale (Float32)
// RGBA - colors (uint8)
// IJKL - quaternion/rot (uint8)
const rowLength = 3 * 4 + 3 * 4 + 4 + 4;
let depthIndex = new Uint32Array();
function processPlyBuffer(inputBuffer: ArrayBuffer) {
const ubuf = new Uint8Array(inputBuffer);
// 10KB ought to be enough for a header...
const header = new TextDecoder().decode(ubuf.slice(0, 1024 * 10));
const header_end = "end_header\n";
const header_end_index = header.indexOf(header_end);
if (header_end_index < 0) throw new Error("Unable to read .ply file header");
const vertexCount = parseInt(/element vertex (\d+)\n/.exec(header)![1]);
console.log("Vertex Count", vertexCount);
let row_offset: number = 0;
let offsets: { [key: string]: number } = {};
let types: { [key: string]: string } = {};
const TYPE_MAP: { [key: string]: string } = {
double: "getFloat64",
int: "getInt32",
uint: "getUint32",
float: "getFloat32",
short: "getInt16",
ushort: "getUint16",
uchar: "getUint8",
};
for (let prop of header
.slice(0, header_end_index)
.split("\n")
.filter((k) => k.startsWith("property "))) {
const [_p, type, name] = prop.split(" ");
const arrayType = TYPE_MAP[type] || "getInt8";
types[name] = arrayType;
offsets[name] = row_offset;
row_offset += parseInt(arrayType.replace(/[^\d]/g, "")) / 8;
}
let dataView = new DataView(inputBuffer, header_end_index + header_end.length);
let row: number = 0;
const attrs: any = new Proxy(
{},
{
get(_target, prop: string) {
if (!types[prop]) throw new Error(prop + " not found");
const type = types[prop] as keyof DataView;
const dataViewMethod = dataView[type] as any;
return dataViewMethod(row * row_offset + offsets[prop], true);
},
}
);
// 6*4 + 4 + 4 = 8*4
// XYZ - Position (Float32)
// XYZ - Scale (Float32)
// RGBA - colors (uint8)
// IJKL - quaternion/rot (uint8)
const rowLength = 3 * 4 + 3 * 4 + 4 + 4;
const buffer = new ArrayBuffer(rowLength * vertexCount);
for (let j = 0; j < vertexCount; j++) {
row = j;
const position = new Float32Array(buffer, j * rowLength, 3);
const scales = new Float32Array(buffer, j * rowLength + 4 * 3, 3);
const rgba = new Uint8ClampedArray(buffer, j * rowLength + 4 * 3 + 4 * 3, 4);
const rot = new Uint8ClampedArray(buffer, j * rowLength + 4 * 3 + 4 * 3 + 4, 4);
if (types["scale_0"]) {
const qlen = Math.sqrt(attrs.rot_0 ** 2 + attrs.rot_1 ** 2 + attrs.rot_2 ** 2 + attrs.rot_3 ** 2);
rot[0] = (attrs.rot_0 / qlen) * 128 + 128;
rot[1] = (attrs.rot_1 / qlen) * 128 + 128;
rot[2] = (attrs.rot_2 / qlen) * 128 + 128;
rot[3] = (attrs.rot_3 / qlen) * 128 + 128;
scales[0] = Math.exp(attrs.scale_0);
scales[1] = Math.exp(attrs.scale_1);
scales[2] = Math.exp(attrs.scale_2);
} else {
scales[0] = 0.01;
scales[1] = 0.01;
scales[2] = 0.01;
rot[0] = 255;
rot[1] = 0;
rot[2] = 0;
rot[3] = 0;
}
position[0] = attrs.x;
position[1] = attrs.y;
position[2] = attrs.z;
if (types["f_dc_0"]) {
const SH_C0 = 0.28209479177387814;
rgba[0] = (0.5 + SH_C0 * attrs.f_dc_0) * 255;
rgba[1] = (0.5 + SH_C0 * attrs.f_dc_1) * 255;
rgba[2] = (0.5 + SH_C0 * attrs.f_dc_2) * 255;
} else {
rgba[0] = attrs.red;
rgba[1] = attrs.green;
rgba[2] = attrs.blue;
}
if (types["opacity"]) {
rgba[3] = (1 / (1 + Math.exp(-attrs.opacity))) * 255;
} else {
rgba[3] = 255;
}
}
return buffer;
}
const runSort = (viewProj: Float32Array) => {
if (!buffer) return;
const f_buffer = new Float32Array(buffer);
const u_buffer = new Uint8Array(buffer);
const covA = new Float32Array(3 * vertexCount);
const covB = new Float32Array(3 * vertexCount);
const center = new Float32Array(3 * vertexCount);
const color = new Float32Array(4 * vertexCount);
let maxDepth = -Infinity;
let minDepth = Infinity;
let sizeList = new Int32Array(vertexCount);
for (let i = 0; i < vertexCount; i++) {
let depth =
((viewProj[2] * f_buffer[8 * i + 0] +
viewProj[6] * f_buffer[8 * i + 1] +
viewProj[10] * f_buffer[8 * i + 2]) *
4096) |
0;
sizeList[i] = depth;
if (depth > maxDepth) maxDepth = depth;
if (depth < minDepth) minDepth = depth;
}
// This is a 16 bit single-pass counting sort
let depthInv = (256 * 256) / (maxDepth - minDepth);
let counts0 = new Uint32Array(256 * 256);
for (let i = 0; i < vertexCount; i++) {
sizeList[i] = ((sizeList[i] - minDepth) * depthInv) | 0;
counts0[sizeList[i]]++;
}
let starts0 = new Uint32Array(256 * 256);
for (let i = 1; i < 256 * 256; i++) starts0[i] = starts0[i - 1] + counts0[i - 1];
depthIndex = new Uint32Array(vertexCount);
for (let i = 0; i < vertexCount; i++) depthIndex[starts0[sizeList[i]]++] = i;
for (let j = 0; j < vertexCount; j++) {
const i = depthIndex[j];
center[3 * j + 0] = f_buffer[8 * i + 0];
center[3 * j + 1] = f_buffer[8 * i + 1];
center[3 * j + 2] = f_buffer[8 * i + 2];
color[4 * j + 0] = u_buffer[32 * i + 24 + 0] / 255;
color[4 * j + 1] = u_buffer[32 * i + 24 + 1] / 255;
color[4 * j + 2] = u_buffer[32 * i + 24 + 2] / 255;
color[4 * j + 3] = u_buffer[32 * i + 24 + 3] / 255;
let scale = [f_buffer[8 * i + 3 + 0], f_buffer[8 * i + 3 + 1], f_buffer[8 * i + 3 + 2]];
let rot = [
(u_buffer[32 * i + 28 + 0] - 128) / 128,
(u_buffer[32 * i + 28 + 1] - 128) / 128,
(u_buffer[32 * i + 28 + 2] - 128) / 128,
(u_buffer[32 * i + 28 + 3] - 128) / 128,
];
const R = [
1.0 - 2.0 * (rot[2] * rot[2] + rot[3] * rot[3]),
2.0 * (rot[1] * rot[2] + rot[0] * rot[3]),
2.0 * (rot[1] * rot[3] - rot[0] * rot[2]),
2.0 * (rot[1] * rot[2] - rot[0] * rot[3]),
1.0 - 2.0 * (rot[1] * rot[1] + rot[3] * rot[3]),
2.0 * (rot[2] * rot[3] + rot[0] * rot[1]),
2.0 * (rot[1] * rot[3] + rot[0] * rot[2]),
2.0 * (rot[2] * rot[3] - rot[0] * rot[1]),
1.0 - 2.0 * (rot[1] * rot[1] + rot[2] * rot[2]),
];
// Compute the matrix product of S and R (M = S * R)
const M = [
scale[0] * R[0],
scale[0] * R[1],
scale[0] * R[2],
scale[1] * R[3],
scale[1] * R[4],
scale[1] * R[5],
scale[2] * R[6],
scale[2] * R[7],
scale[2] * R[8],
];
covA[3 * j + 0] = M[0] * M[0] + M[3] * M[3] + M[6] * M[6];
covA[3 * j + 1] = M[0] * M[1] + M[3] * M[4] + M[6] * M[7];
covA[3 * j + 2] = M[0] * M[2] + M[3] * M[5] + M[6] * M[8];
covB[3 * j + 0] = M[1] * M[1] + M[4] * M[4] + M[7] * M[7];
covB[3 * j + 1] = M[1] * M[2] + M[4] * M[5] + M[7] * M[8];
covB[3 * j + 2] = M[2] * M[2] + M[5] * M[5] + M[8] * M[8];
}
self.postMessage({ covA, center, color, covB, viewProj }, [
covA.buffer,
center.buffer,
color.buffer,
covB.buffer,
]);
};
const throttledSort = () => {
if (!sortRunning) {
sortRunning = true;
let lastView = viewProj;
runSort(lastView);
setTimeout(() => {
sortRunning = false;
if (lastView !== viewProj) {
throttledSort();
}
}, 0);
}
};
let sortRunning: boolean = false;
self.onmessage = (e) => {
if (e.data.ply) {
vertexCount = 0;
runSort(viewProj);
buffer = processPlyBuffer(e.data.ply);
vertexCount = Math.floor(buffer.byteLength / rowLength);
postMessage({ buffer: buffer });
} else if (e.data.buffer) {
buffer = e.data.buffer;
vertexCount = e.data.vertexCount;
} else if (e.data.vertexCount) {
vertexCount = e.data.vertexCount;
} else if (e.data.view) {
viewProj = e.data.view;
throttledSort();
}
};
}
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