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Prepare SUN RGB-D Data

  1. Download SUNRGBD v2 data HERE (SUNRGBD.zip, SUNRGBDMeta2DBB_v2.mat, SUNRGBDMeta3DBB_v2.mat) and the toolkits (SUNRGBDtoolbox.zip). Move all the downloaded files under OFFICIAL_SUNRGBD. Unzip the zip files.

  2. Extract point clouds and annotations (class, v2 2D -- xmin,ymin,xmax,ymax, and 3D bounding boxes -- centroids, size, 2D heading) by running extract_split.m, extract_rgbd_data_v2.m and extract_rgbd_data_v1.m under the matlab folder.

  3. Prepare data by running python sunrgbd_data.py --gen_v1_data

You can also examine and visualize the data with python sunrgbd_data.py --viz and use MeshLab to view the generated PLY files at data_viz_dump.

NOTE: SUNRGBDtoolbox.zip should have MD5 hash 18d22e1761d36352f37232cba102f91f (you can check the hash with md5 SUNRGBDtoolbox.zip on Mac OS or md5sum SUNRGBDtoolbox.zip on Linux)