RemoteFunctions.h

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// The MIT License (MIT)
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// Copyright (c) 2018-2021 www.open3d.org
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#pragma once

#include <array>
#include <map>

#include "open3d/camera/PinholeCameraParameters.h"
#include "open3d/core/Tensor.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/io/rpc/ConnectionBase.h"
#include "open3d/t/geometry/Image.h"

namespace zmq {
class message_t;
}

namespace open3d {
namespace io {
namespace rpc {

namespace messages {
struct Status;
}

bool SetPointCloud(const geometry::PointCloud& pcd,
                   const std::string& path = "",
                   int time = 0,
                   const std::string& layer = "",
                   std::shared_ptr<ConnectionBase> connection =
                           std::shared_ptr<ConnectionBase>());

bool SetTriangleMesh(const geometry::TriangleMesh& mesh,
                     const std::string& path = "",
                     int time = 0,
                     const std::string& layer = "",
                     std::shared_ptr<ConnectionBase> connection =
                             std::shared_ptr<ConnectionBase>());

bool SetMeshData(
        const std::string& path = "",
        int time = 0,
        const std::string& layer = "",
        const core::Tensor& vertices = core::Tensor({0}, core::Float32),
        const std::map<std::string, core::Tensor>& vertex_attributes =
                std::map<std::string, core::Tensor>(),
        const core::Tensor& faces = core::Tensor({0}, core::Int32),
        const std::map<std::string, core::Tensor>& face_attributes =
                std::map<std::string, core::Tensor>(),
        const core::Tensor& lines = core::Tensor({0}, core::Int32),
        const std::map<std::string, core::Tensor>& line_attributes =
                std::map<std::string, core::Tensor>(),
        const std::string& material = "",
        const std::map<std::string, float>& material_scalar_attributes =
                std::map<std::string, float>(),
        const std::map<std::string, std::array<float, 4>>&
                material_vector_attributes =
                        std::map<std::string, std::array<float, 4>>(),
        const std::map<std::string, t::geometry::Image>& texture_maps =
                std::map<std::string, t::geometry::Image>(),
        const std::string& o3d_type = "",
        std::shared_ptr<ConnectionBase> connection =
                std::shared_ptr<ConnectionBase>());

bool SetLegacyCamera(const camera::PinholeCameraParameters& camera,
                     const std::string& path = "",
                     int time = 0,
                     const std::string& layer = "",
                     std::shared_ptr<ConnectionBase> connection =
                             std::shared_ptr<ConnectionBase>());

bool SetTime(int time,
             std::shared_ptr<ConnectionBase> connection =
                     std::shared_ptr<ConnectionBase>());

bool SetActiveCamera(const std::string& path,
                     std::shared_ptr<ConnectionBase> connection =
                             std::shared_ptr<ConnectionBase>());

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