how can i use export_to_ply functions to save ply as ascii format?

[wuhaoqi-hub]

I want to export ply as ascii format,but i can't find some methods to slove this problem,so i want to consult this question,this is my code.
int main()
{
context ctx;
int ind(0);

for (auto&& dev : ctx.query_devices())
{
	pipeline pipe(ctx);
	config cfg;
	cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
	cfg.enable_stream(RS2_STREAM_ANY, 0, 640, 480, RS2_FORMAT_Z16, 30);
	cfg.enable_stream(RS2_STREAM_ANY, 1, 640, 480, RS2_FORMAT_Y8, 30);
	cfg.enable_stream(RS2_STREAM_ANY, 2, 640, 480, RS2_FORMAT_Y8, 30);
	pipeline_profile selection = pipe.start(cfg);
	device selected_device = selection.get_device();

	advanced_mode advanced_device(selected_device);

	depth_sensor depth_sensor = selected_device.first<rs2::depth_sensor>();
	//	option_range range = depth_sensor.get_option_range(RS2_OPTION_DEPTH_UNITS);
	depth_sensor.set_option(RS2_OPTION_DEPTH_UNITS, 0.001);

	STDepthTableControl depth_table = advanced_device.get_depth_table();
	depth_table.depthClampMax = 1000;
	depth_table.depthUnits = 1000;
	advanced_device.set_depth_table(depth_table);

	pointcloud pc;
	points points;

	frameset frames = pipe.wait_for_frames();
	video_frame infrared = frames.get_color_frame();
	if (!infrared)
		infrared = frames.get_infrared_frame();
	depth_frame depth = frames.get_depth_frame();

	pc.map_to(infrared);
	points = pc.calculate(depth);

	char path[200];
	sprintf_s(path, "F:\\20191024_%d.ply", ind);
	points.export_to_ply(path, infrared);

	++ind;
}
return EXIT_SUCCESS;

}

[dorodnic]

Hi @wuhaoqi-hub
This is not possible with rs2::points::export_to_ply method but you can use save_to_ply class from rs_export.hpp -

rs2::save_to_ply exporter(path, pc);
exporter.set_option(rs2::save_to_ply::OPTION_PLY_BINARY, 0.f);
exporter.export_to_ply(points, infrared);

[wuhaoqi-hub]

thank you very much

[wuhaoqi-hub]

i use the method you answered for me,but the function "rs2::save_to_ply::export_to_ply" can't be visited.

[MartyG-RealSense]

@wuhaoqi-hub I note that you included export_to_ply in your instruction. @dorodnic stated above that using export_to_ply was not possible. and suggested this code based on save_to_ply instead:

rs2::save_to_ply exporter(path, pc);
exporter.set_option(rs2::save_to_ply::OPTION_PLY_BINARY, 0.f);
exporter.export_to_ply(points, infrared);

Setting OPTION_PLY_BINARY to False with the '0' value instructs the program to save the ply in ASCII format instead of exporting a binary file.

#4906

[wuhaoqi-hub]

I used the code exporter.export_to_ply(points, infrared);it has export_to_ply,but the export_to_ply is the private function ,the exporter object can't visit it.can you give me some example code？thanks

[MartyG-RealSense]

@wuhaoqi-hub I could not find an example for saving ASCII to ply. @dorodnic will be able to provide better advice than I can about custom code that you can try in your project.

[ilyak93]

@wuhaoqi-hub I could not find an example for saving ASCII to ply. @dorodnic will be able to provide better advice than I can about custom code that you can try in your project.

The function works if you change its private to public, but I don't get the color mapped correctly to the points, just everything gray.

[MartyG-RealSense]

Hi @ilyak93 Exporting color to ply usually does not work on Python (if you are using Python and not C++). The subject has been researched by me extensively over the years and the only script confirmed to work on Python is one at #6194 (comment) that exports color to ply but without vertex normals.

[ilyak93]

@MartyG-RealSense, thanks, I'm trying it on C++ both methods (using points and using the function proposed here) with no success. I'm using 2.34.0-0~realsense0.2250 SDK version. Any suggestions ? When I open the ply file, i see that there is a color, but its a gray color and it's the same for all the points.

            rs2::frame depth_frame2 = fs.get_depth_frame();
            rs2::frame color_frame2 = fs.get_color_frame();

            rs2::pointcloud pc;
            rs2::points points = pc.calculate(depth_frame2);
            //pc.map_to(color_frame2); // tried with this and without
            points.export_to_ply("G:/Vista_project/finish1/rs-ptc/"
                                 + to_string(pc_idx) + "1.ply", color_frame2);
            rs2::save_to_ply exporter("G:/Vista_project/finish1/rs-ptc/"
                                      + to_string(pc_idx) + ".ply", pc);
            exporter.set_option(rs2::save_to_ply::OPTION_PLY_BINARY, 0.f);
            exporter.set_option(rs2::save_to_ply::OPTION_IGNORE_COLOR, 0.f);
            exporter.export_to_ply(points, color_frame2);

I'm doing it with software-device.

The only solution I have now is to create a point cloud from the depth and the color using open3d library, but I wanted to get the original pointcloud as realsense construct it.

I saw that for other people worked the regular approach using points.export_to_ply, it's strange that I don't get the expected result using it.

P.S: alignment does work with all the registered intrinsics/extrinsics and etc.

[MartyG-RealSense]

@ilyak93 I will research your question tomorrow. Thanks again for your patience!

[ilyak93]

@MartyG-RealSense, ok thanks. Should I open a new issue or can we continue here ?

I have found (by using the function that the exporter exploits) that:

that texcoords[i] for each i (all the points) are all set to 0 (the cout << "here" loop is my code injected into real sense rs_export.hpp, which why probably I get only one color (the color of (u=0,v=0)), which means my pointcloud somehow doesn't know what is his texture coordinates. Maybe it is somehow connected to the fact it is software-device, some data maybe lost, I think the implementation of this function rs2::points points = pc.calculate(depth_frame2); (calculate) should give the answers if you can look around it.

Thank you in advance.

[MartyG-RealSense]

Given that this case was originally about exporting ASCII characters to ply instead of color, please start a new issue and link back to this one.