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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='')
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