rlpc-lidar 0.1.0

Lossless compressed file-format utilities for roadside LiDAR point-cloud CSV data.

RLPC LiDAR

RLPC/RLPCZ is a lossless compressed file-format utility for frame-wise roadside LiDAR point-cloud CSV data.

It is designed for LiDAR CSV files with columns such as:

X, Y, Z, Intensity, Laser_ID, Azimuth, Timestamp, Azimuth_Category, Frame_Number, Distance

Unlike common .bin formats that usually keep only X, Y, Z, Intensity, RLPCZ preserves all LiDAR columns needed for downstream perception, trajectory analysis, and static-scene processing.

Installation

pip install rlpc-lidar

Or install from source:

git clone https://github.com/rohit2809/rlpc-lidar.git cd rlpc-lidar pip install -e .

Python API

from rlpc import save_csv_to_rlpcz, load_xyzi, load_columns, read_metadata

save_csv_to_rlpcz(input_csv='000001.csv', output_file='000001.rlpcz', mode='fast')

xyzi = load_xyzi('000001.rlpcz', dtype='float32')

cols = load_columns('000001.rlpcz', columns=['X', 'Y', 'Z', 'Laser_ID', 'Azimuth_Category', 'Distance'], dtype='float64')

meta = read_metadata('000001.rlpcz') print(meta['num_points'])

Lossless definition

RLPCZ is numerically lossless with respect to the CSV values and preserves rows, columns, and column order.

It does not aim to preserve byte-for-byte CSV text formatting such as trailing zeros.