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https://github.com/facebookresearch/Replica-Dataset

The Replica Dataset v1 as published in https://arxiv.org/abs/1906.05797 .
https://github.com/facebookresearch/Replica-Dataset

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The Replica Dataset v1 as published in https://arxiv.org/abs/1906.05797 .

Lists

README 

        
# Replica Dataset



The Replica Dataset is a dataset of high quality reconstructions of a

variety of indoor spaces. Each reconstruction has clean dense geometry, high

resolution and high dynamic range textures, glass and mirror surface

information, planar segmentation as well as

semantic class and instance segmentation.

See the [technical report](https://arxiv.org/abs/1906.05797) for more details.



![Replica Modalities](./assets/ReplicaModalities.png)



The Replica SDK contained in this repository allows visual inspection of the

datasets via the ReplicaViewer and gives an example of how to render out images

from the scenes headlessly via the ReplicaRenderer. 



For machine learning purposes each dataset also contains an export to the format

employed by [AI Habitat](https://www.aihabitat.org/) and is therefore usable

seamlessly in that framework for AI agent training and other ML tasks.



## Citing the Replica Dataset



If you use the Replica dataset in your research directly or indirectly via derivative datasets or frameworks, please cite the following

[technical report](https://arxiv.org/abs/1906.05797):

```

@article{replica19arxiv,

  title =   {The {R}eplica Dataset: A Digital Replica of Indoor Spaces},

  author =  {Julian Straub and Thomas Whelan and Lingni Ma and Yufan Chen and Erik Wijmans and Simon Green and Jakob J. Engel and Raul Mur-Artal and Carl Ren and Shobhit Verma and Anton Clarkson and Mingfei Yan and Brian Budge and Yajie Yan and Xiaqing Pan and June Yon and Yuyang Zou and Kimberly Leon and Nigel Carter and Jesus Briales and  Tyler Gillingham and  Elias Mueggler and Luis Pesqueira and Manolis Savva and Dhruv Batra and Hauke M. Strasdat and Renzo De Nardi and Michael Goesele and Steven Lovegrove and Richard Newcombe },

  journal = {arXiv preprint arXiv:1906.05797},

  year =    {2019}

}

```



## Replica Dataset



The following 18 scenes are included in this initial release:



![Replica Dataset](./assets/ReplicaDataset.png)



![Replica Dataset](./assets/ReplicaDatasetFRL.png)



Each Replica contains the following assets:

```

├── glass.sur

├── habitat

    ├── mesh_semantic.ply 

    ├── mesh_semantic.navmesh

    ├── info_semantic.json

    ├── mesh_preseg_semantic.ply 

    ├── mesh_preseg_semantic.navmesh

    ├── info_preseg_semantic.json

    ├── replica_stage.stage_config.json

    └── sorted_faces.bin 

├── mesh.ply

├── preseg.bin

├── preseg.json

├── semantic.bin

├── semantic.json

└── textures

    ├── 0-color-ptex.hdr

    ├── 0-color-ptex.w

    ├── 1-color-ptex.hdr

    ├── 1-color-ptex.w

    ├── ...

    └── parameters.json

```

The different files contain the following:

- `glass.sur`: parameterization of glass and mirror surfaces.

- `mesh.ply`: the quad mesh of the scene with vertex colors.

- `preseg.json` and `preseg.bin`: the presegmentation in terms of planes and non-planes of the scene.

- `semantic.json` and `semantic.bin`: the semantic segmentation of the scene.

- `textures`: the high resolution and high dynamic range textures of the scene.

- `habitat/mesh*semantic.ply`: the quad meshes including semantic or presegmentation information for AI Habitat. 

- `habitat/info*semantic.json`: mapping from instance IDs in the respective `mesh_*.ply` to semantic names.

- `habitat/mesh*semantic.navmesh`: navigation grid for AI Habitat.

- `habitat/replica_stage.stage_config.json`: configuration file defining scene level parameters for habitat-sim.

- `habitat/sorted_faces.bin`: binary file containing pre-processed geometry data for habitat-sim Ptex rendering support.



### Download on Mac OS and Linux

Make sure `pigz`, `wget`, and `unzip` are installed:

```

# on Mac OS

brew install wget pigz unzip

# on Ubuntu

sudo apt-get install wget pigz unzip

```

To download and decompress the dataset use the `download.sh` script:

```

./download.sh /path/to/replica_v1

```



### Download on Windows



Execute `win_download.bat` to download Replica.



## Replica SDK



### Setup

After installing the dependencies of [Pangolin](https://github.com/stevenlovegrove/Pangolin),

the Replica SDK can be compiled using the build script via

```

git submodule update --init

./build.sh

```

It requires the dependencies of

[Pangolin](https://github.com/stevenlovegrove/Pangolin) and

[Eigen](https://github.com/eigenteam/eigen-git-mirror)

to be installed. If you wish to use the headless renderer ensure you have the libegl1-mesa-dev package.



### ReplicaViewer



ReplicaViewer is an interactive UI to explore the Replica Dataset. 



```

./build/bin/ReplicaViewer mesh.ply /path/to/atlases [mirrorFile]

```



![ReplicaViewer](./assets/ReplicaViewer.png)



The exposure value for rendering from the HDR textures can be adjusted on the

top left. 



### ReplicaRenderer



The ReplicaRenderer shows how to render out images from a Replica for a

programmatically defined trajectory without UI. This executable can be run

headless on a server if so desired. 



```

./build/bin/ReplicaRenderer mesh.ply textures glass.sur

```



## Replica and AI Habitat



To use Replica within AI Habitat checkout the AI Habitat Sim at [https://github.com/facebookresearch/habitat-sim](https://github.com/facebookresearch/habitat-sim).

After building the project you can launch the test viewer to verify that everything works:

```

./build/viewer --dataset /PATH/TO/REPLICA/replica.scene_dataset_config.json -- frl_apartment_0

```



## Team 



Julian Straub,  Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales,  Tyler Gillingham Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, and Richard Newcombe.



## Contact



[[email protected]]([email protected])



## Acknowledgements



The Replica dataset would not have been possible without the hard work and contributions of Matthew Banks, Christopher Dotson, Rashad Barber, Justin Blosch, Ethan Henderson, Kelley Greene, Michael Thot, Matthew Winterscheid, Robert Johnston, Abhijit Kulkarni, Robert Meeker, Jamie Palacios, Tony Phan, Tim Petrvalsky, Sayed Farhad Sadat, Manuel Santana, Suruj Singh, Swati Agrawal, and Hannah Woolums.



## License



See the LICENSE file for details.