b4l commented on code in PR #471: URL: https://github.com/apache/sedona-db/pull/471#discussion_r2751288105
########## rust/sedona-pointcloud/src/laz/builder.rs: ########## @@ -0,0 +1,571 @@ +// Licensed to the Apache Software Foundation (ASF) under one +// or more contributor license agreements. See the NOTICE file +// distributed with this work for additional information +// regarding copyright ownership. The ASF licenses this file +// to you under the Apache License, Version 2.0 (the +// "License"); you may not use this file except in compliance +// with the License. You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, +// software distributed under the License is distributed on an +// "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY +// KIND, either express or implied. See the License for the +// specific language governing permissions and limitations +// under the License. + +use std::{fmt::Debug, sync::Arc}; + +use arrow_array::{ + builder::{ + ArrayBuilder, BinaryBuilder, BooleanBuilder, FixedSizeBinaryBuilder, Float32Builder, + Float64Builder, Int16Builder, Int32Builder, Int64Builder, Int8Builder, UInt16Builder, + UInt32Builder, UInt64Builder, UInt8Builder, + }, + Array, ArrayRef, BooleanArray, FixedSizeBinaryArray, Float32Array, Float64Array, StructArray, + UInt16Array, UInt8Array, +}; +use arrow_buffer::ScalarBuffer; +use arrow_schema::{ArrowError, DataType}; +use geoarrow_array::{ + array::{CoordBuffer, PointArray, SeparatedCoordBuffer}, + GeoArrowArray, +}; +use geoarrow_schema::Dimension; +use las::{Header, Point}; + +use crate::laz::{ + metadata::ExtraAttribute, + options::{LasExtraBytes, LasPointEncoding}, + schema::try_schema_from_header, +}; + +#[derive(Debug)] +pub struct RowBuilder { + x: Float64Builder, + y: Float64Builder, + z: Float64Builder, + intensity: UInt16Builder, + return_number: UInt8Builder, + number_of_returns: UInt8Builder, + is_synthetic: BooleanBuilder, + is_key_point: BooleanBuilder, + is_withheld: BooleanBuilder, + is_overlap: BooleanBuilder, + scanner_channel: UInt8Builder, + scan_direction: UInt8Builder, + is_edge_of_flight_line: BooleanBuilder, + classification: UInt8Builder, + user_data: UInt8Builder, + scan_angle: Float32Builder, + point_source_id: UInt16Builder, + gps_time: Float64Builder, + red: UInt16Builder, + green: UInt16Builder, + blue: UInt16Builder, + nir: UInt16Builder, + extra: FixedSizeBinaryBuilder, + header: Arc<Header>, + point_encoding: LasPointEncoding, + extra_bytes: LasExtraBytes, + extra_attributes: Arc<Vec<ExtraAttribute>>, +} + +impl RowBuilder { + pub fn new(capacity: usize, header: Arc<Header>) -> Self { + Self { + x: Float64Array::builder(capacity), + y: Float64Array::builder(capacity), + z: Float64Array::builder(capacity), + intensity: UInt16Array::builder(capacity), + return_number: UInt8Array::builder(capacity), + number_of_returns: UInt8Array::builder(capacity), + is_synthetic: BooleanArray::builder(capacity), + is_key_point: BooleanArray::builder(capacity), + is_withheld: BooleanArray::builder(capacity), + is_overlap: BooleanArray::builder(capacity), + scanner_channel: UInt8Array::builder(capacity), + scan_direction: UInt8Array::builder(capacity), + is_edge_of_flight_line: BooleanArray::builder(capacity), + classification: UInt8Array::builder(capacity), + user_data: UInt8Array::builder(capacity), + scan_angle: Float32Array::builder(capacity), + point_source_id: UInt16Array::builder(capacity), + gps_time: Float64Array::builder(capacity), + red: UInt16Array::builder(capacity), + green: UInt16Array::builder(capacity), + blue: UInt16Array::builder(capacity), + nir: UInt16Array::builder(capacity), + extra: FixedSizeBinaryBuilder::with_capacity( + capacity, + header.point_format().extra_bytes as i32, + ), + + header, + point_encoding: Default::default(), + extra_bytes: Default::default(), + extra_attributes: Arc::new(Vec::new()), + } + } + + pub fn with_point_encoding(mut self, point_encoding: LasPointEncoding) -> Self { + self.point_encoding = point_encoding; + self + } + + pub fn with_extra_attributes( + mut self, + attributes: Arc<Vec<ExtraAttribute>>, + extra_bytes: LasExtraBytes, + ) -> Self { + self.extra_attributes = attributes; + self.extra_bytes = extra_bytes; + self + } + + pub fn append(&mut self, p: Point) { + self.x.append_value(p.x); + self.y.append_value(p.y); + self.z.append_value(p.z); + self.intensity.append_option(Some(p.intensity)); + self.return_number.append_value(p.return_number); + self.number_of_returns.append_value(p.number_of_returns); + self.is_synthetic.append_value(p.is_synthetic); + self.is_key_point.append_value(p.is_key_point); + self.is_withheld.append_value(p.is_withheld); + self.is_overlap.append_value(p.is_overlap); + self.scanner_channel.append_value(p.scanner_channel); + self.scan_direction.append_value(p.scan_direction as u8); + self.is_edge_of_flight_line + .append_value(p.is_edge_of_flight_line); + self.classification.append_value(u8::from(p.classification)); + self.user_data.append_value(p.user_data); + self.scan_angle.append_value(p.scan_angle); + self.point_source_id.append_value(p.point_source_id); + if self.header.point_format().has_gps_time { + self.gps_time.append_value(p.gps_time.unwrap()); + } + if self.header.point_format().has_color { + let color = p.color.unwrap(); + self.red.append_value(color.red); + self.green.append_value(color.green); + self.blue.append_value(color.blue); + } + if self.header.point_format().has_nir { + self.nir.append_value(p.nir.unwrap()); + } + if self.header.point_format().extra_bytes > 0 { + self.extra.append_value(p.extra_bytes).unwrap(); + } + } + + /// Note: returns StructArray to allow nesting within another array if desired + pub fn finish(&mut self) -> Result<StructArray, ArrowError> { + let schema = try_schema_from_header(&self.header, self.point_encoding, self.extra_bytes)?; + + let mut columns = match self.point_encoding { + LasPointEncoding::Plain => vec![ + Arc::new(self.x.finish()) as ArrayRef, + Arc::new(self.y.finish()) as ArrayRef, + Arc::new(self.z.finish()) as ArrayRef, + ], + LasPointEncoding::Wkb => { + const POINT_SIZE: usize = 29; + + let n: usize = self.x.len(); + + let mut builder = BinaryBuilder::with_capacity(n, n * POINT_SIZE); + + let x = self.x.finish(); + let y = self.y.finish(); + let z = self.z.finish(); + + let mut wkb_bytes = [0_u8; POINT_SIZE]; + wkb_bytes[0] = 0x01; // Little-endian + wkb_bytes[1..5].copy_from_slice(&[0xE9, 0x03, 0x00, 0x00]); // Point Z type (1001) + + for i in 0..n { + let x = unsafe { x.value_unchecked(i) }; + let y = unsafe { y.value_unchecked(i) }; + let z = unsafe { z.value_unchecked(i) }; + + wkb_bytes[5..13].copy_from_slice(x.to_le_bytes().as_slice()); + wkb_bytes[13..21].copy_from_slice(y.to_le_bytes().as_slice()); + wkb_bytes[21..29].copy_from_slice(z.to_le_bytes().as_slice()); + + builder.append_value(wkb_bytes); + } + + vec![Arc::new(builder.finish()) as ArrayRef] + } + LasPointEncoding::Native => { + let buffers = [ + self.x.finish().into_parts().1, + self.y.finish().into_parts().1, + self.z.finish().into_parts().1, + ScalarBuffer::from(vec![]), + ]; + let coords = CoordBuffer::Separated(SeparatedCoordBuffer::from_array( + buffers, + Dimension::XYZ, + )?); + let points = PointArray::new(coords, None, Default::default()); + vec![points.to_array_ref()] + } + }; + + columns.extend([ + Arc::new(self.intensity.finish()) as ArrayRef, + Arc::new(self.return_number.finish()) as ArrayRef, + Arc::new(self.number_of_returns.finish()) as ArrayRef, + Arc::new(self.is_synthetic.finish()) as ArrayRef, + Arc::new(self.is_key_point.finish()) as ArrayRef, + Arc::new(self.is_withheld.finish()) as ArrayRef, + Arc::new(self.is_overlap.finish()) as ArrayRef, + Arc::new(self.scanner_channel.finish()) as ArrayRef, + Arc::new(self.scan_direction.finish()) as ArrayRef, + Arc::new(self.is_edge_of_flight_line.finish()) as ArrayRef, + Arc::new(self.classification.finish()) as ArrayRef, + Arc::new(self.user_data.finish()) as ArrayRef, + Arc::new(self.scan_angle.finish()) as ArrayRef, + Arc::new(self.point_source_id.finish()) as ArrayRef, + ]); + if self.header.point_format().has_gps_time { + columns.push(Arc::new(self.gps_time.finish()) as ArrayRef); + } + if self.header.point_format().has_color { + columns.extend([ + Arc::new(self.red.finish()) as ArrayRef, + Arc::new(self.green.finish()) as ArrayRef, + Arc::new(self.blue.finish()) as ArrayRef, + ]); + } + if self.header.point_format().has_nir { + columns.push(Arc::new(self.nir.finish()) as ArrayRef); + } + + // extra bytes + let num_extra_bytes = self.header.point_format().extra_bytes as usize; + if num_extra_bytes > 0 { + match self.extra_bytes { + LasExtraBytes::Typed => { + let extra = self.extra.finish(); + + let mut pos = 0; + + for attribute in self.extra_attributes.iter() { + pos += build_attribute(attribute, pos, &extra, &mut columns)?; + } + } + LasExtraBytes::Blob => columns.push(Arc::new(self.extra.finish())), + LasExtraBytes::Ignore => (), + } + } + + Ok(StructArray::new(schema.fields.to_owned(), columns, None)) + } +} + +fn build_attribute( + attribute: &ExtraAttribute, + pos: usize, + extra: &FixedSizeBinaryArray, + columns: &mut Vec<ArrayRef>, +) -> Result<usize, ArrowError> { + let scale = attribute.scale.unwrap_or(1.0); + let offset = attribute.offset.unwrap_or(0.0); + + let width = if let DataType::FixedSizeBinary(width) = attribute.data_type { + width as usize + } else { + attribute.data_type.primitive_width().unwrap() + }; + + let iter = extra.iter().map(|b| &b.unwrap()[pos..pos + width]); + + match &attribute.data_type { + DataType::FixedSizeBinary(_) => { + let data = FixedSizeBinaryArray::try_from_iter(iter)?; + columns.push(Arc::new(data) as ArrayRef) + } + DataType::Int8 => { + let no_data = attribute.no_data.map(i64::from_le_bytes); + + let iter = iter.map(|d| { + let v = d[0] as i8; + if let Some(no_data) = no_data { + if no_data == v as i64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Int8Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::Int16 => { + let no_data = attribute.no_data.map(i64::from_le_bytes); + + let iter = iter.map(|d| { + let v = i16::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v as i64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Int16Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::Int32 => { + let no_data = attribute.no_data.map(i64::from_le_bytes); + + let iter = iter.map(|d| { + let v = i32::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v as i64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Int32Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::Int64 => { + let no_data = attribute.no_data.map(i64::from_le_bytes); + + let iter = iter.map(|d| { + let v = i64::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Int64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::UInt8 => { + let no_data = attribute.no_data.map(u64::from_le_bytes); + + let iter = iter.map(|d| { + let v = d[0]; + if let Some(no_data) = no_data { + if no_data == v as u64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = UInt8Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::UInt16 => { + let no_data = attribute.no_data.map(u64::from_le_bytes); + + let iter = iter.map(|d| { + let v = u16::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v as u64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = UInt16Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::UInt32 => { + let no_data = attribute.no_data.map(u64::from_le_bytes); + + let iter = iter.map(|d| { + let v = u32::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v as u64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = UInt32Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::UInt64 => { + let no_data = attribute.no_data.map(u64::from_le_bytes); + + let iter = iter.map(|d| { + let v = u64::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = UInt64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::Float32 => { + let no_data = attribute.no_data.map(f64::from_le_bytes); + + let iter = iter.map(|d| { + let v = f32::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v as f64 { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v as f64 * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Float32Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + DataType::Float64 => { + let no_data = attribute.no_data.map(f64::from_le_bytes); + + let iter = iter.map(|d| { + let v = f64::from_le_bytes(d.try_into().unwrap()); + if let Some(no_data) = no_data { + if no_data == v { + return None; + } + } + Some(v) + }); + + if attribute.scale.is_some() || attribute.offset.is_some() { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v.map(|v| v * scale + offset)); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } else { + let mut builder = Float64Builder::with_capacity(extra.len()); + for v in iter { + builder.append_option(v); + } + columns.push(Arc::new(builder.finish()) as ArrayRef) + } + } + + dt => { + return Err(ArrowError::ExternalError( + format!("Unsupported data type for extra bytes: `{dt}`").into(), + )) + } + } + + Ok(width) +} Review Comment: Addressed in https://github.com/apache/sedona-db/pull/471/commits/7b5bd3684be69b2409cd0959ea01d8e7fe82a4b3 Unfortunately, the Rust library does not support reading/writing extra attributes, so I had to use laspy to generate a file. Not sure where this should live. -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
