import * as THREE from "../libs/three.js/build/three.module.js"; import {PointCloudTree, PointCloudTreeNode} from "./PointCloudTree.js"; import {PointCloudOctreeGeometryNode} from "./PointCloudOctreeGeometry.js"; import {Utils} from "./utils.js"; import {PointCloudMaterial} from "./materials/PointCloudMaterial.js"; import math from "./utils/math.js"; import {MeshDraw} from "./utils/DrawUtil.js"; import searchRings from "./utils/searchRings.js"; import {TextSprite} from './TextSprite' const planeGeo = new THREE.PlaneBufferGeometry(1,1); const planeMats = new Map() let getPlaneMat = (group, removed)=>{ let mat = planeMats.get(group) if(mat)return mat var planeMat = new THREE.MeshBasicMaterial({ //color: level == 'removed' ? "#f00" : new THREE.Color(1 - level*0.2, 1,1), color: (new THREE.Color()).setHSL(Math.random(), 0.5, 0.9) , //color: (new THREE.Color()).setHSL(removed ? 0 : 0.6, Math.random(), 0.9/* Math.random() */) , transparent:true, side:2, opacity: removed ? 0.3 : 0.9, }) planeMats.set(group, planeMat) return planeMat } export class PointCloudOctreeNode extends PointCloudTreeNode { constructor () { super(); //this.children = {}; this.children = []; this.sceneNode = null; this.octree = null; } getNumPoints () { return this.geometryNode.numPoints; } isLoaded () { return true; } isTreeNode () { return true; } isGeometryNode () { return false; } getLevel () { return this.geometryNode.level; } getBoundingSphere () { return this.geometryNode.boundingSphere; } getBoundingBox () { return this.geometryNode.boundingBox; } getChildren () { let children = []; for (let i = 0; i < 8; i++) { if (this.children[i]) { children.push(this.children[i]); } } return children; } getPointsInBox(boxNode){ if(!this.sceneNode){ return null; } let buffer = this.geometryNode.buffer; let posOffset = buffer.offset("position"); let stride = buffer.stride; let view = new DataView(buffer.data); let worldToBox = boxNode.matrixWorld.clone().invert(); let objectToBox = new THREE.Matrix4().multiplyMatrices(worldToBox, this.sceneNode.matrixWorld); let inBox = []; let pos = new THREE.Vector4(); for(let i = 0; i < buffer.numElements; i++){ let x = view.getFloat32(i * stride + posOffset + 0, true); let y = view.getFloat32(i * stride + posOffset + 4, true); let z = view.getFloat32(i * stride + posOffset + 8, true); pos.set(x, y, z, 1); pos.applyMatrix4(objectToBox); if(-0.5 < pos.x && pos.x < 0.5){ if(-0.5 < pos.y && pos.y < 0.5){ if(-0.5 < pos.z && pos.z < 0.5){ pos.set(x, y, z, 1).applyMatrix4(this.sceneNode.matrixWorld); inBox.push(new THREE.Vector3(pos.x, pos.y, pos.z)); } } } } return inBox; } get name () { return this.geometryNode.name; } }; export class PointCloudOctree extends PointCloudTree { constructor (geometry, material) { super(); //this.pointBudget = Infinity; this.pcoGeometry = geometry; this.boundingBox = this.pcoGeometry.boundingBox; this.boundingSphere = this.boundingBox.getBoundingSphere(new THREE.Sphere()); this.material = material || new PointCloudMaterial(); this.visiblePointsTarget = 2 * 1000 * 1000; this.minimumNodePixelSize = 150; this.level = 0; this.position.copy(geometry.offset); this.updateMatrix(); this.nodeMaxLevel = 0;//add this.maxLevel = Infinity; this.temp = {}//add //add this.rotateMatrix = new THREE.Matrix4; this.transformMatrix = new THREE.Matrix4;// 数据集的变化矩阵 this.transformInvMatrix = new THREE.Matrix4; this.rotateInvMatrix = new THREE.Matrix4; this.material.spacing = this.pcoGeometry.spacing;//初始化一下 以便于设置pointsize { let priorityQueue = ["rgba", "rgb", "intensity", "classification"]; let selected = "rgba"; for(let attributeName of priorityQueue){ let attribute = this.pcoGeometry.pointAttributes.attributes.find(a => a.name === attributeName); if(!attribute){ continue; } let min = attribute.range[0].constructor.name === "Array" ? attribute.range[0] : [attribute.range[0]]; let max = attribute.range[1].constructor.name === "Array" ? attribute.range[1] : [attribute.range[1]]; let range_min = new THREE.Vector3(...min); let range_max = new THREE.Vector3(...max); let range = range_min.distanceTo(range_max); if(range === 0){ continue; } selected = attributeName; break; } this.material.activeAttributeName = selected; } this.showBoundingBox = false; this.boundingBoxNodes = []; this.loadQueue = []; this.visibleBounds = new THREE.Box3(); this.visibleNodes = []; this.visibleGeometry = []; this.generateDEM = false; this.profileRequests = []; this.name = ''; this._visible = true; //this._isVisible = true//add //this.unvisibleReasons = [] { let box = [this.pcoGeometry.tightBoundingBox, this.getBoundingBoxWorld()] .find(v => v !== undefined); this.updateMatrixWorld(true); box = Utils.computeTransformedBoundingBox(box, this.matrixWorld); let bMin = box.min.z; let bMax = box.max.z; this.material.heightMin = bMin; this.material.heightMax = bMax; } // TODO read projection from file instead this.projection = geometry.projection; this.fallbackProjection = geometry.fallbackProjection; this.root = this.pcoGeometry.root; this.pcoGeometry.on('updateNodeMaxLevel', this.updateNodeMaxLevel.bind(this)) } updateNodeMaxLevel(level){//目前点云包含node的最高level var level = Math.max(level, this.nodeMaxLevel) if(level != this.nodeMaxLevel){ this.nodeMaxLevel = level viewer.emit('updateNodeMaxLevel', this, level) } } setName (name) { if (this.name !== name) { this.name = name; this.dispatchEvent({type: 'name_changed', name: name, pointcloud: this}); } } getName () { return this.name; } getAttribute(name){ const attribute = this.pcoGeometry.pointAttributes.attributes.find(a => a.name === name); if(attribute){ return attribute; }else{ return null; } } getAttributes(){ return this.pcoGeometry.pointAttributes; } toTreeNode (geometryNode, parent) { let node = new PointCloudOctreeNode(); // if(geometryNode.name === "r40206"){ // console.log("creating node for r40206"); // } let sceneNode = new THREE.Points(geometryNode.geometry, this.material); //好像没什么用 sceneNode.name = geometryNode.name; sceneNode.position.copy(geometryNode.boundingBox.min); sceneNode.frustumCulled = false; sceneNode.onBeforeRender = (_this, scene, camera, geometry, material, group) => { if (material.program) { _this.getContext().useProgram(material.program.program); if (material.program.getUniforms().map.level) { let level = geometryNode.getLevel(); material.uniforms.level.value = level; material.program.getUniforms().map.level.setValue(_this.getContext(), level); } if (this.visibleNodeTextureOffsets && material.program.getUniforms().map.vnStart) { let vnStart = this.visibleNodeTextureOffsets.get(node); material.uniforms.vnStart.value = vnStart; material.program.getUniforms().map.vnStart.setValue(_this.getContext(), vnStart); } if (material.program.getUniforms().map.pcIndex) { let i = node.pcIndex ? node.pcIndex : this.visibleNodes.indexOf(node); material.uniforms.pcIndex.value = i; material.program.getUniforms().map.pcIndex.setValue(_this.getContext(), i); } } }; // { // DEBUG // let sg = new THREE.SphereGeometry(1, 16, 16); // let sm = new THREE.MeshNormalMaterial(); // let s = new THREE.Mesh(sg, sm); // s.scale.set(5, 5, 5); // s.position.copy(geometryNode.mean) // .add(this.position) // .add(geometryNode.boundingBox.min); // // viewer.scene.scene.add(s); // } node.geometryNode = geometryNode; node.sceneNode = sceneNode; node.pointcloud = this; node.children = []; //for (let key in geometryNode.children) { // node.children[key] = geometryNode.children[key]; //} for(let i = 0; i < 8; i++){ node.children[i] = geometryNode.children[i]; } if (!parent) { this.root = node; this.add(sceneNode); } else { let childIndex = parseInt(geometryNode.name[geometryNode.name.length - 1]); parent.sceneNode.add(sceneNode); parent.children[childIndex] = node; } let disposeListener = function () { let childIndex = parseInt(geometryNode.name[geometryNode.name.length - 1]); parent.sceneNode.remove(node.sceneNode); parent.children[childIndex] = geometryNode; }; geometryNode.oneTimeDisposeHandlers.push(disposeListener); //this.buildTexMesh(geometryNode,sceneNode) return node; } buildTexMesh(geometryNode,sceneNode){ // viewer.scene.pointclouds.forEach(a=>a.areaPlanes.forEach(e=>e.material = viewer.images360.cube.material)) let startTime = Date.now() if(!this.splitSprites){ let splitSprites = new THREE.Object3D splitSprites.name = 'splitSprites_'+this.name splitSprites.matrixAutoUpdate = false //同pointcloud一样不自动更新，直接使用 splitSprites.matrix.copy(this.matrix) splitSprites.matrixWorld.copy(this.matrixWorld) this.splitSprites = splitSprites viewer.scene.scene.add(splitSprites) this.areaPlanes = [] } if(this.texMeshUseLevel == void 0 || geometryNode.level == this.texMeshUseLevel){//只需要某一层level的点 //let spritesGeo = new THREE.BufferGeometry(); let scaleRatio = 1.4 //稍微放大些，填满缝隙 let spriteWidth1 = this.material.spacing / Math.pow(2, geometryNode.level) if(spriteWidth1 > 3)return let spriteWidth = spriteWidth1 * scaleRatio if(this.texMeshUseLevel == void 0 ){ this.texMeshUseLevel = geometryNode.level console.log('texMeshUseLevel ',geometryNode.level) } let splitSprites = new THREE.Object3D splitSprites.name = 'sub_splitSprites_'+geometryNode.name splitSprites.position.copy(sceneNode.position) splitSprites.rotation.copy(sceneNode.rotation) this.splitSprites.add(splitSprites) let geometry = geometryNode.geometry let count = geometry.attributes.position.count let end = Math.min(count, 850) let start = Math.min(0, end) console.warn('check points count:', end-start) let position = geometry.attributes.position.array let normal = geometry.attributes.normal.array let i let up = new THREE.Vector3(0,1,0) , zeroVec = new THREE.Vector3 //up写成z向上居然结果一样 let positions = []; let normals = []; let newPositions = []; let newIndices = [] let groupMaxPointCount = 2000 ;//太多找环会崩 let minDisSquare = Math.pow(spriteWidth1 * 1.8 , 2 ) //这个数太小就连不上啦 1.65太小 let minDot = Math.cos(THREE.Math.degToRad(10))//括号内是最小偏差角度， 20太大。太大的话会将立方体的相邻两面视为一个面。 //根据相邻点位置和角度是否相近来分组。有风险：两大区域可能因为一个模棱两可中间点连接在一起。 let closeGroups = [] let groupTolerateMaxPoint = 4//组内点<=这个数的最后会被删除 let removedCount = 0 let useGroupCount = 0 let pointDebug = true for(i=start;i{ if(group.length>groupMaxPointCount)return //满员了 var hasClosed = group.some(p=>{ var dis = p.distanceToSquared(pos) var dot = p.nor.dot(nor) if(disminDot){ //return dis / minDisSquare + (Math.abs(p.nor.x - nor.x) + Math.abs(p.nor.y - nor.y) + Math.abs(p.nor.z - nor.z)) < 1.7 return dis / minDisSquare - p.nor.dot(nor) < 0 } }) return hasClosed }) if(groups.length == 0){//创建一个新的 var newGroup = [] closeGroups.push(newGroup) groups = [newGroup] } if(groups.length == 1){//直接加入原有的 pos.belongTo = groups[0]; }else if(groups.length>1){ // comebine多个组成一个 let newBigGroup = []; groups.forEach(e=>{ newBigGroup.push(...e) let index = closeGroups.indexOf(e); closeGroups.splice(index, 1) }) closeGroups.push(newBigGroup) pos.belongTo = newBigGroup newBigGroup.forEach(e=>{e.belongTo = newBigGroup}) } pos.belongTo.push(pos) } closeGroups.forEach((points,index)=>{//建造面 if(points.length <= groupTolerateMaxPoint ){ /* let sprite = new THREE.Mesh(planeGeo, getPlaneMat(pos.belongTo, true)) sprite.lookAt(nor); sprite.position.copy(pos) sprite.scale.set(spriteWidth,spriteWidth,spriteWidth) sprite.name = geometryNode.name+'_index'+i splitSprites.add(sprite) removedCount ++; */ removedCount += points.length; return } useGroupCount ++ points.sort(function(a,b){ return a.index - b.index }) console.log(`开始解析 ${geometryNode.name} - 第${index}组，总第${points[0].index}个点，组内有${points.length}个点`) let planeMat = getPlaneMat(points, true) if(pointDebug){ points.forEach((p,i)=>{ var label = new TextSprite({ text : index+"-"+i+" ("+p.index+")"+geometryNode.name, dontFixOrient:true, backgroundColor: {r: planeMat.color.r*255, g: planeMat.color.g*255, b: planeMat.color.b*255, a:0.6}, }); label.lookAt(p.nor); label.position.copy(p) label.scale.set(spriteWidth/3, spriteWidth/3, spriteWidth/3) splitSprites.add(label) /* let sprite = new THREE.Mesh(planeGeo,planeMat) sprite.lookAt(p.nor); sprite.position.copy(p) sprite.scale.set(spriteWidth/3,spriteWidth/3,spriteWidth/3) sprite.name = geometryNode.name+'_group'+index+"_"+ i splitSprites.add(sprite) */ }) } var avePos = points.reduce(function(total, currentValue){ return total.add(currentValue) }, new THREE.Vector3).multiplyScalar(1/points.length) let planeNormals = [] {//获得planeNormals //随机找两个距离远的点算normal。 按距离排序后， //抽取若干个点，然后算两两之间的法线，其中距离远的多抽取几个。 var sortPoints = points.slice(0).sort(function(a,b){ return a.distanceToSquared(avePos) - b.distanceToSquared(avePos) })//从小到大 var pickPoints var length = sortPoints.length if(length>=7){ var ratio = [0.02,0.15,0.4,0.55,0.7,0.86,0.99]; var index = ratio.map(e=>Math.round(e * (length-1))) //console.log('index ',index) pickPoints = index.map(e=>sortPoints[e]) }else{ pickPoints = sortPoints } //console.log('pickPoints', pickPoints) let num = pickPoints.length for(let i=0;i facePlane.projectPoint(p, new THREE.Vector3() )) var originPoint0 = coplanarPoints[0].clone() var qua = math.getQuaBetween2Vector(facePlane.normal, new THREE.Vector3(0,0,1), new THREE.Vector3(0,0,1)); let points2d = coplanarPoints.map(e=>e.clone().applyQuaternion(qua)) let quaInverse = qua.clone().invert() //-------------------- let lines = [] points2d.forEach((p,j)=>{ p.id = j for(let i=0;i{ var shapeGeo = MeshDraw.getShapeGeo(ring.points) var areaPlane = new THREE.Mesh(shapeGeo, planeMat2) areaPlane.quaternion.copy(quaInverse) areaPlane.position.copy(vec) areaPlane.name = 'areaPlane_'+index splitSprites.add(areaPlane) this.areaPlanes.push(areaPlane) }) }) console.log(geometryNode.name, '中:') console.log('removed point count: ', removedCount/* splitSprites.children.length */) console.log(closeGroups) console.log('comebine mesh Len:', useGroupCount) /* spritesGeo.setAttribute('position', new THREE.Float32BufferAttribute(new Float32Array(newPositions), 3)); spritesGeo.setIndex( newIndices ); let sprites = new THREE.Mesh(spritesGeo, getPlaneMat('use')) sprites.name = geometryNode.name sprites.position.copy(sceneNode.position) sprites.rotation.copy(sceneNode.rotation) sceneNode.sprites = sprites sprites.pointsNode = sceneNode if(geometryNode.level == 0){ let root = new THREE.Object3D; root.name = 'spriteNodeRoot' root.matrixAutoUpdate = false //同pointcloud一样不自动更新，直接使用 root.matrix.copy(this.matrix) root.matrixWorld.copy(this.matrixWorld) viewer.scene.scene.add(root) this.spriteNodeRoot = root } this.spriteNodeRoot.add(sprites) */ console.log('computeTime: ' + (Date.now() - startTime)) } //-----------以下作废======================-=-=-=-=-=-=-=-=-=-=-=-=-=-=- if(geometryNode.level <= -1){ let startTime = Date.now() let splitSprites = new THREE.Object3D splitSprites.name = 'splitSprites_'+geometryNode.name splitSprites.matrixAutoUpdate = false //同pointcloud一样不自动更新，直接使用 splitSprites.matrix.copy(this.matrix) splitSprites.matrixWorld.copy(this.matrixWorld) viewer.scene.scene.add(splitSprites) let spritesGeo = new THREE.BufferGeometry(); let scaleRatio = 1.4 //稍微放大些，填满缝隙 let spriteWidth1 = this.material.spacing / Math.pow(2, geometryNode.level) let spriteWidth = spriteWidth1 * scaleRatio console.log('spriteWidth:',spriteWidth) const removeChip = true let geometry = geometryNode.geometry let count = geometry.attributes.position.count count = 1000 let position = geometry.attributes.position.array let normal = geometry.attributes.normal.array let i let up = new THREE.Vector3(0,1,0) , zeroVec = new THREE.Vector3 //up写成z向上居然结果一样 let positions = []; let normals = []; let newPositions = []; //let newNormals = []; let newIndices = [] let cornerPoints = [new THREE.Vector3(-1,1,0),new THREE.Vector3(1,1,0),new THREE.Vector3(-1,-1,0),new THREE.Vector3(1,-1,0) ] let indices = [0, 2, 1, 2, 3, 1] cornerPoints.forEach(e=>e.multiplyScalar(spriteWidth/2)) let minDisSquare = spriteWidth1 * spriteWidth1 * 1.5 let closeGroups = [] let groupTolerateMaxPoint = 4//组内点<=这个数的最后会被删除 let removedCount = 0 for(i=0;i{ var hasClosed = group.some(p=>{ var dis = p.distanceToSquared(pos) if(dis1){ // comebine多个组成一个 let newBigGroup = []; groups.forEach(e=>{ newBigGroup.push(...e) let index = closeGroups.indexOf(e); closeGroups.splice(index, 1) }) closeGroups.push(newBigGroup) pos.belongTo = newBigGroup newBigGroup.forEach(e=>{e.belongTo = newBigGroup}) } pos.belongTo.push(pos) } } for(i=0;i{ let point = p.clone(); point.applyMatrix4(matrix) newPositions.push(...point.toArray()) //newNormals }) indices.forEach(index=>{ newIndices.push(index + i*4) }) } /* closeGroups.forEach(e=>{ if(e.length <= groupTolerateMaxPoint )return }) */ console.log('removed count: ', removedCount/* splitSprites.children.length */) console.log(closeGroups) console.log('computeTime: ' + (Date.now() - startTime)) spritesGeo.setAttribute('position', new THREE.Float32BufferAttribute(new Float32Array(newPositions), 3)); spritesGeo.setIndex( newIndices ); let sprites = new THREE.Mesh(spritesGeo, getPlaneMat('use')) sprites.name = geometryNode.name sprites.position.copy(sceneNode.position) sprites.rotation.copy(sceneNode.rotation) sceneNode.sprites = sprites sprites.pointsNode = sceneNode if(geometryNode.level == 0){ let root = new THREE.Object3D; root.name = 'spriteNodeRoot' root.matrixAutoUpdate = false //同pointcloud一样不自动更新，直接使用 root.matrix.copy(this.matrix) root.matrixWorld.copy(this.matrixWorld) viewer.scene.scene.add(root) this.spriteNodeRoot = root } this.spriteNodeRoot.add(sprites) viewer.setObjectLayers(sprites,'sceneObjects') } //------------------ /* viewer.scene.pointclouds[0].spriteNodeRoot.traverse(e=>e.material && (e.material = viewer.images360.cube.material)) viewer.scene.scene.children[12].visible = false */ } updateVisibleBounds () { let leafNodes = []; for (let i = 0; i < this.visibleNodes.length; i++) { let node = this.visibleNodes[i]; let isLeaf = true; for (let j = 0; j < node.children.length; j++) { let child = node.children[j]; if (child instanceof PointCloudOctreeNode) { isLeaf = isLeaf && !child.sceneNode.visible; } else if (child instanceof PointCloudOctreeGeometryNode) { isLeaf = true; } } if (isLeaf) { leafNodes.push(node); } } this.visibleBounds.min = new THREE.Vector3(Infinity, Infinity, Infinity); this.visibleBounds.max = new THREE.Vector3(-Infinity, -Infinity, -Infinity); for (let i = 0; i < leafNodes.length; i++) { let node = leafNodes[i]; this.visibleBounds.expandByPoint(node.getBoundingBox().min); this.visibleBounds.expandByPoint(node.getBoundingBox().max); } } updateMaterial (material, visibleNodes, camera, renderer, resolution) { material.fov = camera.fov * (Math.PI / 180); /* material.screenWidth = renderer.domElement.clientWidth; material.screenHeight = renderer.domElement.clientHeight; */ material.resolution = resolution //material.spacing = this.pcoGeometry.spacing; // * Math.max(this.scale.x, this.scale.y, this.scale.z); //应该不需要 material.near = camera.near; material.far = camera.far; material.uniforms.octreeSize.value = this.pcoGeometry.boundingBox.getSize(new THREE.Vector3()).x; } computeVisibilityTextureData(nodes, camera){ if(Potree.measureTimings) performance.mark("computeVisibilityTextureData-start"); let data = new Uint8Array(nodes.length * 4); let visibleNodeTextureOffsets = new Map(); // copy array nodes = nodes.slice(); // sort by level and index, e.g. r, r0, r3, r4, r01, r07, r30, ... let sort = function (a, b) { let na = a.geometryNode.name; let nb = b.geometryNode.name; if (na.length !== nb.length) return na.length - nb.length; if (na < nb) return -1; if (na > nb) return 1; return 0; }; nodes.sort(sort); let worldDir = new THREE.Vector3(); let nodeMap = new Map(); let offsetsToChild = new Array(nodes.length).fill(Infinity); for(let i = 0; i < nodes.length; i++){ let node = nodes[i]; nodeMap.set(node.name, node); visibleNodeTextureOffsets.set(node, i); if(i > 0){ let index = parseInt(node.name.slice(-1)); let parentName = node.name.slice(0, -1); let parent = nodeMap.get(parentName); let parentOffset = visibleNodeTextureOffsets.get(parent); let parentOffsetToChild = (i - parentOffset); offsetsToChild[parentOffset] = Math.min(offsetsToChild[parentOffset], parentOffsetToChild); data[parentOffset * 4 + 0] = data[parentOffset * 4 + 0] | (1 << index); data[parentOffset * 4 + 1] = (offsetsToChild[parentOffset] >> 8); data[parentOffset * 4 + 2] = (offsetsToChild[parentOffset] % 256); } let density = node.geometryNode.density; if(typeof density === "number"){ let lodOffset = Math.log2(density) / 2 - 1.5; let offsetUint8 = (lodOffset + 10) * 10; data[i * 4 + 3] = offsetUint8; }else{ data[i * 4 + 3] = 100; } } if(Potree.measureTimings){ performance.mark("computeVisibilityTextureData-end"); performance.measure("render.computeVisibilityTextureData", "computeVisibilityTextureData-start", "computeVisibilityTextureData-end"); } return { data: data, offsets: visibleNodeTextureOffsets }; } nodeIntersectsProfile (node, profile) { let bbWorld = node.boundingBox.clone().applyMatrix4(this.matrixWorld); let bsWorld = bbWorld.getBoundingSphere(new THREE.Sphere()); let intersects = false; for (let i = 0; i < profile.points.length - 1; i++) { let start = new THREE.Vector3(profile.points[i + 0].x, profile.points[i + 0].y, bsWorld.center.z); let end = new THREE.Vector3(profile.points[i + 1].x, profile.points[i + 1].y, bsWorld.center.z); let closest = new THREE.Line3(start, end).closestPointToPoint(bsWorld.center, true, new THREE.Vector3()); let distance = closest.distanceTo(bsWorld.center); intersects = intersects || (distance < (bsWorld.radius + profile.width)); } //console.log(`${node.name}: ${intersects}`); return intersects; } deepestNodeAt(position){ const toObjectSpace = this.matrixWorld.clone().invert(); const objPos = position.clone().applyMatrix4(toObjectSpace); let current = this.root; while(true){ let containingChild = null; for(const child of current.children){ if(child !== undefined){ if(child.getBoundingBox().containsPoint(objPos)){ containingChild = child; } } } if(containingChild !== null && containingChild instanceof PointCloudOctreeNode){ current = containingChild; }else{ break; } } const deepest = current; return deepest; } nodesOnRay (nodes, ray) { let nodesOnRay = []; let _ray = ray.clone(); for (let i = 0; i < nodes.length; i++) { let node = nodes[i]; let sphere = node.getBoundingSphere().clone().applyMatrix4(this.matrixWorld); if (_ray.intersectsSphere(sphere)) { nodesOnRay.push(node); } } return nodesOnRay; } updateMatrixWorld (force) { if (this.matrixAutoUpdate === true) this.updateMatrix(); if (this.matrixWorldNeedsUpdate === true || force === true) { if (!this.parent) { this.matrixWorld.copy(this.matrix); } else { this.matrixWorld.multiplyMatrices(this.parent.matrixWorld, this.matrix); } this.matrixWorldNeedsUpdate = false; force = true; } } hideDescendants (object) { let stack = []; for (let i = 0; i < object.children.length; i++) { let child = object.children[i]; if (child.visible) { stack.push(child); } } while (stack.length > 0) { let object = stack.shift(); object.visible = false; for (let i = 0; i < object.children.length; i++) { let child = object.children[i]; if (child.visible) { stack.push(child); } } } } moveToOrigin () { this.position.set(0, 0, 0); this.updateMatrixWorld(true); let box = this.boundingBox; let transform = this.matrixWorld; let tBox = Utils.computeTransformedBoundingBox(box, transform); this.position.set(0, 0, 0).sub(tBox.getCenter(new THREE.Vector3())); }; moveToGroundPlane () { this.updateMatrixWorld(true); let box = this.boundingBox; let transform = this.matrixWorld; let tBox = Utils.computeTransformedBoundingBox(box, transform); this.position.y += -tBox.min.y; }; getBoundingBoxWorld () { this.updateMatrixWorld(true); let box = this.boundingBox; let transform = this.matrixWorld; let tBox = Utils.computeTransformedBoundingBox(box, transform); return tBox; }; /** * returns points inside the profile points * * maxDepth: search points up to the given octree depth * * * The return value is an array with all segments of the profile path * let segment = { * start: THREE.Vector3, * end: THREE.Vector3, * points: {} * project: function() * }; * * The project() function inside each segment can be used to transform * that segments point coordinates to line up along the x-axis. * * */ getPointsInProfile (profile, maxDepth, callback) { if (callback) { let request = new Potree.ProfileRequest(this, profile, maxDepth, callback); this.profileRequests.push(request); return request; } let points = { segments: [], boundingBox: new THREE.Box3(), projectedBoundingBox: new THREE.Box2() }; // evaluate segments for (let i = 0; i < profile.points.length - 1; i++) { let start = profile.points[i]; let end = profile.points[i + 1]; let ps = this.getProfile(start, end, profile.width, maxDepth); let segment = { start: start, end: end, points: ps, project: null }; points.segments.push(segment); points.boundingBox.expandByPoint(ps.boundingBox.min); points.boundingBox.expandByPoint(ps.boundingBox.max); } // add projection functions to the segments let mileage = new THREE.Vector3(); for (let i = 0; i < points.segments.length; i++) { let segment = points.segments[i]; let start = segment.start; let end = segment.end; let project = (function (_start, _end, _mileage, _boundingBox) { let start = _start; let end = _end; let mileage = _mileage; let boundingBox = _boundingBox; let xAxis = new THREE.Vector3(1, 0, 0); let dir = new THREE.Vector3().subVectors(end, start); dir.y = 0; dir.normalize(); let alpha = Math.acos(xAxis.dot(dir)); if (dir.z > 0) { alpha = -alpha; } return function (position) { let toOrigin = new THREE.Matrix4().makeTranslation(-start.x, -boundingBox.min.y, -start.z); let alignWithX = new THREE.Matrix4().makeRotationY(-alpha); let applyMileage = new THREE.Matrix4().makeTranslation(mileage.x, 0, 0); let pos = position.clone(); pos.applyMatrix4(toOrigin); pos.applyMatrix4(alignWithX); pos.applyMatrix4(applyMileage); return pos; }; }(start, end, mileage.clone(), points.boundingBox.clone())); segment.project = project; mileage.x += new THREE.Vector3(start.x, 0, start.z).distanceTo(new THREE.Vector3(end.x, 0, end.z)); mileage.y += end.y - start.y; } points.projectedBoundingBox.min.x = 0; points.projectedBoundingBox.min.y = points.boundingBox.min.y; points.projectedBoundingBox.max.x = mileage.x; points.projectedBoundingBox.max.y = points.boundingBox.max.y; return points; } /** * returns points inside the given profile bounds. * * start: * end: * width: * depth: search points up to the given octree depth * callback: if specified, points are loaded before searching * * */ getProfile (start, end, width, depth, callback) { let request = new Potree.ProfileRequest(start, end, width, depth, callback); this.profileRequests.push(request); }; getVisibleExtent () { return this.visibleBounds.applyMatrix4(this.matrixWorld); }; intersectsPoint(position){ let rootAvailable = this.pcoGeometry.root && this.pcoGeometry.root.geometry; if(!rootAvailable){ return false; } if(typeof this.signedDistanceField === "undefined"){ const resolution = 32; const field = new Float32Array(resolution ** 3).fill(Infinity); const positions = this.pcoGeometry.root.geometry.attributes.position; const boundingBox = this.boundingBox; const n = positions.count; for(let i = 0; i < n; i = i + 3){ const x = positions.array[3 * i + 0]; const y = positions.array[3 * i + 1]; const z = positions.array[3 * i + 2]; const ix = parseInt(Math.min(resolution * (x / boundingBox.max.x), resolution - 1)); const iy = parseInt(Math.min(resolution * (y / boundingBox.max.y), resolution - 1)); const iz = parseInt(Math.min(resolution * (z / boundingBox.max.z), resolution - 1)); const index = ix + iy * resolution + iz * resolution * resolution; field[index] = 0; } const sdf = { resolution: resolution, field: field, }; this.signedDistanceField = sdf; } { const sdf = this.signedDistanceField; const boundingBox = this.boundingBox; const toObjectSpace = this.matrixWorld.clone().invert(); const objPos = position.clone().applyMatrix4(toObjectSpace); const resolution = sdf.resolution; const ix = parseInt(resolution * (objPos.x / boundingBox.max.x)); const iy = parseInt(resolution * (objPos.y / boundingBox.max.y)); const iz = parseInt(resolution * (objPos.z / boundingBox.max.z)); if(ix < 0 || iy < 0 || iz < 0){ return false; } if(ix >= resolution || iy >= resolution || iz >= resolution){ return false; } const index = ix + iy * resolution + iz * resolution * resolution; const value = sdf.field[index]; if(value === 0){ return true; } } return false; } /** * * * * params.pickWindowSize: Look for points inside a pixel window of this size. * Use odd values: 1, 3, 5, ... * * * TODO: only draw pixels that are actually read with readPixels(). * */ pick(viewer, camera, ray, params = {}){ let renderer = viewer.renderer; let pRenderer = viewer.pRenderer; performance.mark("pick-start"); let getVal = (a, b) => a !== undefined ? a : b; let pickWindowSize = getVal(params.pickWindowSize, 65); //拾取像素边长 let pickOutsideClipRegion = getVal(params.pickOutsideClipRegion, false); let size = renderer.getSize(new THREE.Vector2()); let width = Math.ceil(getVal(params.width, size.width)); //renderTarget大小。影响识别精度 let height = Math.ceil(getVal(params.height, size.height)); let pointSizeType = getVal(params.pointSizeType, this.material.pointSizeType); let pointSize = getVal(params.pointSize, this.material.size); let nodes = this.nodesOnRay(this.visibleNodes, ray); if (nodes.length === 0) { return null; } if (!this.pickState) { let scene = new THREE.Scene(); let material = new Potree.PointCloudMaterial(); material.activeAttributeName = "indices"; let renderTarget = new THREE.WebGLRenderTarget( 1, 1, { minFilter: THREE.LinearFilter, magFilter: THREE.NearestFilter, format: THREE.RGBAFormat } ); this.pickState = { renderTarget: renderTarget, material: material, scene: scene }; }; let pickState = this.pickState; let pickMaterial = pickState.material; { // update pick material pickMaterial.pointSizeType = pointSizeType; //pickMaterial.shape = this.material.shape; pickMaterial.shape = Potree.PointShape.PARABOLOID; pickMaterial.uniforms.uFilterReturnNumberRange.value = this.material.uniforms.uFilterReturnNumberRange.value; pickMaterial.uniforms.uFilterNumberOfReturnsRange.value = this.material.uniforms.uFilterNumberOfReturnsRange.value; pickMaterial.uniforms.uFilterGPSTimeClipRange.value = this.material.uniforms.uFilterGPSTimeClipRange.value; pickMaterial.uniforms.uFilterPointSourceIDClipRange.value = this.material.uniforms.uFilterPointSourceIDClipRange.value; pickMaterial.activeAttributeName = "indices"; pickMaterial.size = pointSize; pickMaterial.uniforms.minSize.value = this.material.uniforms.minSize.value; pickMaterial.uniforms.maxSize.value = this.material.uniforms.maxSize.value; pickMaterial.classification = this.material.classification; pickMaterial.recomputeClassification(); if(params.pickClipped){ pickMaterial.clipBoxes = this.material.clipBoxes; pickMaterial.uniforms.clipBoxes = this.material.uniforms.clipBoxes; if(this.material.clipTask === Potree.ClipTask.HIGHLIGHT){ pickMaterial.clipTask = Potree.ClipTask.NONE; }else{ pickMaterial.clipTask = this.material.clipTask; } pickMaterial.clipMethod = this.material.clipMethod; }else{ pickMaterial.clipBoxes = []; } this.updateMaterial(pickMaterial, nodes, camera, renderer, new THREE.Vector2(width, height)); } pickState.renderTarget.setSize(width, height); //仅绘制屏幕大小的，而不乘以devicePixelRatio let pixelPos = new THREE.Vector2(params.x, params.y); let gl = renderer.getContext(); gl.enable(gl.SCISSOR_TEST); gl.scissor( parseInt(pixelPos.x - (pickWindowSize - 1) / 2), parseInt(pixelPos.y - (pickWindowSize - 1) / 2), parseInt(pickWindowSize), parseInt(pickWindowSize)); renderer.state.buffers.depth.setTest(pickMaterial.depthTest); renderer.state.buffers.depth.setMask(pickMaterial.depthWrite); renderer.state.setBlending(THREE.NoBlending); { // RENDER renderer.setRenderTarget(pickState.renderTarget); gl.clearColor(0, 0, 0, 0); renderer.clear(true, true, true); let tmp = this.material; this.material = pickMaterial; pRenderer.renderOctree(this, nodes, camera, pickState.renderTarget); this.material = tmp; } let clamp = (number, min, max) => Math.min(Math.max(min, number), max); let x = parseInt(clamp(pixelPos.x - (pickWindowSize - 1) / 2, 0, width)); let y = parseInt(clamp(pixelPos.y - (pickWindowSize - 1) / 2, 0, height)); /* let w = parseInt(Math.min(x + pickWindowSize, width) - x); let h = parseInt(Math.min(y + pickWindowSize, height) - y); */ let pixelCount = pickWindowSize * pickWindowSize//w * h; let buffer = new Uint8Array(4 * pixelCount); //w 0){ if(distance < hits[0].distanceToCenter){ hits[0] = hit; } }else{ hits.push(hit); } } } } } // { // DEBUG: show panel with pick image // let img = Utils.pixelsArrayToImage(buffer, w, h); // let screenshot = img.src; // if(!this.debugDIV){ // this.debugDIV = $(` //
`); // $(document.body).append(this.debugDIV); // } // this.debugDIV.empty(); // this.debugDIV.append($(``)); // //$(this.debugWindow.document).append($(``)); // //this.debugWindow.document.write(''); // } for(let hit of hits){ let point = {}; if (!nodes[hit.pcIndex]) { return null; } let node = nodes[hit.pcIndex]; let pc = node.sceneNode; let geometry = node.geometryNode.geometry; for(let attributeName in geometry.attributes){ let attribute = geometry.attributes[attributeName]; if (attributeName === 'position') { let x = attribute.array[3 * hit.pIndex + 0]; let y = attribute.array[3 * hit.pIndex + 1]; let z = attribute.array[3 * hit.pIndex + 2]; let position = new THREE.Vector3(x, y, z); position.applyMatrix4(pc.matrixWorld); point[attributeName] = position; } else if (attributeName === 'indices') { } else { let values = attribute.array.slice(attribute.itemSize * hit.pIndex, attribute.itemSize * (hit.pIndex + 1)) ; if(attribute.potree){ const {scale, offset} = attribute.potree; values = values.map(v => v / scale + offset); } point[attributeName] = values; //debugger; //if (values.itemSize === 1) { // point[attribute.name] = values.array[hit.pIndex]; //} else { // let value = []; // for (let j = 0; j < values.itemSize; j++) { // value.push(values.array[values.itemSize * hit.pIndex + j]); // } // point[attribute.name] = value; //} } } hit.point = point; } performance.mark("pick-end"); performance.measure("pick", "pick-start", "pick-end"); if(params.all){ return hits.map(hit => hit.point); }else{ if(hits.length === 0){ return null; }else{ return hits[0].point; //let sorted = hits.sort( (a, b) => a.distanceToCenter - b.distanceToCenter); //return sorted[0].point; } } }; * getFittedBoxGen(boxNode){ let start = performance.now(); let shrinkedLocalBounds = new THREE.Box3(); let worldToBox = boxNode.matrixWorld.clone().invert(); for(let node of this.visibleNodes){ if(!node.sceneNode){ continue; } let buffer = node.geometryNode.buffer; let posOffset = buffer.offset("position"); let stride = buffer.stride; let view = new DataView(buffer.data); let objectToBox = new THREE.Matrix4().multiplyMatrices(worldToBox, node.sceneNode.matrixWorld); let pos = new THREE.Vector4(); for(let i = 0; i < buffer.numElements; i++){ let x = view.getFloat32(i * stride + posOffset + 0, true); let y = view.getFloat32(i * stride + posOffset + 4, true); let z = view.getFloat32(i * stride + posOffset + 8, true); pos.set(x, y, z, 1); pos.applyMatrix4(objectToBox); if(-0.5 < pos.x && pos.x < 0.5){ if(-0.5 < pos.y && pos.y < 0.5){ if(-0.5 < pos.z && pos.z < 0.5){ shrinkedLocalBounds.expandByPoint(pos); } } } } yield; } let fittedPosition = shrinkedLocalBounds.getCenter(new THREE.Vector3()).applyMatrix4(boxNode.matrixWorld); let fitted = new THREE.Object3D(); fitted.position.copy(fittedPosition); fitted.scale.copy(boxNode.scale); fitted.rotation.copy(boxNode.rotation); let ds = new THREE.Vector3().subVectors(shrinkedLocalBounds.max, shrinkedLocalBounds.min); fitted.scale.multiply(ds); let duration = performance.now() - start; console.log("duration: ", duration); yield fitted; } getFittedBox(boxNode, maxLevel = Infinity){ maxLevel = Infinity; let start = performance.now(); let shrinkedLocalBounds = new THREE.Box3(); let worldToBox = boxNode.matrixWorld.clone().invert(); for(let node of this.visibleNodes){ if(!node.sceneNode || node.getLevel() > maxLevel){ continue; } let buffer = node.geometryNode.buffer; let posOffset = buffer.offset("position"); let stride = buffer.stride; let view = new DataView(buffer.data); let objectToBox = new THREE.Matrix4().multiplyMatrices(worldToBox, node.sceneNode.matrixWorld); let pos = new THREE.Vector4(); for(let i = 0; i < buffer.numElements; i++){ let x = view.getFloat32(i * stride + posOffset + 0, true); let y = view.getFloat32(i * stride + posOffset + 4, true); let z = view.getFloat32(i * stride + posOffset + 8, true); pos.set(x, y, z, 1); pos.applyMatrix4(objectToBox); if(-0.5 < pos.x && pos.x < 0.5){ if(-0.5 < pos.y && pos.y < 0.5){ if(-0.5 < pos.z && pos.z < 0.5){ shrinkedLocalBounds.expandByPoint(pos); } } } } } let fittedPosition = shrinkedLocalBounds.getCenter(new THREE.Vector3()).applyMatrix4(boxNode.matrixWorld); let fitted = new THREE.Object3D(); fitted.position.copy(fittedPosition); fitted.scale.copy(boxNode.scale); fitted.rotation.copy(boxNode.rotation); let ds = new THREE.Vector3().subVectors(shrinkedLocalBounds.max, shrinkedLocalBounds.min); fitted.scale.multiply(ds); let duration = performance.now() - start; console.log("duration: ", duration); return fitted; } get progress () { return this.visibleNodes.length / this.visibleGeometry.length; } find(name){ let node = null; for(let char of name){ if(char === "r"){ node = this.root; }else{ node = node.children[char]; } } return node; } get visible(){ return this._visible; } set visible(value){ if(value !== this._visible){ this._visible = value; this.dispatchEvent({type: 'visibility_changed', pointcloud: this}); } } // 设置点大小 changePointSize(num) { if (num == void 0) { num = this.temp.pointSize } else { this.temp.pointSize = num } if(Potree.settings.sizeFitToLevel){//按照点云质量来调整的版本： let base = this.material.spacing / Math.pow(2, this.maxLevel) //点云大小在level为0时设置为spacing，每长一级，大小就除以2 base *= this.nodeMaxLevel > 0 ? Math.max(0.1, Math.pow(this.maxLevel / this.nodeMaxLevel, 1.3)) : 0.1 //低质量的缩小点,因为视觉上看太大了。navvis是不铺满的，我们也留一点缝隙 this.material.size = base * 3 * num/* * window.devicePixelRatio */ //在t-8BCqxQAr93 会议室 和 t-e2Kb2iU 隧道 两个场景里调节，因为它们的spacing相差较大，观察会议室墙壁的龟裂程度 }else{ let base = this.material.spacing / Math.pow(2, this.nodeMaxLevel) //点云大小在level为0时设置为spacing，每长一级，大小就除以2 this.material.size = base * 4 * num /* * window.devicePixelRatio */ } console.log('changePointSize ' + this.dataset_id + ' , num : ' + num + ' , size : ' + this.material.size, this.material.spacing) } // 设置点透明度 changePointOpacity(num) { //num:0-1 navvis用的是亮度 if (num == void 0) { num = this.temp.pointOpacity } else { this.temp.pointOpacity = num } if (num == 1) { this.material.opacity = 1 } else { if(Potree.settings.sizeFitToLevel){//按照点云质量来调整的版本： let base = this.material.spacing / Math.pow(1.4, this.maxLevel) //随着level提高，点云重叠几率增多 let minBase = this.material.spacing / Math.pow(1.4, this.nodeMaxLevel) let ratio = Math.min(1 / base, 1 / minBase / 3) //ratio为一个能使opacity不大于1 的 乘量，minBase要除以一个数，该数调越大减弱效果越强。level越低opacity和面板越接，level越高效果越弱，以减免过度重叠后的亮度。 this.material.opacity = THREE.Math.clamp(base * ratio * num, 0, 0.999) //到1就不透明了（可能出现一段一样） }else{ let base = this.material.spacing / Math.pow(1.8, this.maxLevel) let minBase = this.material.spacing / Math.pow(1.8, this.nodeMaxLevel) //console.log(1 / base, 1 / minBase / 6) let ratio = Math.min(1 / base, 1 / minBase / 6) //ratio为一个能使opacity不大于1 的 乘量，minBase要除以一个数，该数调越大减弱效果越强。level越低opacity和面板越接，level越高效果越弱，以减免过度重叠后的亮度。 this.material.opacity = THREE.Math.clamp(base * ratio * num, 0, 0.999) //到1就不透明了（可能出现一段一样） } //缺点：防止颜色过亮主要是相机离远时，当在漫游点处由于离点云太近，可能会导致高质量点云看起来很暗。 } //console.log('changePointOpacity ' + this.dataset_id + ', num : ' + num + ' , opacity : ' + this.material.opacity) //检查是否做到了低质量时num==opacity，中质量opacity稍小于num，高质量更小 } //数据集的显示影响到其下的：点云、marker .不会影响地图上的显示 /* updateVisible(reason, ifShow){//当所有加入的条件都不为false时才显示 if(ifShow){ var index = this.unvisibleReasons.indexOf(reason); index > -1 && this.unvisibleReasons.splice(index, 1); if(this.unvisibleReasons.length == 0){ this.visible = true; this.dispatchEvent({ type: 'isVisible' visible:true }) } }else { if(!this.unvisibleReasons.includes(reason)) this.unvisibleReasons.push(reason); this.visible = false; this.dispatchEvent({ type: 'isVisible' visible:false }) } } getVisible(reason){//获取在某条件下是否可见. 注： 用户在数据集选择可不可见为"datasetSelection" if(this.visible)return true else{ return !this.unvisibleReasons.includes(reason) } } */ /* get isVisible(){//add 手动在数据集选择是否显示（和是否全景图、隐藏点云无关） return this._isVisible } set isVisible(visi){ if(!visi)this.visible = false this._isVisible = visi } */ } window.searchOutRing = function(points){ var points = [{x:0,y:0},{x:1,y:1},{x:0,y:1},{x:1,y:0},{x:2,y:1},{x:1,y:2},{x:1,y:3},{x:2,y:3}, {x:3,y:1},{x:3,y:2},{x:0,y:2},{x:0,y:3},{x:2,y:0},{x:-1,y:0},{x:-1,y:1},{x:-2,y:1},{x:3,y:3}, {x:3,y:0},{x:2,y:-1},{x:0,y:-1},{x:1,y:0.5},{x:2,y:0.5}, ].map((e,index)=>{ var a = new THREE.Vector2().copy(e) a.id = index; return a }) var lines = [] var minDis = 2*2 points.forEach((p,j)=>{ for(let i=0;i