Import project files from Uni Bonn Sciebo

Author: saiga006

.gitignore

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+Data/PLY/*

Data/gt_poses.txt

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+#include "dataloader.hpp"
+
+#include <open3d/Open3D.h>
+
+#include <Eigen/Core>
+#include <filesystem>
+#include <fstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace fs = std::filesystem;
+
+namespace {
+
+std::vector<std::string> ReadPointCloudFiles(const fs::path& pointcloud_path) {
+    std::vector<std::string> filenames;
+    for (const auto& file : fs::directory_iterator(pointcloud_path)) {
+        if (file.path().extension() == ".ply") {
+            filenames.emplace_back(file.path().string());
+        }
+    }
+    if (filenames.empty()) {
+        std::cerr << pointcloud_path << "contains no files with .ply extension"
+                  << std::endl;
+        exit(1);
+    }
+    std::sort(filenames.begin(), filenames.end());
+
+    return filenames;
+}
+
+Vector3dVector ExtractPointCloud(const std::string& filename) {
+    open3d::geometry::PointCloud pointcloud;
+    open3d::io::ReadPointCloudFromPLY(filename, pointcloud,
+                                      open3d::io::ReadPointCloudOption());
+    return pointcloud.points_;
+}
+
+std::vector<Eigen::Matrix4d> ReadPoses(const std::string& filename) {
+    std::ifstream file(filename);
+    std::vector<Eigen::Matrix4d> poses;
+    Eigen::Matrix4d pose = Eigen::Matrix4d::Identity();
+    while (file >> pose(0, 0) >> pose(0, 1) >> pose(0, 2) >> pose(0, 3) >>
+           pose(1, 0) >> pose(1, 1) >> pose(1, 2) >> pose(1, 3) >> pose(2, 0) >>
+           pose(2, 1) >> pose(2, 2) >> pose(2, 3)) {
+        poses.emplace_back(pose);
+    }
+    return poses;
+}
+
+}  // namespace
+
+namespace dataloader {
+Dataset::Dataset(const std::string& data_dir) {
+    pointcloud_files_ = ReadPointCloudFiles(fs::path(data_dir) / "PLY/");
+
+    poses_.reserve(pointcloud_files_.size());
+    poses_ = ReadPoses(fs::path(data_dir) / "gt_poses.txt");
+}
+
+PoseAndCloud Dataset::operator[](
+        const int idx) const {
+    return std::make_pair(poses_[idx], ExtractPointCloud(pointcloud_files_[idx]));
+}
+}  // namespace dataloader

dataloader/dataloader.cpp

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+#pragma once
+
+#include <Eigen/Core>
+#include <string>
+#include <utility>
+#include <vector>
+
+using Vector3dVector = std::vector<Eigen::Vector3d>;
+using PoseAndCloud = std::pair<Eigen::Matrix4d, Vector3dVector>;
+
+namespace dataloader
+{
+    class Dataset
+    {
+    public:
+        Dataset(const std::string &data_dir);
+        std::size_t size() const { return pointcloud_files_.size(); }
+        PoseAndCloud operator[](const int idx) const;
+
+    private:
+        std::vector<std::string> pointcloud_files_;
+        std::vector<Eigen::Matrix4d> poses_;
+    };
+} // namespace dataloader

dataloader/dataloader.hpp

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+#pragma once
+
+#include <Eigen/Core>
+#include <memory>
+#include <vector>
+
+#include "open3d/Open3D.h"
+
+inline void visualize(
+        const std::vector<Eigen::Vector3d>& pointcloud) {
+    open3d::visualization::DrawGeometries(
+            {std::make_shared<open3d::geometry::PointCloud>(pointcloud)});
+}