refactoring

.github/workflows/ci.yml

@@ -0,0 +1,35 @@
+name: CI
+
+on:
+  push:
+    branches:
+    - main
+    - develop
+  pull_request: {}
+
+
+jobs:
+
+  build:
+    name: cargo build
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
+    - name: Build
+      run: cargo build
+
+  test:
+    name: cargo test
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
+      with:
+        components: rustfmt clippy
+    - name: rustfmt
+      run: cargo fmt --all -- --check
+    - name: clippy
+      run: cargo clippy
+    - name: test
+      run: cargo test --verbose

.gitignore

@@ -1,4 +1,7 @@
-### JetBrains template
+# Created by https://www.toptal.com/developers/gitignore/api/rust,macos,jetbrains+all
+# Edit at https://www.toptal.com/developers/gitignore?templates=rust,macos,jetbrains+all
+
+### JetBrains+all ###
 # Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
 # Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
 
@@ -77,7 +80,49 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
-### Rust template
+### JetBrains+all Patch ###
+# Ignore everything but code style settings and run configurations
+# that are supposed to be shared within teams.
+
+.idea/*
+
+!.idea/codeStyles
+!.idea/runConfigurations
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### Rust ###
 # Generated by Cargo
 # will have compiled files and executables
 debug/
@@ -93,3 +138,4 @@ Cargo.lock
 # MSVC Windows builds of rustc generate these, which store debugging information
 *.pdb
 
+# End of https://www.toptal.com/developers/gitignore/api/rust,macos,jetbrains+all

Cargo.toml

@@ -3,23 +3,26 @@ members = [
     "crates/*"
 ]
 
+resolver = "2"
+
 [workspace.package]
-version = "0.0.1-alpha.1"
-authors = ["Benedikt Schwab"]
+version = "0.0.1-alpha.3"
+authors = ["Benedikt Schwab <benedikt.schwab@gmail.com>"]
 edition = "2021"
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/tum-gis/evoxel"
 
 [workspace.dependencies]
-ecoord = { version = "0.0.1-alpha", registry = "custom" }
+ecoord = { version = "0.0.1-alpha.3" }
 
-thiserror = "1.0.34"
-tracing = "0.1.30"
-tracing-subscriber = "0.3.8"
-polars = "0.26.1"
-ndarray = "0.15"
-serde = "1.0"
-serde_json = "1.0"
-rayon = "1.5"
-nalgebra = "0.31.1"
-chrono = "0.4.22"
+clap = "4.5.9"
+thiserror = "1.0.61"
+tracing = "0.1.40"
+tracing-subscriber = "0.3.18"
+polars = "0.41.3"
+ndarray = "0.15.6"
+serde = "1.0.204"
+serde_json = "1.0.120"
+rayon = "1.10.0"
+nalgebra = "0.33.0"
+chrono = "0.4.38"

README.md

@@ -1 +1,10 @@
 # evoxel
+
+A Rust library for processing 3D voxel grids.
+
+> [!WARNING]  
+> The library is at an early stage of development.
+
+## Contributing
+
+The library is developed at the [TUM Chair of Geoinformatics](https://github.com/tum-gis) and contributions are highly welcome.

crates/evoxel-cli/Cargo.toml

@@ -9,7 +9,9 @@ description = "CLI tool for evoxel operations"
 
 
 [dependencies]
-evoxel = { version = "0.0.1-alpha.1", path = "../evoxel", registry = "custom" }
+evoxel = { version = "0.0.1-alpha.3", path = "../evoxel" }
 
+clap = { workspace = true, features = ["derive"] }
 tracing = { workspace = true }
 tracing-subscriber = { workspace = true }
+nalgebra = { workspace = true }

crates/evoxel-cli/README.md

@@ -0,0 +1,10 @@
+# evoxel-cli
+
+CLI tool for processing 3D voxel grids.
+
+> [!WARNING]  
+> The library is at an early stage of development.
+
+## Contributing
+
+The library is developed at the [TUM Chair of Geoinformatics](https://github.com/tum-gis) and contributions are highly welcome.

crates/evoxel-cli/src/arguments.rs

@@ -0,0 +1,22 @@
+use clap::{Parser, Subcommand};
+
+#[derive(Parser)]
+#[clap(author, version, about, long_about = None, propagate_version = true)]
+pub struct Arguments {
+    #[clap(subcommand)]
+    pub command: Commands,
+}
+
+#[derive(Subcommand)]
+pub enum Commands {
+    /// Run some tests
+    Test {
+        /// Input directory
+        #[clap(long)]
+        input_directory_path: String,
+
+        /// Output directory
+        #[clap(long)]
+        output_directory_path: String,
+    },
+}

crates/evoxel-cli/src/commands/mod.rs

@@ -0,0 +1 @@
+pub(crate) mod test;

crates/evoxel-cli/src/commands/test.rs

@@ -0,0 +1,44 @@
+use evoxel::io::{EvoxelReader, EvoxelWriter};
+use nalgebra::Point3;
+use std::path::Path;
+use std::time::Instant;
+use tracing::info;
+
+pub fn run(input_directory_path: impl AsRef<Path>, output_directory_path: impl AsRef<Path>) {
+    // let path = PathBuf::from("/submap_0");
+    let start = Instant::now();
+    let voxel_grid = EvoxelReader::new(input_directory_path).finish().unwrap();
+    let duration = start.elapsed();
+    info!(
+        "Read voxel grid with {} cells in {:?}.",
+        voxel_grid.size(),
+        duration
+    );
+
+    let voxel_grid = evoxel::transform::aggregate_by_index(&voxel_grid).unwrap();
+    let voxel_grid = evoxel::transform::filter_by_count(&voxel_grid, 3).unwrap();
+    let voxel_grid = evoxel::transform::explode(&voxel_grid).unwrap();
+    let voxel_grid = evoxel::transform::filter_by_index_bounds(
+        &voxel_grid,
+        Point3::new(676, 95, 0),
+        Point3::new(1271, 135, 86),
+    )
+    .unwrap();
+
+    info!("Start");
+    let start = Instant::now();
+    let c = voxel_grid.get_all_cell_indices_in_local_frame();
+    let duration = start.elapsed();
+    info!("Calculated {} points in {:?}.", c.len(), duration);
+    //let all = voxel_grid.get_all_center_points();
+
+    info!(
+        "Start writing voxel grid with {} cells to {}",
+        voxel_grid.size(),
+        output_directory_path.as_ref().display()
+    );
+    EvoxelWriter::new(output_directory_path)
+        .with_compressed(false)
+        .finish(&voxel_grid)
+        .expect("should work");
+}

crates/evoxel-cli/src/main.rs

@@ -1,26 +1,23 @@
-use evoxel::io::EvoxelReader;
-use std::path::PathBuf;
-use std::time::Instant;
-use tracing::info;
+mod arguments;
+mod commands;
+
+use crate::arguments::{Arguments, Commands};
+use clap::Parser;
+use std::path::{Path, PathBuf};
 
 fn main() {
     tracing_subscriber::fmt::init();
-    info!("Hello, world!");
+    let arguments = Arguments::parse();
 
-    let path = PathBuf::from("/submap_0");
-    let start = Instant::now();
-    let voxel_grid = EvoxelReader::new(path).finish().unwrap();
-    let duration = start.elapsed();
-    info!(
-        "Read voxel grid with {} cells in {:?}.",
-        voxel_grid.size(),
-        duration
-    );
+    match &arguments.command {
+        Commands::Test {
+            input_directory_path,
+            output_directory_path,
+        } => {
+            let input_directory_path = Path::new(input_directory_path).canonicalize().unwrap();
+            let output_directory_path = PathBuf::from(output_directory_path);
 
-    info!("Start");
-    let start = Instant::now();
-    let c = voxel_grid.get_all_cell_indices_in_local_frame();
-    let duration = start.elapsed();
-    info!("Calculated {} points in {:?}.", c.len(), duration);
-    //let all = voxel_grid.get_all_center_points();
+            commands::test::run(input_directory_path, output_directory_path);
+        }
+    };
 }

crates/evoxel-core/Cargo.toml

@@ -5,13 +5,14 @@ authors.workspace = true
 edition.workspace = true
 license.workspace = true
 repository.workspace = true
-description = "Core of the evoxel library"
+description = "Core primitives and operations for processing 3D voxel grids."
 
 
 [dependencies]
 ecoord = { workspace = true }
 
-polars = { workspace = true, features = ["lazy", "csv-file", "parquet", "ndarray", "rows"] }
+thiserror = { workspace = true }
+polars = { workspace = true, features = ["lazy", "parquet", "ndarray", "rows"] }
 ndarray = { workspace = true }
 rayon = { workspace = true }
 nalgebra = { workspace = true }

crates/evoxel-core/README.md

@@ -0,0 +1,10 @@
+# evoxel-core
+
+Core primitives and operations for processing 3D voxel grids.
+
+> [!WARNING]  
+> The library is at an early stage of development.
+
+## Contributing
+
+The library is developed at the [TUM Chair of Geoinformatics](https://github.com/tum-gis) and contributions are highly welcome.

crates/evoxel-core/src/data_frame_utils.rs

@@ -0,0 +1,39 @@
+use crate::Error::{ColumnNameMisMatch, NoData, TypeMisMatch};
+use crate::{Error, VoxelDataColumnNames, VoxelGridInfo};
+use ecoord::ReferenceFrames;
+use polars::datatypes::DataType;
+use polars::frame::DataFrame;
+
+pub fn check_data_integrity(
+    voxel_data: &DataFrame,
+    _info: &VoxelGridInfo,
+    _reference_frames: &ReferenceFrames,
+) -> Result<(), Error> {
+    if voxel_data.is_empty() {
+        return Err(NoData("voxel_data"));
+    }
+
+    let column_names = voxel_data.get_column_names();
+    if column_names[0] != VoxelDataColumnNames::X.as_str() {
+        return Err(ColumnNameMisMatch);
+    }
+    if column_names[1] != VoxelDataColumnNames::Y.as_str() {
+        return Err(ColumnNameMisMatch);
+    }
+    if column_names[2] != VoxelDataColumnNames::Z.as_str() {
+        return Err(ColumnNameMisMatch);
+    }
+
+    let data_types = voxel_data.dtypes();
+    if data_types[0] != DataType::Int64 {
+        return Err(TypeMisMatch("x"));
+    }
+    if data_types[1] != DataType::Int64 {
+        return Err(TypeMisMatch("y"));
+    }
+    if data_types[2] != DataType::Int64 {
+        return Err(TypeMisMatch("z"));
+    }
+
+    Ok(())
+}

crates/evoxel-core/src/error.rs

@@ -0,0 +1,19 @@
+use thiserror::Error;
+
+#[derive(Error, Debug)]
+pub enum Error {
+    #[error(transparent)]
+    EcoordError(#[from] ecoord::Error),
+    #[error(transparent)]
+    Polars(#[from] polars::error::PolarsError),
+
+    #[error("No data: {0}")]
+    NoData(&'static str),
+    #[error("Lengths don't match: {0}")]
+    ShapeMisMatch(&'static str),
+
+    #[error("Field {0} does not match type")]
+    TypeMisMatch(&'static str),
+    #[error("unknown data store error")]
+    ColumnNameMisMatch,
+}