Crate pcd_rs

PCD point cloud file parser for Rust.

pcd-rs allows you to parse PCD point cloud data from a file, a path, or a binary buffer. The reader implements Iterator to let you iterate over points with ease.

use failure::Fallible;
use pcd_rs::SeqReaderOptions;
use std::path::Path;

fn main() -> Fallible<()> {
    let path = Path::new("test_files/ascii.pcd");
    let reader = SeqReaderOptions::from_path(path)?;

    // Get meta data
    let meta = reader.meta();

    // Scan all points
    let points = reader.collect::<Fallible<Vec<_>>>()?;

    Ok(())
}

Modules

error

Structs

FieldDef	Define the properties of a PCD field.
PCDMeta	The struct keep meta data of PCD file.
SeqReader	Sequential point loader for PCD files.
SeqReaderOptions	Used to configure LCD file readers.

Enums

DataKind	The enum indicates whether the point cloud data is encoded in ASCII or binary.
Value	The enum holds the exact value of each PCD field.
ValueKind	The enum specifies the exact type for each PCD field.