215 lines
9.2 KiB
C
215 lines
9.2 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 <array>
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#include <map>
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#include "open3d/camera/PinholeCameraParameters.h"
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#include "open3d/core/Tensor.h"
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#include "open3d/geometry/PointCloud.h"
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#include "open3d/geometry/TriangleMesh.h"
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#include "open3d/io/rpc/ConnectionBase.h"
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#include "open3d/t/geometry/Image.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 Status;
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}
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/// Function for sending a PointCloud.
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/// \param pcd The PointCloud object.
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///
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/// \param path Path descriptor defining a location in the scene tree.
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/// E.g., 'mygroup/mypoints'.
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///
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/// \param time The time point associated with the object.
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///
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/// \param layer The layer for this object.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetPointCloud(const geometry::PointCloud& pcd,
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const std::string& path = "",
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int time = 0,
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const std::string& layer = "",
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Function for sending a TriangleMesh.
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/// \param mesh The TriangleMesh object.
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///
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/// \param path Path descriptor defining a location in the scene tree.
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/// E.g., 'mygroup/mypoints'.
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///
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/// \param time The time point associated with the object.
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///
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/// \param layer The layer for this object.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetTriangleMesh(const geometry::TriangleMesh& mesh,
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const std::string& path = "",
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int time = 0,
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const std::string& layer = "",
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Function for sending a TriangleMesh.
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/// \param mesh The TriangleMesh object.
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///
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/// \param path Path descriptor defining a location in the scene tree.
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/// E.g., 'mygroup/mypoints'.
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///
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/// \param time The time point associated with the object.
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///
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/// \param layer The layer for this object.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetTriangleMesh(const t::geometry::TriangleMesh& mesh,
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const std::string& path = "",
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int time = 0,
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const std::string& layer = "",
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Function for sending general mesh data.
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///
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/// \param path Path descriptor defining a location in the scene
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/// tree. E.g., 'mygroup/mypoints'.
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///
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/// \param time The time point associated with the object.
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///
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/// \param layer The layer for this object.
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///
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/// \param vertices Tensor with vertices of shape [N,3]
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///
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/// \param vertex_attributes Map with Tensors storing vertex attributes. The
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/// first dim of each attribute must match the number of vertices.
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///
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/// \param faces Tensor with vertex indices defining the faces. The
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/// Tensor is of rank 1 or 2. A rank 2 Tensor with shape [num_faces,n] defines
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/// num_faces n-gons. If the rank is 1 then polys of different lengths are
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/// stored sequentially. Each polygon is stored as a sequence 'n i1 i2 ... in'
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/// with n>=3. The type of the array must be int32_t or int64_t
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///
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/// \param face_attributes Map with Tensors storing face attributes. The
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/// first dim of each attribute must match the number of faces.
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///
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/// \param lines Tensor with vertex indices defining the lines. The
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/// Tensor is of rank 1 or 2. A rank 2 Tensor with shape [num_lines,n] defines
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/// num_lines linestrips. If the rank is 1 then linestrips of different lengths
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/// are stored sequentially. Each linestrips is stored as a sequence 'n i1 i2
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/// ... in' with n>=2. The type of the array must be int32_t or int64_t
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///
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/// \param line_attributes Map with Tensors storing line attributes. The
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/// first dim of each attribute must match the number of lines.
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///
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/// \param material Basic material model for rendering a
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/// DrawableGeometry (e.g. defaultLit or
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/// defaultUnlit). Must be non-empty if any material
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/// attributes or texture maps are provided.
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/// \param material_scalar_attributes Map of material scalar attributes for a
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/// DrawableGeometry Material (e.g. "point_size",
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/// "line_width" or "base_reflectance")
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/// \param material_vector_attributes Map of material 4-vector attributes for a
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/// DrawableGeometry Material (e.g. "base_color" or
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/// "absorption_color")
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/// \param texture_maps Map of t::geometry::Image for storing textures.
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///
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/// \param o3d_type The type of the geometry. This is one of
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/// "PointCloud", "LineSet", "TriangleMesh". This argument should be specified
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/// for partial data that has no primary key data, e.g., a triangle mesh without
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/// vertices but with other attribute tensors.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be
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/// used.
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///
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bool SetMeshData(
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const std::string& path = "",
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int time = 0,
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const std::string& layer = "",
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const core::Tensor& vertices = core::Tensor({0}, core::Float32),
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const std::map<std::string, core::Tensor>& vertex_attributes =
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std::map<std::string, core::Tensor>(),
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const core::Tensor& faces = core::Tensor({0}, core::Int32),
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const std::map<std::string, core::Tensor>& face_attributes =
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std::map<std::string, core::Tensor>(),
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const core::Tensor& lines = core::Tensor({0}, core::Int32),
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const std::map<std::string, core::Tensor>& line_attributes =
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std::map<std::string, core::Tensor>(),
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const std::string& material = "",
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const std::map<std::string, float>& material_scalar_attributes =
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std::map<std::string, float>(),
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const std::map<std::string, std::array<float, 4>>&
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material_vector_attributes =
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std::map<std::string, std::array<float, 4>>(),
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const std::map<std::string, t::geometry::Image>& texture_maps =
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std::map<std::string, t::geometry::Image>(),
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const std::string& o3d_type = "",
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Function for sending Camera data.
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/// \param camera The PinholeCameraParameters object.
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///
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/// \param path Path descriptor defining a location in the scene tree.
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/// E.g., 'mygroup/mycam'.
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///
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/// \param time The time point associated with the object.
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///
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/// \param layer The layer for this object.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetLegacyCamera(const camera::PinholeCameraParameters& camera,
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const std::string& path = "",
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int time = 0,
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const std::string& layer = "",
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Sets the time in the external visualizer.
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/// \param time The time value
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetTime(int time,
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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/// Sets the object with the specified path as the active camera.
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/// \param path Path descriptor defining a location in the scene tree.
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/// E.g., 'mygroup/mycam'.
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///
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/// \param connection The connection object used for sending the data.
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/// If nullptr a default connection object will be used.
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///
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bool SetActiveCamera(const std::string& path,
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std::shared_ptr<ConnectionBase> connection =
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std::shared_ptr<ConnectionBase>());
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} // namespace rpc
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} // namespace io
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} // namespace open3d
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