Open3D (C++ API)  0.17.0
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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
15namespace open3d {
16namespace data {
17
22std::string LocateDataRoot();
23
27std::string Open3DDownloadsPrefix();
28
56class Dataset {
57public:
70 Dataset(const std::string& prefix, const std::string& data_root = "");
71
72 virtual ~Dataset() {}
73
76 const std::string GetDataRoot() const { return data_root_; }
77
79 const std::string GetPrefix() const { return prefix_; }
80
83 const std::string GetDownloadDir() const {
84 return GetDataRoot() + "/download/" + GetPrefix();
85 }
86
89 const std::string GetExtractDir() const {
90 return GetDataRoot() + "/extract/" + GetPrefix();
91 }
92
93protected:
95 std::string data_root_;
96
98 std::string prefix_;
99
101 void CheckPathsExist(const std::vector<std::string>& paths) const;
102};
103
112 DataDescriptor(const std::vector<std::string>& urls,
113 const std::string& md5,
114 const std::string& extract_in_subdir = "")
115 : urls_(urls), md5_(md5), extract_in_subdir_(extract_in_subdir) {}
116
122 DataDescriptor(const std::string& url,
123 const std::string& md5,
124 const std::string& extract_in_subdir = "")
126 std::vector<std::string>{url}, md5, extract_in_subdir) {}
127
129 std::vector<std::string> urls_;
130
132 std::string md5_;
133
136 std::string extract_in_subdir_ = "";
137};
138
147class DownloadDataset : public Dataset {
148public:
149 DownloadDataset(const std::string& prefix,
150 const DataDescriptor& data_descriptor,
151 const std::string& data_root = "");
152
153 DownloadDataset(const std::string& prefix,
154 const std::vector<DataDescriptor>& data_descriptors,
155 const std::string& data_root = "");
156
157 virtual ~DownloadDataset() {}
158
159protected:
161 bool HasDownloaded(const DataDescriptor& data_descriptor) const;
162 std::vector<DataDescriptor> data_descriptors_;
163};
164
169public:
170 ArmadilloMesh(const std::string& data_root = "");
171
173 std::string GetPath() const { return path_; }
174
175private:
177 std::string path_;
178};
179
184public:
185 AvocadoModel(const std::string& data_root = "");
186
188 std::string GetPath() const { return path_; }
189
190private:
192 std::string path_;
193};
194
200public:
201 BedroomRGBDImages(const std::string& data_root = "");
202
204 std::vector<std::string> GetColorPaths() const { return color_paths_; }
206 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
207
210 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
212 std::string GetReconstructionPath() const { return reconstruction_path_; }
213
214private:
216 std::vector<std::string> color_paths_;
218 std::vector<std::string> depth_paths_;
219
221 std::string trajectory_log_path_;
223 std::string reconstruction_path_;
224};
225
230public:
231 BunnyMesh(const std::string& data_root = "");
232
234 std::string GetPath() const { return path_; }
235
236private:
238 std::string path_;
239};
240
248public:
249 CrateModel(const std::string& data_root = "");
250
253 std::string GetPath(const std::string filename = "crate_model") const {
254 return map_filename_to_path_.at(filename);
255 }
256
259 std::unordered_map<std::string, std::string> GetPathMap() const {
260 return map_filename_to_path_;
261 }
262
263private:
265 std::unordered_map<std::string, std::string> map_filename_to_path_;
266};
267
272public:
273 DamagedHelmetModel(const std::string& data_root = "");
274
276 std::string GetPath() const { return path_; }
277
278private:
280 std::string path_;
281};
282
289public:
290 DemoColoredICPPointClouds(const std::string& data_root = "");
291
293 std::vector<std::string> GetPaths() const { return paths_; }
296 std::string GetPaths(size_t index) const;
297
298private:
299 // List of path to PCD point-cloud fragments.
300 std::vector<std::string> paths_;
301};
302
309public:
310 DemoCropPointCloud(const std::string& data_root = "");
311
313 std::string GetPointCloudPath() const { return point_cloud_path_; }
315 std::string GetCroppedJSONPath() const { return cropped_json_path_; }
316
317private:
318 // Path to example point cloud.
319 std::string point_cloud_path_;
320 // Path to saved selected polygon volume file.
321 std::string cropped_json_path_;
322};
323
330public:
331 DemoCustomVisualization(const std::string& data_root = "");
332
334 std::string GetPointCloudPath() const { return point_cloud_path_; }
336 std::string GetTrajectoryPath() const { return camera_trajectory_path_; }
338 std::string GetRenderOptionPath() const { return render_option_path_; }
339
340private:
341 std::string point_cloud_path_;
342 std::string camera_trajectory_path_;
343 std::string render_option_path_;
344};
345
352public:
353 DemoFeatureMatchingPointClouds(const std::string& data_root = "");
354
356 std::vector<std::string> GetPointCloudPaths() const {
357 return point_cloud_paths_;
358 }
361 std::vector<std::string> GetFPFHFeaturePaths() const {
362 return fpfh_feature_paths_;
363 }
366 std::vector<std::string> GetL32DFeaturePaths() const {
367 return l32d_feature_paths_;
368 }
369
370private:
372 std::vector<std::string> point_cloud_paths_;
375 std::vector<std::string> fpfh_feature_paths_;
378 std::vector<std::string> l32d_feature_paths_;
379};
380
386public:
387 DemoICPPointClouds(const std::string& data_root = "");
388
390 std::vector<std::string> GetPaths() const { return paths_; }
393 std::string GetPaths(size_t index) const;
396 std::string GetTransformationLogPath() const {
397 return transformation_log_path_;
398 }
399
400private:
401 // List of path to PCD point-cloud fragments.
402 std::vector<std::string> paths_;
403 std::string transformation_log_path_;
404};
405
411public:
412 DemoPoseGraphOptimization(const std::string& data_root = "");
413
415 std::string GetPoseGraphFragmentPath() const {
416 return pose_graph_fragment_path_;
417 }
419 std::string GetPoseGraphGlobalPath() const {
420 return pose_graph_global_path_;
421 }
422
423private:
425 std::string pose_graph_fragment_path_;
427 std::string pose_graph_global_path_;
428};
429
434public:
435 EaglePointCloud(const std::string& data_root = "");
436
438 std::string GetPath() const { return path_; }
439
440private:
442 std::string path_;
443};
444
452public:
453 FlightHelmetModel(const std::string& data_root = "");
454
458 std::string GetPath(const std::string filename = "flight_helmet") const {
459 return map_filename_to_path_.at(filename);
460 }
461
464 std::unordered_map<std::string, std::string> GetPathMap() const {
465 return map_filename_to_path_;
466 }
467
468private:
470 std::unordered_map<std::string, std::string> map_filename_to_path_;
471};
472
477public:
478 JackJackL515Bag(const std::string& data_root = "");
479
481 std::string GetPath() const { return path_; }
482
483private:
485 std::string path_;
486};
487
491public:
492 JuneauImage(const std::string& data_root = "");
493
495 std::string GetPath() const { return path_; }
496
497private:
499 std::string path_;
500};
501
504class KnotMesh : public DownloadDataset {
505public:
506 KnotMesh(const std::string& data_root = "");
507
509 std::string GetPath() const { return path_; }
510
511private:
513 std::string path_;
514};
515
521public:
522 LivingRoomPointClouds(const std::string& data_root = "");
523
525 std::vector<std::string> GetPaths() const { return paths_; }
529 std::string GetPaths(size_t index) const;
530
531private:
533 std::vector<std::string> paths_;
534};
535
541public:
542 LoungeRGBDImages(const std::string& data_root = "");
543
545 std::vector<std::string> GetColorPaths() const { return color_paths_; }
547 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
548
551 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
553 std::string GetReconstructionPath() const { return reconstruction_path_; }
554
555private:
557 std::vector<std::string> color_paths_;
559 std::vector<std::string> depth_paths_;
560
562 std::string trajectory_log_path_;
564 std::string reconstruction_path_;
565};
566
571public:
572 MetalTexture(const std::string& data_root = "");
574 std::string GetAlbedoTexturePath() const {
575 return map_filename_to_path_.at("albedo");
576 }
578 std::string GetNormalTexturePath() const {
579 return map_filename_to_path_.at("normal");
580 }
582 std::string GetRoughnessTexturePath() const {
583 return map_filename_to_path_.at("roughness");
584 }
586 std::string GetMetallicTexturePath() const {
587 return map_filename_to_path_.at("metallic");
588 }
591 std::unordered_map<std::string, std::string> GetPathMap() const {
592 return map_filename_to_path_;
593 }
594
595private:
597 std::unordered_map<std::string, std::string> map_filename_to_path_;
598};
599
607public:
608 MonkeyModel(const std::string& data_root = "");
609
612 std::string GetPath(const std::string filename = "monkey_model") const {
613 return map_filename_to_path_.at(filename);
614 }
615
618 std::unordered_map<std::string, std::string> GetPathMap() const {
619 return map_filename_to_path_;
620 }
621
622private:
624 std::unordered_map<std::string, std::string> map_filename_to_path_;
625};
626
632public:
633 OfficePointClouds(const std::string& data_root = "");
634
636 std::vector<std::string> GetPaths() const { return paths_; }
640 std::string GetPaths(size_t index) const;
641
642private:
644 std::vector<std::string> paths_;
645};
646
651public:
652 PCDPointCloud(const std::string& data_root = "");
653
655 std::string GetPath() const { return path_; }
656
657private:
659 std::string path_;
660};
661
666public:
667 PLYPointCloud(const std::string& data_root = "");
668
670 std::string GetPath() const { return path_; }
671
672private:
674 std::string path_;
675};
676
681public:
682 PTSPointCloud(const std::string& data_root = "");
683
685 std::string GetPath() const { return path_; }
686
687private:
689 std::string path_;
690};
691
696public:
697 PaintedPlasterTexture(const std::string& data_root = "");
699 std::string GetAlbedoTexturePath() const {
700 return map_filename_to_path_.at("albedo");
701 }
703 std::string GetNormalTexturePath() const {
704 return map_filename_to_path_.at("normal");
705 }
707 std::string GetRoughnessTexturePath() const {
708 return map_filename_to_path_.at("roughness");
709 }
712 std::unordered_map<std::string, std::string> GetPathMap() const {
713 return map_filename_to_path_;
714 }
715
716private:
718 std::unordered_map<std::string, std::string> map_filename_to_path_;
719};
720
747public:
748 RedwoodIndoorLivingRoom1(const std::string& data_root = "");
749
751 std::string GetPointCloudPath() const { return point_cloud_path_; }
753 std::vector<std::string> GetColorPaths() const { return color_paths_; }
755 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
757 std::vector<std::string> GetNoisyDepthPaths() const {
758 return noisy_depth_paths_;
759 }
761 std::string GetONIPath() const { return oni_path_; }
763 std::string GetTrajectoryPath() const { return trajectory_path_; }
765 std::string GetNoiseModelPath() const { return noise_model_path_; }
766
767private:
768 std::string point_cloud_path_;
769 std::vector<std::string> color_paths_;
770 std::vector<std::string> depth_paths_;
771 std::vector<std::string> noisy_depth_paths_;
772 std::string oni_path_;
773 std::string trajectory_path_;
774 std::string noise_model_path_;
775};
776
803public:
804 RedwoodIndoorLivingRoom2(const std::string& data_root = "");
805
807 std::string GetPointCloudPath() const { return point_cloud_path_; }
809 std::vector<std::string> GetColorPaths() const { return color_paths_; }
811 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
813 std::vector<std::string> GetNoisyDepthPaths() const {
814 return noisy_depth_paths_;
815 }
817 std::string GetONIPath() const { return oni_path_; }
819 std::string GetTrajectoryPath() const { return trajectory_path_; }
821 std::string GetNoiseModelPath() const { return noise_model_path_; }
822
823private:
824 std::string point_cloud_path_;
825 std::vector<std::string> color_paths_;
826 std::vector<std::string> depth_paths_;
827 std::vector<std::string> noisy_depth_paths_;
828 std::string oni_path_;
829 std::string trajectory_path_;
830 std::string noise_model_path_;
831};
832
859public:
860 RedwoodIndoorOffice1(const std::string& data_root = "");
861
863 std::string GetPointCloudPath() const { return point_cloud_path_; }
865 std::vector<std::string> GetColorPaths() const { return color_paths_; }
867 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
869 std::vector<std::string> GetNoisyDepthPaths() const {
870 return noisy_depth_paths_;
871 }
873 std::string GetONIPath() const { return oni_path_; }
875 std::string GetTrajectoryPath() const { return trajectory_path_; }
877 std::string GetNoiseModelPath() const { return noise_model_path_; }
878
879private:
880 std::string point_cloud_path_;
881 std::vector<std::string> color_paths_;
882 std::vector<std::string> depth_paths_;
883 std::vector<std::string> noisy_depth_paths_;
884 std::string oni_path_;
885 std::string trajectory_path_;
886 std::string noise_model_path_;
887};
888
915public:
916 RedwoodIndoorOffice2(const std::string& data_root = "");
917
919 std::string GetPointCloudPath() const { return point_cloud_path_; }
921 std::vector<std::string> GetColorPaths() const { return color_paths_; }
923 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
925 std::vector<std::string> GetNoisyDepthPaths() const {
926 return noisy_depth_paths_;
927 }
929 std::string GetONIPath() const { return oni_path_; }
931 std::string GetTrajectoryPath() const { return trajectory_path_; }
933 std::string GetNoiseModelPath() const { return noise_model_path_; }
934
935private:
936 std::string point_cloud_path_;
937 std::vector<std::string> color_paths_;
938 std::vector<std::string> depth_paths_;
939 std::vector<std::string> noisy_depth_paths_;
940 std::string oni_path_;
941 std::string trajectory_path_;
942 std::string noise_model_path_;
943};
944
949public:
950 SampleFountainRGBDImages(const std::string& data_root = "");
951
953 std::vector<std::string> GetColorPaths() const { return color_paths_; }
955 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
957 std::string GetKeyframePosesLogPath() const {
958 return keyframe_poses_log_path_;
959 }
961 std::string GetReconstructionPath() const { return reconstruction_path_; }
962
963private:
964 std::vector<std::string> color_paths_;
965 std::vector<std::string> depth_paths_;
966 std::string keyframe_poses_log_path_;
967 std::string reconstruction_path_;
968};
969
973public:
974 SampleL515Bag(const std::string& data_root = "");
975
977 std::string GetPath() const { return path_; }
978
979private:
981 std::string path_;
982};
983
989public:
990 SampleNYURGBDImage(const std::string& data_root = "");
991
993 std::string GetColorPath() const { return color_path_; }
995 std::string GetDepthPath() const { return depth_path_; }
996
997private:
999 std::string color_path_;
1001 std::string depth_path_;
1002};
1003
1007// Additionally it also contains camera trajectory log, camera odometry log,
1008// rgbd match, and point cloud reconstruction obtained using TSDF.
1010public:
1011 SampleRedwoodRGBDImages(const std::string& data_root = "");
1012
1014 std::vector<std::string> GetColorPaths() const { return color_paths_; }
1016 std::vector<std::string> GetDepthPaths() const { return depth_paths_; }
1017
1019 std::string GetTrajectoryLogPath() const { return trajectory_log_path_; }
1021 std::string GetOdometryLogPath() const { return odometry_log_path_; }
1023 std::string GetRGBDMatchPath() const { return rgbd_match_path_; }
1025 std::string GetReconstructionPath() const { return reconstruction_path_; }
1027 std::string GetCameraIntrinsicPath() const {
1028 return camera_intrinsic_path_;
1029 }
1030
1031private:
1033 std::vector<std::string> color_paths_;
1035 std::vector<std::string> depth_paths_;
1036
1038 std::string trajectory_log_path_;
1040 std::string odometry_log_path_;
1042 std::string rgbd_match_path_;
1044 std::string reconstruction_path_;
1046 std::string camera_intrinsic_path_;
1047};
1048
1054public:
1055 SampleSUNRGBDImage(const std::string& data_root = "");
1056
1058 std::string GetColorPath() const { return color_path_; }
1060 std::string GetDepthPath() const { return depth_path_; }
1061
1062private:
1064 std::string color_path_;
1066 std::string depth_path_;
1067};
1068
1074public:
1075 SampleTUMRGBDImage(const std::string& data_root = "");
1076
1078 std::string GetColorPath() const { return color_path_; }
1080 std::string GetDepthPath() const { return depth_path_; }
1081
1082private:
1084 std::string color_path_;
1086 std::string depth_path_;
1087};
1088
1096public:
1097 SwordModel(const std::string& data_root = "");
1098
1102 std::string GetPath(const std::string filename = "sword_model") const {
1103 return map_filename_to_path_.at(filename);
1104 }
1105
1108 std::unordered_map<std::string, std::string> GetPathMap() const {
1109 return map_filename_to_path_;
1110 }
1111
1112private:
1114 std::unordered_map<std::string, std::string> map_filename_to_path_;
1115};
1116
1121public:
1122 TerrazzoTexture(const std::string& data_root = "");
1124 std::string GetAlbedoTexturePath() const {
1125 return map_filename_to_path_.at("albedo");
1126 }
1128 std::string GetNormalTexturePath() const {
1129 return map_filename_to_path_.at("normal");
1130 }
1132 std::string GetRoughnessTexturePath() const {
1133 return map_filename_to_path_.at("roughness");
1134 }
1137 std::unordered_map<std::string, std::string> GetPathMap() const {
1138 return map_filename_to_path_;
1139 }
1140
1141private:
1143 std::unordered_map<std::string, std::string> map_filename_to_path_;
1144};
1145
1150public:
1151 TilesTexture(const std::string& data_root = "");
1153 std::string GetAlbedoTexturePath() const {
1154 return map_filename_to_path_.at("albedo");
1155 }
1157 std::string GetNormalTexturePath() const {
1158 return map_filename_to_path_.at("normal");
1159 }
1161 std::string GetRoughnessTexturePath() const {
1162 return map_filename_to_path_.at("roughness");
1163 }
1166 std::unordered_map<std::string, std::string> GetPathMap() const {
1167 return map_filename_to_path_;
1168 }
1169
1170private:
1172 std::unordered_map<std::string, std::string> map_filename_to_path_;
1173};
1174
1179public:
1180 WoodFloorTexture(const std::string& data_root = "");
1182 std::string GetAlbedoTexturePath() const {
1183 return map_filename_to_path_.at("albedo");
1184 }
1186 std::string GetNormalTexturePath() const {
1187 return map_filename_to_path_.at("normal");
1188 }
1190 std::string GetRoughnessTexturePath() const {
1191 return map_filename_to_path_.at("roughness");
1192 }
1195 std::unordered_map<std::string, std::string> GetPathMap() const {
1196 return map_filename_to_path_;
1197 }
1198
1199private:
1201 std::unordered_map<std::string, std::string> map_filename_to_path_;
1202};
1203
1208public:
1209 WoodTexture(const std::string& data_root = "");
1211 std::string GetAlbedoTexturePath() const {
1212 return map_filename_to_path_.at("albedo");
1213 }
1215 std::string GetNormalTexturePath() const {
1216 return map_filename_to_path_.at("normal");
1217 }
1219 std::string GetRoughnessTexturePath() const {
1220 return map_filename_to_path_.at("roughness");
1221 }
1224 std::unordered_map<std::string, std::string> GetPathMap() const {
1225 return map_filename_to_path_;
1226 }
1227
1228private:
1230 std::unordered_map<std::string, std::string> map_filename_to_path_;
1231};
1232
1233} // namespace data
1234} // namespace open3d
Data class for ArmadilloMesh contains the ArmadilloMesh.ply from the Stanford 3D Scanning Repository.
Definition Dataset.h:168
std::string GetPath() const
Path to the ArmadilloMesh.ply file.
Definition Dataset.h:173
Data class for AvocadoModel contains a avocado model file, along with material and PNG format embedde...
Definition Dataset.h:183
std::string GetPath() const
Path to the GLB format avocado model.
Definition Dataset.h:188
Data class for BedroomRGBDImages contains a sample set of 21931 color and depth images from Redwood R...
Definition Dataset.h:199
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 21931.
Definition Dataset.h:206
std::string GetReconstructionPath() const
Path to mesh reconstruction bedroom.ply.
Definition Dataset.h:212
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 21931.
Definition Dataset.h:204
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file lounge_trajectory.log.
Definition Dataset.h:210
Data class for BunnyMesh contains the BunnyMesh.ply from the Stanford 3D Scanning Repository.
Definition Dataset.h:229
std::string GetPath() const
Path to the BunnyMesh.ply file.
Definition Dataset.h:234
Data class for CrateModel contains a sword model file, along with material and various other texture ...
Definition Dataset.h:247
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:253
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:259
Data class for DamagedHelmetModel contains a damaged helmet model file, along with material and JPG f...
Definition Dataset.h:271
std::string GetPath() const
Path to the GLB format damaged helmet model.
Definition Dataset.h:276
Base Open3D dataset class.
Definition Dataset.h:56
std::string prefix_
Dataset prefix.
Definition Dataset.h:98
virtual ~Dataset()
Definition Dataset.h:72
const std::string GetExtractDir() const
Get absolute path to extract directory. i.e. ${data_root}/extract/${prefix}.
Definition Dataset.h:89
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:95
const std::string GetPrefix() const
Get prefix for the dataset.
Definition Dataset.h:79
const std::string GetDownloadDir() const
Get absolute path to download directory. i.e. ${data_root}/download/${prefix}.
Definition Dataset.h:83
const std::string GetDataRoot() const
Get data root directory. The data root is set at construction time or automatically determined.
Definition Dataset.h:76
Data class for DemoColoredICPPointClouds contains 2 point clouds of PLY format. This data is used in ...
Definition Dataset.h:288
std::vector< std::string > GetPaths() const
Returns list of list of 2 point cloud paths.
Definition Dataset.h:293
Data class for DemoCropPointCloud contains a point cloud, and cropped.json (a saved selected polygon ...
Definition Dataset.h:308
std::string GetPointCloudPath() const
Path to example point cloud.
Definition Dataset.h:313
std::string GetCroppedJSONPath() const
Path to saved selected polygon volume file.
Definition Dataset.h:315
Data class for DemoCustomVisualization contains an example point-cloud, camera trajectory (json file)...
Definition Dataset.h:329
std::string GetTrajectoryPath() const
Path to the camera_trajectory.json.
Definition Dataset.h:336
std::string GetPointCloudPath() const
Path to the point cloud (ply).
Definition Dataset.h:334
std::string GetRenderOptionPath() const
Path to the renderoption.json.
Definition Dataset.h:338
Data class for DemoFeatureMatchingPointClouds contains 2 point cloud fragments and their respective F...
Definition Dataset.h:351
std::vector< std::string > GetFPFHFeaturePaths() const
Returns list of paths to saved FPFH features binary for point clouds, respectively,...
Definition Dataset.h:361
std::vector< std::string > GetL32DFeaturePaths() const
Returns list of paths to saved L32D features binary for point clouds, respectively,...
Definition Dataset.h:366
std::vector< std::string > GetPointCloudPaths() const
Returns list of paths to point clouds, of size 2.
Definition Dataset.h:356
Data class for DemoICPPointClouds contains 3 point clouds of binary PCD format. This data is used in ...
Definition Dataset.h:385
std::string GetTransformationLogPath() const
Path to the transformation metadata log file, containing transformation between frame 0 and 1,...
Definition Dataset.h:396
std::vector< std::string > GetPaths() const
Returns list of 3 point cloud paths.
Definition Dataset.h:390
Data class for DemoPoseGraphOptimization contains an example fragment pose graph, and global pose gra...
Definition Dataset.h:410
std::string GetPoseGraphFragmentPath() const
Path to example global pose graph (json).
Definition Dataset.h:415
std::string GetPoseGraphGlobalPath() const
Path to example fragment pose graph (json).
Definition Dataset.h:419
Dataset class with one or more downloaded file.
Definition Dataset.h:147
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:157
std::vector< DataDescriptor > data_descriptors_
Definition Dataset.h:162
Data class for EaglePointCloud contains the EaglePointCloud.ply file.
Definition Dataset.h:433
std::string GetPath() const
Path to the EaglePointCloud.ply file.
Definition Dataset.h:438
Data class for FlightHelmetModel contains a flight helmet model file, along with material and various...
Definition Dataset.h:451
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:464
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:458
Data class for JackJackL515Bag contains the RealSense L515 JackJackL515Bag.bag file.
Definition Dataset.h:476
std::string GetPath() const
Path to the JackJackL515Bag.bag file.
Definition Dataset.h:481
Data class for JuneauImage contains the JuneauImage.jpg file.
Definition Dataset.h:490
std::string GetPath() const
Path to the JuneauImage.jgp file.
Definition Dataset.h:495
Data class for KnotMesh contains the KnotMesh.ply file.
Definition Dataset.h:504
std::string GetPath() const
Path to the KnotMesh.ply file.
Definition Dataset.h:509
Dataset class for LivingRoomPointClouds contains 57 point clouds of binary PLY format.
Definition Dataset.h:520
std::vector< std::string > GetPaths() const
Returns list of paths to ply point-cloud fragments of size 57.
Definition Dataset.h:525
Data class for LoungeRGBDImages contains a sample set of 3000 color and depth images from Stanford Lo...
Definition Dataset.h:540
std::string GetReconstructionPath() const
Path to mesh reconstruction lounge.ply.
Definition Dataset.h:553
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 3000.
Definition Dataset.h:547
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 3000.
Definition Dataset.h:545
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file lounge_trajectory.log.
Definition Dataset.h:551
Data class for MetalTexture contains albedo, normal, roughness and metallic texture files for metal b...
Definition Dataset.h:570
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:578
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:582
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:574
std::string GetMetallicTexturePath() const
Returns the path to metallic texture image.
Definition Dataset.h:586
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:591
Data class for MonkeyModel contains a monkey model file, along with material and various other textur...
Definition Dataset.h:606
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:618
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:612
Dataset class for OfficePointClouds contains 53 point clouds of binary PLY format.
Definition Dataset.h:631
std::vector< std::string > GetPaths() const
Returns list of paths to ply point-cloud fragments of size 52.
Definition Dataset.h:636
Data class for PCDPointCloud contains the fragment.pcd point cloud mesh from the Redwood Living Room ...
Definition Dataset.h:650
std::string GetPath() const
Path to the pcd format point cloud.
Definition Dataset.h:655
Data class for PLYPointCloud contains the fragment.ply point cloud mesh from the Redwood Living Room ...
Definition Dataset.h:665
std::string GetPath() const
Path to the PLY format point cloud.
Definition Dataset.h:670
Data class for PTSPointCloud contains a sample point-cloud of PTS format.
Definition Dataset.h:680
std::string GetPath() const
Path to the PTS format point cloud.
Definition Dataset.h:685
Data class for PaintedPlasterTexture contains albedo, normal and roughness texture files for painted ...
Definition Dataset.h:695
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:707
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:703
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:712
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:699
Data class for RedwoodIndoorLivingRoom1, containing dense point cloud, rgb sequence,...
Definition Dataset.h:746
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:751
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:761
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:765
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:753
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:755
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:757
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:763
Data class for RedwoodIndoorLivingRoom1, containing dense point cloud, rgb sequence,...
Definition Dataset.h:802
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:809
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:813
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:811
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:807
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:817
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:819
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:821
Data class for RedwoodIndoorLivingRoom1, containing dense point cloud, rgb sequence,...
Definition Dataset.h:858
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:867
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:869
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:865
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:875
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:863
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:873
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:877
Data class for RedwoodIndoorLivingRoom1, containing dense point cloud, rgb sequence,...
Definition Dataset.h:914
std::vector< std::string > GetColorPaths() const
Paths to the color images.
Definition Dataset.h:921
std::string GetNoiseModelPath() const
Path to the noise model.
Definition Dataset.h:933
std::string GetPointCloudPath() const
Path to the point cloud.
Definition Dataset.h:919
std::vector< std::string > GetNoisyDepthPaths() const
Paths to the noisy depth images.
Definition Dataset.h:925
std::string GetONIPath() const
Paths to the ONI sequence.
Definition Dataset.h:929
std::vector< std::string > GetDepthPaths() const
Paths to the clean depth images.
Definition Dataset.h:923
std::string GetTrajectoryPath() const
Path to the ground-truth camera trajectory.
Definition Dataset.h:931
Data class for SampleFountainRGBDImages contains a sample set of 33 color and depth images from the F...
Definition Dataset.h:948
std::string GetKeyframePosesLogPath() const
Path to camera poses at key frames log file key.log.
Definition Dataset.h:957
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 33.
Definition Dataset.h:955
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 33.
Definition Dataset.h:953
std::string GetReconstructionPath() const
Path to mesh reconstruction.
Definition Dataset.h:961
Data class for SampleL515Bag contains the SampleL515Bag.bag file.
Definition Dataset.h:972
std::string GetPath() const
Path to the SampleL515Bag.bag file.
Definition Dataset.h:977
Data class for SampleNYURGBDImage contains a color image NYU_color.ppm and a depth image NYU_depth....
Definition Dataset.h:988
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:995
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:993
Data class for SampleRedwoodRGBDImages contains a sample set of 5 color and depth images from Redwood...
Definition Dataset.h:1009
std::string GetOdometryLogPath() const
Path to camera trajectory log file odometry.log.
Definition Dataset.h:1021
std::vector< std::string > GetColorPaths() const
Returns List of paths to color image samples of size 5.
Definition Dataset.h:1014
std::vector< std::string > GetDepthPaths() const
Returns List of paths to depth image samples of size 5.
Definition Dataset.h:1016
std::string GetTrajectoryLogPath() const
Path to camera trajectory log file trajectory.log.
Definition Dataset.h:1019
std::string GetReconstructionPath() const
Path to point cloud reconstruction from TSDF.
Definition Dataset.h:1025
std::string GetCameraIntrinsicPath() const
Path to pinhole camera intrinsic (json).
Definition Dataset.h:1027
std::string GetRGBDMatchPath() const
Path to color and depth image match file rgbd.match.
Definition Dataset.h:1023
Data class for SampleSUNRGBDImage contains a color image SUN_color.jpg and a depth image SUN_depth....
Definition Dataset.h:1053
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:1060
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:1058
Data class for SampleTUMRGBDImage contains a color image TUM_color.png and a depth image TUM_depth....
Definition Dataset.h:1073
std::string GetDepthPath() const
Path to depth image sample.
Definition Dataset.h:1080
std::string GetColorPath() const
Path to color image sample.
Definition Dataset.h:1078
Data class for SwordModel contains a sword model file, along with material and various other texture ...
Definition Dataset.h:1095
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:1108
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:1102
Data class for TerrazzoTexture contains albedo, normal and roughness texture files for terrazzo based...
Definition Dataset.h:1120
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1132
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1124
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:1137
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1128
Data class for TilesTexture contains albedo, normal and roughness texture files for tiles based mater...
Definition Dataset.h:1149
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1153
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1157
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:1166
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1161
Data class for WoodFloorTexture contains albedo, normal and roughness texture files for wooden floor ...
Definition Dataset.h:1178
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1186
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:1195
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1190
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1182
Data class for WoodTexture contains albedo, normal and roughness texture files for wood based materia...
Definition Dataset.h:1207
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:1224
std::string GetNormalTexturePath() const
Returns the path to normal texture image.
Definition Dataset.h:1215
std::string GetRoughnessTexturePath() const
Returns the path to roughness texture image.
Definition Dataset.h:1219
std::string GetAlbedoTexturePath() const
Returns the path to albedo color texture image.
Definition Dataset.h:1211
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:106
std::vector< std::string > urls_
List of URL mirrors.
Definition Dataset.h:129
std::string md5_
MD5 checksum of the downloaded file.
Definition Dataset.h:132
DataDescriptor(const std::string &url, const std::string &md5, const std::string &extract_in_subdir="")
Constructor a download url.
Definition Dataset.h:122
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:112
std::string extract_in_subdir_
Definition Dataset.h:136