wip: try to read spherical coordinates

Author: dancergraham

src/lib.rs

@@ -1,6 +1,5 @@
 use std::fs::File;
 use std::io::BufReader;
-use std::ops::AddAssign;
 
 use ::e57::{E57Reader, Point};
 use ndarray::{array, Array2, Ix2};
@@ -18,7 +17,7 @@ fn raw_xml(filepath: &str) -> PyResult<String> {
         Err(e) => {
             return Err(PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(
                 e.to_string(),
-            ))
+            ));
         }
     };
     let xml_string = String::from_utf8(xml.unwrap())?;
@@ -34,7 +33,7 @@ fn read_points<'py>(py: Python<'py>, filepath: &str) -> PyResult<&'py PyArray<f6
         Err(e) => {
             return Err(PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(
                 e.to_string(),
-            ))
+            ));
         }
     };
     let pc = file.pointclouds();
@@ -48,10 +47,28 @@ fn read_points<'py>(py: Python<'py>, filepath: &str) -> PyResult<&'py PyArray<f6
         let p = p.expect("Unable to read next point");
         let p = Point::from_values(p, &pc.prototype)
             .expect("failed to convert raw point to simple point");
+        let mut row = arr.row_mut(i);
         if let Some(c) = p.cartesian {
+            if let Some(invalid) = p.cartesian_invalid {
+                            if invalid != 0 {
+                    continue;
+                }
+                        }
+
             let coordinates = array![c.x, c.y, c.z];
-            let mut row = arr.row_mut(i);
-            row.add_assign(&coordinates);
+            row.assign(&coordinates);
+        } else if let Some(s) = p.spherical {
+            if let Some(invalid) = p.spherical_invalid {
+                if invalid != 0 {
+                    continue;
+                }
+            }
+            let cos_ele = f64::cos(s.elevation);
+            let x = s.range * cos_ele * f64::cos(s.azimuth);
+            let y = s.range * cos_ele * f64::sin(s.azimuth);
+            let z = s.range * f64::sin(s.elevation);
+            let coordinates = array![x, y, z];
+            row.assign(&coordinates);
         }
     }
 

tests/test_e57.py

@@ -1,8 +1,7 @@
+import e57
 import numpy as np
 import pytest
 
-import e57
-
 
 def test_raw_xml():
     raw_xml = e57.raw_xml(r"testdata/bunnyFloat.e57")
@@ -15,6 +14,13 @@ def test_read_points():
     assert len(pointcloud) == 30_571
 
 
+def test_read_points_spherical():
+    pointcloud = e57.read_points(r"testdata/pipeSpherical.e57")
+    assert isinstance(pointcloud, np.ndarray)
+    assert len(pointcloud) == 1_220
+    assert pointcloud[0][0] == pytest.approx(-0.32225147)
+
+
 def test_box_dimensions():
     pointcloud: np.ndarray = e57.read_points(r"testdata/bunnyFloat.e57")
     max_coords = pointcloud.max(0, None, False, -np.inf)