o oi@sFddlZddlZdedejddfddZd dededejfd d ZdS) Nfilename pointcloudreturnc CsVt|tr |dstd|t|s!tdt||jdks-|j ddkr7tdt |j | dd}t |j dd }||}|j d }t|d d d K}|dddd|dddddg|d kr|tj}|D]\}} } ||dd| dd| ddqzWddSWddS1swYdS)aBSave to disk a pointcloud in PLY format. Args: filename: the path to save the pointcloud. pointcloud: tensor containing the pointcloud to save. The tensor must be in the shape of :math:`(*, 3)` where the last component is assumed to be a 3d point coordinate :math:`(X, Y, Z)`. .ply=Input filename must be a string with the .ply extension. Got z1Input pointcloud type is not a torch.Tensor. Got z/Input pointcloud must have shape (..., 3). Got )dimrwutf-8)encodingzply zformat ascii 1.0 zcomment arraiy generated zelement vertex  zproperty double x zproperty double y zproperty double z z end_header z.9g N) isinstancestrlowerendswith TypeErrortorch is_tensortypendimshapetuplereshapeisfiniteanyopen writelinesdetachcputofloat64tolistwrite) rrxyz valid_mask valid_points valid_countfarrxyzr0N/home/ubuntu/.local/lib/python3.10/site-packages/kornia/utils/pointcloud_io.pysave_pointcloud_plys<      $"r2 header_sizecCst|tr |dstd|tj|stdt|t r&|dks.td|dt |d}t |D]}| q8| }Wdn1sMwY|jd d d }|}t|d dkrotd t|dtjttt|dt|d d tjddd }|S)a-Load from disk a pointcloud in PLY format. Args: filename: the path to the pointcloud. header_size: the number of header lines to skip. Return: tensor containing the loaded points with shape :math:`(*, 3)` where :math:`*` represents the number of points. rrz'Input filename is not an existing file.rz2Input header_size must be a positive integer. Got .rbNr ignore)errorsr z-Expected 3 columns per point, got a total of z values.)dtyper)rrrrrospathisfile ValueErrorintrrangereadlinereaddecodesplitlenrtensorlistmapfloatfloat32view)rr4r+_raw_datatextpartsrEr0r0r1load_pointcloud_plyGs"      6rO)r3)r:rrTensorr2r>rOr0r0r0r1s0