/// <summary>
/// Insertion point
/// </summary>
/// <param name="region"></param>
/// <param name="master"></param>
public OctTree(
BoundingBox masterRegion,
IEnumerable <Vector3> masterColl,
List <OctTree> baseList,
float basesize = 0.010f)
{
List <Vector3> masterList = masterColl.ToList();
if (masterList.Count.Equals(0))
{
return;
}
m_Points = masterList;
m_baseSize = basesize;
//Set region's points
m_Region = masterRegion;
//Get dimension of master box
Vector3 dimensions = m_Region.Max - m_Region.Min;
//Halfway point of box
Vector3 half = dimensions / 2f;
//Center of box
Vector3 center = m_Region.Min + half;
//Smallest size box, send back to baselist
if (dimensions.X <= m_baseSize && dimensions.Y <= m_baseSize &&
dimensions.Z <= m_baseSize)
{
baseList.Add(this);
Dims = dimensions;
}
else
{
bool firstpass = true;
//Create set of boxes
BoundingBox[] boxes = new BoundingBox[8];
//Create holder for points
List <Vector3>[] boxPoints = new List <Vector3> [8];
m_PendingInsertion = new Queue <Vector3>(masterList);
//Spin up all individual boxes
boxes[0] = new BoundingBox(m_Region.Min, center);
boxes[1] = new BoundingBox(new Vector3(center.X, m_Region.Min.Y, m_Region.Min.Z), new Vector3(m_Region.Max.X, center.Y, center.Z));
boxes[2] = new BoundingBox(new Vector3(center.X, m_Region.Min.Y, center.Z), new Vector3(m_Region.Max.X, center.Y, m_Region.Max.Z));
boxes[3] = new BoundingBox(new Vector3(m_Region.Min.X, m_Region.Min.Y, center.Z), new Vector3(center.X, center.Y, m_Region.Max.Z));
boxes[4] = new BoundingBox(new Vector3(m_Region.Min.X, center.Y, m_Region.Min.Z), new Vector3(center.X, m_Region.Max.Y, center.Z));
boxes[5] = new BoundingBox(new Vector3(center.X, center.Y, m_Region.Min.Z), new Vector3(m_Region.Max.X, m_Region.Max.Y, center.Z));
boxes[6] = new BoundingBox(center, m_Region.Max);
boxes[7] = new BoundingBox(new Vector3(m_Region.Min.X, center.Y, center.Z), new Vector3(center.X, m_Region.Max.Y, m_Region.Max.Z));
while (m_PendingInsertion.Count > 0)
{
Vector3 temp = m_PendingInsertion.Dequeue();
for (int i = 0; i < boxes.Length; i++)
{
//instantite list on first pass
if (firstpass)
{
boxPoints[i] = new List <Vector3>();
}
//find container box until binnable
if (
boxes[i].Contains(temp).Equals(ContainmentType.Contains) ||
boxes[i].Contains(temp).Equals(ContainmentType.Intersects))
{
boxPoints[i].Add(temp);
}
}
if (firstpass)
{
firstpass = false;
}
}
for (int i = 0; i < boxPoints.Length; i++)
{
if (boxPoints[i].Count > 0)
{
//Assign child
m_ChildNode[i] = new OctTree(boxes[i], boxPoints[i], baseList, basesize);
}
}
}
}
private void Generate()
{
m_stopwatch.Restart();
Vector3[] conglom = DataProcessing.conglomerateData(m_lastPointCloud, m_lastRotationAxis, 360f / m_lastScanNum);
m_lastStats.TotalPoints = conglom.Length;
//Dump points into octtree nodes
List <OctTree> OctList = new List <OctTree>();
OctTree octTree = new OctTree(new BoundingBox(m_lastBoundingContext.Min, new Vector3(1, 1, 1)), conglom.Distinct(), OctList, (float)Pro_octreeResolution.Value);
m_lastStats = new Stats();
m_lastStats.OctalNodes = OctList.Count;
m_lastStats.OctalDim = OctList[0].Dims;
//Do statistical analysis of points
double octAverage = (float)OctList.Average(x => x.m_Points.Count);
double octSD = OctList.Select(x => (double)x.m_Points.Count).StandardDeviation();
double octSOM = octSD / Math.Sqrt(OctList.Count);
m_lastStats.Average = octAverage;
m_lastStats.StandardDeviation = octSD;
//Remove all outliers
OctList.RemoveAll(x => x.m_Points.Count < octAverage - octSD / 4);
OctList.ForEach(x => x.m_Points = new List <Vector3>()
{
new Vector3(x.m_Points.Average(q => q.X), x.m_Points.Average(q => q.Y), x.m_Points.Average(q => q.Z))
});
//Separate octree into its layers
var layers = (from q in OctList group q by q.m_Region.Min.Y into r select new { r.Key, List = r.Select(x => x) } into s orderby s.Key select s).ToList();
List <IEnumerable <Vector3> > goodPoints = new List <IEnumerable <Vector3> >();
if (Pro_fillBottomCheck.IsChecked == true)
{
float averageY = layers.First().List.SelectMany(x => x.m_Points).Average(x => x.Y);
//Make a bottom layer to be culled
List <Vector3> bottomMax = new List <Vector3>();
for (float x = m_lastBoundingContext.Min.X; x < m_lastBoundingContext.Max.X; x += (float)Pro_octreeResolution.Value)
{
for (float z = m_lastBoundingContext.Min.Z; z < m_lastBoundingContext.Max.Z; z += (float)Pro_octreeResolution.Value)
{
bottomMax.Add(new Vector3(x, averageY, z));
}
}
//Get bottom layer angle, distance and point for grid
var botLayerDetails = (from q in bottomMax select new { Angle = DataProcessing.GetAngle(q.X, q.Z, m_lastRotationAxis.X, m_lastRotationAxis.Z), Distance = Math.Sqrt(Math.Pow(q.X - m_lastRotationAxis.X, 2) + Math.Pow(q.Z - m_lastRotationAxis.Z, 2)), Point = q, } into r orderby r.Angle select r).ToList();
//Get bottom layer angle for
var bottomTrue = layers.First().List.SelectMany(x => x.m_Points);
var bottomTrueDetails = (from q in bottomTrue select new { Angle = DataProcessing.GetAngle(q.X, q.Z, m_lastRotationAxis.X, m_lastRotationAxis.Z), Distance = Math.Sqrt(Math.Pow(q.X - m_lastRotationAxis.X, 2) + Math.Pow(q.Z - m_lastRotationAxis.Z, 2)), Point = q, } into r orderby r.Angle select r).ToList();
double lastAngle = 0;
List <Vector3> goodBottom = new List <Vector3>();
for (int i = 0; i < bottomTrueDetails.Count(); i++)
{
var checker = bottomTrueDetails[i];
var goodSection = from q in botLayerDetails where q.Angle > lastAngle && q.Angle <= checker.Angle && q.Distance < checker.Distance select q;
goodBottom.AddRange(goodSection.Select(x => x.Point));
lastAngle = checker.Angle;
}
goodPoints.Add(goodBottom);
}
if (Pro_fillTopCheck.IsChecked == true)
{
float averageY = layers.Last().List.SelectMany(x => x.m_Points).Average(x => x.Y);
//Make a bottom layer to be culled
List <Vector3> topMax = new List <Vector3>();
for (float x = m_lastBoundingContext.Min.X; x < m_lastBoundingContext.Max.X; x += (float)Pro_octreeResolution.Value)
{
for (float z = m_lastBoundingContext.Min.Z; z < m_lastBoundingContext.Max.Z; z += (float)Pro_octreeResolution.Value)
{
topMax.Add(new Vector3(x, averageY, z));
}
}
//Get bottom layer angle, distance and point for grid
var topLayerDetails = (from q in topMax select new { Angle = DataProcessing.GetAngle(q.X, q.Z, m_lastRotationAxis.X, m_lastRotationAxis.Z), Distance = Math.Sqrt(Math.Pow(q.X - m_lastRotationAxis.X, 2) + Math.Pow(q.Z - m_lastRotationAxis.Z, 2)), Point = q, } into r orderby r.Angle select r).ToList();
//Get bottom layer angle for
var topTrue = layers.Last().List.SelectMany(x => x.m_Points);
var topTrueDetails = (from q in topTrue select new { Angle = DataProcessing.GetAngle(q.X, q.Z, m_lastRotationAxis.X, m_lastRotationAxis.Z), Distance = Math.Sqrt(Math.Pow(q.X - m_lastRotationAxis.X, 2) + Math.Pow(q.Z - m_lastRotationAxis.Z, 2)), Point = q, } into r orderby r.Angle select r).ToList();
double lastAngle = 0;
List <Vector3> goodTop = new List <Vector3>();
for (int i = 0; i < topTrueDetails.Count(); i++)
{
var checker = topTrueDetails[i];
var goodSection = from q in topLayerDetails where q.Angle > lastAngle && q.Angle <= checker.Angle && q.Distance < checker.Distance select q;
goodTop.AddRange(goodSection.Select(x => x.Point));
lastAngle = checker.Angle;
}
goodPoints.Add(goodTop);
}
goodPoints.AddRange(OctList.Select(x => x.m_Points.ToList()));
Vector3[] final = goodPoints.SelectMany(x => x).ToArray();
m_lastStats.ReducedPoints = final.Length;
FileWriter writer = new FileWriter(final, "processing");
writer.WriteToFile();
writer.WriteToASC();
BatchFileManager bfm = new BatchFileManager(Directory.GetCurrentDirectory());
bfm.createBatchFile("pointcloud", Pro_samplingResolution.Value);
}
