97 lines
3.7 KiB
C
97 lines
3.7 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <map>
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#include <tuple>
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#include "open3d/core/Tensor.h"
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#include "open3d/t/geometry/LineSet.h"
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#include "open3d/t/geometry/PointCloud.h"
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#include "open3d/t/geometry/TensorMap.h"
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#include "open3d/t/geometry/TriangleMesh.h"
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namespace zmq {
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class message_t;
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}
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namespace open3d {
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namespace io {
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namespace rpc {
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namespace messages {
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struct Array;
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struct Status;
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struct MeshData;
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} // namespace messages
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/// Helper function for unpacking the Status message from a reply.
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/// \param msg The message that contains the Reply and the Status messages.
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///
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/// \param offset Byte offset into the message. Defines where to start parsing
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/// the message. The offset will be updated and will point to the first byte
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/// after the parse messages. If unpacking fails offset will be set to the end
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/// of the message.
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///
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/// \param ok Output variable which will be set to true if the unpacking
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/// was successful.
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///
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/// \return The extracted Status message object. Check \p ok to see if the
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/// returned object is valid.
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std::shared_ptr<messages::Status> UnpackStatusFromReply(
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const zmq::message_t& msg, size_t& offset, bool& ok);
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/// Convenience function for checking if the message is an OK.
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bool ReplyIsOKStatus(const zmq::message_t& msg);
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/// Convenience function for checking if the message is an OK.
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/// \param offset \see UnpackStatusFromReply
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bool ReplyIsOKStatus(const zmq::message_t& msg, size_t& offset);
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/// Creates a serialized Request message for testing purposes.
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std::string CreateSerializedRequestMessage(const std::string& msg_id);
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std::tuple<const void*, size_t> GetZMQMessageDataAndSize(
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const zmq::message_t& msg);
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std::tuple<int32_t, std::string> GetStatusCodeAndStr(
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const messages::Status& status);
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std::shared_ptr<zmq::message_t> CreateStatusOKMsg();
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/// Converts MeshData to a geometry type. MeshData can store TriangleMesh,
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/// PointCloud, and LineSet. The function returns a pointer to the base class
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/// Geometry. The pointer is null if the conversion is not successful. Note that
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/// the msgpack object backing the memory for \p mesh_data must be alive for
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/// calling this function.
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std::shared_ptr<t::geometry::Geometry> MeshDataToGeometry(
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const messages::MeshData& mesh_data);
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/// Creates MeshData from a TriangleMesh. This function returns the MeshData
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/// object for serialization.
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messages::MeshData GeometryToMeshData(const t::geometry::TriangleMesh& trimesh);
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/// Creates MeshData from a TriangleMesh. This function returns the MeshData
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/// object for serialization.
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messages::MeshData GeometryToMeshData(const t::geometry::PointCloud& pcd);
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/// Creates MeshData from a LineSet. This function returns the MeshData
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/// object for serialization.
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messages::MeshData GeometryToMeshData(const t::geometry::LineSet& ls);
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/// This function returns the geometry, the path and the time stored in a
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/// SetMeshData message. \p data must contain the Request header message
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/// followed by the SetMeshData message. The function returns a null pointer for
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/// the geometry if not successful.
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std::tuple<std::string, double, std::shared_ptr<t::geometry::Geometry>>
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DataBufferToMetaGeometry(std::string& data);
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} // namespace rpc
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} // namespace io
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} // namespace open3d
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