pcd-rs: Read point cloud data from PCD file format

pcd-rs allows you to parse PCD point cloud data from a file or a binary buffer

Usage

Add pcd-rs to your Cargo.toml.

toml pcd_rs = "*"

Checkout docs.rs to see detailed usage.

Examples

Load PCD file into structs

```rust use failure::Fallible; use pcdrs::{prelude::*, seqreader::SeqReaderBuilder, PCDRecordRead};

[derive(PCDRecordRead)]

pub struct Point { pub x: f32, pub y: f32, pub z: f32, pub rgb: f32, }

fn main() -> Fallible<()> { let reader = SeqReaderBuilder::::open("testfiles/ascii.pcd")?; let points = reader.collect::>>()?; asserteq!(points.len(), 213); Ok(()) } ```

Load PCD file into untyped records

```rust use failure::Fallible; use pcdrs::{ prelude::*, record::{Field, UntypedRecord}, seqreader::SeqReaderBuilder, };

fn main() -> Fallible<()> { let reader = SeqReaderBuilder::::open("test_files/ascii.pcd")?; let points = reader.collect::>>()?;

for point in points.iter() {
    for field in point.0.iter() {
        match field {
            Field::I8(values) => {
                println!("i8 values: {:?}", values);
            }
            Field::U8(values) => {
                println!("u8 values: {:?}", values);
            }
            Field::F32(values) => {
                println!("f32 values: {:?}", values);
            }
            _ => {
                println!("other kinds of values");
            }
        }
    }
}

Ok(())

} ```

Write struct to PCD file

```rust use failure::Fallible; use pcdrs::{meta::DataKind, prelude::*, seqwriter::SeqWriterBuilder, PCDRecordWrite};

[derive(PCDRecordWrite)]

pub struct Point { x: f32, y: f32, z: f32, }

fn main() -> Fallible<()> { let viewpoint = Default::default(); let kind = DataKind::ASCII; let mut writer = SeqWriterBuilder::::new(300, 1, viewpoint, kind)? .create("test_files/dump.pcd")?;

let point = Point {
    x: 3.14159,
    y: 2.71828,
    z: -5.0,
};

writer.push(&point)?;

Ok(())

} ```

Write untyped record to PCD file

```rust use failure::Fallible; use pcdrs::{ meta::{DataKind, ValueKind}, prelude::*, record::{Field, UntypedRecord}, seqwriter::SeqWriterBuilder, };

fn main() -> Fallible<()> { let viewpoint = Default::default(); let kind = DataKind::ASCII; let schema = vec![ ("x", ValueKind::F32, 1), ("y", ValueKind::F32, 1), ("z", ValueKind::F32, 1), ]; let mut writer = SeqWriterBuilder::::new(300, 1, viewpoint, kind, schema)? .create("test_files/dump.pcd")?;

let point = UntypedRecord(vec![
    Field::F32(vec![3.14159]),
    Field::F32(vec![2.71828]),
    Field::F32(vec![-5.0]),
]);

writer.push(&point)?;

Ok(())

} ```

License

MIT