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I need to extract all vertices from a usd/a file, currently I'm doing it like this:

from pxr import Usd, UsdGeom, Sdf

def extract_points_from_usd(file_path):
    """Extracts 3D points from a USD or USDA file."""
    stage = Usd.Stage.Open(file_path)
    points = []

    for prim in stage.Traverse():
        if prim.IsA(UsdGeom.Mesh):
          usd_points = UsdGeom.Mesh(prim).GetPointsAttr().Get()
          if usd_points:
              points.extend(usd_points)

    return np.array(points)

But it's not accurate as there seems to be fewer vertices and all the Z values are either 0 or very close to 0.

I need this to make a point cloud file (.las), alternatively, I could transform the .usd file to .ply and convert that to a point cloud, which is much more straight forward, but I can't find the way to do that conversion on python script. This is for an aws lambda function so I can't rely on software like blender or cloudcompare.

Improve this question
2
  • pxr is from nvidia, right? Commented Dec 12, 2024 at 21:21
  • I think so, yeah Commented Dec 12, 2024 at 22:37
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