@realsee/five 6.9.0-alpha.0 → 6.9.0-alpha.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/ai_guides/3dgs-current-branch-changes.md +237 -0
- package/docs/assets/hierarchy.js +1 -1
- package/docs/assets/highlight.css +18 -18
- package/docs/assets/navigation.js +1 -1
- package/docs/assets/search.js +1 -1
- package/docs/classes/five.AdaptiveLuminancePass.html +1 -1
- package/docs/classes/five.BoundingMesh.html +1 -1
- package/docs/classes/five.Camera.html +1 -1
- package/docs/classes/five.EyeDomeLightingPass.html +1 -1
- package/docs/classes/five.Five.html +4 -4
- package/docs/classes/five.FivePass.html +1 -1
- package/docs/classes/five.FlowingFireworks3DPass.html +30 -0
- package/docs/classes/five.FlowingLight2DPass.html +1 -1
- package/docs/classes/five.FlowingLight3DPass.html +1 -1
- package/docs/classes/five.GaussianBlurPass.html +1 -1
- package/docs/classes/five.InternalWebGLRenderer.html +1 -1
- package/docs/classes/five.Model.html +2 -2
- package/docs/classes/five.ModelScene.html +1 -1
- package/docs/classes/five.NetworkSubscribe.html +2 -2
- package/docs/classes/five.PBMContainer.html +1 -1
- package/docs/classes/five.PBMCustomShader.html +2 -2
- package/docs/classes/five.PBMGSObject.html +7 -7
- package/docs/classes/five.PBMGroup.html +1 -1
- package/docs/classes/five.PBMMesh.html +1 -1
- package/docs/classes/five.PBMMeshMaterial.html +1 -1
- package/docs/classes/five.PBMPanoFilter.html +2 -2
- package/docs/classes/five.PBMPointCloud.html +1 -1
- package/docs/classes/five.PBMPointCloudMaterial.html +1 -1
- package/docs/classes/five.PBMSkinnedMesh.html +1 -1
- package/docs/classes/five.PBMUpdateable.html +2 -2
- package/docs/classes/five.PanoCircleMesh.html +1 -1
- package/docs/classes/five.PanoCircleMeshCustom.html +1 -1
- package/docs/classes/five.PanoCircleMeshSolid.html +1 -1
- package/docs/classes/five.Parameter.html +1 -1
- package/docs/classes/five.Scene.html +1 -1
- package/docs/classes/five.Subscribe.html +2 -2
- package/docs/classes/five.Tile3D.html +1 -1
- package/docs/classes/five.TileNode.html +1 -1
- package/docs/classes/five.TrajectoryNode.html +1 -1
- package/docs/classes/five.WorkResolvedObserver.html +2 -2
- package/docs/classes/gltf-loader.DDSLoader.html +1 -1
- package/docs/classes/gltf-loader.DRACOLoader.html +1 -1
- package/docs/classes/gltf-loader.GLTFLoader.html +2 -2
- package/docs/classes/gltf-loader.GLTFObject.html +1 -1
- package/docs/classes/gltf-loader.THREEGLTFLoader.html +1 -1
- package/docs/classes/line.Line.html +1 -1
- package/docs/classes/line.LineGeometry.html +1 -1
- package/docs/classes/line.LineMaterial.html +1 -1
- package/docs/classes/line.LineSegmentsGeometry.html +1 -1
- package/docs/classes/line.THREE_Line2.html +1 -1
- package/docs/classes/line.THREE_LineSegments2.html +1 -1
- package/docs/classes/plugins.BasePlugin.Controller.html +1 -1
- package/docs/classes/plugins.CSS2DObject.html +1 -1
- package/docs/classes/plugins.CSS3DObject.html +1 -1
- package/docs/classes/plugins.CSS3DSprite.html +1 -1
- package/docs/classes/plugins.InstancedPrefabBufferGeometry.html +1 -1
- package/docs/classes/plugins.Object3DHelperController.html +1 -1
- package/docs/classes/plugins.PointBufferGeometry.html +1 -1
- package/docs/classes/plugins.PrefabBufferGeometry.html +1 -1
- package/docs/classes/plugins.RoundedBoxGeometry.html +1 -1
- package/docs/classes/react.Store.html +1 -1
- package/docs/classes/sticker.Sticker.html +2 -2
- package/docs/classes/vfx.Airflow.html +1 -1
- package/docs/classes/vfx.Flame.html +1 -1
- package/docs/classes/vfx.Particle.html +1 -1
- package/docs/classes/vfx.ParticleGPU.html +1 -1
- package/docs/classes/vfx.SpotLight.html +1 -1
- package/docs/documents/3dgs-current-branch-changes.html +205 -0
- package/docs/documents/api.html +6 -6
- package/docs/documents/features_3dtile.html +4 -4
- package/docs/documents/features_camera-animation.html +10 -10
- package/docs/documents/features_clipper.html +3 -3
- package/docs/documents/features_coordinate-system.html +3 -3
- package/docs/documents/features_event.html +10 -10
- package/docs/documents/features_five.html +4 -4
- package/docs/documents/features_flowing-fireworks-3d-pass.html +7 -7
- package/docs/documents/features_flowing-light-2d-pass.html +11 -11
- package/docs/documents/features_flowing-light-3d-pass.html +11 -11
- package/docs/documents/features_gaussian-blur-pass.html +6 -6
- package/docs/documents/features_gesture.html +6 -6
- package/docs/documents/features_get-screen-pixels.html +4 -4
- package/docs/documents/features_image-options.html +5 -5
- package/docs/documents/features_load-external-model.html +8 -8
- package/docs/documents/features_load-progress.html +7 -7
- package/docs/documents/features_material.html +3 -3
- package/docs/documents/features_mode.html +11 -11
- package/docs/documents/features_model.html +4 -4
- package/docs/documents/features_move-pano-effect.html +5 -5
- package/docs/documents/features_multi-work.html +5 -5
- package/docs/documents/features_pano-filter.html +3 -3
- package/docs/documents/features_pano-tile.html +4 -4
- package/docs/documents/features_pano-uv.html +4 -4
- package/docs/documents/features_parameter.html +7 -7
- package/docs/documents/features_plugin.html +4 -4
- package/docs/documents/features_postprocessing.html +5 -5
- package/docs/documents/features_raycast.html +4 -4
- package/docs/documents/features_request-proxy.html +4 -4
- package/docs/documents/features_screen-project.html +3 -3
- package/docs/documents/features_state.html +4 -4
- package/docs/documents/features_view-layer.html +4 -4
- package/docs/documents/features_work.html +5 -5
- package/docs/documents/quick-start.html +2 -2
- package/docs/documents/release_notes_6.6.html +4 -4
- package/docs/documents/release_notes_6.7.html +14 -14
- package/docs/documents/release_notes_6.8.html +4 -4
- package/docs/functions/react.useFiveAction.html +6 -6
- package/docs/functions/react.useFiveCurrentObserver.html +1 -1
- package/docs/functions/react.useFiveCurrentState.html +1 -1
- package/docs/functions/react.useFiveEventCallback.html +1 -1
- package/docs/functions/react.useFiveFloor.html +1 -1
- package/docs/functions/react.useFiveHelper.html +1 -1
- package/docs/functions/react.useFiveModelIntersectRaycaster.html +2 -2
- package/docs/functions/react.useFiveProject2d.html +2 -2
- package/docs/functions/react.useFiveSceneEffect.html +1 -1
- package/docs/functions/react.useFiveWork.html +2 -2
- package/docs/functions/vue.useFiveAction.html +8 -8
- package/docs/functions/vue.useFiveCurrentObserver.html +1 -1
- package/docs/functions/vue.useFiveCurrentState.html +1 -1
- package/docs/functions/vue.useFiveEventCallback.html +1 -1
- package/docs/functions/vue.useFiveFloor.html +1 -1
- package/docs/functions/vue.useFiveHelper.html +1 -1
- package/docs/functions/vue.useFiveModelIntersectRaycaster.html +2 -2
- package/docs/functions/vue.useFiveProject2d.html +2 -2
- package/docs/functions/vue.useFiveState.html +1 -1
- package/docs/functions/vue.useFiveWorks.html +2 -2
- package/docs/hierarchy.html +1 -1
- package/docs/interfaces/five.AddableObject.html +1 -1
- package/docs/interfaces/five.AjaxOptions.html +1 -1
- package/docs/interfaces/five.BaseEvent.html +1 -1
- package/docs/interfaces/five.BaseExtendableEvent.html +1 -1
- package/docs/interfaces/five.EventCallback.html +1 -1
- package/docs/interfaces/five.FiveInitArgs.html +2 -2
- package/docs/interfaces/five.GestureEvent.html +1 -1
- package/docs/interfaces/five.ImageOptions.html +1 -1
- package/docs/interfaces/five.IntersectEvent.html +1 -1
- package/docs/interfaces/five.IntersectMesh.html +1 -1
- package/docs/interfaces/five.IntersectMeshInterface.html +1 -1
- package/docs/interfaces/five.Intersection.html +1 -1
- package/docs/interfaces/five.LooseWorkWithExtrinsics.html +1 -1
- package/docs/interfaces/five.ModeChangeEvent.html +1 -1
- package/docs/interfaces/five.ModelControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.ModelEvent.html +1 -1
- package/docs/interfaces/five.ModelSceneEvent.html +1 -1
- package/docs/interfaces/five.ModelTileEvent.html +1 -1
- package/docs/interfaces/five.MovePanoOptions.html +1 -1
- package/docs/interfaces/five.NetworkAbortError.html +1 -1
- package/docs/interfaces/five.NetworkFirbiddenError.html +1 -1
- package/docs/interfaces/five.NetworkOptions.html +1 -1
- package/docs/interfaces/five.NetworkProxyError.html +1 -1
- package/docs/interfaces/five.NetworkResourceEvent.html +1 -1
- package/docs/interfaces/five.NetworkResponseError.html +1 -1
- package/docs/interfaces/five.NetworkTimeoutError.html +1 -1
- package/docs/interfaces/five.ObjectEvent.html +1 -1
- package/docs/interfaces/five.PBMMaterial.html +1 -1
- package/docs/interfaces/five.PBMMeshMaterialParameters.html +1 -1
- package/docs/interfaces/five.PBMPointCloudMaterialParameters.html +1 -1
- package/docs/interfaces/five.PanoCircleMeshInterface.html +1 -1
- package/docs/interfaces/five.PanoEvent.html +1 -1
- package/docs/interfaces/five.PanoPrepareEvent.html +1 -1
- package/docs/interfaces/five.PanoTextureEvent.html +1 -1
- package/docs/interfaces/five.PanoramaControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.PanoramaLikeControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.ParameterMaterialValue.html +1 -1
- package/docs/interfaces/five.ParameterTilesetValue.html +1 -1
- package/docs/interfaces/five.ParameterValue.html +1 -1
- package/docs/interfaces/five.Pose.html +1 -1
- package/docs/interfaces/five.RenderEvent.html +1 -1
- package/docs/interfaces/five.ResolvedParameterValue.html +1 -1
- package/docs/interfaces/five.State.html +1 -1
- package/docs/interfaces/five.StateEvent.html +1 -1
- package/docs/interfaces/five.TextureOptions.html +1 -1
- package/docs/interfaces/five.TopviewControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.VRPanoramaControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.ViewLayer.html +1 -1
- package/docs/interfaces/five.WorkCubeImage.html +1 -1
- package/docs/interfaces/five.WorkImage.html +1 -1
- package/docs/interfaces/five.WorkObserver.html +2 -2
- package/docs/interfaces/five.WorkObserverProto.html +1 -1
- package/docs/interfaces/five.WorkTile.html +1 -1
- package/docs/interfaces/five.WorksEvent.html +1 -1
- package/docs/interfaces/five.XRControllerEvent.html +1 -1
- package/docs/interfaces/five.XRGestureEvent.html +1 -1
- package/docs/interfaces/five.XRPanoramaControllerCustomInitArgs.html +1 -1
- package/docs/interfaces/five.XRSessionEvent.html +1 -1
- package/docs/interfaces/plugins.BackgroundPluginController.html +1 -1
- package/docs/interfaces/plugins.BackgroundPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.BasePlugin.State.html +1 -1
- package/docs/interfaces/plugins.CSS2DPluginController.html +1 -1
- package/docs/interfaces/plugins.CSS2DPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.CSS2DPluginType.State.html +1 -1
- package/docs/interfaces/plugins.CSS3DPluginController.html +1 -1
- package/docs/interfaces/plugins.CSS3DPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.CSS3DPluginType.State.html +1 -1
- package/docs/interfaces/plugins.DynamicPathLinePluginController.html +1 -1
- package/docs/interfaces/plugins.DynamicPathLinePluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.DynamicPathLinePluginType.State.html +1 -1
- package/docs/interfaces/plugins.GaussianSplattingEntranceAnimationController.html +1 -1
- package/docs/interfaces/plugins.GaussianSplattingEntranceAnimationPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.GaussianSplattingEntranceAnimationPluginType.State.html +1 -1
- package/docs/interfaces/plugins.ItemMaskController.html +1 -1
- package/docs/interfaces/plugins.ItemMaskPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.ItemMaskPluginType.State.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.BaseController.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.BaseHelper.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.BoundingBoxController.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.MoveController.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.MoveHelperAbstract.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.RotateController.html +1 -1
- package/docs/interfaces/plugins.Object3DHelperPluginType.RotateHelperAbstract.html +1 -1
- package/docs/interfaces/plugins.OrientationPluginController.html +1 -1
- package/docs/interfaces/plugins.OrientationPluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.OrientationPluginType.State.html +1 -1
- package/docs/interfaces/plugins.PanoAnimeController.html +1 -1
- package/docs/interfaces/plugins.PanoAnimePluginType.EventMap.html +1 -1
- package/docs/interfaces/plugins.PanoAnimePluginType.State.html +1 -1
- package/docs/interfaces/plugins.PluginTemplateType.EventMap.html +1 -1
- package/docs/interfaces/plugins.PluginTemplateType.State.html +1 -1
- package/docs/interfaces/plugins.TrajectoryController.html +1 -1
- package/docs/interfaces/react.FiveInjectionTypes.html +2 -2
- package/docs/interfaces/react.UseFivePluginOptions.html +1 -1
- package/docs/interfaces/react.UseFivePluginOptionsWithCreate.html +1 -1
- package/docs/modules/five.html +1 -1
- package/docs/modules.html +1 -1
- package/docs/types/five.FlowingFireworks3DPassLine.html +16 -0
- package/docs/types/five.ParseOptions.html +1 -1
- package/docs/types/plugins.BasePlugin.EventMap.html +1 -1
- package/docs/variables/react.FiveCanvas.html +1 -1
- package/docs/variables/react.useFiveScene.html +1 -1
- package/docs/variables/vue.FiveCanvas.html +1 -1
- package/docs/variables/vue.FiveProvider.html +1 -1
- package/five/index.js +177 -106
- package/five/index.mjs +795 -639
- package/five/model/objects/pbmGaussianSplattingObject.d.ts +5 -5
- package/five/renderer/index.d.ts +1 -1
- package/five/renderer/postprocessing/index.d.ts +1 -1
- package/five/renderer/postprocessing/passes/flowing-fireworks-3d-pass.d.ts +4 -5
- package/gltf-loader/index.js +3 -3
- package/gltf-loader/index.mjs +3 -3
- package/line/index.js +3 -3
- package/line/index.mjs +3 -3
- package/package.json +1 -1
- package/{pbmGaussianSplattingObject-B2uXNUOB.cjs → pbmGaussianSplattingObject-C6i7CUTu.cjs} +3 -3
- package/{pbmGaussianSplattingObject-yJQySQfR.js → pbmGaussianSplattingObject-CaE6q4r-.js} +16 -20
- package/plugins/index.js +2 -2
- package/plugins/index.mjs +2 -2
- package/react/index.js +2 -2
- package/react/index.mjs +2 -2
- package/shader-lib/index.js +2 -2
- package/shader-lib/index.mjs +2 -2
- package/sticker/index.js +3 -3
- package/sticker/index.mjs +3 -3
- package/umd/five-gltf-loader.js +3 -3
- package/umd/five-line.js +3 -3
- package/umd/five-plugins.js +2 -2
- package/umd/five-react.js +2 -2
- package/umd/five-shader-lib.js +2 -2
- package/umd/five-sticker.js +3 -3
- package/umd/five-vfx.js +2 -2
- package/umd/five-vue.js +2 -2
- package/umd/five.js +151 -80
- package/vfx/index.js +2 -2
- package/vfx/index.mjs +2 -2
- package/vue/index.js +2 -2
- package/vue/index.mjs +2 -2
- package/work-downloader/index.js +2 -2
- package/work-downloader/index.mjs +2 -2
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# 当前分支(6.8.x)3DGS 渲染架构总结
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> 本文档记录当前分支 `6.8.x`(HEAD: 8df53101d)上 3DGS 渲染管线中**协方差、着色器、J 矩阵**的完整实现细节,
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> 供切换到 `6.x` 分支(含 `18562e668 3dgs重构` 及 aholo tile 局部更新架构)后参考合并。
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---
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## 1. 协方差(Covariance)计算
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### 1.1 CPU/WASM 预计算(`data.cpp` / `_pack` 函数)
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**路径**: `lib/five/gaussian-splatting/wasm/data.cpp`
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- 输入: `positions[N*3]`, `rotations[N*4]` (wxyz), `scales[N*3]`, `colors[N*4]`
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- 输出: `data[N*4]` (RGBA32UI texel per splat)
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**协方差计算过程** (`computeCov3D`):
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```
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1. 归一化四元数 (w, x, y, z)
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2. 构造旋转矩阵 R(Hamilton 标准,row-major)
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3. M = R * diag(sx, sy, sz)
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4. Σ = M * M^T → 对称矩阵,6个独立分量
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s00, s01, s02, s11, s12, s22
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```
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**Texel 打包格式** (每 splat 1 个 RGBA32UI = 16 bytes):
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```
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data[0] = packHalf2x16(s00, s01) // cov(0,0) | cov(0,1)
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data[1] = packHalf2x16(s02, s11) // cov(0,2) | cov(1,1)
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data[2] = packHalf2x16(s12, s22) // cov(1,2) | cov(2,2)
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data[3] = R | G<<8 | B<<16 | A<<24 // 颜色 RGBA8
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```
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### 1.2 位置数据(独立纹理)
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为规避 fp16 量化导致的直线锯齿,splat 中心用独立的 `positionTexture`(RGB32F)存储全精度 float32 坐标。
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- `positionData: Float32Array` → `u_positionTexture` (RGB32F)
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- 寻址: `ivec2(splatIndexU & 0x7ff, splatIndexU >> 11)`(宽度 2048)
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---
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## 2. 顶点着色器(vertex.glsl)
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**路径**: `lib/five/model/shaders/pbm_gaussian_splatting/vertex.glsl`
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### 2.1 数据读取
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```glsl
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// 协方差纹理 (RGBA32UI)
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uvec4 packed = texelFetch(u_texture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0);
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// 全精度位置 (RGB32F)
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vec3 splatCenter = texelFetch(u_positionTexture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0).xyz;
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// 解包 3D 协方差
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vec2 cov_a = unpackHalf2x16(packed.x); // (s00, s01)
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vec2 cov_b = unpackHalf2x16(packed.y); // (s02, s11)
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vec2 cov_c = unpackHalf2x16(packed.z); // (s12, s22)
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// 对称矩阵 Vrk (object space)
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mat3 Vrk = mat3(
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cov_a.x, cov_a.y, cov_b.x,
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cov_a.y, cov_b.y, cov_c.x,
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cov_b.x, cov_c.x, cov_c.y
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);
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```
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### 2.2 J 矩阵(Jacobian)计算
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```glsl
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vec2 focal = vec2(
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projectionMatrix[0][0] * resolution.x * 0.5,
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projectionMatrix[1][1] * resolution.y * 0.5
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);
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bool isOrthographic = projectionMatrix[3][3] > 0.7;
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mat3 J;
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if (isOrthographic) {
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J = transpose(mat3(
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focal.x, 0.0, 0.0,
|
|
82
|
+
0.0, focal.y, 0.0,
|
|
83
|
+
0.0, 0.0, 0.0
|
|
84
|
+
));
|
|
85
|
+
} else {
|
|
86
|
+
float s = 1.0 / (viewCenter.z * viewCenter.z);
|
|
87
|
+
J = mat3(
|
|
88
|
+
focal.x / viewCenter.z, 0.0, -(focal.x * viewCenter.x) * s,
|
|
89
|
+
0.0, focal.y / viewCenter.z, -(focal.y * viewCenter.y) * s,
|
|
90
|
+
0.0, 0.0, 0.0
|
|
91
|
+
);
|
|
92
|
+
}
|
|
93
|
+
```
|
|
94
|
+
|
|
95
|
+
**注意**: J 矩阵直接构造(非 transpose),因为后续投影公式会配合 W 的 transpose 来完成。
|
|
96
|
+
|
|
97
|
+
### 2.3 2D 协方差投影(gsplat RenderProgram 一致)
|
|
98
|
+
|
|
99
|
+
```glsl
|
|
100
|
+
mat3 W = transpose(mat3(transformModelViewMatrix));
|
|
101
|
+
mat3 T = W * J;
|
|
102
|
+
|
|
103
|
+
// 3D → 2D 投影: cov2D = T^T * Vrk * T
|
|
104
|
+
mat3 cov2Dm = transpose(T) * Vrk * T;
|
|
105
|
+
|
|
106
|
+
// 低通滤波(防止亚像素 splat 产生混叠)
|
|
107
|
+
cov2Dm[0][0] += kernel2DSize; // kernel2DSize = 0.3
|
|
108
|
+
cov2Dm[1][1] += kernel2DSize;
|
|
109
|
+
```
|
|
110
|
+
|
|
111
|
+
### 2.4 特征值分解 → 椭圆轴
|
|
112
|
+
|
|
113
|
+
```glsl
|
|
114
|
+
float mid = (cov2Dm[0][0] + cov2Dm[1][1]) / 2.0;
|
|
115
|
+
float radius = length(vec2((cov2Dm[0][0] - cov2Dm[1][1]) / 2.0, cov2Dm[0][1]));
|
|
116
|
+
float lambda1 = mid + radius;
|
|
117
|
+
float lambda2 = mid - radius;
|
|
118
|
+
|
|
119
|
+
if (lambda2 < 0.0) return; // 退化情况
|
|
120
|
+
|
|
121
|
+
vec2 diagonalVector = normalize(vec2(cov2Dm[0][1], lambda1 - cov2Dm[0][0]));
|
|
122
|
+
vec2 majorAxis = min(sqrt(8.0 * lambda1), maxScreenSpaceSplatSize) * diagonalVector;
|
|
123
|
+
vec2 minorAxis = min(sqrt(8.0 * lambda2), maxScreenSpaceSplatSize) * vec2(diagonalVector.y, -diagonalVector.x);
|
|
124
|
+
```
|
|
125
|
+
|
|
126
|
+
### 2.5 Quad 顶点偏移
|
|
127
|
+
|
|
128
|
+
```glsl
|
|
129
|
+
// quad 顶点为 [-2,2],等价于 gsplat 的 position * axis / viewport
|
|
130
|
+
vec2 basisViewport = vec2(1.0 / resolution.x, 1.0 / resolution.y);
|
|
131
|
+
vec2 ndcOffset = (vPosition.x * majorAxis + vPosition.y * minorAxis) * basisViewport;
|
|
132
|
+
vec4 quadPos = vec4(ndcCenter.xy + ndcOffset, ndcCenter.z, 1.0);
|
|
133
|
+
gl_Position = quadPos;
|
|
134
|
+
```
|
|
135
|
+
|
|
136
|
+
---
|
|
137
|
+
|
|
138
|
+
## 3. 片段着色器(fragment.glsl)
|
|
139
|
+
|
|
140
|
+
```glsl
|
|
141
|
+
// vPosition 为 [-2,2] 的 quad 坐标
|
|
142
|
+
float A = -dot(vPosition, vPosition);
|
|
143
|
+
if (A < -4.0) discard;
|
|
144
|
+
|
|
145
|
+
vec3 color = vColor.rgb;
|
|
146
|
+
float opacity = exp(A) * vColor.a;
|
|
147
|
+
gl_FragColor = vec4(color.rgb, opacity);
|
|
148
|
+
```
|
|
149
|
+
|
|
150
|
+
与 gsplat RenderProgram 完全一致:高斯衰减 `exp(-r²)`,`r² > 4` 时丢弃。
|
|
151
|
+
|
|
152
|
+
---
|
|
153
|
+
|
|
154
|
+
## 4. 数据管线架构(当前分支)
|
|
155
|
+
|
|
156
|
+
### 4.1 RenderData(`renderData.ts`)
|
|
157
|
+
|
|
158
|
+
- **单一聚合类**: 管理所有 `PBMGaussianSplattingObject` 的合并数据
|
|
159
|
+
- **CPU 端数组**:
|
|
160
|
+
- `data: Uint32Array` → 协方差+颜色 (RGBA32UI)
|
|
161
|
+
- `positionData: Float32Array` → 全精度位置 (RGB32F)
|
|
162
|
+
- `transforms: Float32Array` → 变换矩阵
|
|
163
|
+
- `transformIndices / layerIndices: Uint32Array` → 索引
|
|
164
|
+
- `sh1/sh2/sh3: Float32Array` → 球谐数据
|
|
165
|
+
- `positions/rotations/scales: Float32Array` → 排序用世界坐标
|
|
166
|
+
|
|
167
|
+
### 4.2 RenderMesh(`pbmGaussianSplattingRenderMesh.ts`)
|
|
168
|
+
|
|
169
|
+
- **双缓冲 Slot 架构** (active + pending):
|
|
170
|
+
- `RenderSlot = { generation, renderData, textures, awaitingFirstSort, sortDataUploaded }`
|
|
171
|
+
- pending 构建完成后,首次排序回来时 swap 到 active
|
|
172
|
+
- **增量追加** (`appendObjects`): 新对象追加到已有 slot 而非全量重建
|
|
173
|
+
- **纹理复用池** (`freeSlotPool`): 回收旧 slot 的 DataTexture 对象
|
|
174
|
+
- **排序**: 专用 SortWorker + WASM radix sort,通过 transferable 零拷贝
|
|
175
|
+
|
|
176
|
+
### 4.3 内存管理
|
|
177
|
+
|
|
178
|
+
- `releaseSortData()`: 排序完成后释放 positions/rotations/scales
|
|
179
|
+
- `releaseAggregatedData()`: 纹理上传后释放 CPU 端 data/positionData
|
|
180
|
+
- `releaseSHData()`: SH 纹理创建后释放 CPU 端 sh1/sh2/sh3
|
|
181
|
+
- `releaseIndexData()`: transformIndices/layerIndices 纹理已创建且 sortData 已上传后释放
|
|
182
|
+
|
|
183
|
+
---
|
|
184
|
+
|
|
185
|
+
## 5. 排序(sort.cpp / sortWorker)
|
|
186
|
+
|
|
187
|
+
- Two-pass radix sort (base 65536)
|
|
188
|
+
- 深度编码: `floatToSortableUint` (IEEE 754 正序利用)
|
|
189
|
+
- 降序 (远→近): 对 key 做 `~key` 实现
|
|
190
|
+
- 无效 splat (∞深度) 跳过
|
|
191
|
+
|
|
192
|
+
---
|
|
193
|
+
|
|
194
|
+
## 6. 球谐(SH)
|
|
195
|
+
|
|
196
|
+
- 最高支持 2 阶(`u_maxShDegree = 0/1/2`)
|
|
197
|
+
- 数据打包到单张 RGBA32F 纹理,按 padded component count 排列
|
|
198
|
+
- 着色器中逐阶计算视角相关颜色
|
|
199
|
+
|
|
200
|
+
---
|
|
201
|
+
|
|
202
|
+
## 7. 其他特性
|
|
203
|
+
|
|
204
|
+
- **入场聚合动画** (`ENABLE_GS_INIT_ANIMATION`): 通过 define 开关,splat 从爆炸散开收敛到正确位置
|
|
205
|
+
- **Clipper 裁剪**: 层级 clipper 系统,每层分配 clipper range
|
|
206
|
+
- **Transform 系统**: 每对象独立变换矩阵,通过 transformIndices 索引
|
|
207
|
+
|
|
208
|
+
---
|
|
209
|
+
|
|
210
|
+
## 8. 与目标分支(6.x / 3dgs重构)的关键差异预览
|
|
211
|
+
|
|
212
|
+
目标分支(`18562e668`)引入了以下新文件/重构:
|
|
213
|
+
- `splatAssembler.ts` — tile-based 数据组装(替代 RenderData 的整体聚合)
|
|
214
|
+
- `tileTexture.ts` — tile 级别的纹理管理
|
|
215
|
+
- `orderTexture.ts` — 排序结果纹理
|
|
216
|
+
- `reorderPass.ts` — GPU reorder pass
|
|
217
|
+
- `layerRegistry.ts` — 层注册表
|
|
218
|
+
- `shStore.ts` — SH 数据存储
|
|
219
|
+
- `transformStore.ts` — 变换存储
|
|
220
|
+
- `renderData.ts` — **已删除**(被上述模块替代)
|
|
221
|
+
- `vertex.glsl` — 着色器改动 (123 行变动)
|
|
222
|
+
- `pbmGaussianSplattingRenderMesh.ts` — 大幅重构(1062行变动)
|
|
223
|
+
|
|
224
|
+
**核心架构变化**: 从"全量聚合 + CPU 端数据管理"转向"tile 粒度局部更新 + GPU 端重排"。
|
|
225
|
+
|
|
226
|
+
---
|
|
227
|
+
|
|
228
|
+
## 9. 切换分支后的修改指导
|
|
229
|
+
|
|
230
|
+
切换到目标分支后,需要确保:
|
|
231
|
+
|
|
232
|
+
1. **协方差计算**: `data.cpp` 的 `computeCov3D` + `packHalf2x16` 逻辑保持一致(对称矩阵 6 分量 → 3 个 half2x16)
|
|
233
|
+
2. **着色器 J 矩阵**: 目标分支的 vertex.glsl 中 J 矩阵计算需要与当前分支保持相同的透视/正交分支逻辑
|
|
234
|
+
3. **2D 投影公式**: `cov2D = T^T * Vrk * T`(T = W * J),加 kernel2DSize 低通
|
|
235
|
+
4. **Fragment**: 保持 `exp(-dot(vPos, vPos))` 和 `discard < -4.0`
|
|
236
|
+
5. **位置纹理**: 保持 RGB32F 独立纹理避免 fp16 精度问题
|
|
237
|
+
6. **SH**: 确保新架构下 SH 纹理布局与着色器读取一致
|
package/docs/assets/hierarchy.js
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
window.hierarchyData = "
|
|
1
|
+
window.hierarchyData = "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"
|
|
@@ -5,24 +5,24 @@
|
|
|
5
5
|
--dark-hl-1: #D4D4D4;
|
|
6
6
|
--light-hl-2: #0000FF;
|
|
7
7
|
--dark-hl-2: #CE9178;
|
|
8
|
-
--light-hl-3: #
|
|
9
|
-
--dark-hl-3: #
|
|
10
|
-
--light-hl-4: #
|
|
11
|
-
--dark-hl-4: #
|
|
12
|
-
--light-hl-5: #
|
|
13
|
-
--dark-hl-5: #
|
|
14
|
-
--light-hl-6: #
|
|
15
|
-
--dark-hl-6: #
|
|
16
|
-
--light-hl-7: #
|
|
17
|
-
--dark-hl-7: #
|
|
18
|
-
--light-hl-8: #
|
|
19
|
-
--dark-hl-8: #
|
|
20
|
-
--light-hl-9: #
|
|
21
|
-
--dark-hl-9: #
|
|
22
|
-
--light-hl-10: #
|
|
23
|
-
--dark-hl-10: #
|
|
24
|
-
--light-hl-11: #
|
|
25
|
-
--dark-hl-11: #
|
|
8
|
+
--light-hl-3: #098658;
|
|
9
|
+
--dark-hl-3: #B5CEA8;
|
|
10
|
+
--light-hl-4: #795E26;
|
|
11
|
+
--dark-hl-4: #DCDCAA;
|
|
12
|
+
--light-hl-5: #001080;
|
|
13
|
+
--dark-hl-5: #9CDCFE;
|
|
14
|
+
--light-hl-6: #0070C1;
|
|
15
|
+
--dark-hl-6: #4FC1FF;
|
|
16
|
+
--light-hl-7: #008000;
|
|
17
|
+
--dark-hl-7: #6A9955;
|
|
18
|
+
--light-hl-8: #0000FF;
|
|
19
|
+
--dark-hl-8: #569CD6;
|
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--light-hl-9: #267F99;
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--dark-hl-9: #4EC9B0;
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--light-hl-10: #A31515;
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--dark-hl-10: #CE9178;
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24
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--light-hl-11: #AF00DB;
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--dark-hl-11: #C586C0;
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--light-hl-12: #000000FF;
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--dark-hl-12: #D4D4D4;
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--light-hl-13: #000000;
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@@ -1 +1 @@
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1
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-
window.navigationData = "
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1
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+
window.navigationData = 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"
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