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5.2.21 [IPointCloudNode] DeleteWithClassification
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‎RELEASE_NOTES.md‎

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@@ -1,3 +1,6 @@
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### 5.2.21
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- [IPointCloudNode] DeleteWithClassification
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### 5.2.20
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- [SimplePickTree] SimplePickPoint records generic attributes
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‎src/Aardvark.Algodat.Tests/DeleteTests.cs‎

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@@ -19,6 +19,7 @@ You should have received a copy of the GNU Affero General Public License
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using static Aardvark.Base.MultimethodTest;
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namespace Aardvark.Geometry.Tests
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{
@@ -61,6 +62,24 @@ public static PointSet CreateRegularPointsInUnitCube(int n, int splitLimit)
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return PointCloud.Chunks(new Chunk(ps, null), config);
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}
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public static PointSet CreateRandomClassifiedPoints(int n, int splitLimit)
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{
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var ps = new List<V3d>();
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var ks = new List<byte>();
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var rand = new RandomSystem();
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for (var x = 0; x < n; x++)
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{
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ps.Add(rand.UniformV3d());
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ks.Add((byte)rand.UniformInt(4));
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}
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var config = ImportConfig.Default
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.WithStorage(PointCloud.CreateInMemoryStore(cache: default))
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.WithKey("testaa")
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.WithOctreeSplitLimit(splitLimit)
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;
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return PointCloud.Chunks(new Chunk(ps, null, null, null, ks), config);
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}
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[Test]
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public void DeleteCollapsesNodes()
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{
@@ -152,5 +171,21 @@ public void DeleteAll()
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Assert.IsTrue(b.PointCount == 0);
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Assert.IsTrue(a.Id != b.Id);
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}
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[Test]
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public void DeleteWithClassifications()
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{
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for (int i = 0; i < 10; i++)
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{
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var q1 = new Box3d(new V3d(0.0), new V3d(0.23));
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var a = CreateRandomClassifiedPoints(10000, 256);
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var b = a.Delete(n => q1.Contains(n.BoundingBoxExactGlobal), n => !(q1.Contains(n.BoundingBoxExactGlobal) || q1.Intersects(n.BoundingBoxExactGlobal)), p => q1.Contains(p), a.Storage, CancellationToken.None);
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b.ValidateTree();
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Assert.IsTrue(b.Root?.Value.NoPointIn(p => q1.Contains(p)));
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var c = b.Root?.Value.DeleteWithClassifications(n => false, n => false, (p,k) => k==0, a.Storage, CancellationToken.None,256);
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// Did it really delete the classification 0u?
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c.ForEachNode(false, (node) => node.Classifications?.Value.ForEach((k) => Assert.IsTrue(k != 0)));
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}
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}
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}
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}

‎src/Aardvark.Geometry.PointSet/Octrees/Delete.cs‎

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Original file line numberDiff line numberDiff line change
@@ -304,6 +304,301 @@ int splitLimit
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;
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if (lodKd != null)
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{
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storage.Add(kdId, lodKd.Data);
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data = data.Add(Durable.Octree.PointRkdTreeFDataReference, kdId);
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}
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if (lodCs != null)
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{
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storage.Add(csId, lodCs);
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data = data.Add(Durable.Octree.Colors4bReference, csId);
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}
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if (lodNs != null)
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{
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storage.Add(nsId, lodNs);
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data = data.Add(Durable.Octree.Normals3fReference, nsId);
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}
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if (lodIs != null)
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{
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storage.Add(isId, lodIs);
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data = data.Add(Durable.Octree.Intensities1iReference, isId);
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}
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if (lodKs != null)
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{
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storage.Add(ksId, lodKs);
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data = data.Add(Durable.Octree.Classifications1bReference, ksId);
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}
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// MinTreeDepth MaxTreeDepth SubNodeIds??
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return new PointSetNode(data, storage, writeToStore: true);
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}
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}
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}
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/// <summary>
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/// Returns new tree with all points deleted which are inside. Additionally tests visited points using classifications.
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/// </summary>
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public static IPointCloudNode DeleteWithClassifications(this IPointCloudNode root,
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Func<IPointCloudNode, bool> isNodeFullyInside,
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Func<IPointCloudNode, bool> isNodeFullyOutside,
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Func<V3d, byte, bool> isPositionInside,
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Storage storage, CancellationToken ct,
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int splitLimit
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)
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{
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if (root == null) return null;
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if (root is FilteredNode f)
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{
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if (f.Filter is ISpatialFilter filter)
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{
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bool remove(IPointCloudNode n) => filter.IsFullyInside(n) && isNodeFullyInside(n);
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bool keep(IPointCloudNode n) => filter.IsFullyOutside(n) || isNodeFullyOutside(n);
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bool contains(V3d pt, byte c) => filter.Contains(pt) && isPositionInside(pt,c);
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var res = f.Node.DeleteWithClassifications(remove, keep, contains, storage, ct, splitLimit);
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return FilteredNode.Create(res, f.Filter);
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}
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else
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{
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throw new NotImplementedException("cannot delete on PointCloud with non-spatial filter");
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}
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}
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if (isNodeFullyInside(root)) return null;
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if (isNodeFullyOutside(root))
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{
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if (!root.IsMaterialized)
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{
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root = root.Materialize();
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}
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return root;
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}
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if(root.IsLeaf)
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{
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var ps = root.HasPositions ? new List<V3f>() : null;
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var cs = root.HasColors ? new List<C4b>() : null;
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var ns = root.HasNormals ? new List<V3f>() : null;
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var js = root.HasIntensities ? new List<int>() : null;
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var ks = root.HasClassifications ? new List<byte>() : null;
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var oldPs = root.Positions?.Value;
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var oldCs = root.Colors?.Value;
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var oldNs = root.Normals?.Value;
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var oldIs = root.Intensities?.Value;
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var oldKs = root.Classifications?.Value;
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var bbabs = Box3d.Invalid;
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var bbloc = Box3f.Invalid;
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for (var i = 0; i < oldPs.Length; i++)
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{
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var pabs = (V3d)oldPs[i] + root.Center;
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if(oldKs == null) { throw new ArgumentException("Can not call DeleteWithClassifications for point cloud without classifications. edd662d4-1656-4800-96e0-cbe7856ab00c"); }
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var oldK = oldKs[i];
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if (!isPositionInside(pabs, oldK))
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{
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if (oldPs != null) ps.Add(oldPs[i]);
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if (oldCs != null) cs.Add(oldCs[i]);
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if (oldNs != null) ns.Add(oldNs[i]);
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if (oldIs != null) js.Add(oldIs[i]);
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if (oldKs != null) ks.Add(oldKs[i]);
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bbabs.ExtendBy(pabs);
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bbloc.ExtendBy(oldPs[i]);
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}
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}
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if (ps.Count == 0) return null;
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var psa = ps.ToArray();
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var newId = Guid.NewGuid();
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var kd = psa.Length < 1 ? null : psa.BuildKdTree();
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Guid psId = Guid.NewGuid();
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Guid kdId = kd != null ? Guid.NewGuid() : Guid.Empty;
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Guid csId = cs != null ? Guid.NewGuid() : Guid.Empty;
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Guid nsId = ns != null ? Guid.NewGuid() : Guid.Empty;
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Guid isId = js != null ? Guid.NewGuid() : Guid.Empty;
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Guid ksId = ks != null ? Guid.NewGuid() : Guid.Empty;
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storage.Add(psId, psa);
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var data = ImmutableDictionary<Durable.Def, object>.Empty
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.Add(Durable.Octree.NodeId, newId)
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.Add(Durable.Octree.Cell, root.Cell)
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.Add(Durable.Octree.BoundingBoxExactGlobal, bbabs)
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.Add(Durable.Octree.BoundingBoxExactLocal, bbloc)
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.Add(Durable.Octree.PositionsLocal3fReference, psId)
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.Add(Durable.Octree.PointCountCell, ps.Count)
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.Add(Durable.Octree.PointCountTreeLeafs, (long)ps.Count)
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.Add(Durable.Octree.MaxTreeDepth, 0)
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.Add(Durable.Octree.MinTreeDepth, 0)
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;
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if (kd != null)
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{
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storage.Add(kdId, kd.Data);
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data = data.Add(Durable.Octree.PointRkdTreeFDataReference, kdId);
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}
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if (cs != null)
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{
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storage.Add(csId, cs.ToArray());
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data = data.Add(Durable.Octree.Colors4bReference, csId);
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}
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if (ns != null)
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{
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storage.Add(nsId, ns.ToArray());
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data = data.Add(Durable.Octree.Normals3fReference, nsId);
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}
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if (js != null)
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{
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storage.Add(isId, js.ToArray());
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data = data.Add(Durable.Octree.Intensities1iReference, isId);
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}
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if (ks != null)
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{
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storage.Add(ksId, ks.ToArray());
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data = data.Add(Durable.Octree.Classifications1bReference, ksId);
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}
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// MinTreeDepth MaxTreeDepth SubNodeIds??
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return new PointSetNode(data, storage, writeToStore: true);
468+
}
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else
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{
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var subnodes = root.Subnodes.Map((r) => r?.Value?.DeleteWithClassifications(isNodeFullyInside, isNodeFullyOutside, isPositionInside, storage, ct, splitLimit));
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var pointCountTree = subnodes.Sum((n) => n != null ? n.PointCountTree : 0);
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if (pointCountTree == 0)
474+
{
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return null;
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}
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else if (pointCountTree <= splitLimit)
478+
{
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var psabs = root.HasPositions ? new List<V3d>() : null;
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var cs = root.HasColors ? new List<C4b>() : null;
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var ns = root.HasNormals ? new List<V3f>() : null;
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var js = root.HasIntensities ? new List<int>() : null;
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var ks = root.HasClassifications ? new List<byte>() : null;
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foreach (var c in subnodes)
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{
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if (c != null) MergeExtensions.CollectEverything(c, psabs, cs, ns, js, ks);
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}
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Debug.Assert(psabs.Count == pointCountTree);
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var psa = psabs.MapToArray((p) => (V3f)(p - root.Center));
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var kd = psa.Length < 1 ? null : psa.BuildKdTree();
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Guid psId = Guid.NewGuid();
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Guid kdId = kd != null ? Guid.NewGuid() : Guid.Empty;
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Guid csId = cs != null ? Guid.NewGuid() : Guid.Empty;
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Guid nsId = ns != null ? Guid.NewGuid() : Guid.Empty;
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Guid isId = js != null ? Guid.NewGuid() : Guid.Empty;
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Guid ksId = ks != null ? Guid.NewGuid() : Guid.Empty;
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var bbabs = new Box3d(psabs);
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var newId = Guid.NewGuid();
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storage.Add(psId, psa);
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var data = ImmutableDictionary<Durable.Def, object>.Empty
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.Add(Durable.Octree.NodeId, newId)
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.Add(Durable.Octree.Cell, root.Cell)
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.Add(Durable.Octree.BoundingBoxExactGlobal, bbabs)
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.Add(Durable.Octree.BoundingBoxExactLocal, (Box3f)(bbabs - root.Center))
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.Add(Durable.Octree.PositionsLocal3fReference, psId)
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.Add(Durable.Octree.PointCountCell, (int)pointCountTree)
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.Add(Durable.Octree.PointCountTreeLeafs, pointCountTree)
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.Add(Durable.Octree.MaxTreeDepth, 0)
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.Add(Durable.Octree.MinTreeDepth, 0)
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;
516+
if (kd != null)
517+
{
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storage.Add(kdId, kd.Data);
519+
data = data.Add(Durable.Octree.PointRkdTreeFDataReference, kdId);
520+
}
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if (cs != null)
522+
{
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storage.Add(csId, cs.ToArray());
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data = data.Add(Durable.Octree.Colors4bReference, csId);
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}
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if (ns != null)
527+
{
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storage.Add(nsId, ns.ToArray());
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data = data.Add(Durable.Octree.Normals3fReference, nsId);
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}
531+
if (js != null)
532+
{
533+
storage.Add(isId, js.ToArray());
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data = data.Add(Durable.Octree.Intensities1iReference, isId);
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}
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if (ks != null)
537+
{
538+
storage.Add(ksId, ks.ToArray());
539+
data = data.Add(Durable.Octree.Classifications1bReference, ksId);
540+
}
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// MinTreeDepth MaxTreeDepth SubNodeIds??
543+
return new PointSetNode(data, storage, writeToStore: true);
544+
}
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else
546+
{
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var bbabs = new Box3d(subnodes.Map(n => n != null ? n.BoundingBoxExactGlobal : Box3d.Invalid));
548+
var subids = subnodes.Map(n => n != null ? n.Id : Guid.Empty);
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var maxDepth = subnodes.Max(n => n != null ? n.MaxTreeDepth + 1 : 0);
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var minDepth = subnodes.Min(n => n != null ? n.MinTreeDepth + 1 : 0);
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var octreeSplitLimit = splitLimit;
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var fractions = LodExtensions.ComputeLodFractions(subnodes);
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var aggregateCount = Math.Min(octreeSplitLimit, subnodes.Sum(x => x?.PointCountCell) ?? 0);
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var counts = LodExtensions.ComputeLodCounts(aggregateCount, fractions);
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// generate LoD data ...
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var needsCs = subnodes.Any(x => x != null && x.HasColors);
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var needsNs = subnodes.Any(x => x != null && x.HasNormals);
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var needsIs = subnodes.Any(x => x != null && x.HasIntensities);
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var needsKs = subnodes.Any(x => x != null && x.HasClassifications);
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var subcenters = subnodes.Map(x => x?.Center);
566+
var lodPs = LodExtensions.AggregateSubPositions(counts, aggregateCount, root.Center, subcenters, subnodes.Map(x => x?.Positions?.Value));
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var lodCs = needsCs ? LodExtensions.AggregateSubArrays(counts, aggregateCount, subnodes.Map(x => x?.Colors?.Value)) : null;
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var lodNs = needsNs ? LodExtensions.AggregateSubArrays(counts, aggregateCount, subnodes.Map(x => x?.Normals?.Value)) : null;
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var lodIs = needsIs ? LodExtensions.AggregateSubArrays(counts, aggregateCount, subnodes.Map(x => x?.Intensities?.Value)) : null;
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var lodKs = needsKs ? LodExtensions.AggregateSubArrays(counts, aggregateCount, subnodes.Map(x => x?.Classifications?.Value)) : null;
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var lodKd = lodPs.Length < 1 ? null : lodPs.BuildKdTree();
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Guid psId = Guid.NewGuid();
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Guid kdId = lodKd != null ? Guid.NewGuid() : Guid.Empty;
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Guid csId = lodCs != null ? Guid.NewGuid() : Guid.Empty;
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Guid nsId = lodNs != null ? Guid.NewGuid() : Guid.Empty;
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Guid isId = lodIs != null ? Guid.NewGuid() : Guid.Empty;
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Guid ksId = lodKs != null ? Guid.NewGuid() : Guid.Empty;
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581+
582+
var newId = Guid.NewGuid();
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storage.Add(psId, lodPs);
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var bbloc = new Box3f(lodPs);
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587+
// be inner node
588+
var data = ImmutableDictionary<Durable.Def, object>.Empty
589+
.Add(Durable.Octree.SubnodesGuids, subids)
590+
.Add(Durable.Octree.NodeId, newId)
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.Add(Durable.Octree.Cell, root.Cell)
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.Add(Durable.Octree.BoundingBoxExactGlobal, bbabs)
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.Add(Durable.Octree.BoundingBoxExactLocal, bbloc)
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.Add(Durable.Octree.PositionsLocal3fReference, psId)
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.Add(Durable.Octree.PointCountCell, lodPs.Length)
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.Add(Durable.Octree.PointCountTreeLeafs, pointCountTree)
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.Add(Durable.Octree.MaxTreeDepth, maxDepth)
598+
.Add(Durable.Octree.MinTreeDepth, minDepth)
599+
;
600+
601+
307602
if(lodKd != null)
308603
{
309604
storage.Add(kdId, lodKd.Data);

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