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//! Attributed three-dimensional points.
//!
//! Points are simple structures with public attributes, some optional.
//!
//! ```
//! use las::Point;
//! let point = Point::default();
//! assert_eq!(0., point.x);
//! assert_eq!(None, point.color);
//! ```
//!
//! Point coordinates (x, y, and z) are stored as f64, and are the final coordinates after the
//! scale and offset from the header are applied.
mod classification;
mod format;
mod scan_direction;
pub use self::classification::Classification;
pub use self::format::Format;
pub use self::scan_direction::ScanDirection;
use crate::raw;
use crate::raw::point::Waveform;
use crate::{Color, Result, Transform, Vector};
use thiserror::Error;
/// Point-specific errors
#[derive(Debug, Clone, Copy, Error)]
pub enum Error {
/// An invalid classification number.
#[error("invalid classification: {0}")]
Classification(u8),
/// This is an invalid format.
///
/// It has a combination of options that can't exist.
#[error("invalid format: {0}")]
Format(Format),
/// This is an invalid format number.
#[error("invalid format number: {0}")]
FormatNumber(u8),
/// Overlap points are handled by an attribute on `las::Point`, not by a classification.
#[error("overlap points are handled by the `is_overlap` member of `las::Point`, not by classifications")]
OverlapClassification,
/// This is not a valid return number.
#[error("invalid return number {return_number} for version {version:?}")]
#[allow(missing_docs)]
ReturnNumber {
return_number: u8,
version: Option<crate::Version>,
},
/// This is not a valid scanner channel
#[error("invalid scanner channel: {0}")]
ScannerChannel(u8),
}
/// A three dimensional point.
#[derive(Clone, Debug, Default, PartialEq)]
pub struct Point {
/// The x coordinate, as a float.
pub x: f64,
/// The y coordinate, as a float.
pub y: f64,
/// The z coordinate, as a float.
pub z: f64,
/// The integer representation of the pulse return magnitude.
///
/// This value is optional and system specific, but should be included when available. Because
/// there is no way to indicate the "optionalness" of the intensity value and since zero could
/// be valid intensity, we don't wrap this in an `Option`.
pub intensity: u16,
/// The pulse return number for a given output pulse.
pub return_number: u8,
/// The total number of returns for a given pulse.
pub number_of_returns: u8,
/// The direction at which the scanner mirror was traveling at the time of the output pulse.
pub scan_direction: ScanDirection,
/// True if the point is at the end of a scan.
pub is_edge_of_flight_line: bool,
/// The ASPRS classification for this point.
pub classification: Classification,
/// This point was created by a technique other than LiDAR collection.
pub is_synthetic: bool,
/// The point should be considered a model key-point.
pub is_key_point: bool,
/// The point should be considered withheld (i.e. it's deleted).
pub is_withheld: bool,
/// Is this an overlap point?
pub is_overlap: bool,
/// The channel of the scanner, used only in multi-channel systems.
pub scanner_channel: u8,
/// The angle of the output of the laser pulse.
///
/// This is supposed to include the roll of the aircraft, if applicable. Zero degrees is nadir,
/// -90° is to the left.
pub scan_angle: f32,
/// Used at the user's discretion.
pub user_data: u8,
/// The file from which this point originated.
///
/// This number corresponds to a file source ID.
pub point_source_id: u16,
/// The time at which the point was acquired.
pub gps_time: Option<f64>,
/// This point's color.
pub color: Option<Color>,
/// This point's waveform information.
pub waveform: Option<Waveform>,
/// This point's near infrared value.
pub nir: Option<u16>,
/// This point's extra bytes.
///
/// These can have structure and meaning, but for now they don't.
pub extra_bytes: Vec<u8>,
}
impl Point {
/// Creates a point from a raw point.
///
/// # Examples
///
/// ```
/// use las::Point;
/// use las::raw;
/// let raw_point = raw::Point::default();
/// let point = Point::new(raw_point, &Default::default());
/// ```
pub fn new(mut raw_point: raw::Point, transforms: &Vector<Transform>) -> Point {
let is_overlap = raw_point.flags.is_overlap();
raw_point.flags.clear_overlap_class();
Point {
x: transforms.x.direct(raw_point.x),
y: transforms.y.direct(raw_point.y),
z: transforms.z.direct(raw_point.z),
intensity: raw_point.intensity,
return_number: raw_point.flags.return_number(),
number_of_returns: raw_point.flags.number_of_returns(),
scan_direction: raw_point.flags.scan_direction(),
is_edge_of_flight_line: raw_point.flags.is_edge_of_flight_line(),
classification: raw_point
.flags
.to_classification()
.expect("Overlap classification should have been cleared"),
is_synthetic: raw_point.flags.is_synthetic(),
is_key_point: raw_point.flags.is_key_point(),
is_withheld: raw_point.flags.is_withheld(),
is_overlap,
scan_angle: raw_point.scan_angle.into(),
scanner_channel: raw_point.flags.scanner_channel(),
user_data: raw_point.user_data,
point_source_id: raw_point.point_source_id,
gps_time: raw_point.gps_time,
color: raw_point.color,
waveform: raw_point.waveform,
nir: raw_point.nir,
extra_bytes: raw_point.extra_bytes,
}
}
/// Creates a raw las point from this point.
///
/// # Examples
///
/// ```
/// use las::Point;
/// let point = Point::default();
/// let raw_point = point.into_raw(&Default::default()).unwrap();
/// ```
pub fn into_raw(self, transforms: &Vector<Transform>) -> Result<raw::Point> {
Ok(raw::Point {
x: transforms.x.inverse(self.x)?,
y: transforms.y.inverse(self.y)?,
z: transforms.z.inverse(self.z)?,
intensity: self.intensity,
flags: self.flags()?,
scan_angle: self.scan_angle.into(),
user_data: self.user_data,
point_source_id: self.point_source_id,
gps_time: self.gps_time,
color: self.color,
waveform: self.waveform,
nir: self.nir,
extra_bytes: self.extra_bytes,
})
}
/// Creates the flags bytes for use in a raw point.
///
/// # Examples
///
/// ```
/// use las::Point;
/// let point = Point { return_number: 1, ..Default::default() };
/// assert_eq!((1, 0, 0), point.flags().unwrap().into());
/// ```
pub fn flags(&self) -> Result<raw::point::Flags> {
if self.return_number > 15 {
Err(Error::ReturnNumber {
return_number: self.return_number,
version: None,
}
.into())
} else if self.number_of_returns > 15 {
Err(Error::ReturnNumber {
return_number: self.number_of_returns,
version: None,
}
.into())
} else if self.scanner_channel > 3 {
Err(Error::ScannerChannel(self.scanner_channel).into())
} else {
let a = (self.number_of_returns << 4) + self.return_number;
let mut b = self.scanner_channel << 4;
if self.is_synthetic {
b += 1;
}
if self.is_key_point {
b += 2;
}
if self.is_withheld {
b += 4;
}
if self.is_overlap {
b += 8;
}
if self.scan_direction == ScanDirection::LeftToRight {
b += 64;
}
if self.is_edge_of_flight_line {
b += 128;
}
Ok(raw::point::Flags::ThreeByte(
a,
b,
self.classification.into(),
))
}
}
/// Returns true if this point matches the point format.
///
/// "Matches" means that the set of optional attributes is exactly the same.
///
/// # Examples
///
/// ```
/// use las::point::Format;
/// use las::Point;
///
/// let mut format = Format::new(0).unwrap();
/// let mut point = Point::default();
/// assert!(point.matches(&format));
///
/// format.has_gps_time = true;
/// assert!(!point.matches(&format));
///
/// point.gps_time = Some(42.);
/// assert!(point.matches(&format));
/// ```
pub fn matches(&self, format: &Format) -> bool {
self.gps_time.is_some() == format.has_gps_time
&& self.color.is_some() == format.has_color
&& self.waveform.is_some() == format.has_waveform
&& self.nir.is_some() == format.has_nir
&& self.extra_bytes.len() == format.extra_bytes as usize
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn flags_invalid_return_number() {
assert!(Point {
return_number: 16,
..Default::default()
}
.flags()
.is_err());
}
#[test]
fn flags_invalid_number_of_returns() {
assert!(Point {
number_of_returns: 16,
..Default::default()
}
.flags()
.is_err());
}
#[test]
fn flags_invalid_scanner_channel() {
assert!(Point {
scanner_channel: 4,
..Default::default()
}
.flags()
.is_err());
}
#[test]
fn overlap() {
use crate::raw::point::Flags;
let raw_point = raw::Point {
flags: Flags::TwoByte(0, 12),
..Default::default()
};
let point = Point::new(raw_point, &Default::default());
assert_eq!(Classification::Unclassified, point.classification);
assert!(point.is_overlap);
}
}