open3d::io::rpc Namespace Reference

Namespaces
	messages

Data Structures
class	BufferConnection
	Implements a connection writing to a buffer. More...
class	Connection
class	ConnectionBase
	Base class for all connections. More...
class	DummyMessageProcessor
class	DummyReceiver
class	MessageProcessorBase
class	ZMQReceiver
	Class for the server side receiving requests from a client. More...

Functions
std::shared_ptr< messages::Status >	UnpackStatusFromReply (const zmq::message_t &msg, size_t &offset, bool &ok)
bool	ReplyIsOKStatus (const zmq::message_t &msg)
	Convenience function for checking if the message is an OK. More...
bool	ReplyIsOKStatus (const zmq::message_t &msg, size_t &offset)
std::string	CreateSerializedRequestMessage (const std::string &msg_id)
	Creates a serialized Request message for testing purposes. More...
std::tuple< const void *, size_t >	GetZMQMessageDataAndSize (const zmq::message_t &msg)
std::tuple< int32_t, std::string >	GetStatusCodeAndStr (const messages::Status &status)
std::shared_ptr< zmq::message_t >	CreateStatusOKMsg ()
std::shared_ptr< t::geometry::Geometry >	MeshDataToGeometry (const messages::MeshData &mesh_data)
messages::MeshData	GeometryToMeshData (const t::geometry::TriangleMesh &trimesh)
messages::MeshData	GeometryToMeshData (const t::geometry::PointCloud &pcd)
messages::MeshData	GeometryToMeshData (const t::geometry::LineSet &ls)
std::tuple< std::string, double, std::shared_ptr< t::geometry::Geometry > >	DataBufferToMetaGeometry (std::string &data)
bool	SetPointCloud (const geometry::PointCloud &pcd, const std::string &path, int time, const std::string &layer, std::shared_ptr< ConnectionBase > connection)
bool	SetTriangleMesh (const geometry::TriangleMesh &mesh, const std::string &path, int time, const std::string &layer, std::shared_ptr< ConnectionBase > connection)
bool	SetTriangleMesh (const t::geometry::TriangleMesh &mesh, const std::string &path, int time, const std::string &layer, std::shared_ptr< ConnectionBase > connection)
bool	SetMeshData (const std::string &path, int time, const std::string &layer, const core::Tensor &vertices, const std::map< std::string, core::Tensor > &vertex_attributes, const core::Tensor &faces, const std::map< std::string, core::Tensor > &face_attributes, const core::Tensor &lines, const std::map< std::string, core::Tensor > &line_attributes, const std::string &material, const std::map< std::string, float > &material_scalar_attributes, const std::map< std::string, std::array< float, 4 >> &material_vector_attributes, const std::map< std::string, t::geometry::Image > &texture_maps, const std::string &o3d_type, std::shared_ptr< ConnectionBase > connection)
bool	SetLegacyCamera (const camera::PinholeCameraParameters &camera, const std::string &path, int time, const std::string &layer, std::shared_ptr< ConnectionBase > connection)
bool	SetTime (int time, std::shared_ptr< ConnectionBase > connection)
bool	SetActiveCamera (const std::string &path, std::shared_ptr< ConnectionBase > connection)
std::shared_ptr< zmq::context_t >	GetZMQContext ()
	Returns the zeromq context for this process. More...
void	DestroyZMQContext ()

Function Documentation

CreateSerializedRequestMessage()

std::string open3d::io::rpc::CreateSerializedRequestMessage

(

const std::string &

msg_id

)

Creates a serialized Request message for testing purposes.

CreateStatusOKMsg()

std::shared_ptr< zmq::message_t > open3d::io::rpc::CreateStatusOKMsg

(

)

DataBufferToMetaGeometry()

std::tuple< std::string, double, std::shared_ptr< t::geometry::Geometry > > open3d::io::rpc::DataBufferToMetaGeometry

(

std::string &

data

)

This function returns the geometry, the path and the time stored in a SetMeshData message. data must contain the Request header message followed by the SetMeshData message. The function returns a null pointer for the geometry if not successful.

DestroyZMQContext()

void open3d::io::rpc::DestroyZMQContext

(

)

Destroys the zeromq context for this process. On windows this needs to be called manually for a clean shutdown of the process.

GeometryToMeshData() [1/3]

messages::MeshData open3d::io::rpc::GeometryToMeshData

(

const t::geometry::LineSet &

ls

)

Creates MeshData from a LineSet. This function returns the MeshData object for serialization.

GeometryToMeshData() [2/3]

messages::MeshData open3d::io::rpc::GeometryToMeshData

(

const t::geometry::PointCloud &

pcd

)

Creates MeshData from a TriangleMesh. This function returns the MeshData object for serialization.

GeometryToMeshData() [3/3]

messages::MeshData open3d::io::rpc::GeometryToMeshData

(

const t::geometry::TriangleMesh &

trimesh

)

Creates MeshData from a TriangleMesh. This function returns the MeshData object for serialization.

GetStatusCodeAndStr()

std::tuple< int32_t, std::string > open3d::io::rpc::GetStatusCodeAndStr

(

const messages::Status &

status

)

GetZMQContext()

std::shared_ptr< zmq::context_t > open3d::io::rpc::GetZMQContext

(

)

Returns the zeromq context for this process.

GetZMQMessageDataAndSize()

std::tuple< const void *, size_t > open3d::io::rpc::GetZMQMessageDataAndSize

(

const zmq::message_t &

msg

)

MeshDataToGeometry()

std::shared_ptr< t::geometry::Geometry > open3d::io::rpc::MeshDataToGeometry

(

const messages::MeshData &

mesh_data

)

Converts MeshData to a geometry type. MeshData can store TriangleMesh, PointCloud, and LineSet. The function returns a pointer to the base class Geometry. The pointer is null if the conversion is not successful. Note that the msgpack object backing the memory for mesh_data must be alive for calling this function.

ReplyIsOKStatus() [1/2]

bool open3d::io::rpc::ReplyIsOKStatus

(

const zmq::message_t &

msg

)

Convenience function for checking if the message is an OK.

ReplyIsOKStatus() [2/2]

bool open3d::io::rpc::ReplyIsOKStatus	(	const zmq::message_t &	msg,
		size_t &	offset
	)

Convenience function for checking if the message is an OK.

Parameters

offset

See also

UnpackStatusFromReply

SetActiveCamera()

bool open3d::io::rpc::SetActiveCamera	(	const std::string &	path,
		std::shared_ptr< ConnectionBase >	connection = std::shared_ptr< ConnectionBase >()
	)

Sets the object with the specified path as the active camera.

Parameters

path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mycam'.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetLegacyCamera()

bool open3d::io::rpc::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 >()
	)

Function for sending Camera data.

Parameters

camera	The PinholeCameraParameters object.
path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mycam'.
time	The time point associated with the object.
layer	The layer for this object.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetMeshData()

bool open3d::io::rpc::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 >()
	)

Function for sending general mesh data.

Parameters

path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mypoints'.
time	The time point associated with the object.
layer	The layer for this object.
vertices	Tensor with vertices of shape [N,3]
vertex_attributes	Map with Tensors storing vertex attributes. The first dim of each attribute must match the number of vertices.
faces	Tensor with vertex indices defining the faces. The Tensor is of rank 1 or 2. A rank 2 Tensor with shape [num_faces,n] defines num_faces n-gons. If the rank is 1 then polys of different lengths are stored sequentially. Each polygon is stored as a sequence 'n i1 i2 ... in' with n>=3. The type of the array must be int32_t or int64_t
face_attributes	Map with Tensors storing face attributes. The first dim of each attribute must match the number of faces.
lines	Tensor with vertex indices defining the lines. The Tensor is of rank 1 or 2. A rank 2 Tensor with shape [num_lines,n] defines num_lines linestrips. If the rank is 1 then linestrips of different lengths are stored sequentially. Each linestrips is stored as a sequence 'n i1 i2 ... in' with n>=2. The type of the array must be int32_t or int64_t
line_attributes	Map with Tensors storing line attributes. The first dim of each attribute must match the number of lines.
material	Basic material model for rendering a DrawableGeometry (e.g. defaultLit or defaultUnlit). Must be non-empty if any material attributes or texture maps are provided.
material_scalar_attributes	Map of material scalar attributes for a DrawableGeometry Material (e.g. "point_size", "line_width" or "base_reflectance")
material_vector_attributes	Map of material 4-vector attributes for a DrawableGeometry Material (e.g. "base_color" or "absorption_color")
texture_maps	Map of t::geometry::Image for storing textures.
o3d_type	The type of the geometry. This is one of "PointCloud", "LineSet", "TriangleMesh". This argument should be specified for partial data that has no primary key data, e.g., a triangle mesh without vertices but with other attribute tensors.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetPointCloud()

bool open3d::io::rpc::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 >()
	)

Function for sending a PointCloud.

Parameters

pcd	The PointCloud object.
path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mypoints'.
time	The time point associated with the object.
layer	The layer for this object.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetTime()

bool open3d::io::rpc::SetTime	(	int	time,
		std::shared_ptr< ConnectionBase >	connection = std::shared_ptr< ConnectionBase >()
	)

Sets the time in the external visualizer.

Parameters

time	The time value
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetTriangleMesh() [1/2]

bool open3d::io::rpc::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 >()
	)

Function for sending a TriangleMesh.

Parameters

mesh	The TriangleMesh object.
path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mypoints'.
time	The time point associated with the object.
layer	The layer for this object.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

SetTriangleMesh() [2/2]

bool open3d::io::rpc::SetTriangleMesh	(	const t::geometry::TriangleMesh &	mesh,
		const std::string &	path = "",
		int	time = 0,
		const std::string &	layer = "",
		std::shared_ptr< ConnectionBase >	connection = std::shared_ptr< ConnectionBase >()
	)

Function for sending a TriangleMesh.

Parameters

mesh	The TriangleMesh object.
path	Path descriptor defining a location in the scene tree. E.g., 'mygroup/mypoints'.
time	The time point associated with the object.
layer	The layer for this object.
connection	The connection object used for sending the data. If nullptr a default connection object will be used.

UnpackStatusFromReply()

std::shared_ptr< messages::Status > open3d::io::rpc::UnpackStatusFromReply	(	const zmq::message_t &	msg,
		size_t &	offset,
		bool &	ok
	)

Helper function for unpacking the Status message from a reply.

Parameters

msg	The message that contains the Reply and the Status messages.
offset	Byte offset into the message. Defines where to start parsing the message. The offset will be updated and will point to the first byte after the parse messages. If unpacking fails offset will be set to the end of the message.
ok	Output variable which will be set to true if the unpacking was successful.

Returns

The extracted Status message object. Check ok to see if the returned object is valid.