【三维重建学习之路01】点云ply文件的读写、修改

1.前言

关于使用python读写ply的比较清楚的教程很少，自己也是新手，摸索中。

2.PLY文件格式

3.读文件

变量、库

import plyfile
import numpy as np

filename = "fuse.ply"
write_filename = "revised_fused.ply"

查看头文件、vertex信息

    with open("revised_fused.ply","rb") as f:
        plydata = PlyData.read(f)
        print(plydata)#头文件
        print(plydata.elements[0].data[0])#第一行点
        print(plydata.['vertex'])#头文件
        print(plydata['vertex'].data[0])#第一行点

数据类型

    with open(write_filename,"rb") as f:
        print("type:",type(plydata.elements[0].data))

output:

type: <class 'numpy.ndarray'>

读文件函数

def read_ply(filename):
    plydata = PlyData.read(filename)
    pc = plydata['vertex'].data
    #pc_array = np.array(pc)
    pc_array = np.array([[x, y, z, nx, ny, nz, r, g, b] for x, y, z, nx, ny, nz, r, g, b in pc])
    #此处矩阵的所有参数都必须被拉出来，参数数量查看头文件
    return pc_array

按行阅读检查

    with open(filename,"r") as f:
        print("check4",f.readlines()[13])

4.写文件

def create_output(vertices, normals, colors, filename):
    normals = normals.reshape(-1,3)
    colors = colors.reshape(-1, 3) #-1代表行数自动计算
    vertices = vertices.reshape(-1,3)

    vertices = np.hstack([vertices, normals])
    vertices = np.hstack([vertices, colors])

    np.savetxt(filename, vertices, fmt='%f %f %f %f %f %f %d %d %d')     # 必须先写入，然后利用write()在头部插入ply header

    ply_header = '''ply
    		format ascii 1.0
    		element vertex %(vert_num)d
    		property float x
    		property float y
    		property float z
    		property float nx
            property float ny
            property float nz
    		property uchar red
    		property uchar green
    		property uchar blue
    		end_header
    		'''
    with open(filename, 'r+') as f:
        old = f.read()
        f.seek(0)
        f.write(ply_header % dict(vert_num=len(vertices)))
        f.write(old)

自己将点的xyz，法向量，颜色信息组织成n行3列的数组后输入函数可用

参考：

https://blog.csdn.net/phy12321/article/details/107373073/