epoint_io/e57/
read.rs

1use crate::Error;
2use crate::Error::{InvalidFileExtension, NoFileExtension};
3use crate::e57::FILE_EXTENSION_E57_FORMAT;
4use crate::e57::read_impl::import_point_cloud_from_e57_file;
5use chrono::Utc;
6use ecoord::{ChannelId, FrameId};
7use epoint_core::PointCloud;
8use std::fmt::Debug;
9use std::fs::File;
10use std::io::{Read, Seek};
11use std::path::Path;
12
13/// `E57Reader` imports a point cloud from a E57 file.
14///
15#[derive(Debug, Clone)]
16pub struct E57Reader<R: Read + Seek> {
17    reader: R,
18    acquisition_start_timestamps: Option<Vec<chrono::DateTime<Utc>>>,
19    channel_id: ChannelId,
20    world_frame_id: FrameId,
21    scanner_frame_id: FrameId,
22}
23
24impl<R: Read + Seek> E57Reader<R> {
25    pub fn new(reader: R) -> Self {
26        Self {
27            reader,
28            acquisition_start_timestamps: None,
29            channel_id: "default".into(),
30            world_frame_id: "world".into(),
31            scanner_frame_id: "scanner".into(),
32        }
33    }
34
35    pub fn with_acquisition_start_timestamps(
36        mut self,
37        acquisition_start_timestamps: Vec<chrono::DateTime<Utc>>,
38    ) -> Self {
39        self.acquisition_start_timestamps = Some(acquisition_start_timestamps);
40        self
41    }
42
43    pub fn finish(self) -> Result<PointCloud, Error> {
44        let point_cloud = import_point_cloud_from_e57_file(
45            self.reader,
46            self.acquisition_start_timestamps,
47            self.channel_id,
48            self.world_frame_id,
49            self.scanner_frame_id,
50        )?;
51
52        Ok(point_cloud)
53    }
54}
55
56impl E57Reader<File> {
57    pub fn from_path(path: impl AsRef<Path>) -> Result<Self, Error> {
58        let extension = path.as_ref().extension().ok_or(NoFileExtension())?;
59        if extension != FILE_EXTENSION_E57_FORMAT {
60            return Err(InvalidFileExtension(
61                extension.to_str().unwrap_or_default().to_string(),
62            ));
63        }
64
65        let file = File::open(path)?;
66        Ok(Self::new(file))
67    }
68}
epoint_io/e57/read.rs

epoint_io/e57/
read.rs
