uw_rgbd.py 文件源码

def load_ply(fn, version): 
            """ Retrieve aligned point cloud for each scene """ 

            if version == 'v1': 
                raise ValueError('''Version %s not supported. '''
                                 '''Check dataset and choose either v1 or v2 scene dataset''' % version)
                # P = np.loadtxt(os.path.expanduser(fn), usecols=(2,3,4,5,6,7,8), dtype=np.float64)
                # return map(lambda p: RigidTransform(Quaternion.from_wxyz(p[:4]), p[4:]), P)
            elif version == 'v2': 
                ply = PlyData.read(os.path.expanduser(fn))
                xyz = np.vstack([ply['vertex'].data['x'], 
                                 ply['vertex'].data['y'], 
                                 ply['vertex'].data['z']]).T
                rgb = np.vstack([ply['vertex'].data['diffuse_red'], 
                                 ply['vertex'].data['diffuse_green'], 
                                 ply['vertex'].data['diffuse_blue']]).T
                return xyz, rgb

            else: 
                raise ValueError('''Version %s not supported. '''
                                 '''Check dataset and choose either v1 or v2 scene dataset''' % version)