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class_io.cpp
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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <string>
#include <unordered_map>
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/camera/PinholeCameraTrajectory.h"
#include "open3d/io/FeatureIO.h"
#include "open3d/io/FileFormatIO.h"
#include "open3d/io/IJsonConvertibleIO.h"
#include "open3d/io/ImageIO.h"
#include "open3d/io/LineSetIO.h"
#include "open3d/io/ModelIO.h"
#include "open3d/io/OctreeIO.h"
#include "open3d/io/PinholeCameraTrajectoryIO.h"
#include "open3d/io/PointCloudIO.h"
#include "open3d/io/PoseGraphIO.h"
#include "open3d/io/TriangleMeshIO.h"
#include "open3d/io/VoxelGridIO.h"
#include "open3d/visualization/rendering/Model.h"
#include "pybind/docstring.h"
#include "pybind/io/io.h"
#ifdef BUILD_AZURE_KINECT
#include "open3d/io/sensor/azure_kinect/AzureKinectSensorConfig.h"
#include "open3d/io/sensor/azure_kinect/MKVMetadata.h"
#endif
namespace open3d {
namespace io {
// IO functions have similar arguments, thus the arg docstrings may be shared
static const std::unordered_map<std::string, std::string>
map_shared_argument_docstrings = {
{"filename", "Path to file."},
// Write options
{"compressed",
"Set to ``True`` to write in compressed format."},
{"format",
"The format of the input file. When not specified or set as "
"``auto``, the format is inferred from file extension name."},
{"remove_nan_points",
"If true, all points that include a NaN are removed from "
"the PointCloud."},
{"remove_infinite_points",
"If true, all points that include an infinite value are "
"removed from the PointCloud."},
{"quality", "Quality of the output file."},
{"write_ascii",
"Set to ``True`` to output in ascii format, otherwise binary "
"format will be used."},
{"write_vertex_normals",
"Set to ``False`` to not write any vertex normals, even if "
"present on the mesh"},
{"write_vertex_colors",
"Set to ``False`` to not write any vertex colors, even if "
"present on the mesh"},
{"write_triangle_uvs",
"Set to ``False`` to not write any triangle uvs, even if "
"present on the mesh. For ``obj`` format, mtl file is saved "
"only when ``True`` is set"},
// Entities
{"config", "AzureKinectSensor's config file."},
{"pointcloud", "The ``PointCloud`` object for I/O"},
{"mesh", "The ``TriangleMesh`` object for I/O"},
{"line_set", "The ``LineSet`` object for I/O"},
{"image", "The ``Image`` object for I/O"},
{"voxel_grid", "The ``VoxelGrid`` object for I/O"},
{"octree", "The ``Octree`` object for I/O"},
{"trajectory",
"The ``PinholeCameraTrajectory`` object for I/O"},
{"intrinsic", "The ``PinholeCameraIntrinsic`` object for I/O"},
{"parameters",
"The ``PinholeCameraParameters`` object for I/O"},
{"pose_graph", "The ``PoseGraph`` object for I/O"},
{"feature", "The ``Feature`` object for I/O"},
{"print_progress",
"If set to true a progress bar is visualized in the console"},
};
void pybind_class_io(py::module &m_io) {
py::enum_<FileGeometry> geom_type(m_io, "FileGeometry", py::arithmetic());
// Trick to write docs without listing the members in the enum class again.
geom_type.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Geometry types";
}),
py::none(), py::none(), "");
geom_type.value("CONTENTS_UNKNOWN", FileGeometry::CONTENTS_UNKNOWN)
.value("CONTAINS_POINTS", FileGeometry::CONTAINS_POINTS)
.value("CONTAINS_LINES", FileGeometry::CONTAINS_LINES)
.value("CONTAINS_TRIANGLES", FileGeometry::CONTAINS_TRIANGLES)
.export_values();
m_io.def(
"read_file_geometry_type", &ReadFileGeometryType,
"Returns the type of geometry of the file. This is a faster way of "
"determining the file type than attempting to read the file as a "
"point cloud, mesh, or line set in turn.");
// open3d::geometry::Image
m_io.def(
"read_image",
[](const fs::path &filename) {
py::gil_scoped_release release;
geometry::Image image;
ReadImage(filename.string(), image);
return image;
},
"Function to read Image from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_image",
map_shared_argument_docstrings);
m_io.def(
"write_image",
[](const fs::path &filename, const geometry::Image &image,
int quality) {
py::gil_scoped_release release;
return WriteImage(filename.string(), image, quality);
},
"Function to write Image to file", "filename"_a, "image"_a,
"quality"_a = kOpen3DImageIODefaultQuality);
docstring::FunctionDocInject(m_io, "write_image",
map_shared_argument_docstrings);
// open3d::geometry::LineSet
m_io.def(
"read_line_set",
[](const fs::path &filename, const std::string &format,
bool print_progress) {
py::gil_scoped_release release;
geometry::LineSet line_set;
ReadLineSet(filename.string(), line_set, format,
print_progress);
return line_set;
},
"Function to read LineSet from file", "filename"_a,
"format"_a = "auto", "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_line_set",
map_shared_argument_docstrings);
m_io.def(
"write_line_set",
[](const fs::path &filename, const geometry::LineSet &line_set,
bool write_ascii, bool compressed, bool print_progress) {
py::gil_scoped_release release;
return WriteLineSet(filename.string(), line_set, write_ascii,
compressed, print_progress);
},
"Function to write LineSet to file", "filename"_a, "line_set"_a,
"write_ascii"_a = false, "compressed"_a = false,
"print_progress"_a = false);
docstring::FunctionDocInject(m_io, "write_line_set",
map_shared_argument_docstrings);
// open3d::geometry::PointCloud
m_io.def(
"read_point_cloud",
[](const fs::path &filename, const std::string &format,
bool remove_nan_points, bool remove_infinite_points,
bool print_progress) {
py::gil_scoped_release release;
geometry::PointCloud pcd;
ReadPointCloud(filename.string(), pcd,
{format, remove_nan_points,
remove_infinite_points, print_progress});
return pcd;
},
"Function to read PointCloud from file", "filename"_a,
"format"_a = "auto", "remove_nan_points"_a = false,
"remove_infinite_points"_a = false, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_point_cloud",
map_shared_argument_docstrings);
m_io.def(
"read_point_cloud_from_bytes",
[](const py::bytes &bytes, const std::string &format,
bool remove_nan_points, bool remove_infinite_points,
bool print_progress) {
const char *dataptr = PYBIND11_BYTES_AS_STRING(bytes.ptr());
auto length = PYBIND11_BYTES_SIZE(bytes.ptr());
auto buffer = new unsigned char[length];
// copy before releasing GIL
std::memcpy(buffer, dataptr, length);
py::gil_scoped_release release;
geometry::PointCloud pcd;
ReadPointCloud(reinterpret_cast<const unsigned char *>(buffer),
length, pcd,
{format, remove_nan_points,
remove_infinite_points, print_progress});
delete[] buffer;
return pcd;
},
"Function to read PointCloud from memory", "bytes"_a,
"format"_a = "auto", "remove_nan_points"_a = false,
"remove_infinite_points"_a = false, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_point_cloud_from_bytes",
map_shared_argument_docstrings);
m_io.def(
"write_point_cloud",
[](const fs::path &filename, const geometry::PointCloud &pointcloud,
const std::string &format, bool write_ascii, bool compressed,
bool print_progress) {
py::gil_scoped_release release;
return WritePointCloud(
filename.string(), pointcloud,
{format, write_ascii, compressed, print_progress});
},
"Function to write PointCloud to file", "filename"_a,
"pointcloud"_a, "format"_a = "auto", "write_ascii"_a = false,
"compressed"_a = false, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "write_point_cloud",
map_shared_argument_docstrings);
m_io.def(
"write_point_cloud_to_bytes",
[](const geometry::PointCloud &pointcloud,
const std::string &format, bool write_ascii, bool compressed,
bool print_progress) {
py::gil_scoped_release release;
size_t len = 0;
unsigned char *buffer = nullptr;
bool wrote = WritePointCloud(
buffer, len, pointcloud,
{format, write_ascii, compressed, print_progress});
py::gil_scoped_acquire acquire;
if (!wrote) {
return py::bytes();
}
auto ret =
py::bytes(reinterpret_cast<const char *>(buffer), len);
delete[] buffer;
return ret;
},
"Function to write PointCloud to memory", "pointcloud"_a,
"format"_a = "auto", "write_ascii"_a = false,
"compressed"_a = false, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "write_point_cloud_to_bytes",
map_shared_argument_docstrings);
// open3d::geometry::TriangleMesh
m_io.def(
"read_triangle_mesh",
[](const fs::path &filename, bool enable_post_processing,
bool print_progress) {
py::gil_scoped_release release;
geometry::TriangleMesh mesh;
ReadTriangleMeshOptions opt;
opt.enable_post_processing = enable_post_processing;
opt.print_progress = print_progress;
ReadTriangleMesh(filename.string(), mesh, opt);
return mesh;
},
"Function to read TriangleMesh from file", "filename"_a,
"enable_post_processing"_a = false, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_triangle_mesh",
map_shared_argument_docstrings);
m_io.def(
"write_triangle_mesh",
[](const fs::path &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) {
py::gil_scoped_release release;
return WriteTriangleMesh(filename.string(), mesh, write_ascii,
compressed, write_vertex_normals,
write_vertex_colors,
write_triangle_uvs, print_progress);
},
"Function to write TriangleMesh to file", "filename"_a, "mesh"_a,
"write_ascii"_a = false, "compressed"_a = false,
"write_vertex_normals"_a = true, "write_vertex_colors"_a = true,
"write_triangle_uvs"_a = true, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "write_triangle_mesh",
map_shared_argument_docstrings);
// open3d::visualization::rendering::TriangleMeshModel (Model.h)
m_io.def(
"read_triangle_model",
[](const fs::path &filename, bool print_progress) {
py::gil_scoped_release release;
visualization::rendering::TriangleMeshModel model;
ReadTriangleModelOptions opt;
opt.print_progress = print_progress;
ReadTriangleModel(filename.string(), model, opt);
return model;
},
"Function to read visualization.rendering.TriangleMeshModel from "
"file",
"filename"_a, "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_triangle_model",
map_shared_argument_docstrings);
// open3d::geometry::VoxelGrid
m_io.def(
"read_voxel_grid",
[](const fs::path &filename, const std::string &format,
bool print_progress) {
py::gil_scoped_release release;
geometry::VoxelGrid voxel_grid;
ReadVoxelGrid(filename.string(), voxel_grid, format);
return voxel_grid;
},
"Function to read VoxelGrid from file", "filename"_a,
"format"_a = "auto", "print_progress"_a = false);
docstring::FunctionDocInject(m_io, "read_voxel_grid",
map_shared_argument_docstrings);
m_io.def(
"write_voxel_grid",
[](const fs::path &filename, const geometry::VoxelGrid &voxel_grid,
bool write_ascii, bool compressed, bool print_progress) {
py::gil_scoped_release release;
return WriteVoxelGrid(filename.string(), voxel_grid,
write_ascii, compressed, print_progress);
},
"Function to write VoxelGrid to file", "filename"_a, "voxel_grid"_a,
"write_ascii"_a = false, "compressed"_a = false,
"print_progress"_a = false);
docstring::FunctionDocInject(m_io, "write_voxel_grid",
map_shared_argument_docstrings);
// open3d::geometry::Octree
m_io.def(
"read_octree",
[](const fs::path &filename, const std::string &format) {
py::gil_scoped_release release;
geometry::Octree octree;
ReadOctree(filename.string(), octree, format);
return octree;
},
"Function to read Octree from file", "filename"_a,
"format"_a = "auto");
docstring::FunctionDocInject(m_io, "read_octree",
map_shared_argument_docstrings);
m_io.def(
"write_octree",
[](const fs::path &filename, const geometry::Octree &octree) {
py::gil_scoped_release release;
return WriteOctree(filename.string(), octree);
},
"Function to write Octree to file", "filename"_a, "octree"_a);
docstring::FunctionDocInject(m_io, "write_octree",
map_shared_argument_docstrings);
// open3d::camera
m_io.def(
"read_pinhole_camera_intrinsic",
[](const fs::path &filename) {
py::gil_scoped_release release;
camera::PinholeCameraIntrinsic intrinsic;
ReadIJsonConvertible(filename.string(), intrinsic);
return intrinsic;
},
"Function to read PinholeCameraIntrinsic from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_pinhole_camera_intrinsic",
map_shared_argument_docstrings);
m_io.def(
"write_pinhole_camera_intrinsic",
[](const fs::path &filename,
const camera::PinholeCameraIntrinsic &intrinsic) {
py::gil_scoped_release release;
return WriteIJsonConvertible(filename.string(), intrinsic);
},
"Function to write PinholeCameraIntrinsic to file", "filename"_a,
"intrinsic"_a);
docstring::FunctionDocInject(m_io, "write_pinhole_camera_intrinsic",
map_shared_argument_docstrings);
m_io.def(
"read_pinhole_camera_parameters",
[](const fs::path &filename) {
py::gil_scoped_release release;
camera::PinholeCameraParameters parameters;
ReadIJsonConvertible(filename.string(), parameters);
return parameters;
},
"Function to read PinholeCameraParameters from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_pinhole_camera_parameters",
map_shared_argument_docstrings);
m_io.def(
"write_pinhole_camera_parameters",
[](const fs::path &filename,
const camera::PinholeCameraParameters ¶meters) {
py::gil_scoped_release release;
return WriteIJsonConvertible(filename.string(), parameters);
},
"Function to write PinholeCameraParameters to file", "filename"_a,
"parameters"_a);
docstring::FunctionDocInject(m_io, "write_pinhole_camera_parameters",
map_shared_argument_docstrings);
m_io.def(
"read_pinhole_camera_trajectory",
[](const fs::path &filename) {
py::gil_scoped_release release;
camera::PinholeCameraTrajectory trajectory;
ReadPinholeCameraTrajectory(filename.string(), trajectory);
return trajectory;
},
"Function to read PinholeCameraTrajectory from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_pinhole_camera_trajectory",
map_shared_argument_docstrings);
m_io.def(
"write_pinhole_camera_trajectory",
[](const fs::path &filename,
const camera::PinholeCameraTrajectory &trajectory) {
py::gil_scoped_release release;
return WritePinholeCameraTrajectory(filename.string(),
trajectory);
},
"Function to write PinholeCameraTrajectory to file", "filename"_a,
"trajectory"_a);
docstring::FunctionDocInject(m_io, "write_pinhole_camera_trajectory",
map_shared_argument_docstrings);
// open3d::registration
m_io.def(
"read_feature",
[](const fs::path &filename) {
py::gil_scoped_release release;
pipelines::registration::Feature feature;
ReadFeature(filename.string(), feature);
return feature;
},
"Function to read registration.Feature from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_feature",
map_shared_argument_docstrings);
m_io.def(
"write_feature",
[](const fs::path &filename,
const pipelines::registration::Feature &feature) {
py::gil_scoped_release release;
return WriteFeature(filename.string(), feature);
},
"Function to write Feature to file", "filename"_a, "feature"_a);
docstring::FunctionDocInject(m_io, "write_feature",
map_shared_argument_docstrings);
m_io.def(
"read_pose_graph",
[](const fs::path &filename) {
py::gil_scoped_release release;
pipelines::registration::PoseGraph pose_graph;
ReadPoseGraph(filename.string(), pose_graph);
return pose_graph;
},
"Function to read PoseGraph from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_pose_graph",
map_shared_argument_docstrings);
m_io.def(
"write_pose_graph",
[](const fs::path &filename,
const pipelines::registration::PoseGraph pose_graph) {
py::gil_scoped_release release;
WritePoseGraph(filename.string(), pose_graph);
},
"Function to write PoseGraph to file", "filename"_a,
"pose_graph"_a);
docstring::FunctionDocInject(m_io, "write_pose_graph",
map_shared_argument_docstrings);
#ifdef BUILD_AZURE_KINECT
m_io.def(
"read_azure_kinect_sensor_config",
[](const fs::path &filename) {
AzureKinectSensorConfig config;
bool success =
ReadIJsonConvertibleFromJSON(filename.string(), config);
if (!success) {
utility::LogWarning(
"Invalid sensor config {}, using default instead",
filename.string());
return AzureKinectSensorConfig();
}
return config;
},
"Function to read Azure Kinect sensor config from file",
"filename"_a);
docstring::FunctionDocInject(m_io, "read_azure_kinect_sensor_config",
map_shared_argument_docstrings);
m_io.def(
"write_azure_kinect_sensor_config",
[](const fs::path &filename, const AzureKinectSensorConfig config) {
return WriteIJsonConvertibleToJSON(filename.string(), config);
},
"Function to write Azure Kinect sensor config to file",
"filename"_a, "config"_a);
docstring::FunctionDocInject(m_io, "write_azure_kinect_sensor_config",
map_shared_argument_docstrings);
m_io.def(
"read_azure_kinect_mkv_metadata",
[](const fs::path &filename) {
MKVMetadata metadata;
bool success = ReadIJsonConvertibleFromJSON(filename.string(),
metadata);
if (!success) {
utility::LogWarning(
"Invalid mkv metadata {}, using default instead",
filename.string());
return MKVMetadata();
}
return metadata;
},
"Function to read Azure Kinect metadata from file", "filename"_a);
docstring::FunctionDocInject(m_io, "read_azure_kinect_mkv_metadata",
map_shared_argument_docstrings);
m_io.def(
"write_azure_kinect_mkv_metadata",
[](const fs::path &filename, const MKVMetadata metadata) {
return WriteIJsonConvertibleToJSON(filename.string(), metadata);
},
"Function to write Azure Kinect metadata to file", "filename"_a,
"config"_a);
docstring::FunctionDocInject(m_io, "write_azure_kinect_mkv_metadata",
map_shared_argument_docstrings);
#endif
}
} // namespace io
} // namespace open3d