fix: Failed to parse intensity

Signed-off-by: guhaomine <[email protected]>
xtreme1-io · May 10, 2024 · a8f350b · a8f350b
1 parent 43264a0
commit a8f350b
Showing 1 changed file with 66 additions and 9 deletions.
diff --git a/frontend/pc-tool/src/packages/pc-render/loader/PCDLoader.ts b/frontend/pc-tool/src/packages/pc-render/loader/PCDLoader.ts
@@ -1,17 +1,69 @@
-import { FileLoader, Loader, LoaderUtils, MathUtils } from 'three';
+import { FileLoader, Loader, LoaderUtils, MathUtils, Cache } from 'three';
 
 type ICallBack = (args?: any) => void;
 type PCDData = 'ascii' | 'binary_compressed' | 'binary';
 type PCDFields = 'x' | 'y' | 'z' | 'i' | 'intensity' | 'rgb' | 'normal_x' | 'normal_y' | 'normal_z';
 interface IPCDHeader {
     data: PCDData;
     offset: { [key in PCDFields]: number };
+    fields: string[];
+    type: Type[];
     headerLen: number;
     height: number;
     points: number;
-    size: number[];
+    size: SizeType[];
     rowSize: number;
 }
+type Type = 'F' | 'I' | 'U';
+type SizeType = 1 | 2 | 4 | 8;
+Cache.enabled = false;
+export function getWithTypeFromDataView(
+    dataview: DataView,
+    offset: number,
+    littleEndian: boolean,
+    type: Type,
+    size: SizeType,
+) {
+    switch (type) {
+        case 'F':
+            switch (size) {
+                case 4:
+                    return dataview.getFloat32(offset, littleEndian);
+                case 8:
+                    return dataview.getFloat64(offset, littleEndian);
+                default:
+                    break;
+            }
+            break;
+        case 'U':
+            switch (size) {
+                case 1:
+                    return dataview.getUint8(offset);
+                case 2:
+                    return dataview.getUint16(offset, littleEndian);
+                case 4:
+                    return dataview.getUint32(offset, littleEndian);
+                default:
+                    break;
+            }
+            break;
+        case 'I':
+            switch (size) {
+                case 1:
+                    return dataview.getInt8(offset);
+                case 2:
+                    return dataview.getInt16(offset, littleEndian);
+                case 4:
+                    return dataview.getInt32(offset, littleEndian);
+                default:
+                    break;
+            }
+            break;
+        default:
+            break;
+    }
+    throw 'PCD-Format: parse data failed';
+}
 export function correctNumber(n: number) {
     return isFinite(n) ? n : 0;
 }
@@ -324,7 +376,10 @@ class PCDLoader extends Loader {
         if (PCDheader.data === 'binary') {
             const dataview = new DataView(data, PCDheader.headerLen);
             const offset = PCDheader.offset;
-
+            const iFieldIndex = PCDheader.fields.findIndex((field) =>
+                ['i', 'intensity'].includes(field),
+            );
+            const iFieldKey = PCDheader.fields[iFieldIndex];
             for (let i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {
                 if (offset.x !== undefined) {
                     position.push(
@@ -338,12 +393,14 @@ class PCDLoader extends Loader {
                     );
                 }
 
-                if (offset.i !== undefined) {
-                    const _i = dataview.getFloat32(row + offset.i, this.littleEndian);
-                    intensity.push(_i);
-                    maxIntensity = Math.max(_i, maxIntensity);
-                } else if (offset.intensity !== undefined) {
-                    const _i = dataview.getFloat32(row + offset.intensity, this.littleEndian);
+                if (iFieldKey != undefined) {
+                    const _i = getWithTypeFromDataView(
+                        dataview,
+                        row + offset.i,
+                        this.littleEndian,
+                        PCDheader.type[iFieldIndex],
+                        PCDheader.size[iFieldIndex],
+                    );
                     intensity.push(_i);
                     maxIntensity = Math.max(_i, maxIntensity);
                 }