IO#

image_io.py#

 1# ----------------------------------------------------------------------------
 2# -                        Open3D: www.open3d.org                            -
 3# ----------------------------------------------------------------------------
 4# Copyright (c) 2018-2023 www.open3d.org
 5# SPDX-License-Identifier: MIT
 6# ----------------------------------------------------------------------------
 7
 8import open3d as o3d
 9
10if __name__ == "__main__":
11    img_data = o3d.data.JuneauImage()
12    print(f"Reading image from file: Juneau.jpg stored at {img_data.path}")
13    img = o3d.io.read_image(img_data.path)
14    print(img)
15    print("Saving image to file: copy_of_Juneau.jpg")
16    o3d.io.write_image("copy_of_Juneau.jpg", img)

point_cloud_io.py#

 1# ----------------------------------------------------------------------------
 2# -                        Open3D: www.open3d.org                            -
 3# ----------------------------------------------------------------------------
 4# Copyright (c) 2018-2023 www.open3d.org
 5# SPDX-License-Identifier: MIT
 6# ----------------------------------------------------------------------------
 7
 8import open3d as o3d
 9
10if __name__ == "__main__":
11    pcd_data = o3d.data.PCDPointCloud()
12    print(
13        f"Reading pointcloud from file: fragment.pcd stored at {pcd_data.path}")
14    pcd = o3d.io.read_point_cloud(pcd_data.path)
15    print(pcd)
16    print("Saving pointcloud to file: copy_of_fragment.pcd")
17    o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)

realsense_io.py#

  1# ----------------------------------------------------------------------------
  2# -                        Open3D: www.open3d.org                            -
  3# ----------------------------------------------------------------------------
  4# Copyright (c) 2018-2023 www.open3d.org
  5# SPDX-License-Identifier: MIT
  6# ----------------------------------------------------------------------------
  7"""Demonstrate RealSense camera discovery and frame capture. An RS bag file is
  8used if a RealSense camera is not available. Captured frames are
  9displayed as a live point cloud. Also frames are saved to ./capture/{color,depth}
 10folders.
 11
 12Usage:
 13
 14    - Display live point cloud from RS camera:
 15        python realsense_io.py
 16
 17    - Display live point cloud from RS bag file:
 18        python realsense_io.py rgbd.bag
 19
 20    If no device is detected and no bag file is supplied, uses the Open3D
 21    example JackJackL515Bag dataset.
 22"""
 23
 24import sys
 25import os
 26from concurrent.futures import ThreadPoolExecutor
 27import open3d as o3d
 28import open3d.t.io as io3d
 29from open3d.t.geometry import PointCloud
 30import open3d.visualization.gui as gui
 31import open3d.visualization.rendering as rendering
 32
 33DEPTH_MAX = 3
 34
 35
 36def point_cloud_video(executor, rgbd_frame, mdata, timestamp, o3dvis):
 37    """Update window to display the next point cloud frame."""
 38    app = gui.Application.instance
 39    update_flag = rendering.Scene.UPDATE_POINTS_FLAG | rendering.Scene.UPDATE_COLORS_FLAG
 40
 41    executor.submit(io3d.write_image,
 42                    f"capture/color/{point_cloud_video.fid:05d}.jpg",
 43                    rgbd_frame.color)
 44    executor.submit(io3d.write_image,
 45                    f"capture/depth/{point_cloud_video.fid:05d}.png",
 46                    rgbd_frame.depth)
 47    print(f"Frame: {point_cloud_video.fid}, timestamp: {timestamp * 1e-6:.3f}s",
 48          end="\r")
 49    if point_cloud_video.fid == 0:
 50        # Start with a dummy max sized point cloud to allocate GPU buffers
 51        # for update_geometry()
 52        max_pts = rgbd_frame.color.rows * rgbd_frame.color.columns
 53        pcd = PointCloud(o3d.core.Tensor.zeros((max_pts, 3)))
 54        pcd.paint_uniform_color([1., 1., 1.])
 55        app.post_to_main_thread(o3dvis,
 56                                lambda: o3dvis.add_geometry("Point Cloud", pcd))
 57    pcd = PointCloud.create_from_rgbd_image(
 58        rgbd_frame,
 59        # Intrinsic matrix: Tensor([[fx, 0., cx], [0., fy, cy], [0., 0., 1.]])
 60        mdata.intrinsics.intrinsic_matrix,
 61        depth_scale=mdata.depth_scale,
 62        depth_max=DEPTH_MAX)
 63    # GUI operations MUST run in the main thread.
 64    app.post_to_main_thread(
 65        o3dvis, lambda: o3dvis.update_geometry("Point Cloud", pcd, update_flag))
 66    point_cloud_video.fid += 1
 67
 68
 69point_cloud_video.fid = 0
 70
 71
 72def pcd_video_from_camera(executor, o3dvis):
 73    """Show point cloud video coming from a RealSense camera. Save frames to
 74    disk in capture/{color,depth} folders.
 75    """
 76    rscam = io3d.RealSenseSensor()
 77    rscam.start_capture()
 78    mdata = rscam.get_metadata()
 79    print(mdata)
 80    os.makedirs("capture/color")
 81    os.makedirs("capture/depth")
 82    rgbd_frame_future = executor.submit(rscam.capture_frame)
 83
 84    def on_window_close():
 85        nonlocal rscam, executor
 86        executor.shutdown()
 87        rscam.stop_capture()
 88        return True  # OK to close window
 89
 90    o3dvis.set_on_close(on_window_close)
 91
 92    while True:
 93        rgbd_frame = rgbd_frame_future.result()
 94        # Run each IO operation in the threadpool
 95        rgbd_frame_future = executor.submit(rscam.capture_frame)
 96        point_cloud_video(executor, rgbd_frame, mdata, rscam.get_timestamp(),
 97                          o3dvis)
 98
 99
100def pcd_video_from_bag(rsbagfile, executor, o3dvis):
101    """Show point cloud video coming from a RealSense bag file. Save frames to
102    disk in capture/{color,depth} folders.
103    """
104    rsbag = io3d.RSBagReader.create(rsbagfile)
105    if not rsbag.is_opened():
106        raise RuntimeError(f"RS bag file {rsbagfile} could not be opened.")
107    mdata = rsbag.metadata
108    print(mdata)
109    os.makedirs("capture/color")
110    os.makedirs("capture/depth")
111
112    def on_window_close():
113        nonlocal rsbag, executor
114        executor.shutdown()
115        rsbag.close()
116        return True  # OK to close window
117
118    o3dvis.set_on_close(on_window_close)
119
120    rgbd_frame = rsbag.next_frame()
121    while not rsbag.is_eof():
122        # Run each IO operation in the threadpool
123        rgbd_frame_future = executor.submit(rsbag.next_frame)
124        point_cloud_video(executor, rgbd_frame, mdata, rsbag.get_timestamp(),
125                          o3dvis)
126        rgbd_frame = rgbd_frame_future.result()
127
128
129def main():
130    if os.path.exists("capture"):
131        raise RuntimeError(
132            "Frames saving destination folder 'capture' already exists. Please move it."
133        )
134
135    # Initialize app and create GUI window
136    app = gui.Application.instance
137    app.initialize()
138    o3dvis = o3d.visualization.O3DVisualizer("Open3D: PointCloud video", 1024,
139                                             768)
140    o3dvis.show_axes = True
141    # set view: fov, eye, lookat, up
142    o3dvis.setup_camera(45, [0., 0., 0.], [0., 0., -1.], [0., -1., 0.])
143    app.add_window(o3dvis)
144
145    have_cam = io3d.RealSenseSensor.list_devices()
146    have_bag = (len(sys.argv) == 2)
147
148    with ThreadPoolExecutor(max_workers=4) as executor:
149        # Run IO and compute in threadpool
150        if have_bag:
151            executor.submit(pcd_video_from_bag, sys.argv[1], executor, o3dvis)
152        elif have_cam:
153            executor.submit(pcd_video_from_camera, executor, o3dvis)
154        else:
155            executor.submit(pcd_video_from_bag,
156                            o3d.data.JackJackL515Bag().path, executor, o3dvis)
157
158        app.run()  # GUI runs in the main thread.
159
160
161if __name__ == "__main__":
162    main()

triangle_mesh_io.py#

 1# ----------------------------------------------------------------------------
 2# -                        Open3D: www.open3d.org                            -
 3# ----------------------------------------------------------------------------
 4# Copyright (c) 2018-2023 www.open3d.org
 5# SPDX-License-Identifier: MIT
 6# ----------------------------------------------------------------------------
 7
 8import open3d as o3d
 9
10if __name__ == "__main__":
11    knot_data = o3d.data.KnotMesh()
12    print(f"Reading mesh from file: knot.ply stored at {knot_data.path}")
13    mesh = o3d.io.read_triangle_mesh(knot_data.path)
14    print(mesh)
15    print("Saving mesh to file: copy_of_knot.ply")
16    o3d.io.write_triangle_mesh("copy_of_knot.ply", mesh)