About the loading of point cloud

Software
1

hello，I use this: point_cloud.write(file_name) to save point cloud.And I get a file 0.ply,like this:ply
format ascii 1.0
element vertex 520712
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
end_header
-2.316577 1.411975 -2.083041 172 193 224
-2.306743 1.408357 -2.077704 171 192 223
-2.302844 1.408357 -2.077704 170 191 222
-1.434491 0.932553 -1.375765 152 167 190
-1.414838 0.926446 -1.366756 151 165 189

But I can not correctly load the point cloud in the following way：point_cloud.read(point_cloud_file). The coordinates obtained are blank.Can you help me ?
2

I see point_cloud.read(point_cloud_file) can only read png or jpeg.Can we read files such as .ply?

3

Hi, can you send more context ? What kind of code did you use ?

4

Hi,
I use python.
The .ply file like this:
ply
format ascii 1.0
element vertex 520712
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
end_header
-2.316577 1.411975 -2.083041 172 193 224
-2.306743 1.408357 -2.077704 171 192 223
-2.302844 1.408357 -2.077704 170 191 222
-1.434491 0.932553 -1.375765 152 167 190
-1.414838 0.926446 -1.366756 151 165 189
-1.406756 0.922826 -1.361416 152 165 189
-1.404201 0.922826 -1.361416 153 165 189
-1.396350 0.919339 -1.356271 153 164 187
-1.393805 0.919339 -1.356271 153 164 186
-1.391260 0.919339 -1.356271 153 164 185
-1.368629 0.911050 -1.344043 159 168 185
-1.371378 0.914565 -1.349229 170 179 194
-1.367200 0.913466 -1.347607 186 196 208
-1.416475 0.948141 -1.398762 200 209 222
-1.755281 1.222496 -1.803509 249 255 253
-1.736636 1.211847 -1.787799 249 255 253
-1.733282 1.211847 -1.787799 249 255 253
-1.726662 1.209560 -1.784425 249 255 253

Each row after is composed of six numbers like this：-0.395744 0.323674 -0.477505 237 242 246
5

I meant, your code. Your python file.

6

Hi，
Firsty,I use the following codes to save point cloud:
# save point cloud
# file_name = “{}.ply”.format(temp)
# err = point_cloud.write(file_name)
The .ply file like this:
//
ply
format ascii 1.0
element vertex 520712
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
end_header
-2.316577 1.411975 -2.083041 172 193 224
-2.306743 1.408357 -2.077704 171 192 223
-2.302844 1.408357 -2.077704 170 191 222
//
Then,in the other file,I want to read the point cloud.

for i in range(5):

point_cloud_file = f"{i}.ply"
print(point_cloud_file)

point_cloud = sl.Mat(res.width, res.height, sl.MAT_TYPE.F32_C4, sl.MEM.CPU)
point_cloud.read(point_cloud_file)

width = point_cloud.get_width()
height = point_cloud.get_height()

x = width // 2
y = height // 2

coordinates = point_cloud.get_value(x, y)

print(coordinates)

But, I didn 't find the corresponding function.By using function point_cloud.read(point_cloud_file), we got the blank coordinates.By consulting the manual, I found that read can only read png format file.Do you have any way to read point cloud data

7

Hi, you should check our tutorials and sample which explain how to retrieve the data from sl.Mat.
Start here : https://github.com/stereolabs/zed-sdk/blob/master/depth%20sensing/depth%20sensing/python/depth_sensing.py