feat: initial commit - massive-cloud point cloud processing system
This commit is contained in:
305
server/cadHeatmapCompute.ts
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305
server/cadHeatmapCompute.ts
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import { BufferGeometry, Group, Mesh, Vector3 } from 'three';
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import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';
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import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js';
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import { mergeGeometries, mergeVertices } from 'three/examples/jsm/utils/BufferGeometryUtils.js';
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import {
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buildPCGrid3D,
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CAD_HEATMAP_SHELL_OFFSET_FRAC,
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displayDistanceRange,
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displayErrorRangeSmoothHeatmap,
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distanceToRgb,
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errorToRgb,
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medianNearestNeighbor3D,
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nearestPointInGrid,
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normalizePointsLikeViewer,
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type HeatmapPoint,
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} from '../shared/cadHeatmapMath.js';
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import type { SampledPoint } from './pointcloudSample.js';
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/**
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* 服务端平滑热力：默认「先求快、可接受稍粗网格」（与前端实时预览的 shared 常量可不同）。
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* - CAD_HEATMAP_MAX_VERTICES：焊接后顶点上限（默认 60000；要更细可设 120000）。
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* - CAD_HEATMAP_MEDIAN_NN_SAMPLES：尺度估计采样（默认 4096；要更稳可设 8192）。
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*/
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function parseHeatmapInt(envVal: string | undefined, fallback: number, min: number, max: number): number {
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if (envVal == null || envVal === '') return fallback;
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const n = Number(envVal);
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if (!Number.isFinite(n)) return fallback;
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return Math.min(max, Math.max(min, Math.floor(n)));
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}
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/** 默认偏快：约半顶点上限，merge 更早停 */
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const SERVER_FAST_DEFAULT_MAX_VERTICES = 60_000;
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const SERVER_FAST_DEFAULT_MEDIAN_NN = 4_096;
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const SERVER_MAX_VERTICES = parseHeatmapInt(
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process.env.CAD_HEATMAP_MAX_VERTICES,
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SERVER_FAST_DEFAULT_MAX_VERTICES,
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8_000,
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500_000,
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);
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const SERVER_MEDIAN_NN_SAMPLES = parseHeatmapInt(
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process.env.CAD_HEATMAP_MEDIAN_NN_SAMPLES,
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SERVER_FAST_DEFAULT_MEDIAN_NN,
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512,
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32_768,
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);
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function normalizeCadGeometryLikeViewer(geo: BufferGeometry): void {
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geo.computeBoundingBox();
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geo.center();
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const box = geo.boundingBox;
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if (box) {
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const size = new Vector3();
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box.getSize(size);
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const maxDim = Math.max(size.x, size.y, size.z);
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if (maxDim > 0) {
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const s = 10 / maxDim;
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geo.scale(s, s, s);
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}
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}
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}
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function buildHeatmapPoints(sampledPoints: SampledPoint[]): HeatmapPoint[] {
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const pts: HeatmapPoint[] = sampledPoints.map((p) => ({
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x: p.x,
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y: p.y,
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z: p.z,
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error: p.error,
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}));
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normalizePointsLikeViewer(pts);
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return pts;
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}
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function parseObjBufferToGeometry(buffer: Buffer): BufferGeometry | null {
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const text = buffer.toString('utf8');
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if (!text.trim()) return null;
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const loader = new OBJLoader();
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const group = loader.parse(text) as Group;
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const geometries: BufferGeometry[] = [];
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group.traverse((child) => {
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if (child instanceof Mesh && child.geometry) {
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geometries.push(child.geometry);
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}
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});
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if (geometries.length === 0) return null;
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if (geometries.length === 1) return geometries[0].clone();
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try {
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const merged = mergeGeometries(geometries, false);
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if (merged) return merged;
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} catch {
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/* fall through */
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}
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return geometries[0].clone();
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}
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/**
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* 对已解析的 BufferGeometry（尚未 normalizeCad）计算顶点色。
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*/
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function computeCadShellHeatmapCore(
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geo: BufferGeometry,
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pts: HeatmapPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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normalizeCadGeometryLikeViewer(geo);
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try {
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mergeVertices(geo);
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} catch {
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/* ignore */
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}
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geo.computeVertexNormals();
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let weldTol = 2e-4;
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while (
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geo.attributes.position &&
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geo.attributes.position.count > SERVER_MAX_VERTICES &&
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weldTol < 0.12
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) {
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mergeVertices(geo, weldTol);
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weldTol *= 1.85;
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geo.computeVertexNormals();
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}
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const posAttr = geo.attributes.position;
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const norAttr = geo.attributes.normal;
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if (!posAttr || posAttr.count === 0) return null;
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const nV = posAttr.count;
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const pos = posAttr.array as Float32Array;
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const nor = norAttr?.array as Float32Array | undefined;
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const grid = buildPCGrid3D(pts);
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const nnMed = medianNearestNeighbor3D(pts, grid, SERVER_MEDIAN_NN_SAMPLES);
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const { minError: dispMin, maxError: dispMax } = displayErrorRangeSmoothHeatmap(pts);
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geo.computeBoundingBox();
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const bb = geo.boundingBox;
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const diag = bb ? Math.hypot(bb.max.x - bb.min.x, bb.max.y - bb.min.y, bb.max.z - bb.min.z) : 1;
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const maxBind = Math.max(nnMed * 14, diag * 0.045);
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const shellOffset = Math.max(diag * CAD_HEATMAP_SHELL_OFFSET_FRAC, nnMed * 0.35);
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const colors = new Float32Array(nV * 3);
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const noData = [0.32, 0.34, 0.38] as const;
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for (let i = 0; i < nV; i++) {
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const i3 = i * 3;
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const x = pos[i3];
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const y = pos[i3 + 1];
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const z = pos[i3 + 2];
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const hit = nearestPointInGrid(grid, x, y, z);
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if (!hit || hit.dist > maxBind) {
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colors[i3] = noData[0];
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colors[i3 + 1] = noData[1];
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colors[i3 + 2] = noData[2];
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} else {
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const err = pts[hit.idx].error ?? 0;
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const [r, g, b] = errorToRgb(err, dispMin, dispMax);
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colors[i3] = r;
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colors[i3 + 1] = g;
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colors[i3 + 2] = b;
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}
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if (nor && nor.length >= nV * 3) {
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pos[i3] = x + nor[i3] * shellOffset;
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pos[i3 + 1] = y + nor[i3 + 1] * shellOffset;
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pos[i3 + 2] = z + nor[i3 + 2] * shellOffset;
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}
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}
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posAttr.needsUpdate = true;
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return {
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colors,
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dispMin,
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dispMax,
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vertexCount: nV,
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};
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}
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/**
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* 在服务端对 STL 与（已采样的）测点做与前端一致的 CAD 壳热力，返回每顶点 RGB。
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*/
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export function computeCadShellHeatmapFromStl(
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stlBuffer: Buffer,
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sampledPoints: SampledPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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if (sampledPoints.length < 1) return null;
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const pts = buildHeatmapPoints(sampledPoints);
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const u8 = new Uint8Array(stlBuffer);
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const ab = u8.buffer.slice(u8.byteOffset, u8.byteOffset + u8.byteLength) as ArrayBuffer;
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const loader = new STLLoader();
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const geo = loader.parse(ab);
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return computeCadShellHeatmapCore(geo, pts);
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}
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/** OBJ（多 mesh 会尝试合并） */
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export function computeCadShellHeatmapFromObj(
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objBuffer: Buffer,
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sampledPoints: SampledPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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if (sampledPoints.length < 1) return null;
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const pts = buildHeatmapPoints(sampledPoints);
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const geo = parseObjBufferToGeometry(objBuffer);
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if (!geo) return null;
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return computeCadShellHeatmapCore(geo, pts);
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}
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// ─── 偏差热力：用顶点到最近点的距离着色 ────────────────────────────────────────
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function computeDeviationHeatmapCore(
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geo: BufferGeometry,
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pts: HeatmapPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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normalizeCadGeometryLikeViewer(geo);
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// 不做 mergeVertices —— 保持与客户端 Three.js Loader 一致的非索引顶点布局，
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// 使输出的颜色数组长度 == 客户端 rawCount，触发快速路径而非主线程 merge 卡死。
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geo.computeVertexNormals();
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const posAttr = geo.attributes.position;
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const norAttr = geo.attributes.normal;
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if (!posAttr || posAttr.count === 0) return null;
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const nV = posAttr.count;
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const pos = posAttr.array as Float32Array;
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const nor = norAttr?.array as Float32Array | undefined;
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const grid = buildPCGrid3D(pts);
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const nnMed = medianNearestNeighbor3D(pts, grid, SERVER_MEDIAN_NN_SAMPLES);
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geo.computeBoundingBox();
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const bb = geo.boundingBox;
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const diag = bb ? Math.hypot(bb.max.x - bb.min.x, bb.max.y - bb.min.y, bb.max.z - bb.min.z) : 1;
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const maxBind = Math.max(nnMed * 14, diag * 0.045);
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const shellOffset = Math.max(diag * CAD_HEATMAP_SHELL_OFFSET_FRAC, nnMed * 0.35);
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const distances: number[] = [];
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const vertexDists = new Float64Array(nV);
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for (let i = 0; i < nV; i++) {
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const i3 = i * 3;
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const hit = nearestPointInGrid(grid, pos[i3], pos[i3 + 1], pos[i3 + 2]);
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if (hit && hit.dist <= maxBind) {
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vertexDists[i] = hit.dist;
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distances.push(hit.dist);
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} else {
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vertexDists[i] = -1;
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}
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}
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const { minDist: dispMin, maxDist: dispMax } = displayDistanceRange(distances);
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const colors = new Float32Array(nV * 3);
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const noData = [0.32, 0.34, 0.38] as const;
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for (let i = 0; i < nV; i++) {
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const i3 = i * 3;
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const d = vertexDists[i];
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if (d < 0) {
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colors[i3] = noData[0];
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colors[i3 + 1] = noData[1];
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colors[i3 + 2] = noData[2];
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} else {
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const [r, g, b] = distanceToRgb(d, dispMin, dispMax);
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colors[i3] = r;
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colors[i3 + 1] = g;
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colors[i3 + 2] = b;
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}
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if (nor && nor.length >= nV * 3) {
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pos[i3] = pos[i3] + nor[i3] * shellOffset;
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pos[i3 + 1] = pos[i3 + 1] + nor[i3 + 1] * shellOffset;
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pos[i3 + 2] = pos[i3 + 2] + nor[i3 + 2] * shellOffset;
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}
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}
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posAttr.needsUpdate = true;
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return { colors, dispMin, dispMax, vertexCount: nV };
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}
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export function computeDeviationHeatmapFromStl(
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stlBuffer: Buffer,
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sampledPoints: SampledPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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if (sampledPoints.length < 1) return null;
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const pts = buildHeatmapPoints(sampledPoints);
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const u8 = new Uint8Array(stlBuffer);
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const ab = u8.buffer.slice(u8.byteOffset, u8.byteOffset + u8.byteLength) as ArrayBuffer;
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const loader = new STLLoader();
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const geo = loader.parse(ab);
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return computeDeviationHeatmapCore(geo, pts);
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}
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export function computeDeviationHeatmapFromObj(
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objBuffer: Buffer,
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sampledPoints: SampledPoint[],
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): { colors: Float32Array; dispMin: number; dispMax: number; vertexCount: number } | null {
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if (sampledPoints.length < 1) return null;
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const pts = buildHeatmapPoints(sampledPoints);
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const geo = parseObjBufferToGeometry(objBuffer);
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if (!geo) return null;
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return computeDeviationHeatmapCore(geo, pts);
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}
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