pcd_io.py

import laspy
import numpy as np

from pointcloud import PointCloud


def extract_las(*filenames: str):
    point_data_list = []
    point_color_list = []
    if not filenames:
        raise ValueError("No files provided for extraction.")
    for filename in filenames:
        if not filename.endswith(".las"):
            raise ValueError("Only .las files are supported.")
        with laspy.open(filename) as fh:
            las = fh.read()
            point_data = np.stack([las.X, las.Y, las.Z], axis=0).transpose((1, 0))
            point_color = np.stack([las.red, las.green, las.blue], axis=0).transpose(
                (1, 0)
            )
            point_data_list.append(point_data)
            point_color_list.append(point_color)
    return np.concatenate(point_data_list, axis=0), np.concatenate(
        point_color_list, axis=0
    )


def read_pcd(*filenames: str):
    """
    Read .las files and return a point cloud
    """
    point_data, point_color = extract_las(*filenames)
    point_color = point_color / (2**16 - 1)
    return PointCloud(point_data, point_color)