private PointSetNode(Guid id, Cell cell, long pointCountTree, Guid?psId, Guid?csId, Guid?kdId, Guid?nsId, Guid?isId, Guid?lodPsId, Guid?lodCsId, Guid?lodKdId, Guid?lodNsId, Guid?lodIsId, Guid?[] subnodeIds, Storage storage, bool writeToStore ) { if (subnodeIds != null && subnodeIds.Count(x => x.HasValue) > 0 && pointCountTree == 0) { throw new ArgumentException(nameof(pointCountTree), "Must not be 0 for inner nodes."); } Storage = storage; Id = id; Cell = cell; PointCountTree = pointCountTree; SubnodeIds = subnodeIds; if (psId.HasValue) { Attributes[C_POSITIONS] = psId.Value; } if (csId.HasValue) { Attributes[C_COLORS] = csId.Value; } if (kdId.HasValue) { Attributes[C_KDTREE] = kdId.Value; } if (nsId.HasValue) { Attributes[C_NORMALS] = nsId.Value; } if (isId.HasValue) { Attributes[C_INTENSITIES] = isId.Value; } if (lodPsId.HasValue) { Attributes[C_LOD_POSITIONS] = lodPsId.Value; } if (lodCsId.HasValue) { Attributes[C_LOD_COLORS] = lodCsId.Value; } if (lodKdId.HasValue) { Attributes[C_LOD_KDTREE] = lodKdId.Value; } if (lodNsId.HasValue) { Attributes[C_LOD_NORMALS] = lodNsId.Value; } if (lodIsId.HasValue) { Attributes[C_LOD_INTENSITIES] = lodIsId.Value; } if (IsLeaf && PointCount != PointCountTree) { throw new InvalidOperationException(); } if (psId != null) { Positions = new PersistentRef <V3f[]>(psId.ToString(), storage.GetV3fArray); } if (csId != null) { Colors = new PersistentRef <C4b[]>(csId.ToString(), storage.GetC4bArray); } if (kdId != null) { KdTree = new PersistentRef <PointRkdTreeD <V3f[], V3f> >(kdId.ToString(), LoadKdTree); } if (nsId != null) { Normals = new PersistentRef <V3f[]>(nsId.ToString(), storage.GetV3fArray); } if (isId != null) { Intensities = new PersistentRef <int[]>(isId.ToString(), storage.GetIntArray); } if (lodPsId != null) { LodPositions = new PersistentRef <V3f[]>(lodPsId.ToString(), storage.GetV3fArray); } if (lodCsId != null) { LodColors = new PersistentRef <C4b[]>(lodCsId.ToString(), storage.GetC4bArray); } if (lodKdId != null) { LodKdTree = new PersistentRef <PointRkdTreeD <V3f[], V3f> >(lodKdId.ToString(), LoadKdTree); } if (lodNsId != null) { LodNormals = new PersistentRef <V3f[]>(lodNsId.ToString(), storage.GetV3fArray); } if (lodIsId != null) { LodIntensities = new PersistentRef <int[]>(lodIsId.ToString(), storage.GetIntArray); } if (subnodeIds != null) { Subnodes = new PersistentRef <PointSetNode> [8]; for (var i = 0; i < 8; i++) { if (subnodeIds[i] == null) { continue; } var pRef = new PersistentRef <PointSetNode>(subnodeIds[i].ToString(), storage.GetPointSetNode); Subnodes[i] = pRef; #if DEBUG && PEDANTIC var subNodeIndex = pRef.Value.Cell; if (Cell.GetOctant(i) != subNodeIndex) { throw new InvalidOperationException(); } if (!Cell.Contains(subNodeIndex)) { throw new InvalidOperationException(); } if (Cell.Exponent != subNodeIndex.Exponent + 1) { throw new InvalidOperationException(); } #endif } #if DEBUG && PEDANTIC if (PointCountTree != PointCount + Subnodes.Map(x => x?.Value != null ? x.Value.PointCountTree : 0).Sum()) { throw new InvalidOperationException(); } #endif } BoundingBox = Cell.BoundingBox; Center = BoundingBox.Center; Corners = BoundingBox.ComputeCorners(); if (writeToStore) { storage.Add(Id.ToString(), this, CancellationToken.None); } #if DEBUG if (PositionsId == null && PointCount != 0) { throw new InvalidOperationException(); } #if PEDANTIC if (PositionsId != null && Positions.Value.Length != PointCount) { throw new InvalidOperationException(); } #endif if (IsLeaf) { if (PositionsId == null) { throw new InvalidOperationException(); } if (KdTreeId == null) { throw new InvalidOperationException(); } } else { if (PositionsId != null) { throw new InvalidOperationException(); } if (ColorsId != null) { throw new InvalidOperationException(); } if (KdTreeId != null) { throw new InvalidOperationException(); } if (NormalsId != null) { throw new InvalidOperationException(); } if (IntensitiesId != null) { throw new InvalidOperationException(); } } #endif PointRkdTreeD <V3f[], V3f> LoadKdTree(string key, CancellationToken ct) { var data = Storage.GetPointRkdTreeDData(key, ct); var ps = Positions.Value; return(new PointRkdTreeD <V3f[], V3f>( 3, ps.Length, ps, (xs, i) => xs[(int)i], (v, i) => (float)v[i], (a, b) => V3f.Distance(a, b), (i, a, b) => b - a, (a, b, c) => VecFun.DistanceToLine(a, b, c), VecFun.Lerp, 1e-9, data )); } }