MessageUtils.h

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#pragma once

#include <map>
#include <tuple>

#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/LineSet.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/geometry/TensorMap.h"
#include "open3d/t/geometry/TriangleMesh.h"

namespace zmq {
class message_t;
}

namespace open3d {
namespace io {
namespace rpc {

namespace messages {
struct Array;
struct Status;
struct MeshData;
}  // namespace messages

std::shared_ptr<messages::Status> UnpackStatusFromReply(
        const zmq::message_t& msg, size_t& offset, bool& ok);

bool ReplyIsOKStatus(const zmq::message_t& msg);

bool ReplyIsOKStatus(const zmq::message_t& msg, size_t& offset);

std::string CreateSerializedRequestMessage(const std::string& msg_id);

std::tuple<const void*, size_t> GetZMQMessageDataAndSize(
        const zmq::message_t& msg);

std::tuple<int32_t, std::string> GetStatusCodeAndStr(
        const messages::Status& status);

std::shared_ptr<zmq::message_t> CreateStatusOKMsg();

std::shared_ptr<t::geometry::Geometry> MeshDataToGeometry(
        const messages::MeshData& mesh_data);

messages::MeshData GeometryToMeshData(const t::geometry::TriangleMesh& trimesh);

messages::MeshData GeometryToMeshData(const t::geometry::PointCloud& pcd);

messages::MeshData GeometryToMeshData(const t::geometry::LineSet& ls);

std::tuple<std::string, double, std::shared_ptr<t::geometry::Geometry>>
DataBufferToMetaGeometry(std::string& data);

}  // namespace rpc
}  // namespace io
}  // namespace open3d