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index.js
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AFRAME.registerComponent("gaussian_splatting", {
schema: {
src: {type: 'string', default: "train.splat"},
},
init: function () {
this.el.sceneEl.renderer.setPixelRatio(1);
fetch(this.data.src)
.then((data) => data.blob())
.then((res) => res.arrayBuffer())
.then((buffer) => {
let size = new THREE.Vector2();
this.el.sceneEl.renderer.getSize(size);
const focal = (size.y / 2.0) / Math.tan(this.el.sceneEl.camera.el.components.camera.data.fov / 2.0 * Math.PI / 180.0);
let u_buffer = new Uint8Array(buffer);
if (
u_buffer[0] == 112 &&
u_buffer[1] == 108 &&
u_buffer[2] == 121 &&
u_buffer[3] == 10
) {
buffer = this.processPlyBuffer(buffer);
u_buffer = new Uint8Array(buffer);
}
const rowLength = 3 * 4 + 3 * 4 + 4 + 4;
let vertexCount = Math.floor(buffer.byteLength / rowLength);
let f_buffer = new Float32Array(buffer);
if(vertexCount > 4096*4096/2){
console.log("vertexCount limited to 4096*4096/2", vertexCount);
vertexCount = Math.floor(4096*4096/2);
}
let matrices = new Float32Array(vertexCount * 16);
const paddedCenterCovariances = new Float32Array(4096 * 4096 * 4);
const paddedCenterCovariances_uint8 = new Uint8Array(paddedCenterCovariances.buffer);
const paddedCenterCovariances_int16 = new Int16Array(paddedCenterCovariances.buffer);
const paddedCenterCovariances_uint32 = new Uint32Array(paddedCenterCovariances.buffer);
for (let i = 0; i < vertexCount; i++) {
let quat = new THREE.Quaternion(
(u_buffer[32 * i + 28 + 1] - 128) / 128.0,
(u_buffer[32 * i + 28 + 2] - 128) / 128.0,
-(u_buffer[32 * i + 28 + 3] - 128) / 128.0,
(u_buffer[32 * i + 28 + 0] - 128) / 128.0,
);
let center = new THREE.Vector3(
f_buffer[8 * i + 0],
f_buffer[8 * i + 1],
-f_buffer[8 * i + 2]
);
let scale = new THREE.Vector3(
f_buffer[8 * i + 3 + 0],
f_buffer[8 * i + 3 + 1],
f_buffer[8 * i + 3 + 2]
);
let mtx = new THREE.Matrix4();
mtx.makeRotationFromQuaternion(quat);
mtx.transpose();
mtx.scale(scale);
let mtx_t = mtx.clone()
mtx.transpose();
mtx.premultiply(mtx_t);
mtx.setPosition(center);
let cov_indexes = [0, 1, 2, 5, 6, 10];
let max_value = 0.0;
for(let j = 0; j < cov_indexes.length; j++){
if(Math.abs(mtx.elements[cov_indexes[j]]) > max_value){
max_value = Math.abs(mtx.elements[cov_indexes[j]]);
}
}
let destOffset = i * 8;
paddedCenterCovariances[destOffset + 0] = center.x;
paddedCenterCovariances[destOffset + 1] = center.y;
paddedCenterCovariances[destOffset + 2] = center.z;
paddedCenterCovariances[destOffset + 3] = max_value / 32767.0;
destOffset = (i * 8 + 4) * 2;
for(let j = 0; j < cov_indexes.length; j++){
paddedCenterCovariances_int16[destOffset + j] = parseInt(mtx.elements[cov_indexes[j]] * 32767.0 / max_value);
}
// RGBA
destOffset = (i * 8 + 7) * 4;
paddedCenterCovariances_uint8[destOffset + 0] = u_buffer[32 * i + 24 + 0];
paddedCenterCovariances_uint8[destOffset + 1] = u_buffer[32 * i + 24 + 1];
paddedCenterCovariances_uint8[destOffset + 2] = u_buffer[32 * i + 24 + 2];
paddedCenterCovariances_uint8[destOffset + 3] = u_buffer[32 * i + 24 + 3];
for(let j = 0; j < 16; j++){
matrices[i * 16 + j] = mtx.elements[j];
}
}
const centerCovarianceTexture = new THREE.DataTexture(paddedCenterCovariances_uint32, 4096, 4096, THREE.RGBAIntegerFormat, THREE.UnsignedIntType);
centerCovarianceTexture.internalFormat = "RGBA32UI";
centerCovarianceTexture.needsUpdate = true;
const camera_mtx = this.el.sceneEl.camera.el.object3D.matrixWorld.elements;
let view = new Float32Array([camera_mtx[2], camera_mtx[6], camera_mtx[10]]);
let splatIndexArray = this.sortSplats(matrices, view);
const splatIndexes = new THREE.InstancedBufferAttribute(splatIndexArray, 1, false);
splatIndexes.setUsage(THREE.DynamicDrawUsage);
const baseGeometry = new THREE.BufferGeometry();
const positionsArray = new Float32Array(6 * 3);
const positions = new THREE.BufferAttribute(positionsArray, 3);
baseGeometry.setAttribute('position', positions);
positions.setXYZ(2, -2.0, 2.0, 0.0);
positions.setXYZ(1, 2.0, 2.0, 0.0);
positions.setXYZ(0, -2.0, -2.0, 0.0);
positions.setXYZ(5, -2.0, -2.0, 0.0);
positions.setXYZ(4, 2.0, 2.0, 0.0);
positions.setXYZ(3, 2.0, -2.0, 0.0);
positions.needsUpdate = true;
const geometry = new THREE.InstancedBufferGeometry().copy(baseGeometry);
geometry.setAttribute('splatIndex', splatIndexes);
geometry.instanceCount = vertexCount;
const material = new THREE.ShaderMaterial( {
uniforms : {
viewport: {value: new Float32Array([size.x, size.y])},
focal: {value: focal},
centerCovarianceTexture: {value: centerCovarianceTexture}
},
vertexShader: `
precision highp usampler2D;
out vec4 vColor;
out vec2 vPosition;
uniform vec2 viewport;
uniform float focal;
attribute uint splatIndex;
uniform usampler2D centerCovarianceTexture;
ivec2 getDataUV(in int stride, in int offset) {
uint covarianceD = splatIndex * uint(stride) + uint(offset);
return ivec2(covarianceD%uint(4096),covarianceD/uint(4096));
}
vec2 unpackInt16(in uint value) {
int v = int(value);
int v0 = v >> 16;
int v1 = (v & 0xFFFF);
if((v & 0x8000) != 0)
v1 |= 0xFFFF0000;
return vec2(float(v1), float(v0));
}
void main () {
uvec4 sampledCenterCovarianceA = texelFetch(centerCovarianceTexture, getDataUV(2, 0), 0);
uvec4 sampledCenterCovarianceB = texelFetch(centerCovarianceTexture, getDataUV(2, 1), 0);
vec4 center = vec4(uintBitsToFloat(sampledCenterCovarianceA.x), uintBitsToFloat(sampledCenterCovarianceA.y), uintBitsToFloat(sampledCenterCovarianceA.z), 1);
float conv_scale = uintBitsToFloat(sampledCenterCovarianceA.w);
vec2 cov3D_M11_M12 = unpackInt16(sampledCenterCovarianceB.x) * conv_scale;
vec2 cov3D_M13_M22 = unpackInt16(sampledCenterCovarianceB.y) * conv_scale;
vec2 cov3D_M23_M33 = unpackInt16(sampledCenterCovarianceB.z) * conv_scale;
uint colorUint = sampledCenterCovarianceB.w;
vec4 sampledColor = vec4(
float(colorUint & uint(0xFF)) / 255.0,
float((colorUint >> uint(8)) & uint(0xFF)) / 255.0,
float((colorUint >> uint(16)) & uint(0xFF)) / 255.0,
float(colorUint >> uint(24)) / 255.0
);
// Adjust View Pose
mat4 adjViewMatrix = inverse(viewMatrix);
adjViewMatrix[0][1] *= -1.0;
adjViewMatrix[1][0] *= -1.0;
adjViewMatrix[1][2] *= -1.0;
adjViewMatrix[2][1] *= -1.0;
adjViewMatrix[3][1] *= -1.0;
adjViewMatrix = inverse(adjViewMatrix);
mat4 modelMatrix_fixy = modelMatrix;
modelMatrix_fixy[3][1] *= -1.0;
mat4 modelView = adjViewMatrix * modelMatrix_fixy;
vec4 camspace = modelView * center;
vec4 pos2d = projectionMatrix * mat4(1,0,0,0,0,-1,0,0,0,0,1,0,0,0,0,1) * camspace;
float bounds = 1.2 * pos2d.w;
if (pos2d.z < -pos2d.w || pos2d.x < -bounds || pos2d.x > bounds
|| pos2d.y < -bounds || pos2d.y > bounds) {
gl_Position = vec4(0.0, 0.0, 2.0, 1.0);
return;
}
mat3 Vrk = mat3(
cov3D_M11_M12.x, cov3D_M11_M12.y, cov3D_M13_M22.x,
cov3D_M11_M12.y, cov3D_M13_M22.y, cov3D_M23_M33.x,
cov3D_M13_M22.x, cov3D_M23_M33.x, cov3D_M23_M33.y
);
mat3 J = mat3(
focal / camspace.z, 0., -(focal * camspace.x) / (camspace.z * camspace.z),
0., -focal / camspace.z, (focal * camspace.y) / (camspace.z * camspace.z),
0., 0., 0.
);
mat3 W = transpose(mat3(modelView));
mat3 T = W * J;
mat3 cov = transpose(T) * Vrk * T;
vec2 vCenter = vec2(pos2d) / pos2d.w;
float diagonal1 = cov[0][0] + 0.3;
float offDiagonal = cov[0][1];
float diagonal2 = cov[1][1] + 0.3;
float mid = 0.5 * (diagonal1 + diagonal2);
float radius = length(vec2((diagonal1 - diagonal2) / 2.0, offDiagonal));
float lambda1 = mid + radius;
float lambda2 = max(mid - radius, 0.1);
vec2 diagonalVector = normalize(vec2(offDiagonal, lambda1 - diagonal1));
vec2 v1 = min(sqrt(2.0 * lambda1), 1024.0) * diagonalVector;
vec2 v2 = min(sqrt(2.0 * lambda2), 1024.0) * vec2(diagonalVector.y, -diagonalVector.x);
vColor = sampledColor;
vPosition = position.xy;
gl_Position = vec4(
vCenter
+ position.x * v2 / viewport * 2.0
+ position.y * v1 / viewport * 2.0, pos2d.z / pos2d.w, 1.0);
}
`,
fragmentShader: `
in vec4 vColor;
in vec2 vPosition;
void main () {
float A = -dot(vPosition, vPosition);
if (A < -4.0) discard;
float B = exp(A) * vColor.a;
gl_FragColor = vec4(vColor.rgb, B);
}
`,
blending : THREE.CustomBlending,
blendSrcAlpha : THREE.OneFactor,
depthTest : true,
depthWrite: false,
transparent: true
} );
window.addEventListener('resize', () => {
let size = new THREE.Vector2();
this.el.sceneEl.renderer.getSize(size);
const focal = (size.y / 2.0) / Math.tan(this.el.sceneEl.camera.el.components.camera.data.fov / 2.0 * Math.PI / 180.0);
material.uniforms.viewport.value[0] = size.x;
material.uniforms.viewport.value[1] = size.y;
material.uniforms.focal.value = focal;
});
let mesh = new THREE.Mesh(geometry, material, vertexCount);
mesh.frustumCulled = false;
this.el.object3D.add(mesh);
this.worker = new Worker(
URL.createObjectURL(
new Blob(["(", this.createWorker.toString(), ")(self)"], {
type: "application/javascript",
}),
),
);
this.worker.postMessage({
sortFunction: this.sortSplats.toString(),
matrices:matrices.buffer
}, [matrices.buffer]);
this.worker.onmessage = (e) => {
let indexes = new Uint32Array(e.data.sortedIndexes);
mesh.geometry.attributes.splatIndex.set(indexes);
mesh.geometry.attributes.splatIndex.needsUpdate = true;
mesh.geometry.instanceCount = indexes.length;
this.sortReady = true;
};
this.sortReady = true;
});
},
tick: function(time, timeDelta) {
if(this.sortReady){
this.sortReady = false;
const camera_mtx = this.el.sceneEl.camera.el.object3D.matrixWorld.elements;
let view = new Float32Array([camera_mtx[2], camera_mtx[6], camera_mtx[10]]);
this.worker.postMessage({view}, [view.buffer]);
}
},
createWorker: function (self) {
let sortFunction;
let matrices;
self.onmessage = (e) => {
if(e.data.sortFunction){
eval(e.data.sortFunction);
sortFunction = sortSplats;
}
if(e.data.matrices){
matrices = new Float32Array(e.data.matrices);
}
if(e.data.view){
const view = new Float32Array(e.data.view);
const sortedIndexes = sortFunction(matrices, view);
self.postMessage({sortedIndexes}, [sortedIndexes.buffer]);
}
};
},
sortSplats: function sortSplats(matrices, view){
const vertexCount = matrices.length/16;
let maxDepth = -Infinity;
let minDepth = Infinity;
let depthList = new Float32Array(vertexCount);
let sizeList = new Int32Array(depthList.buffer);
for (let i = 0; i < vertexCount; i++) {
let depth =
-((view[0] * matrices[i * 16 + 12] -
view[1] * matrices[i * 16 + 13] -
view[2] * matrices[i * 16 + 14]));
depthList[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 - 1) / (maxDepth - minDepth);
let counts0 = new Uint32Array(256*256);
for (let i = 0; i < vertexCount; i++) {
sizeList[i] = ((depthList[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];
let depthIndex = new Uint32Array(vertexCount);
for (let i = 0; i < vertexCount; i++) depthIndex[starts0[sizeList[i]]++] = i;
return depthIndex;
},
processPlyBuffer: function (inputBuffer) {
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 = 0,
offsets = {},
types = {};
const TYPE_MAP = {
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;
}
console.log("Bytes per row", row_offset, types, offsets);
let dataView = new DataView(
inputBuffer,
header_end_index + header_end.length,
);
let row = 0;
const attrs = new Proxy(
{},
{
get(target, prop) {
if (!types[prop]) throw new Error(prop + " not found");
return dataView[types[prop]](
row * row_offset + offsets[prop],
true,
);
},
},
);
console.time("calculate importance");
let sizeList = new Float32Array(vertexCount);
let sizeIndex = new Uint32Array(vertexCount);
for (row = 0; row < vertexCount; row++) {
sizeIndex[row] = row;
if (!types["scale_0"]) continue;
const size =
Math.exp(attrs.scale_0) *
Math.exp(attrs.scale_1) *
Math.exp(attrs.scale_2);
const opacity = 1 / (1 + Math.exp(-attrs.opacity));
sizeList[row] = size * opacity;
}
console.timeEnd("calculate importance");
console.time("sort");
sizeIndex.sort((b, a) => sizeList[a] - sizeList[b]);
console.timeEnd("sort");
// 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);
console.time("build buffer");
for (let j = 0; j < vertexCount; j++) {
row = sizeIndex[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;
}
}
console.timeEnd("build buffer");
return buffer;
}
});