Pybinds for Dataset module. (isl-org#4633)

ECNURoboLab · Feb 2, 2022 · 58ce081 · 58ce081
1 parent aa72ad1
commit 58ce081
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Showing 129 changed files with 3,329 additions and 1,274 deletions.
diff --git a/cpp/benchmarks/geometry/TriangleMesh.cpp b/cpp/benchmarks/geometry/TriangleMesh.cpp
@@ -28,6 +28,7 @@
 
 #include <benchmark/benchmark.h>
 
+#include "open3d/data/Dataset.h"
 #include "open3d/io/PointCloudIO.h"
 
 namespace open3d {
@@ -36,12 +37,10 @@ namespace registration {
 
 // This pcd does not contains non-finite points.
 // TODO: Change this to pcd with non-finite poins.
-static const std::string input_pcd =
-        std::string(TEST_DATA_DIR) + "/ICP/cloud_bin_0.pcd";
-
 static void BenchmarkCreateFromPointCloudBallPivoting(
         benchmark::State& state, const bool remove_non_finite_points) {
-    auto pcd = io::CreatePointCloudFromFile(input_pcd);
+    data::SamplePointCloudPCD sample_pcd;
+    auto pcd = io::CreatePointCloudFromFile(sample_pcd.GetPath());
 
     if (remove_non_finite_points) {
         pcd->RemoveNonFinitePoints();

diff --git a/cpp/benchmarks/pipelines/registration/Registration.cpp b/cpp/benchmarks/pipelines/registration/Registration.cpp
@@ -75,12 +75,11 @@ static std::tuple<geometry::PointCloud, geometry::PointCloud> LoadPointCloud(
 
 static void BenchmarkICPLegacy(benchmark::State& state,
                                const TransformationEstimationType& type) {
-    data::dataset::SampleICPPointClouds sample_icp_pointclouds;
+    data::DemoICPPointClouds demo_icp_pointclouds;
     geometry::PointCloud source, target;
-    std::tie(source, target) =
-            LoadPointCloud(sample_icp_pointclouds.GetPaths(0),
-                           sample_icp_pointclouds.GetPaths(1),
-                           /*voxel_downsampling_factor =*/0.02);
+    std::tie(source, target) = LoadPointCloud(
+            demo_icp_pointclouds.GetPaths(0), demo_icp_pointclouds.GetPaths(1),
+            /*voxel_downsampling_factor =*/0.02);
 
     std::shared_ptr<TransformationEstimation> estimation;
     if (type == TransformationEstimationType::PointToPlane) {

diff --git a/cpp/benchmarks/t/pipelines/registration/Registration.cpp b/cpp/benchmarks/t/pipelines/registration/Registration.cpp
@@ -99,11 +99,10 @@ static void BenchmarkICP(benchmark::State& state,
                          const core::Dtype& dtype,
                          const TransformationEstimationType& type) {
     utility::SetVerbosityLevel(utility::VerbosityLevel::Error);
-    data::dataset::SampleICPPointClouds sample_icp_pointclouds;
+    data::DemoICPPointClouds demo_icp_pointclouds;
     geometry::PointCloud source, target;
     std::tie(source, target) = LoadTensorPointCloudFromFile(
-            sample_icp_pointclouds.GetPaths(0),
-            sample_icp_pointclouds.GetPaths(1),
+            demo_icp_pointclouds.GetPaths(0), demo_icp_pointclouds.GetPaths(1),
             /*voxel_downsampling_factor =*/0.02, dtype, device);
 
     std::shared_ptr<TransformationEstimation> estimation;

diff --git a/cpp/open3d/data/CMakeLists.txt b/cpp/open3d/data/CMakeLists.txt
@@ -2,9 +2,6 @@ open3d_ispc_add_library(data OBJECT)
 
 target_sources(data PRIVATE
     Dataset.cpp
-    Download.cpp
-    Extract.cpp
-    ExtractZIP.cpp
 )
 
 open3d_show_and_abort_on_warning(data)