Open3D (C++ API)  0.18.0
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Dataset.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <string>
11#include <unordered_map>
12#include <utility>
13#include <vector>
14
16
17namespace open3d {
18namespace data {
19
24std::string LocateDataRoot();
25
29std::string Open3DDownloadsPrefix();
30
58class Dataset {
59public:
72 Dataset(const std::string& prefix, const std::string& data_root = "");
73
74 virtual ~Dataset() {}
75
78 const std::string GetDataRoot() const { return data_root_; }
79
81 const std::string GetPrefix() const { return prefix_; }
82
85 const std::string GetDownloadDir() const {
86 return GetDataRoot() + "/download/" + GetPrefix();
87 }
88
91 const std::string GetExtractDir() const {
92 return GetDataRoot() + "/extract/" + GetPrefix();
93 }
94
95protected:
97 std::string data_root_;
98
100 std::string prefix_;
101
103 void CheckPathsExist(const std::vector<std::string>& paths) const;
104};
105
114 DataDescriptor(const std::vector<std::string>& urls,
115 const std::string& md5,
116 const std::string& extract_in_subdir = "")
117 : urls_(urls), md5_(md5), extract_in_subdir_(extract_in_subdir) {}
118
124 DataDescriptor(const std::string& url,
125 const std::string& md5,
126 const std::string& extract_in_subdir = "")
128 std::vector<std::string>{url}, md5, extract_in_subdir) {}
129
131 std::vector<std::string> urls_;
132
134 std::string md5_;
135
138 std::string extract_in_subdir_ = "";
139};
140
149class DownloadDataset : public Dataset {
150public:
151 DownloadDataset(const std::string& prefix,
152 const DataDescriptor& data_descriptor,
153 const std::string& data_root = "");
154
155 DownloadDataset(const std::string& prefix,
156 const std::vector<DataDescriptor>& data_descriptors,
157 const std::string& data_root = "");
158
159 virtual ~DownloadDataset() {}
160
161protected:
163 bool HasDownloaded(const DataDescriptor& data_descriptor) const;
164 std::vector<DataDescriptor> data_descriptors_;
165};
166
171public:
172 ArmadilloMesh(const std::string& data_root = "");
173
175 std::string GetPath() const { return path_; }
176
177private:
179 std::string path_;
180};
181
186public:
187 AvocadoModel(const std::string& data_root = "");
188
190 std::string GetPath() const { return path_; }
191
192private:
194 std::string path_;
195};
196
202public:
203 BedroomRGBDImages(const std::string& data_root = "");
204
206 std::vector<std::string> GetColorPaths() const { return color_paths_; }
208 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
209
212 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
214 std::string GetReconstructionPath() const { return reconstruction_path_; }
215
216private:
218 std::vector<std::string> color_paths_;
220 std::vector<std::string> depth_paths_;
221
223 std::string trajectory_log_path_;
225 std::string reconstruction_path_;
226};
227
232public:
233 BunnyMesh(const std::string& data_root = "");
234
236 std::string GetPath() const { return path_; }
237
238private:
240 std::string path_;
241};
242
250public:
251 CrateModel(const std::string& data_root = "");
252
255 std::string GetPath(const std::string filename = "crate_model") const {
256 return map_filename_to_path_.at(filename);
257 }
258
261 std::unordered_map<std::string, std::string> GetPathMap() const {
262 return map_filename_to_path_;
263 }
264
265private:
267 std::unordered_map<std::string, std::string> map_filename_to_path_;
268};
269
274public:
275 DamagedHelmetModel(const std::string& data_root = "");
276
278 std::string GetPath() const { return path_; }
279
280private:
282 std::string path_;
283};
284
291public:
292 DemoColoredICPPointClouds(const std::string& data_root = "");
293
295 std::vector<std::string> GetPaths() const { return paths_; }
298 std::string GetPaths(size_t index) const;
299
300private:
301 // List of path to PCD point-cloud fragments.
302 std::vector<std::string> paths_;
303};
304
311public:
312 DemoCropPointCloud(const std::string& data_root = "");
313
315 std::string GetPointCloudPath() const { return point_cloud_path_; }
317 std::string GetCroppedJSONPath() const { return cropped_json_path_; }
318
319private:
320 // Path to example point cloud.
321 std::string point_cloud_path_;
322 // Path to saved selected polygon volume file.
323 std::string cropped_json_path_;
324};
325
332public:
333 DemoCustomVisualization(const std::string& data_root = "");
334
336 std::string GetPointCloudPath() const { return point_cloud_path_; }
338 std::string GetTrajectoryPath() const { return camera_trajectory_path_; }
340 std::string GetRenderOptionPath() const { return render_option_path_; }
341
342private:
343 std::string point_cloud_path_;
344 std::string camera_trajectory_path_;
345 std::string render_option_path_;
346};
347
353public:
354 DemoDopplerICPSequence(const std::string& data_root = "");
355
357 std::vector<std::string> GetPaths() const { return paths_; }
359 std::string GetPath(std::size_t index) const;
362 std::string GetCalibrationPath() const { return calibration_path_; }
364 std::string GetTrajectoryPath() const { return trajectory_path_; }
367 bool GetCalibration(Eigen::Matrix4d& calibration, double& period) const;
370 std::vector<std::pair<double, Eigen::Matrix4d>> GetTrajectory() const;
371
372private:
374 std::vector<std::string> paths_;
376 std::string calibration_path_;
378 std::string trajectory_path_;
379};
380
387public:
388 DemoFeatureMatchingPointClouds(const std::string& data_root = "");
389
391 std::vector<std::string> GetPointCloudPaths() const {
392 return point_cloud_paths_;
393 }
396 std::vector<std::string> GetFPFHFeaturePaths() const {
397 return fpfh_feature_paths_;
398 }
401 std::vector<std::string> GetL32DFeaturePaths() const {
402 return l32d_feature_paths_;
403 }
404
405private:
407 std::vector<std::string> point_cloud_paths_;
410 std::vector<std::string> fpfh_feature_paths_;
413 std::vector<std::string> l32d_feature_paths_;
414};
415
421public:
422 DemoICPPointClouds(const std::string& data_root = "");
423
425 std::vector<std::string> GetPaths() const { return paths_; }
428 std::string GetPaths(size_t index) const;
431 std::string GetTransformationLogPath() const {
432 return transformation_log_path_;
433 }
434
435private:
436 // List of path to PCD point-cloud fragments.
437 std::vector<std::string> paths_;
438 std::string transformation_log_path_;
439};
440
446public:
447 DemoPoseGraphOptimization(const std::string& data_root = "");
448
450 std::string GetPoseGraphFragmentPath() const {
451 return pose_graph_fragment_path_;
452 }
454 std::string GetPoseGraphGlobalPath() const {
455 return pose_graph_global_path_;
456 }
457
458private:
460 std::string pose_graph_fragment_path_;
462 std::string pose_graph_global_path_;
463};
464
469public:
470 EaglePointCloud(const std::string& data_root = "");
471
473 std::string GetPath() const { return path_; }
474
475private:
477 std::string path_;
478};
479
487public:
488 FlightHelmetModel(const std::string& data_root = "");
489
493 std::string GetPath(const std::string filename = "flight_helmet") const {
494 return map_filename_to_path_.at(filename);
495 }
496
499 std::unordered_map<std::string, std::string> GetPathMap() const {
500 return map_filename_to_path_;
501 }
502
503private:
505 std::unordered_map<std::string, std::string> map_filename_to_path_;
506};
507
512public:
513 JackJackL515Bag(const std::string& data_root = "");
514
516 std::string GetPath() const { return path_; }
517
518private:
520 std::string path_;
521};
522
526public:
527 JuneauImage(const std::string& data_root = "");
528
530 std::string GetPath() const { return path_; }
531
532private:
534 std::string path_;
535};
536
539class KnotMesh : public DownloadDataset {
540public:
541 KnotMesh(const std::string& data_root = "");
542
544 std::string GetPath() const { return path_; }
545
546private:
548 std::string path_;
549};
550
556public:
557 LivingRoomPointClouds(const std::string& data_root = "");
558
560 std::vector<std::string> GetPaths() const { return paths_; }
564 std::string GetPaths(size_t index) const;
565
566private:
568 std::vector<std::string> paths_;
569};
570
576public:
577 LoungeRGBDImages(const std::string& data_root = "");
578
580 std::vector<std::string> GetColorPaths() const { return color_paths_; }
582 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
583
586 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
588 std::string GetReconstructionPath() const { return reconstruction_path_; }
589
590private:
592 std::vector<std::string> color_paths_;
594 std::vector<std::string> depth_paths_;
595
597 std::string trajectory_log_path_;
599 std::string reconstruction_path_;
600};
601
606public:
607 MetalTexture(const std::string& data_root = "");
609 std::string GetAlbedoTexturePath() const {
610 return map_filename_to_path_.at("albedo");
611 }
613 std::string GetNormalTexturePath() const {
614 return map_filename_to_path_.at("normal");
615 }
617 std::string GetRoughnessTexturePath() const {
618 return map_filename_to_path_.at("roughness");
619 }
621 std::string GetMetallicTexturePath() const {
622 return map_filename_to_path_.at("metallic");
623 }
626 std::unordered_map<std::string, std::string> GetPathMap() const {
627 return map_filename_to_path_;
628 }
629
630private:
632 std::unordered_map<std::string, std::string> map_filename_to_path_;
633};
634
642public:
643 MonkeyModel(const std::string& data_root = "");
644
647 std::string GetPath(const std::string filename = "monkey_model") const {
648 return map_filename_to_path_.at(filename);
649 }
650
653 std::unordered_map<std::string, std::string> GetPathMap() const {
654 return map_filename_to_path_;
655 }
656
657private:
659 std::unordered_map<std::string, std::string> map_filename_to_path_;
660};
661
667public:
668 OfficePointClouds(const std::string& data_root = "");
669
671 std::vector<std::string> GetPaths() const { return paths_; }
675 std::string GetPaths(size_t index) const;
676
677private:
679 std::vector<std::string> paths_;
680};
681
686public:
687 PCDPointCloud(const std::string& data_root = "");
688
690 std::string GetPath() const { return path_; }
691
692private:
694 std::string path_;
695};
696
701public:
702 PLYPointCloud(const std::string& data_root = "");
703
705 std::string GetPath() const { return path_; }
706
707private:
709 std::string path_;
710};
711
716public:
717 PTSPointCloud(const std::string& data_root = "");
718
720 std::string GetPath() const { return path_; }
721
722private:
724 std::string path_;
725};
726
731public:
732 PaintedPlasterTexture(const std::string& data_root = "");
734 std::string GetAlbedoTexturePath() const {
735 return map_filename_to_path_.at("albedo");
736 }
738 std::string GetNormalTexturePath() const {
739 return map_filename_to_path_.at("normal");
740 }
742 std::string GetRoughnessTexturePath() const {
743 return map_filename_to_path_.at("roughness");
744 }
747 std::unordered_map<std::string, std::string> GetPathMap() const {
748 return map_filename_to_path_;
749 }
750
751private:
753 std::unordered_map<std::string, std::string> map_filename_to_path_;
754};
755
782public:
783 RedwoodIndoorLivingRoom1(const std::string& data_root = "");
784
786 std::string GetPointCloudPath() const { return point_cloud_path_; }
788 std::vector<std::string> GetColorPaths() const { return color_paths_; }
790 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
792 std::vector<std::string> GetNoisyDepthPaths() const {
793 return noisy_depth_paths_;
794 }
796 std::string GetONIPath() const { return oni_path_; }
798 std::string GetTrajectoryPath() const { return trajectory_path_; }
800 std::string GetNoiseModelPath() const { return noise_model_path_; }
801
802private:
803 std::string point_cloud_path_;
804 std::vector<std::string> color_paths_;
805 std::vector<std::string> depth_paths_;
806 std::vector<std::string> noisy_depth_paths_;
807 std::string oni_path_;
808 std::string trajectory_path_;
809 std::string noise_model_path_;
810};
811
838public:
839 RedwoodIndoorLivingRoom2(const std::string& data_root = "");
840
842 std::string GetPointCloudPath() const { return point_cloud_path_; }
844 std::vector<std::string> GetColorPaths() const { return color_paths_; }
846 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
848 std::vector<std::string> GetNoisyDepthPaths() const {
849 return noisy_depth_paths_;
850 }
852 std::string GetONIPath() const { return oni_path_; }
854 std::string GetTrajectoryPath() const { return trajectory_path_; }
856 std::string GetNoiseModelPath() const { return noise_model_path_; }
857
858private:
859 std::string point_cloud_path_;
860 std::vector<std::string> color_paths_;
861 std::vector<std::string> depth_paths_;
862 std::vector<std::string> noisy_depth_paths_;
863 std::string oni_path_;
864 std::string trajectory_path_;
865 std::string noise_model_path_;
866};
867
894public:
895 RedwoodIndoorOffice1(const std::string& data_root = "");
896
898 std::string GetPointCloudPath() const { return point_cloud_path_; }
900 std::vector<std::string> GetColorPaths() const { return color_paths_; }
902 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
904 std::vector<std::string> GetNoisyDepthPaths() const {
905 return noisy_depth_paths_;
906 }
908 std::string GetONIPath() const { return oni_path_; }
910 std::string GetTrajectoryPath() const { return trajectory_path_; }
912 std::string GetNoiseModelPath() const { return noise_model_path_; }
913
914private:
915 std::string point_cloud_path_;
916 std::vector<std::string> color_paths_;
917 std::vector<std::string> depth_paths_;
918 std::vector<std::string> noisy_depth_paths_;
919 std::string oni_path_;
920 std::string trajectory_path_;
921 std::string noise_model_path_;
922};
923
950public:
951 RedwoodIndoorOffice2(const std::string& data_root = "");
952
954 std::string GetPointCloudPath() const { return point_cloud_path_; }
956 std::vector<std::string> GetColorPaths() const { return color_paths_; }
958 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
960 std::vector<std::string> GetNoisyDepthPaths() const {
961 return noisy_depth_paths_;
962 }
964 std::string GetONIPath() const { return oni_path_; }
966 std::string GetTrajectoryPath() const { return trajectory_path_; }
968 std::string GetNoiseModelPath() const { return noise_model_path_; }
969
970private:
971 std::string point_cloud_path_;
972 std::vector<std::string> color_paths_;
973 std::vector<std::string> depth_paths_;
974 std::vector<std::string> noisy_depth_paths_;
975 std::string oni_path_;
976 std::string trajectory_path_;
977 std::string noise_model_path_;
978};
979
984public:
985 SampleFountainRGBDImages(const std::string& data_root = "");
986
988 std::vector<std::string> GetColorPaths() const { return color_paths_; }
990 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
992 std::string GetKeyframePosesLogPath() const {
993 return keyframe_poses_log_path_;
994 }
996 std::string GetReconstructionPath() const { return reconstruction_path_; }
997
998private:
999 std::vector<std::string> color_paths_;
1000 std::vector<std::string> depth_paths_;
1001 std::string keyframe_poses_log_path_;
1002 std::string reconstruction_path_;
1003};
1004
1008public:
1009 SampleL515Bag(const std::string& data_root = "");
1010
1012 std::string GetPath() const { return path_; }
1013
1014private:
1016 std::string path_;
1017};
1018
1024public:
1025 SampleNYURGBDImage(const std::string& data_root = "");
1026
1028 std::string GetColorPath() const { return color_path_; }
1030 std::string GetDepthPath() const { return depth_path_; }
1031
1032private:
1034 std::string color_path_;
1036 std::string depth_path_;
1037};
1038
1042// Additionally it also contains camera trajectory log, camera odometry log,
1043// rgbd match, and point cloud reconstruction obtained using TSDF.
1045public:
1046 SampleRedwoodRGBDImages(const std::string& data_root = "");
1047
1049 std::vector<std::string> GetColorPaths() const { return color_paths_; }
1051 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
1052
1054 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
1056 std::string GetOdometryLogPath() const { return odometry_log_path_; }
1058 std::string GetRGBDMatchPath() const { return rgbd_match_path_; }
1060 std::string GetReconstructionPath() const { return reconstruction_path_; }
1062 std::string GetCameraIntrinsicPath() const {
1063 return camera_intrinsic_path_;
1064 }
1065
1066private:
1068 std::vector<std::string> color_paths_;
1070 std::vector<std::string> depth_paths_;
1071
1073 std::string trajectory_log_path_;
1075 std::string odometry_log_path_;
1077 std::string rgbd_match_path_;
1079 std::string reconstruction_path_;
1081 std::string camera_intrinsic_path_;
1082};
1083
1089public:
1090 SampleSUNRGBDImage(const std::string& data_root = "");
1091
1093 std::string GetColorPath() const { return color_path_; }
1095 std::string GetDepthPath() const { return depth_path_; }
1096
1097private:
1099 std::string color_path_;
1101 std::string depth_path_;
1102};
1103
1109public:
1110 SampleTUMRGBDImage(const std::string& data_root = "");
1111
1113 std::string GetColorPath() const { return color_path_; }
1115 std::string GetDepthPath() const { return depth_path_; }
1116
1117private:
1119 std::string color_path_;
1121 std::string depth_path_;
1122};
1123
1131public:
1132 SwordModel(const std::string& data_root = "");
1133
1137 std::string GetPath(const std::string filename = "sword_model") const {
1138 return map_filename_to_path_.at(filename);
1139 }
1140
1143 std::unordered_map<std::string, std::string> GetPathMap() const {
1144 return map_filename_to_path_;
1145 }
1146
1147private:
1149 std::unordered_map<std::string, std::string> map_filename_to_path_;
1150};
1151
1156public:
1157 TerrazzoTexture(const std::string& data_root = "");
1159 std::string GetAlbedoTexturePath() const {
1160 return map_filename_to_path_.at("albedo");
1161 }
1163 std::string GetNormalTexturePath() const {
1164 return map_filename_to_path_.at("normal");
1165 }
1167 std::string GetRoughnessTexturePath() const {
1168 return map_filename_to_path_.at("roughness");
1169 }
1172 std::unordered_map<std::string, std::string> GetPathMap() const {
1173 return map_filename_to_path_;
1174 }
1175
1176private:
1178 std::unordered_map<std::string, std::string> map_filename_to_path_;
1179};
1180
1185public:
1186 TilesTexture(const std::string& data_root = "");
1188 std::string GetAlbedoTexturePath() const {
1189 return map_filename_to_path_.at("albedo");
1190 }
1192 std::string GetNormalTexturePath() const {
1193 return map_filename_to_path_.at("normal");
1194 }
1196 std::string GetRoughnessTexturePath() const {
1197 return map_filename_to_path_.at("roughness");
1198 }
1201 std::unordered_map<std::string, std::string> GetPathMap() const {
1202 return map_filename_to_path_;
1203 }
1204
1205private:
1207 std::unordered_map<std::string, std::string> map_filename_to_path_;
1208};
1209
1214public:
1215 WoodFloorTexture(const std::string& data_root = "");
1217 std::string GetAlbedoTexturePath() const {
1218 return map_filename_to_path_.at("albedo");
1219 }
1221 std::string GetNormalTexturePath() const {
1222 return map_filename_to_path_.at("normal");
1223 }
1225 std::string GetRoughnessTexturePath() const {
1226 return map_filename_to_path_.at("roughness");
1227 }
1230 std::unordered_map<std::string, std::string> GetPathMap() const {
1231 return map_filename_to_path_;
1232 }
1233
1234private:
1236 std::unordered_map<std::string, std::string> map_filename_to_path_;
1237};
1238
1243public:
1244 WoodTexture(const std::string& data_root = "");
1246 std::string GetAlbedoTexturePath() const {
1247 return map_filename_to_path_.at("albedo");
1248 }
1250 std::string GetNormalTexturePath() const {
1251 return map_filename_to_path_.at("normal");
1252 }
1254 std::string GetRoughnessTexturePath() const {
1255 return map_filename_to_path_.at("roughness");
1256 }
1259 std::unordered_map<std::string, std::string> GetPathMap() const {
1260 return map_filename_to_path_;
1261 }
1262
1263private:
1265 std::unordered_map<std::string, std::string> map_filename_to_path_;
1266};
1267
1268} // namespace data
1269} // namespace open3d
Data class for ArmadilloMesh contains the ArmadilloMesh.ply from the Stanford 3D Scanning Repository.
Definition Dataset.h:170
std::string GetPath() const
Path to the ArmadilloMesh.ply file.
Definition Dataset.h:175
Data class for AvocadoModel contains a avocado model file, along with material and PNG format embedde...
Definition Dataset.h:185
std::string GetPath() const
Path to the GLB format avocado model.
Definition Dataset.h:190
Data class for BedroomRGBDImages contains a sample set of 21931 color and depth images from Redwood R...
Definition Dataset.h:201
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 21931.
Definition Dataset.h:208
std::string GetReconstructionPath() const
Path to mesh reconstruction bedroom.ply.
Definition Dataset.h:214
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 21931.
Definition Dataset.h:206
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file lounge_trajectory.log.
Definition Dataset.h:212
Data class for BunnyMesh contains the BunnyMesh.ply from the Stanford 3D Scanning Repository.
Definition Dataset.h:231
std::string GetPath() const
Path to the BunnyMesh.ply file.
Definition Dataset.h:236
Data class for CrateModel contains a sword model file, along with material and various other texture ...
Definition Dataset.h:249
std::string GetPath(const std::string filename="crate_model") const
Path to the filename. By default it returns the path to crate.obj file. Refer documentation page for ...
Definition Dataset.h:255
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:261
Data class for DamagedHelmetModel contains a damaged helmet model file, along with material and JPG f...
Definition Dataset.h:273
std::string GetPath() const
Path to the GLB format damaged helmet model.
Definition Dataset.h:278
Base Open3D dataset class.
Definition Dataset.h:58
std::string prefix_
Dataset prefix.
Definition Dataset.h:100
virtual ~Dataset()
Definition Dataset.h:74
const std::string GetExtractDir() const
Get absolute path to extract directory. i.e. ${data_root}/extract/${prefix}.
Definition Dataset.h:91
void CheckPathsExist(const std::vector< std::string > &paths) const
Check if the paths exists after extraction.
Definition Dataset.cpp:47
std::string data_root_
Open3D data root.
Definition Dataset.h:97
const std::string GetPrefix() const
Get prefix for the dataset.
Definition Dataset.h:81
const std::string GetDownloadDir() const
Get absolute path to download directory. i.e. ${data_root}/download/${prefix}.
Definition Dataset.h:85
const std::string GetDataRoot() const
Get data root directory. The data root is set at construction time or automatically determined.
Definition Dataset.h:78
Data class for DemoColoredICPPointClouds contains 2 point clouds of PLY format. This data is used in ...
Definition Dataset.h:290
std::vector< std::string > GetPaths() const
Returns list of list of 2 point cloud paths.
Definition Dataset.h:295
Data class for DemoCropPointCloud contains a point cloud, and cropped.json (a saved selected polygon ...
Definition Dataset.h:310
std::string GetPointCloudPath() const
Path to example point cloud.
Definition Dataset.h:315
std::string GetCroppedJSONPath() const
Path to saved selected polygon volume file.
Definition Dataset.h:317
Data class for DemoCustomVisualization contains an example point-cloud, camera trajectory (json file)...
Definition Dataset.h:331
std::string GetTrajectoryPath() const
Path to the camera_trajectory.json.
Definition Dataset.h:338
std::string GetPointCloudPath() const
Path to the point cloud (ply).
Definition Dataset.h:336
std::string GetRenderOptionPath() const
Path to the renderoption.json.
Definition Dataset.h:340
Data class for DemoDopplerICPSequence contains an example sequence of 100 point clouds with Doppler v...
Definition Dataset.h:352
std::string GetCalibrationPath() const
Path to the calibration metadata file, containing transformation between the vehicle and sensor frame...
Definition Dataset.h:362
std::vector< std::pair< double, Eigen::Matrix4d > > GetTrajectory() const
Returns a list of (timestamp, pose) representing the ground truth trajectory of the sequence.
Definition DemoDopplerICPSequence.cpp:116
std::string GetTrajectoryPath() const
Path to the ground truth poses for the entire sequence.
Definition Dataset.h:364
std::vector< std::string > GetPaths() const
Returns the list of the point cloud paths in the sequence.
Definition Dataset.h:357
bool GetCalibration(Eigen::Matrix4d &calibration, double &period) const
Returns the vehicle to sensor calibration transformation and the time period (in secs) between sequen...
Definition DemoDopplerICPSequence.cpp:100
std::string GetPath(std::size_t index) const
Path to the point cloud at index.
Definition DemoDopplerICPSequence.cpp:91
Data class for DemoFeatureMatchingPointClouds contains 2 point cloud fragments and their respective F...
Definition Dataset.h:386
std::vector< std::string > GetFPFHFeaturePaths() const
Returns list of paths to saved FPFH features binary for point clouds, respectively,...
Definition Dataset.h:396
std::vector< std::string > GetL32DFeaturePaths() const
Returns list of paths to saved L32D features binary for point clouds, respectively,...
Definition Dataset.h:401
std::vector< std::string > GetPointCloudPaths() const
Returns list of paths to point clouds, of size 2.
Definition Dataset.h:391
Data class for DemoICPPointClouds contains 3 point clouds of binary PCD format. This data is used in ...
Definition Dataset.h:420
std::string GetTransformationLogPath() const
Path to the transformation metadata log file, containing transformation between frame 0 and 1,...
Definition Dataset.h:431
std::vector< std::string > GetPaths() const
Returns list of 3 point cloud paths.
Definition Dataset.h:425
Data class for DemoPoseGraphOptimization contains an example fragment pose graph, and global pose gra...
Definition Dataset.h:445
std::string GetPoseGraphFragmentPath() const
Path to example global pose graph (json).
Definition Dataset.h:450
std::string GetPoseGraphGlobalPath() const
Path to example fragment pose graph (json).
Definition Dataset.h:454
Dataset class with one or more downloaded file.
Definition Dataset.h:149
bool HasDownloaded(const DataDescriptor &data_descriptor) const
Check if all files are downloaded and MD5 checksums are valid.
Definition Dataset.cpp:119
virtual ~DownloadDataset()
Definition Dataset.h:159
std::vector< DataDescriptor > data_descriptors_
Definition Dataset.h:164
Data class for EaglePointCloud contains the EaglePointCloud.ply file.
Definition Dataset.h:468
std::string GetPath() const
Path to the EaglePointCloud.ply file.
Definition Dataset.h:473
Data class for FlightHelmetModel contains a flight helmet model file, along with material and various...
Definition Dataset.h:486
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:499
std::string GetPath(const std::string filename="flight_helmet") const
Path to the filename. By default it returns the path to FlightHelmet.gltf file. Refer documentation p...
Definition Dataset.h:493
Data class for JackJackL515Bag contains the RealSense L515 JackJackL515Bag.bag file.
Definition Dataset.h:511
std::string GetPath() const
Path to the JackJackL515Bag.bag file.
Definition Dataset.h:516
Data class for JuneauImage contains the JuneauImage.jpg file.
Definition Dataset.h:525
std::string GetPath() const
Path to the JuneauImage.jgp file.
Definition Dataset.h:530
Data class for KnotMesh contains the KnotMesh.ply file.
Definition Dataset.h:539
std::string GetPath() const
Path to the KnotMesh.ply file.
Definition Dataset.h:544
Dataset class for LivingRoomPointClouds contains 57 point clouds of binary PLY format.
Definition Dataset.h:555
std::vector< std::string > GetPaths() const
Returns list of paths to ply point-cloud fragments of size 57.
Definition Dataset.h:560
Data class for LoungeRGBDImages contains a sample set of 3000 color and depth images from Stanford Lo...
Definition Dataset.h:575
std::string GetReconstructionPath() const
Path to mesh reconstruction lounge.ply.
Definition Dataset.h:588
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 3000.
Definition Dataset.h:582
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 3000.
Definition Dataset.h:580
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file lounge_trajectory.log.
Definition Dataset.h:586
Data class for MetalTexture contains albedo, normal, roughness and metallic texture files for metal b...
Definition Dataset.h:605
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:613
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:617
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:609
std::string GetMetallicTexturePath() const
Returns the path to metallic texture image.
Definition Dataset.h:621
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:626
Data class for MonkeyModel contains a monkey model file, along with material and various other textur...
Definition Dataset.h:641
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:653
std::string GetPath(const std::string filename="monkey_model") const
Path to the filename. By default it returns the path to mokey.obj file. Refer documentation page for ...
Definition Dataset.h:647
Dataset class for OfficePointClouds contains 53 point clouds of binary PLY format.
Definition Dataset.h:666
std::vector< std::string > GetPaths() const
Returns list of paths to ply point-cloud fragments of size 52.
Definition Dataset.h:671
Data class for PCDPointCloud contains the fragment.pcd point cloud mesh from the Redwood Living Room ...
Definition Dataset.h:685
std::string GetPath() const
Path to the pcd format point cloud.
Definition Dataset.h:690
Data class for PLYPointCloud contains the fragment.ply point cloud mesh from the Redwood Living Room ...
Definition Dataset.h:700
std::string GetPath() const
Path to the PLY format point cloud.
Definition Dataset.h:705
Data class for PTSPointCloud contains a sample point-cloud of PTS format.
Definition Dataset.h:715
std::string GetPath() const
Path to the PTS format point cloud.
Definition Dataset.h:720
Data class for PaintedPlasterTexture contains albedo, normal and roughness texture files for painted ...
Definition Dataset.h:730
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:742
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:738
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:747
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:734
Data class for RedwoodIndoorLivingRoom1, containing dense point cloud, rgb sequence,...
Definition Dataset.h:781
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:786
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:796
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:800
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:788
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:790
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:792
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:798
Data class for RedwoodIndoorLivingRoom2, containing dense point cloud, rgb sequence,...
Definition Dataset.h:837
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:844
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:848
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:846
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:842
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:852
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:854
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:856
Data class for RedwoodIndoorOffice1, containing dense point cloud, rgb sequence, clean depth sequence...
Definition Dataset.h:893
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:902
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:904
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:900
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:910
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:898
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:908
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:912
Data class for RedwoodIndoorOffice2, containing dense point cloud, rgb sequence, clean depth sequence...
Definition Dataset.h:949
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:956
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:968
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:954
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:960
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:964
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:958
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:966
Data class for SampleFountainRGBDImages contains a sample set of 33 color and depth images from the F...
Definition Dataset.h:983
std::string GetKeyframePosesLogPath() const
Path to camera poses at key frames log file key.log.
Definition Dataset.h:992
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 33.
Definition Dataset.h:990
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 33.
Definition Dataset.h:988
std::string GetReconstructionPath() const
Path to mesh reconstruction.
Definition Dataset.h:996
Data class for SampleL515Bag contains the SampleL515Bag.bag file.
Definition Dataset.h:1007
std::string GetPath() const
Path to the SampleL515Bag.bag file.
Definition Dataset.h:1012
Data class for SampleNYURGBDImage contains a color image NYU_color.ppm and a depth image NYU_depth....
Definition Dataset.h:1023
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:1030
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:1028
Data class for SampleRedwoodRGBDImages contains a sample set of 5 color and depth images from Redwood...
Definition Dataset.h:1044
std::string GetOdometryLogPath() const
Path to camera trajectory log file odometry.log.
Definition Dataset.h:1056
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 5.
Definition Dataset.h:1049
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 5.
Definition Dataset.h:1051
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file trajectory.log.
Definition Dataset.h:1054
std::string GetReconstructionPath() const
Path to point cloud reconstruction from TSDF.
Definition Dataset.h:1060
std::string GetCameraIntrinsicPath() const
Path to pinhole camera intrinsic (json).
Definition Dataset.h:1062
std::string GetRGBDMatchPath() const
Path to color and depth image match file rgbd.match.
Definition Dataset.h:1058
Data class for SampleSUNRGBDImage contains a color image SUN_color.jpg and a depth image SUN_depth....
Definition Dataset.h:1088
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:1095
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:1093
Data class for SampleTUMRGBDImage contains a color image TUM_color.png and a depth image TUM_depth....
Definition Dataset.h:1108
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:1115
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:1113
Data class for SwordModel contains a sword model file, along with material and various other texture ...
Definition Dataset.h:1130
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:1143
std::string GetPath(const std::string filename="sword_model") const
Path to the filename. By default it returns the path to sword.obj file. Refer documentation page for ...
Definition Dataset.h:1137
Data class for TerrazzoTexture contains albedo, normal and roughness texture files for terrazzo based...
Definition Dataset.h:1155
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1167
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1159
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:1172
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1163
Data class for TilesTexture contains albedo, normal and roughness texture files for tiles based mater...
Definition Dataset.h:1184
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1188
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1192
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:1201
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1196
Data class for WoodFloorTexture contains albedo, normal and roughness texture files for wooden floor ...
Definition Dataset.h:1213
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1221
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:1230
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1225
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1217
Data class for WoodTexture contains albedo, normal and roughness texture files for wood based materia...
Definition Dataset.h:1242
std::unordered_map< std::string, std::string > GetPathMap() const
Returns the map of filename to path. Refer documentation page for available options.
Definition Dataset.h:1259
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1250
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1254
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1246
std::string Open3DDownloadsPrefix()
Definition Dataset.cpp:31
std::string LocateDataRoot()
Definition Dataset.cpp:20
const char const char value recording_handle imu_sample recording_handle uint8_t data
Definition K4aPlugin.cpp:269
Definition PinholeCameraIntrinsic.cpp:16
Definition Device.h:107
Infomation about a file to be downloaded.
Definition Dataset.h:108
std::vector< std::string > urls_
List of URL mirrors.
Definition Dataset.h:131
std::string md5_
MD5 checksum of the downloaded file.
Definition Dataset.h:134
DataDescriptor(const std::string &url, const std::string &md5, const std::string &extract_in_subdir="")
Constructor a download url.
Definition Dataset.h:124
DataDescriptor(const std::vector< std::string > &urls, const std::string &md5, const std::string &extract_in_subdir="")
Constructor a list of url mirrors.
Definition Dataset.h:114
std::string extract_in_subdir_
Definition Dataset.h:138