nvblox/apps/datasets folder contains sample GXF apps to use Nvblox with offline datasets.
Currently, two datasets can be downloaded:
Replica: This is a synthetic dataset containing RGB-D frames and ground-truth poses. It can be downloaded using
wget https://cvg-data.inf.ethz.ch/nice-slam/data/Replica.zip. Unzip the archive to access the dataset.
Redwood: This is a real dataset recorded with an Asus Xtion camera and estimated camera poses. Download the RGB-D sequences and camera poses from here and extract them to a corresponding folder with the sequence name in lowercase (eg.
Here is an example folder structure for the office sequence of the Replica dataset:
datasets/ └── replica/ └── office0/ ├── results/ └── traj.txt
Here is an example folder structure for the lobby sequence of the Redwood dataset:
datasets/ └── redwood/ └── lobby ├── pose_lobby └── rgbd_lobby └── lobby ├── depth └── image
Use the following command to run the reconstruction:
docker run -it --gpus all --network=host \ -v <DATASET_PATH>:<DATASET_PATH> \ nvcr.io/nvstaging/isaac-amr/nvblox_dataset \ --path <DATASET_PATH> --name <DATASET/SEQUENCE>
<NAME/SEQUENCE>specifies the slash-separated dataset name and sequence, for example
<DATASET_PATH>is the root path to where the all the datasets are located. If the sequence is located in
/my/datasets/redwood/apartment, this shoud be set to
<IMAGE_TAG>refers to the Docker image tag (e.g.
For development, it is useful to run apps without generating Docker images:
bazel run //extensions/nvblox/apps/datasets --path <DATASET_PATH> --name <NAME/SEQUENCE>
If you are using Dazel, make sure the datasets are mounted. Modify your
to include the following:
DAZEL_VOLUMES = [volume_host:volume_dazel]
Then restart Dazel with
Color visualization will not work because of the image stride.