Source code for py3dtiles.tilers.point.node.points_grid

from __future__ import annotations

from typing import TYPE_CHECKING, Any

import numpy as np
import numpy.typing as npt
from numba import njit  # type: ignore [attr-defined]
from numba.typed import List

from py3dtiles.exceptions import TilerException
from py3dtiles.utils import SubdivisionType, aabb_size_to_subdivision_type

from .distance import is_point_far_enough, xyz_to_key

if TYPE_CHECKING:
    from .node import Node


@njit(fastmath=True, cache=True)  # type: ignore [misc]
def _insert(
    cells_xyz: List[npt.NDArray[np.float32]],
    cells_rgb: List[npt.NDArray[np.uint8]],
    cells_classification: List[npt.NDArray[np.uint8]],
    cells_intensity: List[npt.NDArray[np.uint8]],
    aabmin: npt.NDArray[np.float32],
    inv_aabb_size: npt.NDArray[np.float32],
    cell_count: npt.NDArray[np.int32],
    xyz: npt.NDArray[np.float32],
    rgb: npt.NDArray[np.uint8],
    classification: npt.NDArray[np.uint8],
    intensity: npt.NDArray[np.uint8],
    spacing: float,
    shift: int,
    force: bool = False,
) -> tuple[
    npt.NDArray[np.float32],
    npt.NDArray[np.uint8],
    npt.NDArray[np.uint8],
    npt.NDArray[np.uint8],
    bool,
] | None:
    keys = xyz_to_key(xyz, cell_count, aabmin, inv_aabb_size, shift)

    if force:
        # allocate this one once and for all
        for k in np.unique(keys):
            idx = np.where(keys - k == 0)
            cells_xyz[k] = np.concatenate((cells_xyz[k], xyz[idx]))
            cells_rgb[k] = np.concatenate((cells_rgb[k], rgb[idx]))
            cells_classification[k] = np.concatenate(
                (cells_classification[k], classification[idx])
            )
            cells_intensity[k] = np.concatenate((cells_intensity[k], intensity[idx]))
        return None
    else:
        notinserted = np.full(len(xyz), False)
        needs_balance = False

        for i in range(len(xyz)):
            k = keys[i]
            if cells_xyz[k].shape[0] == 0 or is_point_far_enough(
                cells_xyz[k], xyz[i], spacing
            ):
                cells_xyz[k] = np.concatenate((cells_xyz[k], xyz[i].reshape(1, 3)))
                cells_rgb[k] = np.concatenate((cells_rgb[k], rgb[i].reshape(1, 3)))

                cells_classification[k] = np.concatenate(
                    (cells_classification[k], classification[i].reshape(1, 1))
                )
                cells_intensity[k] = np.concatenate(
                    (cells_intensity[k], intensity[i].reshape(1, 1))
                )
                if cell_count[0] < 8:
                    needs_balance = needs_balance or cells_xyz[k].shape[0] > 200000
            else:
                notinserted[i] = True

        return (
            xyz[notinserted],
            rgb[notinserted],
            classification[notinserted],
            intensity[notinserted],
            needs_balance,
        )


[docs] class Grid: """docstring for Grid""" __slots__ = ( "cell_count", "cells_xyz", "cells_rgb", "cells_classification", "cells_intensity", "spacing", ) def __init__(self, node: Node, initial_count: int = 3) -> None: self.cell_count = np.array( [initial_count, initial_count, initial_count], dtype=np.int32 ) self.spacing = node.spacing * node.spacing self.cells_xyz = List() self.cells_rgb = List() self.cells_classification = List() self.cells_intensity = List() for _ in range(self.max_key_value): self.cells_xyz.append(np.zeros((0, 3), dtype=np.float32)) self.cells_rgb.append(np.zeros((0, 3), dtype=np.uint8)) self.cells_classification.append(np.zeros((0, 1), dtype=np.uint8)) self.cells_intensity.append(np.zeros((0, 1), dtype=np.uint8)) def __getstate__(self) -> dict[str, Any]: return { "cell_count": self.cell_count, "spacing": self.spacing, "cells_xyz": list(self.cells_xyz), "cells_rgb": list(self.cells_rgb), "cells_classification": list(self.cells_classification), "cells_intensity": list(self.cells_intensity), } def __setstate__(self, state: dict[str, Any]) -> None: self.cell_count = state["cell_count"] self.spacing = state["spacing"] self.cells_xyz = List(state["cells_xyz"]) self.cells_rgb = List(state["cells_rgb"]) self.cells_classification = List(state["cells_classification"]) self.cells_intensity = List(state["cells_intensity"]) @property def max_key_value(self) -> int: return 1 << ( 2 * int(self.cell_count[0]).bit_length() + int(self.cell_count[2]).bit_length() )
[docs] def insert( self, aabmin: npt.NDArray[np.float32], inv_aabb_size: npt.NDArray[np.float32], xyz: npt.NDArray[np.float32], rgb: npt.NDArray[np.uint8], classification: npt.NDArray[np.uint8], intensity: npt.NDArray[np.uint8], force: bool = False, ) -> tuple[ npt.NDArray[np.float32], npt.NDArray[np.uint8], npt.NDArray[np.uint8], npt.NDArray[np.uint8], bool, ]: return _insert( # type: ignore [no-any-return] self.cells_xyz, self.cells_rgb, self.cells_classification, self.cells_intensity, aabmin, inv_aabb_size, self.cell_count, xyz, rgb, classification, intensity, self.spacing, int(self.cell_count[0] - 1).bit_length(), force, )
[docs] def needs_balance(self) -> bool: if self.cell_count[0] < 8: for cell in self.cells_xyz: if cell.shape[0] > 100000: return True return False
[docs] def balance( self, aabb_size: npt.NDArray[np.float32], aabmin: npt.NDArray[np.float32], inv_aabb_size: npt.NDArray[np.float32], ) -> None: t = aabb_size_to_subdivision_type(aabb_size) self.cell_count[0] += 1 self.cell_count[1] += 1 if t != SubdivisionType.QUADTREE: self.cell_count[2] += 1 if self.cell_count[0] > 8: raise TilerException( f"The first value of the attribute cell count must be lower or equal to 8, " f"currently, it is {self.cell_count[0]}" ) old_cells_xyz = self.cells_xyz old_cells_rgb = self.cells_rgb old_cells_classification = self.cells_classification old_cells_intensity = self.cells_intensity self.cells_xyz = List() self.cells_rgb = List() self.cells_classification = List() self.cells_intensity = List() for _ in range(self.max_key_value): self.cells_xyz.append(np.zeros((0, 3), dtype=np.float32)) self.cells_rgb.append(np.zeros((0, 3), dtype=np.uint8)) self.cells_classification.append(np.zeros((0, 1), dtype=np.uint8)) self.cells_intensity.append(np.zeros((0, 1), dtype=np.uint8)) for cellxyz, cellrgb, cellclassification, cellintensity in zip( old_cells_xyz, old_cells_rgb, old_cells_classification, old_cells_intensity ): self.insert( aabmin, inv_aabb_size, cellxyz, cellrgb, cellclassification, cellintensity, True, )
[docs] def get_points( self, include_rgb: bool, include_classification: bool, include_intensity: bool ) -> npt.NDArray[np.uint8]: xyz = [] rgb = [] classification = [] intensity = [] for i in range(len(self.cells_xyz)): xyz.append(self.cells_xyz[i].view(np.uint8).ravel()) if include_rgb: rgb.append(self.cells_rgb[i].ravel()) if include_classification: classification.append(self.cells_classification[i].ravel()) if include_intensity: intensity.append(self.cells_intensity[i].ravel()) return np.concatenate((*xyz, *rgb, *classification, *intensity))
[docs] def get_point_count(self) -> int: pt = 0 for i in range(len(self.cells_xyz)): pt += self.cells_xyz[i].shape[0] return pt