Data Structures
struct	PLYReaderState

class	RealSenseSensor
	RealSense camera discovery, configuration, streaming and recording. More...

class	RealSenseSensorConfig

struct	RealSenseValidConfigs

class	RGBDSensor
	Interface class for control of RGBD cameras. More...

class	RGBDVideoMetadata
	RGBD video metadata. More...

class	RGBDVideoReader

class	RSBagReader

Enumerations
enum	SensorType { SensorType::AZURE_KINECT = 0, SensorType::REAL_SENSE = 1 }

Functions
bool	ReadPointCloudFromPLY (const std::string &filename, geometry::PointCloud &pointcloud, const open3d::io::ReadPointCloudOption &params)

bool	WritePointCloudToPLY (const std::string &filename, const geometry::PointCloud &pointcloud, const open3d::io::WritePointCloudOption &params)

open3d::io::FileGeometry	ReadFileGeometryTypeXYZI (const std::string &path)

bool	ReadPointCloudFromXYZI (const std::string &filename, geometry::PointCloud &pointcloud, const open3d::io::ReadPointCloudOption &params)

bool	WritePointCloudToXYZI (const std::string &filename, const geometry::PointCloud &pointcloud, const open3d::io::WritePointCloudOption &params)

std::shared_ptr< geometry::PointCloud >	CreatetPointCloudFromFile (const std::string &filename, const std::string &format, bool print_progress)

bool	ReadPointCloud (const std::string &filename, geometry::PointCloud &pointcloud, const open3d::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 open3d::io::WritePointCloudOption &params)

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

	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"} })

Enumeration Type Documentation

◆ SensorType

enum open3d::t::io::SensorType

strong

Enumerator
AZURE_KINECT
REAL_SENSE

Function Documentation

◆ CreatetPointCloudFromFile()

std::shared_ptr< geometry::PointCloud > open3d::t::io::CreatetPointCloudFromFile	(	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.

◆ ReadFileGeometryTypeXYZI()

open3d::io::FileGeometry open3d::t::io::ReadFileGeometryTypeXYZI ( const std::string & path )

◆ ReadPointCloud() [1/2]

bool open3d::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.

◆ ReadPointCloud() [2/2]

bool open3d::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
	)

◆ ReadPointCloudFromPLY()

bool open3d::t::io::ReadPointCloudFromPLY	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const open3d::io::ReadPointCloudOption &	params
	)

◆ ReadPointCloudFromXYZI()

bool open3d::t::io::ReadPointCloudFromXYZI	(	const std::string &	filename,
		geometry::PointCloud &	pointcloud,
		const open3d::io::ReadPointCloudOption &	params
	)

◆ STRINGIFY_ENUM() [1/5]

open3d::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.

◆ STRINGIFY_ENUM() [2/5]

open3d::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() [3/5]

open3d::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() [4/5]

open3d::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() [5/5]

open3d::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"} }
	)

◆ WritePointCloud() [1/2]

bool open3d::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.

◆ WritePointCloud() [2/2]

bool open3d::t::io::WritePointCloud	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		bool	write_ascii,
		bool	compressed,
		bool	print_progress
	)

◆ WritePointCloudToPLY()

bool open3d::t::io::WritePointCloudToPLY	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const open3d::io::WritePointCloudOption &	params
	)

◆ WritePointCloudToXYZI()

bool open3d::t::io::WritePointCloudToXYZI	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		const open3d::io::WritePointCloudOption &	params
	)

Data Structures

Enumerations

Functions