Update utils/pointcloud_utils.py

utils/pointcloud_utils.py

@@ -1,25 +1,27 @@
-import open3d as o3d
-import numpy as np
-import cv2
-import os
-
-def depth_to_pointcloud(depth_maps, frame_paths, out_dir):
-    points = []
-
-    for depth, frame_path in zip(depth_maps, frame_paths):
-        img = cv2.imread(frame_path)
-        h, w = depth.shape
-
-        for y in range(0, h, 10):
-            for x in range(0, w, 10):
-                z = depth[y, x]
-                points.append([x, y, z])
-
-    points = np.array(points)
-    pcd = o3d.geometry.PointCloud()
-    pcd.points = o3d.utility.Vector3dVector(points)
-
-    out_path = os.path.join(out_dir, "model.ply")
-    o3d.io.write_point_cloud(out_path, pcd)
-
-    return out_path
+import numpy as np
+import os
+
+def depth_to_pointcloud(depth_maps, frame_paths, out_dir):
+    points = []
+
+    for depth in depth_maps:
+        h, w = depth.shape
+        for y in range(0, h, 12):
+            for x in range(0, w, 12):
+                points.append([x, y, depth[y, x]])
+
+    points = np.array(points, dtype=np.float32)
+
+    out_path = os.path.join(out_dir, "model.ply")
+    write_ply(points, out_path)
+    return out_path
+
+
+def write_ply(points, path):
+    with open(path, "w") as f:
+        f.write("ply\nformat ascii 1.0\n")
+        f.write(f"element vertex {len(points)}\n")
+        f.write("property float x\nproperty float y\nproperty float z\n")
+        f.write("end_header\n")
+        for p in points:
+            f.write(f"{p[0]} {p[1]} {p[2]}\n")