Data Docs + Refactoring API (isl-org#4727)

ECNURoboLab · Feb 10, 2022 · 73508bc · 73508bc
1 parent 86879ad
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Showing 65 changed files with 1,111 additions and 719 deletions.
diff --git a/cpp/benchmarks/geometry/TriangleMesh.cpp b/cpp/benchmarks/geometry/TriangleMesh.cpp
@@ -39,7 +39,7 @@ namespace registration {
 // TODO: Change this to pcd with non-finite poins.
 static void BenchmarkCreateFromPointCloudBallPivoting(
         benchmark::State& state, const bool remove_non_finite_points) {
-    data::SamplePointCloudPCD sample_pcd;
+    data::PCDPointCloud sample_pcd;
     auto pcd = io::CreatePointCloudFromFile(sample_pcd.GetPath());
 
     if (remove_non_finite_points) {

diff --git a/cpp/benchmarks/t/geometry/PointCloud.cpp b/cpp/benchmarks/t/geometry/PointCloud.cpp
@@ -76,7 +76,7 @@ void ToLegacyPointCloud(benchmark::State& state, const core::Device& device) {
     }
 }
 
-data::SamplePointCloudPLY pointcloud_ply;
+data::PLYPointCloud pointcloud_ply;
 static const std::string path = pointcloud_ply.GetPath();
 
 void LegacyVoxelDownSample(benchmark::State& state, float voxel_size) {

diff --git a/cpp/benchmarks/t/io/PointCloudIO.cpp b/cpp/benchmarks/t/io/PointCloudIO.cpp
@@ -45,7 +45,7 @@ namespace geometry {
 
 // This file is just used to load the `point cloud` data. So, format of this
 // file is not important.
-data::SamplePointCloudPLY pointcloud_ply_data;
+data::PLYPointCloud pointcloud_ply_data;
 static const std::string input_path_pcd = pointcloud_ply_data.GetPath();
 
 void IOWriteLegacyPointCloud(benchmark::State& state,

diff --git a/cpp/benchmarks/t/pipelines/odometry/RGBDOdometry.cpp b/cpp/benchmarks/t/pipelines/odometry/RGBDOdometry.cpp
@@ -65,7 +65,7 @@ static void ComputeOdometryResultPointToPlane(benchmark::State& state,
     const float depth_diff = 0.07;
     const float depth_max = 3.0;
 
-    data::SampleRGBDDatasetRedwood redwood_data;
+    data::SampleRedwoodRGBDImages redwood_data;
     t::geometry::Image src_depth =
             *t::io::CreateImageFromFile(redwood_data.GetDepthPaths()[0]);
     t::geometry::Image dst_depth =
@@ -127,7 +127,7 @@ static void RGBDOdometryMultiScale(
     const float depth_max = 3.0;
     const float depth_diff = 0.07;
 
-    data::SampleRGBDDatasetRedwood redwood_data;
+    data::SampleRedwoodRGBDImages redwood_data;
     t::geometry::Image src_depth =
             *t::io::CreateImageFromFile(redwood_data.GetDepthPaths()[0]);
     t::geometry::Image src_color =

diff --git a/cpp/open3d/data/Dataset.cpp b/cpp/open3d/data/Dataset.cpp
@@ -90,10 +90,9 @@ SingleDownloadDataset::SingleDownloadDataset(
     }
 }
 
-DemoICPPointClouds::DemoICPPointClouds(const std::string& prefix,
-                                       const std::string& data_root)
+DemoICPPointClouds::DemoICPPointClouds(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "DemoICPPointClouds",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/DemoICPPointClouds.zip"},
               "76cf67ab1af942e3c4d5e97b9c2ae58f",
@@ -115,9 +114,9 @@ std::string DemoICPPointClouds::GetPaths(size_t index) const {
 }
 
 DemoColoredICPPointClouds::DemoColoredICPPointClouds(
-        const std::string& prefix, const std::string& data_root)
+        const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "DemoColoredICPPointClouds",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/DemoColoredICPPointClouds.zip"},
               "bf8d469e892d76f2e69e1213207c0e30",
@@ -136,42 +135,41 @@ std::string DemoColoredICPPointClouds::GetPaths(size_t index) const {
     return paths_[index];
 }
 
-DemoCropPointCloud::DemoCropPointCloud(const std::string& prefix,
-                                       const std::string& data_root)
+DemoCropPointCloud::DemoCropPointCloud(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "DemoCropPointCloud",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/DemoCropPointCloud.zip"},
               "12dbcdddd3f0865d8312929506135e23",
               /*no_extract =*/false,
               data_root) {
     const std::string extract_dir = Dataset::GetExtractDir();
-    pointcloud_path_ = extract_dir + "/fragment.ply";
+    point_cloud_path_ = extract_dir + "/fragment.ply";
     cropped_json_path_ = extract_dir + "/cropped.json";
 }
 
-DemoPointCloudFeatureMatching::DemoPointCloudFeatureMatching(
-        const std::string& prefix, const std::string& data_root)
+DemoFeatureMatchingPointClouds::DemoFeatureMatchingPointClouds(
+        const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "DemoFeatureMatchingPointClouds",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/DemoPointCloudFeatureMatching.zip"},
+               "20220201-data/DemoFeatureMatchingPointClouds.zip"},
               "02f0703ce0cbf4df78ce2602ae33fc79",
               /*no_extract =*/false,
               data_root) {
     const std::string extract_dir = Dataset::GetExtractDir();
-    pointcloud_paths_ = {extract_dir + "/cloud_bin_0.pcd",
-                         extract_dir + "/cloud_bin_1.pcd"};
+    point_cloud_paths_ = {extract_dir + "/cloud_bin_0.pcd",
+                          extract_dir + "/cloud_bin_1.pcd"};
     fpfh_feature_paths_ = {extract_dir + "/cloud_bin_0.fpfh.bin",
                            extract_dir + "/cloud_bin_1.fpfh.bin"};
     l32d_feature_paths_ = {extract_dir + "/cloud_bin_0.d32.bin",
                            extract_dir + "/cloud_bin_1.d32.bin"};
 }
 
 DemoPoseGraphOptimization::DemoPoseGraphOptimization(
-        const std::string& prefix, const std::string& data_root)
+        const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "DemoPoseGraphOptimization",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/DemoPoseGraphOptimization.zip"},
               "af085b28d79dea7f0a50aef50c96b62c",
@@ -183,10 +181,9 @@ DemoPoseGraphOptimization::DemoPoseGraphOptimization(
     pose_graph_global_path_ = extract_dir + "/pose_graph_example_global.json";
 }
 
-SamplePointCloudPCD::SamplePointCloudPCD(const std::string& prefix,
-                                         const std::string& data_root)
+PCDPointCloud::PCDPointCloud(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "PCDPointCloud",
               {"https://github.com/isl-org/open3d_downloads/releases/"
                "download/20220201-data/fragment.pcd"},
               "f3a613fd2bdecd699aabdd858fb29606",
@@ -195,10 +192,9 @@ SamplePointCloudPCD::SamplePointCloudPCD(const std::string& prefix,
     path_ = Dataset::GetExtractDir() + "/fragment.pcd";
 }
 
-SamplePointCloudPLY::SamplePointCloudPLY(const std::string& prefix,
-                                         const std::string& data_root)
+PLYPointCloud::PLYPointCloud(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "PLYPointCloud",
               {"https://github.com/isl-org/open3d_downloads/releases/"
                "download/20220201-data/fragment.ply"},
               "831ecffd4d7cbbbe02494c5c351aa6e5",
@@ -207,51 +203,47 @@ SamplePointCloudPLY::SamplePointCloudPLY(const std::string& prefix,
     path_ = Dataset::GetExtractDir() + "/fragment.ply";
 }
 
-SampleRGBDImageNYU::SampleRGBDImageNYU(const std::string& prefix,
-                                       const std::string& data_root)
+SampleNYURGBDImage::SampleNYURGBDImage(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "SampleNYURGBDImage",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/SampleRGBDImageNYU.zip"},
+               "20220201-data/SampleNYURGBDImage.zip"},
               "b0baaf892c7ff9b202eb5fb40c5f7b58",
               /*no_extract =*/false,
               data_root) {
     color_path_ = Dataset::GetExtractDir() + "/NYU_color.ppm";
     depth_path_ = Dataset::GetExtractDir() + "/NYU_depth.pgm";
 }
 
-SampleRGBDImageSUN::SampleRGBDImageSUN(const std::string& prefix,
-                                       const std::string& data_root)
+SampleSUNRGBDImage::SampleSUNRGBDImage(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "SampleSUNRGBDImage",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/SampleRGBDImageSUN.zip"},
+               "20220201-data/SampleSUNRGBDImage.zip"},
               "b1a430586547c8986bdf8b36179a8e67",
               /*no_extract =*/false,
               data_root) {
     color_path_ = Dataset::GetExtractDir() + "/SUN_color.jpg";
     depth_path_ = Dataset::GetExtractDir() + "/SUN_depth.png";
 }
 
-SampleRGBDImageTUM::SampleRGBDImageTUM(const std::string& prefix,
-                                       const std::string& data_root)
+SampleTUMRGBDImage::SampleTUMRGBDImage(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "SampleTUMRGBDImage",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/SampleRGBDImageTUM.zip"},
+               "20220201-data/SampleTUMRGBDImage.zip"},
               "91758d42b142dbad7b0d90e857ad47a8",
               /*no_extract =*/false,
               data_root) {
     color_path_ = Dataset::GetExtractDir() + "/TUM_color.png";
     depth_path_ = Dataset::GetExtractDir() + "/TUM_depth.png";
 }
 
-SampleRGBDDatasetRedwood::SampleRGBDDatasetRedwood(const std::string& prefix,
-                                                   const std::string& data_root)
+SampleRedwoodRGBDImages::SampleRedwoodRGBDImages(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "SampleRedwoodRGBDImages",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/SampleRGBDDatasetRedwood.zip"},
+               "20220201-data/SampleRedwoodRGBDImages.zip"},
               "3af3b6ee53e4d64396537553995d9556",
               /*no_extract =*/false,
               data_root) {
@@ -273,12 +265,11 @@ SampleRGBDDatasetRedwood::SampleRGBDDatasetRedwood(const std::string& prefix,
     reconstruction_path_ = extract_dir + "/example_tsdf_pcd.ply";
 }
 
-SampleFountainRGBDDataset::SampleFountainRGBDDataset(
-        const std::string& prefix, const std::string& data_root)
+SampleFountainRGBDImages::SampleFountainRGBDImages(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "SampleFountainRGBDImages",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
-               "20220201-data/SampleFountainRGBDDataset.zip"},
+               "20220201-data/SampleFountainRGBDImages.zip"},
               "c6c1b2171099f571e2a78d78675df350",
               /*no_extract =*/false,
               data_root) {
@@ -355,10 +346,9 @@ SampleFountainRGBDDataset::SampleFountainRGBDDataset(
     reconstruction_path_ = extract_dir + "/scene/integrated.ply";
 }
 
-EaglePointCloud::EaglePointCloud(const std::string& prefix,
-                                 const std::string& data_root)
+EaglePointCloud::EaglePointCloud(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "EaglePointCloud",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/EaglePointCloud.ply"},
               "e4e6c77bc548e7eb7548542a0220ad78",
@@ -367,10 +357,9 @@ EaglePointCloud::EaglePointCloud(const std::string& prefix,
     path_ = Dataset::GetExtractDir() + "/EaglePointCloud.ply";
 }
 
-ArmadilloMesh::ArmadilloMesh(const std::string& prefix,
-                             const std::string& data_root)
+ArmadilloMesh::ArmadilloMesh(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "ArmadilloMesh",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/ArmadilloMesh.ply"},
               "9e68ff1b1cc914ed88cd84f6a8235021",
@@ -379,9 +368,9 @@ ArmadilloMesh::ArmadilloMesh(const std::string& prefix,
     path_ = Dataset::GetExtractDir() + "/ArmadilloMesh.ply";
 }
 
-BunnyMesh::BunnyMesh(const std::string& prefix, const std::string& data_root)
+BunnyMesh::BunnyMesh(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "BunnyMesh",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/BunnyMesh.ply"},
               "568f871d1a221ba6627569f1e6f9a3f2",
@@ -390,9 +379,9 @@ BunnyMesh::BunnyMesh(const std::string& prefix, const std::string& data_root)
     path_ = Dataset::GetExtractDir() + "/BunnyMesh.ply";
 }
 
-KnotMesh::KnotMesh(const std::string& prefix, const std::string& data_root)
+KnotMesh::KnotMesh(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "KnotMesh",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/KnotMesh.ply"},
               "bfc9f132ecdfb7f9fdc42abf620170fc",
@@ -401,10 +390,9 @@ KnotMesh::KnotMesh(const std::string& prefix, const std::string& data_root)
     path_ = Dataset::GetExtractDir() + "/KnotMesh.ply";
 }
 
-JuneauImage::JuneauImage(const std::string& prefix,
-                         const std::string& data_root)
+JuneauImage::JuneauImage(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "JuneauImage",
               {"https://github.com/isl-org/open3d_downloads/releases/download/"
                "20220201-data/JuneauImage.jpg"},
               "a090f6342893bdf0caefd83c6debbecd",
@@ -413,10 +401,9 @@ JuneauImage::JuneauImage(const std::string& prefix,
     path_ = Dataset::GetExtractDir() + "/JuneauImage.jpg";
 }
 
-RedwoodLivingRoomPointClouds::RedwoodLivingRoomPointClouds(
-        const std::string& prefix, const std::string& data_root)
+LivingRoomPointClouds::LivingRoomPointClouds(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "LivingRoomPointClouds",
               {"http://redwood-data.org/indoor/data/"
                "livingroom1-fragments-ply.zip",
                "https://github.com/isl-org/open3d_downloads/releases/"
@@ -431,7 +418,7 @@ RedwoodLivingRoomPointClouds::RedwoodLivingRoomPointClouds(
     }
 }
 
-std::string RedwoodLivingRoomPointClouds::GetPaths(size_t index) const {
+std::string LivingRoomPointClouds::GetPaths(size_t index) const {
     if (index > 56) {
         utility::LogError(
                 "Invalid index. Expected index between 0 to 56 but got {}.",
@@ -440,10 +427,9 @@ std::string RedwoodLivingRoomPointClouds::GetPaths(size_t index) const {
     return paths_[index];
 }
 
-RedwoodOfficePointClouds::RedwoodOfficePointClouds(const std::string& prefix,
-                                                   const std::string& data_root)
+OfficePointClouds::OfficePointClouds(const std::string& data_root)
     : SingleDownloadDataset(
-              prefix,
+              "OfficePointClouds",
               {"http://redwood-data.org/indoor/data/"
                "office1-fragments-ply.zip",
                "https://github.com/isl-org/open3d_downloads/releases/"
@@ -458,7 +444,7 @@ RedwoodOfficePointClouds::RedwoodOfficePointClouds(const std::string& prefix,
     }
 }
 
-std::string RedwoodOfficePointClouds::GetPaths(size_t index) const {
+std::string OfficePointClouds::GetPaths(size_t index) const {
     if (index > 52) {
         utility::LogError(
                 "Invalid index. Expected index between 0 to 52 but got {}.",