private static PointCloudAnalysisResult QuantEstimateDensity(IPointCloudBinarySource source, int maxSegmentLength, SQuantizedExtentGrid <int> tileCounts, ProgressManager progressManager)
{
Statistics stats = null;
List <PointCloudBinarySourceEnumeratorSparseGridRegion> gridIndexSegments = null;
var extent = source.Extent;
var quantizedExtent = source.QuantizedExtent;
var statsMapping = new ScaledStatisticsMapping(quantizedExtent.MinZ, quantizedExtent.RangeZ, 1024);
var gridCounter = new GridCounter(source, tileCounts);
using (var process = progressManager.StartProcess("QuantEstimateDensity"))
{
var group = new ChunkProcessSet(gridCounter, statsMapping);
group.Process(source.GetBlockEnumerator(process));
}
stats = statsMapping.ComputeStatistics(extent.MinZ, extent.RangeZ);
var density = new PointCloudTileDensity(tileCounts, source.Quantization);
gridIndexSegments = gridCounter.GetGridIndex(density, maxSegmentLength);
var result = new PointCloudAnalysisResult(density, stats, source.Quantization, gridIndexSegments);
return(result);
}
private void GeneratePreviewPixelGrid(ushort maxPreviewDimension, ProgressManager progressManager)
{
var gridSet = new GridQuantizedSet(this, maxPreviewDimension);
var group = new ChunkProcessSet(gridSet);
using (var process = progressManager.StartProcess("GeneratePreviewPixelGrid"))
{
group.Process(GetTileEnumerator(process));
}
m_pixelGridSet = gridSet;
}
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;
}
}
}
}
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;
}
}
}
private static PointCloudAnalysisResult QuantEstimateDensity(IPointCloudBinarySource source, int maxSegmentLength, SQuantizedExtentGrid<int> tileCounts, ProgressManager progressManager)
{
Statistics stats = null;
List<PointCloudBinarySourceEnumeratorSparseGridRegion> gridIndexSegments = null;
var extent = source.Extent;
var quantizedExtent = source.QuantizedExtent;
var statsMapping = new ScaledStatisticsMapping(quantizedExtent.MinZ, quantizedExtent.RangeZ, 1024);
var gridCounter = new GridCounter(source, tileCounts);
using (var process = progressManager.StartProcess("QuantEstimateDensity"))
{
var group = new ChunkProcessSet(gridCounter, statsMapping);
group.Process(source.GetBlockEnumerator(process));
}
stats = statsMapping.ComputeStatistics(extent.MinZ, extent.RangeZ);
var density = new PointCloudTileDensity(tileCounts, source.Quantization);
gridIndexSegments = gridCounter.GetGridIndex(density, maxSegmentLength);
var result = new PointCloudAnalysisResult(density, stats, source.Quantization, gridIndexSegments);
return result;
}
private void GeneratePreviewPixelGrid(ushort maxPreviewDimension, ProgressManager progressManager)
{
var gridSet = new GridQuantizedSet(this, maxPreviewDimension);
var group = new ChunkProcessSet(gridSet);
using (var process = progressManager.StartProcess("GeneratePreviewPixelGrid"))
{
group.Process(GetTileEnumerator(process));
}
m_pixelGridSet = gridSet;
}
