Open3D (C++ API)  0.18.0+5c982c7
PointCloudIO.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include <string>
11 
13 
14 namespace open3d {
15 namespace io {
16 
19 std::shared_ptr<geometry::PointCloud> CreatePointCloudFromFile(
20  const std::string &filename,
21  const std::string &format = "auto",
22  bool print_progress = false);
23 
26 std::shared_ptr<geometry::PointCloud> CreatePointCloudFromMemory(
27  const unsigned char *buffer,
28  const size_t length,
29  const std::string &format,
30  bool print_progress = false);
31 
36  // Attention: when you update the defaults, update the docstrings in
37  // pybind/io/class_io.cpp
38  std::string format = "auto",
39  bool remove_nan_points = false,
40  bool remove_infinite_points = false,
41  bool print_progress = false,
42  std::function<bool(double)> update_progress = {})
43  : format(format),
48  ReadPointCloudOption(std::function<bool(double)> up)
50  update_progress = up;
51  };
55  std::string format;
67  std::function<bool(double)> update_progress;
68 };
69 
74 bool ReadPointCloud(const std::string &filename,
75  geometry::PointCloud &pointcloud,
76  const ReadPointCloudOption &params = {});
77 
82 bool ReadPointCloud(const unsigned char *buffer,
83  const size_t length,
84  geometry::PointCloud &pointcloud,
85  const ReadPointCloudOption &params = {});
86 
90  enum class IsAscii : bool { Binary = false, Ascii = true };
91  enum class Compressed : bool { Uncompressed = false, Compressed = true };
93  // Attention: when you update the defaults, update the docstrings in
94  // pybind/io/class_io.cpp
95  std::string format = "auto",
98  bool print_progress = false,
99  std::function<bool(double)> update_progress = {})
100  : format(format),
105  // for compatibility
107  bool compressed = false,
108  bool print_progress = false,
109  std::function<bool(double)> update_progress = {})
114  // for compatibility
116  bool write_ascii,
117  bool compressed = false,
118  bool print_progress = false,
119  std::function<bool(double)> update_progress = {})
120  : format(format),
125  WritePointCloudOption(std::function<bool(double)> up)
127  update_progress = up;
128  };
132  std::string format;
147  std::function<bool(double)> update_progress;
148 };
149 
154 bool WritePointCloud(const std::string &filename,
155  const geometry::PointCloud &pointcloud,
156  const WritePointCloudOption &params = {});
157 
165 bool WritePointCloud(unsigned char *&buffer,
166  size_t &length,
167  const geometry::PointCloud &pointcloud,
168  const WritePointCloudOption &params = {});
169 
170 bool ReadPointCloudFromXYZ(const std::string &filename,
171  geometry::PointCloud &pointcloud,
172  const ReadPointCloudOption &params);
173 
174 bool ReadPointCloudInMemoryFromXYZ(const unsigned char *buffer,
175  const size_t length,
176  geometry::PointCloud &pointcloud,
177  const ReadPointCloudOption &params);
178 
179 bool WritePointCloudToXYZ(const std::string &filename,
180  const geometry::PointCloud &pointcloud,
181  const WritePointCloudOption &params);
182 
183 bool WritePointCloudInMemoryToXYZ(unsigned char *&buffer,
184  size_t &length,
185  const geometry::PointCloud &pointcloud,
186  const WritePointCloudOption &params);
187 
188 bool ReadPointCloudFromXYZN(const std::string &filename,
189  geometry::PointCloud &pointcloud,
190  const ReadPointCloudOption &params);
191 
192 bool WritePointCloudToXYZN(const std::string &filename,
193  const geometry::PointCloud &pointcloud,
194  const WritePointCloudOption &params);
195 
196 bool ReadPointCloudFromXYZRGB(const std::string &filename,
197  geometry::PointCloud &pointcloud,
198  const ReadPointCloudOption &params);
199 
200 bool WritePointCloudToXYZRGB(const std::string &filename,
201  const geometry::PointCloud &pointcloud,
202  const WritePointCloudOption &params);
203 
204 bool ReadPointCloudFromPLY(const std::string &filename,
205  geometry::PointCloud &pointcloud,
206  const ReadPointCloudOption &params);
207 
208 bool WritePointCloudToPLY(const std::string &filename,
209  const geometry::PointCloud &pointcloud,
210  const WritePointCloudOption &params);
211 
212 bool ReadPointCloudFromPCD(const std::string &filename,
213  geometry::PointCloud &pointcloud,
214  const ReadPointCloudOption &params);
215 
216 bool WritePointCloudToPCD(const std::string &filename,
217  const geometry::PointCloud &pointcloud,
218  const WritePointCloudOption &params);
219 
220 bool ReadPointCloudFromPTS(const std::string &filename,
221  geometry::PointCloud &pointcloud,
222  const ReadPointCloudOption &params);
223 
224 bool WritePointCloudToPTS(const std::string &filename,
225  const geometry::PointCloud &pointcloud,
226  const WritePointCloudOption &params);
227 
228 } // namespace io
229 } // namespace open3d
filament::Texture::InternalFormat format
Definition: FilamentResourceManager.cpp:195
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:36
std::shared_ptr< geometry::PointCloud > CreatePointCloudFromMemory(const unsigned char *buffer, const size_t length, const std::string &format, bool print_progress)
Definition: PointCloudIO.cpp:78
bool WritePointCloudToXYZRGB(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FileXYZRGB.cpp:59
bool WritePointCloudToPCD(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FilePCD.cpp:772
bool ReadPointCloudFromXYZ(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FileXYZ.cpp:25
bool ReadPointCloud(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: PointCloudIO.cpp:89
bool WritePointCloudToPLY(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FilePLY.cpp:443
bool WritePointCloud(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: PointCloudIO.cpp:171
bool ReadPointCloudFromXYZN(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FileXYZN.cpp:23
bool ReadPointCloudFromXYZRGB(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FileXYZRGB.cpp:23
bool WritePointCloudInMemoryToXYZ(unsigned char *&buffer, size_t &length, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FileXYZ.cpp:123
bool ReadPointCloudInMemoryFromXYZ(const unsigned char *buffer, const size_t length, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FileXYZ.cpp:59
bool ReadPointCloudFromPLY(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FilePLY.cpp:378
bool WritePointCloudToXYZN(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FileXYZN.cpp:59
bool ReadPointCloudFromPCD(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FilePCD.cpp:735
bool WritePointCloudToPTS(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FilePTS.cpp:127
bool ReadPointCloudFromPTS(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition: FilePTS.cpp:24
std::shared_ptr< geometry::PointCloud > CreatePointCloudFromFile(const std::string &filename, const std::string &format, bool print_progress)
Definition: PointCloudIO.cpp:69
bool WritePointCloudToXYZ(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition: FileXYZ.cpp:90
Definition: PinholeCameraIntrinsic.cpp:16
Optional parameters to ReadPointCloud.
Definition: PointCloudIO.h:34
std::function< bool(double)> update_progress
Definition: PointCloudIO.h:67
ReadPointCloudOption(std::function< bool(double)> up)
Definition: PointCloudIO.h:48
bool remove_infinite_points
Whether to remove all points that have +-inf.
Definition: PointCloudIO.h:59
ReadPointCloudOption(std::string format="auto", bool remove_nan_points=false, bool remove_infinite_points=false, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition: PointCloudIO.h:35
std::string format
Definition: PointCloudIO.h:51
bool remove_nan_points
Whether to remove all points that have nan.
Definition: PointCloudIO.h:57
bool print_progress
Definition: PointCloudIO.h:63
Optional parameters to WritePointCloud.
Definition: PointCloudIO.h:89
std::function< bool(double)> update_progress
Definition: PointCloudIO.h:147
IsAscii
Definition: PointCloudIO.h:90
Compressed
Definition: PointCloudIO.h:91
WritePointCloudOption(std::function< bool(double)> up)
Definition: PointCloudIO.h:125
WritePointCloudOption(std::string format, bool write_ascii, bool compressed=false, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition: PointCloudIO.h:115
bool print_progress
Definition: PointCloudIO.h:143
std::string format
Definition: PointCloudIO.h:128
WritePointCloudOption(std::string format="auto", IsAscii write_ascii=IsAscii::Binary, Compressed compressed=Compressed::Uncompressed, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition: PointCloudIO.h:92
IsAscii write_ascii
Definition: PointCloudIO.h:135
Compressed compressed
Definition: PointCloudIO.h:139
WritePointCloudOption(bool write_ascii, bool compressed=false, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition: PointCloudIO.h:106