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use hsl::HSL; | |
use scroll::Pread; | |
use wasm_bindgen::prelude::*; | |
// usize here represents 32bits for the pointer space, since wasm target is 32bit | |
const MEMORY_WIDTH: usize = 1_000_000 * 32; | |
#[wasm_bindgen] | |
pub fn get_memory() -> JsValue { | |
wasm_bindgen::memory() | |
} | |
#[wasm_bindgen] | |
pub fn get_memory_width() -> usize { | |
MEMORY_WIDTH | |
} | |
#[wasm_bindgen] | |
pub struct PCLDecoder { | |
copy_memory_buffer: [u8; MEMORY_WIDTH], | |
position_memory_buffer: [f32; MEMORY_WIDTH / 4], | |
color_memory_buffer: [f32; MEMORY_WIDTH / 4], | |
} | |
#[wasm_bindgen] | |
impl PCLDecoder { | |
#[wasm_bindgen(constructor)] | |
pub fn new() -> PCLDecoder { | |
console_error_panic_hook::set_once(); | |
PCLDecoder { | |
copy_memory_buffer: [0; MEMORY_WIDTH], | |
position_memory_buffer: [0.0; MEMORY_WIDTH / 4], | |
color_memory_buffer: [0.0; MEMORY_WIDTH / 4], | |
} | |
} | |
pub fn get_copy_memory_ptr(&self) -> *const u8 { | |
self.copy_memory_buffer.as_ptr() | |
} | |
pub fn get_position_memory_ptr(&self) -> *const f32 { | |
self.position_memory_buffer.as_ptr() | |
} | |
pub fn get_color_memory_ptr(&self) -> *const f32 { | |
self.color_memory_buffer.as_ptr() | |
} | |
pub fn compute( | |
&mut self, | |
num_points: usize, | |
point_step: usize, | |
offset_x: usize, | |
offset_y: usize, | |
offset_z: usize, | |
offset_rgb: usize, | |
offset_intensity: usize, | |
use_intensity_channel: bool, | |
use_rainbow: bool, | |
) { | |
for i in 0..num_points { | |
let stride: usize = i * point_step; | |
self.position_memory_buffer[3 * i] = self | |
.copy_memory_buffer | |
.pread_with::<f32>(stride + offset_x, scroll::LE) | |
.unwrap(); | |
self.position_memory_buffer[3 * i + 1] = self | |
.copy_memory_buffer | |
.pread_with::<f32>(stride + offset_y, scroll::LE) | |
.unwrap(); | |
self.position_memory_buffer[3 * i + 2] = self | |
.copy_memory_buffer | |
.pread_with::<f32>(stride + offset_z, scroll::LE) | |
.unwrap(); | |
if offset_rgb != 0 { | |
self.color_memory_buffer[3 * i] = (self | |
.copy_memory_buffer | |
.pread_with::<u8>(stride + offset_rgb + 2, scroll::LE) | |
.unwrap() as f32 | |
) / 255.0; | |
self.color_memory_buffer[3 * i + 1] = (self | |
.copy_memory_buffer | |
.pread_with::<u8>(stride + offset_rgb + 1, scroll::LE) | |
.unwrap() as f32 | |
) / 255.0; | |
self.color_memory_buffer[3 * i + 2] = (self | |
.copy_memory_buffer | |
.pread_with::<u8>(stride + offset_rgb, scroll::LE) | |
.unwrap() as f32 | |
) / 255.0; | |
} | |
if offset_intensity != 0 && use_intensity_channel { | |
let intensity: f32 = self | |
.copy_memory_buffer | |
.pread_with::<f32>(stride + offset_intensity, scroll::LE) | |
.unwrap(); | |
let normalized_intensity = if intensity < 360.0 { | |
intensity | |
} else { | |
360.0 | |
}; | |
if use_rainbow { | |
let color: (u8, u8, u8) = HSL { | |
h: normalized_intensity as f64, | |
s: 1.0, | |
l: 0.5, | |
}.to_rgb(); | |
self.color_memory_buffer[3 * i] = (color.0 as f32) / 255.0; | |
self.color_memory_buffer[3 * i + 1] = (color.1 as f32) / 255.0; | |
self.color_memory_buffer[3 * i + 2] = (color.2 as f32) / 255.0; | |
} else { | |
self.color_memory_buffer[3 * i] = normalized_intensity / 360.0; | |
self.color_memory_buffer[3 * i + 1] = normalized_intensity / 360.0; | |
self.color_memory_buffer[3 * i + 2] = normalized_intensity / 360.0; | |
} | |
} | |
} | |
} | |
} |