Source code for py3dtiles.points.task.xyz_reader

import math
from pathlib import Path
import pickle
import struct

import numpy as np

from py3dtiles.points.utils import ResponseType



def get_metadata(path: Path, color_scale=None, fraction: int =100) -> dict:
    aabb = None
    count = 0
    seek_values = []

    with path.open() as f:
        while True:
            batch = 10_000
            points = np.zeros((batch, 3))

            offset = f.tell()
            for i in range(batch):
                line = f.readline()
                if not line:
                    points = np.resize(points, (i, 3))
                    break
                points[i] = [float(s) for s in line.split(" ")][:3]

            if points.shape[0] == 0:
                break

            if not count % 1_000_000:
                seek_values += [offset]

            count += points.shape[0]
            batch_aabb = np.array([
                np.min(points, axis=0), np.max(points, axis=0)
            ])

            # Update aabb
            if aabb is None:
                aabb = batch_aabb
            else:
                aabb[0] = np.minimum(aabb[0], batch_aabb[0])
                aabb[1] = np.maximum(aabb[1], batch_aabb[1])

        # We need an exact point count
        point_count = count * fraction / 100

        _1M = min(count, 1_000_000)
        steps = math.ceil(count / _1M)
        if steps != len(seek_values):
            raise ValueError("the size of seek_values should be equal to steps,"
                             f"currently steps = {steps} and len(seek_values) = {len(seek_values)}")
        portions = [
            (i * _1M, min(count, (i + 1) * _1M), seek_values[i]) for i in range(steps)
        ]

        pointcloud_file_portions = [
            (str(path), p) for p in portions
        ]

    return {
        "portions": pointcloud_file_portions,
        "aabb": aabb,
        "color_scale": color_scale,
        "srs_in": None,
        "point_count": point_count,
        "avg_min": aabb[0],
    }




def run(filename: str, offset_scale, portion, queue, transformer):
    """
    Reads points from a xyz file

    Consider XYZIRGB format following FME documentation(*). If the number of
    features does not correspond (i.e. does not equal to 7), we do the
    following hypothesis:
    - 3 features mean XYZ
    - 4 features mean XYZI
    - 6 features mean XYZRGB

    (*) See: https://docs.safe.com/fme/html/FME_Desktop_Documentation/FME_ReadersWriters/pointcloudxyz/pointcloudxyz.htm
    """
    try:
        with open(filename) as f:

            point_count = portion[1] - portion[0]

            step = min(point_count, max((point_count) // 10, 100000))

            f.seek(portion[2])

            feature_nb = 7

            for _ in range(0, point_count, step):
                points = np.zeros((step, feature_nb), dtype=np.float32)

                for j in range(0, step):
                    line = f.readline()
                    if not line:
                        points = np.resize(points, (j, feature_nb))
                        break
                    line_features = [float(s) for s in line.split(" ")]
                    if len(line_features) == 3:
                        line_features += [None] * 4  # Insert intensity and RGB
                    elif len(line_features) == 4:
                        line_features += [None] * 3  # Insert RGB
                    elif len(line_features) == 6:
                        line_features.insert(3, None)  # Insert intensity
                    points[j] = line_features

                x, y, z = (points[:, c] for c in [0, 1, 2])

                if transformer:
                    x, y, z = transformer.transform(x, y, z)

                x = (x + offset_scale[0][0]) * offset_scale[1][0]
                y = (y + offset_scale[0][1]) * offset_scale[1][1]
                z = (z + offset_scale[0][2]) * offset_scale[1][2]

                coords = np.vstack((x, y, z)).transpose()

                if offset_scale[2] is not None:
                    # Apply transformation matrix (because the tile's transform will contain
                    # the inverse of this matrix)
                    coords = np.dot(coords, offset_scale[2])

                coords = np.ascontiguousarray(coords.astype(np.float32))

                # Read colors: 3 last columns of the point cloud
                colors = points[:, -3:].astype(np.uint8)

                queue.send_multipart(
                    [
                        ResponseType.NEW_TASK.value,
                        b"",
                        pickle.dumps({"xyz": coords, "rgb": colors}),
                        struct.pack(">I", len(coords)),
                    ],
                    copy=False,
                )

            queue.send_multipart([ResponseType.READ.value])

    except Exception as e:
        print(f"Exception while reading points from xyz file {filename}")
        raise e