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| import os | |
| import numpy as np | |
| from plyfile import PlyData, PlyElement | |
| def save_point_cloud(pcd, rgb, filename, binary=True): | |
| """Save an RGB point cloud as a PLY file. | |
| :paras | |
| @pcd: Nx3 matrix, the XYZ coordinates | |
| @rgb: NX3 matrix, the rgb colors for each 3D point | |
| """ | |
| assert pcd.shape[0] == rgb.shape[0] | |
| if rgb is None: | |
| gray_concat = np.tile(np.array([128], dtype=np.uint8), (pcd.shape[0], 3)) | |
| points_3d = np.hstack((pcd, gray_concat)) | |
| else: | |
| points_3d = np.hstack((pcd, rgb)) | |
| python_types = (float, float, float, int, int, int) | |
| npy_types = [('x', 'f4'), ('y', 'f4'), ('z', 'f4'), ('red', 'u1'), ('green', 'u1'), | |
| ('blue', 'u1')] | |
| if binary is True: | |
| # Format into NumPy structured array | |
| vertices = [] | |
| for row_idx in range(points_3d.shape[0]): | |
| cur_point = points_3d[row_idx] | |
| vertices.append(tuple(dtype(point) for dtype, point in zip(python_types, cur_point))) | |
| vertices_array = np.array(vertices, dtype=npy_types) | |
| el = PlyElement.describe(vertices_array, 'vertex') | |
| # Write | |
| PlyData([el]).write(filename) | |
| else: | |
| x = np.squeeze(points_3d[:, 0]) | |
| y = np.squeeze(points_3d[:, 1]) | |
| z = np.squeeze(points_3d[:, 2]) | |
| r = np.squeeze(points_3d[:, 3]) | |
| g = np.squeeze(points_3d[:, 4]) | |
| b = np.squeeze(points_3d[:, 5]) | |
| ply_head = 'ply\n' \ | |
| 'format ascii 1.0\n' \ | |
| 'element vertex %d\n' \ | |
| 'property float x\n' \ | |
| 'property float y\n' \ | |
| 'property float z\n' \ | |
| 'property uchar red\n' \ | |
| 'property uchar green\n' \ | |
| 'property uchar blue\n' \ | |
| 'end_header' % r.shape[0] | |
| # ---- Save ply data to disk | |
| np.savetxt(filename, np.column_stack((x, y, z, r, g, b)), fmt="%d %d %d %d %d %d", header=ply_head, comments='') | |