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# XXX do a more specific import!
from ._pcl import *
# vtkSmartPointer.h error (Linux)
# from .pcl_visualization import *
# from .pcl_grabber import *
import sys
def load(path, format=None):
"""Load pointcloud from path.
Currently supports PCD and PLY files.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
p = PointCloud()
try:
loader = getattr(p, "_from_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if loader(_encode(path)):
raise IOError("error while loading pointcloud from %r (format=%r)"
% (path, format))
return p
def load_XYZI(path, format=None):
"""Load pointcloud from path.
Currently supports PCD and PLY files.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
p = PointCloud_PointXYZI()
try:
loader = getattr(p, "_from_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if loader(_encode(path)):
raise IOError("error while loading pointcloud from %r (format=%r)"
% (path, format))
return p
def load_XYZRGB(path, format=None):
"""
Load pointcloud from path.
Currently supports PCD and PLY files.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
p = PointCloud_PointXYZRGB()
try:
loader = getattr(p, "_from_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if loader(_encode(path)):
raise IOError("error while loading pointcloud from %r (format=%r)"
% (path, format))
return p
def load_XYZRGBA(path, format=None):
"""
Load pointcloud from path.
Currently supports PCD and PLY files.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
p = PointCloud_PointXYZRGBA()
try:
loader = getattr(p, "_from_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if loader(_encode(path)):
raise IOError("error while loading pointcloud from %r (format=%r)"
% (path, format))
return p
def load_PointWithViewpoint(path, format=None):
"""
Load pointcloud from path.
Currently supports PCD and PLY files.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
p = PointCloud_PointWithViewpoint()
try:
loader = getattr(p, "_from_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if loader(_encode(path)):
raise IOError("error while loading pointcloud from %r (format=%r)"
% (path, format))
return p
def save(cloud, path, format=None, binary=False):
"""Save pointcloud to file.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
try:
dumper = getattr(cloud, "_to_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if dumper(_encode(path), binary):
raise IOError("error while saving pointcloud to %r (format=%r)"
% (path, format))
def save_XYZRGBA(cloud, path, format=None, binary=False):
"""Save pointcloud to file.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
try:
dumper = getattr(cloud, "_to_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if dumper(_encode(path), binary):
raise IOError("error while saving pointcloud to %r (format=%r)"
% (path, format))
def save_PointNormal(cloud, path, format=None, binary=False):
"""
Save pointcloud to file.
Format should be "pcd", "ply", or None to infer from the pathname.
"""
format = _infer_format(path, format)
try:
dumper = getattr(cloud, "_to_%s_file" % format)
except AttributeError:
raise ValueError("unknown file format %s" % format)
if dumper(_encode(path), binary):
raise IOError("error while saving pointcloud to %r (format=%r)"
% (path, format))
def _encode(path):
# Encode path for use in C++.
if isinstance(path, bytes):
return path
else:
return path.encode(sys.getfilesystemencoding())
def _infer_format(path, format):
if format is not None:
return format.lower()
for candidate in ["pcd", "ply"]:
if path.endswith("." + candidate):
return candidate
raise ValueError("Could not determine file format from pathname %s" % path)
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