iTowns / itowns / 9973410246

import { LazPerf } from 'laz-perf';

import { Las } from 'copc';

import proj4 from 'proj4';

/**

 * @typedef {Object} Header - Partial LAS header.

 * @property {number} header.pointDataRecordFormat - Type of point data

 * records contained by the buffer.

 * @property {number} header.pointDataRecordLength - Size (in bytes) of the

 * point data records. If the specified size is larger than implied by the

 * point data record format (see above) the remaining bytes are user-specfic

 * "extra bytes". Those are described by an Extra Bytes VLR.

 * @property {number[]} header.scale - Scale factors (an array `[xScale,

 * yScale, zScale]`) multiplied to the X, Y, Z point record values.

 * @property {number[]} header.offset - Offsets (an array `[xOffset,

 * xOffset, zOffset]`) added to the scaled X, Y, Z point record values.

 */

function defaultColorEncoding(header) {

    return (header.majorVersion === 1 && header.minorVersion <= 2) ? 8 : 16;

}

/**

 * @classdesc

 * Loader for LAS and LAZ (LASZip) point clouds. It uses the copc.js library and

 * the laz-perf decoder under the hood.

 *

 * The laz-perf web assembly module is lazily fetched at runtime when a parsing

 * request is initiated. Location of laz-perf wasm defaults to the unpkg

 * repository.

 */

class LASLoader {

    constructor() {

        this._wasmPath = 'https://cdn.jsdelivr.net/npm/laz-perf@0.0.6/lib';

        this._wasmPromise = null;

    }

    _initDecoder() {

        if (this._wasmPromise) {

            return this._wasmPromise;

        }

        this._wasmPromise = LazPerf.create({

            locateFile: file => `${this._wasmPath}/${file}`,

        });

        return this._wasmPromise;

    }

            proj4(options.projDefs[options.crsIn], options.projDefs[options.crsOut]).forward :

            (x => x);

        const isGeocentric = options.projDefs[options.crsOut].projName === 'geocent';

        const getPosition = ['X', 'Y', 'Z'].map(view.getter);

        const getIntensity = view.getter('Intensity');

        const getReturnNumber = view.getter('ReturnNumber');

        const getNumberOfReturns = view.getter('NumberOfReturns');

        const getClassification = view.getter('Classification');

        const getPointSourceID = view.getter('PointSourceId');

        const getColor = view.dimensions.Red ?

            ['Red', 'Green', 'Blue'].map(view.getter) : undefined;

        const getScanAngle = view.getter('ScanAngle');

        const positions = new Float32Array(view.pointCount * 3);

        const elevations = new Float32Array(view.pointCount);

        const intensities = new Uint16Array(view.pointCount);

        const returnNumbers = new Uint8Array(view.pointCount);

        const numberOfReturns = new Uint8Array(view.pointCount);

        const classifications = new Uint8Array(view.pointCount);

        const pointSourceIDs = new Uint16Array(view.pointCount);

        const colors = getColor ? new Uint8Array(view.pointCount * 4) : undefined;

        /*

        As described by the LAS spec, Scan Angle is encoded:

        - as signed char in a valid range from -90 to +90 (degrees) prior to the LAS 1.4 Point Data Record Formats (PDRF) 6

        - as a signed short in a valid range from -30 000 to +30 000. Those values represents scan angles from -180 to +180

          degrees with an increment of 0.006 for PDRF >= 6.

        The copc.js library does the degree convertion and stores it as a `Float32`.

        */

        const scanAngles = new Float32Array(view.pointCount);

        // For precision we use the first point to define the origin for a local referentiel.

        // After projection transformation and only the integer part for simplification.

        const origin = forward(getPosition.map(f => f(0))).map(val => Math.floor(val));

        for (let i = 0; i < view.pointCount; i++) {

            // `getPosition` apply scale and offset transform to the X, Y, Z

            // values. See https://github.com/connormanning/copc.js/blob/master/src/las/extractor.ts.

            // we thus apply the projection to get values in the Crs of the view.

            const point = getPosition.map(f => f(i));

            positions[i * 3] = x - origin[0];

            positions[i * 3 + 1] = y - origin[1];

            positions[i * 3 + 2] = z - origin[2];

            elevations[i] = z;

            // geocentric height to elevation

            if (isGeocentric) { elevations[i] = point[2]; }

            intensities[i] = getIntensity(i);

            returnNumbers[i] = getReturnNumber(i);

            numberOfReturns[i] = getNumberOfReturns(i);

            if (getColor) {

                // Note that we do not infer color depth as it is expensive

                // (i.e. traverse the whole view to check if there exists a red,

                // green or blue value > 255).

                let [r, g, b] = getColor.map(f => f(i));

                if (colorDepth === 16) {

                    r /= 256;

                    g /= 256;

                    b /= 256;

                }

                colors[i * 4] = r;

                colors[i * 4 + 1] = g;

                colors[i * 4 + 2] = b;

                colors[i * 4 + 3] = 255;

            }

            classifications[i] = getClassification(i);

            pointSourceIDs[i] = getPointSourceID(i);

            scanAngles[i] = getScanAngle(i);

        }

        return {

            position: positions,

            elevation: elevations,

            intensity: intensities,

            returnNumber: returnNumbers,

            numberOfReturns,

            classification: classifications,

            pointSourceID: pointSourceIDs,

            color: colors,

            scanAngle: scanAngles,

            origin,

        };

    }

    /**

     * Set LazPerf decoder path.

     * @param {string} path - path to `laz-perf.wasm` folder.

     */

    set lazPerf(path) {

        this._wasmPath = path;

        this._wasmPromise = null;

    }

    /**

     * Parses a LAS or LAZ (LASZip) chunk. Note that this function is

     * **CPU-bound** and shall be parallelised in a dedicated worker.

        const colorDepth = options.colorDepth ?? defaultColorEncoding(header);

        const bytes = new Uint8Array(data);

        const pointData = await Las.PointData.decompressChunk(bytes, {

            pointCount,

            pointDataRecordFormat,

            pointDataRecordLength,

        }, this._initDecoder());

        const view = Las.View.create(pointData, header, eb);

        const attributes = this._parseView(view, {

            colorDepth,

            crsIn: options.crsIn,

            crsOut: options.crsOut,

            projDefs: options.projDefs,

        return { attributes };

    }

    /**

     * Parses a LAS or LAZ (LASZip) file. Note that this function is

     * **CPU-bound** and shall be parallelised in a dedicated worker.

     * @param {ArrayBuffer} data - Binary data to parse.

     * @param {Object} [options] - Parsing options.

     * @param {8 | 16} [options.colorDepth] - Color depth encoding (in bits).

     * Either 8 or 16 bits. Defaults to 8 bits for LAS 1.2 and 16 bits for later

     * versions (as mandatory by the specification)

     */

    async parseFile(data, options = {}) {

        const bytes = new Uint8Array(data);

        const pointData = await Las.PointData.decompressFile(bytes, this._initDecoder());

        const header = Las.Header.parse(bytes);

        const colorDepth = options.colorDepth ?? defaultColorEncoding(header);

        const getter = async (begin, end) => bytes.slice(begin, end);

        const vlrs = await Las.Vlr.walk(getter, header);

        const ebVlr = Las.Vlr.find(vlrs, 'LASF_Spec', 4);

        const eb = ebVlr && Las.ExtraBytes.parse(await Las.Vlr.fetch(getter, ebVlr));

        const view = Las.View.create(pointData, header, eb);

        const attributes = this._parseView(view, {

            colorDepth,

            crsIn: options.crsIn,

            crsOut: options.crsOut,

            projDefs: options.projDefs,

        });

        return {

            header,

            attributes,

        };

    }

}

export default LASLoader;