import GeoMath, { Vector3, Vector4 } from "./GeoMath"; import RenderStage from "./RenderStage"; import RenderFlake from "./RenderFlake"; import PointCloud from "./PointCloud"; import PointCloudBoxRenderObject from "./PointCloudBoxRenderObject"; import PointCloudCollection from "./PointCloudCollection"; /** * Boxを収集するツール * @internal */ class PointCloudBoxCollector { private _point_cloud_collection: PointCloudCollection; private _render_boxes: PointCloudBoxRenderObject[]; private _render_boxes_map: Map; private _load_boxes: PointCloudBoxRenderObject[]; private _load_limit: number; /** * 位置ベクトル Q * @see doc/ImageLevelCalculation.txt */ private _view_pos_Q!: Vector3; /** * ベクトル w * U * @see doc/ImageLevelCalculation.txt */ private _view_dir_wU!: Vector3; private _points_per_pixel!: number; private _dispersion!: boolean; private _statistics?: PointCloud.Statistics; private _clip_planes!: Vector4[]; private _volume_planes?: Vector4[]; /** * 非表示Boxを破棄するかどうか * pick stageで1x1描画する場合に画面外のBoxがunloadされてしまうのを防ぐ */ private _unloadInvisible: boolean; /** * @param stage 所有者である RenderStage * @param load_limit 読み込みが必要なBoxリストに保持する要素数の上限 */ constructor( stage: RenderStage, load_limit: number = 10 ) { this._setupViewVectors( stage ); this._setupClipPlanes( stage ); this._unloadInvisible = ( stage.getRenderTarget() === RenderStage.RenderTarget.SCENE ); // @ts-ignore this._point_cloud_collection = stage._point_cloud_collection; /** * 描画するBoxのリスト。 * @private */ this._render_boxes = []; /** * Box => PointCloudBoxRenderObject の辞書 * @private */ this._render_boxes_map = new Map(); /** * 読み込みが必要なBoxリスト。常に優先度でソート済み。 * @private */ this._load_boxes = []; /** * 読み込みが必要なBoxリストの要素数の上限 * @private */ this._load_limit = load_limit; } /** */ private _setupViewVectors( stage: RenderStage ) { // @ts-ignore const view_to_gocs = stage._view_to_gocs; // @ts-ignore const pixel_step = stage._pixel_step; const view_pos_Q = GeoMath.createVector3(); const view_dir_wU = GeoMath.createVector3(); // 地表詳細レベル (LOD) 計算用の Q, w*U ベクトルを設定 view_pos_Q[0] = view_to_gocs[12]; view_pos_Q[1] = view_to_gocs[13]; view_pos_Q[2] = view_to_gocs[14]; view_dir_wU[0] = -view_to_gocs[ 8] * pixel_step; view_dir_wU[1] = -view_to_gocs[ 9] * pixel_step; view_dir_wU[2] = -view_to_gocs[10] * pixel_step; this._view_pos_Q = view_pos_Q; this._view_dir_wU = view_dir_wU; } /** */ private _setupClipPlanes( stage: RenderStage ) { // @ts-ignore const view_to_gocs = stage._view_to_gocs; // @ts-ignore const gocs_to_view = stage._gocs_to_view; const volume_planes = stage.getVolumePlanes(); this._volume_planes = volume_planes; // const volume_planes = stage._volume_planes; const clip_planes = []; // 地表遮蔽カリング平面 const root_flake = stage.viewer.globe.root_flake; const rmin = GeoMath.EARTH_RADIUS + root_flake.height_min; // 最小半径 const rmax = GeoMath.EARTH_RADIUS + root_flake.height_max; // 最大半径 // P (視点位置) const px = view_to_gocs[12]; const py = view_to_gocs[13]; const pz = view_to_gocs[14]; // q = √[(P.P - rmin^2)(rmax^2 - rmin^2)] - rmin^2 const p2 = px*px + py*py + pz*pz; const rmin2 = rmin*rmin; const rmax2 = rmax*rmax; const q = Math.sqrt( (p2 - rmin2) * (rmax2 - rmin2) ) - rmin2; // L = / ‖P‖ const plane = GeoMath.createVector4(); const recip = 1 / Math.sqrt( p2 ); plane[0] = px * recip; plane[1] = py * recip; plane[2] = pz * recip; plane[3] = q * recip; // clip_planes.push( plane ); // L を基とした遠方距離 const far_dist = Math.sqrt( p2 + rmax2 + 2*q ); // 視体積平面を取得して、地心直交座標系に変換 // (直交変換なので x, y, z は正規化されている) for ( let i = 0; i < 6; ++i ) { let src_plane = volume_planes[i]; const dst_plane = GeoMath.createVector4(); if ( i == 1 && src_plane[3] > far_dist ) { // 遠方平面が必要以上に遠いとき far_dist に置き換える src_plane = GeoMath.createVector4( src_plane ); src_plane[3] = far_dist; } GeoMath.transformPlane_A( gocs_to_view, src_plane, dst_plane ); clip_planes.push( dst_plane ); } this._clip_planes = clip_planes; } /** * 点群Boxを収集する * @param point_cloud 点群 * @param statistics 統計情報 * @return 収集された点群Boxの集合 */ traverse( point_cloud: PointCloud, statistics?: PointCloud.Statistics ): { visible_boxes: PointCloudBoxRenderObject[], load_boxes: PointCloudBoxRenderObject[] } { this._points_per_pixel = point_cloud.getPointsPerPixel(); this._dispersion = point_cloud.getDispersion(); this._statistics = statistics; this._updateBox( point_cloud.root, 0 ); return { visible_boxes: this._render_boxes, load_boxes: this._load_boxes, }; } /** */ private _updateBox( box: PointCloud.Box, parent_ppp: number ) { if ( this._statistics ) { this._statistics.total_boxes++; if ( box.status === PointCloud.Box.Status.LOADING ) this._statistics.loading_boxes++; if ( box.vertex_length ) { this._statistics.total_point_count += box.vertex_length; } } if ( box.isInvisible( this._clip_planes ) ) { if ( this._unloadInvisible ) { box.disposeChildren( this._statistics ); } return; } let box_ppp, lodStatus; if ( box.is_loaded ) { box_ppp = this._calcPointsPerPixel( box ); lodStatus = box_ppp < this._points_per_pixel ? LodStatus.LOAD_NEXT_LEVEL : LodStatus.UNLOAD_NEXT_LEVEL; } else { lodStatus = LodStatus.KEEP_STATUS; } if ( lodStatus === LodStatus.LOAD_NEXT_LEVEL ) { // if more detaild data is required then load nextLevel // 子Boxを読み込む this._collectNextLevel( box, box_ppp as number ); // 子Boxがない領域を描画する // [box] // |--a1--[B] // |--a2--[C] // |--a3-- x // `--a4-- x // - boxは、8分割された領域のうち、a1, a2, a3、a4の領域に点が含まれている。 // - このうちa1, a2については子Box(B, C)があり、a3, a4は子Boxを持っていない。 // - この場合、a3, a4の領域についはAが描画する。（a1, a2の領域については、B, Cにより描画される） for ( let i=0; i<8; i++ ) { if ( box.cellPointsAvailable( i ) && !box.getChild( i ) ) { this._pushBox( box, i, box_ppp as number, parent_ppp ); } } return; } else if ( lodStatus === LodStatus.UNLOAD_NEXT_LEVEL ) { // if more detaild data is not required then dispose children if ( this._unloadInvisible ) { box.disposeChildren( this._statistics ); } } if ( box.status !== PointCloud.Box.Status.DESTROYED ) { // [parent] // |--a1--[box] // |--a2--[C] // |--a3-- x // `--a4-- x // - box が読み込まれている場合 box を描画する。 // - box の読み込みが完了するまでは、Aがa1領域を描画する(読み込み中は枠のみ描画される場合があるため、box も描画する)。 // @ts-ignore this._pushBox( box, undefined, box_ppp, parent_ppp ); if ( box.status === PointCloud.Box.Status.LOADING || box.status === PointCloud.Box.Status.NOT_LOADED ) { const parent = box.parent; if ( parent ) { this._pushBox( parent, parent.indexOf(box), parent_ppp, parent_ppp ); } } /* else { if ( !box_ppp ) { console.log("unknown status"); } else { this._pushBox( box, undefined, box_ppp, parent_ppp ); } } */ } } /** * スクリーン１画素あたりの点の数[points/pixel]を計算する。 * 例えば、2画素につき1点の間隔で並んでいる場合は 0.5 を返す。 * @param box Box */ private _calcPointsPerPixel( box: PointCloud.Box ) { const is_plane = box.eigenVectorLength[0] < box.size * 0.8; let points_per_pixel; if ( is_plane && this._dispersion && box.eigenVectorLength[0] > 0 ) { const dir = GeoMath.normalize3( this._view_dir_wU, GeoMath.createVector3f() ); const [ ev1, ev2, ev3 ] = box.eigenVector; const [ ev1l, ev2l, ev3l ] = box.eigenVectorLength; const n = GeoMath.createVector3([ GeoMath.dot3(ev2, dir), GeoMath.dot3(ev1, dir), GeoMath.dot3(ev3, dir) ]); const s = (n[0] * n[0]) / (ev2l * ev2l) + (n[2] * n[2]) / (ev3l * ev3l); const nn = GeoMath.createVector3([ s * ev3l * ev1l / ev2l * n[0], s * ev2l * ev3l / ev1l * n[1], s * ev1l * ev2l / ev3l * n[2] ]); GeoMath.normalize3(nn, nn); const area_calc = (nn[0] * n[0] + nn[1] * n[1] + nn[2] * n[2]) * ( Math.PI * ev1l * ev2l * ev3l / Math.sqrt(nn[0] * nn[0] * ev2l * ev2l + nn[1] * nn[1] * ev1l * ev1l + nn[2] * nn[2] * ev3l * ev3l) ); const area = Math.min(Math.max(area_calc, 0.05 * box.proj_area), box.proj_area); points_per_pixel = Math.sqrt( box.vertex_length / area ); } else { points_per_pixel = 64 / box.size; // (128 / (2*box.size)) = 1セルの大きさ（点の間隔） } const diff = GeoMath.createVector3([ box.gocs_center[0] + box.average[0] - this._view_pos_Q[0], box.gocs_center[1] + box.average[1] - this._view_pos_Q[1], box.gocs_center[2] + box.average[2] - this._view_pos_Q[2] ]); // ω スクリーン上の１画素の一辺の長さを、box.averageの位置に投影した長さ const ω = GeoMath.dot3( this._view_dir_wU, diff ); return ω * points_per_pixel; } /** * 描画対象を追加 * * @param box * @param targetChild cell領域を指定する場合は数字、全体を描画する場合はnullを指定する * @param ppp 描画時の解像度 (points per pixel) * @param parent_ppp 親Boxの描画時の解像度 (points per pixel) */ private _pushBox( box: PointCloud.Box, target_child: number | undefined, ppp: number, parent_ppp: number ) { let ro = this._render_boxes_map.get( box ); if ( ro ) { if ( target_child === undefined ) ro.setWholeRegion( ppp ); else ro.pushRegion( target_child, ppp ); } else { const diff = GeoMath.createVector3(box.is_loaded ? [ box.gocs_center[0] + box.average[0] - this._view_pos_Q[0], box.gocs_center[1] + box.average[1] - this._view_pos_Q[1], box.gocs_center[2] + box.average[2] - this._view_pos_Q[2] ]: [ box.gocs_center[0] - this._view_pos_Q[0], box.gocs_center[1] - this._view_pos_Q[1], box.gocs_center[2] - this._view_pos_Q[2] ] ); const distance = Math.sqrt(diff[0]*diff[0] + diff[1]*diff[1] + diff[2]*diff[2]); ro = new PointCloudBoxRenderObject( box, distance, parent_ppp ); if ( target_child === undefined ) ro.setWholeRegion( ppp ); else ro.pushRegion( target_child, ppp ); this._render_boxes.push( ro ); this._render_boxes_map.set( box, ro ); if ( box.status === PointCloud.Box.Status.NOT_LOADED ) { this._pushLoadBox( ro ); } } } /** * 描画対象として追加 */ private _pushLoadBox( ro: PointCloudBoxRenderObject ) { const compareFunc = (ro1: PointCloudBoxRenderObject, ro2: PointCloudBoxRenderObject) => ro1.parent_points_per_pixel < ro2.parent_points_per_pixel; const index = this._binarySearch( this._load_boxes, ro, compareFunc ); // this._load_boxes.splice( index, 0, ro ); if ( index === -1) this._load_boxes.push(ro); else this._insert_with_limit( this._load_boxes, index, ro, this._load_limit ); } /** */ private _insert_with_limit( list: PointCloudBoxRenderObject[], index: number, item: PointCloudBoxRenderObject, limit: number ) { if ( limit === undefined || limit - list.length > 0) { list.splice( index, 0, item ); } else { // we couldn't increase the size if (index === list.length) return; for ( let i=list.length-1; i>index; i-- ) { list[i] = list[i-1]; } list[index] = item; } } /** * @param Array sorted_list ソート済みリスト */ private _binarySearch( sorted_list: PointCloudBoxRenderObject[], value: PointCloudBoxRenderObject, compareFunc: BSCompareFunc ) { if ( sorted_list.length === 0 ) return -1; if ( compareFunc( value, sorted_list[ 0 ] ) ) return 0; if ( compareFunc( sorted_list[sorted_list.length - 1], value ) ) return sorted_list.length; if ( sorted_list.length === 1 ) return sorted_list.length; return this._binarySearchInner( sorted_list, value, compareFunc, 0, sorted_list.length - 1 ); } /** */ private _binarySearchInner( sorted_list: PointCloudBoxRenderObject[], value: PointCloudBoxRenderObject, compareFunc: BSCompareFunc, min: number, max: number ): number { if ( max - min === 1 ) return max; const mid = 0.5 * (min + max) | 0; if ( compareFunc( sorted_list[mid], value ) ) min = mid; else max = mid; return this._binarySearchInner( sorted_list, value, compareFunc, min, max ); } /** */ private _collectNextLevel( box: PointCloud.Box, parent_ppp: number ) { let child: PointCloud.Box | undefined; for ( let i=0; i<8; i++ ) { if ( child = box.newChild( i, this._statistics ) ) { this._updateBox( child, parent_ppp ); } } } } type BSCompareFunc = (obj1: T, obj2: T) => boolean; /** * Boxの解像度の状態を表す列挙型 * @see PointCloud.Box.status */ export enum LodStatus { /** * 目標解像度に達しておらず、次のレベルのBoxを読み込む必要があることを示しす。 */ LOAD_NEXT_LEVEL, /** * 読み込み中などの理由で解像度が計算できないため、現状を維持することを示す。 */ KEEP_STATUS, /** * 目標解像度に達しており、次のレベルのBoxが必要ないことを示す。 */ UNLOAD_NEXT_LEVEL, }; export default PointCloudBoxCollector;