feat: initial commit - massive-cloud point cloud processing system
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290
shared/cadHeatmapMath.ts
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290
shared/cadHeatmapMath.ts
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/**
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* CAD 壳平滑热力：纯数学与色标（前后端共用，避免浏览器主线程重复实现）。
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*/
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export interface HeatmapPoint {
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x: number;
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y: number;
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z: number;
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error?: number;
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}
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/** 平滑热力专用：用采样分位数做色标，减弱离群点 */
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export function displayErrorRangeSmoothHeatmap(points: HeatmapPoint[]): {
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minError: number;
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maxError: number;
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} {
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const cap = 12_000;
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const errs: number[] = [];
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const step = Math.max(1, Math.floor(points.length / cap));
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for (let i = 0; i < points.length; i += step) {
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errs.push(points[i].error ?? 0);
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}
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errs.sort((a, b) => a - b);
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const m = errs.length;
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const rawMin = errs[0] ?? 0;
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const rawMax = errs[m - 1] ?? rawMin;
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let lo = errs[Math.max(0, Math.floor(m * 0.04))] ?? 0;
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let hi = errs[Math.min(m - 1, Math.ceil(m * 0.96) - 1)] ?? lo;
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if (rawMin < 0 && lo > 0) {
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lo = rawMin;
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}
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if (rawMax > 0 && hi < 0) {
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hi = rawMax;
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}
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if (hi <= lo) return { minError: lo, maxError: lo + 1e-9 };
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return { minError: lo, maxError: hi };
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}
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/** 偏差热力：距离数组的 4%–96% 分位数做色标 */
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export function displayDistanceRange(distances: number[]): {
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minDist: number;
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maxDist: number;
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} {
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if (distances.length === 0) return { minDist: 0, maxDist: 1e-9 };
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const sorted = distances.slice().sort((a, b) => a - b);
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const m = sorted.length;
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const lo = sorted[Math.max(0, Math.floor(m * 0.04))] ?? 0;
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let hi = sorted[Math.min(m - 1, Math.ceil(m * 0.96) - 1)] ?? lo;
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if (hi <= lo) hi = lo + 1e-9;
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return { minDist: lo, maxDist: hi };
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}
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/** 偏差距离 → 冷暖色（蓝 → 绿 → 黄 → 红），t ∈ [0,1] */
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export function distanceToRgb(
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dist: number,
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minDist: number,
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maxDist: number,
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): [number, number, number] {
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const range = maxDist - minDist;
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if (!(range > 0)) return [0.4, 0.74, 0.39];
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const t = Math.max(0, Math.min(1, (dist - minDist) / range));
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return sequentialRampRgb(t);
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}
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/** 顺序色标 t∈[0,1]：蓝(低) → 绿 → 黄 → 红(高) */
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export function sequentialRampRgb(t: number): [number, number, number] {
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t = Math.max(0, Math.min(1, t));
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const stops: [number, number][] = [
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[0, 0x2166ac],
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[0.33, 0x4daf4a],
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[0.66, 0xfee08b],
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[1, 0xd73027],
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];
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if (t <= stops[0][0]) return hexToRgb(stops[0][1]);
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for (let i = 0; i < stops.length - 1; i++) {
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const [t0, h0] = stops[i];
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const [t1, h1] = stops[i + 1];
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if (t <= t1) {
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const s = (t - t0) / (t1 - t0);
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const [r0, g0, b0] = hexToRgb(h0);
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const [r1, g1, b1] = hexToRgb(h1);
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return [lerp(r0, r1, s), lerp(g0, g1, s), lerp(b0, b1, s)];
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}
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}
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return hexToRgb(stops[stops.length - 1][1]);
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}
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function hexToRgb(h: number): [number, number, number] {
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return [((h >> 16) & 255) / 255, ((h >> 8) & 255) / 255, (h & 255) / 255];
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}
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function lerp(a: number, b: number, t: number): number {
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return a + (b - a) * t;
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}
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/** 发散色标 t∈[-1,1] */
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export function divergingRampRgb(t: number): [number, number, number] {
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t = Math.max(-1, Math.min(1, t));
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const stops: [number, number][] = [
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[-1, 0x2166ac],
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[-0.45, 0x67a9cf],
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[0, 0x4daf4a],
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[0.45, 0xfee08b],
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[1, 0xd73027],
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];
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if (t <= stops[0][0]) {
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return hexToRgb(stops[0][1]);
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}
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for (let i = 0; i < stops.length - 1; i++) {
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const [t0, h0] = stops[i];
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const [t1, h1] = stops[i + 1];
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if (t <= t1) {
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const s = (t - t0) / (t1 - t0);
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const [r0, g0, b0] = hexToRgb(h0);
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const [r1, g1, b1] = hexToRgb(h1);
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return [lerp(r0, r1, s), lerp(g0, g1, s), lerp(b0, b1, s)];
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}
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}
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return hexToRgb(stops[stops.length - 1][1]);
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}
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export function errorToRgb(
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error: number,
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minError: number,
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maxError: number,
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): [number, number, number] {
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const lo = minError;
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const hi = maxError;
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if (!(hi > lo)) {
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return [0.4, 0.74, 0.39];
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}
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let mid: number;
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let scale: number;
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if (lo < 0 && hi > 0) {
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mid = 0;
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scale = Math.max(-lo, hi, 1e-12);
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} else {
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mid = (lo + hi) / 2;
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scale = Math.max((hi - lo) / 2, 1e-12);
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}
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return divergingRampRgb((error - mid) / scale);
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}
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/** 点云 3D 均匀网格，用于最近邻查询 */
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export interface PCGrid3D {
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cell: number;
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minX: number;
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minY: number;
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minZ: number;
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map: Map<string, number[]>;
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points: HeatmapPoint[];
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}
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export function buildPCGrid3D(points: HeatmapPoint[]): PCGrid3D {
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let minX = Infinity;
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let maxX = -Infinity;
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let minY = Infinity;
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let maxY = -Infinity;
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let minZ = Infinity;
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let maxZ = -Infinity;
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for (let i = 0; i < points.length; i++) {
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const p = points[i];
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if (p.x < minX) minX = p.x;
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if (p.x > maxX) maxX = p.x;
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if (p.y < minY) minY = p.y;
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if (p.y > maxY) maxY = p.y;
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if (p.z < minZ) minZ = p.z;
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if (p.z > maxZ) maxZ = p.z;
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}
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const n = points.length;
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const vol = (maxX - minX) * (maxY - minY) * (maxZ - minZ) || 1e-9;
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const cell = Math.max(1e-9, Math.cbrt(vol / Math.max(n, 1)) * 1.75);
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const invCell = 1 / cell;
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const map = new Map<string, number[]>();
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for (let i = 0; i < n; i++) {
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const p = points[i];
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const cx = Math.floor((p.x - minX) * invCell);
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const cy = Math.floor((p.y - minY) * invCell);
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const cz = Math.floor((p.z - minZ) * invCell);
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const k = `${cx},${cy},${cz}`;
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let arr = map.get(k);
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if (!arr) {
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arr = [];
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map.set(k, arr);
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}
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arr.push(i);
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}
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return { cell, minX, minY, minZ, map, points };
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}
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export function nearestPointInGrid(
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g: PCGrid3D,
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x: number,
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y: number,
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z: number,
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excludeIdx: number = -1,
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): { idx: number; dist: number } | null {
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const { cell, minX, minY, minZ, map, points } = g;
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const cx = Math.floor((x - minX) / cell);
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const cy = Math.floor((y - minY) / cell);
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const cz = Math.floor((z - minZ) / cell);
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let bestD = Infinity;
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let bestIdx = -1;
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for (let R = 0; R <= 18; R++) {
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for (let dx = -R; dx <= R; dx++) {
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for (let dy = -R; dy <= R; dy++) {
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for (let dz = -R; dz <= R; dz++) {
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if (Math.max(Math.abs(dx), Math.abs(dy), Math.abs(dz)) !== R) continue;
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const list = map.get(`${cx + dx},${cy + dy},${cz + dz}`);
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if (!list) continue;
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for (let j = 0; j < list.length; j++) {
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const idx = list[j];
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if (idx === excludeIdx) continue;
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const p = points[idx];
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const d = Math.hypot(p.x - x, p.y - y, p.z - z);
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if (d < bestD) {
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bestD = d;
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bestIdx = idx;
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}
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}
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}
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}
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}
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if (bestD < Infinity && R > 0 && R * cell > bestD + cell) break;
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}
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if (bestIdx < 0) return null;
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return { idx: bestIdx, dist: bestD };
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}
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export function medianNearestNeighbor3D(
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points: HeatmapPoint[],
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grid: PCGrid3D,
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maxSamples?: number,
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): number {
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const n = points.length;
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if (n === 0) return grid.cell;
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const cap = maxSamples !== undefined ? Math.min(maxSamples, n) : n;
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const dists: number[] = [];
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if (cap >= n) {
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for (let i = 0; i < n; i++) {
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const p = points[i];
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const nn = nearestPointInGrid(grid, p.x, p.y, p.z, i);
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if (nn) dists.push(nn.dist);
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}
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} else {
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for (let s = 0; s < cap; s++) {
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const i = Math.min(n - 1, Math.floor(((s + 0.5) / cap) * n));
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const p = points[i];
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const nn = nearestPointInGrid(grid, p.x, p.y, p.z, i);
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if (nn) dists.push(nn.dist);
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}
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}
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if (dists.length === 0) return grid.cell;
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dists.sort((a, b) => a - b);
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return dists[Math.floor(dists.length / 2)] ?? grid.cell;
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}
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export const CAD_HEATMAP_SHELL_OFFSET_FRAC = 0.0022;
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export const CAD_HEATMAP_MEDIAN_NN_SAMPLES = 8_192;
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export const CAD_HEATMAP_MAX_VERTICES = 120_000;
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/** 与前端 PointCloudViewer 加载点云后一致的归一化（居中 + 缩放到约 10 单位） */
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export function normalizePointsLikeViewer<T extends { x: number; y: number; z: number }>(pts: T[]): void {
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let minX = Infinity;
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let minY = Infinity;
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let minZ = Infinity;
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let maxX = -Infinity;
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let maxY = -Infinity;
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let maxZ = -Infinity;
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for (let i = 0; i < pts.length; i++) {
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const p = pts[i];
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if (p.x < minX) minX = p.x;
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if (p.x > maxX) maxX = p.x;
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if (p.y < minY) minY = p.y;
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if (p.y > maxY) maxY = p.y;
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if (p.z < minZ) minZ = p.z;
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if (p.z > maxZ) maxZ = p.z;
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}
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const centerX = (minX + maxX) / 2;
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const centerY = (minY + maxY) / 2;
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const centerZ = (minZ + maxZ) / 2;
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const maxDim = Math.max(maxX - minX, maxY - minY, maxZ - minZ);
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const scale = maxDim > 0 ? 10 / maxDim : 1;
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for (let i = 0; i < pts.length; i++) {
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const p = pts[i];
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p.x = (p.x - centerX) * scale;
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p.y = (p.y - centerY) * scale;
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p.z = (p.z - centerZ) * scale;
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}
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}
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