More Examples

If you would like to run nvblox on public datasets, we include some executables for fusing 3DMatch, Replica, and Redwood datasets.

The executables are run by pointing the respective binary to a folder containing the dataset. We give details for each dataset below.

3DMatch

Instructions to run 3DMatch are given in Run an Example.

Replica

We use Replica sequences from the NICE-SLAM.

First download the dataset (here we assume datasets are stored in ~/datasets):

cd ~/datasets
wget https://cvg-data.inf.ethz.ch/nice-slam/data/Replica.zip
unzip Replica.zip

Now run nvblox and output a mesh.

cd nvblox/build/executables
./fuse_replica ~/datasets/Replica/office0 \
  --voxel_size=0.02 \
  --color_frame_subsampling=20
  mesh.ply

Note that here we specify via command line flags to run the reconstruction with 2cm voxels, and only to integrate 1 in 20 color frames.

View the reconstruction in Open3D

open3d draw mesh.ply

You should see a mesh of a room:

Redwood

The replica RGB-D datasets are available here.

Download the “RGB-D sequence” and “Our camera poses” at the link above.

Extract the data into a common folder. For example for the apartment sequence the resultant folder structure looks like (here we assume datasets are stored in ~/datasets):

~/datasets/redwood/apartment
~/datasets/redwood/apartment/pose_apartment/...
~/datasets/redwood/apartment/rgbd_apartment/...

Now we run the reconstruction

cd nvblox/build/executables
./fuse_redwood ~/datasets/redwood/apartment \
  --voxel_size=0.02 \
  --color_frame_subsampling=20 \
  mesh.ply

Note this dataset is large (~30000 images) so the reconstruction can take a couple of minutes.

View the reconstruction in Open3D

open3d draw mesh.ply

You should see a mesh of a room: