We follow the method outlined in "Cognitive Mapping and Planning for Visual Navigation" to download the SD3DIS data. Please follow the steps below

1. Download the data from the dataset website.

   1. Raw meshes. We need the meshes which are in the noXYZ folder. Download the tar files and place them in the stanford_building_parser_dataset_raw folder. For our example you need to download area_3_noXYZ.tar. If you'd like you can also download the other areas which include area_1_noXYZ.tar, area_4_noXYZ.tar, area_5a_noXYZ.tar, area_6_noXYZ.tar.

2. Preprocess the data.

   1. Extract meshes using preprocess_meshes.sh. After this ls stanford_building_parser_dataset/mesh should have 6 folders area1, area3, area4, area5a, area5b, area6, with textures and obj files within each directory. Note: This script assumes you have downloaded data for all 6 areas, if you downloaded data for a subset of the areas, modify preprocess_meshes.sh.

      bash preprocess_meshes.sh
      

For experiment reproducibility we include precomputed traversable maps of each of the 6 SBPD areas. Inside the folder stanford_building_parser_dataset, do the following:

# To download the data via the command line run the following
pip install gdown
gdown https://drive.google.com/uc?id=1rkCVSE3JiJShykIIq2ss3dIL3cUrIeKG

# To download the data via your browser visit the following url
https://drive.google.com/a/berkeley.edu/file/d/1rkCVSE3JiJShykIIq2ss3dIL3cUrIeKG/view?usp=sharing

# Unzip the file LB_WayPtNav_Data.tar.gz
tar -zxf traversibles.tar.gz

If installed correctly you should have a directory stucture as follows:

stanford_building_parser_dataset/
    - mesh/
        - area1/
        Optionally
        - area2/
        ...
        - area6
    - traversibles/
        - area1/
        ...
        - area6/