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feat: add reading of .xyz file format
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,151 @@ | ||
| import numpy as np | ||
| import math | ||
| import traceback | ||
| import pyproj | ||
| import struct | ||
| from pickle import dumps as pdumps | ||
|
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|
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| def init(args): | ||
| aabb = None | ||
| total_point_count = 0 | ||
| pointcloud_file_portions = [] | ||
| avg_min = np.array([0.0, 0.0, 0.0]) | ||
| color_scale = args.color_scale if "color_scale" in args else None | ||
|
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| input_srs = args.srs_in | ||
|
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| for filename in args.files: | ||
| try: | ||
| f = open(filename, "r") | ||
| except Exception as e: | ||
| print("Error opening {filename}. Skipping.".format(**locals())) | ||
| print(e) | ||
| continue | ||
|
|
||
| count = 0 | ||
| seek_values = [] | ||
| while True: | ||
| batch = 10000 | ||
| points = np.zeros((batch, 3)) | ||
|
|
||
| offset = f.tell() | ||
| for i in range(batch): | ||
| line = f.readline() | ||
| if not line: | ||
| points = np.resize(points, (i, 3)) | ||
| break | ||
| points[i] = [float(s) for s in line.split(" ")] | ||
|
|
||
| if points.shape[0] == 0: | ||
| break | ||
|
|
||
| if not count % 1000000: | ||
| seek_values += [offset] | ||
|
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||
| count += points.shape[0] | ||
| batch_aabb = np.array([np.min(points, axis=0), np.max(points, axis=0)]) | ||
|
|
||
| # Update aabb | ||
| if aabb is None: | ||
| aabb = batch_aabb | ||
| else: | ||
| aabb[0] = np.minimum(aabb[0], batch_aabb[0]) | ||
| aabb[1] = np.maximum(aabb[1], batch_aabb[1]) | ||
|
|
||
| # We need an exact point count | ||
| total_point_count += count * args.fraction / 100 | ||
|
|
||
| _1M = min(count, 1000000) | ||
| steps = math.ceil(count / _1M) | ||
| assert steps == len(seek_values) | ||
| portions = [ | ||
| (i * _1M, min(count, (i + 1) * _1M), seek_values[i]) for i in range(steps) | ||
| ] | ||
| for p in portions: | ||
| pointcloud_file_portions += [(filename, p)] | ||
|
|
||
| if args.srs_out is not None and input_srs is None: | ||
| raise Exception( | ||
| "'{}' file doesn't contain srs information. Please use the --srs_in option to declare it.".format( | ||
| filename | ||
| ) | ||
| ) | ||
|
|
||
| return { | ||
| "portions": pointcloud_file_portions, | ||
| "aabb": aabb, | ||
| "color_scale": color_scale, | ||
| "srs_in": input_srs, | ||
| "point_count": total_point_count, | ||
| "avg_min": aabb[0], | ||
| } | ||
|
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||
|
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| def run(_id, filename, offset_scale, portion, queue, projection, verbose): | ||
| """ | ||
| Reads points from a xyz file | ||
| """ | ||
| try: | ||
| f = open(filename, "r") | ||
|
|
||
| point_count = portion[1] - portion[0] | ||
|
|
||
| step = min(point_count, max((point_count) // 10, 100000)) | ||
|
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| f.seek(portion[2]) | ||
|
|
||
| for i in range(0, point_count, step): | ||
| points = np.zeros((step, 3), dtype=np.float32) | ||
|
|
||
| for j in range(0, step): | ||
| line = f.readline() | ||
| if not line: | ||
| points = np.resize(points, (j, 3)) | ||
| break | ||
| points[j] = [float(s) for s in line.split(" ")] | ||
|
|
||
| x, y, z = [points[:, c] for c in [0, 1, 2]] | ||
|
|
||
| if projection: | ||
| x, y, z = pyproj.transform(projection[0], projection[1], x, y, z) | ||
|
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||
| x = (x + offset_scale[0][0]) * offset_scale[1][0] | ||
| y = (y + offset_scale[0][1]) * offset_scale[1][1] | ||
| z = (z + offset_scale[0][2]) * offset_scale[1][2] | ||
|
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| coords = np.vstack((x, y, z)).transpose() | ||
|
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||
| if offset_scale[2] is not None: | ||
| # Apply transformation matrix (because the tile's transform will contain | ||
| # the inverse of this matrix) | ||
| coords = np.dot(coords, offset_scale[2]) | ||
|
|
||
| coords = np.ascontiguousarray(coords.astype(np.float32)) | ||
|
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||
| # Read colors | ||
| colors = np.full((point_count, 3), 255, dtype=np.uint8) | ||
|
|
||
| result = ( | ||
| "".encode("ascii"), | ||
| pdumps({"xyz": coords, "rgb": colors}), | ||
| len(coords), | ||
| ) | ||
| queue.send_multipart( | ||
| [ | ||
| "".encode("ascii"), | ||
| pdumps({"xyz": coords, "rgb": colors}), | ||
| struct.pack(">I", len(coords)), | ||
| ], | ||
| copy=False, | ||
| ) | ||
|
|
||
| queue.send_multipart([pdumps({"name": _id, "total": 0})]) | ||
| # notify we're idle | ||
| queue.send_multipart([b""]) | ||
|
|
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| f.close() | ||
| except Exception as e: | ||
| print("Exception while reading points from xyz file") | ||
| print(e) | ||
| traceback.print_exc() |