PCPATCH_DIMENSIONAL *
pc_patch_dimensional_compress(const PCPATCH_DIMENSIONAL *pdl, PCDIMSTATS *pds_in)
{
int i;
int ndims = pdl->schema->ndims;
PCPATCH_DIMENSIONAL *pdl_compressed;
PCDIMSTATS *pds = pds_in;
assert(pdl);
assert(pdl->schema);
if ( ! pds )
pds = pc_dimstats_make(pdl->schema);
/* Still sampling, update stats */
if ( pds->total_points < PCDIMSTATS_MIN_SAMPLE )
pc_dimstats_update(pds, pdl);
pdl_compressed = pcalloc(sizeof(PCPATCH_DIMENSIONAL));
memcpy(pdl_compressed, pdl, sizeof(PCPATCH_DIMENSIONAL));
pdl_compressed->bytes = pcalloc(ndims*sizeof(PCBYTES));
pdl_compressed->stats = pc_stats_clone(pdl->stats);
/* Compress each dimension as dictated by stats */
for ( i = 0; i < ndims; i++ )
{
pdl_compressed->bytes[i] = pc_bytes_encode(pdl->bytes[i], pds->stats[i].recommended_compression);
}
if ( pds != pds_in ) pc_dimstats_free(pds);
return pdl_compressed;
}
PCPATCH_UNCOMPRESSED *
pc_patch_uncompressed_from_dimensional(const PCPATCH_DIMENSIONAL *pdl)
{
int i, j, npoints;
PCPATCH_UNCOMPRESSED *patch;
PCPATCH_DIMENSIONAL *pdl_uncompressed;
const PCSCHEMA *schema;
uint8_t *buf;
npoints = pdl->npoints;
schema = pdl->schema;
patch = pcalloc(sizeof(PCPATCH_UNCOMPRESSED));
patch->type = PC_NONE;
patch->readonly = PC_FALSE;
patch->schema = schema;
patch->npoints = npoints;
patch->maxpoints = npoints;
patch->bounds = pdl->bounds;
patch->stats = pc_stats_clone(pdl->stats);
patch->datasize = schema->size * pdl->npoints;
patch->data = pcalloc(patch->datasize);
buf = patch->data;
/* Can only read from uncompressed dimensions */
pdl_uncompressed = pc_patch_dimensional_decompress(pdl);
for ( i = 0; i < npoints; i++ )
{
for ( j = 0; j < schema->ndims; j++ )
{
PCDIMENSION *dim = pc_schema_get_dimension(schema, j);
uint8_t *in = pdl_uncompressed->bytes[j].bytes + dim->size * i;
uint8_t *out = buf + dim->byteoffset;
memcpy(out, in, dim->size);
}
buf += schema->size;
}
pc_patch_dimensional_free(pdl_uncompressed);
return patch;
}
PCPATCH_DIMENSIONAL *
pc_patch_dimensional_from_uncompressed(const PCPATCH_UNCOMPRESSED *pa)
{
PCPATCH_DIMENSIONAL *pdl;
const PCSCHEMA *schema;
int i, j, ndims, npoints;
assert(pa);
npoints = pa->npoints;
schema = pa->schema;
ndims = schema->ndims;
/* Cannot handle empty patches */
if ( npoints == 0 ) return NULL;
/* Initialize dimensional */
pdl = pcalloc(sizeof(PCPATCH_DIMENSIONAL));
pdl->type = PC_DIMENSIONAL;
pdl->readonly = PC_FALSE;
pdl->schema = schema;
pdl->npoints = npoints;
pdl->bounds = pa->bounds;
pdl->stats = pc_stats_clone(pa->stats);
pdl->bytes = pcalloc(ndims * sizeof(PCBYTES));
for ( i = 0; i < ndims; i++ )
{
PCDIMENSION *dim = pc_schema_get_dimension(schema, i);
pdl->bytes[i] = pc_bytes_make(dim, npoints);
for ( j = 0; j < npoints; j++ )
{
uint8_t *to = pdl->bytes[i].bytes + dim->size * j;
uint8_t *from = pa->data + schema->size * j + dim->byteoffset;
memcpy(to, from, dim->size);
}
}
return pdl;
}
static PCPATCH_DIMENSIONAL *
pc_patch_dimensional_filter(const PCPATCH_DIMENSIONAL *pdl, const PCBITMAP *map)
{
int i = 0;
PCPATCH_DIMENSIONAL *fpdl = pc_patch_dimensional_clone(pdl);
fpdl->stats = pc_stats_clone(pdl->stats);
fpdl->npoints = map->nset;
for ( i = 0; i < pdl->schema->ndims; i++ )
{
PCDOUBLESTAT stats;
stats.min = FLT_MAX;
stats.max = FLT_MIN;
stats.sum = 0;
fpdl->bytes[i] = pc_bytes_filter(&(pdl->bytes[i]), map, &stats);
/* Save the X/Y stats for use in bounds later */
if ( i == pdl->schema->x_position )
{
fpdl->bounds.xmin = stats.min;
fpdl->bounds.xmax = stats.max;
}
else if ( i == pdl->schema->y_position )
{
fpdl->bounds.ymin = stats.min;
fpdl->bounds.ymax = stats.max;
}
pc_point_set_double_by_index(&(fpdl->stats->min), i, stats.min);
pc_point_set_double_by_index(&(fpdl->stats->max), i, stats.max);
pc_point_set_double_by_index(&(fpdl->stats->avg), i, stats.sum/fpdl->npoints);
}
return fpdl;
}
PCPATCH_GHT *
pc_patch_ght_filter(const PCPATCH_GHT *patch, uint32_t dimnum, PC_FILTERTYPE filter, double val1, double val2)
{
#ifndef HAVE_LIBGHT
pcerror("%s: libght support is not enabled", __func__);
return NULL;
#else
/*
byte: endianness (1 = NDR, 0 = XDR)
uint32: pcid (key to POINTCLOUD_SCHEMAS)
uint32: compression (0 = no compression, 1 = dimensional, 2 = GHT)
uint32: npoints
uint32: ghtsize
uint8[]: ghtbuffer
*/
GhtTreePtr tree;
GhtTreePtr tree_filtered;
GhtErr err;
GhtWriterPtr writer;
GhtArea area;
const char *dimname;
const PCDIMENSION *dim;
PCPATCH_GHT *paght;
int npoints;
/* Echo null back */
if ( ! patch ) return NULL;
/* Get a tree */
tree = ght_tree_from_pc_patch(patch);
if ( ! tree ) pcerror("%s: call to ght_tree_from_pc_patch failed", __func__);
/* Get dimname */
dim = pc_schema_get_dimension(patch->schema, dimnum);
if ( ! dim ) pcerror("%s: invalid dimension number (%d)", __func__, dimnum);
dimname = dim->name;
switch ( filter )
{
case PC_GT:
err = ght_tree_filter_greater_than(tree, dimname, val1 > val2 ? val1 : val2, &tree_filtered);
break;
case PC_LT:
err = ght_tree_filter_less_than(tree, dimname, val1 < val2 ? val1 : val2, &tree_filtered);
break;
case PC_EQUAL:
err = ght_tree_filter_equal(tree, dimname, val1, &tree_filtered);
break;
case PC_BETWEEN:
err = ght_tree_filter_between(tree, dimname, val1, val2, &tree_filtered);
break;
default:
pcerror("%s: invalid filter type (%d)", __func__, filter);
return NULL;
}
/* ght_tree_filter_* returns a tree with NULL tree element and npoints == 0 */
/* for empty filter results (everything got filtered away) */
if ( err != GHT_OK || ! tree_filtered )
pcerror("%s: ght_tree_filter failed", __func__);
/* Read numpoints left in patch */
ght_tree_get_numpoints(tree_filtered, &(npoints));
/* Allocate a fresh GHT patch for output */
paght = pcalloc(sizeof(PCPATCH_GHT));
paght->type = PC_GHT;
paght->readonly = PC_FALSE;
paght->schema = patch->schema;
paght->npoints = npoints;
/* No points, not much to do... */
if ( ! npoints )
{
paght->ghtsize = 0;
paght->ght = NULL;
}
else
{
/* Calculate bounds and save */
if ( GHT_OK != ght_tree_get_extent(tree_filtered, &area) )
pcerror("%s: ght_tree_get_extent failed", __func__);
paght->bounds.xmin = area.x.min;
paght->bounds.xmax = area.x.max;
paght->bounds.ymin = area.y.min;
paght->bounds.ymax = area.y.max;
/* TODO: Replace this; need to update stats too */
paght->stats = pc_stats_clone(patch->stats);
/* Convert the tree to a memory buffer */
ght_writer_new_mem(&writer);
ght_tree_write(tree_filtered, writer);
ght_writer_get_size(writer, &(paght->ghtsize));
paght->ght = pcalloc(paght->ghtsize);
ght_writer_get_bytes(writer, paght->ght);
ght_writer_free(writer);
}
// ght_tree_free(tree_filtered);
// ght_tree_free(tree);
return paght;
#endif
}
PCPATCH_UNCOMPRESSED *
pc_patch_uncompressed_from_ght(const PCPATCH_GHT *paght)
{
#ifndef HAVE_LIBGHT
pcerror("%s: libght support is not enabled", __func__);
return NULL;
#else
int i, npoints;
PCPATCH_UNCOMPRESSED *patch;
PCPOINT point;
const PCSCHEMA *schema;
GhtNodeListPtr nodelist;
GhtCoordinate coord;
GhtNodePtr node;
GhtTreePtr tree;
GhtAttributePtr attr;
/* Build a structured tree from the tree serialization */
if ( ! paght || ! paght->ght ) return NULL;
tree = ght_tree_from_pc_patch(paght);
if ( ! tree ) return NULL;
/* Convert tree to nodelist */
ght_nodelist_new(paght->npoints, &nodelist);
ght_tree_to_nodelist(tree, nodelist);
/* Allocate uncompressed patch */
ght_nodelist_get_num_nodes(nodelist, &npoints);
schema = paght->schema;
patch = pcalloc(sizeof(PCPATCH_UNCOMPRESSED));
patch->type = PC_NONE;
patch->readonly = PC_FALSE;
patch->schema = schema;
patch->npoints = npoints;
patch->bounds = paght->bounds;
patch->stats = pc_stats_clone(paght->stats);
patch->maxpoints = npoints;
patch->datasize = schema->size * npoints;
patch->data = pcalloc(patch->datasize);
/* Set up utility point */
point.schema = schema;
point.readonly = PC_FALSE;
point.data = patch->data;
/* Process each point... */
for ( i = 0; i < npoints; i++ )
{
double val;
/* Read and set X and Y */
ght_nodelist_get_node(nodelist, i, &node);
ght_node_get_coordinate(node, &coord);
pc_point_set_x(&point, coord.x);
pc_point_set_y(&point, coord.y);
/* Read and set all the attributes */
ght_node_get_attributes(node, &attr);
while ( attr )
{
GhtDimensionPtr dim;
const char *name;
ght_attribute_get_value(attr, &val);
ght_attribute_get_dimension(attr, &dim);
ght_dimension_get_name(dim, &name);
pc_point_set_double_by_name(&point, name, val);
ght_attribute_get_next(attr, &attr);
}
point.data += schema->size;
}
/* Done w/ nodelist and tree */
ght_nodelist_free_deep(nodelist);
// ght_tree_free(tree);
/* Done */
return patch;
#endif
}
PCPATCH_GHT *
pc_patch_ght_from_uncompressed(const PCPATCH_UNCOMPRESSED *pa)
{
#ifndef HAVE_LIBGHT
pcerror("%s: libght support is not enabled", __func__);
return NULL;
#else
int i, j;
int pointcount = 0;
GhtSchemaPtr schema;
GhtTreePtr tree;
GhtCoordinate coord;
GhtNodePtr node;
PCPOINT pt;
PCDIMENSION *xdim, *ydim;
PCPATCH_GHT *paght = NULL;
size_t pt_size = pa->schema->size;
/* Cannot handle empty patches */
if ( ! pa || ! pa->npoints ) return NULL;
pt.schema = pa->schema;
pt.readonly = PC_TRUE;
xdim = pa->schema->dims[pa->schema->x_position];
ydim = pa->schema->dims[pa->schema->y_position];
schema = ght_schema_from_pc_schema(pa->schema);
if ( ght_tree_new(schema, &tree) != GHT_OK ) {
pcerror("ght_tree_new failed");
return NULL;
}
/* Build up the tree from the points. */
for ( i = 0; i < pa->npoints; i++ )
{
pt.data = pa->data + pt_size * i;
pc_point_get_double(&pt, xdim, &(coord.x));
pc_point_get_double(&pt, ydim, &(coord.y));
/* Build a node from the x/y information */
/* TODO, make resolution configurable from the schema */
if ( ght_node_new_from_coordinate(&coord, GHT_MAX_HASH_LENGTH, &node) == GHT_OK )
{
unsigned int num_dims;
ght_schema_get_num_dimensions(schema, &num_dims);
/* Add attributes to the node */
for ( j = 0; j < num_dims; j++ )
{
PCDIMENSION *dim;
GhtDimensionPtr ghtdim;
GhtAttributePtr attr;
double val;
/* Don't add X or Y as attributes, they are already embodied in the hash */
if ( j == pa->schema->x_position || j == pa->schema->y_position )
continue;
dim = pc_schema_get_dimension(pa->schema, j);
pc_point_get_double(&pt, dim, &val);
ght_schema_get_dimension_by_index(schema, j, &ghtdim);
ght_attribute_new_from_double(ghtdim, val, &attr);
ght_node_add_attribute(node, attr);
}
/* Add the node to the tree */
/* TODO, make duplicate handling configurable from the schema */
if ( ght_tree_insert_node(tree, node) == GHT_OK )
{
pointcount++;
}
else
{
// ght_tree_free(tree);
pcerror("ght_tree_insert_node failed");
return NULL;
}
}
else
{
ght_tree_free(tree);
pcerror("ght_node_new_from_coordinate failed");
return NULL;
}
}
/* Compact the tree */
if ( ght_tree_compact_attributes(tree) == GHT_OK )
{
GhtWriterPtr writer;
paght = pcalloc(sizeof(PCPATCH_GHT));
paght->type = PC_GHT;
paght->readonly = PC_FALSE;
paght->schema = pa->schema;
paght->npoints = pointcount;
paght->bounds = pa->bounds;
paght->stats = pc_stats_clone(pa->stats);
/* Convert the tree to a memory buffer */
ght_writer_new_mem(&writer);
ght_tree_write(tree, writer);
ght_writer_get_size(writer, &(paght->ghtsize));
paght->ght = pcalloc(paght->ghtsize);
ght_writer_get_bytes(writer, paght->ght);
ght_writer_free(writer);
}
// Let the hierarchical memory manager clean up the tree
// ght_tree_free(tree);
return paght;
#endif
}
