Merge pull request #10 from oyhj1801/main

Writing support, error handling and simplifications

Author: pka

Cargo.toml

@@ -1,29 +1,26 @@
-[workspace]
-members = [".", "viewer"]
-default-members = ["."]
-
 [package]
 name = "copc-rs"
-version = "0.3.0"
-authors = ["Pirmin Kalberer <[email protected]>"]
+version = "0.5.0"
+authors = ["Pirmin Kalberer <[email protected]>", "Øyvind Hjermstad @oyhj1801"]
 edition = "2021"
 
-description = "Cloud Optimized Point Cloud (COPC) reader."
+description = "Cloud Optimized Point Cloud (COPC) reader and writer."
 homepage = "https://github.com/pka/copc-rs"
 repository = "https://github.com/pka/copc-rs"
 readme = "README.md"
 license = "MIT/Apache-2.0"
-keywords = ["lidar", "pointcloud", "copc", "las", "geo"]
-categories = ["science::geo", "rendering::data-formats"]
-exclude = [
-    "tests/data",    
-]
+keywords = ["lidar", "pointcloud", "copc", "las", "laz", "geo"]
 
 [dependencies]
 byteorder = "1.4.3"
-las = "0.8.1"
-laz = "0.8.2"
+fastrand = "2.3.0"
+las-crs = { git = "https://github.com/oyhj1801/las-crs" }
+las = {version = "0.9.2", features = ["laz"]}
+laz = "0.9.2"
+log = "0.4.25"
+thiserror = "2.0.6"
+crs-definitions = "0.3.0"
 
 [dev-dependencies]
-http-range-client = "0.7.0"
-env_logger = "0.10.0"
+env_logger = "0.11.8"
+http-range-client = "0.9.0" # default-features = false, features = ["ureq-sync"]

LICENSE-MIT

@@ -1,4 +1,4 @@
-Copyright (c) 2020 Pirmin Kalberer
+Copyright (c) 2025 Pirmin Kalberer, Øyvind Hjermstad
 
 Permission is hereby granted, free of charge, to any
 person obtaining a copy of this software and associated

README.md

@@ -3,26 +3,86 @@
 [![crates.io version](https://img.shields.io/crates/v/copc-rs.svg)](https://crates.io/crates/copc-rs)
 [![docs.rs docs](https://docs.rs/copc-rs/badge.svg)](https://docs.rs/copc-rs)
 
+copc-rs is a rust library for reading and writing Cloud Optimized Point Cloud ([COPC](https://copc.io/)) data.
+It utilizes the las and laz crates heavily and tries to offer a similiar API to las.
 
-copc-rs is a library for reading Cloud Optimized Point Cloud ([COPC](https://copc.io/)) data.
+## Usage examples
 
-
-## Usage example
+### Reader
 
 ```rust
-let laz_file = BufReader::new(File::open("autzen-classified.copc.laz")?);
-let mut copc_reader = CopcReader::open(laz_file)?;
+let mut copc_reader = CopcReader::from_path("autzen-classified.copc.laz")?;
 for point in copc_reader.points(LodSelection::Level(0), BoundsSelection::All)?.take(5) {
     println!("Point coordinates: ({}, {}, {})", point.x, point.y, point.z);
 }
 ```
 
+Full example with bounds selection:
+```rust
+use copc_rs::{Bounds, BoundsSelection, CopcReader, LodSelection, Vector};
+
+fn main() {
+    let mut copc_reader = CopcReader::from_path("./lidar.copc.laz").unwrap();
+
+    let bounds = Bounds {
+        min: Vector {
+            x: 698_100.,
+            y: 6_508_100.,
+            z: 0.,
+        },
+        max: Vector {
+            x: 698_230.,
+            y: 6_508_189.,
+            z: 2_000.,
+        },
+    };
+
+    for point in copc_reader
+        .points(LodSelection::Resolution(1.), BoundsSelection::Within(bounds))
+        .unwrap()
+    {
+        // do something with the points
+    }
+}
+```
+
 Run an example:
 ```
 cargo run --example copc_http
 ```
 
+### Writer [[*]](#writing-is-still-a-wip)
+
+```rust
+use copc_rs::CopcWriter;
+use las::Reader;
+
+fn main() {
+    let mut las_reader = Reader::from_path("./lidar.las").unwrap();
+
+    let header = las_reader.header().clone();
+    let num_points = header.number_of_points() as i32;
+    let points = las_reader.points().filter_map(las::Result::ok);
+
+    let mut copc_writer = CopcWriter::from_path("./lidar.copc.laz", header, -1, -1).unwrap();
+
+    copc_writer.write(points, num_points).unwrap();
+
+    println!("{:#?}", copc_writer.copc_info());
+}
+```
+
+## Writing is still a WIP
+
+Writing of the octree structure seem to work, so spatial queries in full resolution on copc-rs written files should be good.
+BUT the octree levels does not yet contain a similar point distribution as the whole cloud so results from resolution queries on copc-rs written files are wrong.
+This means the written files will look bad in viewers.
+
+
+I will look into it when I find time, for now I only need full resolution spatial queries in my current project anyway.
+
+-oyhj1801
 
 ## Credits
 
-This library depends heavily on the work of Thomas Montaigu (@tmontaigu) and Pete Gadomski (@gadomski).
+This library depends heavily on the work of Thomas Montaigu (@tmontaigu) and Pete Gadomski (@gadomski), the authors of the laz and las crates.

examples/copc_http.rs

@@ -1,15 +1,15 @@
 use copc_rs::{BoundsSelection, CopcReader, LodSelection};
 use http_range_client::HttpReader;
 
-fn main() -> laz::Result<()> {
+fn main() -> copc_rs::Result<()> {
     env_logger::init();
     let mut http_reader =
         HttpReader::new("https://s3.amazonaws.com/hobu-lidar/autzen-classified.copc.laz");
     // http_reader.set_min_req_size(1_048_576); // 1MB - 3 requests, 3'145'728 B
     // http_reader.set_min_req_size(524288); // 512KB - 4 requests, 2'097'152 B
     http_reader.set_min_req_size(262144); // 256KB - 5 requests, 1'310'720 B
 
-    let mut copc_reader = CopcReader::open(http_reader)?;
+    let mut copc_reader = CopcReader::new(http_reader)?;
 
     let mut max_z: f64 = 0.0;
     for point in copc_reader.points(LodSelection::Level(0), BoundsSelection::All)? {

examples/copc_to_xyz.rs

@@ -1,14 +1,13 @@
 use copc_rs::{BoundsSelection, CopcReader, LodSelection};
 use std::env;
 use std::fs::File;
-use std::io::{BufReader, BufWriter, Write};
+use std::io::{BufWriter, Write};
 use std::path::Path;
 
-fn main() -> laz::Result<()> {
+fn main() -> copc_rs::Result<()> {
     let lazfn = env::args().nth(1).expect("COPC file required");
 
-    let laz_file = BufReader::new(File::open(&lazfn)?);
-    let mut copc_reader = CopcReader::open(laz_file)?;
+    let mut copc_reader = CopcReader::from_path(&lazfn)?;
 
     let dest = Path::new(&lazfn).with_extension("xyz");
     println!("Writing {:?}", &dest);

examples/print_points.rs

@@ -1,13 +1,10 @@
 use copc_rs::{BoundsSelection, CopcReader, LodSelection};
 use std::env;
-use std::fs::File;
-use std::io::BufReader;
 
-fn main() -> laz::Result<()> {
+fn main() -> copc_rs::Result<()> {
     let lazfn = env::args().nth(1).expect("COPC file required");
 
-    let laz_file = BufReader::new(File::open(&lazfn)?);
-    let mut copc_reader = CopcReader::open(laz_file)?;
+    let mut copc_reader = CopcReader::from_path(&lazfn)?;
     for (i, point) in copc_reader
         .points(LodSelection::Level(0), BoundsSelection::All)?
         .enumerate()