Crate rigidity_io 

Point-cloud input and output.

The heavy format dependencies are isolated here; the core knows nothing about files.

PLY is parsed by our own reader — ply-rs has not been updated since 2020, and the format is simple enough that a six-year-old dependency costs more than the code does. LAS is read through the las crate, which handles non-trivial headers, coordinate scaling and LAZ compression.

Re-exports

pub use csv::read_csv;

pub use csv::read_poses;

pub use e57_format::read_e57;

pub use e57_format::write_e57;

pub use las_format::read_las;

pub use las_format::write_las;

pub use pcd::read_pcd;

pub use pcd::write_pcd;

pub use ply::read_ply;

pub use ply::write_ply;

Modules

csv

Reading point clouds from CSV with a header row.

e57_format

Reading and writing E57, the surveying interchange format.

las_format

Reading LAS and LAZ through the las crate.

pcd

Reading and writing PCD, the Point Cloud Library’s own format.

ply

Reading and writing PLY.

Enums

IoError

Read and write errors.

Constants

READABLE

Every extension read understands, for a file dialog to offer.

WRITABLE

Every extension write understands.

Functions

read

Reads a cloud, choosing the format by the file’s extension.

write

Writes a cloud, choosing the format by the file’s extension.