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61 lines
2.5 KiB
61 lines
2.5 KiB
3 years ago
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% Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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% All rights reserved.
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%
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% Redistribution and use in source and binary forms, with or without
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% modification, are permitted provided that the following conditions are met:
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%
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% * Redistributions of source code must retain the above copyright
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% notice, this list of conditions and the following disclaimer.
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%
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% * Redistributions in binary form must reproduce the above copyright
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% notice, this list of conditions and the following disclaimer in the
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% documentation and/or other materials provided with the distribution.
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%
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% * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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% its contributors may be used to endorse or promote products derived
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% from this software without specific prior written permission.
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%
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% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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% POSSIBILITY OF SUCH DAMAGE.
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%
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% Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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function write_ply(path, xyz, normals, rgb)
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% Write point cloud to PLY text file.
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file = fopen(path, 'W');
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fprintf(file,'ply\n');
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fprintf(file,'format ascii 1.0\n');
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fprintf(file,'element vertex %d\n',size(xyz,1));
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fprintf(file,'property float x\n');
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fprintf(file,'property float y\n');
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fprintf(file,'property float z\n');
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fprintf(file,'property float nx\n');
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fprintf(file,'property float ny\n');
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fprintf(file,'property float nz\n');
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fprintf(file,'property uchar diffuse_red\n');
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fprintf(file,'property uchar diffuse_green\n');
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fprintf(file,'property uchar diffuse_blue\n');
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fprintf(file,'end_header\n');
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for i = 1:size(xyz, 1)
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fprintf(file, '%f %f %f %f %f %f %d %d %d\n', ...
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xyz(i,1), xyz(i,2), xyz(i,3), ...
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normals(i,1), normals(i,2), normals(i,3), ...
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uint8(rgb(i,1)), uint8(rgb(i,2)), uint8(rgb(i,3)));
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end
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fclose(file);
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end
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