cloudViewer::t::io Namespace Reference

Classes
struct	PCLPointField
struct	PCDHeader
struct	ReadAttributePtr
struct	WriteAttributePtr
class	DepthNoiseSimulator
class	CharVector
class	NumpyArray
class	RealSenseSensor
	RealSense camera discovery, configuration, streaming and recording. More...
class	RealSenseSensorConfig
struct	RealSenseValidConfigs
class	RSBagReader
class	RGBDSensor
	Interface class for control of RGBD cameras. More...
class	RGBDVideoMetadata
	RGBD video metadata. More...
class	RGBDVideoReader

Enumerations
enum class	PCDDataType { ASCII = 0 , BINARY = 1 , BINARY_COMPRESSED = 2 }
enum class	SensorType { AZURE_KINECT = 0 , REAL_SENSE = 1 }

Functions
bool	ReadTriangleMeshUsingASSIMP (const std::string &filename, geometry::TriangleMesh &mesh, const cloudViewer::io::ReadTriangleMeshOptions &params)
static void	SetTextureMaterialProperty (aiMaterial *mat, aiScene *scene, int texture_idx, aiTextureType tt, t::geometry::Image &img)
bool	WriteTriangleMeshUsingASSIMP (const std::string &filename, const geometry::TriangleMesh &mesh, const bool write_ascii, const bool compressed, const bool write_vertex_normals, const bool write_vertex_colors, const bool write_triangle_uvs, const bool print_progress)
bool	ReadImageFromJPG (const std::string &filename, geometry::Image &image)
bool	WriteImageToJPG (const std::string &filename, const geometry::Image &image, int quality)
static core::Dtype	GetDtypeFromPCDHeaderField (char type, int size)
static bool	InitializeHeader (PCDHeader &header)
static bool	ReadPCDHeader (FILE *file, PCDHeader &header)
static void	ReadASCIIPCDColorsFromField (ReadAttributePtr &attr, const PCLPointField &field, const char *data_ptr, const int index)
template<typename scalar_t >
static void	UnpackASCIIPCDElement (scalar_t &data, const char *data_ptr)=delete
template<>
void	UnpackASCIIPCDElement< float > (float &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< double > (double &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::int8_t > (std::int8_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::int16_t > (std::int16_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::int32_t > (std::int32_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::int64_t > (std::int64_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::uint8_t > (std::uint8_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::uint16_t > (std::uint16_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::uint32_t > (std::uint32_t &data, const char *data_ptr)
template<>
void	UnpackASCIIPCDElement< std::uint64_t > (std::uint64_t &data, const char *data_ptr)
static void	ReadASCIIPCDElementsFromField (ReadAttributePtr &attr, const PCLPointField &field, const char *data_ptr, const int index)
static void	ReadBinaryPCDColorsFromField (ReadAttributePtr &attr, const PCLPointField &field, const void *data_ptr, const int index)
static void	ReadBinaryPCDElementsFromField (ReadAttributePtr &attr, const PCLPointField &field, const void *data_ptr, const int index)
static bool	ReadPCDData (FILE *file, PCDHeader &header, t::geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
static void	SetPCDHeaderFieldTypeAndSizeFromDtype (const core::Dtype &dtype, PCLPointField &field)
static bool	GenerateHeader (const t::geometry::PointCloud &pointcloud, const bool write_ascii, const bool compressed, PCDHeader &header)
static bool	WritePCDHeader (FILE *file, const PCDHeader &header)
template<typename scalar_t >
static void	ColorToUint8 (const scalar_t *input_color, std::uint8_t *output_color)
template<>
void	ColorToUint8< float > (const float *input_color, std::uint8_t *output_color)
template<>
void	ColorToUint8< double > (const double *input_color, std::uint8_t *output_color)
template<>
void	ColorToUint8< std::uint8_t > (const std::uint8_t *input_color, std::uint8_t *output_color)
template<>
void	ColorToUint8< std::uint16_t > (const std::uint16_t *input_color, std::uint8_t *output_color)
template<>
void	ColorToUint8< std::uint32_t > (const std::uint32_t *input_color, std::uint8_t *output_color)
static core::Tensor	PackColorsToFloat (const core::Tensor &colors_contiguous)
template<typename scalar_t >
static int	WriteElementDataToFileASCII (const scalar_t &data, FILE *file)=delete
template<>
int	WriteElementDataToFileASCII< float > (const float &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< double > (const double &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::int8_t > (const std::int8_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::int16_t > (const std::int16_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::int32_t > (const std::int32_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::int64_t > (const std::int64_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::uint8_t > (const std::uint8_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::uint16_t > (const std::uint16_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::uint32_t > (const std::uint32_t &data, FILE *file)
template<>
int	WriteElementDataToFileASCII< std::uint64_t > (const std::uint64_t &data, FILE *file)
static bool	WritePCDData (FILE *file, const PCDHeader &header, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
bool	ReadPointCloudFromPCD (const std::string &filename, t::geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
bool	WritePointCloudToPCD (const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
bool	ReadPointCloudFromPLY (const std::string &filename, geometry::PointCloud &pointcloud, const cloudViewer::io::ReadPointCloudOption &params)
bool	WritePointCloudToPLY (const std::string &filename, const geometry::PointCloud &pointcloud, const cloudViewer::io::WritePointCloudOption &params)
static void	SetPNGImageFromImage (const geometry::Image &image, int quality, png_image &pngimage)
bool	ReadImageFromPNG (const std::string &filename, geometry::Image &image)
bool	WriteImageToPNG (const std::string &filename, const geometry::Image &image, int quality)
bool	WriteImageToPNGInMemory (std::vector< uint8_t > &buffer, const t::geometry::Image &image, int quality)
bool	ReadPointCloudFromPTS (const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
core::Tensor	ConvertColorTensorToUint8 (const core::Tensor &color_in)
bool	WritePointCloudToPTS (const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
bool	ReadPointCloudFromSPLAT (const std::string &filename, geometry::PointCloud &pointcloud, const cloudViewer::io::ReadPointCloudOption &params)
bool	WritePointCloudToSPLAT (const std::string &filename, const geometry::PointCloud &pointcloud, const cloudViewer::io::WritePointCloudOption &params)
cloudViewer::io::FileGeometry	ReadFileGeometryTypeTXT (const std::string &path)
bool	ReadPointCloudFromTXT (const std::string &filename, geometry::PointCloud &pointcloud, const cloudViewer::io::ReadPointCloudOption &params)
bool	WritePointCloudToTXT (const std::string &filename, const geometry::PointCloud &pointcloud, const cloudViewer::io::WritePointCloudOption &params)
cloudViewer::io::FileGeometry	ReadFileGeometryTypeXYZI (const std::string &path)
bool	ReadPointCloudFromXYZI (const std::string &filename, geometry::PointCloud &pointcloud, const cloudViewer::io::ReadPointCloudOption &params)
bool	WritePointCloudToXYZI (const std::string &filename, const geometry::PointCloud &pointcloud, const cloudViewer::io::WritePointCloudOption &params)
void	WriteHashMap (const std::string &file_name, const core::HashMap &hashmap)
core::HashMap	ReadHashMap (const std::string &file_name)
std::shared_ptr< geometry::Image >	CreateImageFromFile (const std::string &filename)
bool	ReadImage (const std::string &filename, geometry::Image &image)
bool	WriteImage (const std::string &filename, const geometry::Image &image, int quality)
static char	BigEndianChar ()
static char	DtypeToChar (const core::Dtype &dtype)
static CharVector	CreateNumpyHeader (const core::SizeVector &shape, const core::Dtype &dtype)
static std::tuple< core::SizeVector, char, int64_t, bool >	ParsePropertyDict (const std::string &header)
static size_t	ParseNpyPreamble (const char *preamble)
static std::tuple< core::SizeVector, char, int64_t, bool >	ParseNpyHeaderFromFile (FILE *fp)
static std::tuple< core::SizeVector, char, int64_t, bool >	ParseNpyHeaderFromBuffer (const char *buffer)
static std::tuple< size_t, size_t, size_t >	ParseZipFooter (FILE *fp)
static void	WriteNpzOneTensor (const std::string &file_name, const std::string &tensor_name, const core::Tensor &tensor, bool append)
static void	WriteNpzEmpty (const std::string &file_name)
static NumpyArray	CreateNumpyArrayFromFile (FILE *fp)
static NumpyArray	CreateNumpyArrayFromCompressedFile (FILE *fp, uint32_t num_compressed_bytes, uint32_t num_uncompressed_bytes)
core::Tensor	ReadNpy (const std::string &file_name)
void	WriteNpy (const std::string &file_name, const core::Tensor &tensor)
std::unordered_map< std::string, core::Tensor >	ReadNpz (const std::string &file_name)
void	WriteNpz (const std::string &file_name, const std::unordered_map< std::string, core::Tensor > &tensor_map)
std::shared_ptr< geometry::PointCloud >	CreatePointCloudFromFile (const std::string &filename, const std::string &format, bool print_progress)
bool	ReadPointCloud (const std::string &filename, geometry::PointCloud &pointcloud, const cloudViewer::io::ReadPointCloudOption &params)
bool	ReadPointCloud (const std::string &filename, geometry::PointCloud &pointcloud, const std::string &file_format, bool remove_nan_points, bool remove_infinite_points, bool print_progress)
bool	WritePointCloud (const std::string &filename, const geometry::PointCloud &pointcloud, const cloudViewer::io::WritePointCloudOption &params)
bool	WritePointCloud (const std::string &filename, const geometry::PointCloud &pointcloud, bool write_ascii, bool compressed, bool print_progress)
bool	ReadPointCloudFromNPZ (const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
bool	WritePointCloudToNPZ (const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
	STRINGIFY_ENUM (rs2_stream, { {RS2_STREAM_ANY, "RS2_STREAM_ANY"}, {RS2_STREAM_DEPTH, "RS2_STREAM_DEPTH"}, {RS2_STREAM_COLOR, "RS2_STREAM_COLOR"}, {RS2_STREAM_INFRARED, "RS2_STREAM_INFRARED"}, {RS2_STREAM_FISHEYE, "RS2_STREAM_FISHEYE"}, {RS2_STREAM_GYRO, "RS2_STREAM_GYRO"}, {RS2_STREAM_ACCEL, "RS2_STREAM_ACCEL"}, {RS2_STREAM_GPIO, "RS2_STREAM_GPIO"}, {RS2_STREAM_POSE, "RS2_STREAM_POSE"}, {RS2_STREAM_CONFIDENCE, "RS2_STREAM_CONFIDENCE"} })
	RS2 stream types. More...
	STRINGIFY_ENUM (rs2_format, { {RS2_FORMAT_ANY, "RS2_FORMAT_ANY"}, {RS2_FORMAT_Z16, "RS2_FORMAT_Z16"}, {RS2_FORMAT_DISPARITY16, "RS2_FORMAT_DISPARITY16"}, {RS2_FORMAT_XYZ32F, "RS2_FORMAT_XYZ32F"}, {RS2_FORMAT_YUYV, "RS2_FORMAT_YUYV"}, {RS2_FORMAT_RGB8, "RS2_FORMAT_RGB8"}, {RS2_FORMAT_BGR8, "RS2_FORMAT_BGR8"}, {RS2_FORMAT_RGBA8, "RS2_FORMAT_RGBA8"}, {RS2_FORMAT_BGRA8, "RS2_FORMAT_BGRA8"}, {RS2_FORMAT_Y8, "RS2_FORMAT_Y8"}, {RS2_FORMAT_Y16, "RS2_FORMAT_Y16"}, {RS2_FORMAT_RAW10, "RS2_FORMAT_RAW10"}, {RS2_FORMAT_RAW16, "RS2_FORMAT_RAW16"}, {RS2_FORMAT_RAW8, "RS2_FORMAT_RAW8"}, {RS2_FORMAT_UYVY, "RS2_FORMAT_UYVY"}, {RS2_FORMAT_MOTION_RAW, "RS2_FORMAT_MOTION_RAW"}, {RS2_FORMAT_MOTION_XYZ32F, "RS2_FORMAT_MOTION_XYZ32F"}, {RS2_FORMAT_GPIO_RAW, "RS2_FORMAT_GPIO_RAW"}, {RS2_FORMAT_6DOF, "RS2_FORMAT_6DOF"}, {RS2_FORMAT_DISPARITY32, "RS2_FORMAT_DISPARITY32"}, {RS2_FORMAT_Y10BPACK, "RS2_FORMAT_Y10BPACK"}, {RS2_FORMAT_DISTANCE, "RS2_FORMAT_DISTANCE"}, {RS2_FORMAT_MJPEG, "RS2_FORMAT_MJPEG"}, {RS2_FORMAT_Y8I, "RS2_FORMAT_Y8I"}, {RS2_FORMAT_Y12I, "RS2_FORMAT_Y12I"}, {RS2_FORMAT_INZI, "RS2_FORMAT_INZI"}, {RS2_FORMAT_INVI, "RS2_FORMAT_INVI"}, {RS2_FORMAT_W10, "RS2_FORMAT_W10"}, {RS2_FORMAT_Z16H, "RS2_FORMAT_Z16H"} })
	RS2 pixel formats. More...
	STRINGIFY_ENUM (rs2_l500_visual_preset, { {RS2_L500_VISUAL_PRESET_DEFAULT, "RS2_L500_VISUAL_PRESET_DEFAULT"}, {RS2_L500_VISUAL_PRESET_CUSTOM, "RS2_L500_VISUAL_PRESET_CUSTOM"}, {RS2_L500_VISUAL_PRESET_NO_AMBIENT, "RS2_L500_VISUAL_PRESET_NO_AMBIENT"}, {RS2_L500_VISUAL_PRESET_LOW_AMBIENT, "RS2_L500_VISUAL_PRESET_LOW_AMBIENT"}, {RS2_L500_VISUAL_PRESET_MAX_RANGE, "RS2_L500_VISUAL_PRESET_MAX_RANGE"}, {RS2_L500_VISUAL_PRESET_SHORT_RANGE, "RS2_L500_VISUAL_PRESET_SHORT_RANGE"} })
	RS2 visual presets for L500 devices. More...
	STRINGIFY_ENUM (rs2_rs400_visual_preset, { {RS2_RS400_VISUAL_PRESET_DEFAULT, "RS2_RS400_VISUAL_PRESET_DEFAULT"}, {RS2_RS400_VISUAL_PRESET_CUSTOM, "RS2_RS400_VISUAL_PRESET_CUSTOM"}, {RS2_RS400_VISUAL_PRESET_HAND, "RS2_RS400_VISUAL_PRESET_HAND"}, {RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY, "RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY"}, {RS2_RS400_VISUAL_PRESET_HIGH_DENSITY, "RS2_RS400_VISUAL_PRESET_HIGH_DENSITY"}, {RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY, "RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY"}, {RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN, "RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN"} })
	RS2 visual presets for RS400 devices. More...
	STRINGIFY_ENUM (rs2_sr300_visual_preset, { {RS2_SR300_VISUAL_PRESET_DEFAULT, "RS2_SR300_VISUAL_PRESET_DEFAULT"}, {RS2_SR300_VISUAL_PRESET_SHORT_RANGE, "RS2_SR300_VISUAL_PRESET_SHORT_RANGE"}, {RS2_SR300_VISUAL_PRESET_LONG_RANGE, "RS2_SR300_VISUAL_PRESET_LONG_RANGE"}, {RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION, "RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION"}, {RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION, "RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION"}, {RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING, "RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING"}, {RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS, "RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS"}, {RS2_SR300_VISUAL_PRESET_FACE_LOGIN, "RS2_SR300_VISUAL_PRESET_FACE_LOGIN"}, {RS2_SR300_VISUAL_PRESET_GR_CURSOR, "RS2_SR300_VISUAL_PRESET_GR_CURSOR"}, {RS2_SR300_VISUAL_PRESET_MID_RANGE, "RS2_SR300_VISUAL_PRESET_MID_RANGE"}, {RS2_SR300_VISUAL_PRESET_IR_ONLY, "RS2_SR300_VISUAL_PRESET_IR_ONLY"} })
std::shared_ptr< geometry::TriangleMesh >	CreateMeshFromFile (const std::string &filename, bool print_progress)
bool	ReadTriangleMesh (const std::string &filename, geometry::TriangleMesh &mesh, cloudViewer::io::ReadTriangleMeshOptions params)
bool	WriteTriangleMesh (const std::string &filename, const geometry::TriangleMesh &mesh, bool write_ascii, bool compressed, bool write_vertex_normals, bool write_vertex_colors, bool write_triangle_uvs, bool print_progress)
bool	ReadTriangleMeshFromNPZ (const std::string &filename, geometry::TriangleMesh &mesh, const cloudViewer::io::ReadTriangleMeshOptions &params)
bool	WriteTriangleMeshToNPZ (const std::string &filename, const geometry::TriangleMesh &mesh, const bool write_ascii, const bool compressed, const bool write_vertex_normals, const bool write_vertex_colors, const bool write_triangle_uvs, const bool print_progress)
void	pybind_class_io (py::module &m_io)
void	pybind_io (py::module &m)
void	pybind_sensor (py::module &m)

Variables
const unsigned int	kPostProcessFlags_compulsory
const unsigned int	kPostProcessFlags_fast
constexpr int	kCloudViewerImageIODefaultQuality = -1
static const std::unordered_map< std::string, std::function< bool(const std::string &, geometry::PointCloud &, const cloudViewer::io::ReadPointCloudOption &)> >	file_extension_to_pointcloud_read_function
static const std::unordered_map< std::string, std::function< bool(const std::string &, const geometry::PointCloud &, const cloudViewer::io::WritePointCloudOption &)> >	file_extension_to_pointcloud_write_function
static std::unordered_map< std::string, std::string >	standard_config
static const std::unordered_map< std::string, std::function< bool(const std::string &, geometry::TriangleMesh &, const cloudViewer::io::ReadTriangleMeshOptions &)> >	file_extension_to_trianglemesh_read_function
static const std::unordered_map< std::string, std::function< bool(const std::string &, const geometry::TriangleMesh &, const bool, const bool, const bool, const bool, const bool, const bool)> >	file_extension_to_trianglemesh_write_function
static const std::unordered_map< std::string, std::string >	map_shared_argument_docstrings

Enumeration Type Documentation

PCDDataType

enum cloudViewer::t::io::PCDDataType

strong

Enumerator
ASCII
BINARY
BINARY_COMPRESSED

Definition at line 34 of file FilePCD.cpp.

SensorType

enum cloudViewer::t::io::SensorType

strong

Enumerator
AZURE_KINECT
REAL_SENSE

Definition at line 24 of file RGBDVideoMetadata.h.

Function Documentation

BigEndianChar()

static char cloudViewer::t::io::BigEndianChar ( )

static

Definition at line 127 of file NumpyIO.cpp.

Referenced by CreateNumpyHeader().

ColorToUint8()

template<typename scalar_t >

static void cloudViewer::t::io::ColorToUint8 ( const scalar_t *  input_color, std::uint8_t *  output_color  )

static

Definition at line 837 of file FilePCD.cpp.

References LogError.

ColorToUint8< double >()

template<>

void cloudViewer::t::io::ColorToUint8< double >	(	const double *	input_color,
		std::uint8_t *	output_color
	)

Definition at line 857 of file FilePCD.cpp.

References max(), and min().

ColorToUint8< float >()

template<>

void cloudViewer::t::io::ColorToUint8< float >	(	const float *	input_color,
		std::uint8_t *	output_color
	)

Definition at line 845 of file FilePCD.cpp.

References max(), and min().

ColorToUint8< std::uint16_t >()

template<>

void cloudViewer::t::io::ColorToUint8< std::uint16_t >	(	const std::uint16_t *	input_color,
		std::uint8_t *	output_color
	)

Definition at line 879 of file FilePCD.cpp.

References max().

ColorToUint8< std::uint32_t >()

template<>

void cloudViewer::t::io::ColorToUint8< std::uint32_t >	(	const std::uint32_t *	input_color,
		std::uint8_t *	output_color
	)

Definition at line 892 of file FilePCD.cpp.

References max().

ColorToUint8< std::uint8_t >()

template<>

void cloudViewer::t::io::ColorToUint8< std::uint8_t >	(	const std::uint8_t *	input_color,
		std::uint8_t *	output_color
	)

Definition at line 870 of file FilePCD.cpp.

ConvertColorTensorToUint8()

core::Tensor cloudViewer::t::io::ConvertColorTensorToUint8

(

const core::Tensor &

color_in

)

Definition at line 178 of file FilePTS.cpp.

References cloudViewer::core::Bool, cloudViewer::core::Tensor::Clip(), cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::Mul(), cloudViewer::core::Tensor::Round(), cloudViewer::core::Tensor::To(), and cloudViewer::core::UInt8.

Referenced by WritePointCloudToPTS().

CreateImageFromFile()

std::shared_ptr< geometry::Image > cloudViewer::t::io::CreateImageFromFile

(

const std::string &

filename

)

Factory function to create an image from a file (ImageFactory.cpp) Return an empty image if fail to read the file.

Definition at line 48 of file ImageIO.cpp.

References filename, image, and ReadImage().

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScale().

CreateMeshFromFile()

std::shared_ptr< geometry::TriangleMesh > cloudViewer::t::io::CreateMeshFromFile	(	const std::string &	filename,
		bool	print_progress = false
	)

Factory function to create a mesh from a file (TriangleMeshFactory.cpp) Return an empty mesh if fail to read the file.

Definition at line 52 of file TriangleMeshIO.cpp.

CreateNumpyArrayFromCompressedFile()

static NumpyArray cloudViewer::t::io::CreateNumpyArrayFromCompressedFile ( FILE *  fp, uint32_t  num_compressed_bytes, uint32_t  num_uncompressed_bytes  )

static

Definition at line 612 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Data(), cloudViewer::t::io::NumpyArray::GetDataPtr(), LogError, cloudViewer::t::io::NumpyArray::NumBytes(), offset, ParseNpyHeaderFromBuffer(), and type.

Referenced by ReadNpz().

CreateNumpyArrayFromFile()

static NumpyArray cloudViewer::t::io::CreateNumpyArrayFromFile ( FILE *  fp )

static

Definition at line 591 of file NumpyIO.cpp.

References cloudViewer::t::io::NumpyArray::GetDataPtr(), LogError, cloudViewer::t::io::NumpyArray::NumBytes(), ParseNpyHeaderFromFile(), and type.

Referenced by ReadNpy(), and ReadNpz().

CreateNumpyHeader()

static CharVector cloudViewer::t::io::CreateNumpyHeader ( const core::SizeVector &  shape, const core::Dtype &  dtype  )

static

Definition at line 157 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Append(), BigEndianChar(), cloudViewer::core::Dtype::ByteSize(), DtypeToChar(), format, cloudViewer::core::SmallVectorBase< Size_T >::size(), and cloudViewer::t::io::CharVector::Size().

Referenced by cloudViewer::t::io::NumpyArray::Save(), and WriteNpzOneTensor().

CreatePointCloudFromFile()

std::shared_ptr< geometry::PointCloud > cloudViewer::t::io::CreatePointCloudFromFile	(	const std::string &	filename,
		const std::string &	format = "auto",
		bool	print_progress = false
	)

Factory function to create a pointcloud from a file Return an empty pointcloud if fail to read the file.

Definition at line 62 of file PointCloudIO.cpp.

Referenced by cloudViewer::t::pipelines::slac::PreprocessPointClouds().

DtypeToChar()

static char cloudViewer::t::io::DtypeToChar ( const core::Dtype &  dtype )

static

Definition at line 132 of file NumpyIO.cpp.

References cloudViewer::core::Bool, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Int16, cloudViewer::core::Int32, cloudViewer::core::Int64, cloudViewer::core::Int8, LogError, cloudViewer::core::Dtype::ToString(), cloudViewer::core::UInt16, cloudViewer::core::UInt32, cloudViewer::core::UInt64, and cloudViewer::core::UInt8.

Referenced by CreateNumpyHeader().

GenerateHeader()

static bool cloudViewer::t::io::GenerateHeader ( const t::geometry::PointCloud &  pointcloud, const bool  write_ascii, const bool  compressed, PCDHeader &  header  )

static

Definition at line 684 of file FilePCD.cpp.

References ASCII, BINARY, BINARY_COMPRESSED, compressed, cloudViewer::t::io::PCLPointField::count, cloudViewer::t::io::PCDHeader::datatype, cloudViewer::t::io::PCDHeader::elementnum, cloudViewer::t::io::PCDHeader::fields, cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::HasPointColors(), cloudViewer::t::geometry::PointCloud::HasPointNormals(), cloudViewer::t::geometry::PointCloud::HasPointPositions(), cloudViewer::t::io::PCDHeader::height, LogWarning, cloudViewer::t::io::PCLPointField::name, cloudViewer::t::io::PCDHeader::points, cloudViewer::t::io::PCDHeader::pointsize, SetPCDHeaderFieldTypeAndSizeFromDtype(), cloudViewer::t::io::PCLPointField::size, cloudViewer::core::SizeVector::ToString(), cloudViewer::t::io::PCLPointField::type, cloudViewer::t::io::PCDHeader::version, cloudViewer::t::io::PCDHeader::width, and write_ascii.

Referenced by cloudViewer::io::WritePointCloudToPCD(), and WritePointCloudToPCD().

GetDtypeFromPCDHeaderField()

static core::Dtype cloudViewer::t::io::GetDtypeFromPCDHeaderField ( char  type, int  size  )

static

Definition at line 91 of file FilePCD.cpp.

References cloudViewer::core::Dtype::Float32, cloudViewer::core::Dtype::Float64, cloudViewer::core::Dtype::Int16, cloudViewer::core::Dtype::Int32, cloudViewer::core::Dtype::Int64, cloudViewer::core::Dtype::Int8, LogError, size, type, cloudViewer::core::Dtype::UInt16, cloudViewer::core::Dtype::UInt32, cloudViewer::core::Dtype::UInt64, and cloudViewer::core::Dtype::UInt8.

Referenced by InitializeHeader(), ReadASCIIPCDElementsFromField(), and ReadBinaryPCDElementsFromField().

InitializeHeader()

static bool cloudViewer::t::io::InitializeHeader ( PCDHeader &  header )

static

Definition at line 123 of file FilePCD.cpp.

References cloudViewer::t::io::PCDHeader::attr_dtype, cloudViewer::t::io::PCDHeader::fields, GetDtypeFromPCDHeaderField(), cloudViewer::t::io::PCDHeader::has_attr, LogWarning, cloudViewer::t::io::PCDHeader::points, and cloudViewer::t::io::PCDHeader::pointsize.

Referenced by ReadPCDHeader().

PackColorsToFloat()

static core::Tensor cloudViewer::t::io::PackColorsToFloat ( const core::Tensor &  colors_contiguous )

static

Definition at line 904 of file FilePCD.cpp.

References DISPATCH_DTYPE_TO_TEMPLATE, cloudViewer::core::Tensor::Empty(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetDtype(), and cloudViewer::core::Tensor::GetLength().

Referenced by WritePCDData().

ParseNpyHeaderFromBuffer()

static std::tuple<core::SizeVector, char, int64_t, bool> cloudViewer::t::io::ParseNpyHeaderFromBuffer ( const char *  buffer )

static

Definition at line 325 of file NumpyIO.cpp.

References ParseNpyPreamble(), and ParsePropertyDict().

Referenced by CreateNumpyArrayFromCompressedFile().

ParseNpyHeaderFromFile()

static std::tuple<core::SizeVector, char, int64_t, bool> cloudViewer::t::io::ParseNpyHeaderFromFile ( FILE *  fp )

static

Definition at line 303 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Data(), LogError, ParseNpyPreamble(), and ParsePropertyDict().

Referenced by CreateNumpyArrayFromFile().

ParseNpyPreamble()

static size_t cloudViewer::t::io::ParseNpyPreamble ( const char *  preamble )

static

Definition at line 281 of file NumpyIO.cpp.

References LogError.

Referenced by ParseNpyHeaderFromBuffer(), and ParseNpyHeaderFromFile().

ParsePropertyDict()

static std::tuple<core::SizeVector, char, int64_t, bool> cloudViewer::t::io::ParsePropertyDict ( const std::string &  header )

static

Definition at line 207 of file NumpyIO.cpp.

References cloudViewer::core::SmallVectorImpl< T >::clear(), LogError, cloudViewer::core::SmallVectorTemplateBase< T, bool >::push_back(), and type.

Referenced by ParseNpyHeaderFromBuffer(), and ParseNpyHeaderFromFile().

ParseZipFooter()

static std::tuple<size_t, size_t, size_t> cloudViewer::t::io::ParseZipFooter ( FILE *  fp )

static

Definition at line 331 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Data(), LogError, and SEEK_END.

Referenced by WriteNpzOneTensor().

pybind_class_io()

void cloudViewer::t::io::pybind_class_io

(

py::module &

m_io

)

Definition at line 71 of file class_io.cpp.

References filename, format, cloudViewer::docstring::FunctionDocInject(), image, kCloudViewerImageIODefaultQuality, map_shared_argument_docstrings, cloudViewer::t::geometry::path, ReadImage(), and WriteImage().

Referenced by pybind_io().

pybind_io()

void cloudViewer::t::io::pybind_io

(

py::module &

m

)

Definition at line 16 of file io.cpp.

References pybind_class_io(), and pybind_sensor().

Referenced by cloudViewer::t::pybind_t().

pybind_sensor()

void cloudViewer::t::io::pybind_sensor

(

py::module &

m

)

Definition at line 26 of file sensor.cpp.

References AZURE_KINECT, cloudViewer::t::io::RealSenseSensor::CaptureFrame(), cloudViewer::docstring::ClassMethodDocInject(), cloudViewer::t::io::RSBagReader::Close(), cloudViewer::t::io::RGBDVideoMetadata::color_channels_, cloudViewer::t::io::RGBDVideoMetadata::color_dt_, cloudViewer::t::io::RGBDVideoMetadata::color_format_, cloudViewer::t::io::RGBDVideoReader::Create(), cloudViewer::t::io::RSBagReader::DEFAULT_BUFFER_SIZE, cloudViewer::t::io::RGBDVideoMetadata::depth_dt_, cloudViewer::t::io::RGBDVideoMetadata::depth_format_, cloudViewer::t::io::RGBDVideoMetadata::depth_scale_, cloudViewer::t::io::RGBDVideoMetadata::device_name_, cloudViewer::t::io::RealSenseSensor::EnumerateDevices(), filename, cloudViewer::t::io::RGBDVideoMetadata::fps_, cloudViewer::t::io::RealSenseSensor::GetFilename(), cloudViewer::t::io::RealSenseSensor::GetMetadata(), cloudViewer::t::io::RSBagReader::GetMetadata(), cloudViewer::t::io::RealSenseSensor::GetTimestamp(), cloudViewer::t::io::RSBagReader::GetTimestamp(), cloudViewer::t::io::RGBDVideoMetadata::height_, cloudViewer::t::io::RealSenseSensor::InitSensor(), cloudViewer::t::io::RGBDVideoMetadata::intrinsics_, cloudViewer::t::io::RSBagReader::IsEOF(), cloudViewer::t::io::RSBagReader::IsOpened(), cloudViewer::t::io::RealSenseSensor::ListDevices(), map_shared_argument_docstrings, cloudViewer::t::io::RealSenseValidConfigs::name, cloudViewer::t::io::RSBagReader::NextFrame(), cloudViewer::t::io::RSBagReader::Open(), cloudViewer::t::geometry::path, cloudViewer::t::io::RealSenseSensor::PauseRecord(), REAL_SENSE, cloudViewer::t::io::RealSenseSensor::ResumeRecord(), cloudViewer::t::io::RGBDVideoReader::RGBDVideoReader(), cloudViewer::t::io::RSBagReader::SaveFrames(), cloudViewer::t::io::RGBDVideoReader::SaveFrames(), cloudViewer::t::io::RSBagReader::SeekTimestamp(), cloudViewer::t::io::RealSenseValidConfigs::serial, cloudViewer::t::io::RGBDVideoMetadata::serial_number_, cloudViewer::t::io::RealSenseSensor::StartCapture(), cloudViewer::t::io::RealSenseSensor::StopCapture(), cloudViewer::t::io::RGBDVideoMetadata::stream_length_usec_, cloudViewer::utility::IJsonConvertible::ToString(), cloudViewer::t::io::RealSenseSensor::ToString(), cloudViewer::t::io::RSBagReader::ToString(), cloudViewer::t::io::RGBDSensor::ToString(), cloudViewer::t::io::RGBDVideoReader::ToString(), cloudViewer::t::io::RealSenseValidConfigs::valid_configs, and cloudViewer::t::io::RGBDVideoMetadata::width_.

Referenced by pybind_io().

ReadASCIIPCDColorsFromField()

static void cloudViewer::t::io::ReadASCIIPCDColorsFromField ( ReadAttributePtr &  attr, const PCLPointField &  field, const char *  data_ptr, const int  index  )

static

Definition at line 302 of file FilePCD.cpp.

References cloudViewer::t::io::ReadAttributePtr::data_ptr_, cloudViewer::t::io::ReadAttributePtr::row_length_, cloudViewer::t::io::PCLPointField::size, and cloudViewer::t::io::PCLPointField::type.

Referenced by ReadPCDData().

ReadASCIIPCDElementsFromField()

static void cloudViewer::t::io::ReadASCIIPCDElementsFromField ( ReadAttributePtr &  attr, const PCLPointField &  field, const char *  data_ptr, const int  index  )

static

Definition at line 407 of file FilePCD.cpp.

References DISPATCH_DTYPE_TO_TEMPLATE, GetDtypeFromPCDHeaderField(), cloudViewer::t::io::PCLPointField::size, and cloudViewer::t::io::PCLPointField::type.

Referenced by ReadPCDData().

ReadBinaryPCDColorsFromField()

static void cloudViewer::t::io::ReadBinaryPCDColorsFromField ( ReadAttributePtr &  attr, const PCLPointField &  field, const void *  data_ptr, const int  index  )

static

Definition at line 421 of file FilePCD.cpp.

References cloudViewer::t::io::ReadAttributePtr::data_ptr_, cloudViewer::t::io::ReadAttributePtr::row_length_, and cloudViewer::t::io::PCLPointField::size.

Referenced by ReadPCDData().

ReadBinaryPCDElementsFromField()

static void cloudViewer::t::io::ReadBinaryPCDElementsFromField ( ReadAttributePtr &  attr, const PCLPointField &  field, const void *  data_ptr, const int  index  )

static

Definition at line 443 of file FilePCD.cpp.

References DISPATCH_DTYPE_TO_TEMPLATE, GetDtypeFromPCDHeaderField(), cloudViewer::t::io::PCLPointField::size, and cloudViewer::t::io::PCLPointField::type.

Referenced by ReadPCDData().

ReadFileGeometryTypeTXT()

cloudViewer::io::FileGeometry cloudViewer::t::io::ReadFileGeometryTypeTXT

(

const std::string &

path

)

Definition at line 23 of file FileTXT.cpp.

References cloudViewer::io::CONTAINS_POINTS.

ReadFileGeometryTypeXYZI()

cloudViewer::io::FileGeometry cloudViewer::t::io::ReadFileGeometryTypeXYZI

(

const std::string &

path

)

Definition at line 24 of file FileXYZI.cpp.

References cloudViewer::io::CONTAINS_POINTS.

ReadHashMap()

core::HashMap cloudViewer::t::io::ReadHashMap

(

const std::string &

filename

)

Read a hash map's keys and values from a npz file at 'key' and 'value'. Return a hash map on CPU.

Parameters

filename

The npz file name to read from.

Definition at line 48 of file HashMapIO.cpp.

References cloudViewer::core::SmallVectorTemplateCommon< T, typename >::begin(), cloudViewer::core::SmallVectorTemplateCommon< T, typename >::end(), format, cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), cloudViewer::core::Tensor::GetShape(), and ReadNpz().

Referenced by cloudViewer::core::HashMap::Load(), and cloudViewer::core::HashSet::Load().

ReadImage()

bool cloudViewer::t::io::ReadImage	(	const std::string &	filename,
		geometry::Image &	image
	)

The general entrance for reading an Image from a file The function calls read functions based on the extension name of filename.

Parameters

filename	Full path to image. Supported file formats are png, jpg/jpeg.
image	An object of type cloudViewer::t::geometry::Image.

Returns

return true if the read function is successful, false otherwise.

Definition at line 55 of file ImageIO.cpp.

References filename, image, and LogWarning.

Referenced by CreateImageFromFile(), and pybind_class_io().

ReadImageFromJPG()

bool cloudViewer::t::io::ReadImageFromJPG	(	const std::string &	filename,
		geometry::Image &	image
	)

Definition at line 41 of file FileJPG.cpp.

References filename, cloudViewer::utility::filesystem::FOpen(), image, LogWarning, cloudViewer::core::MemoryManager::MemcpyFromHost(), NULL, TRUE, and cloudViewer::core::UInt8.

ReadImageFromPNG()

bool cloudViewer::t::io::ReadImageFromPNG	(	const std::string &	filename,
		geometry::Image &	image
	)

Definition at line 39 of file FilePNG.cpp.

References filename, image, LogWarning, NULL, cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

ReadNpy()

core::Tensor cloudViewer::t::io::ReadNpy

(

const std::string &

file_name

)

Read Numpy .npy file to a tensor.

Parameters

file_name

The file name to read from.

Definition at line 662 of file NumpyIO.cpp.

References CreateNumpyArrayFromFile(), cloudViewer::utility::filesystem::CFile::GetError(), cloudViewer::utility::filesystem::CFile::GetFILE(), LogError, cloudViewer::utility::filesystem::CFile::Open(), and cloudViewer::t::io::NumpyArray::ToTensor().

Referenced by cloudViewer::core::Tensor::Load().

ReadNpz()

std::unordered_map< std::string, core::Tensor > cloudViewer::t::io::ReadNpz

(

const std::string &

file_name

)

Read Numpy .npz file to an unordered_map from string to tensor.

Parameters

file_name

The file name to read from.

Definition at line 675 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Begin(), CreateNumpyArrayFromCompressedFile(), CreateNumpyArrayFromFile(), cloudViewer::t::io::CharVector::Data(), cloudViewer::t::io::CharVector::End(), cloudViewer::utility::filesystem::CFile::GetError(), cloudViewer::utility::filesystem::CFile::GetFILE(), LogError, cloudViewer::utility::filesystem::CFile::Open(), and cloudViewer::t::io::NumpyArray::ToTensor().

Referenced by cloudViewer::t::geometry::VoxelBlockGrid::Load(), ReadHashMap(), ReadPointCloudFromNPZ(), and ReadTriangleMeshFromNPZ().

ReadPCDData()

static bool cloudViewer::t::io::ReadPCDData ( FILE *  file, PCDHeader &  header, t::geometry::PointCloud &  pointcloud, const ReadPointCloudOption &  params  )

static

Definition at line 457 of file FilePCD.cpp.

References ASCII, cloudViewer::t::io::PCDHeader::attr_dtype, BINARY, BINARY_COMPRESSED, cloudViewer::t::geometry::PointCloud::Clear(), colors, cloudViewer::t::io::PCDHeader::datatype, DEFAULT_IO_BUFFER_SIZE, cloudViewer::t::io::PCDHeader::elementnum, cloudViewer::core::Tensor::Empty(), cloudViewer::t::io::PCDHeader::fields, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointColors(), cloudViewer::t::geometry::PointCloud::GetPointNormals(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::io::PCDHeader::has_attr, LogDebug, LogWarning, params, cloudViewer::t::io::PCDHeader::points, cloudViewer::t::io::PCDHeader::pointsize, ReadASCIIPCDColorsFromField(), ReadASCIIPCDElementsFromField(), ReadBinaryPCDColorsFromField(), ReadBinaryPCDElementsFromField(), cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::t::geometry::PointCloud::SetPointColors(), cloudViewer::t::geometry::PointCloud::SetPointNormals(), cloudViewer::t::geometry::PointCloud::SetPointPositions(), cloudViewer::utility::CountingProgressReporter::SetTotal(), cloudViewer::utility::SplitString(), cloudViewer::core::UInt8, and cloudViewer::utility::CountingProgressReporter::Update().

Referenced by cloudViewer::io::ReadPointCloudFromPCD(), and ReadPointCloudFromPCD().

ReadPCDHeader()

static bool cloudViewer::t::io::ReadPCDHeader ( FILE *  file, PCDHeader &  header  )

static

Definition at line 197 of file FilePCD.cpp.

References ASCII, BINARY, BINARY_COMPRESSED, count_offset, cloudViewer::t::io::PCDHeader::datatype, DEFAULT_IO_BUFFER_SIZE, cloudViewer::t::io::PCDHeader::elementnum, cloudViewer::t::io::PCDHeader::fields, cloudViewer::t::io::PCDHeader::height, InitializeHeader(), LogWarning, offset, cloudViewer::t::io::PCDHeader::points, cloudViewer::t::io::PCDHeader::pointsize, cloudViewer::utility::SplitString(), cloudViewer::t::io::PCDHeader::version, cloudViewer::t::io::PCDHeader::viewpoint, and cloudViewer::t::io::PCDHeader::width.

Referenced by cloudViewer::io::ReadPointCloudFromPCD(), and ReadPointCloudFromPCD().

ReadPointCloud() [1/2]

bool cloudViewer::t::io::ReadPointCloud	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const ReadPointCloudOption &	params = {}
	)

The general entrance for reading a PointCloud from a file The function calls read functions based on the extension name of filename. See ReadPointCloudOption for additional options you can pass.

Returns

return true if the read function is successful, false otherwise.

Definition at line 72 of file PointCloudIO.cpp.

References file_extension_to_pointcloud_read_function, filename, format, cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), LogDebug, LogError, LogWarning, and params.

Referenced by cloudViewer::t::geometry::ComputeBoundaryPoints(), cloudViewer::t::pipelines::registration::ComputeFPFHFeature(), cloudViewer::t::geometry::CropByAxisAlignedBox(), cloudViewer::t::geometry::CropByOrientedBox(), cloudViewer::t::geometry::EstimateNormals(), cloudViewer::t::geometry::IOReadTensorPointCloud(), cloudViewer::t::geometry::IOWriteTensorPointCloud(), cloudViewer::t::pipelines::registration::LoadTensorDopplerPointCloudFromFile(), cloudViewer::t::pipelines::registration::LoadTensorPointCloudFromFile(), cloudViewer::t::geometry::RemoveRadiusOutliers(), cloudViewer::t::geometry::RemoveStatisticalOutliers(), cloudViewer::t::geometry::SelectByIndex(), cloudViewer::t::geometry::Transform(), cloudViewer::t::geometry::UniformDownSample(), and cloudViewer::t::geometry::VoxelDownSample().

ReadPointCloud() [2/2]

bool cloudViewer::t::io::ReadPointCloud	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const std::string &	file_format,
		bool	remove_nan_points,
		bool	remove_infinite_points,
		bool	print_progress
	)

Definition at line 112 of file PointCloudIO.cpp.

ReadPointCloudFromNPZ()

bool cloudViewer::t::io::ReadPointCloudFromNPZ	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const ReadPointCloudOption &	params
	)

Definition at line 178 of file PointCloudIO.cpp.

References filename, and ReadNpz().

ReadPointCloudFromPCD()

bool cloudViewer::t::io::ReadPointCloudFromPCD	(	const std::string &	filename,
		t::geometry::PointCloud &	pointcloud,
		const ReadPointCloudOption &	params
	)

Definition at line 1140 of file FilePCD.cpp.

References cloudViewer::t::io::PCDHeader::datatype, cloudViewer::t::io::PCDHeader::fields, filename, cloudViewer::utility::filesystem::FOpen(), cloudViewer::t::io::PCDHeader::has_attr, LogDebug, LogWarning, NULL, params, cloudViewer::t::io::PCDHeader::points, cloudViewer::t::io::PCDHeader::pointsize, ReadPCDData(), and ReadPCDHeader().

ReadPointCloudFromPLY()

bool cloudViewer::t::io::ReadPointCloudFromPLY	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const cloudViewer::io::ReadPointCloudOption &	params
	)

Definition at line 176 of file FilePLY.cpp.

References DISPATCH_DTYPE_TO_TEMPLATE, cloudViewer::core::Tensor::Empty(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, cloudViewer::t::geometry::PointCloud::GetDevice(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::IsGaussianSplat(), LogDebug, LogError, LogWarning, name, offset, params, cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::utility::CountingProgressReporter::SetTotal(), size, stride, type, and cloudViewer::core::Undefined.

ReadPointCloudFromPTS()

bool cloudViewer::t::io::ReadPointCloudFromPTS	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const ReadPointCloudOption &	params
	)

Definition at line 23 of file FilePTS.cpp.

References cloudViewer::t::geometry::PointCloud::Clear(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, format, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::utility::filesystem::CFile::GetFILE(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointColors(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, cloudViewer::utility::filesystem::CFile::ReadLine(), cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::t::geometry::PointCloud::SetPointColors(), cloudViewer::t::geometry::PointCloud::SetPointPositions(), cloudViewer::utility::CountingProgressReporter::SetTotal(), cloudViewer::utility::SplitString(), cloudViewer::core::UInt8, and cloudViewer::utility::CountingProgressReporter::Update().

ReadPointCloudFromSPLAT()

bool cloudViewer::t::io::ReadPointCloudFromSPLAT	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const cloudViewer::io::ReadPointCloudOption &	params
	)

Definition at line 84 of file FileSPLAT.cpp.

References cloudViewer::t::geometry::PointCloud::Clear(), cloudViewer::utility::filesystem::CFile::CurPos(), cloudViewer::core::Tensor::Empty(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::utility::filesystem::CFile::GetFileSize(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), LogError, LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, cloudViewer::utility::filesystem::CFile::ReadData(), cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::t::geometry::PointCloud::SetPointPositions(), cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

ReadPointCloudFromTXT()

bool cloudViewer::t::io::ReadPointCloudFromTXT	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const cloudViewer::io::ReadPointCloudOption &	params
	)

Definition at line 27 of file FileTXT.cpp.

References cloudViewer::t::geometry::PointCloud::Clear(), cloudViewer::utility::filesystem::CFile::CurPos(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::utility::filesystem::CFile::GetFileSize(), cloudViewer::utility::filesystem::CFile::GetNumLines(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, cloudViewer::utility::filesystem::CFile::ReadLine(), cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::t::geometry::PointCloud::SetPointPositions(), cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

ReadPointCloudFromXYZI()

bool cloudViewer::t::io::ReadPointCloudFromXYZI	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const cloudViewer::io::ReadPointCloudOption &	params
	)

Definition at line 29 of file FileXYZI.cpp.

References cloudViewer::t::geometry::PointCloud::Clear(), cloudViewer::utility::filesystem::CFile::CurPos(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float64, cloudViewer::utility::filesystem::CFile::GetFileSize(), cloudViewer::utility::filesystem::CFile::GetNumLines(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, points, cloudViewer::utility::filesystem::CFile::ReadLine(), cloudViewer::t::geometry::PointCloud::SetPointAttr(), cloudViewer::t::geometry::PointCloud::SetPoints(), cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

ReadTriangleMesh()

bool cloudViewer::t::io::ReadTriangleMesh	(	const std::string &	filename,
		geometry::TriangleMesh &	mesh,
		cloudViewer::io::ReadTriangleMeshOptions	params = {}
	)

The general entrance for reading a TriangleMesh from a file. The function calls read functions based on the extension name of filename. Supported formats are obj,ply,stl,off,gltf,glb,fbx .

Parameters

filename	Path to the mesh file.
mesh	Output parameter for the mesh.
params	Additional read options to enable post-processing or progress reporting.

Returns

return true if the read function is successful, false otherwise.

Definition at line 74 of file TriangleMeshIO.cpp.

References file_extension_to_trianglemesh_read_function, filename, cloudViewer::t::geometry::TriangleMesh::FromLegacy(), cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::TriangleMesh::GetTriangleIndices(), cloudViewer::t::geometry::TriangleMesh::GetVertexPositions(), cloudViewer::t::geometry::TriangleMesh::HasTriangleIndices(), cloudViewer::t::geometry::TriangleMesh::HasVertexPositions(), LogDebug, LogWarning, params, and cloudViewer::io::ReadTriangleMesh().

Referenced by cloudViewer::t::geometry::IOReadTensorTriangleMesh().

ReadTriangleMeshFromNPZ()

bool cloudViewer::t::io::ReadTriangleMeshFromNPZ	(	const std::string &	filename,
		geometry::TriangleMesh &	mesh,
		const cloudViewer::io::ReadTriangleMeshOptions &	params
	)

Definition at line 148 of file TriangleMeshIO.cpp.

References filename, cloudViewer::t::geometry::DrawableGeometry::GetMaterial(), cloudViewer::visualization::rendering::Material::IsValid(), LogWarning, ReadNpz(), cloudViewer::visualization::rendering::Material::SetDefaultProperties(), cloudViewer::visualization::rendering::Material::SetMaterialName(), cloudViewer::visualization::rendering::Material::SetScalarProperty(), cloudViewer::visualization::rendering::Material::SetTextureMap(), cloudViewer::t::geometry::TriangleMesh::SetTriangleAttr(), cloudViewer::t::geometry::TriangleMesh::SetTriangleColors(), cloudViewer::t::geometry::TriangleMesh::SetTriangleIndices(), cloudViewer::t::geometry::TriangleMesh::SetTriangleNormals(), cloudViewer::t::geometry::TriangleMesh::SetVertexAttr(), cloudViewer::t::geometry::TriangleMesh::SetVertexColors(), cloudViewer::t::geometry::TriangleMesh::SetVertexNormals(), and cloudViewer::t::geometry::TriangleMesh::SetVertexPositions().

ReadTriangleMeshUsingASSIMP()

bool cloudViewer::t::io::ReadTriangleMeshUsingASSIMP	(	const std::string &	filename,
		geometry::TriangleMesh &	mesh,
		const cloudViewer::io::ReadTriangleMeshOptions &	params
	)

Definition at line 46 of file FileASSIMP.cpp.

References cloudViewer::t::geometry::TriangleMesh::Clear(), cloudViewer::core::Concatenate(), cloudViewer::core::Tensor::Empty(), filename, cloudViewer::core::Dtype::Float32, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Dtype::Int64, kPostProcessFlags_compulsory, kPostProcessFlags_fast, LogWarning, cloudViewer::core::ParallelFor(), params, cloudViewer::t::geometry::TriangleMesh::SetTriangleAttr(), cloudViewer::t::geometry::TriangleMesh::SetTriangleIndices(), cloudViewer::t::geometry::TriangleMesh::SetVertexColors(), cloudViewer::t::geometry::TriangleMesh::SetVertexNormals(), and cloudViewer::t::geometry::TriangleMesh::SetVertexPositions().

SetPCDHeaderFieldTypeAndSizeFromDtype()

static void cloudViewer::t::io::SetPCDHeaderFieldTypeAndSizeFromDtype ( const core::Dtype &  dtype, PCLPointField &  field  )

static

Definition at line 647 of file FilePCD.cpp.

References cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Int16, cloudViewer::core::Int32, cloudViewer::core::Int64, cloudViewer::core::Int8, LogError, cloudViewer::t::io::PCLPointField::size, cloudViewer::t::io::PCLPointField::type, cloudViewer::core::UInt16, cloudViewer::core::UInt32, cloudViewer::core::UInt64, and cloudViewer::core::UInt8.

Referenced by GenerateHeader().

SetPNGImageFromImage()

static void cloudViewer::t::io::SetPNGImageFromImage ( const geometry::Image &  image, int  quality, png_image &  pngimage  )

static

Definition at line 18 of file FilePNG.cpp.

References image, and cloudViewer::core::UInt16.

Referenced by WriteImageToPNG(), and WriteImageToPNGInMemory().

SetTextureMaterialProperty()

static void cloudViewer::t::io::SetTextureMaterialProperty ( aiMaterial *  mat, aiScene *  scene, int  texture_idx, aiTextureType  tt, t::geometry::Image &  img  )

static

Definition at line 180 of file FileASSIMP.cpp.

References patch::to_string(), and WriteImageToPNGInMemory().

STRINGIFY_ENUM() [1/5]

cloudViewer::t::io::STRINGIFY_ENUM	(	rs2_format	,
		{ {RS2_FORMAT_ANY, "RS2_FORMAT_ANY"}, {RS2_FORMAT_Z16, "RS2_FORMAT_Z16"}, {RS2_FORMAT_DISPARITY16, "RS2_FORMAT_DISPARITY16"}, {RS2_FORMAT_XYZ32F, "RS2_FORMAT_XYZ32F"}, {RS2_FORMAT_YUYV, "RS2_FORMAT_YUYV"}, {RS2_FORMAT_RGB8, "RS2_FORMAT_RGB8"}, {RS2_FORMAT_BGR8, "RS2_FORMAT_BGR8"}, {RS2_FORMAT_RGBA8, "RS2_FORMAT_RGBA8"}, {RS2_FORMAT_BGRA8, "RS2_FORMAT_BGRA8"}, {RS2_FORMAT_Y8, "RS2_FORMAT_Y8"}, {RS2_FORMAT_Y16, "RS2_FORMAT_Y16"}, {RS2_FORMAT_RAW10, "RS2_FORMAT_RAW10"}, {RS2_FORMAT_RAW16, "RS2_FORMAT_RAW16"}, {RS2_FORMAT_RAW8, "RS2_FORMAT_RAW8"}, {RS2_FORMAT_UYVY, "RS2_FORMAT_UYVY"}, {RS2_FORMAT_MOTION_RAW, "RS2_FORMAT_MOTION_RAW"}, {RS2_FORMAT_MOTION_XYZ32F, "RS2_FORMAT_MOTION_XYZ32F"}, {RS2_FORMAT_GPIO_RAW, "RS2_FORMAT_GPIO_RAW"}, {RS2_FORMAT_6DOF, "RS2_FORMAT_6DOF"}, {RS2_FORMAT_DISPARITY32, "RS2_FORMAT_DISPARITY32"}, {RS2_FORMAT_Y10BPACK, "RS2_FORMAT_Y10BPACK"}, {RS2_FORMAT_DISTANCE, "RS2_FORMAT_DISTANCE"}, {RS2_FORMAT_MJPEG, "RS2_FORMAT_MJPEG"}, {RS2_FORMAT_Y8I, "RS2_FORMAT_Y8I"}, {RS2_FORMAT_Y12I, "RS2_FORMAT_Y12I"}, {RS2_FORMAT_INZI, "RS2_FORMAT_INZI"}, {RS2_FORMAT_INVI, "RS2_FORMAT_INVI"}, {RS2_FORMAT_W10, "RS2_FORMAT_W10"}, {RS2_FORMAT_Z16H, "RS2_FORMAT_Z16H"} }
	)

RS2 pixel formats.

STRINGIFY_ENUM() [2/5]

cloudViewer::t::io::STRINGIFY_ENUM	(	rs2_l500_visual_preset	,
		{ {RS2_L500_VISUAL_PRESET_DEFAULT, "RS2_L500_VISUAL_PRESET_DEFAULT"}, {RS2_L500_VISUAL_PRESET_CUSTOM, "RS2_L500_VISUAL_PRESET_CUSTOM"}, {RS2_L500_VISUAL_PRESET_NO_AMBIENT, "RS2_L500_VISUAL_PRESET_NO_AMBIENT"}, {RS2_L500_VISUAL_PRESET_LOW_AMBIENT, "RS2_L500_VISUAL_PRESET_LOW_AMBIENT"}, {RS2_L500_VISUAL_PRESET_MAX_RANGE, "RS2_L500_VISUAL_PRESET_MAX_RANGE"}, {RS2_L500_VISUAL_PRESET_SHORT_RANGE, "RS2_L500_VISUAL_PRESET_SHORT_RANGE"} }
	)

RS2 visual presets for L500 devices.

STRINGIFY_ENUM() [3/5]

cloudViewer::t::io::STRINGIFY_ENUM	(	rs2_rs400_visual_preset	,
		{ {RS2_RS400_VISUAL_PRESET_DEFAULT, "RS2_RS400_VISUAL_PRESET_DEFAULT"}, {RS2_RS400_VISUAL_PRESET_CUSTOM, "RS2_RS400_VISUAL_PRESET_CUSTOM"}, {RS2_RS400_VISUAL_PRESET_HAND, "RS2_RS400_VISUAL_PRESET_HAND"}, {RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY, "RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY"}, {RS2_RS400_VISUAL_PRESET_HIGH_DENSITY, "RS2_RS400_VISUAL_PRESET_HIGH_DENSITY"}, {RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY, "RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY"}, {RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN, "RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN"} }
	)

RS2 visual presets for RS400 devices.

STRINGIFY_ENUM() [4/5]

cloudViewer::t::io::STRINGIFY_ENUM	(	rs2_sr300_visual_preset	,
		{ {RS2_SR300_VISUAL_PRESET_DEFAULT, "RS2_SR300_VISUAL_PRESET_DEFAULT"}, {RS2_SR300_VISUAL_PRESET_SHORT_RANGE, "RS2_SR300_VISUAL_PRESET_SHORT_RANGE"}, {RS2_SR300_VISUAL_PRESET_LONG_RANGE, "RS2_SR300_VISUAL_PRESET_LONG_RANGE"}, {RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION, "RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION"}, {RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION, "RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION"}, {RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING, "RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING"}, {RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS, "RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS"}, {RS2_SR300_VISUAL_PRESET_FACE_LOGIN, "RS2_SR300_VISUAL_PRESET_FACE_LOGIN"}, {RS2_SR300_VISUAL_PRESET_GR_CURSOR, "RS2_SR300_VISUAL_PRESET_GR_CURSOR"}, {RS2_SR300_VISUAL_PRESET_MID_RANGE, "RS2_SR300_VISUAL_PRESET_MID_RANGE"}, {RS2_SR300_VISUAL_PRESET_IR_ONLY, "RS2_SR300_VISUAL_PRESET_IR_ONLY"} }
	)

STRINGIFY_ENUM() [5/5]

cloudViewer::t::io::STRINGIFY_ENUM	(	rs2_stream	,
		{ {RS2_STREAM_ANY, "RS2_STREAM_ANY"}, {RS2_STREAM_DEPTH, "RS2_STREAM_DEPTH"}, {RS2_STREAM_COLOR, "RS2_STREAM_COLOR"}, {RS2_STREAM_INFRARED, "RS2_STREAM_INFRARED"}, {RS2_STREAM_FISHEYE, "RS2_STREAM_FISHEYE"}, {RS2_STREAM_GYRO, "RS2_STREAM_GYRO"}, {RS2_STREAM_ACCEL, "RS2_STREAM_ACCEL"}, {RS2_STREAM_GPIO, "RS2_STREAM_GPIO"}, {RS2_STREAM_POSE, "RS2_STREAM_POSE"}, {RS2_STREAM_CONFIDENCE, "RS2_STREAM_CONFIDENCE"} }
	)

RS2 stream types.

UnpackASCIIPCDElement()

template<typename scalar_t >

static void cloudViewer::t::io::UnpackASCIIPCDElement ( scalar_t &  data, const char *  data_ptr  )

staticdelete

UnpackASCIIPCDElement< double >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< double >	(	double &	data,
		const char *	data_ptr
	)

Definition at line 346 of file FilePCD.cpp.

UnpackASCIIPCDElement< float >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< float >	(	float &	data,
		const char *	data_ptr
	)

Definition at line 340 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::int16_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::int16_t >	(	std::int16_t &	data,
		const char *	data_ptr
	)

Definition at line 359 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::int32_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::int32_t >	(	std::int32_t &	data,
		const char *	data_ptr
	)

Definition at line 366 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::int64_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::int64_t >	(	std::int64_t &	data,
		const char *	data_ptr
	)

Definition at line 373 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::int8_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::int8_t >	(	std::int8_t &	data,
		const char *	data_ptr
	)

Definition at line 352 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::uint16_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::uint16_t >	(	std::uint16_t &	data,
		const char *	data_ptr
	)

Definition at line 387 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::uint32_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::uint32_t >	(	std::uint32_t &	data,
		const char *	data_ptr
	)

Definition at line 394 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::uint64_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::uint64_t >	(	std::uint64_t &	data,
		const char *	data_ptr
	)

Definition at line 401 of file FilePCD.cpp.

UnpackASCIIPCDElement< std::uint8_t >()

template<>

void cloudViewer::t::io::UnpackASCIIPCDElement< std::uint8_t >	(	std::uint8_t &	data,
		const char *	data_ptr
	)

Definition at line 380 of file FilePCD.cpp.

WriteElementDataToFileASCII()

template<typename scalar_t >

static int cloudViewer::t::io::WriteElementDataToFileASCII ( const scalar_t &  data, FILE *  file  )

staticdelete

WriteElementDataToFileASCII< double >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< double >	(	const double &	data,
		FILE *	file
	)

Definition at line 936 of file FilePCD.cpp.

WriteElementDataToFileASCII< float >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< float >	(	const float &	data,
		FILE *	file
	)

Definition at line 931 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::int16_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::int16_t >	(	const std::int16_t &	data,
		FILE *	file
	)

Definition at line 947 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::int32_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::int32_t >	(	const std::int32_t &	data,
		FILE *	file
	)

Definition at line 953 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::int64_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::int64_t >	(	const std::int64_t &	data,
		FILE *	file
	)

Definition at line 959 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::int8_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::int8_t >	(	const std::int8_t &	data,
		FILE *	file
	)

Definition at line 941 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::uint16_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::uint16_t >	(	const std::uint16_t &	data,
		FILE *	file
	)

Definition at line 971 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::uint32_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::uint32_t >	(	const std::uint32_t &	data,
		FILE *	file
	)

Definition at line 977 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::uint64_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::uint64_t >	(	const std::uint64_t &	data,
		FILE *	file
	)

Definition at line 983 of file FilePCD.cpp.

WriteElementDataToFileASCII< std::uint8_t >()

template<>

int cloudViewer::t::io::WriteElementDataToFileASCII< std::uint8_t >	(	const std::uint8_t &	data,
		FILE *	file
	)

Definition at line 965 of file FilePCD.cpp.

WriteHashMap()

void cloudViewer::t::io::WriteHashMap	(	const std::string &	filename,
		const core::HashMap &	hashmap
	)

Save a hash map's keys and values to a npz file at 'key' and 'value'.

Parameters

filename	The npz file name to write to.
hashmap	HashMap to save.

Definition at line 17 of file HashMapIO.cpp.

References format, cloudViewer::core::HashMap::GetActiveIndices(), cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::core::HashMap::GetKeyTensor(), cloudViewer::core::HashMap::GetValueTensors(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Int64, cloudViewer::t::geometry::kernel::image::To(), cloudViewer::core::Tensor::To(), and WriteNpz().

Referenced by cloudViewer::core::HashMap::Save(), and cloudViewer::core::HashSet::Save().

WriteImage()

bool cloudViewer::t::io::WriteImage	(	const std::string &	filename,
		const geometry::Image &	image,
		int	quality = kCloudViewerImageIODefaultQuality
	)

The general entrance for writing an Image to a file The function calls write functions based on the extension name of filename. If the write function supports quality, the parameter will be used. Otherwise it will be ignored.

Parameters

filename	Full path to image. Supported file formats are png, jpg/jpeg.
image	An object of type cloudViewer::t::geometry::Image.
quality	PNG: [0-9] <=2 fast write for storing intermediate data >=3 (default) normal write for balanced speed and file size JPEG: [0-100] Typically in [70,95]. 90 is default (good quality).

Returns

return true if the write function is successful, false otherwise.

Supported file extensions are png, jpg/jpeg. Data type and number of channels depends on the file extension.

• PNG: Dtype should be one of core::Bool, core::UInt8, core::UInt16 Supported number of channels are 1, 3, and 4.
• JPG: Dtyppe should be core::UInt8 Supported number of channels are 1 and 3.

Definition at line 79 of file ImageIO.cpp.

References filename, cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), image, and LogWarning.

Referenced by pybind_class_io().

WriteImageToJPG()

bool cloudViewer::t::io::WriteImageToJPG	(	const std::string &	filename,
		const geometry::Image &	image,
		int	quality
	)

Definition at line 113 of file FileJPG.cpp.

References filename, cloudViewer::utility::filesystem::FOpen(), image, kCloudViewerImageIODefaultQuality, LogWarning, cloudViewer::core::MemoryManager::MemcpyToHost(), NULL, TRUE, and cloudViewer::core::UInt8.

WriteImageToPNG()

bool cloudViewer::t::io::WriteImageToPNG	(	const std::string &	filename,
		const geometry::Image &	image,
		int	quality
	)

Definition at line 75 of file FilePNG.cpp.

References cloudViewer::core::Bool, filename, image, kCloudViewerImageIODefaultQuality, LogWarning, NULL, SetPNGImageFromImage(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

WriteImageToPNGInMemory()

bool cloudViewer::t::io::WriteImageToPNGInMemory	(	std::vector< uint8_t > &	buffer,
		const t::geometry::Image &	image,
		int	quality
	)

Definition at line 110 of file FilePNG.cpp.

References image, kCloudViewerImageIODefaultQuality, LogWarning, SetPNGImageFromImage(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by SetTextureMaterialProperty().

WriteNpy()

void cloudViewer::t::io::WriteNpy	(	const std::string &	file_name,
		const core::Tensor &	tensor
	)

Save a tensor to a Numpy .npy file.

Parameters

file_name	The file name to write to.
tensor	The tensor to save.

Definition at line 671 of file NumpyIO.cpp.

References cloudViewer::t::io::NumpyArray::Save().

Referenced by cloudViewer::core::Tensor::Save().

WriteNpz()

void cloudViewer::t::io::WriteNpz	(	const std::string &	file_name,
		const std::unordered_map< std::string, core::Tensor > &	tensor_map
	)

Save a string to tensor map as Numpy .npz file.

Parameters

file_name	The file name to write to.
tensor_map	The tensor map to save.

Definition at line 759 of file NumpyIO.cpp.

References cloudViewer::core::Tensor::Contiguous(), cloudViewer::core::Tensor::To(), WriteNpzEmpty(), and WriteNpzOneTensor().

Referenced by cloudViewer::t::geometry::VoxelBlockGrid::Save(), WriteHashMap(), and WritePointCloudToNPZ().

WriteNpzEmpty()

static void cloudViewer::t::io::WriteNpzEmpty ( const std::string &  file_name )

static

Definition at line 468 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Append(), cloudViewer::t::io::CharVector::Data(), cloudViewer::utility::filesystem::CFile::GetError(), cloudViewer::utility::filesystem::CFile::GetFILE(), LogError, cloudViewer::utility::filesystem::CFile::Open(), and cloudViewer::t::io::CharVector::Size().

Referenced by WriteNpz().

WriteNpzOneTensor()

static void cloudViewer::t::io::WriteNpzOneTensor ( const std::string &  file_name, const std::string &  tensor_name, const core::Tensor &  tensor, bool  append  )

static

Definition at line 360 of file NumpyIO.cpp.

References cloudViewer::t::io::CharVector::Append(), cloudViewer::core::SmallVectorTemplateCommon< T, typename >::begin(), cloudViewer::t::io::CharVector::Begin(), cloudViewer::core::Dtype::ByteSize(), CreateNumpyHeader(), cloudViewer::t::io::CharVector::Data(), cloudViewer::core::SmallVectorTemplateCommon< T, typename >::end(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::utility::filesystem::CFile::GetError(), cloudViewer::utility::filesystem::CFile::GetFILE(), cloudViewer::core::Tensor::GetShape(), LogError, cloudViewer::utility::filesystem::CFile::Open(), ParseZipFooter(), cloudViewer::t::io::CharVector::Resize(), SEEK_SET, and cloudViewer::t::io::CharVector::Size().

Referenced by WriteNpz().

WritePCDData()

static bool cloudViewer::t::io::WritePCDData ( FILE *  file, const PCDHeader &  header, const geometry::PointCloud &  pointcloud, const WritePointCloudOption &  params  )

static

Definition at line 988 of file FilePCD.cpp.

References cloudViewer::t::geometry::TensorMap::Contiguous(), cloudViewer::t::io::PCDHeader::datatype, DISPATCH_DTYPE_TO_TEMPLATE, cloudViewer::t::io::PCDHeader::fields, cloudViewer::core::Float32, cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::HasPointColors(), cloudViewer::t::geometry::PointCloud::HasPointNormals(), cloudViewer::t::geometry::PointCloud::IsEmpty(), LogWarning, PackColorsToFloat(), params, cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

Referenced by cloudViewer::io::WritePointCloudToPCD(), and WritePointCloudToPCD().

WritePCDHeader()

static bool cloudViewer::t::io::WritePCDHeader ( FILE *  file, const PCDHeader &  header  )

static

Definition at line 792 of file FilePCD.cpp.

References ASCII, BINARY, BINARY_COMPRESSED, cloudViewer::t::io::PCDHeader::datatype, cloudViewer::t::io::PCDHeader::fields, cloudViewer::t::io::PCDHeader::height, cloudViewer::t::io::PCDHeader::points, cloudViewer::t::io::PCDHeader::version, and cloudViewer::t::io::PCDHeader::width.

Referenced by cloudViewer::io::WritePointCloudToPCD(), and WritePointCloudToPCD().

WritePointCloud() [1/2]

bool cloudViewer::t::io::WritePointCloud	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		bool	write_ascii,
		bool	compressed,
		bool	print_progress
	)

Definition at line 158 of file PointCloudIO.cpp.

WritePointCloud() [2/2]

bool cloudViewer::t::io::WritePointCloud	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const WritePointCloudOption &	params = {}
	)

The general entrance for writing a PointCloud to a file The function calls write functions based on the extension name of filename. See WritePointCloudOption for additional options you can pass.

Returns

return true if the write function is successful, false otherwise.

Definition at line 135 of file PointCloudIO.cpp.

References file_extension_to_pointcloud_write_function, filename, format, cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::IsEmpty(), LogDebug, params, cloudViewer::t::geometry::PointCloud::To(), cloudViewer::t::geometry::PointCloud::ToLegacy(), and cloudViewer::io::WritePointCloud().

Referenced by cloudViewer::t::geometry::IOWriteTensorPointCloud(), and cloudViewer::t::pipelines::slac::PreprocessPointClouds().

WritePointCloudToNPZ()

bool cloudViewer::t::io::WritePointCloudToNPZ	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const WritePointCloudOption &	params
	)

Definition at line 186 of file PointCloudIO.cpp.

References filename, cloudViewer::t::geometry::PointCloud::GetPointAttr(), LogDebug, LogError, params, and WriteNpz().

WritePointCloudToPCD()

bool cloudViewer::t::io::WritePointCloudToPCD	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const WritePointCloudOption &	params
	)

Definition at line 1178 of file FilePCD.cpp.

References AssertTensorDevice, filename, cloudViewer::utility::filesystem::FOpen(), GenerateHeader(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), LogWarning, NULL, params, WritePCDData(), and WritePCDHeader().

WritePointCloudToPLY()

bool cloudViewer::t::io::WritePointCloudToPLY	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const cloudViewer::io::WritePointCloudOption &	params
	)

Definition at line 355 of file FilePLY.cpp.

References cloudViewer::t::geometry::TensorMap::Contiguous(), DISPATCH_DTYPE_TO_TEMPLATE, filename, cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::HasPointColors(), cloudViewer::t::geometry::PointCloud::HasPointNormals(), cloudViewer::t::geometry::PointCloud::IsEmpty(), cloudViewer::t::geometry::PointCloud::IsGaussianSplat(), LogDebug, LogWarning, NULL, params, PLY_ASCII, cloudViewer::utility::CountingProgressReporter::SetTotal(), cloudViewer::t::geometry::PointCloud::To(), patch::to_string(), and cloudViewer::utility::CountingProgressReporter::Update().

WritePointCloudToPTS()

bool cloudViewer::t::io::WritePointCloudToPTS	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const WritePointCloudOption &	params
	)

Definition at line 191 of file FilePTS.cpp.

References AssertTensorShape, colors, ConvertColorTensorToUint8(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::utility::filesystem::CFile::GetFILE(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointColors(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::HasPointAttr(), cloudViewer::t::geometry::PointCloud::HasPointColors(), cloudViewer::t::geometry::PointCloud::HasPointPositions(), cloudViewer::t::geometry::PointCloud::IsEmpty(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, cloudViewer::utility::CountingProgressReporter::SetTotal(), cloudViewer::core::Tensor::To(), and cloudViewer::utility::CountingProgressReporter::Update().

WritePointCloudToSPLAT()

bool cloudViewer::t::io::WritePointCloudToSPLAT	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const cloudViewer::io::WritePointCloudOption &	params
	)

Definition at line 207 of file FileSPLAT.cpp.

References color, cloudViewer::t::geometry::TensorMap::Contiguous(), filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::geometry::PointCloud::IsEmpty(), cloudViewer::t::geometry::PointCloud::IsGaussianSplat(), LogWarning, params, cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

WritePointCloudToTXT()

bool cloudViewer::t::io::WritePointCloudToTXT	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const cloudViewer::io::WritePointCloudOption &	params
	)

Definition at line 132 of file FileTXT.cpp.

References filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::utility::filesystem::CFile::GetFILE(), cloudViewer::utility::filesystem::GetFileExtensionInLowerCase(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, points, cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

WritePointCloudToXYZI()

bool cloudViewer::t::io::WritePointCloudToXYZI	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const cloudViewer::io::WritePointCloudOption &	params
	)

Definition at line 77 of file FileXYZI.cpp.

References filename, cloudViewer::utility::CountingProgressReporter::Finish(), cloudViewer::utility::filesystem::CFile::GetFILE(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPoints(), cloudViewer::core::Tensor::GetShape(), cloudViewer::t::geometry::PointCloud::HasPointAttr(), cloudViewer::core::Tensor::Item(), LogWarning, cloudViewer::utility::filesystem::CFile::Open(), params, points, cloudViewer::utility::CountingProgressReporter::SetTotal(), and cloudViewer::utility::CountingProgressReporter::Update().

WriteTriangleMesh()

bool cloudViewer::t::io::WriteTriangleMesh	(	const std::string &	filename,
		const geometry::TriangleMesh &	mesh,
		bool	write_ascii = false,
		bool	compressed = false,
		bool	write_vertex_normals = true,
		bool	write_vertex_colors = true,
		bool	write_triangle_uvs = true,
		bool	print_progress = false
	)

The general entrance for writing a TriangleMesh to a file The function calls write functions based on the extension name of filename. If the write function supports binary encoding and compression, the later two parameters will be used. Otherwise they will be ignored. At current only .obj format supports uv coordinates (triangle_uvs) and textures.

Returns

return true if the write function is successful, false otherwise.

Definition at line 114 of file TriangleMeshIO.cpp.

WriteTriangleMeshToNPZ()

bool cloudViewer::t::io::WriteTriangleMeshToNPZ	(	const std::string &	filename,
		const geometry::TriangleMesh &	mesh,
		const bool	write_ascii,
		const bool	compressed,
		const bool	write_vertex_normals,
		const bool	write_vertex_colors,
		const bool	write_triangle_uvs,
		const bool	print_progress
	)

Definition at line 216 of file TriangleMeshIO.cpp.

WriteTriangleMeshUsingASSIMP()

bool cloudViewer::t::io::WriteTriangleMeshUsingASSIMP	(	const std::string &	filename,
		const geometry::TriangleMesh &	mesh,
		const bool	write_ascii,
		const bool	compressed,
		const bool	write_vertex_normals,
		const bool	write_vertex_colors,
		const bool	write_triangle_uvs,
		const bool	print_progress
	)

Definition at line 371 of file FileASSIMP.cpp.

Variable Documentation

file_extension_to_pointcloud_read_function

const std::unordered_map< std::string, std::function<bool(const std::string &, geometry::PointCloud &, const cloudViewer::io::ReadPointCloudOption &)> > cloudViewer::t::io::file_extension_to_pointcloud_read_function

static

Initial value:

{
                {"npz", ReadPointCloudFromNPZ},
                {"xyz", ReadPointCloudFromTXT},
                {"xyzd", ReadPointCloudFromTXT},
                {"xyzi", ReadPointCloudFromTXT},
                {"xyzn", ReadPointCloudFromTXT},
                {"xyzrgb", ReadPointCloudFromTXT},
                {"pcd", ReadPointCloudFromPCD},
                {"ply", ReadPointCloudFromPLY},
                {"splat", ReadPointCloudFromSPLAT},
                {"pts", ReadPointCloudFromPTS},
        }

Definition at line 31 of file PointCloudIO.cpp.

Referenced by ReadPointCloud().

file_extension_to_pointcloud_write_function

const std::unordered_map< std::string, std::function<bool(const std::string &, const geometry::PointCloud &, const cloudViewer::io::WritePointCloudOption &)> > cloudViewer::t::io::file_extension_to_pointcloud_write_function

static

Initial value:

{
                {"npz", WritePointCloudToNPZ},
                {"xyz", WritePointCloudToTXT},
                {"xyzd", WritePointCloudToTXT},
                {"xyzi", WritePointCloudToTXT},
                {"xyzn", WritePointCloudToTXT},
                {"xyzrgb", WritePointCloudToTXT},
                {"pcd", WritePointCloudToPCD},
                {"ply", WritePointCloudToPLY},
                {"splat", WritePointCloudToSPLAT},
                {"pts", WritePointCloudToPTS},
        }

Definition at line 49 of file PointCloudIO.cpp.

Referenced by WritePointCloud().

file_extension_to_trianglemesh_read_function

const std::unordered_map< std::string, std::function<bool(const std::string &, geometry::TriangleMesh &, const cloudViewer::io::ReadTriangleMeshOptions &)> > cloudViewer::t::io::file_extension_to_trianglemesh_read_function

static

Initial value:

{
                {"npz", ReadTriangleMeshFromNPZ},
                {"stl", ReadTriangleMeshUsingASSIMP},
                {"obj", ReadTriangleMeshUsingASSIMP},
                {"off", ReadTriangleMeshUsingASSIMP},
                {"gltf", ReadTriangleMeshUsingASSIMP},
                {"glb", ReadTriangleMeshUsingASSIMP},
                {"fbx", ReadTriangleMeshUsingASSIMP},
        }

Definition at line 27 of file TriangleMeshIO.cpp.

Referenced by cloudViewer::io::ReadTriangleMesh(), and ReadTriangleMesh().

file_extension_to_trianglemesh_write_function

const std::unordered_map< std::string, std::function<bool(const std::string &, const geometry::TriangleMesh &, const bool, const bool, const bool, const bool, const bool, const bool)> > cloudViewer::t::io::file_extension_to_trianglemesh_write_function

static

Initial value:

{
                {"npz", WriteTriangleMeshToNPZ},
                {"glb", WriteTriangleMeshUsingASSIMP},
        }

Definition at line 47 of file TriangleMeshIO.cpp.

kCloudViewerImageIODefaultQuality

constexpr int cloudViewer::t::io::kCloudViewerImageIODefaultQuality = -1

constexpr

Definition at line 33 of file ImageIO.h.

Referenced by pybind_class_io(), WriteImageToJPG(), WriteImageToPNG(), and WriteImageToPNGInMemory().

kPostProcessFlags_compulsory

const unsigned int cloudViewer::t::io::kPostProcessFlags_compulsory

Initial value:

=
        aiProcess_JoinIdenticalVertices | aiProcess_Triangulate |
        aiProcess_SortByPType | aiProcess_PreTransformVertices

Definition at line 37 of file FileASSIMP.cpp.

Referenced by ReadTriangleMeshUsingASSIMP().

kPostProcessFlags_fast

const unsigned int cloudViewer::t::io::kPostProcessFlags_fast

Initial value:

=
        kPostProcessFlags_compulsory | aiProcess_GenNormals |
        aiProcess_GenUVCoords | aiProcess_RemoveRedundantMaterials |
        aiProcess_OptimizeMeshes

Definition at line 41 of file FileASSIMP.cpp.

Referenced by ReadTriangleMeshUsingASSIMP().

map_shared_argument_docstrings

const std::unordered_map<std::string, std::string> cloudViewer::t::io::map_shared_argument_docstrings

static

Definition at line 25 of file class_io.cpp.

Referenced by pybind_class_io(), and pybind_sensor().

standard_config

std::unordered_map<std::string, std::string> cloudViewer::t::io::standard_config

static

Initial value:

{
        {"serial", ""},
        {"color_format", "RS2_FORMAT_ANY"},
        {"color_resolution", "0,0"},
        {"depth_format", "RS2_FORMAT_ANY"},
        {"depth_resolution", "0,0"},
        {"fps", "0"},
        {"visual_preset", "VISUAL_PRESET_DEFAULT"}}

Definition at line 134 of file RealSenseSensorConfig.cpp.

Referenced by cloudViewer::t::io::RealSenseSensorConfig::RealSenseSensorConfig().