// Write additional observations besides distance (3D) or first
// observation (2D), using either the originally added points or
// the points calculated in Process().
public virtual void Write(ChannelGrid grid, int channel, float value)
{
foreach (Vector2Int p in m_UniqueGridPoints)
{
grid.Write(channel, p, value);
}
}
public override void Process(ChannelGrid grid, int channel)
{
float s = Mathf.Sqrt(Width * Height / (float)m_UniqueGridPoints.Count);
if (s > 1)
{
s *= c_SizeMult;
foreach (Vector2Int p in m_UniqueGridPoints)
{
int gx = p.x;
int gy = p.y;
float v = grid.Read(channel, gx, gy);
float invZ = 1 - m_AuxGrid.Read(0, gx, gy);
var kernel = m_Kernels[Mathf.Min(Mathf.RoundToInt(s * invZ), c_MaxRadius - 1)];
for (int i = 0, n = kernel.Count; i < n; i++)
{
int x = gx + kernel[i].x;
int y = gy + kernel[i].y;
if (m_AuxGrid.TryRead(1, x, y, out float k))
{
m_AuxGrid.Write(1, x, y, Mathf.Max(kernel[i].value, k));
m_AuxGrid.Write(2, x, y, Mathf.Max(m_AuxGrid.Read(2, x, y), v));
Expand(x, y);
}
}
}
for (int x = m_xMin; x <= m_xMax; x++)
{
for (int y = m_yMin; y <= m_yMax; y++)
{
if (m_AuxGrid.Read(1, x, y) > c_Threshold)
{
grid.Write(channel, x, y, m_AuxGrid.Read(2, x, y));
m_UniqueGridPoints.Add(new Vector2Int(x, y));
}
}
}
}
}
public override void AddPoint(Vector2Int p, float z)
{
base.AddPoint(p, z);
m_AuxGrid.Write(0, p, z);
}
public override void Process(ChannelGrid grid, int channel)
{
if (Width > Height)
{
int cx = (m_xMin + m_xMax) / 2;
float value = 0;
for (int x = m_xMin + 1; x <= cx; x++)
{
for (int y = m_yMin; y <= m_yMax; y++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int xp = x - 1;
v = grid.Read(channel, xp, y);
if (y > m_yMin)
{
v = Mathf.Max(v, grid.Read(channel, xp, y - 1));
}
if (y < m_yMax)
{
v = Mathf.Max(v, grid.Read(channel, xp, y + 1));
}
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
value = 0;
for (int x = m_xMax - 1; x > cx; x--)
{
for (int y = m_yMin; y <= m_yMax; y++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int xp = x + 1;
v = grid.Read(channel, xp, y);
if (y > m_yMin)
{
v = Mathf.Max(v, grid.Read(channel, xp, y - 1));
}
if (y < m_yMax)
{
v = Mathf.Max(v, grid.Read(channel, xp, y + 1));
}
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
}
else
{
int cy = (m_yMin + m_yMax) / 2;
float value = 0;
for (int y = m_yMin + 1; y <= cy; y++)
{
for (int x = m_xMin; x <= m_xMax; x++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = y - 1;
v = grid.Read(channel, x, yp);
if (x > m_xMin)
{
v = Mathf.Max(v, grid.Read(channel, x - 1, yp));
}
if (x < m_xMax)
{
v = Mathf.Max(v, grid.Read(channel, x + 1, yp));
}
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
value = 0;
for (int y = m_yMax - 1; y > cy; y--)
{
for (int x = m_xMin; x <= m_xMax; x++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = y + 1;
v = grid.Read(channel, x, yp);
if (x > m_xMin)
{
v = Mathf.Max(v, grid.Read(channel, x - 1, yp));
}
if (x < m_xMax)
{
v = Mathf.Max(v, grid.Read(channel, x + 1, yp));
}
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
}
}
public override void Process(ChannelGrid grid, int channel)
{
int cx = (m_xMin + m_xMax) / 2;
int cy = (m_yMin + m_yMax) / 2;
float value = 0;
for (int x = m_xMin; x <= cx; x++)
{
int xp = Mathf.Max(m_xMin, x - 1);
for (int y = m_yMin; y <= cy; y++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = Mathf.Max(m_yMin, y - 1);
v = Mathf.Max(
grid.Read(channel, xp, y),
grid.Read(channel, x, yp),
grid.Read(channel, xp, yp));
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
value = 0;
for (int x = m_xMax; x > cx; x--)
{
int xp = Mathf.Min(m_xMax, x + 1);
for (int y = m_yMin; y <= cy; y++)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = Mathf.Max(m_yMin, y - 1);
v = Mathf.Max(
grid.Read(channel, xp, y),
grid.Read(channel, x, yp),
grid.Read(channel, xp, yp));
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
value = 0;
for (int x = m_xMin; x <= cx; x++)
{
int xp = Mathf.Max(m_xMin, x - 1);
for (int y = m_yMax; y > cy; y--)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = Mathf.Min(m_yMax, y + 1);
v = Mathf.Max(
grid.Read(channel, xp, y),
grid.Read(channel, x, yp),
grid.Read(channel, xp, yp));
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
value = 0;
for (int x = m_xMax; x > cx; x--)
{
int xp = Mathf.Min(m_xMax, x + 1);
for (int y = m_yMax; y > cy; y--)
{
float v = grid.Read(channel, x, y);
if (v == 0)
{
int yp = Mathf.Min(m_yMax, y + 1);
v = Mathf.Max(
grid.Read(channel, xp, y),
grid.Read(channel, x, yp),
grid.Read(channel, xp, yp));
if (v > 0)
{
grid.Write(channel, x, y, v);
m_UniqueGridPoints.Add(new Vector2Int(x, y));
value = v;
}
}
else
{
grid.Write(channel, x, y, Mathf.Max(value, v));
}
}
}
}
public override void Process(ChannelGrid grid, int channel)
{
// Side length of squares around points required for filling w * h,
// *if* points were distributed evenly. We're adding some value
// to this below for preventing gaps.
int w = Width;
int h = Height;
float s = Mathf.Sqrt(w * h / (float)m_UniqueGridPoints.Count);
if (s > 1)
{
int size = Mathf.RoundToInt(s) + 2; // TBD add. value
// Bottom/left offset (padding).
int xPad = m_xMin - (size - w % size) / 2;
int yPad = m_yMin - (size - h % size) / 2;
int nx = 0, ny = 0;
foreach (Vector2Int p in m_UniqueGridPoints)
{
int sx = (p.x - xPad) / size;
int sy = (p.y - yPad) / size;
nx = Mathf.Max(nx, sx);
ny = Mathf.Max(ny, sy);
// For 3D, we sample the max (closest) value.
// For 2D, point values are identical anyway.
m_Samples[sx, sy] = Mathf.Max(m_Samples[sx, sy], grid.Read(channel, p));
}
// Replace grid points with squares (size x size).
m_UniqueGridPoints.Clear();
for (int sx = 0; sx <= nx; sx++)
{
for (int sy = 0; sy <= ny; sy++)
{
float value = m_Samples[sx, sy];
if (value > 0)
{
int gx = xPad + sx * size;
int gy = yPad + sy * size;
for (int x = 0; x < size; x++)
{
for (int y = 0; y < size; y++)
{
Vector2Int p = new Vector2Int(gx + x, gy + y);
if (grid.TryRead(channel, p, out float prev))
{
// 3D: storing max value for distance channel (closest).
// TODO
// 2D: neighbouring down-sampled areas might overlap and
// their max value isn't necessarily what we want to observe?
grid.Write(channel, p, Mathf.Max(prev, value));
m_UniqueGridPoints.Add(p);
}
}
}
}
}
}
}
// else: keep original points.
}