PointCulling Trait and Iterator cleanup

Cargo.toml

@@ -26,6 +26,7 @@ error-chain = "0.11.0"
 fnv = "1.0.6"
 num = "0.1.36"
 num-traits = "0.1.36"
+objekt = "0.1.2"
 pbr = "1.0.0-alpha.1"
 protobuf = "2.0.0"
 scoped-pool = "^0.1"

octree_web_viewer/client/main.ts

@@ -45,7 +45,7 @@ class App {
 
         const result = window
             .fetch(request)
-            .then((response) => { return response.text(); }) // todo error handling?
+            .then((response) => { return response.text(); }) // TODO(catevita, negin-z): error handling?
 
         return result;
     }
@@ -128,7 +128,7 @@ class App {
     }
 
     private cleanup() {
-        // TODO(negin-z) block requests from the viewer that is going to be replaced
+        // TODO(negin-z): block requests from the viewer that is going to be replaced
         this.removeControls();
         if (this.renderer) {
             this.renderArea.removeChild(this.renderer.domElement);
@@ -171,7 +171,7 @@ class App {
                 .name('Point Cloud ID')
                 .onFinishChange(this.run);
 
-        // TODO(negin-z) error handling
+        // TODO(negin-z): error handling
         this.fetchDefaultOctreeId()
             .then(this.setOctreeId)
             .then(this.run);
@@ -180,7 +180,7 @@ class App {
     }
 
     private onWindowResize() {
-        // TODO(cvitadello) why is the window size used here?
+        // TODO(cvitadello): why is the window size used here?
         this.camera.aspect = window.innerWidth / window.innerHeight;
         this.camera.updateProjectionMatrix();
         this.renderer.setSize(window.innerWidth, window.innerHeight);

point_cloud_client/src/bin/test.rs

@@ -4,11 +4,14 @@
 use cgmath::Point3;
 use collision::Aabb3;
 use point_cloud_client::PointCloudClient;
-use point_viewer::errors::*;
-use point_viewer::octree::{OctreeFactory, PointCulling, PointLocation};
+use point_viewer::errors::{ErrorKind, Result};
+use point_viewer::octree::{OctreeFactory, PointLocation, PointQuery};
 use point_viewer::PointData;
 use structopt::StructOpt;
 
+// size for batch
+const BATCH_SIZE: usize = 1_000_000;
+
 fn point3f64_from_str(s: &str) -> std::result::Result<Point3<f64>, &'static str> {
     let coords: std::result::Result<Vec<f64>, &'static str> = s
         .split(|c| c == ' ' || c == ',' || c == ';')
@@ -54,17 +57,17 @@ fn main() {
     let num_points = args.num_points;
     let point_cloud_client = PointCloudClient::new(&args.locations, OctreeFactory::new())
         .expect("Couldn't create octree client.");
-    let point_location = PointLocation {
-        culling: PointCulling::Aabb(Aabb3::new(args.min, args.max)),
+    let point_location = PointQuery {
+        location: PointLocation::Aabb(Aabb3::new(args.min, args.max)),
         global_from_local: None,
     };
     let mut point_count: usize = 0;
     let mut print_count: usize = 1;
     let callback_func = |point_data: PointData| -> Result<()> {
         point_count += point_data.position.len();
-        if point_count >= print_count * 1_000_000 {
+        if point_count >= print_count * BATCH_SIZE {
             print_count += 1;
-            println!("Streamed {}M points", point_count / 1_000_000);
+            println!("Streamed {}M points", point_count / BATCH_SIZE);
         }
         if point_count >= num_points {
             return Err(std::io::Error::new(

point_cloud_client/src/lib.rs

@@ -1,7 +1,7 @@
 use collision::{Aabb, Aabb3, Union};
 use point_viewer::errors::*;
 use point_viewer::octree::{
-    BatchIterator, Octree, OctreeFactory, PointLocation, NUM_POINTS_PER_BATCH,
+    BatchIterator, Octree, OctreeFactory, PointQuery, NUM_POINTS_PER_BATCH,
 };
 use point_viewer::PointData;
 
@@ -39,7 +39,7 @@ impl PointCloudClient {
         &self.aabb
     }
 
-    pub fn for_each_point_data<F>(&self, point_location: &PointLocation, mut func: F) -> Result<()>
+    pub fn for_each_point_data<F>(&self, point_location: &PointQuery, mut func: F) -> Result<()>
     where
         F: FnMut(PointData) -> Result<()>,
     {

point_viewer_grpc/src/bin/octree_benchmark.rs

@@ -20,12 +20,15 @@ use std::path::{Path, PathBuf};
 use std::str::FromStr;
 use std::sync::Arc;
 
-use point_viewer::octree::{octree_from_directory, OctreeFactory};
-use point_viewer::Point;
+use point_viewer::octree::{
+    octree_from_directory, BatchIterator, OctreeFactory, PointLocation, PointQuery,
+};
 use point_viewer_grpc::proto_grpc::OctreeClient;
 use point_viewer_grpc::service::start_grpc_server;
 use point_viewer_grpc_proto_rust::proto;
 
+// size for batch
+const BATCH_SIZE: usize = 1_000_000;
 fn main() {
     let matches = clap::App::new("octree_benchmark")
         .args(&[
@@ -53,7 +56,7 @@ fn main() {
             .value_of("octree_directory")
             .expect("octree_directory not given"),
     );
-    let num_points = u64::from_str(matches.value_of("num-points").unwrap_or("50000000"))
+    let num_points = usize::from_str(matches.value_of("num-points").unwrap_or("50000000"))
         .expect("num-points needs to be a number");
     if matches.is_present("no-client") {
         server_benchmark(&octree_directory, num_points)
@@ -63,26 +66,31 @@ fn main() {
     }
 }
 
-fn server_benchmark(octree_directory: &Path, num_points: u64) {
+fn server_benchmark(octree_directory: &Path, num_points: usize) {
     let octree = octree_from_directory(octree_directory).unwrap_or_else(|_| {
         panic!(
             "Could not create octree from '{}'",
             octree_directory.display()
         )
     });
-    let mut counter: u64 = 0;
-    octree.all_points().for_each(|_p: Point| {
-        if counter % 1_000_000 == 0 {
-            println!("Streamed {}M points", counter / 1_000_000);
-        }
-        counter += 1;
-        if counter == num_points {
+    let mut counter: usize = 0;
+    let all_points = PointQuery {
+        location: PointLocation::AllPoints(),
+        global_from_local: None,
+    };
+    let mut batch_iterator = BatchIterator::new(&octree, &all_points, BATCH_SIZE);
+
+    let _result = batch_iterator.try_for_each_batch(move |point_data| {
+        counter += point_data.position.len();
+        if counter >= num_points {
             std::process::exit(0)
         }
+        println!("Streamed {}M points", counter / BATCH_SIZE);
+        Ok(())
     });
 }
 
-fn full_benchmark(octree_directory: &Path, num_points: u64, port: u16) {
+fn full_benchmark(octree_directory: &Path, num_points: usize, port: u16) {
     let octree_factory = OctreeFactory::new();
     let mut server = start_grpc_server("0.0.0.0", port, octree_directory, octree_factory);
     server.start();
@@ -94,12 +102,12 @@ fn full_benchmark(octree_directory: &Path, num_points: u64, port: u16) {
     let req = proto::GetAllPointsRequest::new();
     let receiver = client.get_all_points(&req).unwrap();
 
-    let mut counter: u64 = 0;
+    let mut counter: usize = 0;
 
     'outer: for rep in receiver.wait() {
         for _pos in rep.expect("Stream error").get_positions().iter() {
-            if counter % 1_000_000 == 0 {
-                println!("Streamed {}M points", counter / 1_000_000);
+            if counter % BATCH_SIZE == 0 {
+                println!("Streamed {}M points", counter / BATCH_SIZE);
             }
             counter += 1;
             if counter == num_points {