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;

pub use text::read_text;

pub use text::write_text;

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.

text

Delimited text: .txt and .csv.

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.