public void CanImport_WithoutKey()
{
int n = 10;
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(i, 0, 0);
}
var chunk = new Chunk(ps);
Assert.IsTrue(chunk.Count == 10);
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey(null)
.WithOctreeSplitLimit(10)
.WithCreateOctreeLod(false)
.WithDeduplicateChunks(false)
.WithMinDist(0.0)
.WithReproject(null)
.WithEstimateNormals(null)
;
var pointcloud = PointCloud.Chunks(chunk, config);
Assert.IsTrue(pointcloud.Id != null);
}
public void CanCreateInMemoryPointSet_Many()
{
var storage = PointCloud.CreateInMemoryStore();
var ps = new List <V3d>();
var ns = new List <V3f>();
for (var x = 0.125; x < 1.0; x += 0.25)
{
for (var y = 0.125; y < 1.0; y += 0.25)
{
for (var z = 0.125; z < 1.0; z += 0.25)
{
ps.Add(new V3d(x, y, z));
ns.Add(V3f.ZAxis);
}
}
}
Assert.IsTrue(ps.Count == 4 * 4 * 4);
var imps = InMemoryPointSet.Build(ps, null, ns, null, new Cell(0, 0, 0, 0), 1);
var root = imps.ToPointSetCell(storage, ct: CancellationToken.None);
Assert.IsTrue(root.PointCountTree == 4 * 4 * 4);
var countNodes = root.CountLeafNodes(true);
Assert.IsTrue(countNodes == 4 * 4 * 4);
}
public void CanImportChunk_Reproject()
{
int n = 10;
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(i, 0, 0);
}
var bb = new Box3d(ps);
var chunk = new Chunk(ps);
Assert.IsTrue(chunk.Count == 10);
Assert.IsTrue(chunk.BoundingBox == bb);
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
.WithReproject(xs => xs.Select(x => x += V3d.OIO).ToArray())
;
var pointcloud = PointCloud.Chunks(chunk, config);
Assert.IsTrue(pointcloud.BoundingBox == bb + V3d.OIO);
}
public void PointsetAttributes_NoLod()
{
var ps = new List <V3d> {
new V3d(0.5, 0.5, 0.5)
};
var cs = new List <C4b> {
C4b.White
};
var ns = new List <V3f> {
V3f.ZAxis
};
var js = new List <int> {
123
};
var storage = PointCloud.CreateInMemoryStore();
var pointset = PointSet.Create(storage, "test", ps, cs, ns, js, 1, false, default);
Assert.IsTrue(pointset.HasColors == true);
Assert.IsTrue(pointset.HasIntensities == true);
Assert.IsTrue(pointset.HasKdTree == true);
Assert.IsTrue(pointset.HasLodColors == false);
Assert.IsTrue(pointset.HasLodIntensities == false);
Assert.IsTrue(pointset.HasLodKdTree == false);
Assert.IsTrue(pointset.HasLodNormals == false);
Assert.IsTrue(pointset.HasLodPositions == false);
Assert.IsTrue(pointset.HasNormals == true);
Assert.IsTrue(pointset.HasPositions == true);
}
public void ForEachNodeIntersecting_Works()
{
var storage = PointCloud.CreateInMemoryStore();
var pointcloud = CreateClusteredPointsInUnitCube(1000, 10);
var ns = pointcloud.Root.Value.ForEachNodeIntersecting(Hull3d.Create(Box3d.Unit), true).ToArray();
Assert.IsTrue(ns.Length > 0);
}
public void CanQueryPointsWithEverythingOutside_Single()
{
var storage = PointCloud.CreateInMemoryStore();
var ps = new List <V3d> {
new V3d(0.5, 0.5, 0.5)
};
var root = InMemoryPointSet.Build(ps, null, null, null, Cell.Unit, 1).ToPointSetCell(storage, ct: CancellationToken.None);
var rs = root.QueryPoints(cell => false, cell => true, p => false).SelectMany(x => x.Positions).ToArray();
Assert.IsTrue(rs.Length == 0);
}
public void CanImportE57File_MinDist()
{
var filename = Path.Combine(Config.TestDataDir, "test.e57");
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithMinDist(10)
;
var pointset = PointCloud.Import(filename, config);
Assert.IsTrue(pointset.PointCount < 3);
}
public void CanImportE57FileAndLoadFromStore()
{
var filename = Path.Combine(Config.TestDataDir, "test.e57");
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
;
var pointset = PointCloud.Import(filename, config);
var pointset2 = config.Storage.GetPointSet("test", CancellationToken.None);
Assert.IsTrue(pointset2 != null);
Assert.IsTrue(pointset2.PointCount == 3);
}
private static PointSet CreateRandomPointsInUnitCube(int n, int splitLimit)
{
var r = new Random();
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(r.NextDouble(), r.NextDouble(), r.NextDouble());
}
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(splitLimit)
;
return(PointCloud.Chunks(new Chunk(ps, null), config));
}
public void CanImportPtsFile()
{
var filename = Path.Combine(Config.TestDataDir, "test.pts");
if (!File.Exists(filename))
{
Assert.Ignore($"File not found: {filename}");
}
TestContext.WriteLine($"testfile is '{filename}'");
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
;
var pointset = PointCloud.Import(filename, config);
Assert.IsTrue(pointset != null);
Assert.IsTrue(pointset.PointCount == 3);
}
internal static void TestKNearest()
{
var sw = new Stopwatch();
var rand = new Random();
Report.BeginTimed("generating point clouds");
var cloud0 = CreateRandomPointsInUnitCube(1000000, 8192);
var cloud1 = CreateRandomPointsInUnitCube(1000000, 8192);
Report.EndTimed();
var ps0 = cloud0.QueryAllPoints().SelectMany(chunk => chunk.Positions).ToArray();
sw.Restart();
for (var i = 0; i < ps0.Length; i++)
{
var p = cloud1.QueryPointsNearPoint(ps0[i], 0.1, 1);
if (i % 100000 == 0)
{
Console.WriteLine($"{i,20:N0} {sw.Elapsed}");
}
}
sw.Stop();
Console.WriteLine($"{ps0.Length,20:N0} {sw.Elapsed}");
PointSet CreateRandomPointsInUnitCube(int n, int splitLimit)
{
var r = new Random();
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(r.NextDouble(), r.NextDouble(), r.NextDouble());
}
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore(new LruDictionary <string, object>(1024 * 1024 * 1024)))
.WithKey("test")
.WithOctreeSplitLimit(splitLimit)
;
return(PointCloud.Chunks(new Chunk(ps, null), config));
}
}
public void CanImport_DuplicateKey()
{
int n = 10;
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(i, 0, 0);
}
var chunk = new Chunk(ps);
Assert.IsTrue(chunk.Count == 10);
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
.WithCreateOctreeLod(false)
.WithDeduplicateChunks(false)
.WithMinDist(0.0)
.WithReproject(null)
.WithEstimateNormals(null)
;
var pointcloud = PointCloud.Chunks(new Chunk[] { }, config);
Assert.IsTrue(pointcloud.Id != null);
Assert.IsTrue(pointcloud.PointCount == 0);
var pointcloud2 = PointCloud.Chunks(chunk, config);
Assert.IsTrue(pointcloud2.Id != null);
Assert.IsTrue(pointcloud2.PointCount == 10);
var reloaded = config.Storage.GetPointSet("test", CancellationToken.None);
Assert.IsTrue(reloaded.PointCount == 10);
}
public void CanImportPtsFileAndLoadFromStore_CheckKey()
{
var filename = Path.Combine(Config.TestDataDir, "test.pts");
if (!File.Exists(filename))
{
Assert.Ignore($"File not found: {filename}");
}
TestContext.WriteLine($"testfile is '{filename}'");
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
;
var pointset = PointCloud.Import(filename, config);
Assert.IsTrue(pointset.Id == "test");
var pointset2 = config.Storage.GetPointSet("test", CancellationToken.None);
Assert.IsTrue(pointset2 != null);
Assert.IsTrue(pointset2.PointCount == 3);
}
public void CanImportChunk_EstimateNormals()
{
int n = 10;
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(i, 0, 0);
}
var chunk = new Chunk(ps);
Assert.IsTrue(chunk.Count == 10);
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
;
var pointcloud = PointCloud.Chunks(chunk, config);
var node = pointcloud.Root.Value;
Assert.IsTrue(node.IsLeaf);
Assert.IsTrue(node.HasNormals == false);
config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
.WithEstimateNormals(xs => xs.Select(x => V3f.OOI).ToArray())
;
pointcloud = PointCloud.Chunks(chunk, config);
node = pointcloud.Root.Value;
Assert.IsTrue(node.IsLeaf);
Assert.IsTrue(node.HasNormals == true);
Assert.IsTrue(node.Normals.Value.All(x => x == V3f.OOI));
}
private static PointSet CreateRegularPointsInUnitCube(int n, int splitLimit)
{
var ps = new List <V3d>();
var step = 1.0 / n;
var start = step * 0.5;
for (var x = start; x < 1.0; x += step)
{
for (var y = start; y < 1.0; y += step)
{
for (var z = start; z < 1.0; z += step)
{
ps.Add(new V3d(x, y, z));
}
}
}
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(splitLimit)
;
return(PointCloud.Chunks(new Chunk(ps, null), config));
}
public void ProgressCallbackWorks()
{
var CHUNKSIZE = 10000;
var CHUNKCOUNT = 10;
var countProgressCallbacks = 0L;
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithProgressCallback(x => Interlocked.Increment(ref countProgressCallbacks));
;
var pointcloud = PointCloud.Chunks(GenerateChunks(CHUNKSIZE).Take(CHUNKCOUNT), config);
Assert.IsTrue(pointcloud.PointCount == CHUNKSIZE * CHUNKCOUNT);
Assert.IsTrue(countProgressCallbacks > 10);
IEnumerable <Chunk> GenerateChunks(int numberOfPointsPerChunk)
{
var r = new Random();
while (true)
{
var _ps = new V3d[numberOfPointsPerChunk];
for (var i = 0; i < numberOfPointsPerChunk; i++)
{
_ps[i] = new V3d(r.NextDouble(), r.NextDouble(), r.NextDouble());
}
yield return(new Chunk(_ps));
}
}
}
public void CanImportChunk_MinDist()
{
int n = 100;
var r = new Random();
var ps = new V3d[n];
for (var i = 0; i < n; i++)
{
ps[i] = new V3d(r.NextDouble(), r.NextDouble(), r.NextDouble());
}
var chunk = new Chunk(ps);
Assert.IsTrue(chunk.Count == 100);
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
.WithMinDist(0.5)
;
var pointcloud = PointCloud.Chunks(chunk, config);
Assert.IsTrue(pointcloud.PointCount < 100);
}
public void CanImport_Empty()
{
var config = ImportConfig.Default
.WithStorage(PointCloud.CreateInMemoryStore())
.WithKey("test")
.WithOctreeSplitLimit(10)
.WithCreateOctreeLod(false)
.WithDeduplicateChunks(false)
.WithMinDist(0.0)
.WithReproject(null)
.WithEstimateNormals(null)
;
var pointcloud = PointCloud.Chunks(new Chunk[] { }, config);
Assert.IsTrue(pointcloud.Id == "test");
Assert.IsTrue(pointcloud.PointCount == 0);
var reloaded = config.Storage.GetPointSet("test", CancellationToken.None);
Assert.IsTrue(reloaded.Id == "test");
Assert.IsTrue(reloaded.PointCount == 0);
}
public void CanCreateInMemoryStore()
{
var store = PointCloud.CreateInMemoryStore();
Assert.IsTrue(store != null);
}
