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@@ -1,344 +0,0 @@
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-
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-function readUsingTempArrays(event) {
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-
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- performance.mark("laslaz-start");
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-
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- let buffer = event.data.buffer;
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- let numPoints = event.data.numPoints;
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- let sourcePointSize = event.data.pointSize;
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- let pointFormatID = event.data.pointFormatID;
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- let scale = event.data.scale;
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- let offset = event.data.offset;
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-
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- let temp = new ArrayBuffer(4);
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- let tempUint8 = new Uint8Array(temp);
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- let tempUint16 = new Uint16Array(temp);
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- let tempInt32 = new Int32Array(temp);
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- let sourceUint8 = new Uint8Array(buffer);
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-
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- let tightBoundingBox = {
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- min: [ Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY ],
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- max: [ Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY ]
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- };
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-
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- let mean = [0, 0, 0];
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-
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- let pBuff = new ArrayBuffer(numPoints * 3 * 4);
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- let cBuff = new ArrayBuffer(numPoints * 4);
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- let iBuff = new ArrayBuffer(numPoints * 4);
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- let clBuff = new ArrayBuffer(numPoints);
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- let rnBuff = new ArrayBuffer(numPoints);
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- let nrBuff = new ArrayBuffer(numPoints);
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- let psBuff = new ArrayBuffer(numPoints * 2);
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-
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- let positions = new Float32Array(pBuff);
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- let colors = new Uint8Array(cBuff);
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- let intensities = new Float32Array(iBuff);
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- let classifications = new Uint8Array(clBuff);
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- let returnNumbers = new Uint8Array(rnBuff);
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- let numberOfReturns = new Uint8Array(nrBuff);
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- let pointSourceIDs = new Uint16Array(psBuff);
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-
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- for (let i = 0; i < numPoints; i++) {
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- // POSITION
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 0];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 1];
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- tempUint8[2] = sourceUint8[i * sourcePointSize + 2];
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- tempUint8[3] = sourceUint8[i * sourcePointSize + 3];
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- let x = tempInt32[0];
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-
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 4];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 5];
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- tempUint8[2] = sourceUint8[i * sourcePointSize + 6];
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- tempUint8[3] = sourceUint8[i * sourcePointSize + 7];
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- let y = tempInt32[0];
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-
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 8];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 9];
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- tempUint8[2] = sourceUint8[i * sourcePointSize + 10];
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- tempUint8[3] = sourceUint8[i * sourcePointSize + 11];
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- let z = tempInt32[0];
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-
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- x = x * scale[0] + offset[0] - event.data.mins[0];
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- y = y * scale[1] + offset[1] - event.data.mins[1];
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- z = z * scale[2] + offset[2] - event.data.mins[2];
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-
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- positions[3 * i + 0] = x;
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- positions[3 * i + 1] = y;
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- positions[3 * i + 2] = z;
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-
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- mean[0] += x / numPoints;
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- mean[1] += y / numPoints;
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- mean[2] += z / numPoints;
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-
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- tightBoundingBox.min[0] = Math.min(tightBoundingBox.min[0], x);
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- tightBoundingBox.min[1] = Math.min(tightBoundingBox.min[1], y);
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- tightBoundingBox.min[2] = Math.min(tightBoundingBox.min[2], z);
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-
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- tightBoundingBox.max[0] = Math.max(tightBoundingBox.max[0], x);
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- tightBoundingBox.max[1] = Math.max(tightBoundingBox.max[1], y);
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- tightBoundingBox.max[2] = Math.max(tightBoundingBox.max[2], z);
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-
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- // INTENSITY
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 12];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 13];
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- let intensity = tempUint16[0];
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- intensities[i] = intensity;
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-
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- // RETURN NUMBER, stored in the first 3 bits - 00000111
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- let returnNumber = sourceUint8[i * sourcePointSize + 14] & 0b111;
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- returnNumbers[i] = returnNumber;
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-
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- // NUMBER OF RETURNS, stored in 00111000
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- numberOfReturns[i] = (sourceUint8[i * pointSize + 14] & 0b111000) >> 3;
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-
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- debugger;
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-
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- // CLASSIFICATION
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- let classification = sourceUint8[i * sourcePointSize + 15];
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- classifications[i] = classification;
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-
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- // POINT SOURCE ID
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 18];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 19];
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- let pointSourceID = tempUint16[0];
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- pointSourceIDs[i] = pointSourceID;
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-
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- // COLOR, if available
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- if (pointFormatID === 2) {
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 20];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 21];
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- let r = tempUint16[0];
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-
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 22];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 23];
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- let g = tempUint16[0];
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-
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- tempUint8[0] = sourceUint8[i * sourcePointSize + 24];
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- tempUint8[1] = sourceUint8[i * sourcePointSize + 25];
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- let b = tempUint16[0];
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-
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- r = r / 256;
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- g = g / 256;
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- b = b / 256;
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- colors[4 * i + 0] = r;
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- colors[4 * i + 1] = g;
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- colors[4 * i + 2] = b;
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-
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- }
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- }
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-
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- let indices = new ArrayBuffer(numPoints * 4);
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- let iIndices = new Uint32Array(indices);
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- for (let i = 0; i < numPoints; i++) {
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- iIndices[i] = i;
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- }
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-
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- performance.mark("laslaz-end");
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- performance.measure("laslaz", "laslaz-start", "laslaz-end");
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-
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- let measure = performance.getEntriesByType("measure")[0];
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- let dpp = 1000 * measure.duration / numPoints;
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- let debugMessage = `${measure.duration.toFixed(3)} ms, ${numPoints} points, ${dpp.toFixed(3)} micros / point`;
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- console.log(debugMessage);
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-
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- performance.clearMarks();
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- performance.clearMeasures();
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-
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- let message = {
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- mean: mean,
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- position: pBuff,
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- color: cBuff,
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- intensity: iBuff,
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- classification: clBuff,
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- returnNumber: rnBuff,
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- numberOfReturns: nrBuff,
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- pointSourceID: psBuff,
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- tightBoundingBox: tightBoundingBox,
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- indices: indices
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- };
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-
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- let transferables = [
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- message.position,
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- message.color,
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- message.intensity,
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- message.classification,
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- message.returnNumber,
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- message.numberOfReturns,
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- message.pointSourceID,
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- message.indices];
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-
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- debugger;
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-
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- postMessage(message, transferables);
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-};
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-
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-
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-function readUsingDataView(event) {
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-
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- performance.mark("laslaz-start");
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-
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- let buffer = event.data.buffer;
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- let numPoints = event.data.numPoints;
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- let sourcePointSize = event.data.pointSize;
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- let pointFormatID = event.data.pointFormatID;
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- let scale = event.data.scale;
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- let offset = event.data.offset;
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-
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- let sourceView = new DataView(buffer);
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-
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- let tightBoundingBox = {
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- min: [Number.MAX_VALUE, Number.MAX_VALUE, Number.MAX_VALUE],
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- max: [-Number.MAX_VALUE, -Number.MAX_VALUE, -Number.MAX_VALUE]
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- };
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-
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- let mean = [0, 0, 0];
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-
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- let pBuff = new ArrayBuffer(numPoints * 3 * 4);
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- let cBuff = new ArrayBuffer(numPoints * 4);
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- let iBuff = new ArrayBuffer(numPoints * 4);
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- let clBuff = new ArrayBuffer(numPoints);
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- let rnBuff = new ArrayBuffer(numPoints);
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- let nrBuff = new ArrayBuffer(numPoints);
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- let psBuff = new ArrayBuffer(numPoints * 2);
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-
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- let positions = new Float32Array(pBuff);
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- let colors = new Uint8Array(cBuff);
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- let intensities = new Float32Array(iBuff);
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- let classifications = new Uint8Array(clBuff);
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- let returnNumbers = new Uint8Array(rnBuff);
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- let numberOfReturns = new Uint8Array(nrBuff);
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- let pointSourceIDs = new Uint16Array(psBuff);
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-
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- const rangeIntensity = [Infinity, -Infinity];
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- const rangeClassification = [Infinity, -Infinity];
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- const rangeReturnNumber = [Infinity, -Infinity];
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- const rangeNumberOfReturns = [Infinity, -Infinity];
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- const rangeSourceID = [Infinity, -Infinity];
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-
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- for (let i = 0; i < numPoints; i++) {
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- // POSITION
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- let ux = sourceView.getInt32(i * sourcePointSize + 0, true);
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- let uy = sourceView.getInt32(i * sourcePointSize + 4, true);
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- let uz = sourceView.getInt32(i * sourcePointSize + 8, true);
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-
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- x = ux * scale[0] + offset[0] - event.data.mins[0];
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- y = uy * scale[1] + offset[1] - event.data.mins[1];
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- z = uz * scale[2] + offset[2] - event.data.mins[2];
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-
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- positions[3 * i + 0] = x;
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- positions[3 * i + 1] = y;
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- positions[3 * i + 2] = z;
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-
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- mean[0] += x / numPoints;
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- mean[1] += y / numPoints;
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- mean[2] += z / numPoints;
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-
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- tightBoundingBox.min[0] = Math.min(tightBoundingBox.min[0], x);
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- tightBoundingBox.min[1] = Math.min(tightBoundingBox.min[1], y);
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- tightBoundingBox.min[2] = Math.min(tightBoundingBox.min[2], z);
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-
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- tightBoundingBox.max[0] = Math.max(tightBoundingBox.max[0], x);
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- tightBoundingBox.max[1] = Math.max(tightBoundingBox.max[1], y);
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- tightBoundingBox.max[2] = Math.max(tightBoundingBox.max[2], z);
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-
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- // INTENSITY
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- let intensity = sourceView.getUint16(i * sourcePointSize + 12, true);
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- intensities[i] = intensity;
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- rangeIntensity[0] = Math.min(rangeIntensity[0], intensity);
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- rangeIntensity[1] = Math.max(rangeIntensity[1], intensity);
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-
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- // RETURN NUMBER, stored in the first 3 bits - 00000111
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- // number of returns stored in next 3 bits - 00111000
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- let returnNumberAndNumberOfReturns = sourceView.getUint8(i * sourcePointSize + 14, true);
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- let returnNumber = returnNumberAndNumberOfReturns & 0b0111;
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- let numberOfReturn = (returnNumberAndNumberOfReturns & 0b00111000) >> 3;
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- returnNumbers[i] = returnNumber;
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- numberOfReturns[i] = numberOfReturn;
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- rangeReturnNumber[0] = Math.min(rangeReturnNumber[0], returnNumber);
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- rangeReturnNumber[1] = Math.max(rangeReturnNumber[1], returnNumber);
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- rangeNumberOfReturns[0] = Math.min(rangeNumberOfReturns[0], numberOfReturn);
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- rangeNumberOfReturns[1] = Math.max(rangeNumberOfReturns[1], numberOfReturn);
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-
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- // CLASSIFICATION
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- let classification = sourceView.getUint8(i * sourcePointSize + 15, true);
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- classifications[i] = classification;
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- rangeClassification[0] = Math.min(rangeClassification[0], classification);
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- rangeClassification[1] = Math.max(rangeClassification[1], classification);
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-
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- // POINT SOURCE ID
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- let pointSourceID = sourceView.getUint16(i * sourcePointSize + 18, true);
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- pointSourceIDs[i] = pointSourceID;
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- rangeSourceID[0] = Math.min(rangeSourceID[0], pointSourceID);
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- rangeSourceID[1] = Math.max(rangeSourceID[1], pointSourceID);
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-
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- // COLOR, if available
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- if (pointFormatID === 2) {
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- let r = sourceView.getUint16(i * sourcePointSize + 20, true) / 256;
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- let g = sourceView.getUint16(i * sourcePointSize + 22, true) / 256;
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- let b = sourceView.getUint16(i * sourcePointSize + 24, true) / 256;
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-
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- colors[4 * i + 0] = r;
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- colors[4 * i + 1] = g;
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- colors[4 * i + 2] = b;
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- colors[4 * i + 3] = 255;
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- }
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- }
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-
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- let indices = new ArrayBuffer(numPoints * 4);
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- let iIndices = new Uint32Array(indices);
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- for (let i = 0; i < numPoints; i++) {
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- iIndices[i] = i;
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- }
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-
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- performance.mark("laslaz-end");
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-
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- //{ // print timings
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- // performance.measure("laslaz", "laslaz-start", "laslaz-end");
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- // let measure = performance.getEntriesByType("measure")[0];
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- // let dpp = 1000 * measure.duration / numPoints;
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- // let debugMessage = `${measure.duration.toFixed(3)} ms, ${numPoints} points, ${dpp.toFixed(3)} µs / point`;
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- // console.log(debugMessage);
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- //}
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- performance.clearMarks();
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- performance.clearMeasures();
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-
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- const ranges = {
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- "intensity": rangeIntensity,
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- "classification": rangeClassification,
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- "return number": rangeReturnNumber,
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- "number of returns": rangeNumberOfReturns,
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- "source id": rangeSourceID,
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- };
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-
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- let message = {
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- mean: mean,
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- position: pBuff,
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- color: cBuff,
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- intensity: iBuff,
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- classification: clBuff,
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- returnNumber: rnBuff,
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- numberOfReturns: nrBuff,
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- pointSourceID: psBuff,
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- tightBoundingBox: tightBoundingBox,
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- indices: indices,
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- ranges: ranges,
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- };
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-
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- let transferables = [
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- message.position,
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- message.color,
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- message.intensity,
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- message.classification,
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- message.returnNumber,
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- message.numberOfReturns,
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- message.pointSourceID,
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- message.indices];
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-
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- postMessage(message, transferables);
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-};
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-
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-
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-
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-onmessage = readUsingDataView;
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-//onmessage = readUsingTempArrays;
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