Run an Example

In this example we fuse data from the 3DMatch dataset.

First let’s grab the dataset. Here I’m downloading it to the dataset folder in the docker, which is at /datasets/3dmatch.

wget http://vision.princeton.edu/projects/2016/3DMatch/downloads/rgbd-datasets/sun3d-mit_76_studyroom-76-1studyroom2.zip -P /datasets/3dmatch
unzip /datasets/3dmatch/sun3d-mit_76_studyroom-76-1studyroom2.zip -d /datasets/3dmatch

Next we run the fuse_3dmatch binary. From the nvblox base folder run

cd build/nvblox/executables
./fuse_3dmatch /datasets/3dmatch/sun3d-mit_76_studyroom-76-1studyroom2/ \
  mesh.ply

This produces an output mesh file mesh.ply in the current directory.

We can view the mesh using the Open3D viewer. First we need to install Open3D.

sudo apt-get install libglib2.0-0 libgl1
pip3 install open3d

Then visualize the mesh

open3d draw mesh.ply

You should see a mesh of a room:

More examples of running nvblox on datasets are given in More Examples.