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LidarOctree.cpp
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LidarOctree.cpp
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/***********************************************************************
LidarOctree - Class to render multiresolution LiDAR point sets.
Copyright (c) 2005-2013 Oliver Kreylos
This file is part of the LiDAR processing and analysis package.
The LiDAR processing and analysis package is free software; you can
redistribute it and/or modify it under the terms of the GNU General
Public License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.
The LiDAR processing and analysis package is distributed in the hope
that it will be useful, but WITHOUT ANY WARRANTY; without even the
implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with the LiDAR processing and analysis package; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
02111-1307 USA
***********************************************************************/
#include "LidarOctree.h"
#include <string.h>
#include <string>
#include <iostream>
#include <iomanip>
#include <Misc/ThrowStdErr.h>
#include <Geometry/Ray.h>
#include <Geometry/Box.h>
#include <GL/gl.h>
#include <GL/GLVertexTemplates.h>
#include <GL/GLContextData.h>
#include <GL/GLExtensionManager.h>
#include <GL/Extensions/GLARBPointParameters.h>
#include <GL/Extensions/GLARBVertexBufferObject.h>
#include <GL/GLFrustum.h>
#include "CoarseningHeap.h"
#include "PointBasedLightingShader.h"
/**********************************
Methods of class LidarOctree::Node:
**********************************/
LidarOctree::Node::~Node(void)
{
/* Delete point array: */
if(haveNormals)
delete[] static_cast<NVertex*>(points);
else
delete[] static_cast<Vertex*>(points);
/* Delete selected point flag mask: */
delete[] selectedPoints;
delete[] selectedPointColors;
/* Delete children: */
delete[] children;
}
namespace {
/***************
Helper function:
***************/
template <class VertexParam>
inline
void
intersectConeWithPoints(
LidarOctree::ConeIntersection& cone,
const VertexParam* points,
unsigned int numPoints)
{
/* Intersect the cone with all points in this node: */
for(unsigned int i=0;i<numPoints;++i)
{
/* Check if the point is inside the cone: */
Vector sp=points[i].position-cone.ray.getOrigin();
Scalar sp2=Geometry::sqr(sp);
Scalar xd=sp*cone.ray.getDirection();
if(xd>=Scalar(0)&&Math::sqr(xd)>=cone.coneAngleCos2*cone.d2*sp2)
{
/* Calculate the point's adjusted ray parameter: */
Scalar lambda=xd/cone.d2;
Scalar y2=sp2-Math::sqr(xd)/cone.d2;
Scalar testLambda=lambda;
if(y2>Scalar(0))
testLambda+=Math::sqrt(y2*cone.d2*Scalar(2.0));
/* Check against the parameter range: */
if(testLambda>=cone.testLambda1&&testLambda<cone.testLambdaMin)
{
cone.testLambdaMin=testLambda;
cone.lambdaMin=lambda;
}
}
}
}
}
void LidarOctree::Node::intersectCone(LidarOctree::ConeIntersection& cone) const
{
if(children!=0)
{
#if 1
/* Store the query's original ray parameter range: */
Scalar testLambda1=cone.testLambda1;
Scalar testLambda2=cone.testLambda2;
/* Process all children: */
for(int childIndex=0;childIndex<8;++childIndex)
{
/* Convert the child's domain into a box: */
Geometry::Box<Scalar,3> childDomainBox(children[childIndex].domain.getMin(),children[childIndex].domain.getMax());
/* Intersect the ray with the child's domain: */
std::pair<Scalar,Scalar> lambdas=childDomainBox.getRayParameters(cone.ray);
if(lambdas.first<testLambda1)
lambdas.first=testLambda1;
if(lambdas.second>cone.testLambdaMin)
lambdas.second=cone.testLambdaMin;
/* Recurse into the child if the ray intersects its domain: */
if(lambdas.first<lambdas.second)
{
/* Run the intersection test on the reduced parameter range: */
cone.testLambda1=lambdas.first;
cone.testLambda2=lambdas.second;
children[childIndex].intersectCone(cone);
}
}
#else
/* Determine the child node containing the ray's start point and the ray parameters at which the ray intersects the child node's separating planes: */
int childIndex=0x0;
Scalar planeLambdas[3];
for(int i=0;i<3;++i)
{
Scalar center=domain.getCenter(i);
if(ray.getOrigin()[i]>=center)
{
childIndex|=0x1<<i;
if(ray.getDirection()[i]<Scalar(0))
planeLambdas[i]=(center-ray.getOrigin()[i])/ray.getDirection()[i];
else
planeLambdas[i]=Scalar(-1);
}
else
{
if(ray.getDirection()[i]>Scalar(0))
planeLambdas[i]=(center-ray.getOrigin()[i])/ray.getDirection()[i];
else
planeLambdas[i]=Scalar(-1);
}
}
/* Traverse the children in the order they are intersected by the ray: */
while(lambda1<lambda2)
{
/* Determine the next plane crossing: */
int planeIndex=-1;
Scalar nextLambda=lambda2;
for(int i=0;i<3;++i)
if(planeLambdas[i]>lambda1&&planeLambdas[i]<nextLambda)
{
planeIndex=i;
nextLambda=planeLambdas[i];
}
/* Check the current child: */
Scalar childLambda=children[childIndex].intersectRay(ray,coneAngleCos2,lambda1,nextLambda);
/* If the current child reported an intersection, return it: */
if(childLambda<nextLambda)
return childLambda;
/* Otherwise, go to the next child: */
childIndex^=0x1<<planeIndex;
lambda1=nextLambda;
}
/* No intersections found: */
return lambda2;
#endif
}
else
{
/* Intersect the cone with all points in this node: */
if(haveNormals)
intersectConeWithPoints(cone,static_cast<const NVertex*>(points),numPoints);
else
intersectConeWithPoints(cone,static_cast<const Vertex*>(points),numPoints);
}
}
/**************************************
Methods of class LidarOctree::DataItem:
**************************************/
LidarOctree::DataItem::DataItem(unsigned int sCacheSize)
:hasVertexBufferObjectExtension(GLARBVertexBufferObject::isSupported()),
cacheSize(sCacheSize-1),
cacheSlots(new CacheSlot[cacheSize]),
cacheNodeMap(cacheSize+cacheSize/4),
lruHead(0),lruTail(0),
bypassVertexBufferObjectId(0),
hasPointParametersExtension(GLARBPointParameters::isSupported()),
numRenderedNodes(0),numCacheMisses(0),numCacheBypasses(0),numRenderedPoints(0),numBypassedPoints(0)
{
/* Allocate the cache objects: */
if(hasVertexBufferObjectExtension)
{
/* Initialize the vertex buffer object extension: */
GLARBVertexBufferObject::initExtension();
/* Create vertex buffer objects: */
GLuint* vertexBufferObjectIds=new GLuint[cacheSize+1];
glGenBuffersARB(cacheSize+1,vertexBufferObjectIds);
for(unsigned int i=0;i<cacheSize;++i)
cacheSlots[i].vertexBufferObjectId=vertexBufferObjectIds[i];
bypassVertexBufferObjectId=vertexBufferObjectIds[cacheSize];
delete[] vertexBufferObjectIds;
}
/* Initialize the LRU cache slot list: */
lruHead=&cacheSlots[0];
cacheSlots[0].pred=0;
for(int i=1;i<cacheSize;++i)
{
cacheSlots[i-1].succ=&cacheSlots[i];
cacheSlots[i].pred=&cacheSlots[i-1];
}
cacheSlots[cacheSize-1].succ=0;
lruTail=&cacheSlots[cacheSize-1];
if(hasPointParametersExtension)
{
/* Initialize the point parameters extension: */
GLARBPointParameters::initExtension();
}
}
LidarOctree::DataItem::~DataItem(void)
{
if(hasVertexBufferObjectExtension)
{
/* Delete vertex buffer objects: */
GLuint* vertexBufferObjectIds=new GLuint[cacheSize+1];
for(unsigned int i=0;i<cacheSize;++i)
vertexBufferObjectIds[i]=cacheSlots[i].vertexBufferObjectId;
vertexBufferObjectIds[cacheSize]=bypassVertexBufferObjectId;
glDeleteBuffersARB(cacheSize+1,vertexBufferObjectIds);
delete[] vertexBufferObjectIds;
}
/* Delete the cache slots: */
delete[] cacheSlots;
}
/****************************
Methods of class LidarOctree:
****************************/
void LidarOctree::renderSubTree(const LidarOctree::Node* node,const LidarOctree::Frustum& frustum,PointBasedLightingShader& pbls,LidarOctree::DataItem* dataItem) const
{
/* Bail out if the node is empty: */
if(node->numPoints==0)
return;
/* Check if this node intersects the view frustum: */
for(int plane=0;plane<6;++plane)
{
const Frustum::Plane::Vector& normal=frustum.getFrustumPlane(plane).getNormal();
/* Find the point on the node's bounding box which is closest to the frustum plane: */
Point p;
for(int i=0;i<3;++i)
p[i]=normal[i]>Scalar(0)?node->domain.getMax()[i]:node->domain.getMin()[i];
/* Bail out if the point is not inside the view frustum: */
if(frustum.getFrustumPlane(plane).contains(p))
return;
}
/* Find the point inside the node that is closest to the focus+context center: */
Point nodeFncPoint=fncCenter;
for(int i=0;i<3;++i)
{
if(nodeFncPoint[i]<node->domain.getMin()[i])
nodeFncPoint[i]=node->domain.getMin()[i];
if(nodeFncPoint[i]>node->domain.getMax()[i])
nodeFncPoint[i]=node->domain.getMax()[i];
}
/* Calculate the node's projected detail size: */
Scalar projectedDetailSize=frustum.calcProjectedRadius(nodeFncPoint,node->detailSize);
if(projectedDetailSize>=Scalar(0))
{
/* Adjust the projected detail size based on the focus+context rule: */
if(fncWeight>Scalar(0))
{
/* Calculate the distance from the node to the focus region: */
Scalar fncDist=Geometry::dist(nodeFncPoint,fncCenter)-node->radius;
if(fncDist>fncRadius)
{
/* Adjust the node's projected detail size: */
projectedDetailSize*=Math::pow(fncRadius/fncDist,fncWeight);
}
}
}
else
projectedDetailSize=Math::Constants<Scalar>::max; // Temporary workaround until GLFrustum is fixed
/* Update node's rendering traversal state: */
{
Threads::Mutex::Lock nodeLock(node->nodeMutex);
bool nodeStateChanged=false;
if(node->renderPass!=renderPass)
{
/* Store the node's LOD value from this rendering pass: */
node->maxLOD=projectedDetailSize;
node->renderPass=renderPass;
nodeStateChanged=true;
}
else
{
/* Update the node's maximum LOD value: */
if(node->maxLOD<projectedDetailSize)
{
node->maxLOD=projectedDetailSize;
nodeStateChanged=true;
}
}
if(node->coarseningHeapIndex!=~0x0U&&nodeStateChanged)
{
/* Update the node's data in the coarsening heap: */
{
Threads::Mutex::Lock coarseningHeapLock(coarseningHeapMutex);
coarseningHeap->move(const_cast<Node*>(node));
}
}
}
/* Check whether to render this node or its children: */
if(projectedDetailSize>=maxRenderLOD)
{
if(node->children!=0)
{
/* Use the view point for a view-ordered traversal of the child nodes: */
int childIndex=0x0;
Point nodeCenter=node->domain.getCenter();
Point eye=frustum.getEye().toPoint();
for(int i=0;i<3;++i)
if(eye[i]>=nodeCenter[i])
childIndex|=0x1<<i;
/* Render the node's children: */
// for(int i=7;i>=0;--i) // Back-to-front rendering
for(int i=0;i<8;++i) // Front-to-back rendering
renderSubTree(&node->children[i^childIndex],frustum,pbls,dataItem);
/* Done here... */
return;
}
else if(node->childrenOffset!=LidarFile::Offset(0))
{
/* Try inserting this node into the node loader thread's request queue: */
Threads::Mutex::Lock loadRequestLock(loadRequestMutex);
if(node->subdivisionQueueIndex<subdivisionRequestQueueLength)
{
/* Update the node's position in the subdivision queue if necessary: */
if(subdivisionRequestQueue[node->subdivisionQueueIndex].LOD<projectedDetailSize)
{
/* Adjust the node's position in the queue: */
for(;node->subdivisionQueueIndex>0&&subdivisionRequestQueue[node->subdivisionQueueIndex-1].LOD<projectedDetailSize;--node->subdivisionQueueIndex)
{
subdivisionRequestQueue[node->subdivisionQueueIndex]=subdivisionRequestQueue[node->subdivisionQueueIndex-1];
subdivisionRequestQueue[node->subdivisionQueueIndex].node->subdivisionQueueIndex=node->subdivisionQueueIndex;
}
/* Update the node's LOD value in the queue: */
subdivisionRequestQueue[node->subdivisionQueueIndex].node=const_cast<Node*>(node);
subdivisionRequestQueue[node->subdivisionQueueIndex].LOD=projectedDetailSize;
}
}
else if(node->subdivisionQueueIndex==subdivisionRequestQueueLength&&subdivisionRequestQueue[subdivisionRequestQueueLength-1].LOD<projectedDetailSize)
{
/* Remove the node from the last queue slot: */
if(subdivisionRequestQueue[subdivisionRequestQueueLength-1].node!=0)
subdivisionRequestQueue[subdivisionRequestQueueLength-1].node->subdivisionQueueIndex=subdivisionRequestQueueLength;
/* Insert the node into the subdivision request queue: */
unsigned int insertIndex;
for(insertIndex=subdivisionRequestQueueLength-1;insertIndex>0&&subdivisionRequestQueue[insertIndex-1].LOD<projectedDetailSize;--insertIndex)
{
if(subdivisionRequestQueue[insertIndex-1].node!=0)
subdivisionRequestQueue[insertIndex-1].node->subdivisionQueueIndex=insertIndex;
if(insertIndex<subdivisionRequestQueueLength)
subdivisionRequestQueue[insertIndex]=subdivisionRequestQueue[insertIndex-1];
}
node->subdivisionQueueIndex=insertIndex;
subdivisionRequestQueue[insertIndex].node=const_cast<Node*>(node);
subdivisionRequestQueue[insertIndex].LOD=projectedDetailSize;
/* Wake up the node loader thread: */
loadRequestCond.signal();
}
}
}
/* Retrieve the cache slot containing this node's vertex array: */
GLuint vertexBufferObjectId=0;
DataItem::CacheSlot* slot=0;
bool mustUploadData=false;
DataItem::NodeHasher::Iterator cnIt=dataItem->cacheNodeMap.findEntry(node);
if(cnIt.isFinished()) // Cache miss
{
/*******************************************************************
We use an LRU cache replacement strategy, but do not replace cache
slots that were already used in the same rendering pass to prevent
cache thrashing. If the cache is full for a rendering pass,
additional nodes will be rendered straight from the main memory data
structures.
*******************************************************************/
/* Check if the head of the LRU list is from a previous rendering pass: */
if(dataItem->lruHead->lastUsed!=renderPass)
{
/* Replace the cache slot: */
slot=dataItem->lruHead;
if(slot->node!=0)
{
/* Remove the currently cached node: */
dataItem->cacheNodeMap.removeEntry(slot->node);
}
slot->node=node;
dataItem->cacheNodeMap.setEntry(DataItem::NodeHasher::Entry(node,slot));
/* Remember to upload the node's data later: */
mustUploadData=true;
}
else
++dataItem->numCacheBypasses;
++dataItem->numCacheMisses;
}
else // Cache hit
{
/* Use the previously used cache slot: */
slot=cnIt->getDest();
/* Check if the cached point set is out-of-date: */
if(slot->version!=node->pointsVersion)
{
/* Remember to upload the node's data later: */
mustUploadData=true;
}
}
if(slot!=0)
{
/* Install the cache slot's buffer object (and upload data if required): */
if(dataItem->hasVertexBufferObjectExtension)
{
vertexBufferObjectId=slot->vertexBufferObjectId;
glBindBufferARB(GL_ARRAY_BUFFER_ARB,vertexBufferObjectId);
if(mustUploadData)
{
size_t arraySize=node->numPoints*(node->haveNormals?sizeof(NVertex):sizeof(Vertex));
glBufferDataARB(GL_ARRAY_BUFFER_ARB,arraySize,node->points,GL_DYNAMIC_DRAW_ARB);
}
}
/* Mark the cache slot as used and move it to the end of the LRU list: */
slot->version=node->pointsVersion;
slot->lastUsed=renderPass;
if(slot->pred!=0)
slot->pred->succ=slot->succ;
else
dataItem->lruHead=slot->succ;
if(slot->succ!=0)
slot->succ->pred=slot->pred;
else
dataItem->lruTail=slot->pred;
slot->pred=dataItem->lruTail;
dataItem->lruTail->succ=slot;
slot->succ=0;
dataItem->lruTail=slot;
}
else
{
/* Prepare for rendering directly from main memory: */
if(dataItem->hasVertexBufferObjectExtension)
{
vertexBufferObjectId=dataItem->bypassVertexBufferObjectId;
glBindBufferARB(GL_ARRAY_BUFFER_ARB,vertexBufferObjectId);
size_t arraySize=node->numPoints*(node->haveNormals?sizeof(NVertex):sizeof(Vertex));
glBufferDataARB(GL_ARRAY_BUFFER_ARB,arraySize,node->points,GL_STREAM_DRAW_ARB);
}
dataItem->numBypassedPoints+=node->numPoints;
}
/* Set this node's splat size: */
pbls.setSurfelSize((baseSurfelSize+node->detailSize)*surfelScale);
/* Render this node's point set: */
if(vertexBufferObjectId!=0)
{
/* Render from the vertex buffer: */
if(node->haveNormals)
glVertexPointer(static_cast<const NVertex*>(0));
else
glVertexPointer(static_cast<const Vertex*>(0));
}
else
{
/* Render straight from the node vertex array (only happens if GL_ARB_vertex_buffer_object not supported): */
if(node->haveNormals)
glVertexPointer(static_cast<const NVertex*>(node->points));
else
glVertexPointer(static_cast<const Vertex*>(node->points));
}
glDrawArrays(GL_POINTS,0,node->numPoints);
#if 0
glColor3f(1.0f,0.0f,0.0f);
glBegin(GL_LINE_STRIP);
glVertex3f(node->domain.getMin()[0],node->domain.getMin()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMin()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMax()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMax()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMin()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMin()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMin()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMax()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMax()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMin()[1],node->domain.getMax()[2]);
glEnd();
glBegin(GL_LINES);
glVertex3f(node->domain.getMax()[0],node->domain.getMin()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMin()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMax()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMax()[0],node->domain.getMax()[1],node->domain.getMax()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMax()[1],node->domain.getMin()[2]);
glVertex3f(node->domain.getMin()[0],node->domain.getMax()[1],node->domain.getMax()[2]);
glEnd();
#endif
++dataItem->numRenderedNodes;
dataItem->numRenderedPoints+=node->numPoints;
}
void LidarOctree::interactWithSubTree(LidarOctree::Node* node,const LidarOctree::Interactor& interactor)
{
/* Bail out if the node is empty: */
if(node->numPoints==0)
return;
/* Calculate the node's distance from the interactor: */
Scalar interactorDist2=node->domain.sqrDist(interactor.center);
if(interactorDist2>=Math::sqr(interactor.radius))
return;
/* Calculate an appropriate LOD value for the node: */
Scalar interactorLOD=(node->radius*maxRenderLOD)/interactor.radius; // This could use some tweaking
/* Update node's rendering traversal state: */
{
Threads::Mutex::Lock nodeLock(node->nodeMutex);
bool nodeStateChanged=false;
if(node->renderPass!=renderPass)
{
/* Store the node's LOD value from this rendering pass: */
node->maxLOD=interactorLOD;
node->renderPass=renderPass;
nodeStateChanged=true;
}
else
{
/* Update the node's maximum LOD value: */
if(node->maxLOD<interactorLOD)
{
node->maxLOD=interactorLOD;
nodeStateChanged=true;
}
}
if(node->coarseningHeapIndex!=~0x0U&&nodeStateChanged)
{
/* Update the node's data in the coarsening heap: */
{
Threads::Mutex::Lock coarseningHeapLock(coarseningHeapMutex);
coarseningHeap->move(node);
}
}
}
/* Check if the node should be subdivided: */
if(node->children==0)
{
/* Subdivide if the node is not a leaf: */
if(node->childrenOffset!=LidarFile::Offset(0))
{
/* Try inserting this node into the node loader thread's request queue: */
Threads::Mutex::Lock loadRequestLock(loadRequestMutex);
if(node->subdivisionQueueIndex<subdivisionRequestQueueLength)
{
/* Update the node's position in the subdivision queue if necessary: */
if(subdivisionRequestQueue[node->subdivisionQueueIndex].LOD<interactorLOD)
{
/* Adjust the node's position in the queue: */
for(;node->subdivisionQueueIndex>0&&subdivisionRequestQueue[node->subdivisionQueueIndex-1].LOD<interactorLOD;--node->subdivisionQueueIndex)
{
subdivisionRequestQueue[node->subdivisionQueueIndex]=subdivisionRequestQueue[node->subdivisionQueueIndex-1];
subdivisionRequestQueue[node->subdivisionQueueIndex].node->subdivisionQueueIndex=node->subdivisionQueueIndex;
}
/* Update the node's LOD value in the queue: */
subdivisionRequestQueue[node->subdivisionQueueIndex].node=node;
subdivisionRequestQueue[node->subdivisionQueueIndex].LOD=interactorLOD;
}
}
else if(node->subdivisionQueueIndex==subdivisionRequestQueueLength&&subdivisionRequestQueue[subdivisionRequestQueueLength-1].LOD<interactorLOD)
{
/* Remove the node from the last queue slot: */
if(subdivisionRequestQueue[subdivisionRequestQueueLength-1].node!=0)
subdivisionRequestQueue[subdivisionRequestQueueLength-1].node->subdivisionQueueIndex=subdivisionRequestQueueLength;
/* Insert the node into the subdivision request queue: */
unsigned int insertIndex;
for(insertIndex=subdivisionRequestQueueLength-1;insertIndex>0&&subdivisionRequestQueue[insertIndex-1].LOD<interactorLOD;--insertIndex)
{
if(subdivisionRequestQueue[insertIndex-1].node!=0)
subdivisionRequestQueue[insertIndex-1].node->subdivisionQueueIndex=insertIndex;
if(insertIndex<subdivisionRequestQueueLength)
subdivisionRequestQueue[insertIndex]=subdivisionRequestQueue[insertIndex-1];
}
node->subdivisionQueueIndex=insertIndex;
subdivisionRequestQueue[insertIndex].node=node;
subdivisionRequestQueue[insertIndex].LOD=interactorLOD;
/* Wake up the node loader thread: */
loadRequestCond.signal();
}
}
}
else
{
/* Recurse into the node's children: */
for(int i=0;i<8;++i)
interactWithSubTree(&node->children[i],interactor);
}
}
void LidarOctree::selectPoints(LidarOctree::Node* node,const LidarOctree::Interactor& interactor)
{
/* Check if the interactor's region of influence intersects the node's domain: */
Scalar dist2=node->domain.sqrDist(interactor.center);
Scalar ir2=Math::sqr(interactor.radius);
if(dist2<ir2)
{
{
Threads::Mutex::Lock selectionLock(node->selectionMutex);
bool selectionEmpty=node->selectedPoints==0;
/* Select points in this node: */
if(node->haveNormals)
selectPointsInNode<NVertex>(node,interactor);
else
selectPointsInNode<Vertex>(node,interactor);
/* Check if this node just had its first points selected: */
if(selectionEmpty&&node->selectedPoints!=0)
{
/* Check if the node's parent is in the coarsening heap: */
if(node->parent!=0&&node->parent->coarseningHeapIndex!=~0x0)
{
Threads::Mutex::Lock coarseningHeapLock(coarseningHeapMutex);
coarseningHeap->remove(node->parent);
}
}
}
if(node->children!=0)
{
/* Recurse into the node's children: */
for(int childIndex=0;childIndex<8;++childIndex)
selectPoints(&node->children[childIndex],interactor);
}
}
}
bool LidarOctree::deselectPoints(LidarOctree::Node* node,const LidarOctree::Interactor& interactor)
{
/* Check if the interactor's region of influence intersects the node's domain: */
Scalar dist2=node->domain.sqrDist(interactor.center);
Scalar ir2=Math::sqr(interactor.radius);
if(dist2<ir2)
{
if(node->selectedPoints!=0)
{
Threads::Mutex::Lock selectionLock(node->selectionMutex);
/* Deselect points in this node: */
if(node->haveNormals)
deselectPointsInNode<NVertex>(node,interactor);
else
deselectPointsInNode<Vertex>(node,interactor);
}
if(node->children!=0)
{
/* Recurse into the node's children: */
bool canCoarsen=true;
for(int childIndex=0;childIndex<8;++childIndex)
canCoarsen=deselectPoints(&node->children[childIndex],interactor)&&canCoarsen;
if(canCoarsen&&node->coarseningHeapIndex==~0x0)
{
/* Insert the node into the coarsening heap: */
Threads::Mutex::Lock coarseningHeapLock(coarseningHeapMutex);
coarseningHeap->insert(node);
}
}
}
return node->children==0&&node->selectedPoints==0;
}
bool LidarOctree::clearSelection(LidarOctree::Node* node)
{
if(node->selectedPoints!=0)
{
Threads::Mutex::Lock selectionLock(node->selectionMutex);
/* Deselect all selected points: */
bool pointsChanged=false;
if(node->haveNormals)
{
NVertex* points=static_cast<NVertex*>(node->points);
for(unsigned int i=0;i<node->numPoints;++i)
{
if(node->selectedPoints[i])
{
GLubyte intensity=node->selectedPoints[i];
points[i].color=node->selectedPointColors[i];
pointsChanged=true;
}
}
}
else
{
Vertex* points=static_cast<Vertex*>(node->points);
for(unsigned int i=0;i<node->numPoints;++i)
{
if(node->selectedPoints[i])
{
GLubyte intensity=node->selectedPoints[i];
points[i].color=node->selectedPointColors[i];
pointsChanged=true;
}
}
}
/* Destroy the selection mask: */
delete[] node->selectedPoints;
node->selectedPoints=0;
delete[] node->selectedPointColors;
node->selectedPointColors=0;
/* Check if the points array has to be invalidated: */
if(pointsChanged)
++node->pointsVersion;
}
if(node->children!=0)
{
/* Recurse into the node's children: */
bool canCoarsen=true;
for(int childIndex=0;childIndex<8;++childIndex)
canCoarsen=clearSelection(&node->children[childIndex])&&canCoarsen;
if(canCoarsen&&node->coarseningHeapIndex==~0x0)
{
/* Insert the node into the coarsening heap: */
Threads::Mutex::Lock coarseningHeapLock(coarseningHeapMutex);
coarseningHeap->insert(node);
}
}
return node->children==0;
}
void LidarOctree::loadNodePoints(LidarOctree::Node* node)
{
if(node->haveNormals)
{
/* Create the node's point array (always allocate the maximum size to prevent memory fragmentation): */
NVertex* points=new NVertex[maxNumPointsPerNode];
node->points=points;
/* Load the node's points into a temporary point buffer: */
LidarPoint* pointsBuffer=new LidarPoint[maxNumPointsPerNode];
pointsFile.setReadPosAbs(LidarDataFileHeader::getFileSize()+pointsRecordSize*node->dataOffset);
pointsFile.read(pointsBuffer,node->numPoints);
Vector* normalsBuffer=new Vector[maxNumPointsPerNode];
normalsFile->setReadPosAbs(LidarDataFileHeader::getFileSize()+normalsRecordSize*node->dataOffset);
normalsFile->read(normalsBuffer,node->numPoints);
if(colorsFile!=0)
{
/* Load the node's colors into a temporary buffer: */
Color* colorsBuffer=new Color[maxNumPointsPerNode];
colorsFile->setReadPosAbs(LidarDataFileHeader::getFileSize()+colorsRecordSize*node->dataOffset);
colorsFile->read(colorsBuffer,node->numPoints);
/* Copy the colors into the point buffer: */
for(unsigned int i=0;i<node->numPoints;++i)
for(int j=0;j<4;++j)
pointsBuffer[i].value[j]=colorsBuffer[i][j];
/* Clean up: */
delete[] colorsBuffer;
}
/* Convert the LiDAR points to render points: */
for(unsigned int i=0;i<node->numPoints;++i)
{
/* Copy the point color: */
for(int j=0;j<4;++j)
points[i].color[j]=pointsBuffer[i].value[j];
/* Copy the normal vector: */
points[i].normal=normalsBuffer[i];
/* Copy the point position: */
points[i].position=pointsBuffer[i];
#if RECENTER_OCTREE
/* Offset the points so that the root node's center is the origin: */
points[i].position-=pointOffset;
#endif
}
/* Clean up: */
delete[] pointsBuffer;
delete[] normalsBuffer;
}
else
{
/* Create the node's point array (always allocate the maximum size to prevent memory fragmentation): */
Vertex* points=new Vertex[maxNumPointsPerNode];
node->points=points;
/* Load the node's points into a temporary point buffer: */
LidarPoint* pointsBuffer=new LidarPoint[maxNumPointsPerNode];
pointsFile.setReadPosAbs(LidarDataFileHeader::getFileSize()+pointsRecordSize*node->dataOffset);
pointsFile.read(pointsBuffer,node->numPoints);
if(colorsFile!=0)
{
/* Load the node's colors into a temporary buffer: */
Color* colorsBuffer=new Color[maxNumPointsPerNode];
colorsFile->setReadPosAbs(LidarDataFileHeader::getFileSize()+colorsRecordSize*node->dataOffset);
colorsFile->read(colorsBuffer,node->numPoints);
/* Copy the colors into the point buffer: */
for(unsigned int i=0;i<node->numPoints;++i)
for(int j=0;j<4;++j)
pointsBuffer[i].value[j]=colorsBuffer[i][j];
/* Clean up: */
delete[] colorsBuffer;
}
/* Convert the LiDAR points to render points: */
for(unsigned int i=0;i<node->numPoints;++i)
{
/* Copy the point color: */
for(int j=0;j<4;++j)
points[i].color[j]=pointsBuffer[i].value[j];
/* Copy the point position: */
points[i].position=pointsBuffer[i];
#if RECENTER_OCTREE
/* Offset the points so that the root node's center is the origin: */
points[i].position-=pointOffset;
#endif
}
/* Clean up: */
delete[] pointsBuffer;
}
}
template <class VertexParam>
inline
void
LidarOctree::selectCloseNeighbors(
LidarOctree::Node* node,
unsigned int left,
unsigned int right,
int splitDimension,
const VertexParam& point,
Scalar maxDist)
{
/* Calculate the index of the current point: */
unsigned int mid=(left+right)>>1;
VertexParam& np=static_cast<VertexParam*>(node->points)[mid];
int childSplitDimension=splitDimension+1;
if(childSplitDimension==3)
childSplitDimension=0;
/* Traverse into child closer to query point: */
if(point.position[splitDimension]<np.position[splitDimension])
{
/* Traverse left child: */
if(left<mid)
selectCloseNeighbors(node,left,mid-1,childSplitDimension,point,maxDist);
/* Process the current point: */
if(Geometry::sqrDist(point.position,np.position)<=Math::sqr(maxDist))
{
/* Select the point: */
selectPoint<VertexParam>(node,mid);
}
/* Traverse the right child: */
if(point.position[splitDimension]+maxDist>=np.position[splitDimension]&&right>mid)
selectCloseNeighbors(node,mid+1,right,childSplitDimension,point,maxDist);
}
else
{
/* Traverse right child: */
if(right>mid)
selectCloseNeighbors(node,mid+1,right,childSplitDimension,point,maxDist);
/* Process the current point: */
if(Geometry::sqrDist(point.position,np.position)<=Math::sqr(maxDist))
{
/* Select the point: */
selectPoint<VertexParam>(node,mid);
}
/* Traverse the left child: */
if(point.position[splitDimension]-maxDist<=np.position[splitDimension]&&left<mid)
selectCloseNeighbors(node,left,mid-1,childSplitDimension,point,maxDist);
}
}
template <class VertexParam>
inline
void
LidarOctree::propagateSelectedPoints(
LidarOctree::Node* node,
LidarOctree::Node* children)
{
VertexParam* nodePoints=static_cast<VertexParam*>(node->points);
for(int childIndex=0;childIndex<8;++childIndex)
if(children[childIndex].numPoints!=0)
{
VertexParam* childPoints=static_cast<VertexParam*>(children[childIndex].points);
/* Process each selected point in the node: */
for(unsigned int i=0;i<node->numPoints;++i)
if(node->selectedPoints[i])
{
/* Select the point's close neighbors in the child node: */
selectCloseNeighbors<VertexParam>(&children[childIndex],0,children[childIndex].numPoints-1,0,nodePoints[i],node->detailSize);
}
}
}
void* LidarOctree::nodeLoaderThreadMethod(void)
{
while(true)
{
/* Get the next subdivision request: */
Node* node;
{
Threads::Mutex::Lock loadRequestLock(loadRequestMutex);
while(subdivisionRequestQueue[0].node==0)
loadRequestCond.wait(loadRequestMutex);
node=subdivisionRequestQueue[0].node;
/* Remove the node from the queue: */
unsigned int i;
for(i=1;i<subdivisionRequestQueueLength&&subdivisionRequestQueue[i].node!=0;++i)
{
subdivisionRequestQueue[i].node->subdivisionQueueIndex=i-1;
subdivisionRequestQueue[i-1]=subdivisionRequestQueue[i];