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|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "pybind/data/dataset.h"
#include "open3d/data/Dataset.h"
#include "pybind/docstring.h"
#include "pybind/open3d_pybind.h"
namespace open3d {
namespace data {
template <class DatasetBase = Dataset>
class PyDataset : public DatasetBase {
public:
using DatasetBase::DatasetBase;
};
template <class DownloadDatasetBase = DownloadDataset>
class PyDownloadDataset : public PyDataset<DownloadDatasetBase> {
public:
using PyDataset<DownloadDatasetBase>::PyDataset;
};
void pybind_data_classes(py::module& m) {
// open3d.data.open3d_downloads_prefix as static attr of open3d.data.
m.attr("open3d_downloads_prefix") = py::cast(Open3DDownloadsPrefix());
// open3d.data.DataDescriptor
py::class_<DataDescriptor> data_descriptor(
m, "DataDescriptor",
"DataDescriptor is a class that describes a data file. It contains "
"the URL mirrors to download the file, the MD5 hash of the file, "
"and whether to extract the file.");
data_descriptor
.def(py::init([](const std::vector<std::string>& urls,
const std::string& md5,
const std::string& extract_in_subdir) {
return DataDescriptor{urls, md5, extract_in_subdir};
}),
"urls"_a, "md5"_a, "extract_in_subdir"_a = "")
.def(py::init([](const std::string& url, const std::string& md5,
const std::string& extract_in_subdir) {
return DataDescriptor{std::vector<std::string>{url}, md5,
extract_in_subdir};
}),
"url"_a, "md5"_a, "extract_in_subdir"_a = "")
.def_readonly("urls", &DataDescriptor::urls_,
"URL to download the data file.")
.def_readonly("md5", &DataDescriptor::md5_,
"MD5 hash of the data file.")
.def_readonly("extract_in_subdir",
&DataDescriptor::extract_in_subdir_,
"Subdirectory to extract the file. If empty, the "
"file will be extracted in the root extract "
"directory of the dataset.");
// open3d.data.Dataset
py::class_<Dataset, PyDataset<Dataset>, std::shared_ptr<Dataset>> dataset(
m, "Dataset", "The base dataset class.");
dataset.def(py::init<const std::string&, const std::string&>(), "prefix"_a,
"data_root"_a = "")
.def_property_readonly(
"data_root", &Dataset::GetDataRoot,
"Get data root directory. The data root is set at "
"construction time or automatically determined.")
.def_property_readonly("prefix", &Dataset::GetPrefix,
"Get prefix for the dataset.")
.def_property_readonly(
"download_dir", &Dataset::GetDownloadDir,
"Get absolute path to download directory. i.e. "
"${data_root}/${download_prefix}/${prefix}")
.def_property_readonly(
"extract_dir", &Dataset::GetExtractDir,
"Get absolute path to extract directory. i.e. "
"${data_root}/${extract_prefix}/${prefix}");
docstring::ClassMethodDocInject(m, "Dataset", "data_root");
docstring::ClassMethodDocInject(m, "Dataset", "prefix");
docstring::ClassMethodDocInject(m, "Dataset", "download_dir");
docstring::ClassMethodDocInject(m, "Dataset", "extract_dir");
// open3d.data.DownloadDataset
py::class_<DownloadDataset, PyDownloadDataset<DownloadDataset>,
std::shared_ptr<DownloadDataset>, Dataset>
single_download_dataset(m, "DownloadDataset",
"Single file download dataset class.");
single_download_dataset.def(
py::init<const std::string&, const DataDescriptor&,
const std::string&>(),
"prefix"_a, "data_descriptor"_a, "data_root"_a = "");
}
void pybind_demo_icp_pointclouds(py::module& m) {
// open3d.data.DemoICPPointClouds
py::class_<DemoICPPointClouds, PyDownloadDataset<DemoICPPointClouds>,
std::shared_ptr<DemoICPPointClouds>, DownloadDataset>
demo_icp_pointclouds(m, "DemoICPPointClouds",
"Data class for `DemoICPPointClouds` contains "
"3 point clouds of binary PCD format. This "
"dataset is used in Open3D for ICP demo.");
demo_icp_pointclouds.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"paths",
[](const DemoICPPointClouds& demo_icp_pointclouds) {
return demo_icp_pointclouds.GetPaths();
},
"List of 3 point cloud paths. Use `paths[0]`, `paths[1]`, "
"and `paths[2]` to access the paths.")
.def_property_readonly(
"transformation_log_path",
&DemoICPPointClouds::GetTransformationLogPath,
"Path to the transformation metadata log file, containing "
"transformation between frame 0 and 1, and frame 1 and 2.");
docstring::ClassMethodDocInject(m, "DemoICPPointClouds", "paths");
docstring::ClassMethodDocInject(m, "DemoICPPointClouds",
"transformation_log_path");
}
void pybind_demo_colored_icp_pointclouds(py::module& m) {
// open3d.data.DemoColoredICPPointClouds
py::class_<DemoColoredICPPointClouds,
PyDownloadDataset<DemoColoredICPPointClouds>,
std::shared_ptr<DemoColoredICPPointClouds>, DownloadDataset>
demo_colored_icp_pointclouds(
m, "DemoColoredICPPointClouds",
"Data class for `DemoColoredICPPointClouds` contains "
"2 point clouds of `ply` format. This dataset is used in "
"Open3D for colored ICP demo.");
demo_colored_icp_pointclouds
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"paths",
[](const DemoColoredICPPointClouds&
demo_colored_icp_pointclouds) {
return demo_colored_icp_pointclouds.GetPaths();
},
"List of 2 point cloud paths. Use `paths[0]`, and "
"`paths[1]`, to access the paths.");
docstring::ClassMethodDocInject(m, "DemoColoredICPPointClouds", "paths");
}
void pybind_demo_crop_pointcloud(py::module& m) {
// open3d.data.DemoCropPointCloud
py::class_<DemoCropPointCloud, PyDownloadDataset<DemoCropPointCloud>,
std::shared_ptr<DemoCropPointCloud>, DownloadDataset>
demo_crop_pointcloud(
m, "DemoCropPointCloud",
"Data class for `DemoCropPointCloud` contains a point "
"cloud, and `cropped.json` (a saved selected polygon "
"volume file). This dataset is used in Open3D for point "
"cloud crop demo.");
demo_crop_pointcloud.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("point_cloud_path",
&DemoCropPointCloud::GetPointCloudPath,
"Path to the example point cloud.")
.def_property_readonly(
"cropped_json_path",
&DemoCropPointCloud::GetCroppedJSONPath,
"Path to the saved selected polygon volume file.");
docstring::ClassMethodDocInject(m, "DemoCropPointCloud",
"point_cloud_path");
docstring::ClassMethodDocInject(m, "DemoCropPointCloud",
"cropped_json_path");
}
void pybind_demo_doppler_icp_sequence(py::module& m) {
// open3d.data.DemoDopplerICPSequence
py::class_<DemoDopplerICPSequence,
PyDownloadDataset<DemoDopplerICPSequence>,
std::shared_ptr<DemoDopplerICPSequence>, DownloadDataset>
demo_doppler_icp_sequence(
m, "DemoDopplerICPSequence",
"Data class for `DemoDopplerICPSequence` contains an "
"example sequence of 100 point clouds with Doppler "
"velocity channel and corresponding ground truth poses. "
"The sequence was generated using the CARLA simulator.");
demo_doppler_icp_sequence
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"paths", &DemoDopplerICPSequence::GetPaths,
"Returns list of the point cloud paths in the sequence.")
.def_property_readonly(
"calibration_path",
&DemoDopplerICPSequence::GetCalibrationPath,
"Path to the calibration metadata file, containing "
"transformation between the vehicle and sensor frames and "
"the time period.")
.def_property_readonly(
"trajectory_path",
&DemoDopplerICPSequence::GetTrajectoryPath,
"Path to the ground truth poses for the entire sequence.");
docstring::ClassMethodDocInject(m, "DemoDopplerICPSequence", "paths");
docstring::ClassMethodDocInject(m, "DemoDopplerICPSequence",
"calibration_path");
docstring::ClassMethodDocInject(m, "DemoDopplerICPSequence",
"trajectory_path");
}
void pybind_demo_feature_matching_point_clouds(py::module& m) {
// open3d.data.DemoFeatureMatchingPointClouds
py::class_<DemoFeatureMatchingPointClouds,
PyDownloadDataset<DemoFeatureMatchingPointClouds>,
std::shared_ptr<DemoFeatureMatchingPointClouds>, DownloadDataset>
demo_feature_matching(
m, "DemoFeatureMatchingPointClouds",
"Data class for `DemoFeatureMatchingPointClouds` contains "
"2 pointcloud fragments and their respective FPFH features "
"and L32D features. This dataset is used in Open3D for "
"point cloud feature matching demo.");
demo_feature_matching
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"point_cloud_paths",
&DemoFeatureMatchingPointClouds::GetPointCloudPaths,
"List of 2 point cloud paths. Use `point_cloud_paths[0]`, "
"and `point_cloud_paths[1]`, to access the paths.")
.def_property_readonly(
"fpfh_feature_paths",
&DemoFeatureMatchingPointClouds::GetFPFHFeaturePaths,
"List of 2 saved FPFH feature binary of the respective "
"point cloud paths. Use `fpfh_feature_paths[0]`, "
"and `fpfh_feature_paths[1]`, to access the paths.")
.def_property_readonly(
"l32d_feature_paths",
&DemoFeatureMatchingPointClouds::GetL32DFeaturePaths,
"List of 2 saved L32D feature binary of the respective "
"point cloud paths. Use `l32d_feature_paths[0]`, "
"and `l32d_feature_paths[1]`, to access the paths.");
docstring::ClassMethodDocInject(m, "DemoFeatureMatchingPointClouds",
"point_cloud_paths");
docstring::ClassMethodDocInject(m, "DemoFeatureMatchingPointClouds",
"fpfh_feature_paths");
docstring::ClassMethodDocInject(m, "DemoFeatureMatchingPointClouds",
"l32d_feature_paths");
}
void pybind_demo_pose_graph_optimization(py::module& m) {
// open3d.data.DemoPoseGraphOptimization
py::class_<DemoPoseGraphOptimization,
PyDownloadDataset<DemoPoseGraphOptimization>,
std::shared_ptr<DemoPoseGraphOptimization>, DownloadDataset>
demo_pose_graph_optimization(
m, "DemoPoseGraphOptimization",
"Data class for `DemoPoseGraphOptimization` contains an "
"example fragment pose graph, and global pose graph. This "
"dataset is used in Open3D for pose graph optimization "
"demo.");
demo_pose_graph_optimization
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"pose_graph_fragment_path",
&DemoPoseGraphOptimization::GetPoseGraphFragmentPath,
"Path to example global pose graph (json).")
.def_property_readonly(
"pose_graph_global_path",
&DemoPoseGraphOptimization::GetPoseGraphGlobalPath,
"Path to example fragment pose graph (json).");
docstring::ClassMethodDocInject(m, "DemoPoseGraphOptimization",
"pose_graph_fragment_path");
docstring::ClassMethodDocInject(m, "DemoPoseGraphOptimization",
"pose_graph_global_path");
}
void pybind_demo_custom_visualization(py::module& m) {
// open3d.data.DemoCustomVisualization
py::class_<DemoCustomVisualization,
PyDownloadDataset<DemoCustomVisualization>,
std::shared_ptr<DemoCustomVisualization>, DownloadDataset>
demo_custom_visualization(
m, "DemoCustomVisualization",
"Data class for `DemoCustomVisualization` contains an "
"example point-cloud, camera trajectory (json file), "
"rendering options (json file). This data is used in "
"Open3D for custom visualization with camera trajectory "
"demo.");
demo_custom_visualization
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("point_cloud_path",
&DemoCustomVisualization::GetPointCloudPath,
"Returns path to the point cloud (ply).")
.def_property_readonly(
"camera_trajectory_path",
&DemoCustomVisualization::GetTrajectoryPath,
"Returns path to the camera_trajectory.json.")
.def_property_readonly(
"render_option_path",
&DemoCustomVisualization::GetRenderOptionPath,
"Returns path to the renderoption.json.");
docstring::ClassMethodDocInject(m, "DemoCustomVisualization",
"point_cloud_path");
docstring::ClassMethodDocInject(m, "DemoCustomVisualization",
"camera_trajectory_path");
docstring::ClassMethodDocInject(m, "DemoCustomVisualization",
"render_option_path");
}
void pybind_pcd_point_cloud(py::module& m) {
// open3d.data.PCDPointCloud
py::class_<PCDPointCloud, PyDownloadDataset<PCDPointCloud>,
std::shared_ptr<PCDPointCloud>, DownloadDataset>
pcd_pointcloud(m, "PCDPointCloud",
"Data class for `PCDPointCloud` contains the "
"`fragment.pcd` point cloud mesh from the `Redwood "
"Living Room` dataset.");
pcd_pointcloud.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &PCDPointCloud::GetPath,
"Path to the `pcd` format point cloud.");
docstring::ClassMethodDocInject(m, "PCDPointCloud", "path");
}
void pybind_ply_point_cloud(py::module& m) {
// open3d.data.PLYPointCloud
py::class_<PLYPointCloud, PyDownloadDataset<PLYPointCloud>,
std::shared_ptr<PLYPointCloud>, DownloadDataset>
ply_pointcloud(m, "PLYPointCloud",
"Data class for `PLYPointCloud` contains the "
"`fragment.pcd` point cloud mesh from the `Redwood "
"Living Room` dataset.");
ply_pointcloud.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &PLYPointCloud::GetPath,
"Path to the `ply` format point cloud.");
docstring::ClassMethodDocInject(m, "PLYPointCloud", "path");
}
void pybind_pts_point_cloud(py::module& m) {
// open3d.data.PTSPointCloud
py::class_<PTSPointCloud, PyDownloadDataset<PTSPointCloud>,
std::shared_ptr<PTSPointCloud>, DownloadDataset>
pts_point_cloud(m, "PTSPointCloud",
"Data class for `PTSPointCloud` contains a sample "
"point-cloud of PTS format.");
pts_point_cloud.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &PTSPointCloud::GetPath,
"Path to the PTS format point cloud.");
docstring::ClassMethodDocInject(m, "PTSPointCloud", "path");
}
void pybind_sample_nyu_rgbd_image(py::module& m) {
// open3d.data.SampleNYURGBDImage
py::class_<SampleNYURGBDImage, PyDownloadDataset<SampleNYURGBDImage>,
std::shared_ptr<SampleNYURGBDImage>, DownloadDataset>
rgbd_image_nyu(m, "SampleNYURGBDImage",
"Data class for `SampleNYURGBDImage` contains a "
"color image `NYU_color.ppm` and a depth image "
"`NYU_depth.pgm` sample from NYU RGBD dataset.");
rgbd_image_nyu.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("color_path",
&SampleNYURGBDImage::GetColorPath,
"Path to color image sample.")
.def_property_readonly("depth_path",
&SampleNYURGBDImage::GetDepthPath,
"Path to depth image sample.");
docstring::ClassMethodDocInject(m, "SampleNYURGBDImage", "color_path");
docstring::ClassMethodDocInject(m, "SampleNYURGBDImage", "depth_path");
}
void pybind_sample_sun_rgbd_image(py::module& m) {
// open3d.data.SampleSUNRGBDImage
py::class_<SampleSUNRGBDImage, PyDownloadDataset<SampleSUNRGBDImage>,
std::shared_ptr<SampleSUNRGBDImage>, DownloadDataset>
rgbd_image_sun(m, "SampleSUNRGBDImage",
"Data class for `SampleSUNRGBDImage` contains a "
"color image `SUN_color.jpg` and a depth image "
"`SUN_depth.png` sample from SUN RGBD dataset.");
rgbd_image_sun.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("color_path",
&SampleSUNRGBDImage::GetColorPath,
"Path to color image sample.")
.def_property_readonly("depth_path",
&SampleSUNRGBDImage::GetDepthPath,
"Path to depth image sample.");
docstring::ClassMethodDocInject(m, "SampleSUNRGBDImage", "color_path");
docstring::ClassMethodDocInject(m, "SampleSUNRGBDImage", "depth_path");
}
void pybind_sample_tum_rgbd_image(py::module& m) {
// open3d.data.SampleTUMRGBDImage
py::class_<SampleTUMRGBDImage, PyDownloadDataset<SampleTUMRGBDImage>,
std::shared_ptr<SampleTUMRGBDImage>, DownloadDataset>
rgbd_image_tum(m, "SampleTUMRGBDImage",
"Data class for `SampleTUMRGBDImage` contains a "
"color image `TUM_color.png` and a depth image "
"`TUM_depth.png` sample from TUM RGBD dataset.");
rgbd_image_tum.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("color_path",
&SampleTUMRGBDImage::GetColorPath,
"Path to color image sample.")
.def_property_readonly("depth_path",
&SampleTUMRGBDImage::GetDepthPath,
"Path to depth image sample.");
docstring::ClassMethodDocInject(m, "SampleTUMRGBDImage", "color_path");
docstring::ClassMethodDocInject(m, "SampleTUMRGBDImage", "depth_path");
}
void pybind_sample_redwood_rgbd_images(py::module& m) {
// open3d.data.SampleRedwoodRGBDImages
py::class_<SampleRedwoodRGBDImages,
PyDownloadDataset<SampleRedwoodRGBDImages>,
std::shared_ptr<SampleRedwoodRGBDImages>, DownloadDataset>
rgbd_dataset_redwood(
m, "SampleRedwoodRGBDImages",
"Data class for `SampleRedwoodRGBDImages` contains a "
"sample set of 5 color and depth images from Redwood RGBD "
"dataset living-room1. Additionally it also contains "
"camera trajectory log, camera odometry log, rgbd match, "
"and point cloud reconstruction obtained using TSDF.");
rgbd_dataset_redwood.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"color_paths", &SampleRedwoodRGBDImages::GetColorPaths,
"List of paths to color image samples of size 5. Use "
"`color_paths[0]`, `color_paths[1]` ... `color_paths[4]` "
"to access the paths.")
.def_property_readonly(
"depth_paths", &SampleRedwoodRGBDImages::GetDepthPaths,
"List of paths to depth image samples of size 5. Use "
"`depth_paths[0]`, `depth_paths[1]` ... `depth_paths[4]` "
"to access the paths.")
.def_property_readonly(
"trajectory_log_path",
&SampleRedwoodRGBDImages::GetTrajectoryLogPath,
"Path to camera trajectory log file `trajectory.log`.")
.def_property_readonly(
"odometry_log_path",
&SampleRedwoodRGBDImages::GetOdometryLogPath,
"Path to camera odometry log file `odometry.log`.")
.def_property_readonly(
"rgbd_match_path",
&SampleRedwoodRGBDImages::GetRGBDMatchPath,
"Path to color and depth image match file `rgbd.match`.")
.def_property_readonly(
"reconstruction_path",
&SampleRedwoodRGBDImages::GetReconstructionPath,
"Path to pointcloud reconstruction from TSDF.")
.def_property_readonly(
"camera_intrinsic_path",
&SampleRedwoodRGBDImages::GetCameraIntrinsicPath,
"Path to pinhole camera intrinsic (json).");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"color_paths");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"depth_paths");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"trajectory_log_path");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"odometry_log_path");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"rgbd_match_path");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"reconstruction_path");
docstring::ClassMethodDocInject(m, "SampleRedwoodRGBDImages",
"camera_intrinsic_path");
}
void pybind_sample_fountain_rgbd_images(py::module& m) {
// open3d.data.SampleFountainRGBDImages
py::class_<SampleFountainRGBDImages,
PyDownloadDataset<SampleFountainRGBDImages>,
std::shared_ptr<SampleFountainRGBDImages>, DownloadDataset>
fountain_rgbd_dataset(
m, "SampleFountainRGBDImages",
"Data class for `SampleFountainRGBDImages` contains a "
"sample set of 33 color and depth images from the "
"`Fountain RGBD dataset`. It also contains `camera poses "
"at keyframes log` and `mesh reconstruction`. It is used "
"in demo of `Color Map Optimization`.");
fountain_rgbd_dataset
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"color_paths", &SampleFountainRGBDImages::GetColorPaths,
"List of paths to color image samples of size 33. Use "
"`color_paths[0]`, `color_paths[1]` ... `color_paths[32]` "
"to access the paths.")
.def_property_readonly(
"depth_paths", &SampleFountainRGBDImages::GetDepthPaths,
"List of paths to depth image samples of size 33. Use "
"`depth_paths[0]`, `depth_paths[1]` ... `depth_paths[32]` "
"to access the paths.")
.def_property_readonly(
"keyframe_poses_log_path",
&SampleFountainRGBDImages::GetKeyframePosesLogPath,
"Path to camera poses at key frames log file `key.log`.")
.def_property_readonly(
"reconstruction_path",
&SampleFountainRGBDImages::GetReconstructionPath,
"Path to mesh reconstruction.");
docstring::ClassMethodDocInject(m, "SampleFountainRGBDImages",
"color_paths");
docstring::ClassMethodDocInject(m, "SampleFountainRGBDImages",
"depth_paths");
docstring::ClassMethodDocInject(m, "SampleFountainRGBDImages",
"keyframe_poses_log_path");
docstring::ClassMethodDocInject(m, "SampleFountainRGBDImages",
"reconstruction_path");
}
void pybind_sample_l515_bag(py::module& m) {
// open3d.data.SampleL515Bag
py::class_<SampleL515Bag, PyDownloadDataset<SampleL515Bag>,
std::shared_ptr<SampleL515Bag>, DownloadDataset>
sample_l515_bag(m, "SampleL515Bag",
"Data class for `SampleL515Bag` contains the "
"`SampleL515Bag.bag` file.");
sample_l515_bag.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &SampleL515Bag::GetPath,
"Path to the `SampleL515Bag.bag` file.");
docstring::ClassMethodDocInject(m, "SampleL515Bag", "path");
}
void pybind_eagle(py::module& m) {
// open3d.data.EaglePointCloud
py::class_<EaglePointCloud, PyDownloadDataset<EaglePointCloud>,
std::shared_ptr<EaglePointCloud>, DownloadDataset>
eagle(m, "EaglePointCloud",
"Data class for `EaglePointCloud` contains the "
"`EaglePointCloud.ply` file.");
eagle.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &EaglePointCloud::GetPath,
"Path to the `EaglePointCloud.ply` file.");
docstring::ClassMethodDocInject(m, "EaglePointCloud", "path");
}
void pybind_armadillo(py::module& m) {
// open3d.data.ArmadilloMesh
py::class_<ArmadilloMesh, PyDownloadDataset<ArmadilloMesh>,
std::shared_ptr<ArmadilloMesh>, DownloadDataset>
armadillo(m, "ArmadilloMesh",
"Data class for `ArmadilloMesh` contains the "
"`ArmadilloMesh.ply` from the `Stanford 3D Scanning "
"Repository`.");
armadillo.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &ArmadilloMesh::GetPath,
"Path to the `ArmadilloMesh.ply` file.");
docstring::ClassMethodDocInject(m, "ArmadilloMesh", "path");
}
void pybind_bunny(py::module& m) {
// open3d.data.BunnyMesh
py::class_<BunnyMesh, PyDownloadDataset<BunnyMesh>,
std::shared_ptr<BunnyMesh>, DownloadDataset>
bunny(m, "BunnyMesh",
"Data class for `BunnyMesh` contains the `BunnyMesh.ply` "
"from "
"the `Stanford 3D Scanning Repository`.");
bunny.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &BunnyMesh::GetPath,
"Path to the `BunnyMesh.ply` file.");
docstring::ClassMethodDocInject(m, "BunnyMesh", "path");
}
void pybind_knot(py::module& m) {
// open3d.data.KnotMesh
py::class_<KnotMesh, PyDownloadDataset<KnotMesh>, std::shared_ptr<KnotMesh>,
DownloadDataset>
knot(m, "KnotMesh",
"Data class for `KnotMesh` contains the `KnotMesh.ply`.");
knot.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &KnotMesh::GetPath,
"Path to the `KnotMesh.ply` file.");
docstring::ClassMethodDocInject(m, "KnotMesh", "path");
}
void pybind_monkey(py::module& m) {
// open3d.data.MonkeyModel
py::class_<MonkeyModel, PyDownloadDataset<MonkeyModel>,
std::shared_ptr<MonkeyModel>, DownloadDataset>
monkey(m, "MonkeyModel",
"Data class for `MonkeyModel` contains a monkey model file, "
"along with material and various other texture files. The "
"model file can be accessed using `path`, however in order "
"to access the paths to the texture files one may use "
"path_map[\"filename\"]` method.");
monkey.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"path",
[](const MonkeyModel& monkey) { return monkey.GetPath(); },
"Returns the `monkey` model file.")
.def_property_readonly("path_map", &MonkeyModel::GetPathMap,
"Returns the map of filename to path. Refer "
"documentation page for available options.");
docstring::ClassMethodDocInject(m, "MonkeyModel", "path");
docstring::ClassMethodDocInject(m, "MonkeyModel", "path_map");
}
void pybind_sword(py::module& m) {
// open3d.data.SwordModel
py::class_<SwordModel, PyDownloadDataset<SwordModel>,
std::shared_ptr<SwordModel>, DownloadDataset>
sword(m, "SwordModel",
"Data class for `SwordModel` contains a monkey model file, "
"along with material and various other texture files. The "
"model file can be accessed using `path`, however in order "
"to access the paths to the texture files one may use "
"path_map[\"filename\"]` method.");
sword.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"path",
[](const SwordModel& sword) { return sword.GetPath(); },
"Returns the `sword` model file.")
.def_property_readonly("path_map", &SwordModel::GetPathMap,
"Returns the map of filename to path. Refer "
"documentation page for available options.");
docstring::ClassMethodDocInject(m, "SwordModel", "path");
docstring::ClassMethodDocInject(m, "SwordModel", "path_map");
}
void pybind_crate(py::module& m) {
// open3d.data.CrateModel
py::class_<CrateModel, PyDownloadDataset<CrateModel>,
std::shared_ptr<CrateModel>, DownloadDataset>
crate(m, "CrateModel",
"Data class for `CrateModel` contains a crate model file, "
"along with material and various other texture files. The "
"model file can be accessed using `path`, however in order "
"to access the paths to the texture files one may use "
"path_map[\"filename\"]` method.");
crate.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"path",
[](const CrateModel& crate) { return crate.GetPath(); },
"Returns the `crate` model file.")
.def_property_readonly("path_map", &CrateModel::GetPathMap,
"Returns the map of filename to path. Refer "
"documentation page for available options.");
docstring::ClassMethodDocInject(m, "CrateModel", "path");
docstring::ClassMethodDocInject(m, "CrateModel", "path_map");
}
void pybind_helmet(py::module& m) {
// open3d.data.FlightHelmetModel
py::class_<FlightHelmetModel, PyDownloadDataset<FlightHelmetModel>,
std::shared_ptr<FlightHelmetModel>, DownloadDataset>
helmet(m, "FlightHelmetModel",
"Data class for `FlightHelmetModel` contains a flight "
"helmet GLTF model file, along with material and various "
"other texture files. The model file can be accessed using "
"`path`, however in order to access the paths to the "
"texture files one may use path_map[\"filename\"]` method.");
helmet.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"path",
[](const FlightHelmetModel& helmet) {
return helmet.GetPath();
},
"Returns the `FlightHelmet.gltf` model file.")
.def_property_readonly("path_map", &FlightHelmetModel::GetPathMap,
"Returns the map of filename to path. Refer "
"documentation page for available options.");
docstring::ClassMethodDocInject(m, "FlightHelmetModel", "path");
docstring::ClassMethodDocInject(m, "FlightHelmetModel", "path_map");
}
void pybind_avocado(py::module& m) {
// open3d.data.AvocadoModel
py::class_<AvocadoModel, PyDownloadDataset<AvocadoModel>,
std::shared_ptr<AvocadoModel>, DownloadDataset>
avocado(m, "AvocadoModel",
"Data class for `AvocadoModel` contains a avocado model "
"file, "
"along with material and PNG format embedded textures.");
avocado.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &AvocadoModel::GetPath,
"Path to the `AvocadoModel.glb` file.");
docstring::ClassMethodDocInject(m, "AvocadoModel", "path");
}
void pybind_damaged_helmet(py::module& m) {
// open3d.data.DamagedHelmetModel
py::class_<DamagedHelmetModel, PyDownloadDataset<DamagedHelmetModel>,
std::shared_ptr<DamagedHelmetModel>, DownloadDataset>
damaged_helmet(
m, "DamagedHelmetModel",
"Data class for `DamagedHelmetModel` contains a damaged "
"helmet model file, "
"along with material and JPG format embedded textures. ");
damaged_helmet.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"path", &DamagedHelmetModel::GetPath,
"Path to the `DamagedHelmetModel.glb` file.");
docstring::ClassMethodDocInject(m, "DamagedHelmetModel", "path");
}
void pybind_metal_texture(py::module& m) {
// open3d.data.MetalTexture
py::class_<MetalTexture, PyDownloadDataset<MetalTexture>,
std::shared_ptr<MetalTexture>, DownloadDataset>
metal_texture(m, "MetalTexture",
"Data class for `MetalTexture` contains albedo, "
"normal, roughness and metallic texture files for "
"metal based material.");
metal_texture.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&MetalTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&MetalTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly("roughness_texture_path",
&MetalTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("metallic_texture_path",
&MetalTexture::GetMetallicTexturePath,
"Path to metallic texture image.")
.def_property_readonly("path_map", &MetalTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "MetalTexture", "albedo_texture_path");
docstring::ClassMethodDocInject(m, "MetalTexture", "normal_texture_path");
docstring::ClassMethodDocInject(m, "MetalTexture",
"roughness_texture_path");
docstring::ClassMethodDocInject(m, "MetalTexture", "metallic_texture_path");
docstring::ClassMethodDocInject(m, "MetalTexture", "path_map");
}
void pybind_painted_plaster_texture(py::module& m) {
// open3d.data.PaintedPlasterTexture
py::class_<PaintedPlasterTexture, PyDownloadDataset<PaintedPlasterTexture>,
std::shared_ptr<PaintedPlasterTexture>, DownloadDataset>
painted_plaster_texture(
m, "PaintedPlasterTexture",
"Data class for `PaintedPlasterTexture` contains albedo, "
"normal and roughness texture files for painted plaster "
"based material.");
painted_plaster_texture
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&PaintedPlasterTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&PaintedPlasterTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly(
"roughness_texture_path",
&PaintedPlasterTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("path_map",
&PaintedPlasterTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "PaintedPlasterTexture",
"albedo_texture_path");
docstring::ClassMethodDocInject(m, "PaintedPlasterTexture",
"normal_texture_path");
docstring::ClassMethodDocInject(m, "PaintedPlasterTexture",
"roughness_texture_path");
docstring::ClassMethodDocInject(m, "PaintedPlasterTexture", "path_map");
}
void pybind_tiles_texture(py::module& m) {
// open3d.data.TilesTexture
py::class_<TilesTexture, PyDownloadDataset<TilesTexture>,
std::shared_ptr<TilesTexture>, DownloadDataset>
tiles_texture(
m, "TilesTexture",
"Data class for `TilesTexture` contains albedo, normal and "
"roughness texture files for tiles based material.");
tiles_texture.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&TilesTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&TilesTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly("roughness_texture_path",
&TilesTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("path_map", &TilesTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "TilesTexture", "albedo_texture_path");
docstring::ClassMethodDocInject(m, "TilesTexture", "normal_texture_path");
docstring::ClassMethodDocInject(m, "TilesTexture",
"roughness_texture_path");
docstring::ClassMethodDocInject(m, "TilesTexture", "path_map");
}
void pybind_terrazzo_texture(py::module& m) {
// open3d.data.TerrazzoTexture
py::class_<TerrazzoTexture, PyDownloadDataset<TerrazzoTexture>,
std::shared_ptr<TerrazzoTexture>, DownloadDataset>
terrazzo_texture(
m, "TerrazzoTexture",
"Data class for `TerrazzoTexture` contains albedo, normal "
"and roughness texture files for terrazzo based material.");
terrazzo_texture.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&TerrazzoTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&TerrazzoTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly("roughness_texture_path",
&TerrazzoTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("path_map", &TerrazzoTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "TerrazzoTexture",
"albedo_texture_path");
docstring::ClassMethodDocInject(m, "TerrazzoTexture",
"normal_texture_path");
docstring::ClassMethodDocInject(m, "TerrazzoTexture",
"roughness_texture_path");
docstring::ClassMethodDocInject(m, "TerrazzoTexture", "path_map");
}
void pybind_wood_texture(py::module& m) {
// open3d.data.WoodTexture
py::class_<WoodTexture, PyDownloadDataset<WoodTexture>,
std::shared_ptr<WoodTexture>, DownloadDataset>
wood_texture(
m, "WoodTexture",
"Data class for `WoodTexture` contains albedo, normal and "
"roughness texture files for wood based material.");
wood_texture.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&WoodTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&WoodTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly("roughness_texture_path",
&WoodTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("path_map", &WoodTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "WoodTexture", "albedo_texture_path");
docstring::ClassMethodDocInject(m, "WoodTexture", "normal_texture_path");
docstring::ClassMethodDocInject(m, "WoodTexture", "roughness_texture_path");
docstring::ClassMethodDocInject(m, "WoodTexture", "path_map");
}
void pybind_wood_floor_texture(py::module& m) {
// open3d.data.WoodFloorTexture
py::class_<WoodFloorTexture, PyDownloadDataset<WoodFloorTexture>,
std::shared_ptr<WoodFloorTexture>, DownloadDataset>
wood_floor_texture(m, "WoodFloorTexture",
" Data class for `WoodFloorTexture` contains "
"albedo, normal and roughness texture files for "
"wooden floor based material.");
wood_floor_texture.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("albedo_texture_path",
&WoodFloorTexture::GetAlbedoTexturePath,
"Path to albedo color texture image.")
.def_property_readonly("normal_texture_path",
&WoodFloorTexture::GetNormalTexturePath,
"Path to normal texture image.")
.def_property_readonly("roughness_texture_path",
&WoodFloorTexture::GetRoughnessTexturePath,
"Path to roughness texture image.")
.def_property_readonly("path_map", &WoodFloorTexture::GetPathMap,
"Returns the map of filename to path.");
docstring::ClassMethodDocInject(m, "WoodFloorTexture",
"albedo_texture_path");
docstring::ClassMethodDocInject(m, "WoodFloorTexture",
"normal_texture_path");
docstring::ClassMethodDocInject(m, "WoodFloorTexture",
"roughness_texture_path");
docstring::ClassMethodDocInject(m, "WoodFloorTexture", "path_map");
}
void pybind_juneau(py::module& m) {
// open3d.data.JuneauImage
py::class_<JuneauImage, PyDownloadDataset<JuneauImage>,
std::shared_ptr<JuneauImage>, DownloadDataset>
juneau(m, "JuneauImage",
"Data class for `JuneauImage` contains the "
"`JuneauImage.jpg` "
"file.");
juneau.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &JuneauImage::GetPath,
"Path to the `JuneauImage.jgp` file.");
docstring::ClassMethodDocInject(m, "JuneauImage", "path");
}
void pybind_living_room_point_clouds(py::module& m) {
// open3d.data.LivingRoomPointClouds
py::class_<LivingRoomPointClouds, PyDownloadDataset<LivingRoomPointClouds>,
std::shared_ptr<LivingRoomPointClouds>, DownloadDataset>
living_room_point_clouds(
m, "LivingRoomPointClouds",
"Dataset class for `LivingRoomPointClouds` contains "
"57 point clouds of binary PLY format.");
living_room_point_clouds
.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"paths",
[](const LivingRoomPointClouds& living_room_point_clouds) {
return living_room_point_clouds.GetPaths();
},
"List of paths to ply point-cloud fragments of size 57. "
"Use `paths[0]`, `paths[1]` ... `paths[56]` to access the "
"paths.");
docstring::ClassMethodDocInject(m, "LivingRoomPointClouds", "paths");
}
void pybind_office_point_clouds(py::module& m) {
// open3d.data.OfficePointClouds
py::class_<OfficePointClouds, PyDownloadDataset<OfficePointClouds>,
std::shared_ptr<OfficePointClouds>, DownloadDataset>
office_point_clouds(
m, "OfficePointClouds",
"Dataset class for `OfficePointClouds` contains 53 "
"point clouds of binary PLY format.");
office_point_clouds.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"paths",
[](const OfficePointClouds& office_point_clouds) {
return office_point_clouds.GetPaths();
},
"List of paths to ply point-cloud fragments of size 53. "
"Use `paths[0]`, `paths[1]` ... `paths[52]` to access the "
"paths.");
docstring::ClassMethodDocInject(m, "OfficePointClouds", "paths");
}
void pybind_lounge_rgbd_images(py::module& m) {
// open3d.data.LoungeRGBDImages
py::class_<LoungeRGBDImages, PyDownloadDataset<LoungeRGBDImages>,
std::shared_ptr<LoungeRGBDImages>, DownloadDataset>
lounge_rgbd_images(
m, "LoungeRGBDImages",
"Data class for `LoungeRGBDImages` contains a sample set "
"of 3000 color and depth images from Stanford Lounge RGBD "
"dataset. Additionally it also contains camera trajectory "
"log, and mesh reconstruction.");
lounge_rgbd_images.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly(
"color_paths", &LoungeRGBDImages::GetColorPaths,
"List of paths to color image samples of size 3000. Use "
"`color_paths[0]`, `color_paths[1]` ... "
"`color_paths[2999]` to access the paths.")
.def_property_readonly(
"depth_paths", &LoungeRGBDImages::GetDepthPaths,
"List of paths to depth image samples of size 3000. Use "
"`depth_paths[0]`, `depth_paths[1]` ... "
"`depth_paths[2999]` to access the paths.")
.def_property_readonly(
"trajectory_log_path",
&LoungeRGBDImages::GetTrajectoryLogPath,
"Path to camera trajectory log file `trajectory.log`.")
.def_property_readonly("reconstruction_path",
&LoungeRGBDImages::GetReconstructionPath,
"Path to mesh reconstruction.");
docstring::ClassMethodDocInject(m, "LoungeRGBDImages", "color_paths");
docstring::ClassMethodDocInject(m, "LoungeRGBDImages", "depth_paths");
docstring::ClassMethodDocInject(m, "LoungeRGBDImages",
"trajectory_log_path");
docstring::ClassMethodDocInject(m, "LoungeRGBDImages",
"reconstruction_path");
}
void pybind_bedroom_rgbd_images(py::module& m) {
// open3d.data.BedroomRGBDImages
py::class_<BedroomRGBDImages, PyDownloadDataset<BedroomRGBDImages>,
std::shared_ptr<BedroomRGBDImages>, DownloadDataset>
lounge_rgbd_images(
m, "BedroomRGBDImages",
"Data class for `BedroomRGBDImages` contains a sample set "
"of 21931 color and depth images from Redwood Bedroom RGBD "
"dataset. Additionally it also contains camera trajectory "
"log, and mesh reconstruction.");
lounge_rgbd_images.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("color_paths",
&BedroomRGBDImages::GetColorPaths,
"List of paths to color image samples of "
"size 21931. Use `color_paths[0]`, "
"`color_paths[1]` ... `color_paths[21930]` "
"to access the paths.")
.def_property_readonly(
"depth_paths", &BedroomRGBDImages::GetDepthPaths,
"List of paths to depth image samples of size 21931. Use "
"`depth_paths[0]`, `depth_paths[1]` ... "
"`depth_paths[21930]` to access the paths.")
.def_property_readonly(
"trajectory_log_path",
&BedroomRGBDImages::GetTrajectoryLogPath,
"Path to camera trajectory log file `trajectory.log`.")
.def_property_readonly("reconstruction_path",
&BedroomRGBDImages::GetReconstructionPath,
"Path to mesh reconstruction.");
docstring::ClassMethodDocInject(m, "BedroomRGBDImages", "color_paths");
docstring::ClassMethodDocInject(m, "BedroomRGBDImages", "depth_paths");
docstring::ClassMethodDocInject(m, "BedroomRGBDImages",
"trajectory_log_path");
docstring::ClassMethodDocInject(m, "BedroomRGBDImages",
"reconstruction_path");
}
void pybind_jackjack_l515_bag(py::module& m) {
// open3d.data.JackJackL515Bag
py::class_<JackJackL515Bag, PyDownloadDataset<JackJackL515Bag>,
std::shared_ptr<JackJackL515Bag>, DownloadDataset>
jackjack_l515_bag(m, "JackJackL515Bag",
"Data class for `SampleL515Bag` contains the "
"`JackJackL515Bag.bag` file.");
jackjack_l515_bag.def(py::init<const std::string&>(), "data_root"_a = "")
.def_property_readonly("path", &JackJackL515Bag::GetPath,
"Path to the `JackJackL515Bag.bag` file.");
docstring::ClassMethodDocInject(m, "JackJackL515Bag", "path");
}
void pybind_redwood_indoor_living_room1(py::module& m) {
py::class_<RedwoodIndoorLivingRoom1,
PyDownloadDataset<RedwoodIndoorLivingRoom1>,
std::shared_ptr<RedwoodIndoorLivingRoom1>, DownloadDataset>
dataset(m, "RedwoodIndoorLivingRoom1",
R"doc(RedwoodIndoorLivingRoom1 (Augmented ICL-NUIM Dataset)
Data class for `RedwoodIndoorLivingRoom1`, containing dense point
cloud, rgb sequence, clean depth sequence, noisy depth sequence, oni
sequence, and ground-truth camera trajectory. ::
RedwoodIndoorLivingRoom1
|-- colors
| |-- 00000.jpg
| |-- 00001.jpg
| |-- ...
| '-- 02869.jpg
|-- depth
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02869.png
|-- depth_noisy
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02869.png
|-- dist-model.txt
|-- livingroom1.oni
|-- livingroom1-traj.txt
'-- livingroom.ply
)doc");
dataset.def(py::init<const std::string&>(), "data_root"_a = "");
dataset.def_property_readonly("point_cloud_path",
&RedwoodIndoorLivingRoom1::GetPointCloudPath,
"Path to the point cloud.");
dataset.def_property_readonly("color_paths",
&RedwoodIndoorLivingRoom1::GetColorPaths,
"List of paths to color images.");
dataset.def_property_readonly("depth_paths",
&RedwoodIndoorLivingRoom1::GetDepthPaths,
"List of paths to depth images.");
dataset.def_property_readonly("noisy_depth_paths",
&RedwoodIndoorLivingRoom1::GetNoisyDepthPaths,
"List of paths to noisy depth images.");
dataset.def_property_readonly("oni_path",
&RedwoodIndoorLivingRoom1::GetONIPath,
"Path to the oni file.");
dataset.def_property_readonly("trajectory_path",
&RedwoodIndoorLivingRoom1::GetTrajectoryPath,
"Path to the trajectory file.");
dataset.def_property_readonly("noise_model_path",
&RedwoodIndoorLivingRoom1::GetNoiseModelPath,
"Path to the noise model file.");
}
void pybind_redwood_indoor_living_room2(py::module& m) {
py::class_<RedwoodIndoorLivingRoom2,
PyDownloadDataset<RedwoodIndoorLivingRoom2>,
std::shared_ptr<RedwoodIndoorLivingRoom2>, DownloadDataset>
dataset(m, "RedwoodIndoorLivingRoom2",
R"doc(RedwoodIndoorLivingRoom2 (Augmented ICL-NUIM Dataset)
Data class for `RedwoodIndoorLivingRoom2`, containing dense point
cloud, rgb sequence, clean depth sequence, noisy depth sequence, oni
sequence, and ground-truth camera trajectory. ::
RedwoodIndoorLivingRoom2
|-- colors
| |-- 00000.jpg
| |-- 00001.jpg
| |-- ...
| '-- 02349.jpg
|-- depth
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02349.png
|-- depth_noisy
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02349.png
|-- dist-model.txt
|-- livingroom2.oni
|-- livingroom2-traj.txt
'-- livingroom.ply
)doc");
dataset.def(py::init<const std::string&>(), "data_root"_a = "");
dataset.def_property_readonly("point_cloud_path",
&RedwoodIndoorLivingRoom2::GetPointCloudPath,
"Path to the point cloud.");
dataset.def_property_readonly("color_paths",
&RedwoodIndoorLivingRoom2::GetColorPaths,
"List of paths to color images.");
dataset.def_property_readonly("depth_paths",
&RedwoodIndoorLivingRoom2::GetDepthPaths,
"List of paths to depth images.");
dataset.def_property_readonly("noisy_depth_paths",
&RedwoodIndoorLivingRoom2::GetNoisyDepthPaths,
"List of paths to noisy depth images.");
dataset.def_property_readonly("oni_path",
&RedwoodIndoorLivingRoom2::GetONIPath,
"Path to the oni file.");
dataset.def_property_readonly("trajectory_path",
&RedwoodIndoorLivingRoom2::GetTrajectoryPath,
"Path to the trajectory file.");
dataset.def_property_readonly("noise_model_path",
&RedwoodIndoorLivingRoom2::GetNoiseModelPath,
"Path to the noise model file.");
}
void pybind_redwood_indoor_office1(py::module& m) {
py::class_<RedwoodIndoorOffice1, PyDownloadDataset<RedwoodIndoorOffice1>,
std::shared_ptr<RedwoodIndoorOffice1>, DownloadDataset>
dataset(m, "RedwoodIndoorOffice1",
R"doc(RedwoodIndoorOffice1 (Augmented ICL-NUIM Dataset)
Data class for `RedwoodIndoorOffice1`, containing dense point
cloud, rgb sequence, clean depth sequence, noisy depth sequence, oni
sequence, and ground-truth camera trajectory. ::
RedwoodIndoorOffice1
|-- colors
| |-- 00000.jpg
| |-- 00001.jpg
| |-- ...
| '-- 02689.jpg
|-- depth
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02689.png
|-- depth_noisy
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02689.png
|-- dist-model.txt
|-- office1.oni
|-- office1-traj.txt
'-- office.ply
)doc");
dataset.def(py::init<const std::string&>(), "data_root"_a = "");
dataset.def_property_readonly("point_cloud_path",
&RedwoodIndoorOffice1::GetPointCloudPath,
"Path to the point cloud.");
dataset.def_property_readonly("color_paths",
&RedwoodIndoorOffice1::GetColorPaths,
"List of paths to color images.");
dataset.def_property_readonly("depth_paths",
&RedwoodIndoorOffice1::GetDepthPaths,
"List of paths to depth images.");
dataset.def_property_readonly("noisy_depth_paths",
&RedwoodIndoorOffice1::GetNoisyDepthPaths,
"List of paths to noisy depth images.");
dataset.def_property_readonly("oni_path", &RedwoodIndoorOffice1::GetONIPath,
"Path to the oni file.");
dataset.def_property_readonly("trajectory_path",
&RedwoodIndoorOffice1::GetTrajectoryPath,
"Path to the trajectory file.");
dataset.def_property_readonly("noise_model_path",
&RedwoodIndoorOffice1::GetNoiseModelPath,
"Path to the noise model file.");
}
void pybind_redwood_indoor_office2(py::module& m) {
py::class_<RedwoodIndoorOffice2, PyDownloadDataset<RedwoodIndoorOffice2>,
std::shared_ptr<RedwoodIndoorOffice2>, DownloadDataset>
dataset(m, "RedwoodIndoorOffice2",
R"doc(RedwoodIndoorOffice2 (Augmented ICL-NUIM Dataset)
Data class for `RedwoodIndoorOffice2`, containing dense point
cloud, rgb sequence, clean depth sequence, noisy depth sequence, oni
sequence, and ground-truth camera trajectory. ::
RedwoodIndoorOffice2
|-- colors
| |-- 00000.jpg
| |-- 00001.jpg
| |-- ...
| '-- 02537.jpg
|-- depth
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02537.png
|-- depth_noisy
| |-- 00000.png
| |-- 00001.png
| |-- ...
| '-- 02537.png
|-- dist-model.txt
|-- office2.oni
|-- office2-traj.txt
'-- office.ply
)doc");
dataset.def(py::init<const std::string&>(), "data_root"_a = "");
dataset.def_property_readonly("point_cloud_path",
&RedwoodIndoorOffice2::GetPointCloudPath,
"Path to the point cloud.");
dataset.def_property_readonly("color_paths",
&RedwoodIndoorOffice2::GetColorPaths,
"List of paths to color images.");
dataset.def_property_readonly("depth_paths",
&RedwoodIndoorOffice2::GetDepthPaths,
"List of paths to depth images.");
dataset.def_property_readonly("noisy_depth_paths",
&RedwoodIndoorOffice2::GetNoisyDepthPaths,
"List of paths to noisy depth images.");
dataset.def_property_readonly("oni_path", &RedwoodIndoorOffice2::GetONIPath,
"Path to the oni file.");
dataset.def_property_readonly("trajectory_path",
&RedwoodIndoorOffice2::GetTrajectoryPath,
"Path to the trajectory file.");
dataset.def_property_readonly("noise_model_path",
&RedwoodIndoorOffice2::GetNoiseModelPath,
"Path to the noise model file.");
}
void pybind_data(py::module& m) {
py::module m_submodule = m.def_submodule("data", "Data handling module.");
pybind_data_classes(m_submodule);
// Demo data.
pybind_demo_icp_pointclouds(m_submodule);
pybind_demo_colored_icp_pointclouds(m_submodule);
pybind_demo_crop_pointcloud(m_submodule);
pybind_demo_doppler_icp_sequence(m_submodule);
pybind_demo_feature_matching_point_clouds(m_submodule);
pybind_demo_pose_graph_optimization(m_submodule);
pybind_demo_custom_visualization(m_submodule);
// Sample point cloud data.
pybind_pcd_point_cloud(m_submodule);
pybind_ply_point_cloud(m_submodule);
// RGBD data.
pybind_sample_nyu_rgbd_image(m_submodule);
pybind_sample_sun_rgbd_image(m_submodule);
pybind_sample_tum_rgbd_image(m_submodule);
pybind_sample_redwood_rgbd_images(m_submodule);
pybind_sample_fountain_rgbd_images(m_submodule);
// RealSense Bag file.
pybind_sample_l515_bag(m_submodule);
// Point Cloud data.
pybind_eagle(m_submodule);
// Triangle Mesh data.
pybind_armadillo(m_submodule);
pybind_bunny(m_submodule);
pybind_knot(m_submodule);
// Triangle Model data with PBR material.
pybind_monkey(m_submodule);
pybind_sword(m_submodule);
pybind_crate(m_submodule);
pybind_helmet(m_submodule);
pybind_avocado(m_submodule);
pybind_damaged_helmet(m_submodule);
// Texture images for material.
pybind_metal_texture(m_submodule);
pybind_painted_plaster_texture(m_submodule);
pybind_tiles_texture(m_submodule);
pybind_terrazzo_texture(m_submodule);
pybind_wood_texture(m_submodule);
pybind_wood_floor_texture(m_submodule);
// Image data.
pybind_juneau(m_submodule);
// Point Cloud fragments data.
pybind_living_room_point_clouds(m_submodule);
pybind_office_point_clouds(m_submodule);
pybind_lounge_rgbd_images(m_submodule);
pybind_bedroom_rgbd_images(m_submodule);
pybind_jackjack_l515_bag(m_submodule);
// RedwoodIndoor (Augmented ICL-NUIM Dataset).
pybind_redwood_indoor_living_room1(m_submodule);
pybind_redwood_indoor_living_room2(m_submodule);
pybind_redwood_indoor_office1(m_submodule);
pybind_redwood_indoor_office2(m_submodule);
}
} // namespace data
} // namespace open3d
|
