Spaces:
Paused
Paused
File size: 1,553 Bytes
4db294e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | """PLY export for colored point clouds."""
from __future__ import annotations
import numpy as np
def save_ply(path: str, points: np.ndarray, colors: np.ndarray | None = None):
"""Write a colored point cloud to a binary PLY file.
Args:
path: output ``.ply`` path.
points: (N, 3) float coordinates.
colors: optional (N, 3) uint8 RGB (or float in [0,1]).
"""
points = np.asarray(points, dtype=np.float32)
finite = np.isfinite(points).all(axis=1)
points = points[finite]
n = points.shape[0]
if colors is not None:
colors = np.asarray(colors)[finite]
if colors.dtype != np.uint8:
colors = np.clip(colors * (255 if colors.max() <= 1.0 else 1), 0, 255).astype(np.uint8)
else:
colors = np.full((n, 3), 200, np.uint8)
header = (
"ply\n"
"format binary_little_endian 1.0\n"
f"element vertex {n}\n"
"property float x\nproperty float y\nproperty float z\n"
"property uchar red\nproperty uchar green\nproperty uchar blue\n"
"end_header\n"
)
dtype = np.dtype([("x", "<f4"), ("y", "<f4"), ("z", "<f4"),
("red", "u1"), ("green", "u1"), ("blue", "u1")])
verts = np.empty(n, dtype=dtype)
verts["x"], verts["y"], verts["z"] = points[:, 0], points[:, 1], points[:, 2]
verts["red"], verts["green"], verts["blue"] = colors[:, 0], colors[:, 1], colors[:, 2]
with open(path, "wb") as f:
f.write(header.encode("ascii"))
f.write(verts.tobytes())
return path
|