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<ol class="chapter"><li class="chapter-item expanded "><a href="overview.html" class="active"><strong aria-hidden="true">1.</strong> Overview</a></li><li class="chapter-item expanded "><a href="using_pasture.html"><strong aria-hidden="true">2.</strong> Using pasture</a></li><li class="chapter-item expanded "><a href="data_model.html"><strong aria-hidden="true">3.</strong> pasture data model</a></li><li class="chapter-item expanded "><a href="point_layout.html"><strong aria-hidden="true">4.</strong> Point layout in detail</a></li><li class="chapter-item expanded "><a href="point_buffers.html"><strong aria-hidden="true">5.</strong> Point buffers in detail</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="point_buffers/builtin_types.html"><strong aria-hidden="true">5.1.</strong> The built-in point buffer types</a></li><li class="chapter-item expanded "><a href="point_buffers/buffer_traits.html"><strong aria-hidden="true">5.2.</strong> The buffer traits</a></li><li class="chapter-item expanded "><div><strong aria-hidden="true">5.3.</strong> Implementing your own point buffer type</div></li><li class="chapter-item expanded "><a href="point_buffers/buffer_slices.html"><strong aria-hidden="true">5.4.</strong> Buffer slices</a></li></ol></li><li class="chapter-item expanded "><a href="examples.html"><strong aria-hidden="true">6.</strong> Examples</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="examples/basic_usage.html"><strong aria-hidden="true">6.1.</strong> Basic usage</a></li><li class="chapter-item expanded "><a href="examples/point_io.html"><strong aria-hidden="true">6.2.</strong> Reading and writing general point cloud files</a></li><li class="chapter-item expanded "><a href="examples/reading_las.html"><strong aria-hidden="true">6.3.</strong> Reading LAS files</a></li></ol></li></ol>
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<h1 id="pasture"><a class="header" href="#pasture"><code>pasture</code></a></h1>
<p><a href="https://crates.io/crates/pasture-core"><code>pasture</code></a> is a Rust library for working with LiDAR point cloud data. Its main purpose is to provide data structures for handling collections of points with a wide range of attributes, as well as the serialization to and deserialization from well-known point cloud formats, such as <a href="https://en.wikipedia.org/wiki/LAS_file_format">LAS</a> or <a href="https://github.com/CesiumGS/3d-tiles">3D Tiles</a>. The data structures that <code>pasture</code> provides are meant to be as efficient as possible in terms of memory usage and access speed, while maintaining a level of flexibility and safety that C/C++ libraries such as <a href="https://pdal.io/en/2.6.3/">PDAL</a> do not have. Memory and I/O are the main focus of <code>pasture</code>, so it works best as a building block for tools and applications that require efficient handling of LiDAR data. If you are looking for a library that provides processing and analysis capabilities, <code>pasture</code> is probably not what you are looking for (though <a href="https://crates.io/crates/pasture-algorithms"><code>pasture-algorithms</code></a> eventually aims at providing more processing capabilities).</p>
<h2 id="about-this-guide"><a class="header" href="#about-this-guide">About this guide</a></h2>
<p>In this guide you will learn how to use <code>pasture</code> in your own code and why <code>pasture</code> is designed the way it is. It requires some knowledge of the Rust programming language, but no prior knowledge of LiDAR point clouds. To get a feel for how <code>pasture</code> code looks, here is a first example showing how to read point data from a <code>LAS</code> file:</p>
<pre><pre class="playground"><code class="language-rust">use anyhow::{bail, Context, Result};
use pasture_core::{
containers::{BorrowedBuffer, VectorBuffer},
layout::attributes::POSITION_3D,
nalgebra::Vector3,
};
use pasture_io::base::{read_all};
fn main() -> Result<()> {
// Reading a point cloud file is as simple as calling `read_all`
let points = read_all::<VectorBuffer, _>("pointcloud.las").context("Failed to read points")?;
if points.point_layout().has_attribute(&POSITION_3D) {
for position in points
.view_attribute::<Vector3<f64>>(&POSITION_3D)
.into_iter()
.take(10)
{
println!("({};{};{})", position.x, position.y, position.z);
}
} else {
bail!("Point cloud file has no positions!");
}
Ok(())
}</code></pre></pre>
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