point_e/util/ply_util.py

import io
import struct
from contextlib import contextmanager
from typing import BinaryIO, Iterator, Optional

import numpy as np


def write_ply(
    raw_f: BinaryIO,
    coords: np.ndarray,
    rgb: Optional[np.ndarray] = None,
    faces: Optional[np.ndarray] = None,
):
    """
    Write a PLY file for a mesh or a point cloud.

    :param coords: an [N x 3] array of floating point coordinates.
    :param rgb: an [N x 3] array of vertex colors, in the range [0.0, 1.0].
    :param faces: an [N x 3] array of triangles encoded as integer indices.
    """
    with buffered_writer(raw_f) as f:
        f.write(b"ply\n")
        f.write(b"format binary_little_endian 1.0\n")
        f.write(bytes(f"element vertex {len(coords)}\n", "ascii"))
        f.write(b"property float x\n")
        f.write(b"property float y\n")
        f.write(b"property float z\n")
        if rgb is not None:
            f.write(b"property uchar red\n")
            f.write(b"property uchar green\n")
            f.write(b"property uchar blue\n")
        if faces is not None:
            f.write(bytes(f"element face {len(faces)}\n", "ascii"))
            f.write(b"property list uchar int vertex_index\n")
        f.write(b"end_header\n")

        if rgb is not None:
            rgb = (rgb * 255.499).round().astype(int)
            vertices = [
                (*coord, *rgb)
                for coord, rgb in zip(
                    coords.tolist(),
                    rgb.tolist(),
                )
            ]
            format = struct.Struct("<3f3B")
            for item in vertices:
                f.write(format.pack(*item))
        else:
            format = struct.Struct("<3f")
            for vertex in coords.tolist():
                f.write(format.pack(*vertex))

        if faces is not None:
            format = struct.Struct("<B3I")
            for tri in faces.tolist():
                f.write(format.pack(len(tri), *tri))


@contextmanager
def buffered_writer(raw_f: BinaryIO) -> Iterator[io.BufferedIOBase]:
    if isinstance(raw_f, io.BufferedIOBase):
        yield raw_f
    else:
        f = io.BufferedWriter(raw_f)
        yield f
        f.flush()