Merge pull request #27 from dancergraham/fix-intensity-values

Test intensity values for files with and without RGB

CONTRIBUTING.md

@@ -1,18 +1,16 @@
-# How to contribute
+### How to contribute
 
 All contributions welcome 
-- Ideas, feature requests 💡
-- bug reports 🪲
+- [Ideas, feature requests](https://github.com/dancergraham/e57-python/issues) 💡
+- [bug reports](https://github.com/dancergraham/e57-python/issues) 🪲
 - documentation 📃
 - sample files 🌫️
 - tests 
 - rust code 🦀
 - python code 🐍
 - tell your friends, share the project online / via social media, ... 🗣️
 
-## Best practice 
-
-If you know how, you should fork the repo, create a new branch and then submit a pull request.
+Fork the repo, create a new branch and then submit a pull request.
 
 (If you are new to GitHub, you might start with a basic tutorial and check out a more detailed guide to pull requests.)
 

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "e57-python"
-version = "0.1.0-a8"
+version = "0.2.0-a1"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -9,7 +9,7 @@ name = "e57"
 crate-type = ["cdylib"]
 
 [dependencies]
-pyo3 = "0.20.3"
-e57 = { version = "0.10.5",features =["crc32c"]}
-numpy = "0.20.0"
+pyo3 = "0.21.2"
+e57 = { version = "0.11.7",features =["crc32c"]}
+numpy = "0.21.0"
 ndarray = "0.15.6"

src/lib.rs

@@ -52,15 +52,14 @@ unsafe fn read_points(py: Python<'_>, filepath: &str) -> PyResult<E57> {
     let mut color_vec = Vec::with_capacity(pc.records as usize * 3);
     let mut intensity_vec = Vec::with_capacity(pc.records as usize);
     let mut nrows = 0;
-    let intensity_min = pc.intensity_limits.map(|limits| limits.min).unwrap_or(0.0);
-    let intensity_max = pc.intensity_limits.map(|limits| limits.max).unwrap_or(1.0);
     for pointcloud in file.pointclouds() {
         let mut iter = file
             .pointcloud_simple(&pointcloud)
             .expect("this file should contain a pointcloud");
         iter.spherical_to_cartesian(true);
         iter.cartesian_to_spherical(false);
         iter.intensity_to_color(true);
+        iter.normalize_intensity(false);
         iter.apply_pose(true);
 
         for p in iter {
@@ -73,8 +72,7 @@ unsafe fn read_points(py: Python<'_>, filepath: &str) -> PyResult<E57> {
                 color_vec.extend([color.red, color.green, color.blue])
             }
             if let Some(intensity) = p.intensity {
-                let rescaled_intensity = (intensity * (intensity_max - intensity_min)) + intensity_min;
-                intensity_vec.push(rescaled_intensity)
+                intensity_vec.push(intensity);
             }
         }
     }