PointCloudIO.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <string>
 
#include "open3d/geometry/PointCloud.h"
 
namespace open3d {
namespace io {
 
std::shared_ptr<geometry::PointCloud> CreatePointCloudFromFile(
        const std::string &filename,
        const std::string &format = "auto",
        bool print_progress = false);
 
std::shared_ptr<geometry::PointCloud> CreatePointCloudFromMemory(
        const unsigned char *buffer,
        const size_t length,
        const std::string &format,
        bool print_progress = false);
 
struct ReadPointCloudOption {
    ReadPointCloudOption(
            // Attention: when you update the defaults, update the docstrings in
            // pybind/io/class_io.cpp
            std::string format = "auto",
            bool remove_nan_points = false,
            bool remove_infinite_points = false,
            bool print_progress = false,
            std::function<bool(double)> update_progress = {})
        : format(format),
          remove_nan_points(remove_nan_points),
          remove_infinite_points(remove_infinite_points),
          print_progress(print_progress),
          update_progress(update_progress){};
    ReadPointCloudOption(std::function<bool(double)> up)
        : ReadPointCloudOption() {
        update_progress = up;
    };
    std::string format;
    bool remove_nan_points;
    bool remove_infinite_points;
    bool print_progress;
    std::function<bool(double)> update_progress;
};
 
bool ReadPointCloud(const std::string &filename,
                    geometry::PointCloud &pointcloud,
                    const ReadPointCloudOption &params = {});
 
bool ReadPointCloud(const unsigned char *buffer,
                    const size_t length,
                    geometry::PointCloud &pointcloud,
                    const ReadPointCloudOption &params = {});
 
struct WritePointCloudOption {
    enum class IsAscii : bool { Binary = false, Ascii = true };
    enum class Compressed : bool { Uncompressed = false, Compressed = true };
    WritePointCloudOption(
            // Attention: when you update the defaults, update the docstrings in
            // pybind/io/class_io.cpp
            std::string format = "auto",
            IsAscii write_ascii = IsAscii::Binary,
            Compressed compressed = Compressed::Uncompressed,
            bool print_progress = false,
            std::function<bool(double)> update_progress = {})
        : format(format),
          write_ascii(write_ascii),
          compressed(compressed),
          print_progress(print_progress),
          update_progress(update_progress){};
    // for compatibility
    WritePointCloudOption(bool write_ascii,
                          bool compressed = false,
                          bool print_progress = false,
                          std::function<bool(double)> update_progress = {})
        : write_ascii(IsAscii(write_ascii)),
          compressed(Compressed(compressed)),
          print_progress(print_progress),
          update_progress(update_progress){};
    // for compatibility
    WritePointCloudOption(std::string format,
                          bool write_ascii,
                          bool compressed = false,
                          bool print_progress = false,
                          std::function<bool(double)> update_progress = {})
        : format(format),
          write_ascii(IsAscii(write_ascii)),
          compressed(Compressed(compressed)),
          print_progress(print_progress),
          update_progress(update_progress){};
    WritePointCloudOption(std::function<bool(double)> up)
        : WritePointCloudOption() {
        update_progress = up;
    };
    std::string format;
    IsAscii write_ascii;
    Compressed compressed;
    bool print_progress;
    std::function<bool(double)> update_progress;
};
 
bool WritePointCloud(const std::string &filename,
                     const geometry::PointCloud &pointcloud,
                     const WritePointCloudOption &params = {});
 
bool WritePointCloud(unsigned char *&buffer,
                     size_t &length,
                     const geometry::PointCloud &pointcloud,
                     const WritePointCloudOption &params = {});
 
bool ReadPointCloudFromXYZ(const std::string &filename,
                           geometry::PointCloud &pointcloud,
                           const ReadPointCloudOption &params);
 
bool ReadPointCloudInMemoryFromXYZ(const unsigned char *buffer,
                                   const size_t length,
                                   geometry::PointCloud &pointcloud,
                                   const ReadPointCloudOption &params);
 
bool WritePointCloudToXYZ(const std::string &filename,
                          const geometry::PointCloud &pointcloud,
                          const WritePointCloudOption &params);
 
bool WritePointCloudInMemoryToXYZ(unsigned char *&buffer,
                                  size_t &length,
                                  const geometry::PointCloud &pointcloud,
                                  const WritePointCloudOption &params);
 
bool ReadPointCloudFromXYZN(const std::string &filename,
                            geometry::PointCloud &pointcloud,
                            const ReadPointCloudOption &params);
 
bool WritePointCloudToXYZN(const std::string &filename,
                           const geometry::PointCloud &pointcloud,
                           const WritePointCloudOption &params);
 
bool ReadPointCloudFromXYZRGB(const std::string &filename,
                              geometry::PointCloud &pointcloud,
                              const ReadPointCloudOption &params);
 
bool WritePointCloudToXYZRGB(const std::string &filename,
                             const geometry::PointCloud &pointcloud,
                             const WritePointCloudOption &params);
 
bool ReadPointCloudFromPLY(const std::string &filename,
                           geometry::PointCloud &pointcloud,
                           const ReadPointCloudOption &params);
 
bool WritePointCloudToPLY(const std::string &filename,
                          const geometry::PointCloud &pointcloud,
                          const WritePointCloudOption &params);
 
bool ReadPointCloudFromPCD(const std::string &filename,
                           geometry::PointCloud &pointcloud,
                           const ReadPointCloudOption &params);
 
bool WritePointCloudToPCD(const std::string &filename,
                          const geometry::PointCloud &pointcloud,
                          const WritePointCloudOption &params);
 
bool ReadPointCloudFromPTS(const std::string &filename,
                           geometry::PointCloud &pointcloud,
                           const ReadPointCloudOption &params);
 
bool WritePointCloudToPTS(const std::string &filename,
                          const geometry::PointCloud &pointcloud,
                          const WritePointCloudOption &params);
 
}  // namespace io
}  // namespace open3d