Module reader 

Types for reading PCD data.

Reader lets you load points sequentially with Iterator interface. The points are stored in types implementing PcdDeserialize trait. See record moduel doc to implement your own point type.

use pcd_rs::{PcdDeserialize, Reader};
use std::path::Path;

#[derive(PcdDeserialize)]
pub struct Point {
    x: f32,
    y: f32,
    z: f32,
    rgb: f32,
}

fn main() -> pcd_rs::Result<()> {
    let reader = Reader::open("test_files/ascii.pcd")?;
    let points: Result<Vec<Point>> = reader.collect();
    assert_eq!(points?.len(), 213);
    Ok(())
}

Structs

Reader

The Reader<T, R> struct loads points into type T from reader R.

Type Aliases

DynReader

The DynReader struct loads points with schema determined in runtime.