LiDAR Volumetric Mapping¶
Fuse Oxford Spires LiDAR clouds into a cuRobo block-sparse TSDF.
The default path builds a LiDAR-only RGB TSDF. Pass --enable-features to
also sample C-RADIO features from timestamp-matched RGB cameras, fuse them into
LidarObservation.feature_grid, and expose a Viser text-query overlay.
Dataset¶
This example uses one sequence from the Oxford Spires dataset:
Download only that sequence into data/ from this cuRobo checkout:
python -m pip install -U "huggingface_hub[cli]"
# Optional: run this if Hugging Face asks for authentication.
hf auth login
hf download ori-drs/oxford_spires_dataset --repo-type dataset --local-dir data --include 'sequences/2024-03-18-christ-church-03/processed/colmap/images.zip' --include 'sequences/2024-03-18-christ-church-03/processed/colmap/transforms_colmap*.json' --include 'sequences/2024-03-18-christ-church-03/processed/vilens-slam/undist-clouds.zip' --include 'sequences/2024-03-18-christ-church-03/processed/vilens-slam/slam-poses.csv' --include 'sequences/2024-03-18-christ-church-03/processed/trajectory/*' --include 'calibration/*' --include 'calibration/calibration-sequences-2024-03-19/*'
python -m zipfile -e data/sequences/2024-03-18-christ-church-03/processed/colmap/images.zip data/sequences/2024-03-18-christ-church-03/processed/colmap
python -m zipfile -e data/sequences/2024-03-18-christ-church-03/processed/vilens-slam/undist-clouds.zip data/sequences/2024-03-18-christ-church-03/processed/vilens-slam
The hf download command uses include patterns to fetch only
sequences/2024-03-18-christ-church-03 plus required calibration files,
not the full Hugging Face dataset. The default mapping command then finds the
sequence at data/sequences/2024-03-18-christ-church-03.
Run LiDAR volumetric mapping:
python curobo/examples/reference/lidar_volumetric_mapping.py
Run feature mapping and text queries:
python curobo/examples/reference/lidar_volumetric_mapping.py --enable-features --max-frames 10