@realsee/five 6.9.0-alpha.1 → 6.9.0-alpha.3

package/vfx/index.js

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/vfx/index.mjs

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/vue/index.js

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/vue/index.mjs

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/work-downloader/index.js

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/work-downloader/index.mjs

@@ -1,8 +1,8 @@
 /**
  * @license
  * @realsee/five
- * Generated: 7/16/2026
- * Version: 6.9.0-alpha.1
+ * Generated: 8/5/2026
+ * Version: 6.9.0-alpha.3
  * Terms:
  * Realsee SDK License Agreement
  * Update: July 28, 2021

package/ai_guides/3dgs-current-branch-changes.md

@@ -1,237 +0,0 @@
-# 当前分支（6.8.x）3DGS 渲染架构总结
-
-> 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，
-> 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。
-
----
-
-## 1. 协方差（Covariance）计算
-
-### 1.1 CPU/WASM 预计算（`data.cpp` / `_pack` 函数）
-
-**路径**: `lib/five/gaussian-splatting/wasm/data.cpp`
-
-- 输入: `positions[N*3]`, `rotations[N*4]` (wxyz), `scales[N*3]`, `colors[N*4]`
-- 输出: `data[N*4]` (RGBA32UI texel per splat)
-
-**协方差计算过程** (`computeCov3D`):
-```
-1. 归一化四元数 (w, x, y, z)
-2. 构造旋转矩阵 R（Hamilton 标准，row-major）
-3. M = R * diag(sx, sy, sz)
-4. Σ = M * M^T   →  对称矩阵，6个独立分量
-   s00, s01, s02, s11, s12, s22
-```
-
-**Texel 打包格式** (每 splat 1 个 RGBA32UI = 16 bytes):
-```
-data[0] = packHalf2x16(s00, s01)   // cov(0,0) | cov(0,1)
-data[1] = packHalf2x16(s02, s11)   // cov(0,2) | cov(1,1)
-data[2] = packHalf2x16(s12, s22)   // cov(1,2) | cov(2,2)
-data[3] = R | G<<8 | B<<16 | A<<24 // 颜色 RGBA8
-```
-
-### 1.2 位置数据（独立纹理）
-
-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。
-
-- `positionData: Float32Array` → `u_positionTexture` (RGB32F)
-- 寻址: `ivec2(splatIndexU & 0x7ff, splatIndexU >> 11)`（宽度 2048）
-
----
-
-## 2. 顶点着色器（vertex.glsl）
-
-**路径**: `lib/five/model/shaders/pbm_gaussian_splatting/vertex.glsl`
-
-### 2.1 数据读取
-
-```glsl
-// 协方差纹理 (RGBA32UI)
-uvec4 packed = texelFetch(u_texture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0);
-
-// 全精度位置 (RGB32F)
-vec3 splatCenter = texelFetch(u_positionTexture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0).xyz;
-
-// 解包 3D 协方差
-vec2 cov_a = unpackHalf2x16(packed.x);  // (s00, s01)
-vec2 cov_b = unpackHalf2x16(packed.y);  // (s02, s11)
-vec2 cov_c = unpackHalf2x16(packed.z);  // (s12, s22)
-
-// 对称矩阵 Vrk (object space)
-mat3 Vrk = mat3(
-    cov_a.x, cov_a.y, cov_b.x,
-    cov_a.y, cov_b.y, cov_c.x,
-    cov_b.x, cov_c.x, cov_c.y
-);
-```
-
-### 2.2 J 矩阵（Jacobian）计算
-
-```glsl
-vec2 focal = vec2(
-    projectionMatrix[0][0] * resolution.x * 0.5,
-    projectionMatrix[1][1] * resolution.y * 0.5
-);
-
-bool isOrthographic = projectionMatrix[3][3] > 0.7;
-mat3 J;
-if (isOrthographic) {
-    J = transpose(mat3(
-        focal.x, 0.0, 0.0,
-        0.0, focal.y, 0.0,
-        0.0, 0.0, 0.0
-    ));
-} else {
-    float s = 1.0 / (viewCenter.z * viewCenter.z);
-    J = mat3(
-        focal.x / viewCenter.z, 0.0, -(focal.x * viewCenter.x) * s,
-        0.0, focal.y / viewCenter.z, -(focal.y * viewCenter.y) * s,
-        0.0, 0.0, 0.0
-    );
-}
-```
-
-**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。
-
-### 2.3 2D 协方差投影（gsplat RenderProgram 一致）
-
-```glsl
-mat3 W = transpose(mat3(transformModelViewMatrix));
-mat3 T = W * J;
-
-// 3D → 2D 投影: cov2D = T^T * Vrk * T
-mat3 cov2Dm = transpose(T) * Vrk * T;
-
-// 低通滤波（防止亚像素 splat 产生混叠）
-cov2Dm[0][0] += kernel2DSize;  // kernel2DSize = 0.3
-cov2Dm[1][1] += kernel2DSize;
-```
-
-### 2.4 特征值分解 → 椭圆轴
-
-```glsl
-float mid = (cov2Dm[0][0] + cov2Dm[1][1]) / 2.0;
-float radius = length(vec2((cov2Dm[0][0] - cov2Dm[1][1]) / 2.0, cov2Dm[0][1]));
-float lambda1 = mid + radius;
-float lambda2 = mid - radius;
-
-if (lambda2 < 0.0) return;  // 退化情况
-
-vec2 diagonalVector = normalize(vec2(cov2Dm[0][1], lambda1 - cov2Dm[0][0]));
-vec2 majorAxis = min(sqrt(8.0 * lambda1), maxScreenSpaceSplatSize) * diagonalVector;
-vec2 minorAxis = min(sqrt(8.0 * lambda2), maxScreenSpaceSplatSize) * vec2(diagonalVector.y, -diagonalVector.x);
-```
-
-### 2.5 Quad 顶点偏移
-
-```glsl
-// quad 顶点为 [-2,2]，等价于 gsplat 的 position * axis / viewport
-vec2 basisViewport = vec2(1.0 / resolution.x, 1.0 / resolution.y);
-vec2 ndcOffset = (vPosition.x * majorAxis + vPosition.y * minorAxis) * basisViewport;
-vec4 quadPos = vec4(ndcCenter.xy + ndcOffset, ndcCenter.z, 1.0);
-gl_Position = quadPos;
-```
-
----
-
-## 3. 片段着色器（fragment.glsl）
-
-```glsl
-// vPosition 为 [-2,2] 的 quad 坐标
-float A = -dot(vPosition, vPosition);
-if (A < -4.0) discard;
-
-vec3 color = vColor.rgb;
-float opacity = exp(A) * vColor.a;
-gl_FragColor = vec4(color.rgb, opacity);
-```
-
-与 gsplat RenderProgram 完全一致：高斯衰减 `exp(-r²)`，`r² > 4` 时丢弃。
-
----
-
-## 4. 数据管线架构（当前分支）
-
-### 4.1 RenderData（`renderData.ts`）
-
-- **单一聚合类**: 管理所有 `PBMGaussianSplattingObject` 的合并数据
-- **CPU 端数组**:
-  - `data: Uint32Array` → 协方差+颜色 (RGBA32UI)
-  - `positionData: Float32Array` → 全精度位置 (RGB32F)
-  - `transforms: Float32Array` → 变换矩阵
-  - `transformIndices / layerIndices: Uint32Array` → 索引
-  - `sh1/sh2/sh3: Float32Array` → 球谐数据
-  - `positions/rotations/scales: Float32Array` → 排序用世界坐标
-
-### 4.2 RenderMesh（`pbmGaussianSplattingRenderMesh.ts`）
-
-- **双缓冲 Slot 架构** (active + pending):
-  - `RenderSlot = { generation, renderData, textures, awaitingFirstSort, sortDataUploaded }`
-  - pending 构建完成后，首次排序回来时 swap 到 active
-- **增量追加** (`appendObjects`): 新对象追加到已有 slot 而非全量重建
-- **纹理复用池** (`freeSlotPool`): 回收旧 slot 的 DataTexture 对象
-- **排序**: 专用 SortWorker + WASM radix sort，通过 transferable 零拷贝
-
-### 4.3 内存管理
-
-- `releaseSortData()`: 排序完成后释放 positions/rotations/scales
-- `releaseAggregatedData()`: 纹理上传后释放 CPU 端 data/positionData
-- `releaseSHData()`: SH 纹理创建后释放 CPU 端 sh1/sh2/sh3
-- `releaseIndexData()`: transformIndices/layerIndices 纹理已创建且 sortData 已上传后释放
-
----
-
-## 5. 排序（sort.cpp / sortWorker）
-
-- Two-pass radix sort (base 65536)
-- 深度编码: `floatToSortableUint` (IEEE 754 正序利用)
-- 降序 (远→近): 对 key 做 `~key` 实现
-- 无效 splat (∞深度) 跳过
-
----
-
-## 6. 球谐（SH）
-
-- 最高支持 2 阶（`u_maxShDegree = 0/1/2`）
-- 数据打包到单张 RGBA32F 纹理，按 padded component count 排列
-- 着色器中逐阶计算视角相关颜色
-
----
-
-## 7. 其他特性
-
-- **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
-- **Clipper 裁剪**: 层级 clipper 系统，每层分配 clipper range
-- **Transform 系统**: 每对象独立变换矩阵，通过 transformIndices 索引
-
----
-
-## 8. 与目标分支（6.x / 3dgs重构）的关键差异预览
-
-目标分支（`18562e668`）引入了以下新文件/重构:
-- `splatAssembler.ts` — tile-based 数据组装（替代 RenderData 的整体聚合）
-- `tileTexture.ts` — tile 级别的纹理管理
-- `orderTexture.ts` — 排序结果纹理
-- `reorderPass.ts` — GPU reorder pass
-- `layerRegistry.ts` — 层注册表
-- `shStore.ts` — SH 数据存储
-- `transformStore.ts` — 变换存储
-- `renderData.ts` — **已删除**（被上述模块替代）
-- `vertex.glsl` — 着色器改动 (123 行变动)
-- `pbmGaussianSplattingRenderMesh.ts` — 大幅重构（1062行变动）
-
-**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"。
-
----
-
-## 9. 切换分支后的修改指导
-
-切换到目标分支后，需要确保：
-
-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）
-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
-3. **2D 投影公式**: `cov2D = T^T * Vrk * T`（T = W * J），加 kernel2DSize 低通
-4. **Fragment**: 保持 `exp(-dot(vPos, vPos))` 和 `discard < -4.0`
-5. **位置纹理**: 保持 RGB32F 独立纹理避免 fp16 精度问题
-6. **SH**: 确保新架构下 SH 纹理布局与着色器读取一致

package/docs/documents/3dgs-current-branch-changes.html

@@ -1,205 +0,0 @@
-<!DOCTYPE html><html class="default" lang="en" data-base="../"><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>3dgs-current-branch-changes | 如视 Five SDK</title><meta name="description" content="Documentation for 如视 Five SDK"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script><script async src="../assets/hierarchy.js" id="tsd-hierarchy-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => window.app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><a href="../index.html" class="title">如视 Five SDK</a><div id="tsd-toolbar-links"></div><button id="tsd-search-trigger" class="tsd-widget" aria-label="Search"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></button><dialog id="tsd-search" aria-label="Search"><input role="combobox" id="tsd-search-input" aria-controls="tsd-search-results" aria-autocomplete="list" aria-expanded="true" autocapitalize="off" autocomplete="off" placeholder="Search the docs" maxLength="100"/><ul role="listbox" id="tsd-search-results"></ul><div id="tsd-search-status" aria-live="polite" aria-atomic="true"><div>Preparing search index...</div></div></dialog><a href="#" class="tsd-widget menu" id="tsd-toolbar-menu-trigger" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb" aria-label="Breadcrumb"><li><a href="" aria-current="page">3dgs-current-branch-changes</a></li></ul></div><div class="tsd-panel tsd-typography"><h1 id="当前分支（68x）3dgs-渲染架构总结" class="tsd-anchor-link">当前分支（6.8.x）3DGS 渲染架构总结<a href="#当前分支（68x）3dgs-渲染架构总结" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1>
-<blockquote>
-<p>本文档记录当前分支 <code>6.8.x</code>（HEAD: 8df53101d）上 3DGS 渲染管线中<strong>协方差、着色器、J 矩阵</strong>的完整实现细节，
-供切换到 <code>6.x</code> 分支（含 <code>18562e668 3dgs重构</code> 及 aholo tile 局部更新架构）后参考合并。</p>
-</blockquote>
-<hr>
-<h2 id="1-协方差（covariance）计算" class="tsd-anchor-link">1. 协方差（Covariance）计算<a href="#1-协方差（covariance）计算" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<h3 id="11-cpuwasm-预计算（-函数）" class="tsd-anchor-link">1.1 CPU/WASM 预计算（<code>data.cpp</code> / <code>_pack</code> 函数）<a href="#11-cpuwasm-预计算（-函数）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<p><strong>路径</strong>: <code>lib/five/gaussian-splatting/wasm/data.cpp</code></p>
-<ul>
-<li>输入: <code>positions[N*3]</code>, <code>rotations[N*4]</code> (wxyz), <code>scales[N*3]</code>, <code>colors[N*4]</code></li>
-<li>输出: <code>data[N*4]</code> (RGBA32UI texel per splat)</li>
-</ul>
-<p><strong>协方差计算过程</strong> (<code>computeCov3D</code>):</p>
-<pre><code><span class="hl-3">1.</span><span class="hl-1"> </span><span class="hl-4">归一化四元数</span><span class="hl-1"> (</span><span class="hl-5">w</span><span class="hl-1">, </span><span class="hl-5">x</span><span class="hl-1">, </span><span class="hl-5">y</span><span class="hl-1">, </span><span class="hl-5">z</span><span class="hl-1">)</span><br/><span class="hl-3">2.</span><span class="hl-1"> </span><span class="hl-5">构造旋转矩阵</span><span class="hl-1"> </span><span class="hl-6">R</span><span class="hl-1">（</span><span class="hl-5">Hamilton</span><span class="hl-1"> </span><span class="hl-5">标准</span><span class="hl-1">，</span><span class="hl-5">row</span><span class="hl-1">-</span><span class="hl-5">major</span><span class="hl-1">）</span><br/><span class="hl-3">3.</span><span class="hl-1"> </span><span class="hl-6">M</span><span class="hl-1"> = </span><span class="hl-6">R</span><span class="hl-1"> * </span><span class="hl-4">diag</span><span class="hl-1">(</span><span class="hl-5">sx</span><span class="hl-1">, </span><span class="hl-5">sy</span><span class="hl-1">, </span><span class="hl-5">sz</span><span class="hl-1">)</span><br/><span class="hl-3">4.</span><span class="hl-1"> </span><span class="hl-6">Σ</span><span class="hl-1"> = </span><span class="hl-6">M</span><span class="hl-1"> * </span><span class="hl-6">M</span><span class="hl-1">^</span><span class="hl-6">T</span><span class="hl-1">   →  </span><span class="hl-5">对称矩阵</span><span class="hl-1">，6</span><span class="hl-5">个独立分量</span><br/><span class="hl-1">   </span><span class="hl-5">s00</span><span class="hl-1">, </span><span class="hl-5">s01</span><span class="hl-1">, </span><span class="hl-5">s02</span><span class="hl-1">, </span><span class="hl-5">s11</span><span class="hl-1">, </span><span class="hl-5">s12</span><span class="hl-1">, </span><span class="hl-5">s22</span>
-</code><button>Copy</button></pre>
-
-<p><strong>Texel 打包格式</strong> (每 splat 1 个 RGBA32UI = 16 bytes):</p>
-<pre><code><span class="hl-5">data</span><span class="hl-1">[</span><span class="hl-3">0</span><span class="hl-1">] = </span><span class="hl-4">packHalf2x16</span><span class="hl-1">(</span><span class="hl-5">s00</span><span class="hl-1">, </span><span class="hl-5">s01</span><span class="hl-1">)   </span><span class="hl-7">// cov(0,0) | cov(0,1)</span><br/><span class="hl-5">data</span><span class="hl-1">[</span><span class="hl-3">1</span><span class="hl-1">] = </span><span class="hl-4">packHalf2x16</span><span class="hl-1">(</span><span class="hl-5">s02</span><span class="hl-1">, </span><span class="hl-5">s11</span><span class="hl-1">)   </span><span class="hl-7">// cov(0,2) | cov(1,1)</span><br/><span class="hl-5">data</span><span class="hl-1">[</span><span class="hl-3">2</span><span class="hl-1">] = </span><span class="hl-4">packHalf2x16</span><span class="hl-1">(</span><span class="hl-5">s12</span><span class="hl-1">, </span><span class="hl-5">s22</span><span class="hl-1">)   </span><span class="hl-7">// cov(1,2) | cov(2,2)</span><br/><span class="hl-5">data</span><span class="hl-1">[</span><span class="hl-3">3</span><span class="hl-1">] = </span><span class="hl-6">R</span><span class="hl-1"> | </span><span class="hl-6">G</span><span class="hl-1">&lt;&lt;</span><span class="hl-3">8</span><span class="hl-1"> | </span><span class="hl-6">B</span><span class="hl-1">&lt;&lt;</span><span class="hl-3">16</span><span class="hl-1"> | </span><span class="hl-6">A</span><span class="hl-1">&lt;&lt;</span><span class="hl-3">24</span><span class="hl-1"> </span><span class="hl-7">// 颜色 RGBA8</span>
-</code><button>Copy</button></pre>
-
-<h3 id="12-位置数据（独立纹理）" class="tsd-anchor-link">1.2 位置数据（独立纹理）<a href="#12-位置数据（独立纹理）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<p>为规避 fp16 量化导致的直线锯齿，splat 中心用独立的 <code>positionTexture</code>（RGB32F）存储全精度 float32 坐标。</p>
-<ul>
-<li><code>positionData: Float32Array</code> → <code>u_positionTexture</code> (RGB32F)</li>
-<li>寻址: <code>ivec2(splatIndexU &amp; 0x7ff, splatIndexU &gt;&gt; 11)</code>（宽度 2048）</li>
-</ul>
-<hr>
-<h2 id="2-顶点着色器（vertexglsl）" class="tsd-anchor-link">2. 顶点着色器（vertex.glsl）<a href="#2-顶点着色器（vertexglsl）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<p><strong>路径</strong>: <code>lib/five/model/shaders/pbm_gaussian_splatting/vertex.glsl</code></p>
-<h3 id="21-数据读取" class="tsd-anchor-link">2.1 数据读取<a href="#21-数据读取" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<pre><code class="glsl">// 协方差纹理 (RGBA32UI)
-uvec4 packed = texelFetch(u_texture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0);
-
-// 全精度位置 (RGB32F)
-vec3 splatCenter = texelFetch(u_positionTexture, ivec2(splatIndexU & 0x7ff, splatIndexU >> 11), 0).xyz;
-
-// 解包 3D 协方差
-vec2 cov_a = unpackHalf2x16(packed.x);  // (s00, s01)
-vec2 cov_b = unpackHalf2x16(packed.y);  // (s02, s11)
-vec2 cov_c = unpackHalf2x16(packed.z);  // (s12, s22)
-
-// 对称矩阵 Vrk (object space)
-mat3 Vrk = mat3(
-    cov_a.x, cov_a.y, cov_b.x,
-    cov_a.y, cov_b.y, cov_c.x,
-    cov_b.x, cov_c.x, cov_c.y
-);
-</code><button type="button">Copy</button></pre>
-
-<h3 id="22-j-矩阵（jacobian）计算" class="tsd-anchor-link">2.2 J 矩阵（Jacobian）计算<a href="#22-j-矩阵（jacobian）计算" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<pre><code class="glsl">vec2 focal = vec2(
-    projectionMatrix[0][0] * resolution.x * 0.5,
-    projectionMatrix[1][1] * resolution.y * 0.5
-);
-
-bool isOrthographic = projectionMatrix[3][3] > 0.7;
-mat3 J;
-if (isOrthographic) {
-    J = transpose(mat3(
-        focal.x, 0.0, 0.0,
-        0.0, focal.y, 0.0,
-        0.0, 0.0, 0.0
-    ));
-} else {
-    float s = 1.0 / (viewCenter.z * viewCenter.z);
-    J = mat3(
-        focal.x / viewCenter.z, 0.0, -(focal.x * viewCenter.x) * s,
-        0.0, focal.y / viewCenter.z, -(focal.y * viewCenter.y) * s,
-        0.0, 0.0, 0.0
-    );
-}
-</code><button type="button">Copy</button></pre>
-
-<p><strong>注意</strong>: 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。</p>
-<h3 id="23-2d-协方差投影（gsplat-renderprogram-一致）" class="tsd-anchor-link">2.3 2D 协方差投影（gsplat RenderProgram 一致）<a href="#23-2d-协方差投影（gsplat-renderprogram-一致）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<pre><code class="glsl">mat3 W = transpose(mat3(transformModelViewMatrix));
-mat3 T = W * J;
-
-// 3D → 2D 投影: cov2D = T^T * Vrk * T
-mat3 cov2Dm = transpose(T) * Vrk * T;
-
-// 低通滤波（防止亚像素 splat 产生混叠）
-cov2Dm[0][0] += kernel2DSize;  // kernel2DSize = 0.3
-cov2Dm[1][1] += kernel2DSize;
-</code><button type="button">Copy</button></pre>
-
-<h3 id="24-特征值分解-→-椭圆轴" class="tsd-anchor-link">2.4 特征值分解 → 椭圆轴<a href="#24-特征值分解-→-椭圆轴" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<pre><code class="glsl">float mid = (cov2Dm[0][0] + cov2Dm[1][1]) / 2.0;
-float radius = length(vec2((cov2Dm[0][0] - cov2Dm[1][1]) / 2.0, cov2Dm[0][1]));
-float lambda1 = mid + radius;
-float lambda2 = mid - radius;
-
-if (lambda2 < 0.0) return;  // 退化情况
-
-vec2 diagonalVector = normalize(vec2(cov2Dm[0][1], lambda1 - cov2Dm[0][0]));
-vec2 majorAxis = min(sqrt(8.0 * lambda1), maxScreenSpaceSplatSize) * diagonalVector;
-vec2 minorAxis = min(sqrt(8.0 * lambda2), maxScreenSpaceSplatSize) * vec2(diagonalVector.y, -diagonalVector.x);
-</code><button type="button">Copy</button></pre>
-
-<h3 id="25-quad-顶点偏移" class="tsd-anchor-link">2.5 Quad 顶点偏移<a href="#25-quad-顶点偏移" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<pre><code class="glsl">// quad 顶点为 [-2,2]，等价于 gsplat 的 position * axis / viewport
-vec2 basisViewport = vec2(1.0 / resolution.x, 1.0 / resolution.y);
-vec2 ndcOffset = (vPosition.x * majorAxis + vPosition.y * minorAxis) * basisViewport;
-vec4 quadPos = vec4(ndcCenter.xy + ndcOffset, ndcCenter.z, 1.0);
-gl_Position = quadPos;
-</code><button type="button">Copy</button></pre>
-
-<hr>
-<h2 id="3-片段着色器（fragmentglsl）" class="tsd-anchor-link">3. 片段着色器（fragment.glsl）<a href="#3-片段着色器（fragmentglsl）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<pre><code class="glsl">// vPosition 为 [-2,2] 的 quad 坐标
-float A = -dot(vPosition, vPosition);
-if (A < -4.0) discard;
-
-vec3 color = vColor.rgb;
-float opacity = exp(A) * vColor.a;
-gl_FragColor = vec4(color.rgb, opacity);
-</code><button type="button">Copy</button></pre>
-
-<p>与 gsplat RenderProgram 完全一致：高斯衰减 <code>exp(-r²)</code>，<code>r² &gt; 4</code> 时丢弃。</p>
-<hr>
-<h2 id="4-数据管线架构（当前分支）" class="tsd-anchor-link">4. 数据管线架构（当前分支）<a href="#4-数据管线架构（当前分支）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<h3 id="41-renderdata（）" class="tsd-anchor-link">4.1 RenderData（<code>renderData.ts</code>）<a href="#41-renderdata（）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<ul>
-<li><strong>单一聚合类</strong>: 管理所有 <code>PBMGaussianSplattingObject</code> 的合并数据</li>
-<li><strong>CPU 端数组</strong>:
-<ul>
-<li><code>data: Uint32Array</code> → 协方差+颜色 (RGBA32UI)</li>
-<li><code>positionData: Float32Array</code> → 全精度位置 (RGB32F)</li>
-<li><code>transforms: Float32Array</code> → 变换矩阵</li>
-<li><code>transformIndices / layerIndices: Uint32Array</code> → 索引</li>
-<li><code>sh1/sh2/sh3: Float32Array</code> → 球谐数据</li>
-<li><code>positions/rotations/scales: Float32Array</code> → 排序用世界坐标</li>
-</ul>
-</li>
-</ul>
-<h3 id="42-rendermesh（）" class="tsd-anchor-link">4.2 RenderMesh（<code>pbmGaussianSplattingRenderMesh.ts</code>）<a href="#42-rendermesh（）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<ul>
-<li><strong>双缓冲 Slot 架构</strong> (active + pending):
-<ul>
-<li><code>RenderSlot = { generation, renderData, textures, awaitingFirstSort, sortDataUploaded }</code></li>
-<li>pending 构建完成后，首次排序回来时 swap 到 active</li>
-</ul>
-</li>
-<li><strong>增量追加</strong> (<code>appendObjects</code>): 新对象追加到已有 slot 而非全量重建</li>
-<li><strong>纹理复用池</strong> (<code>freeSlotPool</code>): 回收旧 slot 的 DataTexture 对象</li>
-<li><strong>排序</strong>: 专用 SortWorker + WASM radix sort，通过 transferable 零拷贝</li>
-</ul>
-<h3 id="43-内存管理" class="tsd-anchor-link">4.3 内存管理<a href="#43-内存管理" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3>
-<ul>
-<li><code>releaseSortData()</code>: 排序完成后释放 positions/rotations/scales</li>
-<li><code>releaseAggregatedData()</code>: 纹理上传后释放 CPU 端 data/positionData</li>
-<li><code>releaseSHData()</code>: SH 纹理创建后释放 CPU 端 sh1/sh2/sh3</li>
-<li><code>releaseIndexData()</code>: transformIndices/layerIndices 纹理已创建且 sortData 已上传后释放</li>
-</ul>
-<hr>
-<h2 id="5-排序（sortcpp-sortworker）" class="tsd-anchor-link">5. 排序（sort.cpp / sortWorker）<a href="#5-排序（sortcpp-sortworker）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<ul>
-<li>Two-pass radix sort (base 65536)</li>
-<li>深度编码: <code>floatToSortableUint</code> (IEEE 754 正序利用)</li>
-<li>降序 (远→近): 对 key 做 <code>~key</code> 实现</li>
-<li>无效 splat (∞深度) 跳过</li>
-</ul>
-<hr>
-<h2 id="6-球谐（sh）" class="tsd-anchor-link">6. 球谐（SH）<a href="#6-球谐（sh）" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<ul>
-<li>最高支持 2 阶（<code>u_maxShDegree = 0/1/2</code>）</li>
-<li>数据打包到单张 RGBA32F 纹理，按 padded component count 排列</li>
-<li>着色器中逐阶计算视角相关颜色</li>
-</ul>
-<hr>
-<h2 id="7-其他特性" class="tsd-anchor-link">7. 其他特性<a href="#7-其他特性" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<ul>
-<li><strong>入场聚合动画</strong> (<code>ENABLE_GS_INIT_ANIMATION</code>): 通过 define 开关，splat 从爆炸散开收敛到正确位置</li>
-<li><strong>Clipper 裁剪</strong>: 层级 clipper 系统，每层分配 clipper range</li>
-<li><strong>Transform 系统</strong>: 每对象独立变换矩阵，通过 transformIndices 索引</li>
-</ul>
-<hr>
-<h2 id="8-与目标分支（6x-3dgs重构）的关键差异预览" class="tsd-anchor-link">8. 与目标分支（6.x / 3dgs重构）的关键差异预览<a href="#8-与目标分支（6x-3dgs重构）的关键差异预览" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<p>目标分支（<code>18562e668</code>）引入了以下新文件/重构:</p>
-<ul>
-<li><code>splatAssembler.ts</code> — tile-based 数据组装（替代 RenderData 的整体聚合）</li>
-<li><code>tileTexture.ts</code> — tile 级别的纹理管理</li>
-<li><code>orderTexture.ts</code> — 排序结果纹理</li>
-<li><code>reorderPass.ts</code> — GPU reorder pass</li>
-<li><code>layerRegistry.ts</code> — 层注册表</li>
-<li><code>shStore.ts</code> — SH 数据存储</li>
-<li><code>transformStore.ts</code> — 变换存储</li>
-<li><code>renderData.ts</code> — <strong>已删除</strong>（被上述模块替代）</li>
-<li><code>vertex.glsl</code> — 着色器改动 (123 行变动)</li>
-<li><code>pbmGaussianSplattingRenderMesh.ts</code> — 大幅重构（1062行变动）</li>
-</ul>
-<p><strong>核心架构变化</strong>: 从&quot;全量聚合 + CPU 端数据管理&quot;转向&quot;tile 粒度局部更新 + GPU 端重排&quot;。</p>
-<hr>
-<h2 id="9-切换分支后的修改指导" class="tsd-anchor-link">9. 切换分支后的修改指导<a href="#9-切换分支后的修改指导" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2>
-<p>切换到目标分支后，需要确保：</p>
-<ol>
-<li><strong>协方差计算</strong>: <code>data.cpp</code> 的 <code>computeCov3D</code> + <code>packHalf2x16</code> 逻辑保持一致（对称矩阵 6 分量 → 3 个 half2x16）</li>
-<li><strong>着色器 J 矩阵</strong>: 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</li>
-<li><strong>2D 投影公式</strong>: <code>cov2D = T^T * Vrk * T</code>（T = W * J），加 kernel2DSize 低通</li>
-<li><strong>Fragment</strong>: 保持 <code>exp(-dot(vPos, vPos))</code> 和 <code>discard &lt; -4.0</code></li>
-<li><strong>位置纹理</strong>: 保持 RGB32F 独立纹理避免 fp16 精度问题</li>
-<li><strong>SH</strong>: 确保新架构下 SH 纹理布局与着色器读取一致</li>
-</ol>
-</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg><h3>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg><h3>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#当前分支（68x）3dgs-渲染架构总结"><span>当前分支（6.8.x）3<wbr/>DGS 渲染架构总结</span></a><ul><li><a href="#1-协方差（covariance）计算"><span>1. 协方差（<wbr/>Covariance）计算</span></a></li><li><ul><li><a href="#11-cpuwasm-预计算（-函数）"><span>1.1 <wbr/>CPU/<wbr/>WASM 预计算（ /  函数）</span></a></li><li><a href="#12-位置数据（独立纹理）"><span>1.2 位置数据（独立纹理）</span></a></li></ul></li><li><a href="#2-顶点着色器（vertexglsl）"><span>2. 顶点着色器（vertex.glsl）</span></a></li><li><ul><li><a href="#21-数据读取"><span>2.1 数据读取</span></a></li><li><a href="#22-j-矩阵（jacobian）计算"><span>2.2 <wbr/>J 矩阵（<wbr/>Jacobian）计算</span></a></li><li><a href="#23-2d-协方差投影（gsplat-renderprogram-一致）"><span>2.3 2<wbr/>D 协方差投影（gsplat <wbr/>Render<wbr/>Program 一致）</span></a></li><li><a href="#24-特征值分解-→-椭圆轴"><span>2.4 特征值分解 → 椭圆轴</span></a></li><li><a href="#25-quad-顶点偏移"><span>2.5 <wbr/>Quad 顶点偏移</span></a></li></ul></li><li><a href="#3-片段着色器（fragmentglsl）"><span>3. 片段着色器（fragment.glsl）</span></a></li><li><a href="#4-数据管线架构（当前分支）"><span>4. 数据管线架构（当前分支）</span></a></li><li><ul><li><a href="#41-renderdata（）"><span>4.1 <wbr/>Render<wbr/>Data（）</span></a></li><li><a href="#42-rendermesh（）"><span>4.2 <wbr/>Render<wbr/>Mesh（）</span></a></li><li><a href="#43-内存管理"><span>4.3 内存管理</span></a></li></ul></li><li><a href="#5-排序（sortcpp-sortworker）"><span>5. 排序（sort.cpp / sort<wbr/>Worker）</span></a></li><li><a href="#6-球谐（sh）"><span>6. 球谐（<wbr/>SH）</span></a></li><li><a href="#7-其他特性"><span>7. 其他特性</span></a></li><li><a href="#8-与目标分支（6x-3dgs重构）的关键差异预览"><span>8. 与目标分支（6.x / 3dgs重构）的关键差异预览</span></a></li><li><a href="#9-切换分支后的修改指导"><span>9. 切换分支后的修改指导</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">如视 Five SDK</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>