rust_3d/
compressed_point_cloud_3d.rs

1/*
2Copyright 2016 Martin Buck
3
4Permission is hereby granted, free of charge, to any person obtaining a copy
5of this software and associated documentation files (the "Software"),
6to deal in the Software without restriction, including without limitation the
7rights to use, copy, modify, merge, publish, distribute, sublicense,
8and/or sell copies of the Software, and to permit persons to whom the Software
9is furnished to do so, subject to the following conditions:
10
11The above copyright notice and this permission notice shall
12be included all copies or substantial portions of the Software.
13
14THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
16MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
19TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
20OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
21*/
22
23//! CompressedPointCloud3D
24
25use num::traits::{PrimInt, Unsigned};
26
27use crate::*;
28
29//------------------------------------------------------------------------------
30
31#[derive(Debug, Clone, PartialEq, PartialOrd)]
32/// CompressedPointCloud3D
33pub struct CompressedPointCloud3D<T>
34where
35    T: Unsigned + PrimInt,
36{
37    pub start: Point3D,
38    pub unitsizex: f64,
39    pub unitsizey: f64,
40    pub unitsizez: f64,
41    pub data: Vec<CompressedPoint3D<T>>,
42}
43
44impl<T> CompressedPointCloud3D<T>
45where
46    T: Unsigned + PrimInt,
47{
48    /// Creates a new CompressedPointCloud3D from a normal point cloud
49    pub fn compress<P>(pc: &PointCloud3D<P>) -> Result<CompressedPointCloud3D<T>>
50    where
51        P: Is3D,
52    {
53        let bb = pc.bounding_box_maybe()?;
54
55        let rangex = (bb.max_p().x - bb.min_p().x).abs();
56        let rangey = (bb.max_p().y - bb.min_p().y).abs();
57        let rangez = (bb.max_p().z - bb.min_p().z).abs();
58
59        let maxval = T::max_value()
60            .to_f64()
61            .ok_or(ErrorKind::NumberConversionError)?;
62        let unitsizex = rangex / maxval;
63        let unitsizey = rangey / maxval;
64        let unitsizez = rangez / maxval;
65
66        let mut data = Vec::new();
67
68        for p in &pc.data {
69            let distx = p.x() - bb.min_p().x;
70            let disty = p.y() - bb.min_p().y;
71            let distz = p.z() - bb.min_p().z;
72
73            let unitsx = T::from(distx / unitsizex).ok_or(ErrorKind::NumberConversionError)?;
74            let unitsy = T::from(disty / unitsizey).ok_or(ErrorKind::NumberConversionError)?;
75            let unitsz = T::from(distz / unitsizez).ok_or(ErrorKind::NumberConversionError)?;
76
77            data.push(CompressedPoint3D {
78                unitsx,
79                unitsy,
80                unitsz,
81            })
82        }
83        Ok(CompressedPointCloud3D::<T> {
84            start: bb.min_p(),
85            unitsizex,
86            unitsizey,
87            unitsizez,
88            data,
89        })
90    }
91
92    /// Creates a new point cloud from this
93    pub fn decompress<P>(&self) -> PointCloud3D<P>
94    where
95        P: IsBuildable3D,
96    {
97        let mut pc = PointCloud3D::new();
98
99        for p in &self.data {
100            if let (Some(unitsxf), Some(unitsyf), Some(unitszf)) =
101                (p.unitsx.to_f64(), p.unitsy.to_f64(), p.unitsz.to_f64())
102            {
103                pc.push(P::new(
104                    self.start.x + (self.unitsizex * unitsxf),
105                    self.start.y + (self.unitsizey * unitsyf),
106                    self.start.z + (self.unitsizez * unitszf),
107                ));
108            }
109        }
110        pc
111    }
112}
rust_3d/compressed_point_cloud_3d.rs

rust_3d/
compressed_point_cloud_3d.rs
