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Add more point formats
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@alekzvik
alekzvik committed Nov 24, 2024
1 parent fb51c53 commit 1299f8b
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Showing 5 changed files with 116 additions and 51 deletions.
2 changes: 2 additions & 0 deletions .prettierignore
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ examples/experimental/gltf-with-raw-webgl/

modules/potree/test/data/**/cloud.js

modules/las/src/lib/libs

modules/flatgeobuf/src/lib/binary-geometries.ts

modules/i3s/src/i3s-attribute-loader.ts
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1 change: 0 additions & 1 deletion modules/las/.prettierignore
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1 change: 1 addition & 0 deletions modules/las/src/lib/las-types.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ export type LASHeader = {
mins?: number[];
totalToRead: number;
totalRead: number;
hasColor: boolean;
versionAsString?: string;
isCompressed?: boolean;
};
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159 changes: 111 additions & 48 deletions modules/las/src/lib/laslaz-decoder.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,14 @@
import type {LASHeader} from './las-types';
import {WasmLasZipDecompressor} from './libs/laz_rs_wasm';

type LASReader = (dv: DataView) => {
[LASAttribute: string]: number | number[];
};
type LASPoint = {
position: [number, number, number],
intensity: number,
classification: number,
color?: [number, number, number]
}

type LASReader = (dv: DataView) => LASPoint;

type LASReaders = {
[key: number]: LASReader;
Expand Down Expand Up @@ -55,7 +60,60 @@ const POINT_FORMAT_READERS: LASReaders = {
classification: dv.getUint8(15),
color: [dv.getUint16(28, true), dv.getUint16(30, true), dv.getUint16(32, true)]
};
}
},
4: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(15)
};
},
5: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(15),
color: [dv.getUint16(28, true), dv.getUint16(30, true), dv.getUint16(32, true)]
};
},
6: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(16)
};
},
7: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(16),
color: [dv.getUint16(30, true), dv.getUint16(32, true), dv.getUint16(34, true)]
};
},
8: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(16),
color: [dv.getUint16(30, true), dv.getUint16(32, true), dv.getUint16(34, true)]
};
},
9: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(16)
};
},
10: (dv) => {
return {
position: [dv.getInt32(0, true), dv.getInt32(4, true), dv.getInt32(8, true)],
intensity: dv.getUint16(12, true),
classification: dv.getUint8(16),
color: [dv.getUint16(30, true), dv.getUint16(32, true), dv.getUint16(34, true)]
};
},
};

/**
Expand Down Expand Up @@ -89,24 +147,45 @@ function readAs(buf: ArrayBuffer, Type: any = {}, offset: number, count?: number
* @returns header as LASHeader
*/
function parseLASHeader(arraybuffer: ArrayBuffer): LASHeader {
let start = 32 * 3 + 35;
const ver = new Uint8Array(arraybuffer, 24, 2);
const version = ver[0] * 10 + ver[1];
const versionAsString = `${ver[0]}.${ver[1]}`;

const rawPointsFormatId = readAs(arraybuffer, Uint8Array, 32 * 3 + 8);
const bit7 = (rawPointsFormatId & 0x80) >> 7;
const bit6 = (rawPointsFormatId & 0x40) >> 6;

const isCompressed = bit7 === 1 || bit6 === 1;
const pointsFormatId = rawPointsFormatId & 0x3f;
const o: Partial<LASHeader> = {
pointsOffset: readAs(arraybuffer, Uint32Array, 32 * 3),
pointsFormatId: readAs(arraybuffer, Uint8Array, 32 * 3 + 8),
pointsFormatId,
pointsStructSize: readAs(arraybuffer, Uint16Array, 32 * 3 + 8 + 1),
pointsCount: readAs(arraybuffer, Uint32Array, 32 * 3 + 11),
scale: readAs(arraybuffer, Float64Array, start, 3)
versionAsString,
isCompressed,
};

let start = 32 * 3 + 35;

o.scale = readAs(arraybuffer, Float64Array, start, 3);
start += 24; // 8*3
o.offset = readAs(arraybuffer, Float64Array, start, 3);
start += 24;

const bounds = readAs(arraybuffer, Float64Array, start, 6);
start += 48; // 8*6;
start += 48; // 8*6
o.maxs = [bounds[0], bounds[2], bounds[4]];
o.mins = [bounds[1], bounds[3], bounds[5]];

start += 20 // 8*20

if (version === 14) {
o.pointsCount = Number(readAs(arraybuffer, BigUint64Array, start))
}

const colorPointFormats = new Set([2, 3, 5, 7, 8, 10])
o.hasColor = colorPointFormats.has(pointsFormatId)
return o as LASHeader;
}

Expand All @@ -116,20 +195,7 @@ function parseLASHeader(arraybuffer: ArrayBuffer): LASHeader {
class LASLoader {
arraybuffer: ArrayBuffer;
readOffset: number = 0;
header: LASHeader = {
pointsOffset: 0,
pointsFormatId: 0,
pointsStructSize: 0,
pointsCount: 0,
scale: [0, 0, 0],
offset: [0, 0, 0],
maxs: [0],
mins: [0],
totalToRead: 0,
totalRead: 0,
versionAsString: '',
isCompressed: true
};
header: LASHeader | null = null;

constructor(arraybuffer: ArrayBuffer) {
this.arraybuffer = arraybuffer;
Expand All @@ -155,9 +221,9 @@ class LASLoader {
* Reading data
* @param count
* @param skip
* @returns new ArrayBuffer, count, hasMoreData
* @returns LasData
*/
readData(count: number, skip: number) {
readData(count: number, skip: number): LASData {
const {header, arraybuffer} = this;
if (!header) {
throw new Error('Cannot start reading data till a header request is issued');
Expand Down Expand Up @@ -234,8 +300,7 @@ class LAZLoader {
*/
open(): boolean {
try {
const {arraybuffer} = this;
const abInt = new Uint8Array(arraybuffer);
const abInt = new Uint8Array(this.arraybuffer);
this.instance = new WasmLasZipDecompressor(abInt);

return true;
Expand All @@ -245,27 +310,21 @@ class LAZLoader {
}

getHeader(): LASHeader {
if (!this.instance) {
throw new Error('You need to open the file before trying to read header');
}

try {
const header = parseLASHeader(this.arraybuffer);
header.pointsFormatId &= 0x3f;
this.header = header;
return header;
this.header = parseLASHeader(this.arraybuffer);
return this.header;
} catch (error) {
throw new Error(`Failed to get header: ${(error as Error).message}`);
}
}

/**
* @param count
* @param offset
* @param skip
* @returns LASData
*/
readData(count: number, skip: number): LASData {
// TODO: We ignore offset here completely :-/
if (!this.instance) {
throw new Error('You need to open the file before trying to read stuff');
}
Expand Down Expand Up @@ -314,7 +373,10 @@ class LAZLoader {
try {
if (this.instance !== null) {
this.instance.free();
this.instance = null;
}
// @ts-ignore Possibly null
this.arraybuffer = null;
return true;
} catch (error) {
throw new Error(`Failed to close file: ${(error as Error).message}`);
Expand All @@ -327,7 +389,7 @@ class LAZLoader {
*/
class LASDecoder {
arrayb: ArrayBuffer;
decoder: (dv: DataView) => {};
decoder: (dv: DataView) => LASPoint;
pointsCount: number;
pointSize: number;
scale: [number, number, number];
Expand All @@ -351,7 +413,7 @@ class LASDecoder {
* @param index
* @returns New object
*/
getPoint(index: number): {} {
getPoint(index: number): LASPoint {
if (index < 0 || index >= this.pointsCount) {
throw new Error('Point index out of range');
}
Expand All @@ -376,24 +438,28 @@ export class LASFile {
constructor(arraybuffer: ArrayBuffer) {
this.arraybuffer = arraybuffer;

const signature = readAs(arraybuffer, Uint8Array, 0, 4);
this.validate();

this.loader = this.isCompressed
? new LAZLoader(this.arraybuffer)
: new LASLoader(this.arraybuffer);
}

validate(): void {
const signature = readAs(this.arraybuffer, Uint8Array, 0, 4);
const check = String.fromCharCode(...signature);
if (check !== 'LASF') {
throw new Error('Invalid LAS file');
}

if (this.determineVersion() > 14) {
throw new Error('Only file versions <= 1.4 are supported at this time');
throw new Error('Only file versions <= 1.4 are supported');
}

this.determineFormat();
if (POINT_FORMAT_READERS[this.formatId] === undefined) {
throw new Error('The point format ID is not supported');
}

this.loader = this.isCompressed
? new LAZLoader(this.arraybuffer)
: new LASLoader(this.arraybuffer);
}

/**
Expand Down Expand Up @@ -444,9 +510,9 @@ export class LASFile {
* @param count
* @param start
* @param skip
* @returns Data
* @returns LASData
*/
readData(count: number, _start: number, skip: number): LASData {
readData(count: number, skip: number): LASData {
return this.loader.readData(count, skip);
}

Expand All @@ -465,6 +531,3 @@ export class LASFile {
}
}

export const LASModuleWasLoaded = false;

/* eslint no-use-before-define: 2 */
4 changes: 2 additions & 2 deletions modules/las/src/lib/parse-las.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ function parseLASMesh(arrayBuffer: ArrayBuffer, options: LASLoaderOptions = {}):
const PositionsType = options.las?.fp64 ? Float64Array : Float32Array;
positions = new PositionsType(total * 3);
// laslaz-decoder.js `pointFormatReaders`
colors = lasHeader.pointsFormatId >= 2 ? new Uint8Array(total * 4) : null;
colors = lasHeader.hasColor ? new Uint8Array(total * 4) : null;
intensities = new Uint16Array(total);
classifications = new Uint8Array(total);

Expand Down Expand Up @@ -172,7 +172,7 @@ export function parseLASChunked(rawData: ArrayBuffer, skip: number, onParseData:

/* eslint-disable no-constant-condition */
while (true) {
const chunk: LASChunk = dataHandler.readData(1000 * 100, 0, skip);
const chunk: LASChunk = dataHandler.readData(1000 * 100, skip);

totalRead += chunk.count;

Expand Down

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