public PointCloudTileSource TilePointFileIndex(LASFile tiledFile, BufferInstance segmentBuffer, ProgressManager progressManager)
{
var stopwatch = new Stopwatch();
stopwatch.Start();
var analysis = AnalyzePointFile(segmentBuffer.Length, progressManager);
var quantizedExtent = m_source.QuantizedExtent;
var tileCounts = analysis.Density.GetTileCountsForInitialization();
var fileSize = tiledFile.PointDataOffset + (m_source.PointSizeBytes * m_source.Count);
AttemptFastAllocate(tiledFile.FilePath, fileSize);
var lowResPointCountMax = PROPERTY_MAX_LOWRES_POINTS.Value;
var lowResBuffer = BufferManager.AcquireBuffer(m_id, lowResPointCountMax * m_source.PointSizeBytes);
var lowResWrapper = new PointBufferWrapper(lowResBuffer, m_source.PointSizeBytes, lowResPointCountMax);
var validTiles = analysis.GridIndex.Sum(r => r.GridRange.ValidCells);
var lowResPointsPerTile = lowResPointCountMax / validTiles;
var lowResTileSize = (ushort)Math.Sqrt(lowResPointsPerTile);
var lowResGrid = Grid<int>.Create(lowResTileSize, lowResTileSize, true, -1);
var lowResCounts = tileCounts.Copy<int>();
using (var outputStream = StreamManager.OpenWriteStream(tiledFile.FilePath, fileSize, tiledFile.PointDataOffset))
{
var i = 0;
foreach (var segment in analysis.GridIndex)
{
progressManager.Log("~ Processing Index Segment {0}/{1}", ++i, analysis.GridIndex.Count);
var sparseSegment = m_source.CreateSparseSegment(segment);
var sparseSegmentWrapper = new PointBufferWrapper(segmentBuffer, sparseSegment);
var tileRegionFilter = new TileRegionFilter(tileCounts, quantizedExtent, segment.GridRange);
// this call will fill the buffer with points, add the counts, and sort
QuantTilePointsIndexed(sparseSegment, sparseSegmentWrapper, tileRegionFilter, tileCounts, lowResWrapper, lowResGrid, lowResCounts, progressManager);
var segmentFilteredPointCount = tileRegionFilter.GetCellOrdering().Sum(t => tileCounts.Data[t.Row, t.Col]);
var segmentFilteredBytes = segmentFilteredPointCount * sparseSegmentWrapper.PointSizeBytes;
// write out the buffer
using (var process = progressManager.StartProcess("WriteIndexSegment"))
{
var segmentBufferIndex = 0;
foreach (var tile in segment.GridRange.GetCellOrdering())
{
var tileCount = tileCounts.Data[tile.Row, tile.Col];
if (tileCount > 0)
{
var tileSize = (tileCount - lowResCounts.Data[tile.Row, tile.Col]) * sparseSegmentWrapper.PointSizeBytes;
outputStream.Write(sparseSegmentWrapper.Data, segmentBufferIndex, tileSize);
segmentBufferIndex += tileSize;
if (!process.Update((float)segmentBufferIndex / segmentFilteredBytes))
break;
}
}
}
if (progressManager.IsCanceled())
break;
}
// write low-res
var lowResActualPointCount = lowResCounts.Data.Cast<int>().Sum();
outputStream.Write(lowResWrapper.Data, 0, lowResActualPointCount * lowResWrapper.PointSizeBytes);
}
var actualDensity = new PointCloudTileDensity(tileCounts, m_source.Quantization);
var tileSet = new PointCloudTileSet(m_source, actualDensity, tileCounts, lowResCounts);
var tileSource = new PointCloudTileSource(tiledFile, tileSet, analysis.Statistics);
if (!progressManager.IsCanceled())
tileSource.IsDirty = false;
tileSource.WriteHeader();
return tileSource;
}
private static unsafe void QuantTilePointsIndexed(IPointCloudBinarySource source, PointBufferWrapper segmentBuffer, TileRegionFilter tileFilter, SQuantizedExtentGrid<int> tileCounts, PointBufferWrapper lowResBuffer, Grid<int> lowResGrid, Grid<int> lowResCounts, ProgressManager progressManager)
{
var quantizedExtent = source.QuantizedExtent;
// generate counts and add points to buffer
using (var process = progressManager.StartProcess("QuantTilePointsIndexedFilter"))
{
var group = new ChunkProcessSet(tileFilter, segmentBuffer);
group.Process(source.GetBlockEnumerator(process));
}
// sort points in buffer
using (var process = progressManager.StartProcess("QuantTilePointsIndexedSort"))
{
var tilePositions = tileFilter.CreatePositionGrid(segmentBuffer, source.PointSizeBytes);
var sortedCount = 0;
foreach (var tile in tileFilter.GetCellOrdering())
{
var currentPosition = tilePositions[tile.Row, tile.Col];
if (currentPosition.IsIncomplete)
{
while (currentPosition.IsIncomplete)
{
var p = (SQuantizedPoint3D*)currentPosition.DataPtr;
var targetPosition = tilePositions[
(((*p).Y - quantizedExtent.MinY) / tileCounts.CellSizeY),
(((*p).X - quantizedExtent.MinX) / tileCounts.CellSizeX)
];
if (targetPosition.DataPtr != currentPosition.DataPtr)
{
// the point tile is not the current traversal tile,
// so swap the points and resume on the swapped point
targetPosition.Swap(currentPosition.DataPtr);
}
else
{
// this point is in the correct tile, move on
currentPosition.Increment();
}
++sortedCount;
}
if (!process.Update((float)sortedCount / segmentBuffer.PointCount))
break;
}
}
}
// TEST
/*using (var process = progressManager.StartProcess("QuantTilePointsIndexedTEST"))
{
//var templateQuantizedExtent = quantizedExtent.ComputeQuantizedTileExtent(new SimpleGridCoord(0, 0), tileCounts);
//var cellSizeX = (int)(templateQuantizedExtent.RangeX / lowResGrid.SizeX);
//var cellSizeY = (int)(templateQuantizedExtent.RangeY / lowResGrid.SizeY);
var sX2 = Math.Pow(source.Quantization.ScaleFactorX, 2);
var sY2 = Math.Pow(source.Quantization.ScaleFactorY, 2);
var sZ2 = Math.Pow(source.Quantization.ScaleFactorZ, 2);
var index = 0;
foreach (var tile in tileFilter.GetCellOrdering())
{
var count = tileCounts.Data[tile.Row, tile.Col];
var dataPtr = segmentBuffer.PointDataPtr + (index * source.PointSizeBytes);
var dataEndPtr = dataPtr + (count * source.PointSizeBytes);
//var tileQuantizedExtent = quantizedExtent.ComputeQuantizedTileExtent(tile, tileCounts);
//lowResGrid.Reset();
//var grid = Grid<int>.Create();
var pb = dataPtr;
while (pb < dataEndPtr)
{
var p = (SQuantizedPoint3D*)pb;
// meters?
var searchRadius = 1;
var pointsWithinRadius = 0;
var pb2 = dataPtr;
//while (pb2 < dataEndPtr)
while (pb2 < (byte*)Math.Min((long)dataEndPtr, (long)(dataPtr + 20 * source.PointSizeBytes)))
{
var p2 = (SQuantizedPoint3D*)pb2;
//var d2 =
// sX2 * Math.Pow((*p2).X - (*p).X, 2) +
// sY2 * Math.Pow((*p2).Y - (*p).Y, 2) +
// sZ2 * Math.Pow((*p2).Z - (*p).Z, 2);
//if (Math.Sqrt(d2) < searchRadius)
//{
// ++pointsWithinRadius;
//}
pb2 += source.PointSizeBytes;
}
//(*p).Z = (int)(quantizedExtent.MinX + (pointsWithinRadius * 100) / source.Quantization.ScaleFactorZ);
//var cellX = (((*p).X - tileQuantizedExtent.MinX) / cellSizeX);
//var cellY = (((*p).Y - tileQuantizedExtent.MinY) / cellSizeY);
//var offset = lowResGrid.Data[cellY, cellX];
//if (offset == -1)
//{
// lowResGrid.Data[cellY, cellX] = (int)(pb - segmentBuffer.PointDataPtr);
//}
//else
//{
// var pBest = (SQuantizedPoint3D*)(segmentBuffer.PointDataPtr + offset);
// if ((*p).Z < (*pBest).Z)
// lowResGrid.Data[cellY, cellX] = (int)(pb - segmentBuffer.PointDataPtr);
//}
pb += source.PointSizeBytes;
++index;
}
if (!process.Update((float)index / segmentBuffer.PointCount))
break;
}
}*/
// determine representative low-res points for each tile and swap them to a new buffer
using (var process = progressManager.StartProcess("QuantTilePointsIndexedExtractLowRes"))
{
var removedBytes = 0;
var templateQuantizedExtent = quantizedExtent.ComputeQuantizedTileExtent(new SimpleGridCoord(0, 0), tileCounts);
var cellSizeX = (int)(templateQuantizedExtent.RangeX / lowResGrid.SizeX);
var cellSizeY = (int)(templateQuantizedExtent.RangeY / lowResGrid.SizeY);
var index = 0;
foreach (var tile in tileFilter.GetCellOrdering())
{
var count = tileCounts.Data[tile.Row, tile.Col];
var dataPtr = segmentBuffer.PointDataPtr + (index * source.PointSizeBytes);
var dataEndPtr = dataPtr + (count * source.PointSizeBytes);
var tileQuantizedExtent = quantizedExtent.ComputeQuantizedTileExtent(tile, tileCounts);
lowResGrid.Reset();
var pb = dataPtr;
while (pb < dataEndPtr)
{
var p = (SQuantizedPoint3D*)pb;
var cellX = (((*p).X - tileQuantizedExtent.MinX) / cellSizeX);
var cellY = (((*p).Y - tileQuantizedExtent.MinY) / cellSizeY);
// todo: make lowResGrid <long> to avoid cast?
var offset = lowResGrid.Data[cellY, cellX];
if (offset == -1)
{
lowResGrid.Data[cellY, cellX] = (int)(pb - segmentBuffer.PointDataPtr);
}
else
{
var pBest = (SQuantizedPoint3D*)(segmentBuffer.PointDataPtr + offset);
//if ((*p).Z > (*pBest).Z)
if ((*p).Z < (*pBest).Z)
lowResGrid.Data[cellY, cellX] = (int)(pb - segmentBuffer.PointDataPtr);
//var cellCenterX = (cellX + 0.5) * cellSizeX;
//var cellCenterY = (cellY + 0.5) * cellSizeY;
//var bd2 = DistanceRatioFromPointToCellCenter2(pBest, cellCenterX, cellCenterY, cellSizeX, cellSizeY);
//var cd2 = DistanceRatioFromPointToCellCenter2(p, cellCenterX, cellCenterY, cellSizeX, cellSizeY);
//if (cd2 < bd2)
// lowResGrid.Data[cellY, cellX] = (int)(pb - segmentBuffer.PointDataPtr);
}
pb += source.PointSizeBytes;
++index;
}
// ignore boundary points
lowResGrid.ClearOverflow();
// sort valid cells
var offsets = lowResGrid.Data.Cast<int>().Where(v => v != lowResGrid.FillVal).ToArray();
if (offsets.Length > 0)
{
Array.Sort(offsets);
// shift the data up to the first offset
var tileSrc = (int)(dataPtr - segmentBuffer.PointDataPtr);
Buffer.BlockCopy(segmentBuffer.Data, tileSrc, segmentBuffer.Data, (tileSrc - removedBytes), (offsets[0] - tileSrc));
// pack the remaining points
for (var i = 0; i < offsets.Length; i++)
{
var currentOffset = offsets[i];
// copy point to buffer
lowResBuffer.Append(segmentBuffer.Data, currentOffset, source.PointSizeBytes);
// shift everything between here and the next offset
var copyEnd = (i == offsets.Length - 1) ? (dataEndPtr - segmentBuffer.PointDataPtr) : (offsets[i + 1]);
var copySrc = (currentOffset + source.PointSizeBytes);
var copyDst = (currentOffset - removedBytes);
var copyLen = (int)(copyEnd - copySrc);
Buffer.BlockCopy(segmentBuffer.Data, copySrc, segmentBuffer.Data, copyDst, copyLen);
removedBytes += source.PointSizeBytes;
}
lowResCounts.Data[tile.Row, tile.Col] = offsets.Length;
}
if (!process.Update((float)index / segmentBuffer.PointCount))
break;
}
}
}
