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extern crate num;
use self::num::traits::PrimInt;
use self::num::traits::Unsigned;
use prelude::*;
use compressed_point_3d::*;
#[derive (Debug, Clone, PartialEq, PartialOrd)]
pub struct CompressedPointCloud3D<T> where
T: Unsigned + PrimInt {
pub start: Point3D,
pub unitsizex: f64,
pub unitsizey: f64,
pub unitsizez: f64,
pub data: Vec<CompressedPoint3D<T>>
}
impl<T> CompressedPointCloud3D<T> where
T: Unsigned + PrimInt {
pub fn compress<P>(pc: &PointCloud3D<P>) -> Result<CompressedPointCloud3D<T>> where
P: Is3D {
let bb = pc.bounding_box()?;
let rangex = (bb.max_p().x - bb.min_p().x).abs();
let rangey = (bb.max_p().y - bb.min_p().y).abs();
let rangez = (bb.max_p().z - bb.min_p().z).abs();
let maxval = T::max_value().to_f64().ok_or(ErrorKind::NumberConversionError)?;
let unitsizex = rangex / maxval;
let unitsizey = rangey / maxval;
let unitsizez = rangez / maxval;
let mut data = Vec::new();
for p in &pc.data {
let distx = p.x() - bb.min_p().x;
let disty = p.y() - bb.min_p().y;
let distz = p.z() - bb.min_p().z;
let unitsx = T::from(distx / unitsizex).ok_or(ErrorKind::NumberConversionError)?;
let unitsy = T::from(disty / unitsizey).ok_or(ErrorKind::NumberConversionError)?;
let unitsz = T::from(distz / unitsizez).ok_or(ErrorKind::NumberConversionError)?;
data.push(CompressedPoint3D{
unitsx,
unitsy,
unitsz
})
}
Ok(CompressedPointCloud3D::<T>{start: bb.min_p(), unitsizex, unitsizey, unitsizez, data})
}
pub fn decompress<P>(&self) -> PointCloud3D<P> where
P: Is3D + IsBuildable3D {
let mut pc = PointCloud3D::new();
for p in &self.data {
if let (Some(unitsxf), Some(unitsyf), Some(unitszf)) = (p.unitsx.to_f64(), p.unitsy.to_f64(), p.unitsz.to_f64()) {
pc.push(P::new(
self.start.x + (self.unitsizex * unitsxf),
self.start.y + (self.unitsizey * unitsyf),
self.start.z + (self.unitsizez * unitszf)
));
}
}
pc
}
}