# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # Copyright (c) 2018-2023 www.open3d.org # SPDX-License-Identifier: MIT # ---------------------------------------------------------------------------- import open3d as o3d from pathlib import Path import pytest def test_dataset_base(): default_data_root = Path.home() / "open3d_data" ds = o3d.data.Dataset("some_prefix") assert Path(ds.data_root) == default_data_root ds_custom = o3d.data.Dataset("some_prefix", "/my/custom/data_root") assert Path(ds_custom.data_root) == Path("/my/custom/data_root") assert ds_custom.prefix == "some_prefix" assert ds_custom.download_dir == "/my/custom/data_root/download/some_prefix" assert ds_custom.extract_dir == "/my/custom/data_root/extract/some_prefix" def get_test_data_dirs(prefix): gt_data_root = Path.home() / "open3d_data" gt_download_dir = gt_data_root / "download" / prefix gt_extract_dir = gt_data_root / "extract" / prefix return gt_data_root, gt_download_dir, gt_extract_dir def test_simple_dataset_base(): gt_prefix = "BunnyMesh" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data_descriptor = o3d.data.DataDescriptor( url=o3d.data.open3d_downloads_prefix + "20220201-data/BunnyMesh.ply", md5="568f871d1a221ba6627569f1e6f9a3f2") single_download_dataset = o3d.data.DownloadDataset( prefix=gt_prefix, data_descriptor=data_descriptor, ) assert Path(gt_extract_dir / "BunnyMesh.ply").is_file() assert Path(gt_download_dir / "BunnyMesh.ply").is_file() assert single_download_dataset.prefix == gt_prefix assert Path(single_download_dataset.data_root) == gt_data_root assert Path(single_download_dataset.download_dir) == gt_download_dir assert Path(single_download_dataset.extract_dir) == gt_extract_dir def test_demo_icp_pointclouds(): gt_prefix = "DemoICPPointClouds" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) demo_icp = o3d.data.DemoICPPointClouds() assert Path(gt_download_dir).is_dir() gt_paths = [ gt_extract_dir / "cloud_bin_0.pcd", gt_extract_dir / "cloud_bin_1.pcd", gt_extract_dir / "cloud_bin_2.pcd" ] assert len(demo_icp.paths) == len(gt_paths) for gt_path, demo_icp_path in zip(gt_paths, demo_icp.paths): assert Path(gt_path) == Path(demo_icp_path) assert Path(gt_path).is_file() assert Path(demo_icp.transformation_log_path) == Path(gt_extract_dir / "init.log") assert Path(demo_icp.transformation_log_path).is_file() assert demo_icp.prefix == gt_prefix assert Path(demo_icp.data_root) == gt_data_root assert Path(demo_icp.download_dir) == gt_download_dir assert Path(demo_icp.extract_dir) == gt_extract_dir def test_demo_colored_icp_pointclouds(): gt_prefix = "DemoColoredICPPointClouds" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) demo_colored_icp = o3d.data.DemoColoredICPPointClouds() assert Path(gt_download_dir).is_dir() gt_paths = [ gt_extract_dir / "frag_115.ply", gt_extract_dir / "frag_116.ply" ] assert len(demo_colored_icp.paths) == len(gt_paths) for gt_path, demo_colored_icp_path in zip(gt_paths, demo_colored_icp.paths): assert Path(gt_path) == Path(demo_colored_icp_path) assert Path(gt_path).is_file() assert demo_colored_icp.prefix == gt_prefix assert Path(demo_colored_icp.data_root) == gt_data_root assert Path(demo_colored_icp.download_dir) == gt_download_dir assert Path(demo_colored_icp.extract_dir) == gt_extract_dir def test_demo_crop_pointcloud(): gt_prefix = "DemoCropPointCloud" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) demo_crop_pcd = o3d.data.DemoCropPointCloud() assert Path(gt_download_dir).is_dir() assert Path(demo_crop_pcd.point_cloud_path) == gt_extract_dir / \ "fragment.ply" assert Path(demo_crop_pcd.point_cloud_path).is_file() assert Path(demo_crop_pcd.cropped_json_path) == gt_extract_dir / \ "cropped.json" assert Path(demo_crop_pcd.point_cloud_path).is_file() assert demo_crop_pcd.prefix == gt_prefix assert Path(demo_crop_pcd.data_root) == gt_data_root assert Path(demo_crop_pcd.download_dir) == gt_download_dir assert Path(demo_crop_pcd.extract_dir) == gt_extract_dir def test_demo_feature_matching_point_clouds(): gt_prefix = "DemoFeatureMatchingPointClouds" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) demo_feature_matching = o3d.data.DemoFeatureMatchingPointClouds() assert Path(gt_download_dir).is_dir() gt_point_cloud_paths = [ gt_extract_dir / "cloud_bin_0.pcd", gt_extract_dir / "cloud_bin_1.pcd" ] assert len( demo_feature_matching.point_cloud_paths) == len(gt_point_cloud_paths) for gt_path, demo_feature_matching_point_cloud_path in zip( gt_point_cloud_paths, demo_feature_matching.point_cloud_paths): assert Path(demo_feature_matching_point_cloud_path) == gt_path assert Path(gt_path).is_file() gt_fpfh_feature_paths = [ gt_extract_dir / "cloud_bin_0.fpfh.bin", gt_extract_dir / "cloud_bin_1.fpfh.bin" ] assert len( demo_feature_matching.fpfh_feature_paths) == len(gt_fpfh_feature_paths) for gt_path, demo_feature_matching_fpfh_feature_path in zip( gt_fpfh_feature_paths, demo_feature_matching.fpfh_feature_paths): assert Path(demo_feature_matching_fpfh_feature_path) == gt_path assert Path(gt_path).is_file() gt_l32d_feature_paths = [ gt_extract_dir / "cloud_bin_0.d32.bin", gt_extract_dir / "cloud_bin_1.d32.bin" ] assert len( demo_feature_matching.l32d_feature_paths) == len(gt_l32d_feature_paths) for gt_path, demo_feature_matching_l32d_feature_path in zip( gt_l32d_feature_paths, demo_feature_matching.l32d_feature_paths): assert Path(demo_feature_matching_l32d_feature_path) == gt_path assert Path(gt_path).is_file() assert demo_feature_matching.prefix == gt_prefix assert Path(demo_feature_matching.data_root) == gt_data_root assert Path(demo_feature_matching.download_dir) == gt_download_dir assert Path(demo_feature_matching.extract_dir) == gt_extract_dir def test_demo_pose_graph_optimization(): gt_prefix = "DemoPoseGraphOptimization" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) demo_pose_optimization = o3d.data.DemoPoseGraphOptimization() assert Path(gt_download_dir).is_dir() assert Path(demo_pose_optimization.pose_graph_fragment_path) == gt_extract_dir / \ "pose_graph_example_fragment.json" assert Path(demo_pose_optimization.pose_graph_fragment_path).is_file() assert Path(demo_pose_optimization.pose_graph_global_path) == gt_extract_dir / \ "pose_graph_example_global.json" assert Path(demo_pose_optimization.pose_graph_global_path).is_file() assert demo_pose_optimization.prefix == gt_prefix assert Path(demo_pose_optimization.data_root) == gt_data_root assert Path(demo_pose_optimization.download_dir) == gt_download_dir assert Path(demo_pose_optimization.extract_dir) == gt_extract_dir def test_pcd_point_cloud(): gt_prefix = "PCDPointCloud" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) pcd_pointcloud = o3d.data.PCDPointCloud() assert Path(gt_download_dir).is_dir() assert Path(pcd_pointcloud.path) == gt_extract_dir / "fragment.pcd" assert Path(pcd_pointcloud.path).is_file() assert pcd_pointcloud.prefix == gt_prefix assert Path(pcd_pointcloud.data_root) == gt_data_root assert Path(pcd_pointcloud.download_dir) == gt_download_dir assert Path(pcd_pointcloud.extract_dir) == gt_extract_dir def test_ply_point_cloud(): gt_prefix = "PLYPointCloud" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) ply_pointcloud = o3d.data.PLYPointCloud() assert Path(gt_download_dir).is_dir() assert Path(ply_pointcloud.path) == gt_extract_dir / "fragment.ply" assert Path(ply_pointcloud.path).is_file() assert ply_pointcloud.prefix == gt_prefix assert Path(ply_pointcloud.data_root) == gt_data_root assert Path(ply_pointcloud.download_dir) == gt_download_dir assert Path(ply_pointcloud.extract_dir) == gt_extract_dir def test_sample_nyu_rgbd_image(): gt_prefix = "SampleNYURGBDImage" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) rgbd_image_nyu = o3d.data.SampleNYURGBDImage() assert Path(gt_download_dir).is_dir() assert Path(rgbd_image_nyu.color_path) == gt_extract_dir / "NYU_color.ppm" assert Path(rgbd_image_nyu.color_path).is_file() assert Path(rgbd_image_nyu.depth_path) == gt_extract_dir / "NYU_depth.pgm" assert Path(rgbd_image_nyu.depth_path).is_file() assert rgbd_image_nyu.prefix == gt_prefix assert Path(rgbd_image_nyu.data_root) == gt_data_root assert Path(rgbd_image_nyu.download_dir) == gt_download_dir assert Path(rgbd_image_nyu.extract_dir) == gt_extract_dir def test_sample_sun_rgbd_image(): gt_prefix = "SampleSUNRGBDImage" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) rgbd_image_sun = o3d.data.SampleSUNRGBDImage() assert Path(gt_download_dir).is_dir() assert Path(rgbd_image_sun.color_path) == gt_extract_dir / "SUN_color.jpg" assert Path(rgbd_image_sun.color_path).is_file() assert Path(rgbd_image_sun.depth_path) == gt_extract_dir / "SUN_depth.png" assert Path(rgbd_image_sun.depth_path).is_file() assert rgbd_image_sun.prefix == gt_prefix assert Path(rgbd_image_sun.data_root) == gt_data_root assert Path(rgbd_image_sun.download_dir) == gt_download_dir assert Path(rgbd_image_sun.extract_dir) == gt_extract_dir def test_sample_tum_rgbd_image(): gt_prefix = "SampleTUMRGBDImage" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) rgbd_image_tum = o3d.data.SampleTUMRGBDImage() assert Path(gt_download_dir).is_dir() assert Path(rgbd_image_tum.color_path) == gt_extract_dir / "TUM_color.png" assert Path(rgbd_image_tum.color_path).is_file() assert Path(rgbd_image_tum.depth_path) == gt_extract_dir / "TUM_depth.png" assert Path(rgbd_image_tum.depth_path).is_file() assert rgbd_image_tum.prefix == gt_prefix assert Path(rgbd_image_tum.data_root) == gt_data_root assert Path(rgbd_image_tum.download_dir) == gt_download_dir assert Path(rgbd_image_tum.extract_dir) == gt_extract_dir def test_sample_redwood_rgbd_images(): gt_prefix = "SampleRedwoodRGBDImages" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) rgbd_dataset_redwood = o3d.data.SampleRedwoodRGBDImages() assert Path(gt_download_dir).is_dir() gt_color_paths = [ gt_extract_dir / "color" / "00000.jpg", gt_extract_dir / "color" / "00001.jpg", gt_extract_dir / "color" / "00002.jpg", gt_extract_dir / "color" / "00003.jpg", gt_extract_dir / "color" / "00004.jpg" ] assert len(rgbd_dataset_redwood.color_paths) == len(gt_color_paths) for gt_path, rgbd_dataset_redwood_color_path in zip( gt_color_paths, rgbd_dataset_redwood.color_paths): assert Path(rgbd_dataset_redwood_color_path) == gt_path assert Path(gt_path).is_file() gt_depth_paths = [ gt_extract_dir / "depth" / "00000.png", gt_extract_dir / "depth" / "00001.png", gt_extract_dir / "depth" / "00002.png", gt_extract_dir / "depth" / "00003.png", gt_extract_dir / "depth" / "00004.png" ] assert len(rgbd_dataset_redwood.depth_paths) == len(gt_depth_paths) for gt_path, rgbd_dataset_redwood_depth_path in zip( gt_depth_paths, rgbd_dataset_redwood.depth_paths): assert Path(rgbd_dataset_redwood_depth_path) == gt_path assert Path(gt_path).is_file() assert Path(rgbd_dataset_redwood.trajectory_log_path ) == gt_extract_dir / "trajectory.log" assert Path(rgbd_dataset_redwood.odometry_log_path ) == gt_extract_dir / "odometry.log" assert Path( rgbd_dataset_redwood.rgbd_match_path) == gt_extract_dir / "rgbd.match" assert Path(rgbd_dataset_redwood.reconstruction_path ) == gt_extract_dir / "example_tsdf_pcd.ply" assert rgbd_dataset_redwood.prefix == gt_prefix assert Path(rgbd_dataset_redwood.data_root) == gt_data_root assert Path(rgbd_dataset_redwood.download_dir) == gt_download_dir assert Path(rgbd_dataset_redwood.extract_dir) == gt_extract_dir def test_sample_fountain_rgbd_images(): gt_prefix = "SampleFountainRGBDImages" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) fountain_dataset = o3d.data.SampleFountainRGBDImages() assert Path(gt_download_dir).is_dir() gt_color_paths = [ gt_extract_dir / "image" / "0000010-000001228920.jpg", gt_extract_dir / "image" / "0000031-000004096400.jpg", gt_extract_dir / "image" / "0000044-000005871507.jpg", gt_extract_dir / "image" / "0000064-000008602440.jpg", gt_extract_dir / "image" / "0000110-000014883587.jpg", gt_extract_dir / "image" / "0000156-000021164733.jpg", gt_extract_dir / "image" / "0000200-000027172787.jpg", gt_extract_dir / "image" / "0000215-000029220987.jpg", gt_extract_dir / "image" / "0000255-000034682853.jpg", gt_extract_dir / "image" / "0000299-000040690907.jpg", gt_extract_dir / "image" / "0000331-000045060400.jpg", gt_extract_dir / "image" / "0000368-000050112627.jpg", gt_extract_dir / "image" / "0000412-000056120680.jpg", gt_extract_dir / "image" / "0000429-000058441973.jpg", gt_extract_dir / "image" / "0000474-000064586573.jpg", gt_extract_dir / "image" / "0000487-000066361680.jpg", gt_extract_dir / "image" / "0000526-000071687000.jpg", gt_extract_dir / "image" / "0000549-000074827573.jpg", gt_extract_dir / "image" / "0000582-000079333613.jpg", gt_extract_dir / "image" / "0000630-000085887853.jpg", gt_extract_dir / "image" / "0000655-000089301520.jpg", gt_extract_dir / "image" / "0000703-000095855760.jpg", gt_extract_dir / "image" / "0000722-000098450147.jpg", gt_extract_dir / "image" / "0000771-000105140933.jpg", gt_extract_dir / "image" / "0000792-000108008413.jpg", gt_extract_dir / "image" / "0000818-000111558627.jpg", gt_extract_dir / "image" / "0000849-000115791573.jpg", gt_extract_dir / "image" / "0000883-000120434160.jpg", gt_extract_dir / "image" / "0000896-000122209267.jpg", gt_extract_dir / "image" / "0000935-000127534587.jpg", gt_extract_dir / "image" / "0000985-000134361920.jpg", gt_extract_dir / "image" / "0001028-000140233427.jpg", gt_extract_dir / "image" / "0001061-000144739467.jpg" ] assert len(fountain_dataset.color_paths) == len(gt_color_paths) for gt_path, fountain_dataset_color_path in zip( gt_color_paths, fountain_dataset.color_paths): assert Path(fountain_dataset_color_path) == gt_path assert Path(gt_path).is_file() gt_depth_paths = [ gt_extract_dir / "depth" / "0000038-000001234662.png", gt_extract_dir / "depth" / "0000124-000004104418.png", gt_extract_dir / "depth" / "0000177-000005872988.png", gt_extract_dir / "depth" / "0000259-000008609267.png", gt_extract_dir / "depth" / "0000447-000014882686.png", gt_extract_dir / "depth" / "0000635-000021156105.png", gt_extract_dir / "depth" / "0000815-000027162570.png", gt_extract_dir / "depth" / "0000877-000029231463.png", gt_extract_dir / "depth" / "0001040-000034670651.png", gt_extract_dir / "depth" / "0001220-000040677116.png", gt_extract_dir / "depth" / "0001351-000045048488.png", gt_extract_dir / "depth" / "0001503-000050120614.png", gt_extract_dir / "depth" / "0001683-000056127079.png", gt_extract_dir / "depth" / "0001752-000058429557.png", gt_extract_dir / "depth" / "0001937-000064602868.png", gt_extract_dir / "depth" / "0001990-000066371438.png", gt_extract_dir / "depth" / "0002149-000071677149.png", gt_extract_dir / "depth" / "0002243-000074813859.png", gt_extract_dir / "depth" / "0002378-000079318707.png", gt_extract_dir / "depth" / "0002575-000085892450.png", gt_extract_dir / "depth" / "0002677-000089296113.png", gt_extract_dir / "depth" / "0002874-000095869855.png", gt_extract_dir / "depth" / "0002951-000098439288.png", gt_extract_dir / "depth" / "0003152-000105146507.png", gt_extract_dir / "depth" / "0003238-000108016262.png", gt_extract_dir / "depth" / "0003344-000111553403.png", gt_extract_dir / "depth" / "0003471-000115791298.png", gt_extract_dir / "depth" / "0003610-000120429623.png", gt_extract_dir / "depth" / "0003663-000122198194.png", gt_extract_dir / "depth" / "0003823-000127537274.png", gt_extract_dir / "depth" / "0004028-000134377970.png", gt_extract_dir / "depth" / "0004203-000140217589.png", gt_extract_dir / "depth" / "0004339-000144755807.png" ] assert len(fountain_dataset.depth_paths) == len(gt_depth_paths) for gt_path, fountain_dataset_depth_path in zip( gt_depth_paths, fountain_dataset.depth_paths): assert Path(fountain_dataset_depth_path) == gt_path assert Path(gt_path).is_file() assert Path(fountain_dataset.keyframe_poses_log_path ) == gt_extract_dir / "scene" / "key.log" assert Path(fountain_dataset.reconstruction_path ) == gt_extract_dir / "scene" / "integrated.ply" assert fountain_dataset.prefix == gt_prefix assert Path(fountain_dataset.data_root) == gt_data_root assert Path(fountain_dataset.download_dir) == gt_download_dir assert Path(fountain_dataset.extract_dir) == gt_extract_dir def test_eagle(): gt_prefix = "EaglePointCloud" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) eagle = o3d.data.EaglePointCloud() assert Path(gt_download_dir).is_dir() assert Path(eagle.path) == gt_extract_dir / "EaglePointCloud.ply" assert Path(eagle.path).is_file() assert eagle.prefix == gt_prefix assert Path(eagle.data_root) == gt_data_root assert Path(eagle.download_dir) == gt_download_dir assert Path(eagle.extract_dir) == gt_extract_dir def test_armadillo(): gt_prefix = "ArmadilloMesh" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) armadillo = o3d.data.ArmadilloMesh() assert Path(gt_download_dir).is_dir() assert Path(armadillo.path) == gt_extract_dir / "ArmadilloMesh.ply" assert Path(armadillo.path).is_file() assert armadillo.prefix == gt_prefix assert Path(armadillo.data_root) == gt_data_root assert Path(armadillo.download_dir) == gt_download_dir assert Path(armadillo.extract_dir) == gt_extract_dir def test_bunny(): gt_prefix = "BunnyMesh" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) bunny = o3d.data.BunnyMesh() assert Path(gt_download_dir).is_dir() assert Path(bunny.path) == gt_extract_dir / "BunnyMesh.ply" assert Path(bunny.path).is_file() assert bunny.prefix == gt_prefix assert Path(bunny.data_root) == gt_data_root assert Path(bunny.download_dir) == gt_download_dir assert Path(bunny.extract_dir) == gt_extract_dir def test_knot(): gt_prefix = "KnotMesh" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) knot = o3d.data.KnotMesh() assert Path(gt_download_dir).is_dir() assert Path(knot.path) == gt_extract_dir / "KnotMesh.ply" assert Path(knot.path).is_file() assert knot.prefix == gt_prefix assert Path(knot.data_root) == gt_data_root assert Path(knot.download_dir) == gt_download_dir assert Path(knot.extract_dir) == gt_extract_dir def test_monkey(): gt_prefix = "MonkeyModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) monkey = o3d.data.MonkeyModel() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "albedo.png", "ao": Path(gt_extract_dir) / "ao.png", "metallic": Path(gt_extract_dir) / "metallic.png", "monkey_material": Path(gt_extract_dir) / "monkey.mtl", "monkey_model": Path(gt_extract_dir) / "monkey.obj", "monkey_solid_material": Path(gt_extract_dir) / "monkey_solid.mtl", "monkey_solid_model": Path(gt_extract_dir) / "monkey_solid.obj", "normal": Path(gt_extract_dir) / "normal.png", "roughness": Path(gt_extract_dir) / "roughness.png" } for file_name in monkey.path_map: assert Path(monkey.path_map[file_name]) == gt_path_map[file_name] assert Path(monkey.path_map[file_name]).is_file() assert Path(monkey.path) == gt_extract_dir / "monkey.obj" assert Path(monkey.path).is_file() assert monkey.prefix == gt_prefix assert Path(monkey.data_root) == gt_data_root assert Path(monkey.download_dir) == gt_download_dir assert Path(monkey.extract_dir) == gt_extract_dir def test_sword(): gt_prefix = "SwordModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) sword = o3d.data.SwordModel() assert Path(gt_download_dir).is_dir() gt_path_map = { "sword_material": Path(gt_extract_dir) / "UV.mtl", "sword_model": Path(gt_extract_dir) / "UV.obj", "base_color": Path(gt_extract_dir) / "UV_blinn1SG_BaseColor.png", "metallic": Path(gt_extract_dir) / "UV_blinn1SG_Metallic.png", "normal": Path(gt_extract_dir) / "UV_blinn1SG_Normal.png", "roughness": Path(gt_extract_dir) / "UV_blinn1SG_Roughness.png" } for file_name in sword.path_map: assert Path(sword.path_map[file_name]) == gt_path_map[file_name] assert Path(sword.path_map[file_name]).is_file() assert Path(sword.path) == gt_extract_dir / "UV.obj" assert Path(sword.path).is_file() assert sword.prefix == gt_prefix assert Path(sword.data_root) == gt_data_root assert Path(sword.download_dir) == gt_download_dir assert Path(sword.extract_dir) == gt_extract_dir def test_crate(): gt_prefix = "CrateModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) crate = o3d.data.CrateModel() assert Path(gt_download_dir).is_dir() gt_path_map = { "crate_material": Path(gt_extract_dir) / "crate.mtl", "crate_model": Path(gt_extract_dir) / "crate.obj", "texture_image": Path(gt_extract_dir) / "crate.jpg" } for file_name in crate.path_map: assert Path(crate.path_map[file_name]) == gt_path_map[file_name] assert Path(crate.path_map[file_name]).is_file() assert Path(crate.path) == gt_extract_dir / "crate.obj" assert Path(crate.path).is_file() assert crate.prefix == gt_prefix assert Path(crate.data_root) == gt_data_root assert Path(crate.download_dir) == gt_download_dir assert Path(crate.extract_dir) == gt_extract_dir def test_flight_helmet(): gt_prefix = "FlightHelmetModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) helmet = o3d.data.FlightHelmetModel() assert Path(gt_download_dir).is_dir() gt_path_map = { "flight_helmet": Path(gt_extract_dir) / "FlightHelmet.gltf", "flight_helmet_bin": Path(gt_extract_dir) / "FlightHelmet.bin", "mat_glass_plastic_base": Path(gt_extract_dir) / "FlightHelmet_Materials_GlassPlasticMat_BaseColor.png", "mat_glass_plastic_normal": Path(gt_extract_dir) / "FlightHelmet_Materials_GlassPlasticMat_Normal.png", "mat_glass_plastic_occlusion_rough_metal": Path(gt_extract_dir) / "FlightHelmet_Materials_GlassPlasticMat_" "OcclusionRoughMetal.png", "mat_leather_parts_base": Path(gt_extract_dir) / "FlightHelmet_Materials_LeatherPartsMat_BaseColor.png", "mat_leather_parts_normal": Path(gt_extract_dir) / "FlightHelmet_Materials_LeatherPartsMat_Normal.png", "mat_leather_parts_occlusion_rough_metal": Path(gt_extract_dir) / "FlightHelmet_Materials_LeatherPartsMat_" "OcclusionRoughMetal.png", "mat_lenses_base": Path(gt_extract_dir) / "FlightHelmet_Materials_LensesMat_BaseColor.png", "mat_lenses_normal": Path(gt_extract_dir) / "FlightHelmet_Materials_LensesMat_Normal.png", "mat_lenses_occlusion_rough_metal": Path(gt_extract_dir) / "FlightHelmet_Materials_LensesMat_" "OcclusionRoughMetal.png", "mat_metal_parts_base": Path(gt_extract_dir) / "FlightHelmet_Materials_MetalPartsMat_BaseColor.png", "mat_metal_parts_normal": Path(gt_extract_dir) / "FlightHelmet_Materials_MetalPartsMat_Normal.png", "mat_metal_parts_occlusion_rough_metal": Path(gt_extract_dir) / "FlightHelmet_Materials_MetalPartsMat_" "OcclusionRoughMetal.png", "mat_rubber_wood_base": Path(gt_extract_dir) / "FlightHelmet_Materials_RubberWoodMat_BaseColor.png", "mat_rubber_wood_normal": Path(gt_extract_dir) / "FlightHelmet_Materials_RubberWoodMat_Normal.png", "mat_rubber_wood_occlusion_rough_metal": Path(gt_extract_dir) / "FlightHelmet_Materials_RubberWoodMat_" "OcclusionRoughMetal.png" } for file_name in helmet.path_map: assert Path(helmet.path_map[file_name]) == gt_path_map[file_name] assert Path(helmet.path_map[file_name]).is_file() assert Path(helmet.path) == gt_extract_dir / "FlightHelmet.gltf" assert Path(helmet.path).is_file() assert helmet.prefix == gt_prefix assert Path(helmet.data_root) == gt_data_root assert Path(helmet.download_dir) == gt_download_dir assert Path(helmet.extract_dir) == gt_extract_dir def test_avocado(): gt_prefix = "AvocadoModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) avocado = o3d.data.AvocadoModel() assert Path(gt_download_dir).is_dir() assert Path(avocado.path) == gt_extract_dir / "AvocadoModel.glb" assert Path(avocado.path).is_file() assert avocado.prefix == gt_prefix assert Path(avocado.data_root) == gt_data_root assert Path(avocado.download_dir) == gt_download_dir assert Path(avocado.extract_dir) == gt_extract_dir def test_damaged_helmet(): gt_prefix = "DamagedHelmetModel" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) damaged_helmet = o3d.data.DamagedHelmetModel() assert Path(gt_download_dir).is_dir() assert Path( damaged_helmet.path) == gt_extract_dir / "DamagedHelmetModel.glb" assert Path(damaged_helmet.path).is_file() assert damaged_helmet.prefix == gt_prefix assert Path(damaged_helmet.data_root) == gt_data_root assert Path(damaged_helmet.download_dir) == gt_download_dir assert Path(damaged_helmet.extract_dir) == gt_extract_dir def test_metal_texture(): gt_prefix = "MetalTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.MetalTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "Metal008_Color.jpg", "normal": Path(gt_extract_dir) / "Metal008_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "Metal008_Roughness.jpg", "metallic": Path(gt_extract_dir) / "Metal008_Metalness.jpg" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert Path(data.metallic_texture_path) == gt_path_map["metallic"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_painted_plaster_texture(): gt_prefix = "PaintedPlasterTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.PaintedPlasterTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "PaintedPlaster017_Color.jpg", "normal": Path(gt_extract_dir) / "PaintedPlaster017_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "noiseTexture.png" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_tiles_texture(): gt_prefix = "TilesTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.TilesTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "Tiles074_Color.jpg", "normal": Path(gt_extract_dir) / "Tiles074_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "Tiles074_Roughness.jpg" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_terrazzo_texture(): gt_prefix = "TerrazzoTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.TerrazzoTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "Terrazzo018_Color.jpg", "normal": Path(gt_extract_dir) / "Terrazzo018_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "Terrazzo018_Roughness.jpg" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_wood_texture(): gt_prefix = "WoodTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.WoodTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "Wood049_Color.jpg", "normal": Path(gt_extract_dir) / "Wood049_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "Wood049_Roughness.jpg" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_wood_floor_texture(): gt_prefix = "WoodFloorTexture" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) data = o3d.data.WoodFloorTexture() assert Path(gt_download_dir).is_dir() gt_path_map = { "albedo": Path(gt_extract_dir) / "WoodFloor050_Color.jpg", "normal": Path(gt_extract_dir) / "WoodFloor050_NormalDX.jpg", "roughness": Path(gt_extract_dir) / "WoodFloor050_Roughness.jpg" } for file_name in data.path_map: assert Path(data.path_map[file_name]) == gt_path_map[file_name] assert Path(data.path_map[file_name]).is_file() assert Path(data.albedo_texture_path) == gt_path_map["albedo"] assert Path(data.normal_texture_path) == gt_path_map["normal"] assert Path(data.roughness_texture_path) == gt_path_map["roughness"] assert data.prefix == gt_prefix assert Path(data.data_root) == gt_data_root assert Path(data.download_dir) == gt_download_dir assert Path(data.extract_dir) == gt_extract_dir def test_juneau(): gt_prefix = "JuneauImage" gt_data_root, gt_download_dir, gt_extract_dir = get_test_data_dirs( gt_prefix) juneau = o3d.data.JuneauImage() assert Path(gt_download_dir).is_dir() assert Path(juneau.path) == gt_extract_dir / "JuneauImage.jpg" assert Path(juneau.path).is_file() assert juneau.prefix == gt_prefix assert Path(juneau.data_root) == gt_data_root assert Path(juneau.download_dir) == gt_download_dir assert Path(juneau.extract_dir) == gt_extract_dir @pytest.mark.skip() def test_redwood_indoor_living_room1(): gt_prefix = "RedwoodIndoorLivingRoom1" _, gt_download_dir, gt_extract_dir = get_test_data_dirs(gt_prefix) dataset = o3d.data.RedwoodIndoorLivingRoom1() assert Path(gt_download_dir).is_dir() assert Path(gt_extract_dir).is_dir() pcd = o3d.io.read_point_cloud(dataset.point_cloud_path) im_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_rgbds.append(im_rgbd) assert len(im_rgbds) == 2870 im_noisy_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.noisy_depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_noisy_rgbds.append(im_rgbd) assert len(im_noisy_rgbds) == 2870 @pytest.mark.skip() def test_redwood_indoor_living_room2(): gt_prefix = "RedwoodIndoorLivingRoom2" _, gt_download_dir, gt_extract_dir = get_test_data_dirs(gt_prefix) dataset = o3d.data.RedwoodIndoorLivingRoom2() assert Path(gt_download_dir).is_dir() assert Path(gt_extract_dir).is_dir() pcd = o3d.io.read_point_cloud(dataset.point_cloud_path) im_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_rgbds.append(im_rgbd) assert len(im_rgbds) == 2350 im_noisy_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.noisy_depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_noisy_rgbds.append(im_rgbd) assert len(im_noisy_rgbds) == 2350 @pytest.mark.skip() def test_redwood_indoor_office1(): gt_prefix = "RedwoodIndoorOffice1" _, gt_download_dir, gt_extract_dir = get_test_data_dirs(gt_prefix) dataset = o3d.data.RedwoodIndoorOffice1() assert Path(gt_download_dir).is_dir() assert Path(gt_extract_dir).is_dir() pcd = o3d.io.read_point_cloud(dataset.point_cloud_path) im_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_rgbds.append(im_rgbd) assert len(im_rgbds) == 2690 im_noisy_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.noisy_depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_noisy_rgbds.append(im_rgbd) assert len(im_noisy_rgbds) == 2690 @pytest.mark.skip() def test_redwood_indoor_office2(): gt_prefix = "RedwoodIndoorOffice2" _, gt_download_dir, gt_extract_dir = get_test_data_dirs(gt_prefix) dataset = o3d.data.RedwoodIndoorOffice2() assert Path(gt_download_dir).is_dir() assert Path(gt_extract_dir).is_dir() pcd = o3d.io.read_point_cloud(dataset.point_cloud_path) im_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_rgbds.append(im_rgbd) assert len(im_rgbds) == 2538 im_noisy_rgbds = [] for color_path, depth_path in zip(dataset.color_paths, dataset.noisy_depth_paths): im_color = o3d.io.read_image(color_path) im_depth = o3d.io.read_image(depth_path) im_rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( im_color, im_depth) im_noisy_rgbds.append(im_rgbd) assert len(im_noisy_rgbds) == 2538