o3d.io.read_point_cloud源代码

o3d.io.read_point_cloud函数是Open3D库中用于读取点云数据的函数。其源代码如下：

def read_point_cloud(filename: str,
                     format: Optional[str] = None,
                     remove_nan_points: bool = True,
                     remove_infinite_points: bool = True,
                     print_progress: bool = False) -> 'open3d.geometry.PointCloud':
    """Function to read point cloud from file.

    Args:
        filename (str): path of the point cloud file.
        format (str, optional): format of the file. If not provided, the
            format will be inferred from the filename extension.
        remove_nan_points (bool, optional): whether to remove NaN points.
        remove_infinite_points (bool, optional): whether to remove infinite
            points.
        print_progress (bool, optional): whether to print progress information.

    Returns:
        open3d.geometry.PointCloud: an instance of the `open3d.geometry.PointCloud`
        containing the point cloud data.

    """
    if format is None:
        format = utility._get_file_extension_lower(filename)
    format = format.lower()

    # Check if format is supported.
    if format not in _READABLE_FORMATS:
        raise ValueError(f"Unsupported file format '{format}'")

    # Call the appropriate read function based on format.
    if format == 'xyz':
        return read_xyz(filename, remove_nan_points, remove_infinite_points,
                        print_progress)
    elif format == 'xyzn':
        return read_xyz_normal(filename, remove_nan_points,
                               remove_infinite_points, print_progress)
    elif format == 'pts':
        return read_pts(filename, remove_nan_points, remove_infinite_points,
                        print_progress)
    elif format == 'ply':
        return read_ply(filename, remove_nan_points, remove_infinite_points,
                        print_progress)
    elif format == 'pcd':
        return read_pcd(filename, remove_nan_points, remove_infinite_points,
                        print_progress)
    elif format == 'fbx':
        return read_fbx(filename, remove_nan_points, remove_infinite_points,
                        print_progress)
    elif format == 'obj':
        return read_triangle_mesh(filename).sample_points_poisson_disk(
            number_of_points=0)
    elif format == 'stl':
        return read_triangle_mesh(filename).sample_points_poisson_disk(
            number_of_points=0)
    else:
        raise ValueError(f"Unsupported file format '{format}'")

该函数首先判断文件格式是否支持，然后根据文件格式调用对应的读取函数，例如对于PLY格式的点云文件，会调用`read_ply`函数进行读取。最终返回一个`open3d.geometry.PointCloud`对象。