PointCloudIO.cpp File Reference

#include "cloudViewer/io/PointCloudIO.h"
#include <benchmark/benchmark.h>
#include "cloudViewer/core/Tensor.h"
#include "cloudViewer/data/Dataset.h"
#include "cloudViewer/t/geometry/PointCloud.h"
#include "cloudViewer/t/io/PointCloudIO.h"

Include dependency graph for PointCloudIO.cpp:

Go to the source code of this file.

Namespaces
	cloudViewer
	Generic file read and write utility for python interface.
	cloudViewer::t
	cloudViewer::t::geometry

Macros
#define	ENUM_BM_IO_EXTENSION_FORMAT(EXTENSION_NAME, FILE_NAME, FORMAT_NAME, ASCII, COMPRESSED)
#define	ENUM_BM_IO_EXTENSION(EXTENSION_NAME, EXTENSION)

Functions
void	cloudViewer::t::geometry::IOWriteLegacyPointCloud (benchmark::State &state, const std::string &input_file_path, const std::string &output_file_path, const bool write_ascii, const bool write_compressed)
void	cloudViewer::t::geometry::IOReadLegacyPointCloud (benchmark::State &state, const std::string &input_file_path)
void	cloudViewer::t::geometry::IOWriteTensorPointCloud (benchmark::State &state, const std::string &input_file_path, const std::string &output_file_path, const bool write_ascii, const bool write_compressed)
void	cloudViewer::t::geometry::IOReadTensorPointCloud (benchmark::State &state, const std::string &input_file_path)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PCD_ASCII_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".pcd")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PCD_ASCII_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PCD_ASCII_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".pcd")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PCD_ASCII_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PCD_BINARY_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".pcd")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PCD_BINARY_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PCD_BINARY_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".pcd")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PCD_BINARY_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PCD_BINARY_COMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".pcd")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PCD_BINARY_COMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PCD_BINARY_COMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".pcd")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PCD_BINARY_COMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".pcd"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PLY_ASCII_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".ply")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PLY_ASCII_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PLY_ASCII_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".ply")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PLY_ASCII_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PLY_BINARY_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".ply")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PLY_BINARY_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PLY_BINARY_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".ply")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PLY_BINARY_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PLY_BINARY_COMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".ply")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PLY_BINARY_COMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PLY_BINARY_COMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".ply")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PLY_BINARY_COMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".ply"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PTS_ASCII_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".pts")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PTS_ASCII_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_ascii")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PTS_ASCII_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".pts")), true, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PTS_ASCII_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_ascii")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PTS_BINARY_UNCOMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".pts")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PTS_BINARY_UNCOMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PTS_BINARY_UNCOMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".pts")), false, false) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PTS_BINARY_UNCOMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteLegacyPointCloud, PTS_BINARY_COMPRESSED, input_path_pcd, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".pts")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadLegacyPointCloud, PTS_BINARY_COMPRESSED, std::string("tensor_")+std::string(std::string("pcd_bin_compressed")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOWriteTensorPointCloud, PTS_BINARY_COMPRESSED, input_path_pcd, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".pts")), false, true) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::geometry::BENCHMARK_CAPTURE (IOReadTensorPointCloud, PTS_BINARY_COMPRESSED, std::string("legacy_")+std::string(std::string("pcd_bin_compressed")+std::string(".pts"))) -> Unit(benchmark::kMillisecond)

Variables
data::PLYPointCloud	cloudViewer::t::geometry::pointcloud_ply_data
static const std::string	cloudViewer::t::geometry::input_path_pcd = pointcloud_ply_data.GetPath()

Macro Definition Documentation

ENUM_BM_IO_EXTENSION

#define ENUM_BM_IO_EXTENSION	(		EXTENSION_NAME,
			EXTENSION
	)

Value:

    ENUM_BM_IO_EXTENSION_FORMAT(                                               \
            EXTENSION_NAME, std::string("pcd_ascii") + std::string(EXTENSION), \
            ASCII_UNCOMPRESSED, true, false)                                   \
    ENUM_BM_IO_EXTENSION_FORMAT(                                               \
            EXTENSION_NAME, std::string("pcd_bin") + std::string(EXTENSION),   \
            BINARY_UNCOMPRESSED, false, false)                                 \
    ENUM_BM_IO_EXTENSION_FORMAT(                                               \
            EXTENSION_NAME,                                                    \
            std::string("pcd_bin_compressed") + std::string(EXTENSION),        \
            BINARY_COMPRESSED, false, true)

Definition at line 115 of file PointCloudIO.cpp.

ENUM_BM_IO_EXTENSION_FORMAT

#define ENUM_BM_IO_EXTENSION_FORMAT	(		EXTENSION_NAME,
			FILE_NAME,
			FORMAT_NAME,
			ASCII,
			COMPRESSED
	)

Value:

    BENCHMARK_CAPTURE(IOWriteLegacyPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
                      input_path_pcd,                                          \
                      std::string("tensor_") + std::string(FILE_NAME), ASCII,  \
                      COMPRESSED)                                              \
            ->Unit(benchmark::kMillisecond);                                   \
    BENCHMARK_CAPTURE(IOReadLegacyPointCloud, EXTENSION_NAME##_##FORMAT_NAME,  \
                      std::string("tensor_") + std::string(FILE_NAME))         \
            ->Unit(benchmark::kMillisecond);                                   \
    BENCHMARK_CAPTURE(IOWriteTensorPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
                      input_path_pcd,                                          \
                      std::string("legacy_") + std::string(FILE_NAME), ASCII,  \
                      COMPRESSED)                                              \
            ->Unit(benchmark::kMillisecond);                                   \
    BENCHMARK_CAPTURE(IOReadTensorPointCloud, EXTENSION_NAME##_##FORMAT_NAME,  \
                      std::string("legacy_") + std::string(FILE_NAME))         \
            ->Unit(benchmark::kMillisecond);

Definition at line 96 of file PointCloudIO.cpp.