pcl_cloud_tools: wg_objects_to

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00001 import os, sys
00002 
00003 def fillPreamble (num_ver, num_faces):
00004     preamble = "ply\nformat ascii 1.0\nelement vertex " + str(num_ver) + "\n" + \
00005     "property float x\nproperty float y\nproperty float z\nelement face " + str(num_faces) + "\n" + \
00006     "property list uchar int vertex_indices\nend_header\n"
00007     return preamble
00008 
00009 def convertToPly(in_file, out_file):
00010     print "in_file:", in_file
00011     input = open(in_file)
00012     output = open(out_file, 'w')
00013     #write preamble
00014     
00015     vertex_line = ['', '', '']
00016     line_count = 0;
00017     vertices_string_tmp = ''
00018     for s in input.xreadlines():
00019         #find vertices
00020         vertex_x = s.find("x: ")
00021         if vertex_x >= 0:
00022 #            print s.split("x: ")[1]
00023             vertex_line[0] = s.split("x: ")[1].rstrip('\n')
00024         vertex_y = s.find("y: ")
00025         if vertex_y >= 0:
00026 #                print s.split("y: ")[1]
00027                 vertex_line[1] = s.split("y: ")[1].rstrip('\n')
00028         vertex_z = s.find("z: ")
00029         if vertex_z >= 0:
00030 #                print s.split("z: ")[1]
00031                 vertex_line[2] = s.split("z: ")[1].rstrip('\n')
00032         #write the line
00033         if vertex_line[0] != '' and vertex_line[1] != '' and vertex_line[2] != '':
00034 #            print "vertex_line: ", line_count, ' '.join(vertex_line)
00035             #output.write(' '.join(vertex_line) + '\n')
00036             #output.write('\n')
00037             vertices_string_tmp = vertices_string_tmp + ' '.join(vertex_line) + '\n'
00038             line_count = line_count + 1
00039             vertex_line = ['', '', '']            
00040 
00041         #find faces
00042         faces = s.find("triangles: [")
00043         if faces >= 0:
00044             faces_string = s.split("triangles: [")[1].rstrip("\n").rstrip("]")
00045             faces_list = faces_string.split(', ')
00046             #print vertices_list
00047 
00048     print "#vertices: ", line_count
00049     
00050 # 0 shall be replaced with vertices_list.__len__()/3 once I figure it out how faces are organized
00051     output.write(fillPreamble(line_count, 0))
00052     output.write(vertices_string_tmp)
00053             
00054     for (counter, v) in enumerate(faces_list):
00055         if counter%3 == 0:
00056             output.write('3 ' + faces_list[counter] + ' ' + faces_list[counter + 1] + ' ' + faces_list[counter + 2] + '\n')
00057     print "#faces: ", faces_list.__len__()/3
00058     input.close()
00059     output.close()
00060 
00061 if __name__ == "__main__":
00062     in_file = sys.argv[1]
00063     out_file = sys.argv[2]
00064     convertToPly (in_file, out_file)