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Add brotli potree 2.0 encoding support #49

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Add brotli potree 2.0 encoding support #49

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149 changes: 128 additions & 21 deletions PointCloudRenderer/Assets/Scripts/BAPointCloudRenderer/Loading/CloudLoader.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
using System.Text;
using System.Net;
using System;
using System.IO.Compression;
using UnityEngine;
using System.Linq;

Expand Down Expand Up @@ -318,25 +319,76 @@ private static void LoadPoints(string dataRPath, PointCloudMetaData metaData, No
"2.0" => ReadFromFile(metaData.cloudPath + "octree.bin", (long)node.byteOffset, node.byteSize),
_ => FindAndLoadFile(dataRPath, metaData, node.Name, ".bin"),
};
bool isBrotliEncoding = metaData is PointCloudMetaDataV2_0 metaDataV2 && metaDataV2.encoding == "BROTLI";
int pointByteSize = metaData.pointByteSize;
int numPoints = data.Length / pointByteSize;
int numPoints = isBrotliEncoding ? (int)node.numPoints : data.Length / pointByteSize;
int offset = 0, toSetOff = 0;

if (isBrotliEncoding) {
using (var compressedStream = new MemoryStream (data)) {
using (var decompressedStream = new MemoryStream ()) {
using (var brotliStream = new BrotliStream (compressedStream, CompressionMode.Decompress)) {
brotliStream.CopyTo (decompressedStream);
data = decompressedStream.ToArray ();
}
}
}
}

Vector3[] vertices = new Vector3[numPoints];
Color[] colors = new Color[numPoints];
//Read in data
foreach (PointAttribute pointAttribute in metaData.pointAttributesList) {
toSetOff = 0;
if (pointAttribute.name.ToUpper().Equals(PointAttributes.POSITION_CARTESIAN) || pointAttribute.name.ToUpper().Equals(PointAttributes.POSITION)) {
for (int i = 0; i < numPoints; i++) {
//Reduction to single precision!
//Note: y and z are switched
float x = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 0) * metaData.scale3d.x);
float y = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 8) * metaData.scale3d.z);
float z = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 4) * metaData.scale3d.y);
vertices[i] = new Vector3(x, y, z);
if (isBrotliEncoding) {
for (int i = 0; i < numPoints; i++) {
uint mc_0 = System.BitConverter.ToUInt32 (data, toSetOff + 4);
uint mc_1 = System.BitConverter.ToUInt32 (data, toSetOff + 0);
uint mc_2 = System.BitConverter.ToUInt32 (data, toSetOff + 12);
uint mc_3 = System.BitConverter.ToUInt32 (data, toSetOff + 8);

toSetOff += 16;

uint X = dealign24b ((mc_3 & 0x00FFFFFF) >> 0)
| (dealign24b (((mc_3 >> 24) | (mc_2 << 8)) >> 0) << 8);

uint Y = dealign24b ((mc_3 & 0x00FFFFFF) >> 1)
| (dealign24b (((mc_3 >> 24) | (mc_2 << 8)) >> 1) << 8);

uint Z = dealign24b ((mc_3 & 0x00FFFFFF) >> 2)
| (dealign24b (((mc_3 >> 24) | (mc_2 << 8)) >> 2) << 8);

if (mc_1 != 0 || mc_2 != 0) {
X = X | (dealign24b ((mc_1 & 0x00FFFFFF) >> 0) << 16)
| (dealign24b (((mc_1 >> 24) | (mc_0 << 8)) >> 0) << 24);

Y = Y | (dealign24b ((mc_1 & 0x00FFFFFF) >> 1) << 16)
| (dealign24b (((mc_1 >> 24) | (mc_0 << 8)) >> 1) << 24);

Z = Z | (dealign24b ((mc_1 & 0x00FFFFFF) >> 2) << 16)
| (dealign24b (((mc_1 >> 24) | (mc_0 << 8)) >> 2) << 24);
}

//Reduction to single precision!
//Note: y and z are switched
float x = (float) (X * metaData.scale3d.x);
float y = (float) (Z * metaData.scale3d.z);
float z = (float) (Y * metaData.scale3d.y);

vertices[i] = new Vector3 (x, y, z);
}
} else {
for (int i = 0; i < numPoints; i++) {
//Reduction to single precision!
//Note: y and z are switched
float x = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 0) * metaData.scale3d.x);
float y = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 8) * metaData.scale3d.z);
float z = (float)(System.BitConverter.ToUInt32(data, offset + i * pointByteSize + 4) * metaData.scale3d.y);
vertices[i] = new Vector3(x, y, z);
}
toSetOff += 12;
}
toSetOff += 12;
} else if (pointAttribute.name.ToUpper().Equals(PointAttributes.COLOR_PACKED)) {
for (int i = 0; i < numPoints; i++) {
byte r = data[offset + i * pointByteSize + 0];
Expand All @@ -348,7 +400,7 @@ private static void LoadPoints(string dataRPath, PointCloudMetaData metaData, No
}else if (pointAttribute.name.ToUpper().Equals(PointAttributes.RGBA) || pointAttribute.name.ToUpper().Equals(PointAttributes.RGB)) {
if (metaData.version == "2.0")
{
CalculateRGBA(ref colors, ref offset, data, pointByteSize, numPoints, pointAttribute.name.EndsWith("a"));
CalculateRGBA(ref colors, ref offset, ref toSetOff, data, pointByteSize, numPoints, pointAttribute.name.EndsWith("a"), isBrotliEncoding);
}
else
{
Expand All @@ -362,6 +414,12 @@ private static void LoadPoints(string dataRPath, PointCloudMetaData metaData, No
}
toSetOff += 4;
}
} else {
if (isBrotliEncoding) {
for (int j = 0; j < numPoints; j++) {
toSetOff += (pointAttribute as PointAttributeV2_0).byteSize;
}
}
}
/*
* for future reference.
Expand All @@ -386,25 +444,44 @@ private static void LoadPoints(string dataRPath, PointCloudMetaData metaData, No
}
}
*/
offset += metaData.version == "2.0" ? (pointAttribute as PointAttributeV2_0).byteSize : toSetOff;
offset += metaData.version == "2.0" && !isBrotliEncoding ? (pointAttribute as PointAttributeV2_0).byteSize : toSetOff;
}
node.SetPoints(vertices, colors);
}
private static void CalculateRGBA(ref Color[] colors, ref int offset, byte[] data, int pointByteSize, int numPoints, bool alpha)
private static void CalculateRGBA(ref Color[] colors, ref int offset, ref int toSetOff, byte[] data, int pointByteSize, int numPoints, bool alpha, bool isBrotliEncoding)
{
int size = alpha ? 4 : 3;

for (int j = 0; j < numPoints; j++)
{
int pointOffset = j * pointByteSize;

UInt16 r = BitConverter.ToUInt16(data, pointOffset + offset + 0);
UInt16 g = BitConverter.ToUInt16(data, pointOffset + offset + 2);
UInt16 b = BitConverter.ToUInt16(data, pointOffset + offset + 4);

// ~~~ !!! hardcoded alphaville !!! ~~~
// although its called RGBA theres no alpha. so..
colors[j] = new Color32((byte)(r >> 8), (byte)(g >> 8), (byte)(b >> 8), (byte)255); //<< 8: Move from [0, 65535] to [0, 255]
if (isBrotliEncoding) {
uint mc_0 = System.BitConverter.ToUInt32 (data, offset + toSetOff + 4);
uint mc_1 = System.BitConverter.ToUInt32 (data, offset + toSetOff + 0);
toSetOff += 8;

uint r = dealign24b((mc_1 & 0x00FFFFFF) >> 0)
| (dealign24b(((mc_1 >> 24) | (mc_0 << 8)) >> 0) << 8);

uint g = dealign24b((mc_1 & 0x00FFFFFF) >> 1)
| (dealign24b(((mc_1 >> 24) | (mc_0 << 8)) >> 1) << 8);

uint b = dealign24b((mc_1 & 0x00FFFFFF) >> 2)
| (dealign24b(((mc_1 >> 24) | (mc_0 << 8)) >> 2) << 8);

// ~~~ !!! hardcoded alphaville !!! ~~~
// although its called RGBA theres no alpha. so..
colors[j] = new Color32 ((byte) (r >> 8), (byte) (g >> 8), (byte) (b >> 8), (byte) 255); //<< 8: Move from [0, 65535] to [0, 255]
} else {
int pointOffset = j * pointByteSize;

UInt16 r = BitConverter.ToUInt16(data, pointOffset + offset + 0);
UInt16 g = BitConverter.ToUInt16(data, pointOffset + offset + 2);
UInt16 b = BitConverter.ToUInt16(data, pointOffset + offset + 4);

// ~~~ !!! hardcoded alphaville !!! ~~~
// although its called RGBA theres no alpha. so..
colors[j] = new Color32((byte)(r >> 8), (byte)(g >> 8), (byte)(b >> 8), (byte)255); //<< 8: Move from [0, 65535] to [0, 255]
}
}
}
/* Finds a file for a node in the hierarchy.
Expand Down Expand Up @@ -471,5 +548,35 @@ public static uint LoadAllPointsForNode(Node node) {
string dataRPath = node.MetaData.octreeDir + "/r/";
return LoadAllPoints(dataRPath, node.MetaData, node);
}

private static uint dealign24b (uint mortoncode) {
// see https://stackoverflow.com/questions/45694690/how-i-can-remove-all-odds-bits-in-c

// input alignment of desired bits
// ..a..b..c..d..e..f..g..h..i..j..k..l..m..n..o..p
uint x = mortoncode;

// ..a..b..c..d..e..f..g..h..i..j..k..l..m..n..o..p ..a..b..c..d..e..f..g..h..i..j..k..l..m..n..o..p
// ..a.....c.....e.....g.....i.....k.....m.....o... .....b.....d.....f.....h.....j.....l.....n.....p
// ....a.....c.....e.....g.....i.....k.....m.....o. .....b.....d.....f.....h.....j.....l.....n.....p
x = ((x & 0b001000001000001000001000) >> 2) | ((x & 0b000001000001000001000001) >> 0);
// ....ab....cd....ef....gh....ij....kl....mn....op ....ab....cd....ef....gh....ij....kl....mn....op
// ....ab..........ef..........ij..........mn...... ..........cd..........gh..........kl..........op
// ........ab..........ef..........ij..........mn.. ..........cd..........gh..........kl..........op
x = ((x & 0b000011000000000011000000) >> 4) | ((x & 0b000000000011000000000011) >> 0);
// ........abcd........efgh........ijkl........mnop ........abcd........efgh........ijkl........mnop
// ........abcd....................ijkl............ ....................efgh....................mnop
// ................abcd....................ijkl.... ....................efgh....................mnop
x = ((x & 0b000000001111000000000000) >> 8) | ((x & 0b000000000000000000001111) >> 0);
// ................abcdefgh................ijklmnop ................abcdefgh................ijklmnop
// ................abcdefgh........................ ........................................ijklmnop
// ................................abcdefgh........ ........................................ijklmnop
x = ((x & 0b000000000000000000000000) >> 16) | ((x & 0b000000000000000011111111) >> 0);

// sucessfully realigned!
// ................................abcdefghijklmnop

return x;
}
}
}
Binary file added PointCloudRenderer/Clouds/Lion-potree2/hierarchy.bin
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113 changes: 113 additions & 0 deletions PointCloudRenderer/Clouds/Lion-potree2/metadata.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,113 @@
{
"version": "2.0",
"name": "lion",
"description": "",
"points": 3954696,
"projection": "",
"hierarchy": {
"firstChunkSize": 12650,
"stepSize": 4,
"depth": 5
},
"offset": [-0.74821299314498901, -2.7804059982299805, 2.5478212833404541],
"scale": [3.1996278762817385e-09, 4.2697496414184577e-09, 4.6478891372680665e-09],
"spacing": 0.036311635736800095,
"boundingBox": {
"min": [-0.74821299314498901, -2.7804059982299805, 2.5478212833404541],
"max": [3.8996763811654231, 1.8674833760804317, 7.1957106576508663]
},
"encoding": "BROTLI",
"attributes": [
{
"name": "position",
"description": "",
"size": 12,
"numElements": 3,
"elementSize": 4,
"type": "int32",
"min": [-0.74821299314498901, -2.7804059982299805, 2.5478212833404541],
"max": [2.4514148223438199, 1.4893437627414672, 7.1957106576508663]
},{
"name": "intensity",
"description": "",
"size": 2,
"numElements": 1,
"elementSize": 2,
"type": "uint16",
"min": [0],
"max": [0]
},{
"name": "return number",
"description": "",
"size": 1,
"numElements": 1,
"elementSize": 1,
"type": "uint8",
"min": [0],
"max": [0]
},{
"name": "number of returns",
"description": "",
"size": 1,
"numElements": 1,
"elementSize": 1,
"type": "uint8",
"min": [0],
"max": [0]
},{
"name": "classification",
"description": "",
"size": 1,
"numElements": 1,
"elementSize": 1,
"type": "uint8",
"min": [0],
"max": [0]
},{
"name": "scan angle rank",
"description": "",
"size": 1,
"numElements": 1,
"elementSize": 1,
"type": "uint8",
"min": [0],
"max": [0]
},{
"name": "user data",
"description": "",
"size": 1,
"numElements": 1,
"elementSize": 1,
"type": "uint8",
"min": [0],
"max": [0]
},{
"name": "point source id",
"description": "",
"size": 2,
"numElements": 1,
"elementSize": 2,
"type": "uint16",
"min": [0],
"max": [0]
},{
"name": "gps-time",
"description": "",
"size": 8,
"numElements": 1,
"elementSize": 8,
"type": "double",
"min": [0],
"max": [0]
},{
"name": "rgb",
"description": "",
"size": 6,
"numElements": 3,
"elementSize": 2,
"type": "uint16",
"min": [5632, 5376, 4864],
"max": [65280, 65280, 65280]
}
]
}
Binary file added PointCloudRenderer/Clouds/Lion-potree2/octree.bin
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