Views on trait objects

pasture-algorithms/benches/convexhull_bench.rs

@@ -1,7 +1,7 @@
 use criterion::{criterion_group, criterion_main, Criterion};
 use pasture_algorithms::convexhull;
 use pasture_core::{
-    containers::{BorrowedMutBuffer, HashMapBuffer, VectorBuffer},
+    containers::{BorrowedMutBufferExt, HashMapBuffer, VectorBuffer},
     layout::PointType,
     nalgebra::Vector3,
 };

pasture-algorithms/examples/reprojection_example.rs

@@ -1,7 +1,7 @@
 #[cfg(not(target_arch = "wasm32"))]
 mod ex {
     use pasture_algorithms::reprojection::reproject_point_cloud_within;
-    use pasture_core::containers::{BorrowedBuffer, VectorBuffer};
+    use pasture_core::containers::{BorrowedBufferExt, VectorBuffer};
     use pasture_core::nalgebra::Vector3;
     use pasture_derive::PointType;
 

pasture-algorithms/examples/segmentation_example.rs

@@ -2,7 +2,7 @@ use pasture_algorithms::segmentation::{
     ransac_line_par, ransac_line_serial, ransac_plane_par, ransac_plane_serial,
 };
 use pasture_core::{
-    containers::{BorrowedMutBuffer, HashMapBuffer},
+    containers::{BorrowedMutBufferExt, HashMapBuffer},
     layout::attributes::INTENSITY,
     nalgebra::Vector3,
 };

pasture-algorithms/src/bounds.rs

@@ -1,6 +1,6 @@
 use anyhow::{Context, Result};
 use pasture_core::{
-    containers::BorrowedBuffer,
+    containers::{BorrowedBuffer, BorrowedBufferExt},
     layout::attributes::POSITION_3D,
     math::AABB,
     nalgebra::{Point3, Vector3},

pasture-algorithms/src/convexhull.rs

@@ -1,5 +1,5 @@
 use anyhow::{anyhow, Result};
-use pasture_core::containers::BorrowedBuffer;
+use pasture_core::containers::{BorrowedBuffer, BorrowedBufferExt};
 use pasture_core::{layout::attributes::POSITION_3D, nalgebra::Vector3};
 use std::collections::{HashMap, HashSet};
 use std::hash::{Hash, Hasher};
@@ -464,7 +464,7 @@ mod tests {
     use crate::convexhull;
     use anyhow::Result;
     use pasture_core::{
-        containers::{BorrowedBuffer, BorrowedMutBuffer, HashMapBuffer},
+        containers::{BorrowedBuffer, BorrowedBufferExt, BorrowedMutBufferExt, HashMapBuffer},
         layout::attributes::POSITION_3D,
         layout::PointType,
         nalgebra::Vector3,

pasture-algorithms/src/minmax.rs

@@ -1,5 +1,5 @@
 use pasture_core::{
-    containers::BorrowedBuffer,
+    containers::{BorrowedBuffer, BorrowedBufferExt},
     layout::{PointAttributeDefinition, PrimitiveType},
     math::MinMax,
 };

pasture-algorithms/src/normal_estimation.rs

@@ -2,7 +2,9 @@
 use core::panic;
 use kd_tree::{self, KdPoint, KdTree};
 use num_traits::{self};
-use pasture_core::containers::{BorrowedBuffer, BorrowedMutBuffer, HashMapBuffer, OwningBuffer};
+use pasture_core::containers::{
+    BorrowedBuffer, BorrowedBufferExt, BorrowedMutBufferExt, HashMapBuffer, OwningBuffer,
+};
 use pasture_core::layout::{attributes::POSITION_3D, PointType};
 use pasture_core::nalgebra::{DMatrix, Vector3};
 use std::result::Result;

pasture-algorithms/src/reprojection.rs

@@ -1,7 +1,7 @@
 use std::ffi::CString;
 
 use anyhow::Result;
-use pasture_core::containers::BorrowedMutBuffer;
+use pasture_core::containers::{BorrowedBufferExt, BorrowedMutBuffer, BorrowedMutBufferExt};
 use pasture_core::math::AABB;
 use pasture_core::nalgebra::{Point3, Vector3};
 
@@ -272,7 +272,7 @@ mod tests {
 
         reproject_point_cloud_within(&mut interleaved, "EPSG:4326", "EPSG:3309");
 
-        let results = vec![
+        let results = [
             Vector3::new(12185139.590523569, 7420953.944297638, 0.0),
             Vector3::new(11104667.534080556, 7617693.973680517, 0.0),
             Vector3::new(11055663.927418157, 5832081.512011217, 2.0),
@@ -318,7 +318,7 @@ mod tests {
 
         reproject_point_cloud_between(&mut interleaved, &mut attribute, "EPSG:4326", "EPSG:3309");
 
-        let results = vec![
+        let results = [
             Vector3::new(12185139.590523569, 7420953.944297638, 0.0),
             Vector3::new(11104667.534080556, 7617693.973680517, 0.0),
             Vector3::new(11055663.927418157, 5832081.512011217, 2.0),

pasture-algorithms/src/segmentation.rs

@@ -2,7 +2,7 @@ use std::vec;
 
 use pasture_core::{
     layout::attributes::POSITION_3D,
-    nalgebra::Vector3, containers::BorrowedBuffer,
+    nalgebra::Vector3, containers::{BorrowedBuffer, BorrowedBufferExt},
 };
 use rand::Rng;
 use rayon::prelude::*;

pasture-algorithms/src/voxel_grid.rs

@@ -1,7 +1,9 @@
 use std::{collections::HashMap, u16};
 
 use pasture_core::{
-    containers::{BorrowedBuffer, OwningBuffer, UntypedPoint, UntypedPointBuffer},
+    containers::{
+        BorrowedBuffer, BorrowedBufferExt, OwningBuffer, UntypedPoint, UntypedPointBuffer,
+    },
     layout::{
         attributes::{self, POSITION_3D},
         PointAttributeDataType, PointAttributeDefinition, PointLayout,
@@ -19,9 +21,9 @@ pub struct Voxel {
 /// finds leaf of point p by iterating over the marked axis
 fn find_leaf(
     p: Vector3<f64>,
-    markers_x: &Vec<f64>,
-    markers_y: &Vec<f64>,
-    markers_z: &Vec<f64>,
+    markers_x: &[f64],
+    markers_y: &[f64],
+    markers_z: &[f64],
 ) -> (usize, usize, usize) {
     let mut index_x = 0;
     let mut index_y = 0;
@@ -691,7 +693,7 @@ mod tests {
 
     use crate::voxel_grid::voxelgrid_filter;
     use pasture_core::{
-        containers::{BorrowedBuffer, HashMapBuffer, MakeBufferFromLayout},
+        containers::{BorrowedBuffer, BorrowedBufferExt, HashMapBuffer, MakeBufferFromLayout},
         layout::attributes,
         nalgebra::Vector3,
     };

pasture-core/benches/layout_conversion_bench.rs

@@ -4,8 +4,8 @@ use criterion::{criterion_group, criterion_main, Criterion};
 use nalgebra::Vector3;
 use pasture_core::{
     containers::{
-        ColumnarBuffer, HashMapBuffer, InterleavedBuffer, MakeBufferFromLayout, OwningBuffer,
-        VectorBuffer,
+        BorrowedBufferExt, ColumnarBuffer, HashMapBuffer, InterleavedBuffer, MakeBufferFromLayout,
+        OwningBuffer, VectorBuffer,
     },
     layout::{conversion::BufferLayoutConverter, PointType},
 };

pasture-core/benches/point_buffer_iterators_bench.rs

@@ -1,8 +1,8 @@
 use criterion::{criterion_group, criterion_main, Criterion};
 use pasture_core::{
     containers::{
-        BorrowedBuffer, BorrowedMutBuffer, ColumnarBuffer, HashMapBuffer, InterleavedBuffer,
-        VectorBuffer,
+        BorrowedBuffer, BorrowedBufferExt, BorrowedMutBufferExt, ColumnarBuffer, HashMapBuffer,
+        InterleavedBuffer, VectorBuffer,
     },
     layout::attributes::POSITION_3D,
     layout::PointType,
@@ -109,6 +109,12 @@ fn points_ref_iterator_performance_small_type<'a>(buffer: &'a impl InterleavedBu
     }
 }
 
+fn points_ref_iterator_performance_with_trait_object<'a>(buffer: &'a dyn InterleavedBuffer<'a>) {
+    for point in buffer.view::<CustomPointTypeSmall>().iter() {
+        criterion::black_box(point.position);
+    }
+}
+
 fn attribute_iterator_performance_opaque_buffer<'a, T: PrimitiveType + Default>(
     buffer: &'a impl BorrowedBuffer<'a>,
     attribute: &PointAttributeDefinition,
@@ -194,6 +200,11 @@ fn bench(c: &mut Criterion) {
     c.bench_function("points_ref_iterator_small_type", |b| {
         b.iter(|| points_ref_iterator_performance_small_type(&dummy_points_small_interleaved))
     });
+    c.bench_function("points_ref_iterator_small_type_with_trait_object", |b| {
+        b.iter(|| {
+            points_ref_iterator_performance_with_trait_object(&dummy_points_small_interleaved)
+        })
+    });
 
     c.bench_function("attribute_iterator_interleaved_opaque_buffer", |b| {
         b.iter(|| {

pasture-core/examples/basic_point_buffers.rs

@@ -1,5 +1,5 @@
 use pasture_core::containers::{
-    BorrowedBuffer, BorrowedMutBuffer, HashMapBuffer, MakeBufferFromLayout, SliceBuffer,
+    BorrowedBufferExt, BorrowedMutBufferExt, HashMapBuffer, MakeBufferFromLayout, SliceBuffer,
     SliceBufferMut,
 };
 use pasture_core::nalgebra::Vector3;
@@ -70,6 +70,19 @@ fn main() {
         // is what 'interleaved' means: We can get (mutable) references to the strongly typed point data, since all data
         // for a single point is stored contiguously in memory!
 
+        // We can also access individual attributes by using `view_attribute`:
+        for position in buffer.view_attribute::<Vector3<f64>>(&POSITION_3D) {
+            println!("{position:?}");
+        }
+
+        buffer.transform_attribute(&INTENSITY, |_index: usize, intensity: u16| -> u16 {
+            intensity * 2
+        });
+
+        // Where interleaved memory layout allows references to whole points, it disallows references to individual
+        // attribute values (as these might not be correctly aligned). Therefore, we can only access attributes by
+        // value using a `VectorBuffer`, which requires a copy operation
+
         // Just like arrays and vectors, our buffers can also be sliced. Unfortunately, the current constraints of the `Index`
         // trait prevent us from implementing it for the pasture point buffers, so we can't slice our buffers using the
         // `[range]` syntax. Instead, use the `slice` and `slice_mut` methods:

pasture-core/examples/layout_conversion.rs

@@ -1,4 +1,4 @@
-use pasture_core::containers::{BorrowedBuffer, OwningBuffer, VectorBuffer};
+use pasture_core::containers::{BorrowedBuffer, BorrowedBufferExt, OwningBuffer, VectorBuffer};
 use pasture_core::layout::attributes::{COLOR_RGB, POSITION_3D};
 use pasture_core::layout::conversion::BufferLayoutConverter;
 use pasture_core::layout::{PointAttributeDataType, PointType};