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Datasets commonly used with Habitat-Sim

Habitat-Matterport 3D Research Dataset (HM3D)

Details: https://aihabitat.org/datasets/hm3d/.

Getting access: https://matterport.com/habitat-matterport-3d-research-dataset

Github page with download links: https://github.com/matterport/habitat-matterport-3dresearch

After getting access to the dataset, you can download manually or programmatically via Habitat's data download utility.

Downloading HM3D with the download utility

First, you will need to generate a matterport API Token:

  1. Navigate to https://my.matterport.com/settings/account/devtools
  2. Generate an API token
  3. Your API token ID then functions as your username, passed to the download script with --username, and your API token secret functions as your password, passed to the download script with --password. Note: Make sure to write your API token secret down, you can't reveal it again!

Now, you are ready to download. For example, to download the minival split, use:

python -m habitat_sim.utils.datasets_download --username <api-token-id> --password <api-token-secret> --uids hm3d_minival

By default the download script will only download what is needed for habitat-sim. You can add _full to the uid to download the raw glbs and the obj+mtl's in addition to what is needed for use with habitat-sim.

Matterport3D (MP3D) dataset

Details: https://niessner.github.io/Matterport/.

Github: https://github.com/niessner/Matterport

MP3D dataset for use with Habitat can be downloaded using the official Matterport3D download script as follows: python download_mp.py --task habitat -o path/to/download/. Note that this download script requires python 2.7 to run.

You only need the habitat zip archive and not the entire Matterport3D dataset.

Once you have the habitat zip archive, you should download this SceneDatasetConfig file and place it in the root directory for the Matterport3D dataset (e.g. habitat-sim/data/scene_datasets/mp3d/).

Gibson and 3DSceneGraph datasets

  • The Gibson dataset for use with Habitat can be downloaded by agreeing to the terms of use in the Gibson repository.

  • Semantic information for Gibson is available from the 3DSceneGraph dataset. The semantic data will need to be converted before it can be used within Habitat:

    tools/gen_gibson_semantics.sh /path/to/3DSceneGraph_medium/automated_graph /path/to/GibsonDataset /path/to/output

    To use semantics, you will need to enable the semantic sensor.

Replica Dataset

Details and download: https://github.com/facebookresearch/Replica-Dataset.

To work with the Replica dataset, you need a file called sorted_faces.bin for each model. Such files (1 file per model), along with a convenient setup script can be downloaded from here: sorted_faces.zip. You need:

  - Download the file from the above link;
  - Unzip it;
  - Use the script within to copy each data file to its corresponding folder (You will have to provide the path to the folder containing all replica models. For example, ~/models/replica/);

Note: To obtain the best rendering results, use the <path to replica>/<scene_name>/mesh.ply to load the PTex mesh.

ReplicaCAD

Details and download instructions: https://aihabitat.org/datasets/replica_cad/.

ScanNet

The official ScanNet data can be downloaded here: http://www.scan-net.org/. To use ScanNet scans with habitat-sim, the scene_*.ply files need to be converted to glTF format (*.glb). For example, using assimp:

assimp export <PLY FILE> <GLB PATH>

The exported *.glb files can directly be used with habitat-sim versions >= 2.0.

Note: Depending on the configured radius and height of the agent, certain scans may have no navigable locations on the navmesh (~200). These scenes can be filtered out by checking if sim.pathfinder.is_loaded is False.