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| // Historical hash-map implementation retained only as a benchmark oracle. | |
| const evenRound=x=>{const f=Math.floor(x),d=x-f;return d===.5?(f%2===0?f:f+1):Math.round(x);}; | |
| const key=(i,j,z,shape)=>(i*shape[1]+j)*shape[2]+z; | |
| export function voxelize(raw,H,W) { | |
| if(raw.length!==H*W*3)throw Error('Unexpected coordinate shape'); | |
| const n=H*W,z=new Int32Array(n);let min=Infinity,max=-Infinity; | |
| for(let i=0;i<n;i++){z[i]=evenRound(Math.fround(raw[i*3+2]*256));min=Math.min(min,z[i]);max=Math.max(max,z[i]);} | |
| const shape=[H,W,max-min+1],coords=new Int32Array(n*3); | |
| for(let i=0;i<n;i++)coords.set([Math.floor(i/W),i%W,z[i]-min],i*3); | |
| return {coords,shape}; | |
| } | |
| export function neighbors(coords,shape) { | |
| const n=coords.length/3,map=new Map(); | |
| for(let i=0;i<n;i++)map.set(key(coords[i*3],coords[i*3+1],coords[i*3+2],shape),i); | |
| const result=new Int32Array(n*27);result.fill(n); | |
| for(let i=0;i<n;i++){const y=coords[i*3],x=coords[i*3+1],z=coords[i*3+2];let k=0; | |
| for(let dy=-1;dy<=1;dy++)for(let dx=-1;dx<=1;dx++)for(let dz=-1;dz<=1;dz++,k++){ | |
| const a=y+dy,b=x+dx,c=z+dz; | |
| if(a>=0&&a<shape[0]&&b>=0&&b<shape[1]&&c>=0&&c<shape[2])result[i*27+k]=map.get(key(a,b,c,shape))??n; | |
| } | |
| }return result; | |
| } | |
| // Group children in original row order, preserving the existing FP32 sum order. | |
| export function poolMap(coords,shape) { | |
| const shape2=shape.map(v=>Math.ceil(v/2)),keys=new Float64Array(coords.length/3),map=new Map(); | |
| for(let i=0;i<keys.length;i++){ | |
| const v=[Math.floor(coords[i*3]/2),Math.floor(coords[i*3+1]/2),Math.floor(coords[i*3+2]/2)],k=key(v[0],v[1],v[2],shape2);keys[i]=k;map.set(k,v); | |
| } | |
| const sorted=[...map.keys()].sort((a,b)=>a-b),lookup=new Map(sorted.map((k,i)=>[k,i])); | |
| const coords2=new Int32Array(sorted.length*3),counts=new Int32Array(sorted.length),parent=new Int32Array(keys.length); | |
| sorted.forEach((k,i)=>coords2.set(map.get(k),i*3)); | |
| for(let i=0;i<keys.length;i++){const p=lookup.get(keys[i]);parent[i]=p;counts[p]++;} | |
| const offsets=new Int32Array(sorted.length+1); | |
| for(let i=0;i<counts.length;i++)offsets[i+1]=offsets[i]+counts[i]; | |
| const cursor=offsets.slice(),children=new Int32Array(keys.length); | |
| for(let i=0;i<parent.length;i++)children[cursor[parent[i]]++]=i; | |
| return {coords:coords2,shape:shape2,parent,offsets,children}; | |
| } | |