threecrate_core/
point_cloud.rs

1//! Point cloud data structures and functionality
2
3use crate::point::*;
4use crate::transform::Transform3D;
5// use nalgebra::{Point3, Vector3};
6use serde::{Deserialize, Serialize};
7use std::ops::{Index, IndexMut};
8
9/// A generic point cloud container
10#[derive(Debug, Clone, Serialize, Deserialize)]
11pub struct PointCloud<T> {
12    pub points: Vec<T>,
13}
14
15/// A point cloud with 3D points
16pub type PointCloud3f = PointCloud<Point3f>;
17
18/// A point cloud with colored points
19pub type ColoredPointCloud3f = PointCloud<ColoredPoint3f>;
20
21/// A point cloud with normal vectors
22pub type NormalPointCloud3f = PointCloud<NormalPoint3f>;
23
24/// A point cloud with colors and normals
25pub type ColoredNormalPointCloud3f = PointCloud<ColoredNormalPoint3f>;
26
27impl<T> PointCloud<T> {
28    /// Create a new empty point cloud
29    pub fn new() -> Self {
30        Self { points: Vec::new() }
31    }
32
33    /// Create a new point cloud with specified capacity
34    pub fn with_capacity(capacity: usize) -> Self {
35        Self {
36            points: Vec::with_capacity(capacity),
37        }
38    }
39
40    /// Create a point cloud from a vector of points
41    pub fn from_points(points: Vec<T>) -> Self {
42        Self { points }
43    }
44
45    /// Get the number of points in the cloud
46    pub fn len(&self) -> usize {
47        self.points.len()
48    }
49
50    /// Check if the point cloud is empty
51    pub fn is_empty(&self) -> bool {
52        self.points.is_empty()
53    }
54
55    /// Add a point to the cloud
56    pub fn push(&mut self, point: T) {
57        self.points.push(point);
58    }
59
60    /// Get an iterator over the points
61    pub fn iter(&self) -> std::slice::Iter<'_, T> {
62        self.points.iter()
63    }
64
65    /// Get a mutable iterator over the points
66    pub fn iter_mut(&mut self) -> std::slice::IterMut<'_, T> {
67        self.points.iter_mut()
68    }
69
70    /// Clear all points from the cloud
71    pub fn clear(&mut self) {
72        self.points.clear();
73    }
74
75    /// Reserve capacity for additional points
76    pub fn reserve(&mut self, additional: usize) {
77        self.points.reserve(additional);
78    }
79}
80
81impl<T> Default for PointCloud<T> {
82    fn default() -> Self {
83        Self::new()
84    }
85}
86
87impl<T> Index<usize> for PointCloud<T> {
88    type Output = T;
89
90    fn index(&self, index: usize) -> &Self::Output {
91        &self.points[index]
92    }
93}
94
95impl<T> IndexMut<usize> for PointCloud<T> {
96    fn index_mut(&mut self, index: usize) -> &mut Self::Output {
97        &mut self.points[index]
98    }
99}
100
101impl<T> IntoIterator for PointCloud<T> {
102    type Item = T;
103    type IntoIter = std::vec::IntoIter<T>;
104
105    fn into_iter(self) -> Self::IntoIter {
106        self.points.into_iter()
107    }
108}
109
110impl<'a, T> IntoIterator for &'a PointCloud<T> {
111    type Item = &'a T;
112    type IntoIter = std::slice::Iter<'a, T>;
113
114    fn into_iter(self) -> Self::IntoIter {
115        self.points.iter()
116    }
117}
118
119impl<'a, T> IntoIterator for &'a mut PointCloud<T> {
120    type Item = &'a mut T;
121    type IntoIter = std::slice::IterMut<'a, T>;
122
123    fn into_iter(self) -> Self::IntoIter {
124        self.points.iter_mut()
125    }
126}
127
128impl<T> Extend<T> for PointCloud<T> {
129    fn extend<I: IntoIterator<Item = T>>(&mut self, iter: I) {
130        self.points.extend(iter);
131    }
132}
133
134impl<T> FromIterator<T> for PointCloud<T> {
135    fn from_iter<I: IntoIterator<Item = T>>(iter: I) -> Self {
136        Self {
137            points: Vec::from_iter(iter),
138        }
139    }
140}
141
142impl PointCloud<Point3f> {
143    /// Apply a transformation to all points in the cloud
144    pub fn transform(&mut self, transform: &Transform3D) {
145        for point in &mut self.points {
146            *point = transform.transform_point(point);
147        }
148    }
149}
threecrate_core/point_cloud.rs

threecrate_core/
point_cloud.rs
