Add RTAB-Map point clouds and export script

.gitattributes

@@ -1422,3 +1422,7 @@ I12X/Metascenes1_Spatiallm1_MasterSlam4/objects/01_chandelier.glb filter=lfs dif
 I12X/Metascenes1_Spatiallm1_MasterSlam4/objects/02_chandelier.glb filter=lfs diff=lfs merge=lfs -text
 I12X/Metascenes1_Spatiallm1_MasterSlam4/scene_fixed.glb filter=lfs diff=lfs merge=lfs -text
 I12X/Metascenes1_Spatiallm1_MasterSlam4/scene_physics.glb filter=lfs diff=lfs merge=lfs -text
+I64/RTABMAP1/cloud.ply filter=lfs diff=lfs merge=lfs -text
+I12X/RTABMAP1/cloud.ply filter=lfs diff=lfs merge=lfs -text
+I12X/RTABMAP2/cloud.ply filter=lfs diff=lfs merge=lfs -text
+P64/RTABMAP1/cloud.ply filter=lfs diff=lfs merge=lfs -text

I12X/RTABMAP1/cloud.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b388ffdfc4badc2706d491981169fa6e36161cd6701c45ed077e82c5d3f5c837
+size 17409890

I12X/RTABMAP1/export_clouds.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+"""Export RTAB-Map .db files to xyz+RGB PLY point clouds.
+
+Usage: python3 export_clouds.py [db_dir]
+Requires: rtabmap-export on PATH, open3d.
+Writes <name>_cloud.ply (with normals) and <name>_rgb.ply (xyz + RGB only) into <db_dir>/ply.
+"""
+import subprocess
+import sys
+from pathlib import Path
+
+import open3d as o3d
+
+db_dir = Path(sys.argv[1]) if len(sys.argv) > 1 else Path(".")
+out_dir = db_dir / "ply"
+out_dir.mkdir(exist_ok=True)
+
+for db in sorted(db_dir.glob("*.db")):
+    # 1. Assemble the cloud from the depth images and optimized poses.
+    subprocess.run(
+        ["rtabmap-export", "--cloud", "--output_dir", str(out_dir), str(db)],
+        check=True,
+    )
+    raw = out_dir / f"{db.stem}_cloud.ply"
+
+    # 2. Drop normals and curvature so viewers show the real RGB colors.
+    pcd = o3d.io.read_point_cloud(str(raw))
+    pcd.normals = o3d.utility.Vector3dVector()
+    clean = out_dir / f"{db.stem}_rgb.ply"
+    o3d.io.write_point_cloud(str(clean), pcd)
+    print(f"{clean}: {len(pcd.points)} points")

I12X/RTABMAP2/cloud.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a23960a519f1f04c12de2e47e293d65f19c4d4f5c471bc9cdadb9047ec55b6f
+size 22899179

I64/RTABMAP1/cloud.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c730e23a6d32e850115807115b149512908ec63e3950094fa5ffebd008a015
+size 15771827

P64/RTABMAP1/cloud.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0186407f9123526f9a0a99b565c27f0d15c4446adc423272bd1b1c5e25841ca8
+size 21441260

README.md

@@ -88,7 +88,7 @@ A trailing number is a run/capture index within the room.
 | [SpatialLM](https://github.com/manycore-research/SpatialLM), run with the fork [lehoangan02/SpatialLM](https://github.com/lehoangan02/SpatialLM) (`stage3/pipeline.py`, commit `a10e67a`; `.glb` files re-exported with `7021237`) | Room layout (walls, objects) from a point cloud | `Spatiallm1_*/room.glb`, `room_with_scan.glb` |
 | MetaScenes-style asset replacement (own scripts in `P64/Metascenes1_Spatiallm1_MasterSlam1/`), adapted from [MetaScenes](https://github.com/meta-scenes/MetaScenes) | Replaces each SpatialLM box with an Objaverse asset, then runs MetaScenes' physics step | `Metascenes1_*/` |
 | NeuCon | Mesh reconstruction (trimesh export) | `Bedroom1/NeuCon1/neucon.ply` |
-| RTAB-Map | RGB-D mapping, textured mesh | `P64/RTABMAP1/*.obj/.mtl/.jpg` |
+| RTAB-Map (`.db` recorded on the phone/tablet app, exported with `rtabmap-export`) | RGB-D mapping, textured mesh and RGB point cloud | `RTABMAP*/` |
 
 ## File reference
 
@@ -127,6 +127,22 @@ A trailing number is a run/capture index within the room.
 (`room_plane_fit.py`, `ply2obj.py`, `requirements.txt`, `room_plane_fit_out/`,
 `scan_mesh.*`).
 
+### `RTABMAP*/` (RTAB-Map)
+
+| File | Content |
+|------|---------|
+| `<name>.obj/.mtl/.jpg` | Textured mesh exported from the RTAB-Map app (`<name>` = recording timestamp `yymmdd-HHMMSS`) |
+| `cloud.ply` | xyz + RGB point cloud, assembled from the depth images and optimized poses of the same `.db` |
+| `export_clouds.py` | Script that makes the `.ply` from `.db` files (kept in `I12X/RTABMAP1/`) |
+
+Producing the `.ply`: `python3 export_clouds.py <dir with .db files>` needs `rtabmap-export` on PATH and
+`open3d`. It runs `rtabmap-export --cloud` (writes `<db>_cloud.ply` with normals), then drops normals
+and curvature so viewers show the real colours, giving `<db>_rgb.ply`; that file is what is stored here,
+renamed to `cloud.ply` (the `<name>` of its `.db` is the same as the mesh in that folder). The `.db` files themselves are not in the dataset (they are large); a trailing
+`_1` on a db name is not part of `<name>`. Mapping: `P64/RTABMAP1` = `261104-120353`, `I64/RTABMAP1` =
+`261105-111119`, `I12X/RTABMAP1` = `261106-090437`, `I12X/RTABMAP2` = `261106-091133`.
+`I64/RTABMAP2` and `RTABMAP3` have no `.ply` yet (no `.db` available).
+
 ### `Spatiallm1_*/`
 
 `room.glb` is the predicted layout. `room_with_scan.glb` is the layout together