/// <summary>
/// Get a raw value out of a larger data block.
/// </summary>
/// <param name="dataBlock">Data block to read from.</param>
/// <param name="dataLength">Data block length.</param>
/// <param name="offset">Raw value offset within data block.</param>
/// <param name="length">Raw value length.</param>
public void GetRawValueFromDataBlock(object dataBlock, int dataLength, int offset, int length)
{
var union = new UnionArray()
{
Bytes = (byte[])dataBlock
};
if (offset >= dataLength || (offset + length) >= dataLength)
{
return;
}
Buffer.BlockCopy((byte[])dataBlock, 2 + offset, union.Bytes, 0, length);
if (isBigEndian)
{
Array.Reverse(union.Bytes, 0, 2);
}
rawValue = union.Shorts[0];
}
/// <summary>
/// Get a raw value out of a larger data block.
/// </summary>
/// <param name="dataBlock">Data block to read from.</param>
/// <param name="dataLength">Data block length.</param>
/// <param name="offset">Raw value offset within data block.</param>
/// <param name="length">Raw value length.</param>
public void GetRawValueFromDataBlock(object dataBlock, int dataLength, int offset, int length)
{
var union = new UnionArray()
{
Bytes = (byte[])dataBlock
};
if (offset >= dataLength || (offset + length) >= dataLength)
{
return;
}
if (displayFormat.CompareTo("s") == 0)
{
displayValue = Encoding.ASCII.GetString((byte[])dataBlock);
rawValue = 0;
}
else
{
Buffer.BlockCopy((byte[])dataBlock, 2 + offset, union.Bytes, 0, length);
rawValue = union.Shorts[0];
}
}
public void setPoints(byte[] receivedBytes, int step, uint newid, int size)
{
pointsH = new List <Vector3>();
colorsH = new List <Color>();
indH = new List <int>();
pointsL = new List <Vector3>();
indL = new List <int>();
colorsL = new List <Color>();
UnionArray rec = new UnionArray {
Bytes = receivedBytes
};
if (newid > id)
{
id = newid;
for (int a = 0; a < 4; a++)
{
lowres_cloud[a] = new Mesh();
highres_cloud[a] = new Mesh();
}
highres_nclouds = 0;
lowres_nclouds = 0;
l = 0;
h = 0;
pointCount = 0;
countPack = 0;
}
else if (newid == id)
{
countPack++;
pointsL.AddRange(lowres_cloud[lowres_nclouds].vertices);
colorsL.AddRange(lowres_cloud[lowres_nclouds].colors);
indL.AddRange(lowres_cloud[lowres_nclouds].GetIndices(0));
pointsH.AddRange(highres_cloud[highres_nclouds].vertices);
colorsH.AddRange((highres_cloud[highres_nclouds].colors));
indH.AddRange(highres_cloud[highres_nclouds].GetIndices(0));
l = pointsL.Count;
h = pointsH.Count;
}
else
{
Debug.Log("Old packet" + newid);
return;
}
float x, y, z;
byte r, g, b;
for (int i = step; i < size; i += 16) // Each point is represented by 16 bytes.
{
try
{
if (i + 15 > receivedBytes.Length)
{
break; // Insurance.
}
int floatindex = (int)(i / 4.0);
x = rec.Floats[floatindex];
y = rec.Floats[floatindex + 1];
z = rec.Floats[floatindex + 2];
r = receivedBytes[i + 12]; // r
g = receivedBytes[i + 13]; // g
b = receivedBytes[i + 14]; // b
Vector3 pos = posBucket[pointCount];
pos.Set(x, y, z);
Color c = colBucket[pointCount++];
c.r = (float)r / 255;
c.g = (float)g / 255;
c.b = (float)b / 255;
if (receivedBytes[i + 15] == 1)// If it's a HR point, save it to the high resolution points.
{
pointsH.Add(pos);
colorsH.Add(c);
indH.Add(h++);
}
else
{
pointsL.Add(pos);
colorsL.Add(c);
indL.Add(l++);
}
if (h == 65000)
{
highres_cloud[highres_nclouds].vertices = pointsH.ToArray();
highres_cloud[highres_nclouds].colors = colorsH.ToArray();
highres_cloud[highres_nclouds].SetIndices(indH.ToArray(), MeshTopology.Points, 0);
h = 0;
pointsH = new List <Vector3>();
colorsH = new List <Color>();
indH = new List <int>();
highres_nclouds++;
}
if (l == 65000)
{
lowres_cloud[lowres_nclouds].vertices = pointsL.ToArray();
lowres_cloud[lowres_nclouds].colors = colorsL.ToArray();
lowres_cloud[lowres_nclouds].SetIndices(indL.ToArray(), MeshTopology.Points, 0);
l = 0;
pointsL = new List <Vector3>();
indL = new List <int>();
colorsL = new List <Color>();
lowres_nclouds++;
}
}
catch (System.Exception exc)
{
Debug.Log("Reached out of the array: " + exc.StackTrace);
}
}
highres_cloud[highres_nclouds].vertices = pointsH.ToArray();
highres_cloud[highres_nclouds].colors = colorsH.ToArray();
highres_cloud[highres_nclouds].SetIndices(indH.ToArray(), MeshTopology.Points, 0);
lowres_cloud[lowres_nclouds].vertices = pointsL.ToArray();
lowres_cloud[lowres_nclouds].colors = colorsL.ToArray();
lowres_cloud[lowres_nclouds].SetIndices(indL.ToArray(), MeshTopology.Points, 0);
}
unsafe static void Main(string[] args)
{
Process.GetCurrentProcess().PriorityClass = ProcessPriorityClass.High;
byte[] rawData = new byte[10000000];
new Random().NextBytes(rawData);
Stopwatch sw1 = Stopwatch.StartNew();
short[] shorts = new short[rawData.Length / 2];
short[] channel1 = new short[rawData.Length / 4];
short[] channel2 = new short[rawData.Length / 4];
System.Buffer.BlockCopy(rawData, 0, shorts, 0, rawData.Length);
for (int i = 0, j = 0; i < shorts.Length; i += 2, ++j)
{
channel1[j] = shorts[i];
channel2[j] = shorts[i + 1];
}
sw1.Stop();
Stopwatch sw2 = Stopwatch.StartNew();
short[] channel1b = new short[rawData.Length / 4];
short[] channel2b = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < rawData.Length; i += 4, ++j)
{
channel1b[j] = BitConverter.ToInt16(rawData, i);
channel2b[j] = BitConverter.ToInt16(rawData, i + 2);
}
sw2.Stop();
Stopwatch sw3 = Stopwatch.StartNew();
short[] shortsc = new UnionArray {
Bytes = rawData
}.Shorts;
short[] channel1c = new short[rawData.Length / 4];
short[] channel2c = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < shorts.Length; i += 2, ++j)
{
channel1c[j] = shortsc[i];
channel2c[j] = shortsc[i + 1];
}
sw3.Stop();
Stopwatch sw4 = Stopwatch.StartNew();
short[] channel1d = new short[rawData.Length / 4];
short[] channel2d = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < rawData.Length; i += 4, ++j)
{
channel1d[j] = (short)((short)(rawData[i + 1]) << 8 | (short)rawData[i]);
channel2d[j] = (short)((short)(rawData[i + 3]) << 8 | (short)rawData[i + 2]);
//Equivalent warning-less version
//channel1d[j] = (short)(((ushort)rawData[i + 1]) << 8 | (ushort)rawData[i]);
//channel2d[j] = (short)(((ushort)rawData[i + 3]) << 8 | (ushort)rawData[i + 2]);
}
sw4.Stop();
Stopwatch sw5 = Stopwatch.StartNew();
short[] channel1e = new short[rawData.Length / 4];
short[] channel2e = new short[rawData.Length / 4];
fixed(byte *pRawData = rawData)
fixed(short *pChannel1 = channel1e)
fixed(short *pChannel2 = channel2e)
{
byte * pRawData2 = pRawData;
short *pChannel1b = pChannel1;
short *pChannel2b = pChannel2;
for (int i = 0; i < rawData.Length; i += 4)
{
(*(pChannel1b++)) = *((short *)pRawData2);
pRawData2 += sizeof(short);
(*(pChannel2b++)) = *((short *)pRawData2);
pRawData2 += sizeof(short);
}
}
sw5.Stop();
Stopwatch sw6 = Stopwatch.StartNew();
short[] shortse = new short[rawData.Length / 2];
short[] channel1f = new short[rawData.Length / 4];
short[] channel2f = new short[rawData.Length / 4];
System.Buffer.BlockCopy(rawData, 0, shortse, 0, rawData.Length);
System.Threading.Tasks.Parallel.For(0, shortse.Length / 2, (i) =>
{
channel1f[i] = shortse[i * 2];
channel2f[i] = shortse[i * 2 + 1];
});
sw6.Stop();
if (!channel1.SequenceEqual(channel1b) || !channel1.SequenceEqual(channel1c) || !channel1.SequenceEqual(channel1d) || !channel1.SequenceEqual(channel1e) || !channel1.SequenceEqual(channel1f))
{
throw new Exception();
}
if (!channel2.SequenceEqual(channel2b) || !channel2.SequenceEqual(channel2c) || !channel2.SequenceEqual(channel2d) || !channel2.SequenceEqual(channel2e) || !channel2.SequenceEqual(channel2f))
{
throw new Exception();
}
Console.WriteLine("Original: {0}ms", sw1.ElapsedMilliseconds);
Console.WriteLine("BitConverter: {0}ms", sw2.ElapsedMilliseconds);
Console.WriteLine("Super-unsafe struct: {0}ms", sw3.ElapsedMilliseconds);
Console.WriteLine("PVitt shifts: {0}ms", sw4.ElapsedMilliseconds);
Console.WriteLine("unsafe VirtualBlackFox: {0}ms", sw5.ElapsedMilliseconds);
Console.WriteLine("TPL: {0}ms", sw6.ElapsedMilliseconds);
Console.ReadKey();
return;
}
unsafe static void Main(string[] args)
{
Process.GetCurrentProcess().PriorityClass = ProcessPriorityClass.High;
byte[] rawData = new byte[10000000];
new Random().NextBytes(rawData);
Stopwatch sw1 = Stopwatch.StartNew();
short[] shorts = new short[rawData.Length / 2];
short[] channel1 = new short[rawData.Length / 4];
short[] channel2 = new short[rawData.Length / 4];
System.Buffer.BlockCopy(rawData, 0, shorts, 0, rawData.Length);
for (int i = 0, j = 0; i < shorts.Length; i += 2, ++j)
{
channel1[j] = shorts[i];
channel2[j] = shorts[i + 1];
}
sw1.Stop();
Stopwatch sw2 = Stopwatch.StartNew();
short[] channel1b = new short[rawData.Length / 4];
short[] channel2b = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < rawData.Length; i += 4, ++j)
{
channel1b[j] = BitConverter.ToInt16(rawData, i);
channel2b[j] = BitConverter.ToInt16(rawData, i + 2);
}
sw2.Stop();
Stopwatch sw3 = Stopwatch.StartNew();
short[] shortsc = new UnionArray {
Bytes = rawData
}.Shorts;
short[] channel1c = new short[rawData.Length / 4];
short[] channel2c = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < shorts.Length; i += 2, ++j)
{
channel1c[j] = shortsc[i];
channel2c[j] = shortsc[i + 1];
}
sw3.Stop();
Stopwatch sw4 = Stopwatch.StartNew();
short[] channel1d = new short[rawData.Length / 4];
short[] channel2d = new short[rawData.Length / 4];
for (int i = 0, j = 0; i < rawData.Length; i += 4, ++j)
{
channel1d[j] = (short)((short)(rawData[i + 1]) << 8 | (short)rawData[i]);
channel2d[j] = (short)((short)(rawData[i + 3]) << 8 | (short)rawData[i + 2]);
}
sw4.Stop();
Stopwatch sw5 = Stopwatch.StartNew();
short[] channel1e = new short[rawData.Length / 4];
short[] channel2e = new short[rawData.Length / 4];
fixed(byte *pRawData = rawData)
fixed(short *pChannel1 = channel1e)
fixed(short *pChannel2 = channel2e)
{
byte * pRawData2 = pRawData;
short *pChannel1b = pChannel1;
short *pChannel2b = pChannel2;
for (int i = 0; i < rawData.Length; i += 4)
{
(*(pChannel1b++)) = *((short *)pRawData2);
pRawData2 += sizeof(short);
(*(pChannel2b++)) = *((short *)pRawData2);
pRawData2 += sizeof(short);
}
}
sw5.Stop();
if (!channel1.SequenceEqual(channel1b) || !channel1.SequenceEqual(channel1c) || !channel1.SequenceEqual(channel1d) || !channel1.SequenceEqual(channel1e))
{
throw new Exception();
}
if (!channel2.SequenceEqual(channel2b) || !channel2.SequenceEqual(channel2c) || !channel2.SequenceEqual(channel2d) || !channel2.SequenceEqual(channel2e))
{
throw new Exception();
}
Console.WriteLine(sw1.ElapsedMilliseconds);
Console.WriteLine(sw2.ElapsedMilliseconds);
Console.WriteLine(sw3.ElapsedMilliseconds);
Console.WriteLine(sw4.ElapsedMilliseconds);
Console.WriteLine(sw5.ElapsedMilliseconds);
Console.ReadKey();
return;
}
