pyntcloud_io.py

#
#CREDIT TO https://github.com/daavoo/pyntcloud/blob/master/pyntcloud/io/ply.py
#
#User daavoo
#

#       HAKUNA MATATA

import sys
import numpy as np
import pandas as pd
from collections import defaultdict

sys_byteorder = ('>', '<')[sys.byteorder == 'little']

ply_dtypes = dict([
    (b'int8', 'i1'),
    (b'char', 'i1'),
    (b'uint8', 'u1'),
    (b'uchar', 'b1'),
    (b'uchar', 'u1'),
    (b'int16', 'i2'),
    (b'short', 'i2'),
    (b'uint16', 'u2'),
    (b'ushort', 'u2'),
    (b'int32', 'i4'),
    (b'int', 'i4'),
    (b'uint32', 'u4'),
    (b'uint', 'u4'),
    (b'float32', 'f4'),
    (b'float', 'f4'),
    (b'float64', 'f8'),
    (b'double', 'f8')
])

valid_formats = {'ascii': '', 'binary_big_endian': '>',
                 'binary_little_endian': '<'}


def read_ply(filename, allow_bool=False):
    """ Read a .ply (binary or ascii) file and store the elements in pandas DataFrame.

    Parameters
    ----------
    filename: str
        Path to the filename
    allow_bool: bool
        flag to allow bool as a valid PLY dtype. False by default to mirror original PLY specification.

    Returns
    -------
    data: dict
        Elements as pandas DataFrames; comments and ob_info as list of string
    """
    if allow_bool:
        ply_dtypes[b'bool'] = '?'

    with open(filename, 'rb') as ply:

        if b'ply' not in ply.readline():
            raise ValueError('The file does not start with the word ply')
        # get binary_little/big or ascii
        fmt = ply.readline().split()[1].decode()
        # get extension for building the numpy dtypes
        ext = valid_formats[fmt]

        line = []
        dtypes = defaultdict(list)
        count = 2
        points_size = None
        mesh_size = None
        has_texture = False
        comments = []
        while b'end_header' not in line and line != b'':
            line = ply.readline()

            if b'element' in line:
                line = line.split()
                name = line[1].decode()
                size = int(line[2])
                if name == "vertex":
                    points_size = size
                elif name == "face":
                    mesh_size = size

            elif b'property' in line:
                line = line.split()
                # element mesh
                if b'list' in line:

                    if b"vertex_indices" in line[-1] or b"vertex_index" in line[-1]:
                        mesh_names = ["n_points", "v1", "v2", "v3"]
                    else:
                        has_texture = True
                        mesh_names = ["n_coords"] + ["v1_u", "v1_v", "v2_u", "v2_v", "v3_u", "v3_v"]

                    if fmt == "ascii":
                        # the first number has different dtype than the list
                        dtypes[name].append(
                            (mesh_names[0], ply_dtypes[line[2]]))
                        # rest of the numbers have the same dtype
                        dt = ply_dtypes[line[3]]
                    else:
                        # the first number has different dtype than the list
                        dtypes[name].append(
                            (mesh_names[0], ext + ply_dtypes[line[2]]))
                        # rest of the numbers have the same dtype
                        dt = ext + ply_dtypes[line[3]]

                    for j in range(1, len(mesh_names)):
                        dtypes[name].append((mesh_names[j], dt))
                else:
                    if fmt == "ascii":
                        dtypes[name].append(
                            (line[2].decode(), ply_dtypes[line[1]]))
                    else:
                        dtypes[name].append(
                            (line[2].decode(), ext + ply_dtypes[line[1]]))

            elif b'comment' in line:
                line = line.split(b" ", 1)
                comment = line[1].decode().rstrip()
                comments.append(comment)

            count += 1

        # for bin
        end_header = ply.tell()

    data = {}

    if comments:
        data["comments"] = comments

    if fmt == 'ascii':
        top = count
        bottom = 0 if mesh_size is None else mesh_size

        names = [x[0] for x in dtypes["vertex"]]

        data["points"] = pd.read_csv(filename, sep=" ", header=None, engine="python",
                                     skiprows=top, skipfooter=bottom, usecols=names, names=names)

        for n, col in enumerate(data["points"].columns):
            data["points"][col] = data["points"][col].astype(
                dtypes["vertex"][n][1])

        if mesh_size :
            top = count + points_size

            names = np.array([x[0] for x in dtypes["face"]])
            usecols = [1, 2, 3, 5, 6, 7, 8, 9, 10] if has_texture else [1, 2, 3]
            names = names[usecols]

            data["mesh"] = pd.read_csv(
                filename, sep=" ", header=None, engine="python", skiprows=top, usecols=usecols, names=names)

            for n, col in enumerate(data["mesh"].columns):
                data["mesh"][col] = data["mesh"][col].astype(
                    dtypes["face"][n + 1][1])

    else:
        with open(filename, 'rb') as ply:
            ply.seek(end_header)
            points_np = np.fromfile(ply, dtype=dtypes["vertex"], count=points_size)
            if ext != sys_byteorder:
                points_np = points_np.byteswap().newbyteorder()
            data["points"] = pd.DataFrame(points_np)
            if mesh_size:
                mesh_np = np.fromfile(ply, dtype=dtypes["face"], count=mesh_size)
                if ext != sys_byteorder:
                    mesh_np = mesh_np.byteswap().newbyteorder()
                data["mesh"] = pd.DataFrame(mesh_np)
                data["mesh"].drop('n_points', axis=1, inplace=True)

    return data


def write_ply(filename, points=None, mesh=None, as_text=False, comments=None):
    """Write a PLY file populated with the given fields.

    Parameters
    ----------
    filename: str
        The created file will be named with this
    points: ndarray
    mesh: ndarray
    as_text: boolean
        Set the write mode of the file. Default: binary
    comments: list of string

    Returns
    -------
    boolean
        True if no problems

    """
    if not filename.endswith('ply'):
        filename += '.ply'

    # open in text mode to write the header
    with open(filename, 'w') as ply:
        header = ['ply']

        if as_text:
            header.append('format ascii 1.0')
        else:
            header.append('format binary_' + sys.byteorder + '_endian 1.0')

        if comments:
            for comment in comments:
                header.append('comment ' + comment)

        if points is not None:
            header.extend(describe_element('vertex', points))
        if mesh is not None:
            mesh = mesh.copy()
            mesh.insert(loc=0, column="n_points", value=3)
            mesh["n_points"] = mesh["n_points"].astype("u1")
            header.extend(describe_element('face', mesh))

        header.append('end_header')

        for line in header:
            ply.write("%s\n" % line)

    if as_text:
        if points is not None:
            points.to_csv(filename, sep=" ", index=False, header=False, mode='a',
                          encoding='ascii')
        if mesh is not None:
            mesh.to_csv(filename, sep=" ", index=False, header=False, mode='a',
                        encoding='ascii')

    else:
        with open(filename, 'ab') as ply:
            if points is not None:
                points.to_records(index=False).tofile(ply)
            if mesh is not None:
                mesh.to_records(index=False).tofile(ply)

    return True


def describe_element(name, df):
    """ Takes the columns of the dataframe and builds a ply-like description

    Parameters
    ----------
    name: str
    df: pandas DataFrame

    Returns
    -------
    element: list[str]
    """
    property_formats = {'f': 'float', 'u': 'uchar', 'i': 'int', 'b': 'bool'}
    element = ['element ' + name + ' ' + str(len(df))]

    if name == 'face':
        element.append("property list uchar int vertex_indices")

    else:
        for i in range(len(df.columns)):
            # get first letter of dtype to infer format
            f = property_formats[str(df.dtypes[i])[0]]
            element.append('property ' + f + ' ' + df.columns.values[i])

    return element





def write_ply_float(filename, points=None, mesh=None, as_text=False, comments=None):
    """Write a PLY file populated with the given fields.

    Parameters
    ----------
    filename: str
        The created file will be named with this
    points: ndarray
    mesh: ndarray
    as_text: boolean
        Set the write mode of the file. Default: binary
    comments: list of string

    Returns
    -------
    boolean
        True if no problems

    """
    if not filename.endswith('ply'):
        filename += '.ply'

    # open in text mode to write the header
    with open(filename, 'w') as ply:
        header = ['ply']

        #header.append('format ascii 1.0')
        header.append('format binary_' + sys.byteorder + '_endian 1.0')

        if comments:
            for comment in comments:
                header.append('comment ' + comment)

        if points is not None:
            header.extend(describe_element('vertex', points))
        if mesh is not None:
            mesh = mesh.copy()
            mesh.insert(loc=0, column="n_points", value=3)
            mesh["n_points"] = mesh["n_points"].astype("u1")
            header.extend(describe_element('face', mesh))

        header.append('end_header')

        for line in header:
            ply.write("%s\n" % line)

        with open(filename, 'ab') as ply:
            if points is not None:
                pointsNumPy = points.to_numpy()
                pointsNumPy.tofile(filename,format='<f4')
                #points.tofile(ply,format='<f4')
                
    return True