commit
b97c6055a1
@ -0,0 +1,7 @@
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[package]
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name = "roctree"
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version = "0.1.0"
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edition = "2021"
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[dependencies]
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anyhow = "*"
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@ -0,0 +1,2 @@
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pub mod stl;
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pub mod utilities;
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@ -0,0 +1 @@
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pub mod parser;
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@ -0,0 +1,295 @@
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use anyhow::Result;
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use anyhow::{anyhow, Context};
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use std::collections::HashMap;
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use std::fs::File;
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use std::io::{BufRead, BufReader, Read};
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use std::path::Path;
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/// Representation of an STL mesh
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/// Vertices are stored in vec with repeat vertices removed. Each vertex is represented as an
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/// [f32; 3]. Triangles are represented as a [usize; 3] where each entry is an index in the
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/// vertices Vec
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pub struct StlSolid {
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vertices: Vec<[f32; 3]>,
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triangles: Vec<[usize; 3]>,
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normals: Vec<[f32; 3]>,
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}
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pub fn parse_ascii_stl(file_path: &impl AsRef<Path>) -> Result<StlSolid> {
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let file = File::open(file_path.as_ref())
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.with_context(|| format!("Failed to open file \'{:?}\'!", file_path.as_ref()))?;
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let mut lines = BufReader::new(file).lines();
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// the first line starts with solid <name>
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match lines.next() {
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Some(Ok(line)) => {
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if !line.starts_with("solid ") {
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return Err(anyhow!("STL file does not start with \'solid\'!"));
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}
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}
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Some(Err(err)) => {
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return Err(anyhow!("Failed to read the first line!\nError: {}", err));
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}
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None => return Err(anyhow!("Failed to read from the file!")),
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}
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let mut lines = lines
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.map_while(Result::ok)
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.filter(|line| !line.trim().is_empty());
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// facet normal -0.01905 -0.770147 0.637582
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// outer loop
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// vertex 3.29426 -0.2921 0.067036
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// vertex 3.35026 -0.216682 0.159808
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// vertex 3.11981 -0.142593 0.242416
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// endloop
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// endfacet
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let mut unique_vertices: HashMap<String, usize> = HashMap::new();
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let mut normals: Vec<[f32; 3]> = Vec::new();
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let mut triangles: Vec<[usize; 3]> = Vec::new();
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// Main reading loop
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while let Some(line) = lines.next() {
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let line = line.trim();
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// Read the facet normal
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if line.starts_with("facet normal ") {
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let pts = line
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.split_whitespace()
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.skip(2)
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.map(|num| num.parse())
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.collect::<Result<Vec<f32>, _>>()
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.map_err(|err| anyhow!("Failed to parse normal coordinates! Err: {err:?}"))?;
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normals.push([
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*pts.first()
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.ok_or(anyhow!("facet normal should have 3 positions"))?,
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*pts.get(1)
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.ok_or(anyhow!("facet normal should have 3 positions"))?,
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*pts.get(2)
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.ok_or(anyhow!("facet normal should have 3 positions"))?,
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]);
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// outer loop
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lines.next();
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let mut indices = [0; 3];
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for index in indices.iter_mut() {
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if let Some(line) = lines.next() {
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if !unique_vertices.contains_key(&line) {
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unique_vertices.insert(line.clone(), unique_vertices.len());
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}
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*index = unique_vertices[&line];
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}
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}
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triangles.push(indices);
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// endloop
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lines.next();
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// endfacet
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lines.next();
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}
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}
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// Now convert the unique vertices to a vec
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let mut vertices = vec![[0.0; 3]; unique_vertices.len()];
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for (k, v) in unique_vertices.iter() {
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let pts = k
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.split_whitespace()
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.skip(1)
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.map(|num| num.parse())
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.collect::<Result<Vec<f32>, _>>()
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.map_err(|err| anyhow!("Failed to parse vertex coordinates! Err: {err:?}"))?;
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vertices[*v] = [
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*pts.first()
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.ok_or(anyhow!("vertex should have 3 positions"))?,
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*pts.get(1)
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.ok_or(anyhow!("vertex should have 3 positions"))?,
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*pts.get(2)
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.ok_or(anyhow!("vertex should have 3 positions"))?,
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];
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}
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Ok(StlSolid {
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vertices,
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triangles,
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normals,
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})
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}
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/// Parse a binary stl file
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/// The specification for a binary stl file can be found at:
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/// https://www.loc.gov/preservation/digital/formats/fdd/fdd000505.shtml
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pub fn parse_binary_stl(file_path: &impl AsRef<Path>) -> Result<StlSolid> {
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let mut file = File::open(file_path.as_ref())
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.with_context(|| format!("Failed to open file \'{:?}\'!", file_path.as_ref()))?;
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let mut header = [0u8; 80];
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file.read_exact(&mut header)
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.with_context(|| "Failed to read header from binary STL")?;
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let mut num_triangles_bytes = [0u8; 4];
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file.read_exact(&mut num_triangles_bytes)
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.with_context(|| "Failed to read number of triangles from binary STL")?;
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let num_triangles = u32::from_le_bytes(num_triangles_bytes);
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let mut unique_vertices: HashMap<String, usize> = HashMap::new();
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let mut normals: Vec<[f32; 3]> = Vec::new();
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let mut vertices: Vec<[f32; 3]> = Vec::new();
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let mut triangles: Vec<[usize; 3]> = Vec::new();
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// Main reading loop
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for _i in 0..num_triangles {
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let mut buffer = [0u8; 50];
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file.read_exact(&mut buffer)
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.with_context(|| "Failed to read triangle from binary stl")?;
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normals.push([
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f32::from_le_bytes([buffer[0], buffer[1], buffer[2], buffer[3]]),
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f32::from_le_bytes([buffer[4], buffer[5], buffer[6], buffer[7]]),
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f32::from_le_bytes([buffer[8], buffer[9], buffer[10], buffer[11]]),
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]);
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let mut indices = [0; 3];
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for (i, index) in indices.iter_mut().enumerate() {
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let offset = 12 + i * 12;
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let mut vertex = [0.0; 3];
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vertex[0] = f32::from_le_bytes([
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buffer[offset],
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buffer[offset + 1],
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buffer[offset + 2],
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buffer[offset + 3],
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]);
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vertex[1] = f32::from_le_bytes([
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buffer[offset + 4],
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buffer[offset + 5],
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buffer[offset + 6],
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buffer[offset + 7],
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]);
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vertex[2] = f32::from_le_bytes([
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buffer[offset + 8],
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buffer[offset + 9],
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buffer[offset + 10],
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buffer[offset + 11],
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]);
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let key = format!("{vertex:?}").to_string();
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if !unique_vertices.contains_key(&key) {
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vertices.push(vertex);
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unique_vertices.insert(key.clone(), unique_vertices.len());
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}
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//Safe to unwrap because we validate the key is present
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*index = *(unique_vertices.get(&key).unwrap());
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}
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triangles.push(indices);
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}
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Ok(StlSolid {
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vertices,
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triangles,
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normals,
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})
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}
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#[cfg(test)]
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pub mod test {
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use super::*;
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use crate::assert_vec_tol;
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struct VerticesNormalsTriangles(Vec<[f32; 3]>, Vec<[f32; 3]>, Vec<[usize; 3]>);
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fn get_real_cube() -> VerticesNormalsTriangles {
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let unique_vertices = vec![
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[13.0, -22.0, 20.0],
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[13.0, -22.0, 0.0],
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[13.0, -2.0, 0.0],
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[13.0, -2.0, 20.0],
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[-7.0, -2.0, 20.0],
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[-7.0, -2.0, 0.0],
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[-7.0, -22.0, 0.0],
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[-7.0, -22.0, 20.0],
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];
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let normals = vec![
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[1.0, -0.0, 0.0],
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[1.0, -0.0, 0.0],
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[-1.0, -0.0, -0.0],
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[-1.0, -0.0, 0.0],
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[0.0, 0.0, 1.0],
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[-0.0, 0.0, 1.0],
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[0.0, 0.0, -1.0],
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[0.0, 0.0, -1.0],
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[0.0, 1.0, 0.0],
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[0.0, 1.0, -0.0],
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[0.0, -1.0, 0.0],
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[0.0, -1.0, 0.0],
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];
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let triangles = vec![
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[0, 1, 2],
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[0, 2, 3],
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[4, 5, 6],
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[4, 6, 7],
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[3, 4, 7],
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[3, 7, 0],
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[1, 6, 5],
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[1, 5, 2],
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[3, 2, 5],
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[3, 5, 4],
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[7, 6, 1],
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[7, 1, 0],
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];
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VerticesNormalsTriangles(unique_vertices, normals, triangles)
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}
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#[test]
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pub fn test_parse_ascii_stl() {
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let stl_solid = parse_ascii_stl(&"test_files/ascii_cube.stl").unwrap();
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||||
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||||
let VerticesNormalsTriangles(unique_vertices, normals, triangles) = get_real_cube();
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||||
// First check vertices
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||||
if stl_solid.vertices.len() != unique_vertices.len() {
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panic!("Parsed incorrect number of vertices")
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}
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for (read, real) in stl_solid.vertices.iter().zip(unique_vertices.iter()) {
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||||
assert_vec_tol!(read, real, 1e-7);
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}
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||||
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||||
// Now check the normals
|
||||
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||||
for (read, real) in stl_solid.normals.iter().zip(normals.iter()) {
|
||||
assert_vec_tol!(read, real, 1e-7);
|
||||
}
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||||
|
||||
// Now check the triangle indices
|
||||
|
||||
for (read, real) in stl_solid.triangles.iter().zip(triangles.iter()) {
|
||||
for (idx1, idx2) in read.iter().zip(real.iter()) {
|
||||
assert_eq!(idx1, idx2);
|
||||
}
|
||||
}
|
||||
}
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||||
|
||||
#[test]
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||||
pub fn test_parse_binary_stl() {
|
||||
let stl_solid = parse_binary_stl(&"test_files/binary_cube.stl").unwrap();
|
||||
|
||||
let VerticesNormalsTriangles(unique_vertices, normals, triangles) = get_real_cube();
|
||||
// First check vertices
|
||||
if stl_solid.vertices.len() != unique_vertices.len() {
|
||||
panic!("Parsed incorrect number of vertices")
|
||||
}
|
||||
for (read, real) in stl_solid.vertices.iter().zip(unique_vertices.iter()) {
|
||||
assert_vec_tol!(read, real, 1e-7);
|
||||
}
|
||||
|
||||
// Now check the normals
|
||||
for (read, real) in stl_solid.normals.iter().zip(normals.iter()) {
|
||||
assert_vec_tol!(read, real, 1e-7);
|
||||
}
|
||||
|
||||
// Now check the triangle indices
|
||||
for (read, real) in stl_solid.triangles.iter().zip(triangles.iter()) {
|
||||
for (idx1, idx2) in read.iter().zip(real.iter()) {
|
||||
assert_eq!(idx1, idx2);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,2 @@
|
||||
#[cfg(test)]
|
||||
pub mod test_macros;
|
||||
@ -0,0 +1,21 @@
|
||||
#[macro_export]
|
||||
macro_rules! assert_vec_tol {
|
||||
($a:expr, $b:expr, $tolerance:expr) => {{
|
||||
let a = $a;
|
||||
let b = $b;
|
||||
let tolerance = $tolerance;
|
||||
|
||||
if a.len() != b.len() {
|
||||
panic!("Vectors have different lengths: {} != {}", a.len(), b.len());
|
||||
}
|
||||
|
||||
for (i, (&val_a, &val_b)) in a.iter().zip(b.iter()).enumerate() {
|
||||
if (val_a - val_b).abs() >= tolerance {
|
||||
panic!(
|
||||
"Values at index {} differ by more than the tolerance: {} != {} (tolerance = {})",
|
||||
i, val_a, val_b, tolerance
|
||||
);
|
||||
}
|
||||
}
|
||||
}};
|
||||
}
|
||||
@ -0,0 +1,86 @@
|
||||
solid STL generated by MeshLab
|
||||
facet normal 1.000000e+00 0.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.200000e+01 2.000000e+01
|
||||
vertex 1.300000e+01 -2.200000e+01 0.000000e+00
|
||||
vertex 1.300000e+01 -2.000000e+00 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 1.000000e+00 -0.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.200000e+01 2.000000e+01
|
||||
vertex 1.300000e+01 -2.000000e+00 0.000000e+00
|
||||
vertex 1.300000e+01 -2.000000e+00 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -1.000000e+00 0.000000e+00 -0.000000e+00
|
||||
outer loop
|
||||
vertex -7.000000e+00 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.000000e+00 0.000000e+00
|
||||
vertex -7.000000e+00 -2.200000e+01 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -1.000000e+00 -0.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -7.000000e+00 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.200000e+01 0.000000e+00
|
||||
vertex -7.000000e+00 -2.200000e+01 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 1.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.200000e+01 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 1.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.200000e+01 2.000000e+01
|
||||
vertex 1.300000e+01 -2.200000e+01 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 -1.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.200000e+01 0.000000e+00
|
||||
vertex -7.000000e+00 -2.200000e+01 0.000000e+00
|
||||
vertex -7.000000e+00 -2.000000e+00 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 -1.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.200000e+01 0.000000e+00
|
||||
vertex -7.000000e+00 -2.000000e+00 0.000000e+00
|
||||
vertex 1.300000e+01 -2.000000e+00 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.000000e+00 2.000000e+01
|
||||
vertex 1.300000e+01 -2.000000e+00 0.000000e+00
|
||||
vertex -7.000000e+00 -2.000000e+00 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 1.300000e+01 -2.000000e+00 2.000000e+01
|
||||
vertex -7.000000e+00 -2.000000e+00 0.000000e+00
|
||||
vertex -7.000000e+00 -2.000000e+00 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 -1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -7.000000e+00 -2.200000e+01 2.000000e+01
|
||||
vertex -7.000000e+00 -2.200000e+01 0.000000e+00
|
||||
vertex 1.300000e+01 -2.200000e+01 0.000000e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 -1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -7.000000e+00 -2.200000e+01 2.000000e+01
|
||||
vertex 1.300000e+01 -2.200000e+01 0.000000e+00
|
||||
vertex 1.300000e+01 -2.200000e+01 2.000000e+01
|
||||
endloop
|
||||
endfacet
|
||||
endsolid vcg
|
||||
Binary file not shown.
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Reference in new issue