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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.
# ----------------------------------------------------------------------------
import open3d as o3d
def lounge_data_loader():
print('Loading Stanford Lounge RGB-D Dataset')
# Get the dataset.
lounge_rgbd = o3d.data.LoungeRGBDImages()
# Set dataset specific parameters.
config = {}
config['path_dataset'] = lounge_rgbd.extract_dir
config['path_intrinsic'] = ""
config['depth_max'] = 3.0
config['voxel_size'] = 0.05
config['depth_diff_max'] = 0.07
config['preference_loop_closure_odometry'] = 0.1
config['preference_loop_closure_registration'] = 5.0
config['tsdf_cubic_size'] = 3.0
config['icp_method'] = "color"
config['global_registration'] = "ransac"
config['python_multi_threading'] = True
return config
def bedroom_data_loader():
print('Loading Redwood Bedroom RGB-D Dataset')
# Get the dataset.
bedroom_rgbd = o3d.data.BedroomRGBDImages()
# Set dataset specific parameters.
config = {}
config['path_dataset'] = bedroom_rgbd.extract_dir
config['path_intrinsic'] = ""
config['depth_max'] = 3.0
config['voxel_size'] = 0.05
config['depth_diff_max'] = 0.07
config['preference_loop_closure_odometry'] = 0.1
config['preference_loop_closure_registration'] = 5.0
config['tsdf_cubic_size'] = 3.0
config['icp_method'] = "color"
config['global_registration'] = "ransac"
config['python_multi_threading'] = True
return config
def jackjack_data_loader():
print('Loading RealSense L515 Jack-Jack RGB-D Bag Dataset')
# Get the dataset.
jackjack_bag = o3d.data.JackJackL515Bag()
# Set dataset specific parameters.
config = {}
config['path_dataset'] = jackjack_bag.path
config['path_intrinsic'] = ""
config['depth_max'] = 0.85
config['voxel_size'] = 0.025
config['depth_diff_max'] = 0.03
config['preference_loop_closure_odometry'] = 0.1
config['preference_loop_closure_registration'] = 5.0
config['tsdf_cubic_size'] = 0.75
config['icp_method'] = "color"
config['global_registration'] = "ransac"
config['python_multi_threading'] = True
return config
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