# IO¶

## image_io.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 # ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import open3d as o3d if __name__ == "__main__": img_data = o3d.data.JuneauImage() print(f"Reading image from file: Juneau.jpg stored at {img_data.path}") img = o3d.io.read_image(img_data.path) print(img) print("Saving image to file: copy_of_Juneau.jpg") o3d.io.write_image("copy_of_Juneau.jpg", img) 

## point_cloud_io.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 # ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import open3d as o3d if __name__ == "__main__": pcd_data = o3d.data.PCDPointCloud() print( f"Reading pointcloud from file: fragment.pcd stored at {pcd_data.path}") pcd = o3d.io.read_point_cloud(pcd_data.path) print(pcd) print("Saving pointcloud to file: copy_of_fragment.pcd") o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd) 

## realsense_io.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 # ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- """Demonstrate RealSense camera discovery and frame capture""" import open3d as o3d if __name__ == "__main__": o3d.t.io.RealSenseSensor.list_devices() rscam = o3d.t.io.RealSenseSensor() rscam.start_capture() print(rscam.get_metadata()) for fid in range(5): rgbd_frame = rscam.capture_frame() o3d.io.write_image(f"color{fid:05d}.jpg", rgbd_frame.color.to_legacy()) o3d.io.write_image(f"depth{fid:05d}.png", rgbd_frame.depth.to_legacy()) print("Frame: {}, time: {}s".format(fid, rscam.get_timestamp() * 1e-6)) rscam.stop_capture() 

## triangle_mesh_io.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 # ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import open3d as o3d if __name__ == "__main__": knot_data = o3d.data.KnotMesh() print(f"Reading mesh from file: knot.ply stored at {knot_data.path}") mesh = o3d.io.read_triangle_mesh(knot_data.path) print(mesh) print("Saving mesh to file: copy_of_knot.ply") o3d.io.write_triangle_mesh("copy_of_knot.ply", mesh)