Open3D (C++ API)  0.17.0
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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
14namespace open3d {
15namespace io {
16
19std::shared_ptr<geometry::PointCloud> CreatePointCloudFromFile(
20 const std::string &filename,
21 const std::string &format = "auto",
22 bool print_progress = false);
23
28 // Attention: when you update the defaults, update the docstrings in
29 // pybind/io/class_io.cpp
30 std::string format = "auto",
31 bool remove_nan_points = false,
32 bool remove_infinite_points = false,
33 bool print_progress = false,
34 std::function<bool(double)> update_progress = {})
35 : format(format),
40 ReadPointCloudOption(std::function<bool(double)> up)
42 update_progress = up;
43 };
46 std::string format;
58 std::function<bool(double)> update_progress;
59};
60
65bool ReadPointCloud(const std::string &filename,
66 geometry::PointCloud &pointcloud,
67 const ReadPointCloudOption &params = {});
68
72 enum class IsAscii : bool { Binary = false, Ascii = true };
73 enum class Compressed : bool { Uncompressed = false, Compressed = true };
75 // Attention: when you update the defaults, update the docstrings in
76 // pybind/io/class_io.cpp
79 bool print_progress = false,
80 std::function<bool(double)> update_progress = {})
85 // for compatibility
94 WritePointCloudOption(std::function<bool(double)> up)
96 update_progress = up;
97 };
112 std::function<bool(double)> update_progress;
113};
114
119bool WritePointCloud(const std::string &filename,
120 const geometry::PointCloud &pointcloud,
121 const WritePointCloudOption &params = {});
122
123bool ReadPointCloudFromXYZ(const std::string &filename,
124 geometry::PointCloud &pointcloud,
125 const ReadPointCloudOption &params);
126
127bool WritePointCloudToXYZ(const std::string &filename,
128 const geometry::PointCloud &pointcloud,
129 const WritePointCloudOption &params);
130
131bool ReadPointCloudFromXYZN(const std::string &filename,
132 geometry::PointCloud &pointcloud,
133 const ReadPointCloudOption &params);
134
135bool WritePointCloudToXYZN(const std::string &filename,
136 const geometry::PointCloud &pointcloud,
137 const WritePointCloudOption &params);
138
139bool ReadPointCloudFromXYZRGB(const std::string &filename,
140 geometry::PointCloud &pointcloud,
141 const ReadPointCloudOption &params);
142
143bool WritePointCloudToXYZRGB(const std::string &filename,
144 const geometry::PointCloud &pointcloud,
145 const WritePointCloudOption &params);
146
147bool ReadPointCloudFromPLY(const std::string &filename,
148 geometry::PointCloud &pointcloud,
149 const ReadPointCloudOption &params);
150
151bool WritePointCloudToPLY(const std::string &filename,
152 const geometry::PointCloud &pointcloud,
153 const WritePointCloudOption &params);
154
155bool ReadPointCloudFromPCD(const std::string &filename,
156 geometry::PointCloud &pointcloud,
157 const ReadPointCloudOption &params);
158
159bool WritePointCloudToPCD(const std::string &filename,
160 const geometry::PointCloud &pointcloud,
161 const WritePointCloudOption &params);
162
163bool ReadPointCloudFromPTS(const std::string &filename,
164 geometry::PointCloud &pointcloud,
165 const ReadPointCloudOption &params);
166
167bool WritePointCloudToPTS(const std::string &filename,
168 const geometry::PointCloud &pointcloud,
169 const WritePointCloudOption &params);
170
171} // namespace io
172} // 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
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:23
bool ReadPointCloud(const std::string &filename, geometry::PointCloud &pointcloud, const ReadPointCloudOption &params)
Definition PointCloudIO.cpp:58
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:108
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 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:49
bool WritePointCloudToXYZ(const std::string &filename, const geometry::PointCloud &pointcloud, const WritePointCloudOption &params)
Definition FileXYZ.cpp:57
Definition PinholeCameraIntrinsic.cpp:16
Optional parameters to ReadPointCloud.
Definition PointCloudIO.h:26
std::function< bool(double)> update_progress
Definition PointCloudIO.h:58
ReadPointCloudOption(std::function< bool(double)> up)
Definition PointCloudIO.h:40
bool remove_infinite_points
Whether to remove all points that have +-inf.
Definition PointCloudIO.h:50
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:27
std::string format
Definition PointCloudIO.h:46
bool remove_nan_points
Whether to remove all points that have nan.
Definition PointCloudIO.h:48
bool print_progress
Definition PointCloudIO.h:54
Optional parameters to WritePointCloud.
Definition PointCloudIO.h:71
std::function< bool(double)> update_progress
Definition PointCloudIO.h:112
IsAscii
Definition PointCloudIO.h:72
Compressed
Definition PointCloudIO.h:73
WritePointCloudOption(std::function< bool(double)> up)
Definition PointCloudIO.h:94
bool print_progress
Definition PointCloudIO.h:108
WritePointCloudOption(IsAscii write_ascii=IsAscii::Binary, Compressed compressed=Compressed::Uncompressed, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition PointCloudIO.h:74
IsAscii write_ascii
Definition PointCloudIO.h:100
Compressed compressed
Definition PointCloudIO.h:104
WritePointCloudOption(bool write_ascii, bool compressed=false, bool print_progress=false, std::function< bool(double)> update_progress={})
Definition PointCloudIO.h:86