Next: Run experiments

This directory is extended from the Matterport3DSimulator repo. Unless specified, all of the code snippets below should be executed in this directory.

NOTE (03/2019): the Matterport3D simulator has recently been updated. Our code has not been tested on the new release. Please use v0.1 of the simulator.

Go to Matterport3DSimulator repo, follow the instructions to build the simulator. To test whether you have sucessfully built the simulator, inside the home directory of the Matterport3DSimulator repo, run

$ python
>> import sys
>> sys.path.append('build')
>> import MatterSim

Common errors

• ImportError: No module named MatterSim: this will definitely happen if you use Anaconda to install Python.

While compiling the simulator, instead of

$ cmake ..

run

$ cmake -DPYTHON_EXECUTABLE:FILEPATH=$(which python) .. 

to tell cmake where Python is installed by Anaconda.

• OpenCV does not support OpenGL: you may have to install OpenCV from source with OpenGL support. Follow this guide, then link cv2.so to you your Anaconda site-packages directory:

$ rm $ANACONDA_HOME/lib/$PYTHON_FOLDER/site-packages/cv2.so
$ ln -s $OPENCV_REPO/build/lib/cv2.so $ANACONDA_HOME/lib/$PYTHON_FOLDER/site-packages/cv2.so

where OPENCV_REPO is where opencv is cloned, ANACONDA_HOME is Anaconda's home directory, and PYTHON_FOLDER is where Python is installed by Anaconda (e.g., for Python 3.6, it is python3.6).

Install dependencies

$ sudo apt install -y libopencv-dev python-opencv freeglut3 freeglut3-dev libglm-dev libjsoncpp-dev doxygen libosmesa6-dev libosmesa6 libglew-dev     

Then build the simulator

$ bash setup.sh

Test whether the build was sucessful

$ python
>> import sys
>> sys.path.append('build')
>> import MatterSim

Before following the instructions below, make sure you are able to run the demo in the Matterport3DSimulator repo.

Link to the Matterport3D Dataset, which should be structured as <Matterdata>/v1/scans/<scanId>/matterport_skybox_images/*.jpg:

$ ln -s <Matterdata> data

Then run the driver:

$ python src/driver/driver.py [envID] [viewpointID] [init_heading]

For example:

$ python src/driver/driver.py fzynW3qQPVF 8e8d691920d14c8e8a3a2371edeaa2bd 1.04

Use keys A, S, D, W to adjust the camera angle, and use keys 1-9 to go an adjacent viewpoint.

Next: Run experiments