feat: initial commit - massive-cloud point cloud processing system

2026-05-27 09:51:42 +00:00
commit 16811100d1
391 changed files with 78338 additions and 0 deletions
--- a/server/assemblyGpuNearest.ts
+++ b/server/assemblyGpuNearest.ts
@@ -0,0 +1,115 @@
+import { spawnSync } from 'node:child_process';
+import * as fs from 'node:fs';
+import * as os from 'node:os';
+import * as path from 'node:path';
+import { fileURLToPath } from 'node:url';
+import type { SampledPoint } from './pointcloudSample.js';
+
+function scriptPath(): string {
+  const here = path.dirname(fileURLToPath(import.meta.url));
+  return path.join(here, '..', 'scripts', 'assembly_nearest_gpu.py');
+}
+
+function resolvePython3(): string {
+  const fromEnv = process.env.PYTHON3_PATH?.trim();
+  if (fromEnv) return fromEnv;
+  if (process.platform === 'win32') return 'python3';
+  for (const p of ['/usr/bin/python3', '/usr/local/bin/python3']) {
+    try {
+      if (fs.existsSync(p)) return p;
+    } catch {
+      /* ignore */
+    }
+  }
+  return 'python3';
+}
+
+/** 环境变量 ASSEMBLY_USE_GPU=1 / true 时尝试 GPU（失败则由调用方回退 CPU） */
+export function assemblyGpuNearestEnabled(): boolean {
+  const v = process.env.ASSEMBLY_USE_GPU?.trim().toLowerCase();
+  return v === '1' || v === 'true' || v === 'yes';
+}
+
+export type GpuNearestNumbers = {
+  assignments: number[];
+  pointDistances: number[];
+};
+
+/**
+ * 调用 scripts/assembly_nearest_gpu.py（PyTorch3D CUDA）。
+ * 返回 null：未启用、脚本缺失、无 CUDA、导入失败（exit 2）或其它错误。
+ */
+export function tryRunAssemblyNearestGpu(manifestDir: string, sampled: SampledPoint[]): GpuNearestNumbers | null {
+  if (!assemblyGpuNearestEnabled()) return null;
+  const script = scriptPath();
+  if (!fs.existsSync(script)) return null;
+  if (sampled.length === 0) return null;
+
+  const py = resolvePython3();
+  const tmp = fs.mkdtempSync(path.join(os.tmpdir(), 'asm-gpu-'));
+  const ptsFile = path.join(tmp, 'points.bin');
+  const buf = Buffer.allocUnsafe(sampled.length * 12);
+  for (let i = 0; i < sampled.length; i++) {
+    const o = i * 12;
+    buf.writeFloatLE(sampled[i]!.x, o);
+    buf.writeFloatLE(sampled[i]!.y, o + 4);
+    buf.writeFloatLE(sampled[i]!.z, o + 8);
+  }
+  fs.writeFileSync(ptsFile, buf);
+
+  try {
+    const r = spawnSync(
+      py,
+      [script, '--points', ptsFile, '--manifest-dir', manifestDir, '--out-dir', tmp],
+      {
+        encoding: 'utf-8',
+        maxBuffer: 64 * 1024 * 1024,
+        env: { ...process.env, PYTHONUNBUFFERED: '1' },
+      },
+    );
+
+    if (r.error) {
+      console.warn('[AssemblyGPU]', r.error.message);
+      return null;
+    }
+    if (r.status === 2) {
+      console.warn('[AssemblyGPU] 回退 CPU：', (r.stdout || '').trim().slice(-500) || 'exit 2');
+      return null;
+    }
+    if (r.status !== 0) {
+      console.warn('[AssemblyGPU] 失败 status=', r.status, (r.stderr || r.stdout || '').slice(0, 800));
+      return null;
+    }
+
+    const resultJsonPath = path.join(tmp, 'result.json');
+    if (!fs.existsSync(resultJsonPath)) return null;
+    const meta = JSON.parse(fs.readFileSync(resultJsonPath, 'utf-8')) as {
+      ok?: boolean;
+      n?: number;
+      assignmentsFile?: string;
+      distancesFile?: string;
+    };
+    if (!meta.ok || !meta.assignmentsFile || !meta.distancesFile) return null;
+    if (meta.n !== sampled.length) {
+      console.warn('[AssemblyGPU] 点数不一致', meta.n, sampled.length);
+      return null;
+    }
+
+    const aBuf = fs.readFileSync(meta.assignmentsFile);
+    const dBuf = fs.readFileSync(meta.distancesFile);
+    const n = sampled.length;
+    if (aBuf.length !== n * 4 || dBuf.length !== n * 4) {
+      console.warn('[AssemblyGPU] 二进制长度异常');
+      return null;
+    }
+    const assignments = Array.from(new Int32Array(aBuf.buffer, aBuf.byteOffset, n));
+    const pointDistances = Array.from(new Float32Array(dBuf.buffer, dBuf.byteOffset, n));
+    return { assignments, pointDistances };
+  } finally {
+    try {
+      fs.rmSync(tmp, { recursive: true, force: true });
+    } catch {
+      /* ignore */
+    }
+  }
+}