Data Structures
struct	PCLPointField

struct	PCDHeader

struct	ReadAttributePtr

struct	WriteAttributePtr

class	DepthNoiseSimulator

class	CharVector

class	NumpyArray

class	RealSenseSensor
	RealSense camera discovery, configuration, streaming and recording. More...

class	RealSenseSensorConfig

struct	RealSenseValidConfigs

class	RSBagReader

class	RGBDSensor
	Interface class for control of RGBD cameras. More...

class	RGBDVideoMetadata
	RGBD video metadata. More...

class	RGBDVideoReader

Enumerations
enum class	PCDDataType { ASCII = 0 , BINARY = 1 , BINARY_COMPRESSED = 2 }

enum class	SensorType { AZURE_KINECT = 0 , REAL_SENSE = 1 }

Functions
bool	ReadTriangleMeshUsingASSIMP (const std::string &filename, geometry::TriangleMesh &mesh, const open3d::io::ReadTriangleMeshOptions &params)

bool	WriteTriangleMeshUsingASSIMP (const std::string &filename, const geometry::TriangleMesh &mesh, const bool write_ascii, const bool compressed, const bool write_vertex_normals, const bool write_vertex_colors, const bool write_triangle_uvs, const bool print_progress)

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

bool	ReadImageFromJPGInMemory (const uint8_t *data, size_t size, geometry::Image &image)
	Decode a JPEG image from a memory buffer (no file I/O). More...

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	ReadImageFromPNGInMemory (const uint8_t *data, size_t size, geometry::Image &image)

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

bool	WriteImageToPNGInMemory (std::vector< uint8_t > &buffer, const t::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)

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

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

open3d::io::FileGeometry	ReadFileGeometryTypeTXT (const std::string &path)

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

bool	WritePointCloudToTXT (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::Image >	CreateImageFromFile (const std::string &filename)

bool	ReadImage (const std::string &filename, geometry::Image &image)

bool	ReadImageFromMemory (const uint8_t *data, size_t size, 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::Tensor >	ReadNpz (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::PointCloud >	CreatePointCloudFromFile (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::TriangleMesh >	CreateMeshFromFile (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)

bool	ReadTriangleMeshFromNPZ (const std::string &filename, geometry::TriangleMesh &mesh, const open3d::io::ReadTriangleMeshOptions &params)

bool	WriteTriangleMeshToNPZ (const std::string &filename, const geometry::TriangleMesh &mesh, const bool write_ascii, const bool compressed, const bool write_vertex_normals, const bool write_vertex_colors, const bool write_triangle_uvs, const bool print_progress)

Variables
const unsigned int	kPostProcessFlags_compulsory

const unsigned int	kPostProcessFlags_fast

constexpr int	kOpen3DImageIODefaultQuality = -1

Enumeration Type Documentation

◆ PCDDataType

enum open3d::t::io::PCDDataType

strong

Enumerator
ASCII
BINARY
BINARY_COMPRESSED

◆ SensorType

enum open3d::t::io::SensorType

strong

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.

◆ ReadFileGeometryTypeTXT()

open3d::io::FileGeometry open3d::t::io::ReadFileGeometryTypeTXT ( 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

filename The 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

filename	Full path to image. Supported file formats are png, jpg/jpeg.
image	An 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
	)

◆ ReadImageFromJPGInMemory()

bool open3d::t::io::ReadImageFromJPGInMemory	(	const uint8_t *	data,
		size_t	size,
		geometry::Image &	image
	)

Decode a JPEG image from a memory buffer (no file I/O).

◆ ReadImageFromMemory()

bool open3d::t::io::ReadImageFromMemory	(	const uint8_t *	data,
		size_t	size,
		geometry::Image &	image
	)

Decode a PNG or JPEG image from a memory buffer, auto-detected by magic bytes. Used for embedded textures in 3D model files (e.g. GLB via ASSIMP).

◆ ReadImageFromPNG()

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

◆ ReadImageFromPNGInMemory()

bool open3d::t::io::ReadImageFromPNGInMemory	(	const uint8_t *	data,
		size_t	size,
		geometry::Image &	image
	)

Decode a PNG image from a memory buffer (no file I/O). Supports the same formats as ReadImageFromPNG.

◆ ReadNpy()

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

Read Numpy .npy file to a tensor.

Parameters

file_name The 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_name The 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 ReadPointCloudOption &	params
	)

Reads PLY; for Gaussian-splat point clouds, per-point "scale" in the file is interpreted as log-scale and converted to linear in the returned PointCloud (see t::geometry::PointCloud::IsGaussianSplat()).

◆ ReadPointCloudFromPTS()

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

◆ ReadPointCloudFromSPLAT()

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

Reads the binary SPLAT format; per-point "scale" matches the in-memory representation (linear axis lengths).

◆ ReadPointCloudFromTXT()

bool open3d::t::io::ReadPointCloudFromTXT	(	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.

Supported read formats:

ply – native Open3D reader (geometry + colors/normals)
npz – Open3D NPZ format (full round-trip incl. materials)
obj, stl, off, gltf, glb, fbx – via ASSIMP (geometry; optional vertex normals/colors, UVs, and material/PBR data depending on format, e.g. STL is geometry-only)

Parameters

filename	Path to the mesh file.
mesh	Output parameter for the mesh.
params	Additional read options to enable post-processing or progress reporting.

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

◆ ReadTriangleMeshFromNPZ()

bool open3d::t::io::ReadTriangleMeshFromNPZ	(	const std::string &	filename,
		geometry::TriangleMesh &	mesh,
		const open3d::io::ReadTriangleMeshOptions &	params
	)

◆ ReadTriangleMeshUsingASSIMP()

bool open3d::t::io::ReadTriangleMeshUsingASSIMP	(	const std::string &	filename,
		geometry::TriangleMesh &	mesh,
		const open3d::io::ReadTriangleMeshOptions &	params
	)

◆ STRINGIFY_ENUM() [1/5]

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() [2/5]

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() [3/5]

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() [4/5]

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"} }
	)

◆ STRINGIFY_ENUM() [5/5]

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.

◆ 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

filename	The npz file name to write to.
hashmap	HashMap 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

filename	Full path to image. Supported file formats are png, jpg/jpeg.
image	An object of type open3d::t::geometry::Image.
quality	PNG: [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::Bool, 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
	)

◆ WriteImageToPNGInMemory()

bool open3d::t::io::WriteImageToPNGInMemory	(	std::vector< uint8_t > &	buffer,
		const t::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_name	The file name to write to.
tensor	The 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_name	The file name to write to.
tensor_map	The tensor map to save.

◆ WritePointCloud() [1/2]

bool open3d::t::io::WritePointCloud	(	const std::string &	filename,
		const geometry::PointCloud &	pointcloud,
		bool	write_ascii,
		bool	compressed,
		bool	print_progress
	)

◆ WritePointCloud() [2/2]

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.

◆ 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
	)

◆ WritePointCloudToSPLAT()

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

◆ WritePointCloudToTXT()

bool open3d::t::io::WritePointCloudToTXT	(	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.

Supported write formats and material/texture export:

npz – full round-trip (geometry + material + all texture maps)
glb – via ASSIMP; full PBR single material with embedded textures
gltf – via ASSIMP; full PBR single material with external textures
obj – via ASSIMP; single material with external PNG sidecar textures (albedo, normal, AO, roughness, metallic)
fbx – via ASSIMP; geometry + best-effort material (textures not guaranteed by the ASSIMP FBX exporter)
stl – via ASSIMP; geometry only (positions, faces, normals)
ply, off – via legacy Open3D writer; geometry + colors/normals only

Note: For ASSIMP writers, write_ascii is format-specific: it selects ASCII vs binary STL and is ignored for glb / gltf (encoding follows the file extension), obj, and fbx as documented in logs.; Only a single material per mesh is supported. Multiple materials, triangle_material_ids, per-triangle normals, and animation are not supported.

Returns: true if the write function is successful, false otherwise.

◆ WriteTriangleMeshToNPZ()

bool open3d::t::io::WriteTriangleMeshToNPZ	(	const std::string &	filename,
		const geometry::TriangleMesh &	mesh,
		const bool	write_ascii,
		const bool	compressed,
		const bool	write_vertex_normals,
		const bool	write_vertex_colors,
		const bool	write_triangle_uvs,
		const bool	print_progress
	)

◆ WriteTriangleMeshUsingASSIMP()

bool open3d::t::io::WriteTriangleMeshUsingASSIMP	(	const std::string &	filename,
		const geometry::TriangleMesh &	mesh,
		const bool	write_ascii,
		const bool	compressed,
		const bool	write_vertex_normals,
		const bool	write_vertex_colors,
		const bool	write_triangle_uvs,
		const bool	print_progress
	)

Variable Documentation

◆ kOpen3DImageIODefaultQuality

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

constexpr

◆ kPostProcessFlags_compulsory

const unsigned int open3d::t::io::kPostProcessFlags_compulsory

Initial value:

=
        aiProcess_JoinIdenticalVertices | aiProcess_Triangulate |
        aiProcess_SortByPType | aiProcess_PreTransformVertices

◆ kPostProcessFlags_fast

const unsigned int open3d::t::io::kPostProcessFlags_fast

Initial value:

=
        kPostProcessFlags_compulsory | aiProcess_GenNormals |
        aiProcess_GenUVCoords | aiProcess_RemoveRedundantMaterials |
        aiProcess_OptimizeMeshes

Data Structures

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ PCDDataType

◆ SensorType

Function Documentation

◆ ColorToUint8< double >()

◆ ColorToUint8< float >()

◆ ColorToUint8< std::uint16_t >()

◆ ColorToUint8< std::uint32_t >()

◆ ColorToUint8< std::uint8_t >()

◆ ConvertColorTensorToUint8()

◆ CreateImageFromFile()

◆ CreateMeshFromFile()

◆ CreatePointCloudFromFile()

◆ ReadFileGeometryTypeTXT()

◆ ReadHashMap()

◆ ReadImage()

◆ ReadImageFromJPG()

◆ ReadImageFromJPGInMemory()

◆ ReadImageFromMemory()

◆ ReadImageFromPNG()

◆ ReadImageFromPNGInMemory()

◆ ReadNpy()

◆ ReadNpz()

◆ ReadPointCloud() [1/2]

◆ ReadPointCloud() [2/2]

◆ ReadPointCloudFromNPZ()

◆ ReadPointCloudFromPCD()

◆ ReadPointCloudFromPLY()

◆ ReadPointCloudFromPTS()

◆ ReadPointCloudFromSPLAT()

◆ ReadPointCloudFromTXT()

◆ ReadTriangleMesh()

◆ ReadTriangleMeshFromNPZ()

◆ ReadTriangleMeshUsingASSIMP()

◆ STRINGIFY_ENUM() [1/5]

◆ STRINGIFY_ENUM() [2/5]

◆ STRINGIFY_ENUM() [3/5]

◆ STRINGIFY_ENUM() [4/5]

◆ STRINGIFY_ENUM() [5/5]

◆ UnpackASCIIPCDElement< double >()

◆ UnpackASCIIPCDElement< float >()

◆ UnpackASCIIPCDElement< std::int16_t >()

◆ UnpackASCIIPCDElement< std::int32_t >()

◆ UnpackASCIIPCDElement< std::int64_t >()

◆ UnpackASCIIPCDElement< std::int8_t >()

◆ UnpackASCIIPCDElement< std::uint16_t >()

◆ UnpackASCIIPCDElement< std::uint32_t >()

◆ UnpackASCIIPCDElement< std::uint64_t >()

◆ UnpackASCIIPCDElement< std::uint8_t >()

◆ WriteElementDataToFileASCII< double >()

◆ WriteElementDataToFileASCII< float >()

◆ WriteElementDataToFileASCII< std::int16_t >()

◆ WriteElementDataToFileASCII< std::int32_t >()

◆ WriteElementDataToFileASCII< std::int64_t >()

◆ WriteElementDataToFileASCII< std::int8_t >()

◆ WriteElementDataToFileASCII< std::uint16_t >()

◆ WriteElementDataToFileASCII< std::uint32_t >()

◆ WriteElementDataToFileASCII< std::uint64_t >()

◆ WriteElementDataToFileASCII< std::uint8_t >()

◆ WriteHashMap()

◆ WriteImage()

◆ WriteImageToJPG()

◆ WriteImageToPNG()

◆ WriteImageToPNGInMemory()

◆ WriteNpy()

◆ WriteNpz()

◆ WritePointCloud() [1/2]

◆ WritePointCloud() [2/2]

◆ WritePointCloudToNPZ()

◆ WritePointCloudToPCD()

◆ WritePointCloudToPLY()

◆ WritePointCloudToPTS()

◆ WritePointCloudToSPLAT()

◆ WritePointCloudToTXT()

◆ WriteTriangleMesh()

◆ WriteTriangleMeshToNPZ()