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84 lines
2.5 KiB
84 lines
2.5 KiB
# MIT LICENSE
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# https://github.com/bponsler/kinectToPly/blob/master/kinectToPly.py
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import numpy as np
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class Ply(object):
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'''The Ply class provides the ability to write a point cloud represented
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by two arrays: an array of points (num points, 3), and an array of colors
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(num points, 3) to a PLY file.
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'''
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def __init__(self, points, colors):
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'''
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* points -- The matrix of points (num points, 3)
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* colors -- The matrix of colors (num points, 3)
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'''
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self.__points = points
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self.__colors = colors
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def write(self, filename):
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'''Write the point cloud data to a PLY file of the given name.
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* filename -- The PLY file
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'''
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# Write the headers
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lines = self.__getLinesForHeader()
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fd = open(filename, "w")
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for line in lines:
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fd.write("%s\n" % line)
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# Write the points
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self.__writePoints(fd, self.__points, self.__colors)
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fd.close()
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def __getLinesForHeader(self):
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'''Get the list of lines for the PLY header.'''
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lines = [
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"ply",
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"format ascii 1.0",
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"comment generated by: kinectToPly",
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"element vertex %s" % len(self.__points),
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"property float x",
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"property float y",
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"property float z",
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"property uchar red",
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"property uchar green",
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"property uchar blue",
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"end_header",
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]
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return lines
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def __writePoints(self, fd, points, colors):
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'''Write the point cloud points to a file.
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* fd -- The file descriptor
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* points -- The matrix of points (num points, 3)
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* colors -- The matrix of colors (num points, 3)
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'''
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# Stack the two arrays together
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stacked = np.column_stack((points, colors))
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# Write the array to the file
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np.savetxt(
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fd,
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stacked,
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delimiter='\n',
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fmt="%f %f %f %d %d %d")
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def write_xyz_rgb_as_ply(point_cloud, rgb_image, path):
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"""Write a point cloud with associated rgb image to a ply file
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# Arguments
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point_cloud: xyz point cloud in format [height, width, channels]
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rgb_image: uint8 image in format [height, width, channels]
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path: Where to save the file, ex: '/path/to/folder/file.ply'
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"""
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xyz = point_cloud.reshape([point_cloud.size/3, 3])
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rgb = np.squeeze(rgb_image).reshape([point_cloud.size/3, 3])
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ply = Ply(xyz, rgb)
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ply.write(path)
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