def save(cloud, path, format=None, binary=False, las_header=None):
"""Save a pointcloud to file.
Supports LAS and CSV files, and lets PCD and PLY
files be saved by python-pcl.
Arguments:
cloud : pcl.PointCloud or pcl.PointCloudXYZRGB
Pointcloud to save.
path : string
Filename.
format : string
File format: "PLY", "PCD", "LAS", "CSV",
or None to detect the format from the file extension.
binary : boolean
Whether PLY and PCD files are saved in binary format.
las_header: liblas.header.Header
LAS header to use. When none, a default header is created by
make_las_header(). Default: None
"""
if format == 'las' or format is None and path.endswith('.las'):
_save_las(path, cloud, header=las_header)
elif format == 'csv' or format is None and path.endswith('.csv'):
_save_csv(path, cloud)
else:
_check_writable(path)
if is_registered(cloud) and cloud.offset != np.zeros(3):
cloud_array = np.asarray(cloud)
cloud_array += cloud.offset
pcl.save(cloud, path, format=format, binary=binary)
def save(cloud, path, format=None, binary=False, las_header=None):
"""Save a pointcloud to file.
Supports LAS and CSV files, and lets PCD and PLY
files be saved by python-pcl.
Arguments:
cloud : pcl.PointCloud or pcl.PointCloudXYZRGB
Pointcloud to save.
path : string
Filename.
format : string
File format: "PLY", "PCD", "LAS", "CSV",
or None to detect the format from the file extension.
binary : boolean
Whether PLY and PCD files are saved in binary format.
las_header: liblas.header.Header
LAS header to use. When none, a default header is created by
make_las_header(). Default: None
"""
if format == 'las' or format is None and path.endswith('.las'):
_save_las(path, cloud, header=las_header)
elif format == 'csv' or format is None and path.endswith('.csv'):
_save_csv(path, cloud)
else:
_check_writable(path)
if is_registered(cloud) and cloud.offset != np.zeros(3):
cloud_array = np.asarray(cloud)
cloud_array += cloud.offset
pcl.save(cloud, path, format=format, binary=binary)
def test_force_srs():
"""Test the force_srs() function"""
rdnew = osr.SpatialReference()
rdnew.SetFromUserInput( "EPSG:28992" )
latlon = osr.SpatialReference()
latlon.SetFromUserInput( "EPSG:4326" )
# using offset and srs (text)
pcA = pcl.PointCloud( [[1,2,3]] )
force_srs( pcA, offset=[0,0,0], srs="EPSG:28992" )
assert_true( is_registered( pcA ) )
assert_array_almost_equal( pcA.offset, np.zeros(3, dtype=np.float64), 15,
"Offset not zero to 15 decimals" )
assert_true( pcA.srs.IsSame( rdnew ) )
# using same_as
pcB = pcl.PointCloud( [[1,2,3]] )
force_srs( pcB, same_as=pcA )
assert_true( is_registered( pcB ) )
assert_array_almost_equal( pcB.offset, np.zeros(3, dtype=np.float64), 15,
"Offset not zero to 15 decimals" )
assert_true( pcB.srs.IsSame( rdnew ) )
# using no offset and osr.SpatialReference()
pcC = pcl.PointCloud( [[1,2,3]] )
force_srs( pcC, srs=rdnew )
assert_true( pcC.srs.IsSame( rdnew ) )
assert_false( hasattr( pcC, "offset" ) )
# testing if no actual transform occurs on the points
force_srs(pcC, srs=latlon )
assert_false( pcC.srs.IsSame( pcA.srs ) )
assert_array_almost_equal( np.asarray(pcA), np.asarray(pcC), 8,
"force_srs() should not alter points" )
def test_force_srs():
"""Test the force_srs() function"""
rdnew = osr.SpatialReference()
rdnew.SetFromUserInput("EPSG:28992")
latlon = osr.SpatialReference()
latlon.SetFromUserInput("EPSG:4326")
# using offset and srs (text)
pcA = pcl.PointCloud([[1, 2, 3]])
force_srs(pcA, offset=[0, 0, 0], srs="EPSG:28992")
assert_true(is_registered(pcA))
assert_array_almost_equal(pcA.offset, np.zeros(3, dtype=np.float64), 15,
"Offset not zero to 15 decimals")
assert_true(pcA.srs.IsSame(rdnew))
# using same_as
pcB = pcl.PointCloud([[1, 2, 3]])
force_srs(pcB, same_as=pcA)
assert_true(is_registered(pcB))
assert_array_almost_equal(pcB.offset, np.zeros(3, dtype=np.float64), 15,
"Offset not zero to 15 decimals")
assert_true(pcB.srs.IsSame(rdnew))
# using no offset and osr.SpatialReference()
pcC = pcl.PointCloud([[1, 2, 3]])
force_srs(pcC, srs=rdnew)
assert_true(pcC.srs.IsSame(rdnew))
assert_false(hasattr(pcC, "offset"))
# testing if no actual transform occurs on the points
force_srs(pcC, srs=latlon)
assert_false(pcC.srs.IsSame(pcA.srs))
assert_array_almost_equal(np.asarray(pcA), np.asarray(pcC), 8,
"force_srs() should not alter points")
def make_las_header(pointcloud):
"""Make a LAS header for given pointcloud.
If the pointcloud is registered, this is taken into account for the
header metadata.
LAS rounds the coordinates on writing; this is controlled via the
'precision' attribute of the input pointcloud. By default this is
0.01 in units of the projection.
Arguments:
pointcloud : pcl.PointCloud
Input pointcloud.
Returns:
header : liblas.header.Header
Header for writing the pointcloud to a LAS file.
"""
schema = liblas.schema.Schema()
schema.time = False
schema.color = True
# FIXME: this format version assumes color is present
head = liblas.header.Header()
head.schema = schema
head.dataformat_id = 3
head.major_version = 1
head.minor_version = 2
if is_registered(pointcloud):
try:
lsrs = liblas.srs.SRS()
lsrs.set_wkt(pointcloud.srs.ExportToWkt())
head.set_srs(lsrs)
except liblas.core.LASException:
pass
if hasattr(pointcloud, 'offset'):
head.offset = pointcloud.offset
else:
head.offset = np.zeros(3)
# FIXME: need extra precision to reduce floating point errors. We don't
# know exactly why this works. It might reduce precision on the top of
# the float, but reduces an error of one bit for the last digit.
if not hasattr(pointcloud, 'precision'):
precision = np.array([0.01, 0.01, 0.01], dtype=np.float64)
else:
precision = np.array(pointcloud.precision, dtype=np.float64)
head.scale = precision * 0.5
pc_array = np.asarray(pointcloud)
head.min = pc_array.min(axis=0) + head.offset
head.max = pc_array.max(axis=0) + head.offset
return head
def make_las_header(pointcloud):
"""Make a LAS header for given pointcloud.
If the pointcloud is registered, this is taken into account for the
header metadata.
LAS rounds the coordinates on writing; this is controlled via the
'precision' attribute of the input pointcloud. By default this is
0.01 in units of the projection.
Arguments:
pointcloud : pcl.PointCloud
Input pointcloud.
Returns:
header : liblas.header.Header
Header for writing the pointcloud to a LAS file.
"""
schema = liblas.schema.Schema()
schema.time = False
schema.color = True
# FIXME: this format version assumes color is present
head = liblas.header.Header()
head.schema = schema
head.dataformat_id = 3
head.major_version = 1
head.minor_version = 2
if is_registered(pointcloud):
try:
lsrs = liblas.srs.SRS()
lsrs.set_wkt(pointcloud.srs.ExportToWkt())
head.set_srs(lsrs)
except liblas.core.LASException:
pass
if hasattr(pointcloud, 'offset'):
head.offset = pointcloud.offset
else:
head.offset = np.zeros(3)
# FIXME: need extra precision to reduce floating point errors. We don't
# know exactly why this works. It might reduce precision on the top of
# the float, but reduces an error of one bit for the last digit.
if not hasattr(pointcloud, 'precision'):
precision = np.array([0.01, 0.01, 0.01], dtype=np.float64)
else:
precision = np.array(pointcloud.precision, dtype=np.float64)
head.scale = precision * 0.5
pc_array = np.asarray(pointcloud)
head.min = pc_array.min(axis=0) + head.offset
head.max = pc_array.max(axis=0) + head.offset
return head
def extract_mask(pointcloud, mask):
"""Extract all points in a mask into a new pointcloud.
Arguments:
pointcloud : pcl.PointCloud
Input pointcloud.
mask : numpy.ndarray of bool
mask for which points from the pointcloud to include.
Returns:
pointcloud with the same registration (if any) as the original one."""
pointcloud_new = pointcloud.extract(np.where(mask)[0])
if is_registered(pointcloud):
force_srs(pointcloud_new, same_as=pointcloud)
return pointcloud_new
def extract_mask(pointcloud, mask):
"""Extract all points in a mask into a new pointcloud.
Arguments:
pointcloud : pcl.PointCloud
Input pointcloud.
mask : numpy.ndarray of bool
mask for which points from the pointcloud to include.
Returns:
pointcloud with the same registration (if any) as the original one."""
pointcloud_new = pointcloud.extract(np.where(mask)[0])
if is_registered(pointcloud):
force_srs(pointcloud_new, same_as=pointcloud)
return pointcloud_new
def clone(pc):
"""
Return a copy of a pointcloud, including registration metadata
Arguments:
pc: pcl.PointCloud()
Returns:
cp: pcl.PointCloud()
"""
cp = pcl.PointCloud(np.asarray(pc))
if is_registered(pc):
force_srs(cp, same_as=pc)
return cp
def clone(pc):
"""
Return a copy of a pointcloud, including registration metadata
Arguments:
pc: pcl.PointCloud()
Returns:
cp: pcl.PointCloud()
"""
cp = pcl.PointCloud(np.asarray(pc))
if is_registered(pc):
force_srs(cp, same_as=pc)
return cp
