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Open Semantic Mapping Evaluation Pipeline

Contents:

  • Concept-Graphs
  • Concept-Fusion (Todo)
  • Open-Fusion (Todo)
  • OpenMask3D
  • OVSG (Todo)
  • OVIR-3D (Todo)
  • Semantic Abstraction (Todo)
  • PLA (Todo)

Concept-graphs:

Build docker

git clone https://github.com/be2rlab/OpenSemanticMapping.git
cd OpenSemanticMapping
make build-concept-graphs

Download Replica Datasets

bash ./datasets/scripts/download_replica.sh

Download All Assets

download from https://disk.yandex.ru/d/lAWeTD3SSNncaA

Visualization

make prepare-terminal-for-visualization

RUN

make run-concept-graphs

Specific settings

Inside the docker you can edit the export files in export folder, and then run one of them

bash /export/export_concept_graphs_light_ram.sh

OpenMask3D:

Build docker

make build-openmask3d

Transform dataset

sudo python3 ./datasets/scripts/transformations/transform_to_openmask3d_format.py /path/to/original/scene/folder /path/to/output/folder

RUN

make run-openmask3d

Specific settings

Inside the docker you can edit the export files in export folder, and then run one of them

bash /export/export_openmask3d_replica.sh

Visualize

cd /opt/src/openmask3d/saved/experiment/visualizations/room1_mesh; python -m http.server 6008

Change "room1_mesh" with your dataset's name. Then open in browser: http://0.0.0.0:6008.

OpenScene:

Build docker

make build-openscene

Transform dataset

python3 ./datasets/scripts/transformations/transform_to_openscene_format.py \
    /path/to/original/scene/folder \
    /path/to/output/folder

RUN

make run-openscene

Get feature fusion

Inside the docker run the command from /opt/src/

python ./scripts/feature_fusion/replica_openseg.py \
    --data_dir /path/to/transformed/dataset \
    --scene name_of_the_scene \
    --output_dir /path/to/output/dir \
    --openseg_model /path/to/openseg/model

Specific settings

Inside the docker you can edit the export files in export folder, and then run one of them

bash /export/export_openscene_replica.sh

Visualize

Inside the docker you can run the following to visualize the results

cd ./demo/gaps
make

cd pkgs/RNNets
make

cd ../../apps/osview
make

/opt/src/demo/run_demo

To change the inputs you can open run_demo

In the opened window you can type queries!