Dataset.h

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#pragma once

#include <string>
#include <unordered_map>
#include <vector>

namespace open3d {
namespace data {

std::string LocateDataRoot();

class Dataset {
public:
    Dataset(const std::string& prefix, const std::string& data_root = "");

    virtual ~Dataset() {}

    const std::string GetDataRoot() const { return data_root_; }
    const std::string GetPrefix() const { return prefix_; }

    const std::string GetDownloadDir() const {
        return GetDataRoot() + "/download/" + GetPrefix();
    }
    const std::string GetExtractDir() const {
        return GetDataRoot() + "/extract/" + GetPrefix();
    }

protected:
    std::string data_root_;
    std::string prefix_;
};

class SingleDownloadDataset : public Dataset {
public:
    SingleDownloadDataset(const std::string& prefix,
                          const std::vector<std::string>& urls,
                          const std::string& md5,
                          const bool no_extract = false,
                          const std::string& data_root = "");

    virtual ~SingleDownloadDataset() {}
};

class DemoICPPointClouds : public SingleDownloadDataset {
public:
    DemoICPPointClouds(const std::string& data_root = "");

    std::vector<std::string> GetPaths() const { return paths_; }
    std::string GetPaths(size_t index) const;

private:
    // List of path to PCD point-cloud fragments.
    std::vector<std::string> paths_;
};

class DemoColoredICPPointClouds : public SingleDownloadDataset {
public:
    DemoColoredICPPointClouds(const std::string& data_root = "");

    std::vector<std::string> GetPaths() const { return paths_; }
    std::string GetPaths(size_t index) const;

private:
    // List of path to PCD point-cloud fragments.
    std::vector<std::string> paths_;
};

class DemoCropPointCloud : public SingleDownloadDataset {
public:
    DemoCropPointCloud(const std::string& data_root = "");

    std::string GetPointCloudPath() const { return point_cloud_path_; }
    std::string GetCroppedJSONPath() const { return cropped_json_path_; }

private:
    // Path to example point cloud.
    std::string point_cloud_path_;
    // Path to saved selected polygon volume file.
    std::string cropped_json_path_;
};

class DemoFeatureMatchingPointClouds : public SingleDownloadDataset {
public:
    DemoFeatureMatchingPointClouds(const std::string& data_root = "");

    std::vector<std::string> GetPointCloudPaths() const {
        return point_cloud_paths_;
    }
    std::vector<std::string> GetFPFHFeaturePaths() const {
        return fpfh_feature_paths_;
    }
    std::vector<std::string> GetL32DFeaturePaths() const {
        return l32d_feature_paths_;
    }

private:
    std::vector<std::string> point_cloud_paths_;
    std::vector<std::string> fpfh_feature_paths_;
    std::vector<std::string> l32d_feature_paths_;
};

class DemoPoseGraphOptimization : public SingleDownloadDataset {
public:
    DemoPoseGraphOptimization(const std::string& data_root = "");

    std::string GetPoseGraphFragmentPath() const {
        return pose_graph_fragment_path_;
    }
    std::string GetPoseGraphGlobalPath() const {
        return pose_graph_global_path_;
    }

private:
    std::string pose_graph_fragment_path_;
    std::string pose_graph_global_path_;
};

class PCDPointCloud : public SingleDownloadDataset {
public:
    PCDPointCloud(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class PLYPointCloud : public SingleDownloadDataset {
public:
    PLYPointCloud(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class SampleNYURGBDImage : public SingleDownloadDataset {
public:
    SampleNYURGBDImage(const std::string& data_root = "");

    std::string GetColorPath() const { return color_path_; };
    std::string GetDepthPath() const { return depth_path_; };

private:
    std::string color_path_;
    std::string depth_path_;
};

class SampleSUNRGBDImage : public SingleDownloadDataset {
public:
    SampleSUNRGBDImage(const std::string& data_root = "");

    std::string GetColorPath() const { return color_path_; };
    std::string GetDepthPath() const { return depth_path_; };

private:
    std::string color_path_;
    std::string depth_path_;
};

class SampleTUMRGBDImage : public SingleDownloadDataset {
public:
    SampleTUMRGBDImage(const std::string& data_root = "");

    std::string GetColorPath() const { return color_path_; };
    std::string GetDepthPath() const { return depth_path_; };

private:
    std::string color_path_;
    std::string depth_path_;
};

// Additionally it also contains camera trajectory log, camera odometry log,
// rgbd match, and point cloud reconstruction obtained using TSDF.
class SampleRedwoodRGBDImages : public SingleDownloadDataset {
public:
    SampleRedwoodRGBDImages(const std::string& data_root = "");

    std::vector<std::string> GetColorPaths() const { return color_paths_; };
    std::vector<std::string> GetDepthPaths() const { return depth_paths_; };

    std::string GetTrajectoryLogPath() const { return trajectory_log_path_; };
    std::string GetOdometryLogPath() const { return odometry_log_path_; };
    std::string GetRGBDMatchPath() const { return rgbd_match_path_; };
    std::string GetReconstructionPath() const { return reconstruction_path_; };

private:
    std::vector<std::string> color_paths_;
    std::vector<std::string> depth_paths_;

    std::string trajectory_log_path_;
    std::string odometry_log_path_;
    std::string rgbd_match_path_;
    std::string reconstruction_path_;
};

class SampleFountainRGBDImages : public SingleDownloadDataset {
public:
    SampleFountainRGBDImages(const std::string& data_root = "");

    std::vector<std::string> GetColorPaths() const { return color_paths_; };
    std::vector<std::string> GetDepthPaths() const { return depth_paths_; };
    std::string GetKeyframePosesLogPath() const {
        return keyframe_poses_log_path_;
    };
    std::string GetReconstructionPath() const { return reconstruction_path_; };

private:
    std::vector<std::string> color_paths_;
    std::vector<std::string> depth_paths_;
    std::string keyframe_poses_log_path_;
    std::string reconstruction_path_;
};

class EaglePointCloud : public SingleDownloadDataset {
public:
    EaglePointCloud(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class ArmadilloMesh : public SingleDownloadDataset {
public:
    ArmadilloMesh(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class BunnyMesh : public SingleDownloadDataset {
public:
    BunnyMesh(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class KnotMesh : public SingleDownloadDataset {
public:
    KnotMesh(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class JuneauImage : public SingleDownloadDataset {
public:
    JuneauImage(const std::string& data_root = "");

    std::string GetPath() const { return path_; };

private:
    std::string path_;
};

class LivingRoomPointClouds : public SingleDownloadDataset {
public:
    LivingRoomPointClouds(const std::string& data_root = "");

    std::vector<std::string> GetPaths() const { return paths_; }
    std::string GetPaths(size_t index) const;

private:
    std::vector<std::string> paths_;
};

class OfficePointClouds : public SingleDownloadDataset {
public:
    OfficePointClouds(const std::string& data_root = "");

    std::vector<std::string> GetPaths() const { return paths_; }
    std::string GetPaths(size_t index) const;

private:
    std::vector<std::string> paths_;
};

}  // namespace data
}  // namespace open3d