structured point clouds: implementation (wip)

aardvark-platform · Sep 22, 2023 · 646b363 · 646b363
1 parent 3b9583c
commit 646b363
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Showing 4 changed files with 42 additions and 6 deletions.
diff --git a/src/Aardvark.Data.Points.Base/ParseConfig.cs b/src/Aardvark.Data.Points.Base/ParseConfig.cs
@@ -187,6 +187,7 @@ public ParseConfig(ParseConfig x)
             MinDist = x.MinDist;
             ReadBufferSizeInBytes = x.ReadBufferSizeInBytes;
             EnabledProperties = x.EnabledProperties;
+            PartIndexOffset = x.PartIndexOffset;
         }
 
         /// <summary></summary>

diff --git a/src/Aardvark.Data.Points.Base/PartIndexUtils.cs b/src/Aardvark.Data.Points.Base/PartIndexUtils.cs
@@ -71,4 +71,23 @@ public static class PartIndexUtils
         }
     }
 
+    public static Range1i ExtendedBy(in Range1i range, object? partIndices)
+    {
+        checked
+        {
+            return partIndices switch
+            {
+                null => range,
+                uint x => range.ExtendedBy((int)x),
+                IList<byte> xs => range.ExtendedBy((Range1i)new Range1b(xs)),
+                IList<short> xs => range.ExtendedBy((Range1i)new Range1s(xs)),
+                IList<int> xs => range.ExtendedBy(new Range1i(xs)),
+
+                _ => throw new Exception(
+                    $"Unexpected part indices type {partIndices.GetType().FullName}. " +
+                    $"Error 3915b996-1842-4418-9445-e4c4f1b678a6"
+                    )
+            };
+        }
+    }
 }
diff --git a/src/Aardvark.Geometry.PointSet/Import/ImportChunks.cs b/src/Aardvark.Geometry.PointSet/Import/ImportChunks.cs
@@ -74,15 +74,21 @@ public static PointSet Chunks(IEnumerable<Chunk> chunks, ImportConfig config)
         {
             config.ProgressCallback(0.0);
 
-            if (config.Verbose)
+            var partIndicesRange = Range1i.Invalid;
+            var chunkCount = 0;
+            chunks = chunks.Do(chunk => 
             {
-                var chunkCount = 0;
-                chunks = chunks.Do(chunk => 
+                if (chunk.HasPartIndices)
+                {
+                    partIndicesRange = PartIndexUtils.ExtendedBy(partIndicesRange, chunk.PartIndices);
+                }
+
+                if (config.Verbose)
                 {
                     if (chunk.Count == 0) Report.Warn($"[PointCloud.Chunks] empty chunk");
                     Report.Line($"[PointCloud.Chunks] processing chunk {Interlocked.Increment(ref chunkCount)}");
-                });
-            }
+                }
+            });
 
             // reproject positions
             if (config.Reproject != null)
@@ -176,7 +182,15 @@ Chunk map(Chunk x, CancellationToken ct)
 
             // create final point set with specified key (or random key when no key is specified)
             var key = config.Key ?? Guid.NewGuid().ToString();
-            final = new PointSet(config.Storage ?? throw new Exception($"No storage specified. Error 5b4ebfec-d418-4ddc-9c2f-646d270cf78c."), key, final.Root?.Value?.Id ?? Guid.Empty, config.OctreeSplitLimit);
+            final = new PointSet(
+                storage   : config.Storage ?? throw new Exception($"No storage specified. Error 5b4ebfec-d418-4ddc-9c2f-646d270cf78c."),
+                pointSetId: key,
+                rootCellId: final.Root?.Value?.Id ?? Guid.Empty,
+                splitLimit: config.OctreeSplitLimit
+                )
+            {
+                PartIndexRange = partIndicesRange
+            };
             config.Storage.Add(key, final);
 
             return final;

diff --git a/src/Aardvark.Geometry.PointSet/Octrees/InMemoryPointSet.cs b/src/Aardvark.Geometry.PointSet/Octrees/InMemoryPointSet.cs
@@ -93,6 +93,7 @@ private InMemoryPointSet(ImmutableDictionary<Durable.Def, object> data, Cell cel
 
             foreach (var kv in data)
             {
+                if (kv.Key == Durable.Octree.PerCellPartIndex1ui) continue;
                 if (kv.Value is not Array) throw new ArgumentException($"Entry {kv.Key} must be array.");
             }
 
@@ -180,6 +181,7 @@ internal PointSetNode ToPointSetNode(Storage storage, bool isTemporaryImportNode
                     foreach (var kv in _octree.m_data)
                     {
                         if (kv.Key == Durable.Octree.PositionsGlobal3d) continue;
+                        if (kv.Key == Durable.Octree.PerCellPartIndex1ui) continue;
                         var subset = kv.Value.Subset(_ia);
                         attributes = attributes.Add(kv.Key, subset);
                     }