Module e57_format 

Reading and writing E57, the surveying interchange format.

Through the e57 crate, which does both directions — which is why this module could be written and tested at all. rigidity’s own plan deferred E57 “for want of test data”, and a format that can be written supplies its own: a cloud goes out and comes back, and the round trip is the test.

An E57 file holds several clouds, each with its own pose — a survey is a set of scans, not one cloud. Reading concatenates them, applying each scan’s transform, because everything upstream of here works on one cloud at a time. Stage three of the viewer’s plan is where the scans stay apart.

Functions

read_e57

Reads a cloud from E57, concatenating every scan it holds.

write_e57

Writes a cloud as a single-scan E57 file.