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Merge pull request #303 from zivid/ZIVID-9208-implement-point-cloud-export-api
Implement experimental point cloud export API
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‎modules/_zivid/__init__.py

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Frame,
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FrameInfo,
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PointCloud,
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point_cloud_export,
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Settings,
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version,
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Settings2D,

‎modules/zivid/experimental/point_cloud_export/__init__.py

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"""Module for exporting point cloud data to various formats. This API may change in the future."""
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from zivid.experimental.point_cloud_export._export_frame import export_frame

‎modules/zivid/experimental/point_cloud_export/_export_frame.py

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from zivid.frame import Frame
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from zivid.experimental.point_cloud_export.file_format import ZDF, PLY, XYZ, PCD
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import _zivid
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def export_frame(frame, file_format):
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"""Save frame to a file.
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The file format is specified by the file_format argument. The file format can be ZDF, PLY, XYZ, or PCD.
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If the format is PCD, this function stores the ordered point cloud with a header that indicates an unordered point
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cloud. Since SDK 2.5, it is possible to export PCD with correct header by setting
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`Configuration/APIBreakingBugFixes/FileFormats/PCD/UseOrganizedFormat` in Config.yml file. See
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https://support.zivid.com/en/latest/reference-articles/point-cloud-structure-and-output-formats.html#organized-pcd-format.
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Args:
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frame: Frame to export.
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file_format: File format specification.
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Raises:
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TypeError: If frame is not a Frame.
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TypeError: If file_format is not a file format specification.
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"""
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if not isinstance(frame, Frame):
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raise TypeError(
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"Unsupported type for argument frame. Got {}, expected {}".format(
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type(frame), Frame
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)
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)
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if not any(
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[
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isinstance(file_format, ZDF),
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isinstance(file_format, PLY),
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isinstance(file_format, XYZ),
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isinstance(file_format, PCD),
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]
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):
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raise TypeError(
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"Unsupported type for argument file_format. Got {}, expected {}".format(
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type(file_format),
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" or ".join([t.__name__ for t in [ZDF, PLY, XYZ, PCD]]),
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)
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)
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format_impl_attr = f"_{type(file_format).__name__}__impl"
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_zivid.point_cloud_export.export_frame(
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frame._Frame__impl, # pylint: disable=protected-access
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getattr(file_format, format_impl_attr),
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)

‎modules/zivid/experimental/point_cloud_export/file_format.py

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"""Module defining file formats that point cloud data can be exported to."""
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import _zivid
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class ColorSpace: # pylint: disable=too-few-public-methods
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"""Color space for saving point cloud."""
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linear_rgb = "linear_rgb"
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srgb = "srgb"
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@staticmethod
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def valid_values():
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"""Get valid values for color space.
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Returns:
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List of valid color spaces.
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"""
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return [ColorSpace.linear_rgb, ColorSpace.srgb]
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@classmethod
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def _to_internal(cls, value):
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if value == ColorSpace.linear_rgb:
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return _zivid.point_cloud_export.ColorSpace.linear_rgb
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if value == ColorSpace.srgb:
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return _zivid.point_cloud_export.ColorSpace.srgb
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raise ValueError(
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"Invalid color space '{}'. Valid color spaces are: {}".format(
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value, cls.valid_values()
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)
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)
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class ZDF: # pylint: disable=too-few-public-methods
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"""Specification for saving frame in ZDF (*.zdf) format."""
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def __init__(self, file_name):
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"""Create a ZDF file format specification with file name.
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Args:
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file_name: File name.
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Raises:
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TypeError: If file_name is not a string.
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"""
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if not isinstance(file_name, str):
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raise TypeError(
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"Unsupported type for argument file_name. Got {}, expected {}".format(
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type(file_name), str
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)
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)
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self.__impl = _zivid.point_cloud_export.file_format.ZDF(file_name)
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def __str__(self):
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return str(self.__impl)
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class PLY: # pylint: disable=too-few-public-methods
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"""Specification for saving frame in PLY (*.ply) format.
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PLY is a file format developed at Stanford. To learn more about the PLY file format,
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see https://paulbourke.net/dataformats/ply/.
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"""
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class Layout:
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"""Layout for saving point cloud."""
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ordered = "ordered"
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unordered = "unordered"
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@staticmethod
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def valid_values():
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"""Get valid values for layout.
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Returns:
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List of valid layouts.
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"""
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return [PLY.Layout.ordered, PLY.Layout.unordered]
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@classmethod
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def _to_internal(cls, value):
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if value == PLY.Layout.ordered:
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return _zivid.point_cloud_export.file_format.PLY.Layout.ordered
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if value == PLY.Layout.unordered:
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return _zivid.point_cloud_export.file_format.PLY.Layout.unordered
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raise ValueError(
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"Invalid layout '{}'. Valid layouts are: {}".format(
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value, cls.valid_values()
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)
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)
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def __init__(self, file_name, layout=Layout.ordered, color_space=ColorSpace.srgb):
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"""Create a PLY file format specification with file name.
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Args:
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file_name: File name.
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layout: Layout of point cloud. Default is ordered.
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color_space: Color space of point cloud. Default is sRGB.
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Raises:
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TypeError: If file_name, layout, or color_space are not strings.
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"""
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if not isinstance(file_name, str):
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raise TypeError(
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"Unsupported type for argument file_name. Got {}, expected {}".format(
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type(file_name), str
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)
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)
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if not isinstance(layout, str):
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raise TypeError(
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"Unsupported type for argument layout. Got {}, expected {}".format(
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type(layout), str
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)
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)
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if not isinstance(color_space, str):
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raise TypeError(
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"Unsupported type for argument color_space. Got {}, expected {}".format(
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type(color_space), str
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)
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)
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self.__impl = _zivid.point_cloud_export.file_format.PLY(
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file_name,
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PLY.Layout._to_internal(layout),
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ColorSpace._to_internal(color_space),
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)
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def __str__(self):
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return str(self.__impl)
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class XYZ: # pylint: disable=too-few-public-methods
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"""Specification for saving frame in ASCII (*.xyz) format.
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ASCII characters are used to store cartesian coordinates of XYZ points and RGB color values.
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"""
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def __init__(self, file_name, color_space=ColorSpace.srgb):
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"""Create a XYZ file format specification with file name.
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Sets color space to linear RGB.
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Args:
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file_name: File name.
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color_space: Color space of point cloud. Default is sRGB.
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Raises:
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TypeError: If file_name or color_space are not strings.
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"""
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if not isinstance(file_name, str):
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raise TypeError(
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"Unsupported type for argument file_name. Got {}, expected {}".format(
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type(file_name), str
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)
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)
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if not isinstance(color_space, str):
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raise TypeError(
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"Unsupported type for argument color_space. Got {}, expected {}".format(
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type(color_space), str
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)
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)
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self.__impl = _zivid.point_cloud_export.file_format.XYZ(
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file_name, ColorSpace._to_internal(color_space)
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)
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def __str__(self):
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return str(self.__impl)
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class PCD: # pylint: disable=too-few-public-methods
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"""Specification for saving frame in PCD (*.pcd) format.
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PCD is a file format native to the Point Cloud Library (PCL). To learn more about
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the PCD file format, see
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https://pcl.readthedocs.io/projects/tutorials/en/latest/pcd_file_format.html#pcd-file-format.
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"""
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def __init__(self, file_name, color_space=ColorSpace.srgb):
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"""Create a PCD file format specification with file name.
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Args:
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file_name: File name.
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color_space: Color space of point cloud. Default is sRGB.
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Raises:
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TypeError: If file_name or color_space are not strings.
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"""
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if not isinstance(file_name, str):
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raise TypeError(
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"Unsupported type for argument file_name. Got {}, expected {}".format(
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type(file_name), str
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)
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)
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if not isinstance(color_space, str):
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raise TypeError(
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"Unsupported type for argument color_space. Got {}, expected {}".format(
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type(color_space), str
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)
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)
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self.__impl = _zivid.point_cloud_export.file_format.PCD(
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file_name,
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ColorSpace._to_internal(color_space),
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)
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def __str__(self):
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return str(self.__impl)

‎setup.py

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@@ -135,7 +135,13 @@ def _main():
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author="Zivid AS",
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author_email="[email protected]",
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license="BSD 3-Clause",
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packages=["zivid", "zivid._calibration", "zivid.experimental", "_zivid"],
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packages=[
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"zivid",
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"zivid._calibration",
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"zivid.experimental",
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"zivid.experimental.point_cloud_export",
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"_zivid",
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],
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package_dir={"": "modules"},
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install_requires=["numpy"],
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cmake_args=[

‎src/CMakeLists.txt

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InfieldCorrection/InfieldCorrection.cpp
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NodeType.cpp
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PixelMapping.cpp
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PointCloudExport.cpp
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Projection.cpp
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Presets.cpp
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ReleasableArray2D.cpp

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