Open3D (C++ API)  0.13.0+ec16c02
Data Structures | Enumerations | Functions | Variables
open3d::t::io Namespace Reference

Data Structures

struct  AttributePtr
 
class  CharVector
 
class  NumpyArray
 
struct  PCDHeader
 
struct  PCLPointField
 
struct  PLYReaderState
 
struct  ReadAttributePtr
 
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
 
class  TSDFVoxelGridMetadata
 
struct  WriteAttributePtr
 

Enumerations

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

Functions

bool ReadImageFromJPG (const std::string &filename, geometry::Image &image)
 
bool WriteImageToJPG (const std::string &filename, const geometry::Image &image, int quality)
 
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)
 
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)
 
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)
 
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 open3d::io::ReadPointCloudOption &params)
 
bool WritePointCloudToPLY (const std::string &filename, const geometry::PointCloud &pointcloud, const open3d::io::WritePointCloudOption &params)
 
bool ReadImageFromPNG (const std::string &filename, geometry::Image &image)
 
bool WriteImageToPNG (const std::string &filename, const 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)
 
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)
 
void WriteHashMap (const std::string &file_name, const core::HashMap &hashmap)
 
core::HashMap ReadHashMap (const std::string &file_name)
 
std::shared_ptr< geometry::ImageCreateImageFromFile (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)
 
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::TensorReadNpz (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::PointCloudCreatePointCloudFromFile (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)
 
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::TriangleMeshCreateMeshFromFile (const std::string &filename, bool print_progress)
 
bool ReadTriangleMesh (const std::string &filename, geometry::TriangleMesh &mesh, open3d::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)
 
std::shared_ptr< geometry::TSDFVoxelGridCreateTSDFVoxelGridFromFile (const std::string &file_name)
 
bool ReadTSDFVoxelGrid (const std::string &file_name, geometry::TSDFVoxelGrid &tsdf_voxelgrid)
 
bool WriteTSDFVoxelGrid (const std::string &file_name, const geometry::TSDFVoxelGrid &tsdf_voxelgrid)
 

Variables

constexpr int kOpen3DImageIODefaultQuality = -1
 

Enumeration Type Documentation

◆ PCDDataType

Enumerator
ASCII 
BINARY 
BINARY_COMPRESSED 

◆ SensorType

Enumerator
AZURE_KINECT 
REAL_SENSE 

Function Documentation

◆ ColorToUint8< double >()

template<>
void open3d::t::io::ColorToUint8< double > ( const double *  input_color,
std::uint8_t *  output_color 
)

◆ ColorToUint8< float >()

template<>
void open3d::t::io::ColorToUint8< float > ( const float *  input_color,
std::uint8_t *  output_color 
)

◆ ColorToUint8< std::uint16_t >()

template<>
void open3d::t::io::ColorToUint8< std::uint16_t > ( const std::uint16_t *  input_color,
std::uint8_t *  output_color 
)

◆ ColorToUint8< std::uint32_t >()

template<>
void open3d::t::io::ColorToUint8< std::uint32_t > ( const std::uint32_t *  input_color,
std::uint8_t *  output_color 
)

◆ ColorToUint8< std::uint8_t >()

template<>
void open3d::t::io::ColorToUint8< std::uint8_t > ( const std::uint8_t *  input_color,
std::uint8_t *  output_color 
)

◆ ConvertColorTensorToUint8()

core::Tensor open3d::t::io::ConvertColorTensorToUint8 ( const core::Tensor color_in)

◆ CreateImageFromFile()

std::shared_ptr< geometry::Image > open3d::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.

◆ CreateMeshFromFile()

std::shared_ptr< geometry::TriangleMesh > open3d::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.

◆ CreatePointCloudFromFile()

std::shared_ptr< geometry::PointCloud > open3d::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.

◆ CreateTSDFVoxelGridFromFile()

std::shared_ptr< geometry::TSDFVoxelGrid > open3d::t::io::CreateTSDFVoxelGridFromFile ( const std::string &  filename)

Factory function to create a TSDFVoxelGrid from a file.

Returns
An empty TSDFVoxelGrid if fail to read the file.

◆ ReadFileGeometryTypeXYZI()

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

◆ ReadHashMap()

core::HashMap open3d::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
filenameThe npz file name to read from.

◆ ReadImage()

bool open3d::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
filenameFull path to image. Supported file formats are png, jpg/jpeg.
imageAn object of type open3d::t::geometry::Image.
Returns
return true if the read function is successful, false otherwise.

◆ ReadImageFromJPG()

bool open3d::t::io::ReadImageFromJPG ( const std::string &  filename,
geometry::Image image 
)

◆ ReadImageFromPNG()

bool open3d::t::io::ReadImageFromPNG ( const std::string &  filename,
geometry::Image image 
)

◆ ReadNpy()

core::Tensor open3d::t::io::ReadNpy ( const std::string &  file_name)

Read Numpy .npy file to a tensor.

Parameters
file_nameThe file name to read from.

◆ ReadNpz()

std::unordered_map< std::string, core::Tensor > open3d::t::io::ReadNpz ( const std::string &  file_name)

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

Parameters
file_nameThe file name to read from.

◆ 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 
)

◆ ReadPointCloudFromNPZ()

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

◆ ReadPointCloudFromPCD()

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

◆ ReadPointCloudFromPLY()

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

◆ ReadPointCloudFromPTS()

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

◆ ReadPointCloudFromXYZI()

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

◆ ReadTriangleMesh()

bool open3d::t::io::ReadTriangleMesh ( const std::string &  filename,
geometry::TriangleMesh mesh,
open3d::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.

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

◆ ReadTSDFVoxelGrid()

bool open3d::t::io::ReadTSDFVoxelGrid ( const std::string &  filename,
geometry::TSDFVoxelGrid tsdf_voxelgrid 
)

The general entrance for reading a TSDFVoxelGrid from a file. The entry is a json file, storing metadata and the path to npz for the underlying volumetric hashmap.

Returns
True if reading is successful, false otherwise.

◆ 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"} }   
)

◆ UnpackASCIIPCDElement< double >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< double > ( double &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< float >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< float > ( float &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::int16_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::int16_t > ( std::int16_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::int32_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::int32_t > ( std::int32_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::int64_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::int64_t > ( std::int64_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::int8_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::int8_t > ( std::int8_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::uint16_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::uint16_t > ( std::uint16_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::uint32_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::uint32_t > ( std::uint32_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::uint64_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::uint64_t > ( std::uint64_t &  data,
const char *  data_ptr 
)

◆ UnpackASCIIPCDElement< std::uint8_t >()

template<>
void open3d::t::io::UnpackASCIIPCDElement< std::uint8_t > ( std::uint8_t &  data,
const char *  data_ptr 
)

◆ WriteElementDataToFileASCII< double >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< double > ( const double &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< float >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< float > ( const float &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::int16_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::int16_t > ( const std::int16_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::int32_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::int32_t > ( const std::int32_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::int64_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::int64_t > ( const std::int64_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::int8_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::int8_t > ( const std::int8_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::uint16_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::uint16_t > ( const std::uint16_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::uint32_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::uint32_t > ( const std::uint32_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::uint64_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::uint64_t > ( const std::uint64_t &  data,
FILE *  file 
)

◆ WriteElementDataToFileASCII< std::uint8_t >()

template<>
int open3d::t::io::WriteElementDataToFileASCII< std::uint8_t > ( const std::uint8_t &  data,
FILE *  file 
)

◆ WriteHashMap()

void open3d::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
filenameThe npz file name to write to.
hashmapHashMap to save.

◆ WriteImage()

bool open3d::t::io::WriteImage ( const std::string &  filename,
const geometry::Image image,
int  quality = kOpen3DImageIODefaultQuality 
)

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
filenameFull path to image. Supported file formats are png, jpg/jpeg.
imageAn object of type open3d::t::geometry::Image.
qualityPNG: [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::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.

◆ WriteImageToJPG()

bool open3d::t::io::WriteImageToJPG ( const std::string &  filename,
const geometry::Image image,
int  quality 
)

◆ WriteImageToPNG()

bool open3d::t::io::WriteImageToPNG ( const std::string &  filename,
const geometry::Image image,
int  quality 
)

◆ WriteNpy()

void open3d::t::io::WriteNpy ( const std::string &  file_name,
const core::Tensor tensor 
)

Save a tensor to a Numpy .npy file.

Parameters
file_nameThe file name to write to.
tensorThe tensor to save.

◆ WriteNpz()

void open3d::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_nameThe file name to write to.
tensor_mapThe tensor map to save.

◆ 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 
)

◆ WritePointCloudToNPZ()

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

◆ WritePointCloudToPCD()

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

◆ WritePointCloudToPLY()

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

◆ WritePointCloudToPTS()

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

◆ WritePointCloudToXYZI()

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

◆ WriteTriangleMesh()

bool open3d::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.

◆ WriteTSDFVoxelGrid()

bool open3d::t::io::WriteTSDFVoxelGrid ( const std::string &  filename,
const geometry::TSDFVoxelGrid tsdf_voxelgrid 
)

The general entrance for writing a TSDFVoxelGrid to a file. The entry is a json file, storing metadata and the path to npz for the underlying volumetric hashmap.

Returns
True if writing is successful, false otherwise.

Variable Documentation

◆ kOpen3DImageIODefaultQuality

constexpr int open3d::t::io::kOpen3DImageIODefaultQuality = -1