Run an Example#

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

Download an example SUN3D dataset by running the following command:

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

From the nvblox base folder run

cd build/nvblox/executables
./fuse_3dmatch <PATH>/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.

Note

If Open3D is not available for your platform, any tool that can visualize PLY files (such as CloudCompare and Meshlab) may be used instead.

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:

../_images/reconstruction_in_docker_trim.png

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