Merge pull request #12 from dancergraham/feature/read_e57

Feature/read spherical coordinates

Author: dancergraham

pyproject.toml

@@ -23,6 +23,9 @@ classifiers = [
     "Topic :: File Formats",
 ]
 
+[project.urls]
+repository = "https://github.com/dancergraham/e57-python"
+
 
 [tool.maturin]
 features = ["pyo3/extension-module"]

src/lib.rs

@@ -1,10 +1,9 @@
 use std::fs::File;
 use std::io::BufReader;
-use std::ops::AddAssign;
 
 use ::e57::{E57Reader, Point};
-use ndarray::{array, Array2, Ix2};
-use numpy::{IntoPyArray, PyArray};
+use ndarray::Ix2;
+use numpy::{PyArray};
 use pyo3::prelude::*;
 
 /// Extracts the xml contents from an e57 file.
@@ -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())?;
@@ -34,28 +33,44 @@ 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();
     let pc = pc.first().expect("files contain pointclouds");
-    let mut arr = Array2::zeros((pc.records as usize, 3));
-
+    let ncols = 3;
+    let mut vec = Vec::with_capacity(pc.records as usize * ncols);
+    let mut nrows = 0;
     let iter = file
         .pointcloud(pc)
         .expect("this file contains a pointcloud");
-    for (i, p) in iter.enumerate() {
+    for p in iter {
         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");
         if let Some(c) = p.cartesian {
-            let coordinates = array![c.x, c.y, c.z];
-            let mut row = arr.row_mut(i);
-            row.add_assign(&coordinates);
+            if let Some(invalid) = p.cartesian_invalid {
+                if invalid != 0 {
+                    continue;
+                }
+            }
+            vec.extend([c.x, c.y, c.z]);
+            nrows += 1
+        } 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);
+            vec.extend([x, y, z]);
+            nrows += 1
         }
     }
-
-    Ok(arr.into_pyarray(py))
+    Ok(PyArray::from_vec(py, vec).reshape((nrows, ncols)).unwrap())
 }
 
 /// e57 pointcloud file reading.

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")