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add 4byte rgb format #770

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add 4byte rgb format #770

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3 changes: 2 additions & 1 deletion Assets/Scripts/Editor/PointCloud/PointElement.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@ public enum PointElementName
X, Y, Z,
R, G, B,
I,
RGB,
}

public struct PointElement
{
public PointElementType Type;
Expand Down
13 changes: 7 additions & 6 deletions Assets/Scripts/Editor/PointCloud/Trees/PcdPointProcessor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ private DefaultHeaderData ReadHeader()
string[] fields = null;
string[] sizes = null;
string[] types = null;

using (var view = file.CreateViewStream(0, 4096, MemoryMappedFileAccess.Read))
{
var buffer = new byte[4096];
Expand Down Expand Up @@ -76,7 +76,7 @@ private DefaultHeaderData ReadHeader()

if (line.StartsWith("VERSION"))
{
var version = line.Split(new[] {' '}, 2);
var version = line.Split(new[] { ' ' }, 2);
if (version[1] != "0.7")
{
throw new Exception($"Unsupported PCD version: {version[1]}");
Expand Down Expand Up @@ -104,20 +104,20 @@ private DefaultHeaderData ReadHeader()
}
else if (line.StartsWith("HEIGHT"))
{
var height = line.Split(new[] {' '}, 2);
var height = line.Split(new[] { ' ' }, 2);
if (height[1] != "1")
{
throw new Exception($"Unsupported PCD height: {height[1]}");
}
}
else if (line.StartsWith("POINTS"))
{
var points = line.Split(new[] {' '}, 2);
var points = line.Split(new[] { ' ' }, 2);
result.DataCount = long.Parse(points[1]);
}
else if (line.StartsWith("DATA"))
{
var data = line.Split(new[] {' '}, 2);
var data = line.Split(new[] { ' ' }, 2);
if (data[1] != "binary")
{
throw new Exception($"Unsupported PCD data format: {data[1]}");
Expand Down Expand Up @@ -154,6 +154,7 @@ private DefaultHeaderData ReadHeader()
if (fields[i] == "z") name = PointElementName.Z;
if (fields[i] == "intensity") name = PointElementName.I;
if (fields[i] == "scalar_intensity") name = PointElementName.I;
if (fields[i] == "rgb") name = PointElementName.RGB;

if (types[i] == "U" && elementSize == 1) type = PointElementType.Byte;
if (types[i] == "F" && elementSize == 4) type = PointElementType.Float;
Expand All @@ -162,7 +163,7 @@ private DefaultHeaderData ReadHeader()
if (type.HasValue && name.HasValue)
{
result.Elements.Add(new PointElement()
{Type = type.Value, Name = name.Value, Offset = elementOffset});
{ Type = type.Value, Name = name.Value, Offset = elementOffset });
}

elementOffset += elementSize;
Expand Down
95 changes: 55 additions & 40 deletions Assets/Scripts/Editor/PointCloud/Trees/PointImportJobs.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,8 @@ public double this[int index]
{
unsafe
{
void* ptr = (byte*) Data + index * Stride;
return Size == 4 ? *(float*) ptr : *(double*) ptr;
void* ptr = (byte*)Data + index * Stride;
return Size == 4 ? *(float*)ptr : *(double*)ptr;
}
}
}
Expand All @@ -50,6 +50,9 @@ private struct ColorAccess
[NativeDisableUnsafePtrRestriction]
public unsafe void* Color;

[NativeDisableUnsafePtrRestriction]
public unsafe void* ColorF;

[NativeDisableUnsafePtrRestriction]
public unsafe void* Intensity;

Expand All @@ -69,37 +72,45 @@ public uint this[int index]
byte b = 0;
if (Color != null)
{
var ptr = (byte*) Color + index * Stride;
var ptr = (byte*)Color + index * Stride;
r = ptr[0];
g = ptr[1];
b = ptr[2];
color = (uint) ((b << 16) | (g << 8) | r);
color = (uint)((b << 16) | (g << 8) | r);
}
else if (ColorF != null)
{
var ptr = (byte*)ColorF + index * Stride;
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If field type is float then why this ptr is read as 3 bytes?

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As far as I know, I've only seen data in which 32bit is forcibly packed with 8bit rgb value.

r = ptr[2];
g = ptr[1];
b = ptr[0];
color = (uint)((b << 16) | (g << 8) | r);
}

if (Intensity != null || IntensityF != null)
{
byte intensity;
if (Intensity != null)
{
var ptr = (byte*) Intensity + index * Stride;
var ptr = (byte*)Intensity + index * Stride;
intensity = *ptr;
}
else
{
var ptr = (float*) ((byte*) IntensityF + index * Stride);
intensity = (byte) *ptr;
var ptr = (float*)((byte*)IntensityF + index * Stride);
intensity = (byte)*ptr;
}

color |= (uint) intensity << 24;
color |= (uint)intensity << 24;
if (Color == null)
{
color |= (uint) ((intensity << 16) | (intensity << 8) | intensity);
color |= (uint)((intensity << 16) | (intensity << 8) | intensity);
}
}
else if (Color != null)
else if (Color != null || ColorF != null)
{
var intensity = (byte) ((r + g + b) / 3);
color |= (uint) intensity << 24;
var intensity = (byte)((r + g + b) / 3);
color |= (uint)intensity << 24;
}

return color;
Expand Down Expand Up @@ -162,7 +173,7 @@ public void Execute(int index)
var y = (Y[index] + OutputCenterY) * OutputScaleY;
var z = (Z[index] + OutputCenterZ) * OutputScaleZ;

var pt = Transform.MultiplyVector(new Vector3((float) x, (float) y, (float) z));
var pt = Transform.MultiplyVector(new Vector3((float)x, (float)y, (float)z));

Output[index] = new PointCloudPoint()
{
Expand Down Expand Up @@ -215,7 +226,7 @@ unsafe struct LasConvertJob : IJobParallelFor

public void Execute(int index)
{
int* data = (int*) (Input + Stride * index);
int* data = (int*)(Input + Stride * index);

double x = data[0] * InputScaleX + InputOffsetX;
double y = data[1] * InputScaleY + InputOffsetY;
Expand All @@ -225,43 +236,43 @@ public void Execute(int index)
y = (y + OutputCenterY) * OutputScaleY;
z = (z + OutputCenterZ) * OutputScaleZ;

var pt = Transform.MultiplyVector(new Vector3((float) x, (float) y, (float) z));
var pt = Transform.MultiplyVector(new Vector3((float)x, (float)y, (float)z));

byte intensity;
{
ushort* iptr = (ushort*) (Input + Stride * index + 12);
ushort* iptr = (ushort*)(Input + Stride * index + 12);
if (LasRGB8BitWorkaround)
{
intensity = (byte) *iptr;
intensity = (byte)*iptr;
}
else
{
intensity = (byte) (*iptr >> 8);
intensity = (byte)(*iptr >> 8);
}
}

uint color = (uint) (intensity << 24);
uint color = (uint)(intensity << 24);
if (ColorInput == null)
{
color |= (uint) ((intensity << 16) | (intensity << 8) | intensity);
color |= (uint)((intensity << 16) | (intensity << 8) | intensity);
}
else
{
ushort* rgb = (ushort*) (ColorInput + Stride * index);
ushort* rgb = (ushort*)(ColorInput + Stride * index);

if (LasRGB8BitWorkaround)
{
byte r = (byte) rgb[0];
byte g = (byte) rgb[1];
byte b = (byte) rgb[2];
color |= (uint) ((b << 16) | (g << 8) | r);
byte r = (byte)rgb[0];
byte g = (byte)rgb[1];
byte b = (byte)rgb[2];
color |= (uint)((b << 16) | (g << 8) | r);
}
else
{
byte r = (byte) (rgb[0] >> 8);
byte g = (byte) (rgb[1] >> 8);
byte b = (byte) (rgb[2] >> 8);
color |= (uint) ((b << 16) | (g << 8) | r);
byte r = (byte)(rgb[0] >> 8);
byte g = (byte)(rgb[1] >> 8);
byte b = (byte)(rgb[2] >> 8);
color |= (uint)((b << 16) | (g << 8) | r);
}
}

Expand Down Expand Up @@ -309,18 +320,18 @@ public static PointCloudBounds CalculateBounds(MemoryMappedViewAccessor accessor
X = GetInputAccess(PointElementName.X, elements, ptr, stride),
Y = GetInputAccess(PointElementName.Y, elements, ptr, stride),
Z = GetInputAccess(PointElementName.Z, elements, ptr, stride),
Bounds = (PointCloudBounds*) bounds.GetUnsafePtr(),
Counts = (int*) counts.GetUnsafePtr(),
Bounds = (PointCloudBounds*)bounds.GetUnsafePtr(),
Counts = (int*)counts.GetUnsafePtr(),
ThreadIndex = 0,
};

var h = job.Schedule((int) count, 65536);
var h = job.Schedule((int)count, 65536);
while (!h.IsCompleted)
{
System.Threading.Thread.Sleep(100);

var processed = counts.Sum();
var progress = (float) ((double) processed / count);
var progress = (float)((double)processed / count);

EditorUtility.DisplayProgressBar(
string.IsNullOrEmpty(progressBarTitle) ? "Calculating bounds" : progressBarTitle,
Expand Down Expand Up @@ -399,17 +410,17 @@ public static void ConvertData(MemoryMappedViewAccessor accessor, PointCloudPoin
OutputScaleY = transformationData.OutputScaleY,
OutputScaleZ = transformationData.OutputScaleZ,

Counts = (int*) counts.GetUnsafePtr(),
Counts = (int*)counts.GetUnsafePtr(),
ThreadIndex = 0,
};

var h = job.Schedule((int) count, 65536);
var h = job.Schedule((int)count, 65536);
while (!h.IsCompleted)
{
System.Threading.Thread.Sleep(100);

var processed = counts.Sum();
var progress = (float) ((double) processed / count);
var progress = (float)((double)processed / count);
EditorUtility.DisplayProgressBar(
string.IsNullOrEmpty(progressBarTitle) ? $"Applying transformation" : progressBarTitle,
$"{processed:N0} points", progress);
Expand Down Expand Up @@ -462,7 +473,7 @@ public static void ConvertLasData(MemoryMappedViewAccessor accessor, PointCloudP
OutputScaleY = transformationData.OutputScaleY,
OutputScaleZ = transformationData.OutputScaleZ,

Counts = (int*) counts.GetUnsafePtr(),
Counts = (int*)counts.GetUnsafePtr(),
ThreadIndex = 0,
};

Expand All @@ -486,7 +497,7 @@ public static void ConvertLasData(MemoryMappedViewAccessor accessor, PointCloudP
System.Threading.Thread.Sleep(100);

int processed = counts.Sum();
float progress = (float) ((double) processed / count);
float progress = (float)((double)processed / count);
EditorUtility.DisplayProgressBar(
string.IsNullOrEmpty(progressBarTitle) ? $"Applying transformation" : progressBarTitle,
$"{processed:N0} points", progress);
Expand All @@ -511,7 +522,7 @@ private static unsafe InputAccess GetInputAccess(PointElementName name, List<Poi
if (element.Type == PointElementType.Float || element.Type == PointElementType.Double)
{
var elementSize = PointElement.GetSize(element.Type);
return new InputAccess() {Size = elementSize, Stride = stride, Data = data + element.Offset};
return new InputAccess() { Size = elementSize, Stride = stride, Data = data + element.Offset };
}
else
{
Expand Down Expand Up @@ -540,6 +551,10 @@ private static unsafe ColorAccess GetColorAccess(List<PointElement> elements, by
{
result.IntensityF = data + elements[i].Offset;
}
else if (elements[i].Name == PointElementName.RGB && elements[i].Type == PointElementType.Float)
{
result.ColorF = data + elements[i].Offset;
}
else if (i < elements.Count - 2
&& elements[i].Name == PointElementName.R
&& elements[i + 1].Name == PointElementName.G
Expand All @@ -552,7 +567,7 @@ private static unsafe ColorAccess GetColorAccess(List<PointElement> elements, by
}
}

if (result.Intensity == null && result.IntensityF == null && result.Color == null)
if (result.Intensity == null && result.IntensityF == null && result.Color == null && result.ColorF == null)
{
Debug.LogError("Point Cloud has no color and intensity data. Everything will be black!");
}
Expand Down