avoid bulk import

stelzo · Apr 29, 2024 · 4002f9c · 4002f9c
1 parent 4cc0b21
commit 4002f9c
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Showing 4 changed files with 106 additions and 58 deletions.
diff --git a/src/convert.rs b/src/convert.rs
@@ -149,68 +149,16 @@ pub(crate) fn check_coord(
 ///     pub intensity: f32,
 /// }
 ///
-/// impl From<MyPointXYZI> for Point<f32, 3, 1> {
-///     fn from(point: MyPointXYZI) -> Self {
-///         Point {
-///             coords: [point.x, point.y, point.z],
-///             meta: [point.intensity.into()],
-///         }
-///     }
-/// }
-///
-/// impl From<Point<f32, 3, 1>> for MyPointXYZI {
-///     fn from(point: Point<f32, 3, 1>) -> Self {
-///         Self {
-///             x: point.coords[0],
-///             y: point.coords[1],
-///             z: point.coords[2],
-///             intensity: point.meta[0].get(),
-///         }
-///     }
-/// }
-///
 /// impl MetaNames<1> for MyPointXYZI {
 ///    fn meta_names() -> [&'static str; 1] {
 ///       ["intensity"]
 ///   }
 /// }
-///
-/// impl PointConvertible<f32, {size_of!(f32)}, 3, 1> for MyPointXYZI {}
 /// ```
 pub trait MetaNames<const METADIM: usize> {
     fn meta_names() -> [&'static str; METADIM];
 }
 
-#[inline(always)]
-pub(crate) fn add_point_to_byte_buffer<
-    T: FromBytes,
-    const SIZE: usize,
-    const DIM: usize,
-    const METADIM: usize,
-    C: PointConvertible<T, SIZE, DIM, METADIM>,
->(
-    coords: C,
-    cloud: &mut PointCloud2Msg,
-) -> Result<bool, ConversionError> {
-    let point: Point<T, DIM, METADIM> = coords.into();
-
-    // (x, y, z...)
-    point
-        .coords
-        .iter()
-        .for_each(|x| cloud.data.extend_from_slice(T::bytes(x).as_slice()));
-
-    // meta data description
-    point.meta.iter().for_each(|meta| {
-        let truncated_bytes = &meta.bytes[0..meta.datatype.size()];
-        cloud.data.extend_from_slice(truncated_bytes);
-    });
-
-    cloud.width += 1;
-
-    Ok(true)
-}
-
 /// This trait is used to convert a byte slice to a primitive type.
 /// All PointField types are supported.
 pub trait FromBytes: Default + Sized + Copy + GetFieldDatatype {

diff --git a/src/lib.rs b/src/lib.rs
@@ -84,8 +84,11 @@ pub mod writer;
 pub use convert::MetaNames;
 pub use ros_types::PointCloud2Msg;
 
-use crate::convert::*;
-use crate::pcl_utils::*;
+use crate::convert::{
+    FieldDatatype,
+    FromBytes,
+};
+
 use crate::ros_types::PointFieldMsg;
 
 /// All errors that can occur for creating Reader and Writer.
@@ -112,7 +115,7 @@ pub enum ConversionError {
 
 /// Internal point representation. It is used to store the coordinates and meta data of a point.
 /// In each iteration, the Reader will convert the internal representation to the desired point type.
-/// Implement the `From` traits for your point type to use the conversion as part of the PointConvertible trait.
+/// Implement the `From` traits for your point type to use the conversion as part of the [`PointConvertible`] trait.
 ///
 /// # Example
 /// ```
@@ -153,6 +156,47 @@ pub struct Point<T, const DIM: usize, const METADIM: usize> {
 
 /// Trait to convert a point to a tuple of coordinates and meta data.
 /// Implement this trait for your point type to use the conversion.
+/// 
+/// # Example
+/// ```
+/// use ros_pointcloud2::{Point, PointConvertible, MetaNames, size_of};
+///
+/// #[derive(Clone, Debug, PartialEq, Copy)]
+/// pub struct MyPointXYZI {
+///     pub x: f32,
+///     pub y: f32,
+///     pub z: f32,
+///     pub intensity: f32,
+/// }
+///
+/// impl From<MyPointXYZI> for Point<f32, 3, 1> {
+///     fn from(point: MyPointXYZI) -> Self {
+///         Point {
+///             coords: [point.x, point.y, point.z],
+///             meta: [point.intensity.into()],
+///         }
+///     }
+/// }
+///
+/// impl From<Point<f32, 3, 1>> for MyPointXYZI {
+///     fn from(point: Point<f32, 3, 1>) -> Self {
+///         Self {
+///             x: point.coords[0],
+///             y: point.coords[1],
+///             z: point.coords[2],
+///             intensity: point.meta[0].get(),
+///         }
+///     }
+/// }
+///
+/// impl MetaNames<1> for MyPointXYZI {
+///    fn meta_names() -> [&'static str; 1] {
+///       ["intensity"]
+///   }
+/// }
+///
+/// impl PointConvertible<f32, {size_of!(f32)}, 3, 1> for MyPointXYZI {}
+/// ```
 pub trait PointConvertible<T, const SIZE: usize, const DIM: usize, const METADIM: usize>:
     From<Point<T, DIM, METADIM>> + Into<Point<T, DIM, METADIM>> + MetaNames<METADIM> + Clone + 'static
 where
@@ -189,7 +233,7 @@ impl Default for PointMeta {
 }
 
 impl PointMeta {
-    /// Create a new PointMeta from a value
+    /// Create a new PointMeta from a value.
     ///
     /// # Example
     /// ```

diff --git a/src/reader.rs b/src/reader.rs
@@ -1,4 +1,19 @@
-use crate::*;
+use crate::{
+    pcl_utils::*,
+    Point,
+    PointCloud2Msg,
+    PointConvertible,
+    ConversionError,
+    MetaNames,
+    PointMeta,
+    convert::{
+        FromBytes,
+        FieldDatatype,
+        load_loadable,
+        Endianness,
+        check_coord,
+    },
+};
 
 /// Convenience type for a Reader that reads coordinates as f32. Specify the number of dimensions, metadata dimensions and C, the point type.
 pub type ReaderF32<const DIM: usize, const METADIM: usize, C> =

diff --git a/src/writer.rs b/src/writer.rs
@@ -1,4 +1,15 @@
-use crate::*;
+use crate::{
+    pcl_utils::*,
+    Point,
+    PointCloud2Msg,
+    PointConvertible,
+    ConversionError,
+    ros_types::PointFieldMsg,
+    convert::{
+        FromBytes,
+        FieldDatatype,
+    },
+};
 
 /// Convenience type for a Writer that reads coordinates as f32. Specify the number of dimensions, metadata dimensions and C, the point type.
 pub type WriterF32<const DIM: usize, const METADIM: usize, C> =
@@ -303,3 +314,33 @@ where
         }
     }
 }
+
+#[inline(always)]
+fn add_point_to_byte_buffer<
+    T: FromBytes,
+    const SIZE: usize,
+    const DIM: usize,
+    const METADIM: usize,
+    C: PointConvertible<T, SIZE, DIM, METADIM>,
+>(
+    coords: C,
+    cloud: &mut PointCloud2Msg,
+) -> Result<bool, ConversionError> {
+    let point: Point<T, DIM, METADIM> = coords.into();
+
+    // (x, y, z...)
+    point
+        .coords
+        .iter()
+        .for_each(|x| cloud.data.extend_from_slice(T::bytes(x).as_slice()));
+
+    // meta data description
+    point.meta.iter().for_each(|meta| {
+        let truncated_bytes = &meta.bytes[0..meta.datatype.size()];
+        cloud.data.extend_from_slice(truncated_bytes);
+    });
+
+    cloud.width += 1;
+
+    Ok(true)
+}