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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/io/rpc/BufferConnection.h"
#include "open3d/io/rpc/Connection.h"
#include "open3d/io/rpc/DummyReceiver.h"
#include "open3d/io/rpc/MessageUtils.h"
#include "open3d/io/rpc/RemoteFunctions.h"
#include "open3d/io/rpc/ZMQContext.h"
#include "pybind/core/tensor_type_caster.h"
#include "pybind/docstring.h"
#include "pybind/open3d_pybind.h"
namespace open3d {
namespace io {
void pybind_rpc(py::module& m_io) {
py::module m = m_io.def_submodule("rpc");
// this is to cleanly shutdown the zeromq context on windows.
auto atexit = py::module::import("atexit");
atexit.attr("register")(
py::cpp_function([]() { rpc::DestroyZMQContext(); }));
py::class_<rpc::ConnectionBase, std::shared_ptr<rpc::ConnectionBase>>(
m, "_ConnectionBase");
py::class_<rpc::Connection, std::shared_ptr<rpc::Connection>,
rpc::ConnectionBase>(m, "Connection", R"doc(
The default connection class which uses a ZeroMQ socket.
)doc")
.def(py::init([](std::string address, int connect_timeout,
int timeout) {
return std::shared_ptr<rpc::Connection>(
new rpc::Connection(address, connect_timeout,
timeout));
}),
"Creates a connection object",
"address"_a = "tcp://127.0.0.1:51454",
"connect_timeout"_a = 5000, "timeout"_a = 10000);
py::class_<rpc::BufferConnection, std::shared_ptr<rpc::BufferConnection>,
rpc::ConnectionBase>(m, "BufferConnection", R"doc(
A connection writing to a memory buffer.
)doc")
.def(py::init<>())
.def(
"get_buffer",
[](const rpc::BufferConnection& self) {
return py::bytes(self.buffer().str());
},
"Returns a copy of the buffer.");
py::class_<rpc::DummyReceiver, std::shared_ptr<rpc::DummyReceiver>>(
m, "_DummyReceiver",
"Dummy receiver for the server side receiving requests from a "
"client.")
.def(py::init([](std::string address, int timeout) {
return std::shared_ptr<rpc::DummyReceiver>(
new rpc::DummyReceiver(address, timeout));
}),
"Creates the receiver object which can be used for testing "
"connections.",
"address"_a = "tcp://127.0.0.1:51454", "timeout"_a = 10000)
.def("start", &rpc::DummyReceiver::Start,
"Starts the receiver mainloop in a new thread.")
.def("stop", &rpc::DummyReceiver::Stop,
"Stops the receiver mainloop and joins the thread. This "
"function blocks until the mainloop is done with processing "
"messages that have already been received.");
m.def("destroy_zmq_context", &rpc::DestroyZMQContext,
"Destroys the ZMQ context.");
m.def("set_point_cloud", &rpc::SetPointCloud, "pcd"_a, "path"_a = "",
"time"_a = 0, "layer"_a = "",
"connection"_a = std::shared_ptr<rpc::Connection>(),
"Sends a point cloud message to a viewer.");
docstring::FunctionDocInject(
m, "set_point_cloud",
{
{"pcd", "Point cloud object."},
{"path", "A path descriptor, e.g., 'mygroup/points'."},
{"time", "The time associated with this data."},
{"layer", "The layer associated with this data."},
{"connection",
"A Connection object. Use None to automatically create "
"the connection."},
});
m.def("set_triangle_mesh",
py::overload_cast<const geometry::TriangleMesh&, const std::string&,
int, const std::string&,
std::shared_ptr<rpc::ConnectionBase>>(
&rpc::SetTriangleMesh),
"mesh"_a, "path"_a = "", "time"_a = 0, "layer"_a = "",
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
R"doc(Sends a triangle mesh to a viewer.
Args:
mesh (o3d.geometry.TriangleMesh): The triangle mesh.
path (str): The path in the scene graph.
time (int): The time associated with the data.
layer (str): A layer name that can be used by receivers that support layers.
connection (o3d.io.rpc.Connection): A connection object that will be used for sending the data.
Returns:
Returns True if the data was successfully received.
)doc");
m.def("set_triangle_mesh",
py::overload_cast<const t::geometry::TriangleMesh&,
const std::string&, int, const std::string&,
std::shared_ptr<rpc::ConnectionBase>>(
&rpc::SetTriangleMesh),
"mesh"_a, "path"_a = "", "time"_a = 0, "layer"_a = "",
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
R"doc(Sends a triangle mesh to a viewer.
Args:
mesh (o3d.t.geometry.TriangleMesh): The triangle mesh.
path (str): The path in the scene graph.
time (int): The time associated with the data.
layer (str): A layer name that can be used by receivers that support layers.
connection (o3d.io.rpc.Connection): A connection object that will be used for sending the data.
Returns:
Returns True if the data was successfully received.
)doc");
m.def("set_mesh_data", &rpc::SetMeshData, "path"_a = "", "time"_a = 0,
"layer"_a = "", "vertices"_a = core::Tensor({0}, core::Float32),
"vertex_attributes"_a = std::map<std::string, core::Tensor>(),
"faces"_a = core::Tensor({0}, core::Int32),
"face_attributes"_a = std::map<std::string, core::Tensor>(),
"lines"_a = core::Tensor({0}, core::Int32),
"line_attributes"_a = std::map<std::string, core::Tensor>(),
"material"_a = "",
"material_scalar_attributes"_a = std::map<std::string, float>(),
"material_vector_attributes"_a =
std::map<std::string, Eigen::Vector4f>(),
"texture_maps"_a = std::map<std::string, t::geometry::Image>(),
"o3d_type"_a = "",
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
"Sends a set_mesh_data message.");
docstring::FunctionDocInject(
m, "set_mesh_data",
{
{"path", "A path descriptor, e.g., 'mygroup/points'."},
{"time", "The time associated with this data."},
{"layer", "The layer associated with this data."},
{"vertices", "Tensor defining the vertices."},
{"vertex_attributes",
"dict of Tensors with vertex attributes."},
{"faces", "Tensor defining the faces with vertex indices."},
{"face_attributes",
"dict of Tensors with face attributes."},
{"lines", "Tensor defining lines with vertex indices."},
{"line_attributes",
"dict of Tensors with line attributes."},
{"material",
"Basic Material for geometry drawing. Must be non-empty "
"if any material attributes or texture maps are "
"provided."},
{"material_scalar_attributes",
"dict of material scalar attributes for geometry drawing "
"(e.g. ``point_size``, ``line_width`` or "
"``base_reflectance``)."},
{"material_vector_attributes",
"dict of material Vector4f attributes for geometry "
"drawing (e.g. ``base_color`` or ``absorption_color``)"},
{"texture_maps", "dict of Images with textures."},
{"o3d_type", R"doc(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.)doc"},
{"connection",
"A Connection object. Use None to automatically create "
"the connection."},
});
m.def("set_legacy_camera", &rpc::SetLegacyCamera, "camera"_a, "path"_a = "",
"time"_a = 0, "layer"_a = "",
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
"Sends a PinholeCameraParameters object.");
docstring::FunctionDocInject(
m, "set_legacy_camera",
{
{"path", "A path descriptor, e.g., 'mygroup/camera'."},
{"time", "The time associated with this data."},
{"layer", "The layer associated with this data."},
{"connection",
"A Connection object. Use None to automatically create "
"the connection."},
});
m.def("set_time", &rpc::SetTime, "time"_a,
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
"Sets the time in the external visualizer.");
docstring::FunctionDocInject(
m, "set_time",
{
{"time", "The time value to set."},
{"connection",
"A Connection object. Use None to automatically create "
"the connection."},
});
m.def("set_active_camera", &rpc::SetActiveCamera, "path"_a,
"connection"_a = std::shared_ptr<rpc::ConnectionBase>(),
"Sets the object with the specified path as the active camera.");
docstring::FunctionDocInject(
m, "set_active_camera",
{
{"path", "A path descriptor, e.g., 'mygroup/camera'."},
{"connection",
"A Connection object. Use None to automatically create "
"the connection."},
});
m.def("data_buffer_to_meta_geometry", &rpc::DataBufferToMetaGeometry,
"data"_a, R"doc(
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 None for the geometry if not
successful.
)doc");
}
} // namespace io
} // namespace open3d
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