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https://github.com/davidcaron/pye57

Read and write e57 point clouds from Python
https://github.com/davidcaron/pye57

e57 point-cloud python

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Read and write e57 point clouds from Python

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README 

        
# pye57



[![PyPI](https://img.shields.io/pypi/v/pye57.svg)](https://pypi.org/project/pye57)

[![PyPI - Python Version](https://img.shields.io/pypi/pyversions/pye57.svg)](https://pypi.org/project/pye57)

![GitHub](https://img.shields.io/github/actions/workflow/status/davidcaron/pye57/build.yml?branch=master)



Python wrapper of [LibE57Format](https://github.com/asmaloney/libE57Format) to read and write .e57 point cloud files



## Example usage



```python

import numpy as np

import pye57



e57 = pye57.E57("e57_file.e57")



# read scan at index 0

data = e57.read_scan(0)



# 'data' is a dictionary with the point types as keys

assert isinstance(data["cartesianX"], np.ndarray)

assert isinstance(data["cartesianY"], np.ndarray)

assert isinstance(data["cartesianZ"], np.ndarray)



# other attributes can be read using:

data = e57.read_scan(0, intensity=True, colors=True, row_column=True)

assert isinstance(data["cartesianX"], np.ndarray)

assert isinstance(data["cartesianY"], np.ndarray)

assert isinstance(data["cartesianZ"], np.ndarray)

assert isinstance(data["intensity"], np.ndarray)

assert isinstance(data["colorRed"], np.ndarray)

assert isinstance(data["colorGreen"], np.ndarray)

assert isinstance(data["colorBlue"], np.ndarray)

assert isinstance(data["rowIndex"], np.ndarray)

assert isinstance(data["columnIndex"], np.ndarray)



# the 'read_scan' method filters points using the 'cartesianInvalidState' field

# if you want to get everything as raw, untransformed data, use:

data_raw = e57.read_scan_raw(0)



# writing is also possible, but only using raw data for now

e57_write = pye57.E57("e57_file_write.e57", mode='w')

e57_write.write_scan_raw(data_raw)

# you can specify a header to copy information from

e57_write.write_scan_raw(data_raw, scan_header=e57.get_header(0))



# the ScanHeader object wraps most of the scan information:

header = e57.get_header(0)

print(header.point_count)

print(header.rotation_matrix)

print(header.translation)



# all the header information can be printed using:

for line in header.pretty_print():

    print(line)



# the scan position can be accessed with:

position_scan_0 = e57.scan_position(0)



# the binding is very close to the E57Foundation API

# you can modify the nodes easily from python

imf = e57.image_file

root = imf.root()

data3d = root["data3D"]

scan_0 = data3d[0]

translation_x = scan_0["pose"]["translation"]["x"]

```



## Installation



On linux, Windows or Apple Silicon:



`python -m pip install pye57`



On macOS with Intel CPU you can try to build from source (advanced users):



## Building from source (for developers)



### Cloning the repository with required submodule



Clone a new repository along with the libe57Format submodule



`git clone https://github.com/davidcaron/pye57.git --recursive`



If the repository has already been previously cloned, but without the --recursive flag



```Bash

cd pye57 # go to the cloned repository

git submodule init # this will initialise the submodules in the repository

git submodule update # this will update the submodules in the repository

```



### Dependencies on Linux



Install libxerces-c-dev first.



`sudo apt install libxerces-c-dev`



### Dependencies on Windows



To get xerces-c, you can either build from source or if you're using conda:



`conda install -y xerces-c`



### Dependencies on MacOS



To get xerces-c, run:



`bash ./scripts/install_xerces_c.sh`



### Run `pip install` from the repo source



```Bash

cd pye57

python -m pip install .

```



### Uninstalling



Use pip again



```Bash

python -m pip uninstall pye57

```