pye57

Python wrapper of LibE57Format to read and write .e57 point cloud files

Example usage

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

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

cd pye57
python -m pip install .

Uninstalling

Use pip again

python -m pip uninstall pye57