/// <summary>
/// Returns new tree with regenerated normals using given estimateNormals function.
/// </summary>
private static PointSetNode RegenerateNormals(this PointSetNode self,
Func <IList <V3d>, IList <V3f> > estimateNormals,
Action callback, CancellationToken ct
)
{
if (self == null)
{
throw new ArgumentNullException(nameof(self));
}
ct.ThrowIfCancellationRequested();
callback?.Invoke();
if (self.IsLeaf)
{
// generate and store normals
var ns = estimateNormals(self.PositionsAbsolute).ToArray();
var nsId = Guid.NewGuid();
self.Storage.Add(nsId, ns, ct);
// create node with new normals and LoD normals
var r = self.WithNormals(nsId).WithLod();
return(r);
}
if (self.Subnodes == null || self.Subnodes.Length != 8)
{
throw new InvalidOperationException();
}
var subcells = self.Subnodes.Map(x => x?.Value.RegenerateNormals(estimateNormals, callback, ct));
var subcellsTotalCount = (long)subcells.Sum(x => x?.PointCountTree);
var octreeSplitLimit = self.LodPositions.Value.Length;
var fractions = new double[8].SetByIndex(
ci => subcells[ci] != null ? (subcells[ci].PointCountTree / (double)subcellsTotalCount) : 0.0
);
var remainder = 0.1;
var counts = fractions.Map(x =>
{
var fn = octreeSplitLimit * x + remainder;
var n = (int)fn;
remainder = fn - n;
return(n);
});
var e = octreeSplitLimit - counts.Sum();
if (e != 0)
{
throw new InvalidOperationException();
}
// generate LodNormals ...
var lodNs = new V3f[octreeSplitLimit];
var i = 0;
for (var ci = 0; ci < 8; ci++)
{
if (counts[ci] == 0)
{
continue;
}
var subcell = subcells[ci];
if (subcell == null)
{
continue;
}
var subns = subcell.LodNormals.Value;
var jmax = subns.Length;
var dj = (jmax + 0.49) / counts[ci];
var oldI = i;
for (var j = 0.0; j < jmax; j += dj)
{
var jj = (int)j;
lodNs[i] = subns[jj];
i++;
}
}
// store LoD data ...
var lodNsId = Guid.NewGuid();
self.Storage.Add(lodNsId, lodNs, ct);
var result = self.WithLod(self.LodPositionsId, self.LodColorsId, lodNsId, self.LodIntensitiesId, self.LodKdTreeId, subcells);
return(result);
}
/// <summary>
/// </summary>
private static PointSetNode GenerateLod(this PointSetNode self, long octreeSplitLimit, Action callback, CancellationToken ct)
{
if (self == null)
{
throw new ArgumentNullException(nameof(self));
}
ct.ThrowIfCancellationRequested();
callback?.Invoke();
if (self.IsLeaf)
{
return(self.WithLod());
}
if (self.Subnodes == null || self.Subnodes.Length != 8)
{
throw new InvalidOperationException();
}
var subcells = self.Subnodes.Map(x => x?.Value.GenerateLod(octreeSplitLimit, callback, ct));
var subcellsTotalCount = (long)subcells.Sum(x => x?.PointCountTree);
var needsCs = subcells.Any(x => x != null ? (x.HasColors || x.HasLodColors) : false);
var needsNs = subcells.Any(x => x != null ? (x.HasNormals || x.HasLodNormals) : false);
var needsIs = subcells.Any(x => x != null ? (x.HasIntensities || x.HasLodIntensities) : false);
var fractions = new double[8].SetByIndex(
ci => subcells[ci] != null ? (subcells[ci].PointCountTree / (double)subcellsTotalCount) : 0.0
);
var remainder = 0.1;
var counts = fractions.Map(x =>
{
var fn = octreeSplitLimit * x + remainder;
var n = (int)fn;
remainder = fn - n;
return(n);
});
var e = octreeSplitLimit - counts.Sum();
if (e != 0)
{
throw new InvalidOperationException();
}
// generate LoD data ...
var lodPs = new V3f[octreeSplitLimit];
var lodCs = needsCs ? new C4b[octreeSplitLimit] : null;
var lodNs = needsNs ? new V3f[octreeSplitLimit] : null;
var lodIs = needsIs ? new int[octreeSplitLimit] : null;
var i = 0;
for (var ci = 0; ci < 8; ci++)
{
if (counts[ci] == 0)
{
continue;
}
var subcell = subcells[ci];
if (subcell == null)
{
continue;
}
var subps = subcell.IsLeaf ? subcell.Positions.Value : subcell.LodPositions.Value;
var subcs = needsCs ? (subcell.IsLeaf ? subcell.Colors.Value : subcell.LodColors.Value) : null;
var subns = needsNs ? (subcell.IsLeaf ? subcell.Normals.Value : subcell.LodNormals.Value) : null;
var subis = needsIs ? (subcell.IsLeaf ? subcell.Intensities.Value : subcell.LodIntensities.Value) : null;
var jmax = subps.Length;
var dj = (jmax + 0.49) / counts[ci];
var oldI = i;
for (var j = 0.0; j < jmax; j += dj)
{
var jj = (int)j;
lodPs[i] = (V3f)(((V3d)subps[jj] + subcell.Center) - self.Center);
if (needsCs)
{
lodCs[i] = subcs[jj];
}
if (needsNs)
{
lodNs[i] = subns[jj];
}
if (needsIs)
{
lodIs[i] = subis[jj];
}
i++;
}
}
var lodKd = lodPs.BuildKdTree();
// store LoD data ...
var lodPsId = Guid.NewGuid();
self.Storage.Add(lodPsId, lodPs, ct);
var lodKdId = Guid.NewGuid();
self.Storage.Add(lodKdId, lodKd.Data, ct);
var lodCsId = needsCs ? (Guid?)Guid.NewGuid() : null;
if (needsCs)
{
self.Storage.Add(lodCsId.Value, lodCs, ct);
}
var lodNsId = needsNs ? (Guid?)Guid.NewGuid() : null;
if (needsNs)
{
self.Storage.Add(lodNsId.Value, lodNs, ct);
}
var lodIsId = needsIs ? (Guid?)Guid.NewGuid() : null;
if (needsIs)
{
self.Storage.Add(lodIsId.Value, lodIs, ct);
}
var result = self.WithLod(lodPsId, lodCsId, lodNsId, lodIsId, lodKdId, subcells);
return(result);
}
/// <summary>
/// </summary>
public static PointSetNode Delete(this PointSetNode node,
Func <PointSetNode, bool> isNodeFullyInside,
Func <PointSetNode, bool> isNodeFullyOutside,
Func <V3d, bool> isPositionInside,
CancellationToken ct
)
{
if (node == null)
{
return(null);
}
if (isNodeFullyInside(node))
{
return(null);
}
if (isNodeFullyOutside(node))
{
return(node);
}
if (node.IsLeaf)
{
Guid?newPsId = null;
Guid?newCsId = null;
Guid?newNsId = null;
Guid?newIsId = null;
Guid?newKdId = null;
if (!node.HasPositions)
{
throw new InvalidOperationException();
}
var ps = new List <V3f>();
var cs = node.HasColors ? new List <C4b>() : null;
var ns = node.HasNormals ? new List <V3f>() : null;
var js = node.HasIntensities ? new List <int>() : null;
var oldPsAbsolute = node.PositionsAbsolute;
var oldPs = node.Positions.Value;
var oldCs = node.Colors?.Value;
var oldNs = node.Normals?.Value;
var oldIs = node.Intensities?.Value;
for (var i = 0; i < oldPsAbsolute.Length; i++)
{
if (!isPositionInside(oldPsAbsolute[i]))
{
ps.Add(oldPs[i]);
if (oldCs != null)
{
cs.Add(oldCs[i]);
}
if (oldNs != null)
{
ns.Add(oldNs[i]);
}
if (oldIs != null)
{
js.Add(oldIs[i]);
}
}
}
if (ps.Count > 0)
{
newPsId = Guid.NewGuid();
var psa = ps.ToArray();
node.Storage.Add(newPsId.Value, psa, ct);
newKdId = Guid.NewGuid();
node.Storage.Add(newKdId.Value, psa.BuildKdTree().Data, ct);
if (node.HasColors)
{
newCsId = Guid.NewGuid();
node.Storage.Add(newCsId.Value, cs.ToArray(), ct);
}
if (node.HasNormals)
{
newNsId = Guid.NewGuid();
node.Storage.Add(newNsId.Value, ns.ToArray(), ct);
}
if (node.HasIntensities)
{
newIsId = Guid.NewGuid();
node.Storage.Add(newIsId.Value, js.ToArray(), ct);
}
var result = new PointSetNode(node.Cell, ps.Count, newPsId, newCsId, newKdId, newNsId, newIsId, node.Storage);
if (node.HasLodPositions)
{
result = result.WithLod();
}
return(result);
}
else
{
return(null);
}
}
else
{
Guid?newLodPsId = null;
Guid?newLodCsId = null;
Guid?newLodNsId = null;
Guid?newLodIsId = null;
Guid?newLodKdId = null;
if (node.HasLodPositions)
{
var ps = node.HasLodPositions ? new List <V3f>() : null;
var cs = node.HasLodColors ? new List <C4b>() : null;
var ns = node.HasLodNormals ? new List <V3f>() : null;
var js = node.HasLodIntensities ? new List <int>() : null;
var oldLodPsAbsolute = node.LodPositionsAbsolute;
var oldLodPs = node.LodPositions.Value;
var oldLodCs = node.LodColors?.Value;
var oldLodNs = node.LodNormals?.Value;
var oldLodIs = node.LodIntensities?.Value;
for (var i = 0; i < oldLodPsAbsolute.Length; i++)
{
if (!isPositionInside(oldLodPsAbsolute[i]))
{
ps.Add(oldLodPs[i]);
if (oldLodCs != null)
{
cs.Add(oldLodCs[i]);
}
if (oldLodNs != null)
{
ns.Add(oldLodNs[i]);
}
if (oldLodIs != null)
{
js.Add(oldLodIs[i]);
}
}
}
if (ps.Count > 0)
{
newLodPsId = Guid.NewGuid();
var psa = ps.ToArray();
node.Storage.Add(newLodPsId.Value, psa, ct);
newLodKdId = Guid.NewGuid();
node.Storage.Add(newLodKdId.Value, psa.BuildKdTree().Data, ct);
if (node.HasLodColors)
{
newLodCsId = Guid.NewGuid();
node.Storage.Add(newLodCsId.Value, cs.ToArray(), ct);
}
if (node.HasLodNormals)
{
newLodNsId = Guid.NewGuid();
node.Storage.Add(newLodNsId.Value, ns.ToArray(), ct);
}
if (node.HasLodIntensities)
{
newLodIsId = Guid.NewGuid();
node.Storage.Add(newLodIsId.Value, js.ToArray(), ct);
}
}
}
var newSubnodes = node.Subnodes.Map(n => n?.Value.Delete(isNodeFullyInside, isNodeFullyOutside, isPositionInside, ct));
if (newSubnodes.All(n => n == null))
{
return(null);
}
return(node.WithLod(newLodPsId, newLodCsId, newLodNsId, newLodIsId, newLodKdId, newSubnodes));
}
}
