Crate 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.

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.

read_csv

Reads a cloud from CSV.

read_e57

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

read_las

Reads a cloud from LAS/LAZ.

read_pcd

Reads a cloud from PCD.

read_ply

Reads a cloud from a PLY file.

read_poses

Reads a pose_scanner_leica.csv pose file.

write

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

write_e57

Writes a cloud as a single-scan E57 file.

write_las

Writes a cloud as LAS, or as LAZ when the path says so.

write_pcd

Writes a cloud as binary PCD.

write_ply

Writes a cloud to PLY (binary_little_endian).