pchandler.data_io.e57

E57 file-format handler class.

Classes

E57Handler

Handles E57 file input and output.
class pchandler.data_io.e57.E57Handler

Bases: AbstractIOHandler

Handles E57 file input and output.

Currently limited to reading and writing single scans with and only RGB and intensity scalar field types. All other scalar fields are ignored (due to library limitations).

Supported file extensions:

  • .e57

Notes

save supports both a single PointCloudData and an iterable of them. Arbitrary scalar fields outside pye57.e57.SUPPORTED_POINT_FIELDS are skipped with a logger.warning by default. Pass strict=True to raise ValueError instead. The SUPPORTED_SCALAR_FIELDS_MAP limitation remains in place for all write operations.

FORMATS: list[str] = ['.e57']
SUPPORTED_FIELDS = {'x': 'cartesianX', 'y': 'cartesianY', 'z': 'cartesianZ'}
SUPPORTED_SCALAR_FIELDS_MAP = {'b': 'colorBlue', 'g': 'colorGreen', 'intensity': 'intensity', 'r': 'colorRed'}
classmethod load(path, /, retain_rgb=True, retain_intensity=True, pcd_index=None, read_transform=True, ignore_missing_fields=True, **pcd_kw)

Load one or more point cloud from an E57 file.

Parameters:

  • path (str or Path)

  • retain_rgb (bool, default=True) – Flag if RGB values should be loaded (if exists)

  • retain_intensity (bool, default=True) – Flag if intensity values should be loaded (if exists)

  • pcd_index (int or None, default=None) – Index of the specific point cloud to load. If None, loads all scans, by default None.

  • read_transform (bool, default=True) – Indicates if the transformation information should be read, by default True.

  • ignore_missing_fields (bool, default=True) – If true, no errors are raised if fields are missing from the point cloud.

  • kwargs (dict)

Returns:

Returns a single point cloud or a generator of point clouds depending on the value of pcd_index.

Return type:

PointCloudData or Generator[PointCloudData, None, None]

Raises:

ValueError – If pcd_index is provided and is out of the range [0, num_scans).

Notes

This is a class method intended for loading E57 point cloud data based on the provided parameters.

classmethod save(pcd, path, /, *, embed_shift_in_transform=True, strict=False, **config)

Save one or more point clouds to an E57 file.

Parameters:

  • pcd (PointCloudData or Iterable[PointCloudData]) – Single point cloud or an iterable of point clouds. Each element is written as a separate scan inside the same E57 file.

  • path (str or Path) – Output file path. Always opened with mode="w" (truncate or create).

  • embed_shift_in_transform (bool, default=True) –

    When True (default) and the point cloud carries a numerical-optimisation shift, the shifted XYZ coordinates are written as cartesianX/Y/Z and the shift vector is stored in the per-scan E57 translation pose. On reload with read_transform=True, OptimizedShift is reconstructed automatically.

    When False, the world-frame coordinates (pcd.xyz + shift) are written with an identity pose — useful for consumers that do not honour E57 scan transforms.

  • strict (bool, default=False) – When True, any scalar field whose name is not in pye57.e57.SUPPORTED_POINT_FIELDS raises ValueError listing all unsupported names. When False (default), unsupported fields are skipped with a logger.warning.

  • **config (dict) – Additional keyword arguments (reserved for future use).

Return type:

None