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add pointGroupingSchemes reading and writing #29

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add pointGroupingSchemes reading and writing #29

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155 changes: 132 additions & 23 deletions src/pye57/e57.py
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Open in desktop
Expand Up @@ -2,14 +2,15 @@
import os
from typing import Dict
from enum import Enum
from bisect import bisect_left

import numpy as np
from pyquaternion import Quaternion

from pye57.__version__ import __version__
from pye57 import libe57
from pye57 import ScanHeader
from pye57.utils import convert_spherical_to_cartesian
from pye57.utils import convert_spherical_to_cartesian, get_fields

try:
from exceptions import WindowsError
Expand Down Expand Up @@ -47,6 +48,11 @@ class COORDINATE_SYSTEMS(Enum):
"sphericalInvalidState": "b",
}

SUPPORTED_GROUP_FIELDS = {
"startPointIndex": "uint",
"idElementValue": "uint",
"pointCount": "uint",
}

class E57:
def __init__(self, path, mode="r"):
Expand Down Expand Up @@ -110,10 +116,14 @@ def write_default_header(self):
self.root.set("images2D", libe57.VectorNode(imf, True))

def make_buffer(self, field_name, capacity, do_conversion=True, do_scaling=True):
if field_name not in SUPPORTED_POINT_FIELDS:
raise ValueError("Unsupported point field: %s" % field_name)
if field_name in SUPPORTED_POINT_FIELDS:
FIELD = SUPPORTED_POINT_FIELDS
elif field_name in SUPPORTED_GROUP_FIELDS:
FIELD = SUPPORTED_GROUP_FIELDS
else:
raise ValueError("Unsupported field: %s" % field_name)

np_array = np.empty(capacity, SUPPORTED_POINT_FIELDS[field_name])
np_array = np.empty(capacity, FIELD[field_name])
buffer = libe57.SourceDestBuffer(self.image_file,
field_name,
np_array,
Expand Down Expand Up @@ -144,6 +154,48 @@ def read_scan_raw(self, index) -> Dict:

return data

def get_groups_data(self, index) -> Dict:
header = self.get_header(index)
raw_data = self.read_scan_raw(index)

grouping_by_line = header.node["pointGroupingSchemes"]["groupingByLine"]
idElementName = grouping_by_line["idElementName"].value()
groups = grouping_by_line["groups"]
group_fields = get_fields(libe57.StructureNode(groups.prototype()))

rowColumnIndex = raw_data[idElementName]
unique_columns = np.unique(rowColumnIndex)

data, buffers = self.make_buffers(group_fields, len(unique_columns))
groups.reader(buffers).read()
return data

def formatPointGroupingSchemes(self, raw_data, idElementName):
columnRowIndex = raw_data[idElementName]
unique_columns = np.unique(columnRowIndex)

startPointIndex = [0]
idElementValue = [unique_columns[0]]
pointCount = []

for i, col in enumerate(unique_columns[1:]):
idx = bisect_left(columnRowIndex, col)
startPointIndex.append(idx)
idElementValue.append(col)
pCount = idx - startPointIndex[i]
pointCount.append(pCount)

pCount = len(columnRowIndex) - startPointIndex[-1]
pointCount.append(pCount)

res_groups = {
"startPointIndex": np.array(startPointIndex, dtype=int),
"idElementValue": np.array(idElementValue, dtype=int),
"pointCount": np.array(pointCount, dtype=int)
}

return res_groups

def scan_position(self, index):
pt = np.array([[0, 0, 0]])
header = self.get_header(index)
Expand Down Expand Up @@ -336,8 +388,42 @@ def write_scan_raw(self, data: Dict, *, name=None, rotation=None, translation=No
acquisition_end.set("dateTimeValue", libe57.FloatNode(self.image_file, end_datetime))
acquisition_end.set("isAtomicClockReferenced", libe57.IntegerNode(self.image_file, end_atomic))

# todo: pointGroupingSchemes
#pointGroupingSchemes
hasGroups = scan_header is not None and "pointGroupingSchemes" in scan_header.scan_fields

if hasGroups:
point_grouping_schemes = libe57.StructureNode(self.image_file)
scan_node.set("pointGroupingSchemes", point_grouping_schemes)

groupingByLine_node = libe57.StructureNode(self.image_file)
point_grouping_schemes.set("groupingByLine", groupingByLine_node)

idElementName = scan_header.node["pointGroupingSchemes"]["groupingByLine"]["idElementName"].value()
groupingByLine_node.set("idElementName", libe57.StringNode(self.image_file, idElementName))

unique_elements = np.unique(data[idElementName])

groups_prototype = libe57.StructureNode(self.image_file)

startPointIndex_node = libe57.IntegerNode(self.image_file, 0, 0, len(data[idElementName])-1)
idElementValue_node = libe57.IntegerNode(self.image_file, 0, 0, max(unique_elements))
pointCount_node = libe57.IntegerNode(self.image_file, 0, 0, len(data[idElementName]))

groups_prototype.set("startPointIndex", startPointIndex_node)
groups_prototype.set("idElementValue", idElementValue_node)
groups_prototype.set("pointCount", pointCount_node)

group_field_names = ["startPointIndex", "idElementValue", "pointCount"]

groups_data = self.formatPointGroupingSchemes(data, idElementName)

groups_arrays, groups_buffers = self.make_buffers(group_field_names, len(unique_elements))

codecs = libe57.VectorNode(self.image_file, True)
groups = libe57.CompressedVectorNode(self.image_file, groups_prototype, codecs)
groupingByLine_node.set("groups", groups)

#points
points_prototype = libe57.StructureNode(self.image_file)

is_scaled = False
Expand All @@ -354,38 +440,38 @@ def write_scan_raw(self, data: Dict, *, name=None, rotation=None, translation=No
points_prototype.set("cartesianY", y_node)
points_prototype.set("cartesianZ", z_node)

field_names = ["cartesianX", "cartesianY", "cartesianZ"]
points_field_names = ["cartesianX", "cartesianY", "cartesianZ"]

if "intensity" in data:
intensity_min = np.min(data["intensity"])
intensity_max = np.max(data["intensity"])
intensity_node = libe57.FloatNode(self.image_file, intensity_min, precision, intensity_min, intensity_max)
points_prototype.set("intensity", intensity_node)
field_names.append("intensity")
points_field_names.append("intensity")

if all(color in data for color in ["colorRed", "colorGreen", "colorBlue"]):
points_prototype.set("colorRed", libe57.IntegerNode(self.image_file, 0, 0, 255))
points_prototype.set("colorGreen", libe57.IntegerNode(self.image_file, 0, 0, 255))
points_prototype.set("colorBlue", libe57.IntegerNode(self.image_file, 0, 0, 255))
field_names.append("colorRed")
field_names.append("colorGreen")
field_names.append("colorBlue")
points_field_names.append("colorRed")
points_field_names.append("colorGreen")
points_field_names.append("colorBlue")

if "rowIndex" in data and "columnIndex" in data:
min_row = np.min(data["rowIndex"])
min_row = min(0, np.min(data["rowIndex"]))
max_row = np.max(data["rowIndex"])
min_col = np.min(data["columnIndex"])
min_col = min(0, np.min(data["columnIndex"]))
max_col = np.max(data["columnIndex"])
points_prototype.set("rowIndex", libe57.IntegerNode(self.image_file, 0, min_row, max_row))
field_names.append("rowIndex")
points_field_names.append("rowIndex")
points_prototype.set("columnIndex", libe57.IntegerNode(self.image_file, 0, min_col, max_col))
field_names.append("columnIndex")
points_field_names.append("columnIndex")

if "cartesianInvalidState" in data:
min_state = np.min(data["cartesianInvalidState"])
max_state = np.max(data["cartesianInvalidState"])
points_prototype.set("cartesianInvalidState", libe57.IntegerNode(self.image_file, 0, min_state, max_state))
field_names.append("cartesianInvalidState")
points_field_names.append("cartesianInvalidState")

# other fields
# // "sphericalRange"
Expand All @@ -397,26 +483,49 @@ def write_scan_raw(self, data: Dict, *, name=None, rotation=None, translation=No
# // "isIntensityInvalid"
# // "isTimeStampInvalid"

arrays, buffers = self.make_buffers(field_names, chunk_size)
points_arrays, points_buffers = self.make_buffers(points_field_names, chunk_size)

codecs = libe57.VectorNode(self.image_file, True)
points = libe57.CompressedVectorNode(self.image_file, points_prototype, codecs)
scan_node.set("points", points)

self.data3d.append(scan_node)

writer = points.writer(buffers)
#Points Writer
points_writer = points.writer(points_buffers)

current_index = 0
while current_index != n_points:
current_chunk = min(n_points - current_index, chunk_size)

for type_ in SUPPORTED_POINT_FIELDS:
if type_ in arrays:
arrays[type_][:current_chunk] = data[type_][current_index:current_index + current_chunk]

writer.write(current_chunk)
if type_ in points_arrays:
points_arrays[type_][:current_chunk] = data[type_][current_index:current_index + current_chunk]
points_writer.write(current_chunk)

current_index += current_chunk

writer.close()

del points_buffers

points_writer.close()

#Groups Writer
if hasGroups:
groups_writer = groups.writer(groups_buffers)

n_groups = len(unique_elements)
current_index = 0
while current_index != n_groups:
current_chunk = min(n_groups - current_index, chunk_size)

for type_ in SUPPORTED_GROUP_FIELDS:
if type_ in groups_arrays:
groups_arrays[type_][:current_chunk] = groups_data[type_][current_index:current_index + current_chunk]


groups_writer.write(current_chunk)

current_index += current_chunk

groups_writer.close()
13 changes: 12 additions & 1 deletion tests/test_main.py
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Open in desktop
Expand Up @@ -6,7 +6,6 @@

import pye57
from pye57 import libe57
from pye57.utils import get_fields

try:
from exceptions import WindowsError
Expand Down Expand Up @@ -254,6 +253,18 @@ def test_read_write_single_scan(e57_path, temp_e57_write):
for field in scan_0:
assert np.allclose(scan_0[field], scan_0_written[field])

def test_read_write_groups(e57_path, temp_e57_write):
e57 = pye57.E57(e57_path)
header_source = e57.get_header(0)
with pye57.E57(temp_e57_write, mode="w") as e57_write:
raw_data_0 = e57.read_scan_raw(0)
e57_write.write_scan_raw(raw_data_0, rotation=header_source.rotation, translation=header_source.translation, scan_header = header_source)
written = pye57.E57(temp_e57_write)
scan_0_groups = e57.get_groups_data(0)
scan_0_written_groups = written.get_groups_data(0)

for field in scan_0_groups:
assert np.allclose(scan_0_groups[field], scan_0_written_groups[field])

def test_copy_file(e57_path, temp_e57_write):
e57 = pye57.E57(e57_path)
Expand Down