third_party/mast3r/dust3r/datasets_preprocess/habitat/README.md

Steps to reproduce synthetic training data using the Habitat-Sim simulator

Create a conda environment

conda create -n habitat python=3.8 habitat-sim=0.2.1 headless=2.0 -c aihabitat -c conda-forge
conda active habitat
conda install pytorch -c pytorch
pip install opencv-python tqdm

or (if you get the error For headless systems, compile with --headless for EGL support)

git clone --branch stable https://github.com/facebookresearch/habitat-sim.git
cd habitat-sim

conda create -n habitat python=3.9 cmake=3.14.0
conda activate habitat
pip install . -v
conda install pytorch -c pytorch
pip install opencv-python tqdm

Download Habitat-Sim scenes

Download Habitat-Sim scenes:

• Download links can be found here: https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md
• We used scenes from the HM3D, habitat-test-scenes, ReplicaCad and ScanNet datasets.
• Please put the scenes in a directory $SCENES_DIR following the structure below: (Note: the habitat-sim dataset installer may install an incompatible version for ReplicaCAD backed lighting. The correct scene dataset can be dowloaded from Huggingface: git clone git@hf.co:datasets/ai-habitat/ReplicaCAD_baked_lighting).

$SCENES_DIR/
├──hm3d/
├──gibson/
├──habitat-test-scenes/
├──ReplicaCAD_baked_lighting/
└──scannet/

Download renderings metadata

Download metadata corresponding to each scene and extract them into a directory $METADATA_DIR

wget https://download.europe.naverlabs.com/ComputerVision/DUSt3R/habitat_5views_v1_512x512_metadata.tar.gz
tar -xvzf habitat_5views_v1_512x512_metadata.tar.gz

Render the scenes

Render the scenes in an output directory $OUTPUT_DIR

export METADATA_DIR="/path/to/habitat/5views_v1_512x512_metadata"
export SCENES_DIR="/path/to/habitat/data/scene_datasets/"
export OUTPUT_DIR="data/habitat_processed"
cd datasets_preprocess/habitat/
export PYTHONPATH=$(pwd)
# Print commandlines to generate images corresponding to each scene
python preprocess_habitat.py --scenes_dir=$SCENES_DIR --metadata_dir=$METADATA_DIR --output_dir=$OUTPUT_DIR
# Launch these commandlines in parallel e.g. using GNU-Parallel as follows:
python preprocess_habitat.py --scenes_dir=$SCENES_DIR --metadata_dir=$METADATA_DIR --output_dir=$OUTPUT_DIR | parallel -j 16

Make a list of scenes

python find_scenes.py --root $OUTPUT_DIR