save colors as uint8 in PLY

Summary: Allow saving colors as 8bit when writing .ply files.

Reviewed By: patricklabatut, nikitos9000

Differential Revision: D30905312

fbshipit-source-id: 44500982c9ed6d6ee901e04f9623e22792a0e7f7

pytorch3d/io/ply_io.py

@@ -1067,18 +1067,18 @@ def load_ply(
     return verts, faces
 
 
-def _save_ply(
+def _write_ply_header(
     f,
     *,
     verts: torch.Tensor,
     faces: Optional[torch.LongTensor],
     verts_normals: Optional[torch.Tensor],
     verts_colors: Optional[torch.Tensor],
     ascii: bool,
-    decimal_places: Optional[int] = None,
+    colors_as_uint8: bool,
 ) -> None:
     """
-    Internal implementation for saving 3D data to a .ply file.
+    Internal implementation for writing header when saving to a .ply file.
 
     Args:
         f: File object to which the 3D data should be written.
@@ -1087,7 +1087,8 @@ def _save_ply(
         verts_normals: FloatTensor of shape (V, 3) giving vertex normals.
         verts_colors: FloatTensor of shape (V, 3) giving vertex colors.
         ascii: (bool) whether to use the ascii ply format.
-        decimal_places: Number of decimal places for saving if ascii=True.
+        colors_as_uint8: Whether to save colors as numbers in the range
+                    [0, 255] instead of float32.
     """
     assert not len(verts) or (verts.dim() == 2 and verts.size(1) == 3)
     assert faces is None or not len(faces) or (faces.dim() == 2 and faces.size(1) == 3)
@@ -1113,33 +1114,88 @@ def _save_ply(
         f.write(b"property float ny\n")
         f.write(b"property float nz\n")
     if verts_colors is not None:
-        f.write(b"property float red\n")
-        f.write(b"property float green\n")
-        f.write(b"property float blue\n")
+        color_ply_type = b"uchar" if colors_as_uint8 else b"float"
+        for color in (b"red", b"green", b"blue"):
+            f.write(b"property " + color_ply_type + b" " + color + b"\n")
     if len(verts) and faces is not None:
         f.write(f"element face {faces.shape[0]}\n".encode("ascii"))
         f.write(b"property list uchar int vertex_index\n")
     f.write(b"end_header\n")
 
+
+def _save_ply(
+    f,
+    *,
+    verts: torch.Tensor,
+    faces: Optional[torch.LongTensor],
+    verts_normals: Optional[torch.Tensor],
+    verts_colors: Optional[torch.Tensor],
+    ascii: bool,
+    decimal_places: Optional[int] = None,
+    colors_as_uint8: bool,
+) -> None:
+    """
+    Internal implementation for saving 3D data to a .ply file.
+
+    Args:
+        f: File object to which the 3D data should be written.
+        verts: FloatTensor of shape (V, 3) giving vertex coordinates.
+        faces: LongTensor of shape (F, 3) giving faces.
+        verts_normals: FloatTensor of shape (V, 3) giving vertex normals.
+        verts_colors: FloatTensor of shape (V, 3) giving vertex colors.
+        ascii: (bool) whether to use the ascii ply format.
+        decimal_places: Number of decimal places for saving if ascii=True.
+        colors_as_uint8: Whether to save colors as numbers in the range
+                    [0, 255] instead of float32.
+    """
+    _write_ply_header(
+        f,
+        verts=verts,
+        faces=faces,
+        verts_normals=verts_normals,
+        verts_colors=verts_colors,
+        ascii=ascii,
+        colors_as_uint8=colors_as_uint8,
+    )
+
     if not (len(verts)):
         warnings.warn("Empty 'verts' provided")
         return
 
-    verts_tensors = [verts]
+    color_np_type = np.ubyte if colors_as_uint8 else np.float32
+    verts_dtype = [("verts", np.float32, 3)]
     if verts_normals is not None:
-        verts_tensors.append(verts_normals)
+        verts_dtype.append(("normals", np.float32, 3))
     if verts_colors is not None:
-        verts_tensors.append(verts_colors)
+        verts_dtype.append(("colors", color_np_type, 3))
+
+    vert_data = np.zeros(verts.shape[0], dtype=verts_dtype)
+    vert_data["verts"] = verts.detach().cpu().numpy()
+    if verts_normals is not None:
+        vert_data["normals"] = verts_normals.detach().cpu().numpy()
+    if verts_colors is not None:
+        color_data = verts_colors.detach().cpu().numpy()
+        if colors_as_uint8:
+            vert_data["colors"] = np.rint(color_data * 255)
+        else:
+            vert_data["colors"] = color_data
 
-    vert_data = torch.cat(verts_tensors, dim=1).detach().cpu().numpy()
     if ascii:
         if decimal_places is None:
-            float_str = "%f"
+            float_str = b"%f"
         else:
-            float_str = "%" + ".%df" % decimal_places
-        np.savetxt(f, vert_data, float_str)
+            float_str = b"%" + b".%df" % decimal_places
+        float_group_str = (float_str + b" ") * 3
+        formats = [float_group_str]
+        if verts_normals is not None:
+            formats.append(float_group_str)
+        if verts_colors is not None:
+            formats.append(b"%d %d %d " if colors_as_uint8 else float_group_str)
+        formats[-1] = formats[-1][:-1] + b"\n"
+        for line_data in vert_data:
+            for data, format in zip(line_data, formats):
+                f.write(format % tuple(data))
     else:
-        assert vert_data.dtype == np.float32
         if isinstance(f, BytesIO):
             # tofile only works with real files, but is faster than this.
             f.write(vert_data.tobytes())
@@ -1189,7 +1245,6 @@ def save_ply(
         ascii: (bool) whether to use the ascii ply format.
         decimal_places: Number of decimal places for saving if ascii=True.
         path_manager: PathManager for interpreting f if it is a str.
-
     """
 
     if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
@@ -1227,6 +1282,7 @@ def save_ply(
             verts_colors=None,
             ascii=ascii,
             decimal_places=decimal_places,
+            colors_as_uint8=False,
         )
 
 
@@ -1272,8 +1328,14 @@ def save(
         path_manager: PathManager,
         binary: Optional[bool],
         decimal_places: Optional[int] = None,
+        colors_as_uint8: bool = False,
         **kwargs,
     ) -> bool:
+        """
+        Extra optional args:
+            colors_as_uint8: (bool) Whether to save colors as numbers in the
+                        range [0, 255] instead of float32.
+        """
         if not endswith(path, self.known_suffixes):
             return False
 
@@ -1307,6 +1369,7 @@ def save(
                 verts_normals=verts_normals,
                 ascii=binary is False,
                 decimal_places=decimal_places,
+                colors_as_uint8=colors_as_uint8,
             )
         return True
 
@@ -1342,8 +1405,14 @@ def save(
         path_manager: PathManager,
         binary: Optional[bool],
         decimal_places: Optional[int] = None,
+        colors_as_uint8: bool = False,
         **kwargs,
     ) -> bool:
+        """
+        Extra optional args:
+            colors_as_uint8: (bool) Whether to save colors as numbers in the
+                        range [0, 255] instead of float32.
+        """
         if not endswith(path, self.known_suffixes):
             return False
 
@@ -1360,5 +1429,6 @@ def save(
                 faces=None,
                 ascii=binary is False,
                 decimal_places=decimal_places,
+                colors_as_uint8=colors_as_uint8,
             )
         return True

tests/test_io_ply.py

@@ -528,29 +528,70 @@ def test_save_pointcloud(self):
         ).encode("ascii")
         data = struct.pack("<" + "f" * 48, *range(48))
         points = torch.FloatTensor([0, 1, 2]) + 6 * torch.arange(8)[:, None]
-        features = torch.FloatTensor([3, 4, 5]) + 6 * torch.arange(8)[:, None]
+        features_large = torch.FloatTensor([3, 4, 5]) + 6 * torch.arange(8)[:, None]
+        features = features_large / 255.0
+        pointcloud_largefeatures = Pointclouds(
+            points=[points], features=[features_large]
+        )
         pointcloud = Pointclouds(points=[points], features=[features])
 
         io = IO()
         with NamedTemporaryFile(mode="rb", suffix=".ply") as f:
-            io.save_pointcloud(data=pointcloud, path=f.name)
+            io.save_pointcloud(data=pointcloud_largefeatures, path=f.name)
             f.flush()
             f.seek(0)
             actual_data = f.read()
             reloaded_pointcloud = io.load_pointcloud(f.name)
 
         self.assertEqual(header + data, actual_data)
         self.assertClose(reloaded_pointcloud.points_list()[0], points)
-        self.assertClose(reloaded_pointcloud.features_list()[0], features)
+        self.assertClose(reloaded_pointcloud.features_list()[0], features_large)
+        # Test the load-save cycle leaves file completely unchanged
+        with NamedTemporaryFile(mode="rb", suffix=".ply") as f:
+            io.save_pointcloud(
+                data=reloaded_pointcloud,
+                path=f.name,
+            )
+            f.flush()
+            f.seek(0)
+            data2 = f.read()
+            self.assertEqual(data2, actual_data)
 
         with NamedTemporaryFile(mode="r", suffix=".ply") as f:
-            io.save_pointcloud(data=pointcloud, path=f.name, binary=False)
+            io.save_pointcloud(
+                data=pointcloud, path=f.name, binary=False, decimal_places=9
+            )
             reloaded_pointcloud2 = io.load_pointcloud(f.name)
             self.assertEqual(f.readline(), "ply\n")
             self.assertEqual(f.readline(), "format ascii 1.0\n")
         self.assertClose(reloaded_pointcloud2.points_list()[0], points)
         self.assertClose(reloaded_pointcloud2.features_list()[0], features)
 
+        for binary in [True, False]:
+            with NamedTemporaryFile(mode="rb", suffix=".ply") as f:
+                io.save_pointcloud(
+                    data=pointcloud, path=f.name, colors_as_uint8=True, binary=binary
+                )
+                f.flush()
+                f.seek(0)
+                actual_data = f.read()
+                reloaded_pointcloud3 = io.load_pointcloud(f.name)
+            self.assertClose(reloaded_pointcloud3.features_list()[0], features)
+            self.assertIn(b"property uchar green", actual_data)
+
+            # Test the load-save cycle leaves file completely unchanged
+            with NamedTemporaryFile(mode="rb", suffix=".ply") as f:
+                io.save_pointcloud(
+                    data=reloaded_pointcloud3,
+                    path=f.name,
+                    binary=binary,
+                    colors_as_uint8=True,
+                )
+                f.flush()
+                f.seek(0)
+                data2 = f.read()
+                self.assertEqual(data2, actual_data)
+
     def test_load_pointcloud_bad_order(self):
         """
         Ply file with a strange property order