# pye57
[](https://pypi.org/project/pye57)
[](https://pypi.org/project/pye57)
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
with pye57.E57("e57_file_write.e57", mode='w') as e57_write:
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
```
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"description": "\n# pye57\n\n[](https://pypi.org/project/pye57)\n[](https://pypi.org/project/pye57)\n\n\nPython wrapper of [LibE57Format](https://github.com/asmaloney/libE57Format) to read and write .e57 point cloud files\n\n## Example usage\n\n```python\nimport numpy as np\nimport pye57\n\ne57 = pye57.E57(\"e57_file.e57\")\n\n# read scan at index 0\ndata = e57.read_scan(0)\n\n# 'data' is a dictionary with the point types as keys\nassert isinstance(data[\"cartesianX\"], np.ndarray)\nassert isinstance(data[\"cartesianY\"], np.ndarray)\nassert isinstance(data[\"cartesianZ\"], np.ndarray)\n\n# other attributes can be read using:\ndata = e57.read_scan(0, intensity=True, colors=True, row_column=True)\nassert isinstance(data[\"cartesianX\"], np.ndarray)\nassert isinstance(data[\"cartesianY\"], np.ndarray)\nassert isinstance(data[\"cartesianZ\"], np.ndarray)\nassert isinstance(data[\"intensity\"], np.ndarray)\nassert isinstance(data[\"colorRed\"], np.ndarray)\nassert isinstance(data[\"colorGreen\"], np.ndarray)\nassert isinstance(data[\"colorBlue\"], np.ndarray)\nassert isinstance(data[\"rowIndex\"], np.ndarray)\nassert isinstance(data[\"columnIndex\"], np.ndarray)\n\n# the 'read_scan' method filters points using the 'cartesianInvalidState' field\n# if you want to get everything as raw, untransformed data, use:\ndata_raw = e57.read_scan_raw(0)\n\n# writing is also possible, but only using raw data for now\nwith pye57.E57(\"e57_file_write.e57\", mode='w') as e57_write:\n e57_write.write_scan_raw(data_raw)\n # you can specify a header to copy information from\n e57_write.write_scan_raw(data_raw, scan_header=e57.get_header(0))\n\n# the ScanHeader object wraps most of the scan information:\nheader = e57.get_header(0)\nprint(header.point_count)\nprint(header.rotation_matrix)\nprint(header.translation)\n\n# all the header information can be printed using:\nfor line in header.pretty_print():\n print(line)\n\n# the scan position can be accessed with:\nposition_scan_0 = e57.scan_position(0)\n\n# the binding is very close to the E57Foundation API\n# you can modify the nodes easily from python\nimf = e57.image_file\nroot = imf.root()\ndata3d = root[\"data3D\"]\nscan_0 = data3d[0]\ntranslation_x = scan_0[\"pose\"][\"translation\"][\"x\"]\n```\n\n## Installation\n\nOn linux, Windows or Apple Silicon:\n\n`python -m pip install pye57`\n\nOn macOS with Intel CPU you can try to build from source (advanced users):\n\n## Building from source (for developers)\n\n### Cloning the repository with required submodule\n\nClone a new repository along with the libe57Format submodule\n\n`git clone https://github.com/davidcaron/pye57.git --recursive`\n\nIf the repository has already been previously cloned, but without the --recursive flag\n\n```Bash\ncd pye57 # go to the cloned repository\ngit submodule init # this will initialise the submodules in the repository\ngit submodule update # this will update the submodules in the repository\n```\n\n### Dependencies on Linux\n\nInstall libxerces-c-dev first.\n\n`sudo apt install libxerces-c-dev`\n\n### Dependencies on Windows\n\nTo get xerces-c, you can either build from source or if you're using conda:\n\n`conda install -y xerces-c`\n\n### Dependencies on MacOS\n\nTo get xerces-c, run:\n\n`bash ./scripts/install_xerces_c.sh`\n\n### Run `pip install` from the repo source\n\n```Bash\ncd pye57\npython -m pip install .\n```\n\n### Uninstalling\n\nUse pip again\n\n```Bash\npython -m pip uninstall pye57\n```\n",
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