How can I save .ply file with both rgb color & vertex normals at the same time?

[usarawgi911]

As described in #6194 we found

1. ply with vertex normals, not with rgb color (like in export_to_ply.py)
2. ply with color, not with vertex normal (like the code below)

frames = pipe.wait_for_frames()
aligned_frames = align.process(frames)
aligned_depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()
pc.map_to(color_frame)
points = pc.calculate(aligned_depth_frame)
print("Saving to 1.ply...")
points.export_to_ply("1.ply", color_frame)
print("Done")

How can we save .ply file with both rgb color and vertex normals at the same time?
Thank you, really appreciate any help!

[MartyG-RealSense]

Hi @usarawgi911 There was a RealSense user who used C++ and PCL to save a ply with voxels instead of vertexes. Would this meet your needs, please?

#6411

Voxel graphics will typically have more 'boxy' points. The image below is of a voxelized point cloud (not generated by this particular script):

[MartyG-RealSense]

Hi @usarawgi911 Do you still require assistance with this case please, or can it be closed? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.