diff --git a/src/viser/client/src/WebsocketInterface.tsx b/src/viser/client/src/WebsocketInterface.tsx index fb094476f..0c8b63eb8 100644 --- a/src/viser/client/src/WebsocketInterface.tsx +++ b/src/viser/client/src/WebsocketInterface.tsx @@ -22,7 +22,7 @@ import { isGuiConfig, useViserMantineTheme } from "./ControlPanel/GuiState"; import { useFrame } from "@react-three/fiber"; import GeneratedGuiContainer from "./ControlPanel/Generated"; import { MantineProvider, Paper } from "@mantine/core"; -import GaussianSplats from "./splatting/GaussianSplats"; +import GaussianSplats from "./Splatting/GaussianSplats"; /** Convert raw RGB color buffers to linear color buffers. **/ function linearColorArrayFromSrgbColorArray(colors: ArrayBuffer) { diff --git a/src/viser/client/src/splatting/SplatSortWorker.ts b/src/viser/client/src/splatting/SplatSortWorker.ts index c8ddfc9ff..410cfe31a 100644 --- a/src/viser/client/src/splatting/SplatSortWorker.ts +++ b/src/viser/client/src/splatting/SplatSortWorker.ts @@ -1,9 +1,8 @@ /** Worker for sorting splats. - * - * Adapted from Kevin Kwok: - * https://github.com/antimatter15/splat/blob/main/main.js */ +import MakeSorterModulePromise from "./WasmSorter/Sorter.mjs"; + export type GaussianBuffersSplitCov = { // (N, 3) centers: Float32Array; @@ -16,92 +15,25 @@ export type GaussianBuffersSplitCov = { // (N, 3) covB: Float32Array; }; -{ - // Worker state. - let buffers: GaussianBuffersSplitCov | null = null; - let sortedBuffers: GaussianBuffersSplitCov | null = null; +{ + let sorter: any = null; let viewProj: number[] | null = null; - let depthList = new Int32Array(); - let sortedIndices: number[] = []; - - // Counting sort buffers. - const counts0 = new Uint32Array(256 * 256); - const starts0 = new Uint32Array(256 * 256); - - const runSort = (viewProj: number[] | null) => { - if (buffers === null || sortedBuffers === null || viewProj === null) return; - - console.time("Start"); - const numGaussians = buffers.centers.length / 3; - - // Create new buffers. - if (sortedIndices.length !== numGaussians) { - depthList = new Int32Array(numGaussians); - sortedIndices = [...Array(numGaussians).keys()]; - } - - // Compute depth for each Gaussian. - let maxDepth = -Infinity; - let minDepth = Infinity; - for (let i = 0; i < depthList.length; i++) { - const depth = - ((viewProj[2] * buffers.centers[i * 3 + 0] + - viewProj[6] * buffers.centers[i * 3 + 1] + - viewProj[10] * buffers.centers[i * 3 + 2]) * - 4096) | - 0; - depthList[i] = depth; - if (depth > maxDepth) maxDepth = depth; - if (depth < minDepth) minDepth = depth; - } - - // This is a 16 bit single-pass counting sort. - const depthInv = (256 * 256) / (maxDepth - minDepth); - counts0.fill(0); - for (let i = 0; i < numGaussians; i++) { - depthList[i] = ((depthList[i] - minDepth) * depthInv) | 0; - counts0[depthList[i]]++; - } - for (let i = 1; i < 256 * 256; i++) - starts0[i] = starts0[i - 1] + counts0[i - 1]; - console.timeEnd("Start"); - console.time("Fill"); - for (let i = 0; i < numGaussians; i++) - sortedIndices[starts0[depthList[i]]++] = i; - - // Sort and post underlying buffers. - for (let i = 0; i < sortedIndices.length; i++) { - const j = sortedIndices[sortedIndices.length - i - 1]; - sortedBuffers.centers[i * 3 + 0] = buffers.centers[j * 3 + 0]; - sortedBuffers.centers[i * 3 + 1] = buffers.centers[j * 3 + 1]; - sortedBuffers.centers[i * 3 + 2] = buffers.centers[j * 3 + 2]; - - sortedBuffers.rgbs[i * 3 + 0] = buffers.rgbs[j * 3 + 0]; - sortedBuffers.rgbs[i * 3 + 1] = buffers.rgbs[j * 3 + 1]; - sortedBuffers.rgbs[i * 3 + 2] = buffers.rgbs[j * 3 + 2]; - - sortedBuffers.opacities[i] = buffers.opacities[j]; - - sortedBuffers.covA[i * 3 + 0] = buffers.covA[j * 3 + 0]; - sortedBuffers.covA[i * 3 + 1] = buffers.covA[j * 3 + 1]; - sortedBuffers.covA[i * 3 + 2] = buffers.covA[j * 3 + 2]; - - sortedBuffers.covB[i * 3 + 0] = buffers.covB[j * 3 + 0]; - sortedBuffers.covB[i * 3 + 1] = buffers.covB[j * 3 + 1]; - sortedBuffers.covB[i * 3 + 2] = buffers.covB[j * 3 + 2]; - } - console.timeEnd("Fill"); - self.postMessage(sortedBuffers); - }; - let sortRunning = false; const throttledSort = () => { - if (sortRunning) return; + if (sorter === null || viewProj === null || sortRunning) return; sortRunning = true; const lastView = viewProj; - runSort(lastView); + sorter.sort(viewProj[2], viewProj[6], viewProj[10]); + self.postMessage({ + centers: sorter.getSortedCenters(), + rgbs: sorter.getSortedRgbs(), + opacities: sorter.getSortedOpacities(), + covA: sorter.getSortedCovA(), + covB: sorter.getSortedCovB(), + }); + setTimeout(() => { sortRunning = false; if (lastView !== viewProj) { @@ -110,7 +42,9 @@ export type GaussianBuffersSplitCov = { }, 0); }; - self.onmessage = (e) => { + const SorterModulePromise = MakeSorterModulePromise(); + + self.onmessage = async (e) => { const data = e.data as | { setBuffers: GaussianBuffersSplitCov; @@ -121,22 +55,22 @@ export type GaussianBuffersSplitCov = { | { close: true }; if ("setBuffers" in data) { - buffers = data.setBuffers; - sortedBuffers = { - centers: new Float32Array(buffers.centers.length), - rgbs: new Float32Array(buffers.rgbs.length), - opacities: new Float32Array(buffers.opacities.length), - covA: new Float32Array(buffers.covA.length), - covB: new Float32Array(buffers.covB.length), - }; - } - - if ("setViewProj" in data) { + // Instantiate sorter with buffers populated. + const buffers = data.setBuffers as GaussianBuffersSplitCov; + sorter = new (await SorterModulePromise).Sorter( + buffers.centers, + buffers.rgbs, + buffers.opacities, + buffers.covA, + buffers.covB, + ); + throttledSort(); + } else if ("setViewProj" in data) { + // Update view projection matrix. viewProj = data.setViewProj; throttledSort(); - } - - if ("close" in data) { + } else if ("close" in data) { + // Done! self.close(); } }; diff --git a/src/viser/client/src/splatting/WasmSorter/Sorter.mjs b/src/viser/client/src/splatting/WasmSorter/Sorter.mjs new file mode 100644 index 000000000..b2d82bb1d --- /dev/null +++ b/src/viser/client/src/splatting/WasmSorter/Sorter.mjs @@ -0,0 +1,16 @@ + +var Module = (() => { + var _scriptDir = import.meta.url; + + return ( +async function(moduleArg = {}) { + +var Module=moduleArg;var readyPromiseResolve,readyPromiseReject;Module["ready"]=new Promise((resolve,reject)=>{readyPromiseResolve=resolve;readyPromiseReject=reject});var moduleOverrides=Object.assign({},Module);var arguments_=[];var thisProgram="./this.program";var quit_=(status,toThrow)=>{throw toThrow};var ENVIRONMENT_IS_WEB=typeof window=="object";var ENVIRONMENT_IS_WORKER=typeof importScripts=="function";var ENVIRONMENT_IS_NODE=typeof process=="object"&&typeof process.versions=="object"&&typeof process.versions.node=="string";var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var read_,readAsync,readBinary;if(ENVIRONMENT_IS_NODE){const{createRequire:createRequire}=await import("module");var require=createRequire(import.meta.url);var fs=require("fs");var nodePath=require("path");if(ENVIRONMENT_IS_WORKER){scriptDirectory=nodePath.dirname(scriptDirectory)+"/"}else{scriptDirectory=require("url").fileURLToPath(new URL("./",import.meta.url))}read_=(filename,binary)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);return fs.readFileSync(filename,binary?undefined:"utf8")};readBinary=filename=>{var ret=read_(filename,true);if(!ret.buffer){ret=new Uint8Array(ret)}return ret};readAsync=(filename,onload,onerror,binary=true)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);fs.readFile(filename,binary?undefined:"utf8",(err,data)=>{if(err)onerror(err);else onload(binary?data.buffer:data)})};if(!Module["thisProgram"]&&process.argv.length>1){thisProgram=process.argv[1].replace(/\\/g,"/")}arguments_=process.argv.slice(2);quit_=(status,toThrow)=>{process.exitCode=status;throw toThrow};Module["inspect"]=()=>"[Emscripten Module object]"}else if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){if(ENVIRONMENT_IS_WORKER){scriptDirectory=self.location.href}else if(typeof document!="undefined"&&document.currentScript){scriptDirectory=document.currentScript.src}if(_scriptDir){scriptDirectory=_scriptDir}if(scriptDirectory.indexOf("blob:")!==0){scriptDirectory=scriptDirectory.substr(0,scriptDirectory.replace(/[?#].*/,"").lastIndexOf("/")+1)}else{scriptDirectory=""}{read_=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.send(null);return xhr.responseText};if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new 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addOnInit(cb){__ATINIT__.unshift(cb)}function addOnPostRun(cb){__ATPOSTRUN__.unshift(cb)}var runDependencies=0;var runDependencyWatcher=null;var dependenciesFulfilled=null;function addRunDependency(id){runDependencies++;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}}function removeRunDependency(id){runDependencies--;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(runDependencies==0){if(runDependencyWatcher!==null){clearInterval(runDependencyWatcher);runDependencyWatcher=null}if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}}function abort(what){if(Module["onAbort"]){Module["onAbort"](what)}what="Aborted("+what+")";err(what);ABORT=true;EXITSTATUS=1;what+=". Build with -sASSERTIONS for more info.";var e=new WebAssembly.RuntimeError(what);readyPromiseReject(e);throw e}var dataURIPrefix="data:application/octet-stream;base64,";function isDataURI(filename){return filename.startsWith(dataURIPrefix)}function isFileURI(filename){return filename.startsWith("file://")}var wasmBinaryFile;if(Module["locateFile"]){wasmBinaryFile="Sorter.wasm";if(!isDataURI(wasmBinaryFile)){wasmBinaryFile=locateFile(wasmBinaryFile)}}else{wasmBinaryFile=new URL("Sorter.wasm",import.meta.url).href}function getBinarySync(file){if(file==wasmBinaryFile&&wasmBinary){return new Uint8Array(wasmBinary)}if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}function getBinaryPromise(binaryFile){if(!wasmBinary&&(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER)){if(typeof fetch=="function"&&!isFileURI(binaryFile)){return fetch(binaryFile,{credentials:"same-origin"}).then(response=>{if(!response["ok"]){throw"failed to load wasm binary file at '"+binaryFile+"'"}return response["arrayBuffer"]()}).catch(()=>getBinarySync(binaryFile))}else if(readAsync){return new Promise((resolve,reject)=>{readAsync(binaryFile,response=>resolve(new Uint8Array(response)),reject)})}}return Promise.resolve().then(()=>getBinarySync(binaryFile))}function instantiateArrayBuffer(binaryFile,imports,receiver){return getBinaryPromise(binaryFile).then(binary=>WebAssembly.instantiate(binary,imports)).then(instance=>instance).then(receiver,reason=>{err(`failed to asynchronously prepare wasm: ${reason}`);abort(reason)})}function instantiateAsync(binary,binaryFile,imports,callback){if(!binary&&typeof WebAssembly.instantiateStreaming=="function"&&!isDataURI(binaryFile)&&!isFileURI(binaryFile)&&!ENVIRONMENT_IS_NODE&&typeof fetch=="function"){return fetch(binaryFile,{credentials:"same-origin"}).then(response=>{var result=WebAssembly.instantiateStreaming(response,imports);return result.then(callback,function(reason){err(`wasm streaming compile failed: ${reason}`);err("falling back to ArrayBuffer instantiation");return instantiateArrayBuffer(binaryFile,imports,callback)})})}return instantiateArrayBuffer(binaryFile,imports,callback)}function createWasm(){var info={"a":wasmImports};function receiveInstance(instance,module){wasmExports=instance.exports;wasmMemory=wasmExports["y"];updateMemoryViews();wasmTable=wasmExports["A"];addOnInit(wasmExports["z"]);removeRunDependency("wasm-instantiate");return wasmExports}addRunDependency("wasm-instantiate");function receiveInstantiationResult(result){receiveInstance(result["instance"])}if(Module["instantiateWasm"]){try{return Module["instantiateWasm"](info,receiveInstance)}catch(e){err(`Module.instantiateWasm callback failed with error: ${e}`);readyPromiseReject(e)}}instantiateAsync(wasmBinary,wasmBinaryFile,info,receiveInstantiationResult).catch(readyPromiseReject);return{}}var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};function ExceptionInfo(excPtr){this.excPtr=excPtr;this.ptr=excPtr-24;this.set_type=function(type){HEAPU32[this.ptr+4>>2]=type};this.get_type=function(){return HEAPU32[this.ptr+4>>2]};this.set_destructor=function(destructor){HEAPU32[this.ptr+8>>2]=destructor};this.get_destructor=function(){return HEAPU32[this.ptr+8>>2]};this.set_caught=function(caught){caught=caught?1:0;HEAP8[this.ptr+12>>0]=caught};this.get_caught=function(){return HEAP8[this.ptr+12>>0]!=0};this.set_rethrown=function(rethrown){rethrown=rethrown?1:0;HEAP8[this.ptr+13>>0]=rethrown};this.get_rethrown=function(){return HEAP8[this.ptr+13>>0]!=0};this.init=function(type,destructor){this.set_adjusted_ptr(0);this.set_type(type);this.set_destructor(destructor)};this.set_adjusted_ptr=function(adjustedPtr){HEAPU32[this.ptr+16>>2]=adjustedPtr};this.get_adjusted_ptr=function(){return HEAPU32[this.ptr+16>>2]};this.get_exception_ptr=function(){var isPointer=___cxa_is_pointer_type(this.get_type());if(isPointer){return HEAPU32[this.excPtr>>2]}var adjusted=this.get_adjusted_ptr();if(adjusted!==0)return adjusted;return this.excPtr}}var exceptionLast=0;var uncaughtExceptionCount=0;var ___cxa_throw=(ptr,type,destructor)=>{var info=new ExceptionInfo(ptr);info.init(type,destructor);exceptionLast=ptr;uncaughtExceptionCount++;throw exceptionLast};var __embind_register_bigint=(primitiveType,name,size,minRange,maxRange)=>{};var embind_init_charCodes=()=>{var codes=new Array(256);for(var i=0;i<256;++i){codes[i]=String.fromCharCode(i)}embind_charCodes=codes};var embind_charCodes;var readLatin1String=ptr=>{var ret="";var c=ptr;while(HEAPU8[c]){ret+=embind_charCodes[HEAPU8[c++]]}return ret};var awaitingDependencies={};var registeredTypes={};var typeDependencies={};var BindingError;var throwBindingError=message=>{throw new BindingError(message)};var InternalError;var throwInternalError=message=>{throw new InternalError(message)};var whenDependentTypesAreResolved=(myTypes,dependentTypes,getTypeConverters)=>{myTypes.forEach(function(type){typeDependencies[type]=dependentTypes});function onComplete(typeConverters){var myTypeConverters=getTypeConverters(typeConverters);if(myTypeConverters.length!==myTypes.length){throwInternalError("Mismatched type converter count")}for(var i=0;i{if(registeredTypes.hasOwnProperty(dt)){typeConverters[i]=registeredTypes[dt]}else{unregisteredTypes.push(dt);if(!awaitingDependencies.hasOwnProperty(dt)){awaitingDependencies[dt]=[]}awaitingDependencies[dt].push(()=>{typeConverters[i]=registeredTypes[dt];++registered;if(registered===unregisteredTypes.length){onComplete(typeConverters)}})}});if(0===unregisteredTypes.length){onComplete(typeConverters)}};function sharedRegisterType(rawType,registeredInstance,options={}){var name=registeredInstance.name;if(!rawType){throwBindingError(`type "${name}" must have a positive integer typeid 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this["fromWireType"](HEAPU8[pointer])},destructorFunction:null})};var shallowCopyInternalPointer=o=>({count:o.count,deleteScheduled:o.deleteScheduled,preservePointerOnDelete:o.preservePointerOnDelete,ptr:o.ptr,ptrType:o.ptrType,smartPtr:o.smartPtr,smartPtrType:o.smartPtrType});var throwInstanceAlreadyDeleted=obj=>{function getInstanceTypeName(handle){return handle.$$.ptrType.registeredClass.name}throwBindingError(getInstanceTypeName(obj)+" instance already deleted")};var finalizationRegistry=false;var detachFinalizer=handle=>{};var runDestructor=$$=>{if($$.smartPtr){$$.smartPtrType.rawDestructor($$.smartPtr)}else{$$.ptrType.registeredClass.rawDestructor($$.ptr)}};var releaseClassHandle=$$=>{$$.count.value-=1;var toDelete=0===$$.count.value;if(toDelete){runDestructor($$)}};var downcastPointer=(ptr,ptrClass,desiredClass)=>{if(ptrClass===desiredClass){return ptr}if(undefined===desiredClass.baseClass){return null}var rv=downcastPointer(ptr,ptrClass,desiredClass.baseClass);if(rv===null){return null}return desiredClass.downcast(rv)};var registeredPointers={};var getInheritedInstanceCount=()=>Object.keys(registeredInstances).length;var getLiveInheritedInstances=()=>{var rv=[];for(var k in registeredInstances){if(registeredInstances.hasOwnProperty(k)){rv.push(registeredInstances[k])}}return rv};var deletionQueue=[];var flushPendingDeletes=()=>{while(deletionQueue.length){var obj=deletionQueue.pop();obj.$$.deleteScheduled=false;obj["delete"]()}};var delayFunction;var setDelayFunction=fn=>{delayFunction=fn;if(deletionQueue.length&&delayFunction){delayFunction(flushPendingDeletes)}};var init_embind=()=>{Module["getInheritedInstanceCount"]=getInheritedInstanceCount;Module["getLiveInheritedInstances"]=getLiveInheritedInstances;Module["flushPendingDeletes"]=flushPendingDeletes;Module["setDelayFunction"]=setDelayFunction};var registeredInstances={};var getBasestPointer=(class_,ptr)=>{if(ptr===undefined){throwBindingError("ptr should not be undefined")}while(class_.baseClass){ptr=class_.upcast(ptr);class_=class_.baseClass}return ptr};var getInheritedInstance=(class_,ptr)=>{ptr=getBasestPointer(class_,ptr);return registeredInstances[ptr]};var makeClassHandle=(prototype,record)=>{if(!record.ptrType||!record.ptr){throwInternalError("makeClassHandle requires ptr and ptrType")}var hasSmartPtrType=!!record.smartPtrType;var hasSmartPtr=!!record.smartPtr;if(hasSmartPtrType!==hasSmartPtr){throwInternalError("Both smartPtrType and smartPtr must be specified")}record.count={value:1};return attachFinalizer(Object.create(prototype,{$$:{value:record}}))};function RegisteredPointer_fromWireType(ptr){var rawPointer=this.getPointee(ptr);if(!rawPointer){this.destructor(ptr);return null}var registeredInstance=getInheritedInstance(this.registeredClass,rawPointer);if(undefined!==registeredInstance){if(0===registeredInstance.$$.count.value){registeredInstance.$$.ptr=rawPointer;registeredInstance.$$.smartPtr=ptr;return registeredInstance["clone"]()}else{var rv=registeredInstance["clone"]();this.destructor(ptr);return rv}}function makeDefaultHandle(){if(this.isSmartPointer){return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this.pointeeType,ptr:rawPointer,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this,ptr:ptr})}}var actualType=this.registeredClass.getActualType(rawPointer);var registeredPointerRecord=registeredPointers[actualType];if(!registeredPointerRecord){return makeDefaultHandle.call(this)}var toType;if(this.isConst){toType=registeredPointerRecord.constPointerType}else{toType=registeredPointerRecord.pointerType}var dp=downcastPointer(rawPointer,this.registeredClass,toType.registeredClass);if(dp===null){return makeDefaultHandle.call(this)}if(this.isSmartPointer){return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp})}}var attachFinalizer=handle=>{if("undefined"===typeof FinalizationRegistry){attachFinalizer=handle=>handle;return handle}finalizationRegistry=new FinalizationRegistry(info=>{releaseClassHandle(info.$$)});attachFinalizer=handle=>{var $$=handle.$$;var hasSmartPtr=!!$$.smartPtr;if(hasSmartPtr){var info={$$:$$};finalizationRegistry.register(handle,info,handle)}return handle};detachFinalizer=handle=>finalizationRegistry.unregister(handle);return attachFinalizer(handle)};var init_ClassHandle=()=>{Object.assign(ClassHandle.prototype,{"isAliasOf"(other){if(!(this instanceof ClassHandle)){return false}if(!(other instanceof ClassHandle)){return false}var leftClass=this.$$.ptrType.registeredClass;var left=this.$$.ptr;other.$$=other.$$;var rightClass=other.$$.ptrType.registeredClass;var right=other.$$.ptr;while(leftClass.baseClass){left=leftClass.upcast(left);leftClass=leftClass.baseClass}while(rightClass.baseClass){right=rightClass.upcast(right);rightClass=rightClass.baseClass}return leftClass===rightClass&&left===right},"clone"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.preservePointerOnDelete){this.$$.count.value+=1;return this}else{var clone=attachFinalizer(Object.create(Object.getPrototypeOf(this),{$$:{value:shallowCopyInternalPointer(this.$$)}}));clone.$$.count.value+=1;clone.$$.deleteScheduled=false;return clone}},"delete"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}detachFinalizer(this);releaseClassHandle(this.$$);if(!this.$$.preservePointerOnDelete){this.$$.smartPtr=undefined;this.$$.ptr=undefined}},"isDeleted"(){return!this.$$.ptr},"deleteLater"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}deletionQueue.push(this);if(deletionQueue.length===1&&delayFunction){delayFunction(flushPendingDeletes)}this.$$.deleteScheduled=true;return this}})};function ClassHandle(){}var char_0=48;var char_9=57;var makeLegalFunctionName=name=>{if(undefined===name){return"_unknown"}name=name.replace(/[^a-zA-Z0-9_]/g,"$");var f=name.charCodeAt(0);if(f>=char_0&&f<=char_9){return`_${name}`}return name};function createNamedFunction(name,body){name=makeLegalFunctionName(name);return{[name]:function(){return body.apply(this,arguments)}}[name]}var ensureOverloadTable=(proto,methodName,humanName)=>{if(undefined===proto[methodName].overloadTable){var prevFunc=proto[methodName];proto[methodName]=function(){if(!proto[methodName].overloadTable.hasOwnProperty(arguments.length)){throwBindingError(`Function '${humanName}' called with an invalid number of arguments (${arguments.length}) - expects one of (${proto[methodName].overloadTable})!`)}return proto[methodName].overloadTable[arguments.length].apply(this,arguments)};proto[methodName].overloadTable=[];proto[methodName].overloadTable[prevFunc.argCount]=prevFunc}};var exposePublicSymbol=(name,value,numArguments)=>{if(Module.hasOwnProperty(name)){if(undefined===numArguments||undefined!==Module[name].overloadTable&&undefined!==Module[name].overloadTable[numArguments]){throwBindingError(`Cannot register public name '${name}' twice`)}ensureOverloadTable(Module,name,name);if(Module.hasOwnProperty(numArguments)){throwBindingError(`Cannot register multiple overloads of a function with the same number of arguments (${numArguments})!`)}Module[name].overloadTable[numArguments]=value}else{Module[name]=value;if(undefined!==numArguments){Module[name].numArguments=numArguments}}};function RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast){this.name=name;this.constructor=constructor;this.instancePrototype=instancePrototype;this.rawDestructor=rawDestructor;this.baseClass=baseClass;this.getActualType=getActualType;this.upcast=upcast;this.downcast=downcast;this.pureVirtualFunctions=[]}var upcastPointer=(ptr,ptrClass,desiredClass)=>{while(ptrClass!==desiredClass){if(!ptrClass.upcast){throwBindingError(`Expected null or instance of ${desiredClass.name}, got an instance of ${ptrClass.name}`)}ptr=ptrClass.upcast(ptr);ptrClass=ptrClass.baseClass}return ptr};function constNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}return 0}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function genericPointerToWireType(destructors,handle){var ptr;if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}if(this.isSmartPointer){ptr=this.rawConstructor();if(destructors!==null){destructors.push(this.rawDestructor,ptr)}return ptr}else{return 0}}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}if(!this.isConst&&handle.$$.ptrType.isConst){throwBindingError(`Cannot convert argument of type ${handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name} to parameter type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);if(this.isSmartPointer){if(undefined===handle.$$.smartPtr){throwBindingError("Passing raw pointer to smart pointer is illegal")}switch(this.sharingPolicy){case 0:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{throwBindingError(`Cannot convert argument of type ${handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name} to parameter type ${this.name}`)}break;case 1:ptr=handle.$$.smartPtr;break;case 2:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{var clonedHandle=handle["clone"]();ptr=this.rawShare(ptr,Emval.toHandle(()=>clonedHandle["delete"]()));if(destructors!==null){destructors.push(this.rawDestructor,ptr)}}break;default:throwBindingError("Unsupporting sharing policy")}}return ptr}function nonConstNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}return 0}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}if(handle.$$.ptrType.isConst){throwBindingError(`Cannot convert argument of type ${handle.$$.ptrType.name} to parameter type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function readPointer(pointer){return this["fromWireType"](HEAPU32[pointer>>2])}var init_RegisteredPointer=()=>{Object.assign(RegisteredPointer.prototype,{getPointee(ptr){if(this.rawGetPointee){ptr=this.rawGetPointee(ptr)}return ptr},destructor(ptr){if(this.rawDestructor){this.rawDestructor(ptr)}},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":readPointer,"deleteObject"(handle){if(handle!==null){handle["delete"]()}},"fromWireType":RegisteredPointer_fromWireType})};function RegisteredPointer(name,registeredClass,isReference,isConst,isSmartPointer,pointeeType,sharingPolicy,rawGetPointee,rawConstructor,rawShare,rawDestructor){this.name=name;this.registeredClass=registeredClass;this.isReference=isReference;this.isConst=isConst;this.isSmartPointer=isSmartPointer;this.pointeeType=pointeeType;this.sharingPolicy=sharingPolicy;this.rawGetPointee=rawGetPointee;this.rawConstructor=rawConstructor;this.rawShare=rawShare;this.rawDestructor=rawDestructor;if(!isSmartPointer&®isteredClass.baseClass===undefined){if(isConst){this["toWireType"]=constNoSmartPtrRawPointerToWireType;this.destructorFunction=null}else{this["toWireType"]=nonConstNoSmartPtrRawPointerToWireType;this.destructorFunction=null}}else{this["toWireType"]=genericPointerToWireType}}var replacePublicSymbol=(name,value,numArguments)=>{if(!Module.hasOwnProperty(name)){throwInternalError("Replacing nonexistant public symbol")}if(undefined!==Module[name].overloadTable&&undefined!==numArguments){Module[name].overloadTable[numArguments]=value}else{Module[name]=value;Module[name].argCount=numArguments}};var dynCallLegacy=(sig,ptr,args)=>{var f=Module["dynCall_"+sig];return args&&args.length?f.apply(null,[ptr].concat(args)):f.call(null,ptr)};var wasmTable;var getWasmTableEntry=funcPtr=>wasmTable.get(funcPtr);var dynCall=(sig,ptr,args)=>{if(sig.includes("j")){return dynCallLegacy(sig,ptr,args)}var rtn=getWasmTableEntry(ptr).apply(null,args);return rtn};var getDynCaller=(sig,ptr)=>{var argCache=[];return function(){argCache.length=0;Object.assign(argCache,arguments);return dynCall(sig,ptr,argCache)}};var embind__requireFunction=(signature,rawFunction)=>{signature=readLatin1String(signature);function makeDynCaller(){if(signature.includes("j")){return getDynCaller(signature,rawFunction)}return getWasmTableEntry(rawFunction)}var fp=makeDynCaller();if(typeof fp!="function"){throwBindingError(`unknown function pointer with signature ${signature}: ${rawFunction}`)}return fp};var extendError=(baseErrorType,errorName)=>{var errorClass=createNamedFunction(errorName,function(message){this.name=errorName;this.message=message;var stack=new Error(message).stack;if(stack!==undefined){this.stack=this.toString()+"\n"+stack.replace(/^Error(:[^\n]*)?\n/,"")}});errorClass.prototype=Object.create(baseErrorType.prototype);errorClass.prototype.constructor=errorClass;errorClass.prototype.toString=function(){if(this.message===undefined){return this.name}else{return`${this.name}: ${this.message}`}};return errorClass};var UnboundTypeError;var getTypeName=type=>{var ptr=___getTypeName(type);var rv=readLatin1String(ptr);_free(ptr);return rv};var throwUnboundTypeError=(message,types)=>{var unboundTypes=[];var seen={};function visit(type){if(seen[type]){return}if(registeredTypes[type]){return}if(typeDependencies[type]){typeDependencies[type].forEach(visit);return}unboundTypes.push(type);seen[type]=true}types.forEach(visit);throw new UnboundTypeError(`${message}: `+unboundTypes.map(getTypeName).join([", "]))};var __embind_register_class=(rawType,rawPointerType,rawConstPointerType,baseClassRawType,getActualTypeSignature,getActualType,upcastSignature,upcast,downcastSignature,downcast,name,destructorSignature,rawDestructor)=>{name=readLatin1String(name);getActualType=embind__requireFunction(getActualTypeSignature,getActualType);if(upcast){upcast=embind__requireFunction(upcastSignature,upcast)}if(downcast){downcast=embind__requireFunction(downcastSignature,downcast)}rawDestructor=embind__requireFunction(destructorSignature,rawDestructor);var legalFunctionName=makeLegalFunctionName(name);exposePublicSymbol(legalFunctionName,function(){throwUnboundTypeError(`Cannot construct ${name} due to unbound types`,[baseClassRawType])});whenDependentTypesAreResolved([rawType,rawPointerType,rawConstPointerType],baseClassRawType?[baseClassRawType]:[],function(base){base=base[0];var baseClass;var basePrototype;if(baseClassRawType){baseClass=base.registeredClass;basePrototype=baseClass.instancePrototype}else{basePrototype=ClassHandle.prototype}var constructor=createNamedFunction(legalFunctionName,function(){if(Object.getPrototypeOf(this)!==instancePrototype){throw new BindingError("Use 'new' to construct "+name)}if(undefined===registeredClass.constructor_body){throw new BindingError(name+" has no accessible constructor")}var body=registeredClass.constructor_body[arguments.length];if(undefined===body){throw new BindingError(`Tried to invoke ctor of ${name} with invalid number of parameters (${arguments.length}) - expected (${Object.keys(registeredClass.constructor_body).toString()}) parameters instead!`)}return body.apply(this,arguments)});var instancePrototype=Object.create(basePrototype,{constructor:{value:constructor}});constructor.prototype=instancePrototype;var registeredClass=new RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast);if(registeredClass.baseClass){if(registeredClass.baseClass.__derivedClasses===undefined){registeredClass.baseClass.__derivedClasses=[]}registeredClass.baseClass.__derivedClasses.push(registeredClass)}var referenceConverter=new RegisteredPointer(name,registeredClass,true,false,false);var pointerConverter=new RegisteredPointer(name+"*",registeredClass,false,false,false);var constPointerConverter=new RegisteredPointer(name+" const*",registeredClass,false,true,false);registeredPointers[rawType]={pointerType:pointerConverter,constPointerType:constPointerConverter};replacePublicSymbol(legalFunctionName,constructor);return[referenceConverter,pointerConverter,constPointerConverter]})};var heap32VectorToArray=(count,firstElement)=>{var array=[];for(var i=0;i>2])}return array};var runDestructors=destructors=>{while(destructors.length){var ptr=destructors.pop();var del=destructors.pop();del(ptr)}};function newFunc(constructor,argumentList){if(!(constructor instanceof Function)){throw new TypeError(`new_ called with constructor type ${typeof constructor} which is not a function`)}var dummy=createNamedFunction(constructor.name||"unknownFunctionName",function(){});dummy.prototype=constructor.prototype;var obj=new dummy;var r=constructor.apply(obj,argumentList);return r instanceof Object?r:obj}function craftInvokerFunction(humanName,argTypes,classType,cppInvokerFunc,cppTargetFunc,isAsync){var argCount=argTypes.length;if(argCount<2){throwBindingError("argTypes array size mismatch! Must at least get return value and 'this' types!")}var isClassMethodFunc=argTypes[1]!==null&&classType!==null;var needsDestructorStack=false;for(var i=1;i0?", ":"")+argsListWired}invokerFnBody+=(returns||isAsync?"var rv = ":"")+"invoker(fn"+(argsListWired.length>0?", ":"")+argsListWired+");\n";if(needsDestructorStack){invokerFnBody+="runDestructors(destructors);\n"}else{for(var i=isClassMethodFunc?1:2;i{var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);invoker=embind__requireFunction(invokerSignature,invoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=`constructor ${classType.name}`;if(undefined===classType.registeredClass.constructor_body){classType.registeredClass.constructor_body=[]}if(undefined!==classType.registeredClass.constructor_body[argCount-1]){throw new BindingError(`Cannot register multiple constructors with identical number of parameters (${argCount-1}) for class '${classType.name}'! Overload resolution is currently only performed using the parameter count, not actual type info!`)}classType.registeredClass.constructor_body[argCount-1]=()=>{throwUnboundTypeError(`Cannot construct ${classType.name} due to unbound types`,rawArgTypes)};whenDependentTypesAreResolved([],rawArgTypes,argTypes=>{argTypes.splice(1,0,null);classType.registeredClass.constructor_body[argCount-1]=craftInvokerFunction(humanName,argTypes,null,invoker,rawConstructor);return[]});return[]})};var __embind_register_class_function=(rawClassType,methodName,argCount,rawArgTypesAddr,invokerSignature,rawInvoker,context,isPureVirtual,isAsync)=>{var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);methodName=readLatin1String(methodName);rawInvoker=embind__requireFunction(invokerSignature,rawInvoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=`${classType.name}.${methodName}`;if(methodName.startsWith("@@")){methodName=Symbol[methodName.substring(2)]}if(isPureVirtual){classType.registeredClass.pureVirtualFunctions.push(methodName)}function unboundTypesHandler(){throwUnboundTypeError(`Cannot call ${humanName} due to unbound types`,rawArgTypes)}var proto=classType.registeredClass.instancePrototype;var method=proto[methodName];if(undefined===method||undefined===method.overloadTable&&method.className!==classType.name&&method.argCount===argCount-2){unboundTypesHandler.argCount=argCount-2;unboundTypesHandler.className=classType.name;proto[methodName]=unboundTypesHandler}else{ensureOverloadTable(proto,methodName,humanName);proto[methodName].overloadTable[argCount-2]=unboundTypesHandler}whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){var memberFunction=craftInvokerFunction(humanName,argTypes,classType,rawInvoker,context,isAsync);if(undefined===proto[methodName].overloadTable){memberFunction.argCount=argCount-2;proto[methodName]=memberFunction}else{proto[methodName].overloadTable[argCount-2]=memberFunction}return[]});return[]})};function handleAllocatorInit(){Object.assign(HandleAllocator.prototype,{get(id){return this.allocated[id]},has(id){return this.allocated[id]!==undefined},allocate(handle){var id=this.freelist.pop()||this.allocated.length;this.allocated[id]=handle;return id},free(id){this.allocated[id]=undefined;this.freelist.push(id)}})}function HandleAllocator(){this.allocated=[undefined];this.freelist=[]}var emval_handles=new HandleAllocator;var __emval_decref=handle=>{if(handle>=emval_handles.reserved&&0===--emval_handles.get(handle).refcount){emval_handles.free(handle)}};var count_emval_handles=()=>{var count=0;for(var i=emval_handles.reserved;i{emval_handles.allocated.push({value:undefined},{value:null},{value:true},{value:false});emval_handles.reserved=emval_handles.allocated.length;Module["count_emval_handles"]=count_emval_handles};var Emval={toValue:handle=>{if(!handle){throwBindingError("Cannot use deleted val. handle = "+handle)}return emval_handles.get(handle).value},toHandle:value=>{switch(value){case undefined:return 1;case null:return 2;case true:return 3;case false:return 4;default:{return emval_handles.allocate({refcount:1,value:value})}}}};function simpleReadValueFromPointer(pointer){return this["fromWireType"](HEAP32[pointer>>2])}var __embind_register_emval=(rawType,name)=>{name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":handle=>{var rv=Emval.toValue(handle);__emval_decref(handle);return rv},"toWireType":(destructors,value)=>Emval.toHandle(value),"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:null})};var embindRepr=v=>{if(v===null){return"null"}var t=typeof v;if(t==="object"||t==="array"||t==="function"){return v.toString()}else{return""+v}};var floatReadValueFromPointer=(name,width)=>{switch(width){case 4:return function(pointer){return this["fromWireType"](HEAPF32[pointer>>2])};case 8:return function(pointer){return this["fromWireType"](HEAPF64[pointer>>3])};default:throw new TypeError(`invalid float width (${width}): ${name}`)}};var __embind_register_float=(rawType,name,size)=>{name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":value=>value,"toWireType":(destructors,value)=>value,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":floatReadValueFromPointer(name,size),destructorFunction:null})};var integerReadValueFromPointer=(name,width,signed)=>{switch(width){case 1:return signed?pointer=>HEAP8[pointer>>0]:pointer=>HEAPU8[pointer>>0];case 2:return signed?pointer=>HEAP16[pointer>>1]:pointer=>HEAPU16[pointer>>1];case 4:return signed?pointer=>HEAP32[pointer>>2]:pointer=>HEAPU32[pointer>>2];default:throw new TypeError(`invalid integer width (${width}): ${name}`)}};var __embind_register_integer=(primitiveType,name,size,minRange,maxRange)=>{name=readLatin1String(name);if(maxRange===-1){maxRange=4294967295}var fromWireType=value=>value;if(minRange===0){var bitshift=32-8*size;fromWireType=value=>value<>>bitshift}var isUnsignedType=name.includes("unsigned");var checkAssertions=(value,toTypeName)=>{};var toWireType;if(isUnsignedType){toWireType=function(destructors,value){checkAssertions(value,this.name);return value>>>0}}else{toWireType=function(destructors,value){checkAssertions(value,this.name);return value}}registerType(primitiveType,{name:name,"fromWireType":fromWireType,"toWireType":toWireType,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":integerReadValueFromPointer(name,size,minRange!==0),destructorFunction:null})};var __embind_register_memory_view=(rawType,dataTypeIndex,name)=>{var typeMapping=[Int8Array,Uint8Array,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array];var TA=typeMapping[dataTypeIndex];function decodeMemoryView(handle){var size=HEAPU32[handle>>2];var data=HEAPU32[handle+4>>2];return new TA(HEAP8.buffer,data,size)}name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":decodeMemoryView,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":decodeMemoryView},{ignoreDuplicateRegistrations:true})};var stringToUTF8Array=(str,heap,outIdx,maxBytesToWrite)=>{if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i=55296&&u<=57343){var u1=str.charCodeAt(++i);u=65536+((u&1023)<<10)|u1&1023}if(u<=127){if(outIdx>=endIdx)break;heap[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;heap[outIdx++]=192|u>>6;heap[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;heap[outIdx++]=224|u>>12;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}else{if(outIdx+3>=endIdx)break;heap[outIdx++]=240|u>>18;heap[outIdx++]=128|u>>12&63;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}}heap[outIdx]=0;return outIdx-startIdx};var stringToUTF8=(str,outPtr,maxBytesToWrite)=>stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite);var lengthBytesUTF8=str=>{var len=0;for(var i=0;i=55296&&c<=57343){len+=4;++i}else{len+=3}}return len};var UTF8Decoder=typeof TextDecoder!="undefined"?new TextDecoder("utf8"):undefined;var UTF8ArrayToString=(heapOrArray,idx,maxBytesToRead)=>{var endIdx=idx+maxBytesToRead;var endPtr=idx;while(heapOrArray[endPtr]&&!(endPtr>=endIdx))++endPtr;if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx>10,56320|ch&1023)}}return str};var UTF8ToString=(ptr,maxBytesToRead)=>ptr?UTF8ArrayToString(HEAPU8,ptr,maxBytesToRead):"";var __embind_register_std_string=(rawType,name)=>{name=readLatin1String(name);var stdStringIsUTF8=name==="std::string";registerType(rawType,{name:name,"fromWireType"(value){var length=HEAPU32[value>>2];var payload=value+4;var str;if(stdStringIsUTF8){var decodeStartPtr=payload;for(var i=0;i<=length;++i){var currentBytePtr=payload+i;if(i==length||HEAPU8[currentBytePtr]==0){var maxRead=currentBytePtr-decodeStartPtr;var stringSegment=UTF8ToString(decodeStartPtr,maxRead);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+1}}}else{var a=new Array(length);for(var i=0;i>2]=length;if(stdStringIsUTF8&&valueIsOfTypeString){stringToUTF8(value,ptr,length+1)}else{if(valueIsOfTypeString){for(var i=0;i255){_free(ptr);throwBindingError("String has UTF-16 code units that do not fit in 8 bits")}HEAPU8[ptr+i]=charCode}}else{for(var i=0;i{var endPtr=ptr;var idx=endPtr>>1;var maxIdx=idx+maxBytesToRead/2;while(!(idx>=maxIdx)&&HEAPU16[idx])++idx;endPtr=idx<<1;if(endPtr-ptr>32&&UTF16Decoder)return UTF16Decoder.decode(HEAPU8.subarray(ptr,endPtr));var str="";for(var i=0;!(i>=maxBytesToRead/2);++i){var codeUnit=HEAP16[ptr+i*2>>1];if(codeUnit==0)break;str+=String.fromCharCode(codeUnit)}return str};var stringToUTF16=(str,outPtr,maxBytesToWrite)=>{if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<2)return 0;maxBytesToWrite-=2;var startPtr=outPtr;var numCharsToWrite=maxBytesToWrite>1]=codeUnit;outPtr+=2}HEAP16[outPtr>>1]=0;return outPtr-startPtr};var lengthBytesUTF16=str=>str.length*2;var UTF32ToString=(ptr,maxBytesToRead)=>{var i=0;var str="";while(!(i>=maxBytesToRead/4)){var utf32=HEAP32[ptr+i*4>>2];if(utf32==0)break;++i;if(utf32>=65536){var ch=utf32-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}else{str+=String.fromCharCode(utf32)}}return str};var stringToUTF32=(str,outPtr,maxBytesToWrite)=>{if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<4)return 0;var startPtr=outPtr;var endPtr=startPtr+maxBytesToWrite-4;for(var i=0;i=55296&&codeUnit<=57343){var trailSurrogate=str.charCodeAt(++i);codeUnit=65536+((codeUnit&1023)<<10)|trailSurrogate&1023}HEAP32[outPtr>>2]=codeUnit;outPtr+=4;if(outPtr+4>endPtr)break}HEAP32[outPtr>>2]=0;return outPtr-startPtr};var lengthBytesUTF32=str=>{var len=0;for(var i=0;i=55296&&codeUnit<=57343)++i;len+=4}return len};var __embind_register_std_wstring=(rawType,charSize,name)=>{name=readLatin1String(name);var decodeString,encodeString,getHeap,lengthBytesUTF,shift;if(charSize===2){decodeString=UTF16ToString;encodeString=stringToUTF16;lengthBytesUTF=lengthBytesUTF16;getHeap=()=>HEAPU16;shift=1}else if(charSize===4){decodeString=UTF32ToString;encodeString=stringToUTF32;lengthBytesUTF=lengthBytesUTF32;getHeap=()=>HEAPU32;shift=2}registerType(rawType,{name:name,"fromWireType":value=>{var length=HEAPU32[value>>2];var HEAP=getHeap();var str;var decodeStartPtr=value+4;for(var i=0;i<=length;++i){var currentBytePtr=value+4+i*charSize;if(i==length||HEAP[currentBytePtr>>shift]==0){var maxReadBytes=currentBytePtr-decodeStartPtr;var stringSegment=decodeString(decodeStartPtr,maxReadBytes);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+charSize}}_free(value);return str},"toWireType":(destructors,value)=>{if(!(typeof value=="string")){throwBindingError(`Cannot pass non-string to C++ string type ${name}`)}var length=lengthBytesUTF(value);var ptr=_malloc(4+length+charSize);HEAPU32[ptr>>2]=length>>shift;encodeString(value,ptr+4,length+charSize);if(destructors!==null){destructors.push(_free,ptr)}return ptr},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction(ptr){_free(ptr)}})};var __embind_register_void=(rawType,name)=>{name=readLatin1String(name);registerType(rawType,{isVoid:true,name:name,"argPackAdvance":0,"fromWireType":()=>undefined,"toWireType":(destructors,o)=>undefined})};var requireRegisteredType=(rawType,humanName)=>{var impl=registeredTypes[rawType];if(undefined===impl){throwBindingError(humanName+" has unknown type "+getTypeName(rawType))}return impl};var __emval_as=(handle,returnType,destructorsRef)=>{handle=Emval.toValue(handle);returnType=requireRegisteredType(returnType,"emval::as");var destructors=[];var rd=Emval.toHandle(destructors);HEAPU32[destructorsRef>>2]=rd;return returnType["toWireType"](destructors,handle)};var emval_symbols={};var getStringOrSymbol=address=>{var symbol=emval_symbols[address];if(symbol===undefined){return readLatin1String(address)}return symbol};var emval_methodCallers=[];var __emval_call_void_method=(caller,handle,methodName,args)=>{caller=emval_methodCallers[caller];handle=Emval.toValue(handle);methodName=getStringOrSymbol(methodName);caller(handle,methodName,null,args)};var emval_addMethodCaller=caller=>{var id=emval_methodCallers.length;emval_methodCallers.push(caller);return id};var emval_lookupTypes=(argCount,argTypes)=>{var a=new Array(argCount);for(var i=0;i>2],"parameter "+i)}return a};var emval_registeredMethods={};var __emval_get_method_caller=(argCount,argTypes)=>{var types=emval_lookupTypes(argCount,argTypes);var retType=types[0];var signatureName=retType.name+"_$"+types.slice(1).map(function(t){return t.name}).join("_")+"$";var returnId=emval_registeredMethods[signatureName];if(returnId!==undefined){return returnId}var params=["retType"];var args=[retType];var argsList="";for(var i=0;i{handle=Emval.toValue(handle);key=Emval.toValue(key);return Emval.toHandle(handle[key])};var __emval_incref=handle=>{if(handle>4){emval_handles.get(handle).refcount+=1}};var __emval_new_cstring=v=>Emval.toHandle(getStringOrSymbol(v));var __emval_run_destructors=handle=>{var destructors=Emval.toValue(handle);runDestructors(destructors);__emval_decref(handle)};var __emval_take_value=(type,arg)=>{type=requireRegisteredType(type,"_emval_take_value");var v=type["readValueFromPointer"](arg);return Emval.toHandle(v)};var _abort=()=>{abort("")};var getHeapMax=()=>268435456;var growMemory=size=>{var b=wasmMemory.buffer;var pages=(size-b.byteLength+65535)/65536;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){}};var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){return false}var alignUp=(x,multiple)=>x+(multiple-x%multiple)%multiple;for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignUp(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}return false};embind_init_charCodes();BindingError=Module["BindingError"]=class BindingError extends Error{constructor(message){super(message);this.name="BindingError"}};InternalError=Module["InternalError"]=class InternalError extends Error{constructor(message){super(message);this.name="InternalError"}};init_ClassHandle();init_embind();init_RegisteredPointer();UnboundTypeError=Module["UnboundTypeError"]=extendError(Error,"UnboundTypeError");handleAllocatorInit();init_emval();var wasmImports={e:___cxa_throw,o:__embind_register_bigint,t:__embind_register_bool,w:__embind_register_class,r:__embind_register_class_constructor,h:__embind_register_class_function,s:__embind_register_emval,g:__embind_register_float,c:__embind_register_integer,a:__embind_register_memory_view,f:__embind_register_std_string,d:__embind_register_std_wstring,u:__embind_register_void,l:__emval_as,j:__emval_call_void_method,b:__emval_decref,v:__emval_get_method_caller,m:__emval_get_property,i:__emval_incref,n:__emval_new_cstring,k:__emval_run_destructors,x:__emval_take_value,p:_abort,q:_emscripten_resize_heap};var wasmExports=createWasm();var ___wasm_call_ctors=()=>(___wasm_call_ctors=wasmExports["z"])();var ___getTypeName=a0=>(___getTypeName=wasmExports["B"])(a0);var __embind_initialize_bindings=Module["__embind_initialize_bindings"]=()=>(__embind_initialize_bindings=Module["__embind_initialize_bindings"]=wasmExports["C"])();var ___errno_location=()=>(___errno_location=wasmExports["__errno_location"])();var _malloc=a0=>(_malloc=wasmExports["D"])(a0);var _free=a0=>(_free=wasmExports["E"])(a0);var ___cxa_is_pointer_type=a0=>(___cxa_is_pointer_type=wasmExports["F"])(a0);Module["addOnPostRun"]=addOnPostRun;var calledRun;dependenciesFulfilled=function runCaller(){if(!calledRun)run();if(!calledRun)dependenciesFulfilled=runCaller};function run(){if(runDependencies>0){return}preRun();if(runDependencies>0){return}function doRun(){if(calledRun)return;calledRun=true;Module["calledRun"]=true;if(ABORT)return;initRuntime();readyPromiseResolve(Module);if(Module["onRuntimeInitialized"])Module["onRuntimeInitialized"]();postRun()}if(Module["setStatus"]){Module["setStatus"]("Running...");setTimeout(function(){setTimeout(function(){Module["setStatus"]("")},1);doRun()},1)}else{doRun()}}if(Module["preInit"]){if(typeof Module["preInit"]=="function")Module["preInit"]=[Module["preInit"]];while(Module["preInit"].length>0){Module["preInit"].pop()()}}run(); + + + return moduleArg.ready +} + +); +})(); +export default Module; \ No newline at end of file diff --git a/src/viser/client/src/splatting/WasmSorter/Sorter.wasm b/src/viser/client/src/splatting/WasmSorter/Sorter.wasm new file mode 100755 index 000000000..46d9e827c Binary files /dev/null and b/src/viser/client/src/splatting/WasmSorter/Sorter.wasm differ diff --git a/src/viser/client/src/splatting/WasmSorter/build.sh b/src/viser/client/src/splatting/WasmSorter/build.sh new file mode 100644 index 000000000..323059786 --- /dev/null +++ b/src/viser/client/src/splatting/WasmSorter/build.sh @@ -0,0 +1,3 @@ +#!/usr/bin/env bash + +emcc --bind -Oz sorter.cpp -o Sorter.mjs -s WASM=1 -s NO_EXIT_RUNTIME=1 -s "EXPORTED_RUNTIME_METHODS=['addOnPostRun']" -s ALLOW_MEMORY_GROWTH=1 -s MAXIMUM_MEMORY=1GB; diff --git a/src/viser/client/src/splatting/WasmSorter/sorter.cpp b/src/viser/client/src/splatting/WasmSorter/sorter.cpp new file mode 100644 index 000000000..d501e0112 --- /dev/null +++ b/src/viser/client/src/splatting/WasmSorter/sorter.cpp @@ -0,0 +1,156 @@ +#include +#include +#include +#include + +#include +#include + +struct Gaussian { + float center[3]; + float rgb[3]; + float opacity; + float cov_a[3]; + float cov_b[3]; +}; + +struct Buffers { + std::vector centers; + std::vector rgbs; + std::vector opacities; + std::vector cov_a; + std::vector cov_b; +}; + +// Build a Float32Array view of a C++ vector. +emscripten::val getFloat32Array(const std::vector &v) { + return emscripten::val(emscripten::typed_memory_view(v.size(), &(v[0]))); +} + +class Sorter { + // Properties for each unsorted Gaussian. A vector of structs (as opposed to a + // struct of vectors) produces less fragmented reads. This can result in an + // ~30% runtime improvement. + std::vector unsorted_gaussians; + + // Sorted buffers. The memory layout here is intended to match WebGL. + Buffers sorted_buffers; + +public: + Sorter(const emscripten::val ¢ers, const emscripten::val &rgbs, + const emscripten::val &opacities, const emscripten::val &cov_a, + const emscripten::val &cov_b) { + Buffers unsorted_buffers{ + emscripten::convertJSArrayToNumberVector(centers), + emscripten::convertJSArrayToNumberVector(rgbs), + emscripten::convertJSArrayToNumberVector(opacities), + emscripten::convertJSArrayToNumberVector(cov_a), + emscripten::convertJSArrayToNumberVector(cov_b)}; + + int num_gaussians = unsorted_buffers.centers.size() / 3; + for (int i = 0; i < num_gaussians; i++) { + unsorted_gaussians.push_back({ + {unsorted_buffers.centers[i * 3 + 0], + unsorted_buffers.centers[i * 3 + 1], + unsorted_buffers.centers[i * 3 + 2]}, + {unsorted_buffers.rgbs[i * 3 + 0], unsorted_buffers.rgbs[i * 3 + 1], + unsorted_buffers.rgbs[i * 3 + 2]}, + unsorted_buffers.opacities[i], + {unsorted_buffers.cov_a[i * 3 + 0], unsorted_buffers.cov_a[i * 3 + 1], + unsorted_buffers.cov_a[i * 3 + 2]}, + {unsorted_buffers.cov_b[i * 3 + 0], unsorted_buffers.cov_b[i * 3 + 1], + unsorted_buffers.cov_b[i * 3 + 2]}, + }); + } + + sorted_buffers = unsorted_buffers; + }; + + // Run sorting using the newest view projection matrix. Mutates internal + // buffers. + void sort(float view_proj_2, float view_proj_6, float view_proj_10) { + const int num_gaussians = unsorted_gaussians.size(); + + // We do a 16-bit counting sort. This is mostly translated from Kevin Kwok's + // Javascript implementation: + // https://github.com/antimatter15/splat/blob/main/main.js + std::vector depths(num_gaussians); + std::vector counts0(256 * 256, 0); + std::vector starts0(256 * 256, 0); + + int min_depth; + int max_depth; + for (int i = 0; i < num_gaussians; i++) { + const int depth = (((view_proj_2 * unsorted_gaussians[i].center[0] + + view_proj_6 * unsorted_gaussians[i].center[1] + + view_proj_10 * unsorted_gaussians[i].center[2]) * + 4096.0)); + depths[i] = depth; + + if (i == 0 || depth < min_depth) + min_depth = depth; + if (i == 0 || depth > max_depth) + max_depth = depth; + } + const float depth_inv = (256 * 256 - 1) / (max_depth - min_depth + 1e-5); + for (int i = 0; i < num_gaussians; i++) { + const int depth_bin = ((depths[i] - min_depth) * depth_inv); + depths[i] = depth_bin; + counts0[depth_bin]++; + } + for (int i = 1; i < 256 * 256; i++) { + starts0[i] = starts0[i - 1] + counts0[i - 1]; + } + + std::vector sorted_indices(num_gaussians); + for (int i = 0; i < num_gaussians; i++) + sorted_indices[starts0[depths[i]]++] = i; + + // Rearrange values in underlying buffers. This is the slowest part of the + // sort. + for (int i = 0; i < num_gaussians; i++) { + const int j = sorted_indices[num_gaussians - i - 1]; + + const Gaussian &gaussian = unsorted_gaussians[j]; + memcpy(&(sorted_buffers.centers[i * 3]), &gaussian.center, 4 * 3); + memcpy(&(sorted_buffers.rgbs[i * 3]), &gaussian.rgb, 4 * 3); + sorted_buffers.opacities[i] = gaussian.opacity; + memcpy(&(sorted_buffers.cov_a[i * 3]), &gaussian.cov_a, 4 * 3); + memcpy(&(sorted_buffers.cov_b[i * 3]), &gaussian.cov_b, 4 * 3); + } + } + + // Access outputs. + emscripten::val getSortedCenters() { + return getFloat32Array(sorted_buffers.centers); + } + emscripten::val getSortedRgbs() { + return getFloat32Array(sorted_buffers.rgbs); + } + emscripten::val getSortedOpacities() { + return getFloat32Array(sorted_buffers.opacities); + } + emscripten::val getSortedCovA() { + return getFloat32Array(sorted_buffers.cov_a); + } + emscripten::val getSortedCovB() { + return getFloat32Array(sorted_buffers.cov_b); + } +}; + +EMSCRIPTEN_BINDINGS(c) { + emscripten::class_("Sorter") + .constructor() + .function("sort", &Sorter::sort) + .function("getSortedCenters", &Sorter::getSortedCenters, + emscripten::allow_raw_pointers()) + .function("getSortedRgbs", &Sorter::getSortedRgbs, + emscripten::allow_raw_pointers()) + .function("getSortedOpacities", &Sorter::getSortedOpacities, + emscripten::allow_raw_pointers()) + .function("getSortedCovA", &Sorter::getSortedCovA, + emscripten::allow_raw_pointers()) + .function("getSortedCovB", &Sorter::getSortedCovB, + emscripten::allow_raw_pointers()); +};