Struct PointCloud 

pub struct PointCloud { /* private fields */ }

A point cloud.

Layout

Coordinates live in three separate arrays rather than in an array of structs. At hundreds of millions of points that matters: filtering by a mask does not drag unused attributes along, and the coordinate arrays map directly onto SIMD registers and GPU buffers.

Precision and origin

Coordinates are stored as f32 relative to origin, which is kept in f64. The reason is georeferenced data: at a coordinate of 500 000 m the f32 step is about 3 cm, so storing absolute coordinates directly would destroy millimetre accuracy before the first computation. Offset storage keeps both the halved memory and the absolute accuracy.

point returns the absolute coordinate in f64; local returns the offset one.

Implementations

impl PointCloud

pub fn new() -> Self

An empty cloud whose origin is at zero.

pub fn with_origin(origin: Vector3<f64>) -> Self

An empty cloud with the given origin.

pub fn rebase(&mut self, new_origin: Vector3<f64>)

Moves the origin while preserving absolute point coordinates.

The operation loses precision, since coordinates are recomputed through f32. It is worth calling once, right after reading a file.

pub fn with_capacity(capacity: usize) -> Self

An empty cloud with capacity reserved.

pub fn from_columns( origin: Vector3<f64>, x: Vec<f32>, y: Vec<f32>, z: Vec<f32>, ) -> Result<Self, CloudError>

Builds a cloud from three coordinate arrays.

Coordinates are interpreted as offsets from origin.

pub fn len(&self) -> usize

Number of points.

pub fn is_empty(&self) -> bool

Whether the cloud is empty.

pub fn origin(&self) -> Vector3<f64>

The origin the stored coordinates are relative to.

pub fn point(&self, index: usize) -> Vector3<f64>

Absolute coordinate of a point.

pub fn local(&self, index: usize) -> Vector3<f64>

Coordinate of a point relative to origin.

pub fn columns(&self) -> (&[f32], &[f32], &[f32])

The coordinate columns.

pub fn iter(&self) -> impl Iterator<Item = Vector3<f64>> + '_

Iterator over absolute coordinates.

pub fn push(&mut self, point: Vector3<f64>)

Appends a point given in absolute coordinates.

Panics

If the cloud already carries attributes: appending a point without attribute values would break column consistency.

pub fn attributes(&self) -> &[Attribute]

All attributes.

pub fn attribute(&self, name: &str) -> Option<&Attribute>

An attribute by name.

pub fn push_attribute(&mut self, attribute: Attribute) -> Result<(), CloudError>

Appends an attribute column.

pub fn check_finite(&self) -> Result<(), CloudError>

Checks that every coordinate is finite.

Called by algorithms for which a NaN means not “a bad point” but a silently corrupted result — voxelisation, for instance, where NaN as i64 yields zero and the point lands in an arbitrary cell.

pub fn bounds(&self) -> Option<(Vector3<f64>, Vector3<f64>)>

Axis-aligned bounding box in absolute coordinates.

Trait Implementations

impl Clone for PointCloud

fn clone(&self) -> PointCloud

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PointCloud

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PointCloud

fn default() -> PointCloud

Returns the “default value” for a type.

impl PartialEq for PointCloud

fn eq(&self, other: &PointCloud) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for PointCloud