/// <summary>
/// Reads points from the cells.
/// </summary>
/// <param name="filter">The filter that determines which point is to be read</param>
/// <param name="buffer">The buffer to contain the points</param>
/// <param name="start_index">The index of points to start fetching</param>
/// <returns>The number of points that are fetched</returns>
protected override int ReadPoints(PointCloudFilter filter, IntPtrCloudPointBuffer buffer, int start_index)
{
int point_index = 0;
int current_index = start_index;
int total_points = 0;
int start_cell = 0;
for (int k = 0; k < m_cells.Length; k++)
{
UniformGridCell cell = m_cells[k];
int filter_result = filter.TestCell(cell.LowerLeft, cell.UpperRight);
if (filter_result == -1)
{
continue;
}
total_points += cell.Count;
if (current_index < total_points)
{
start_cell = k;
current_index = Math.Max(0, start_index - total_points);
break;
}
}
for (int k = start_cell; k < m_cells.Length; k++)
{
UniformGridCell cell = m_cells[k];
int filter_result = filter.TestCell(cell.LowerLeft, cell.UpperRight);
if (filter_result == -1)
{
continue;
}
if (filter_result == 0)
{
filter.PrepareForCell(m_outline.MinimumPoint, m_outline.MaximumPoint, cell.Count);
}
for (int s = current_index; s < cell.Count; s++)
{
if (filter_result == 0)
{
if (filter.TestPoint(m_points[cell.Indices[s]]) == false)
{
continue;
}
}
buffer.AddCloudPoint(m_points[cell.Indices[s]]);
point_index++;
if (point_index >= buffer.Size)
{
break;
}
}
if (point_index >= buffer.Size)
{
break;
}
current_index = 0;
}
return(point_index);
}
public UniformGridIndexAccessIterator(UniformGridCell access)
{
m_access = access;
}
