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OpenMask3D Setup and Usage Guide

Refer to the Spot-Compose GitHub repository for details on Docker container setup.

Activate the open3d_gpu Conda environment:

conda activate open3d_gpu

Prepare the data by running the following script:

python utils/prepare_om3_input.py

Step 1: Start the Container

Run the following command to start the OpenMask3D Docker container:

docker run -p 5001:5001 --gpus all --name openmask3d_container -it craiden/openmask:v1.0

Step 2: Copy Data and Configuration to the Container

Transfer the required data and configuration files to the container:

docker cp /home/cvg-robotics/project9_ws/SpotMap/data/data_om3 openmask3d_container:/home/openmask/resources

docker cp /home/cvg-robotics/project9_ws/SpotMap/configs/run_openmask3d_spotmap.sh openmask3d_container:/home/openmask/

Step 3: Run the Segmentation Script Inside the Container

Execute the segmentation script within the container:

cd openmask
bash run_openmask3d_spotmap.sh

Step 4: Copy Masks and Features to the Local Host

Retrieve the generated masks and features from the container to the local host:

docker cp openmask3d_container:/home/openmask/outputs/data_om3/mask_features/2025-06-23/experiment_0/clip_features.npy /home/cvg-robotics/project9_ws/SpotMap/data/data_om3/openmask3d/

docker cp openmask3d_container:/home/openmask/outputs/data_om3/masks/scene_MASKS.pt /home/cvg-robotics/project9_ws/SpotMap/data/data_om3/openmask3d/

Scene Graph Setup and Interaction

Step 1: Activate the Conda Environment

Activate the previously installed open3d_gpu Conda environment:

conda activate open3d_gpu

Step 2: Run the Scene Graph Script

Ensure the script is executable and run it:

chmod +x run.sh
bash run.sh

Step 3: Interaction Module: Demo

Run the interaction module with the following example command:

python scene_graph/update_scene_graph.py --pointcloud /home/cvg-robotics/project9_ws/SpotMap/scene_graph/scene.ply --labels_csv /home/cvg-robotics/project9_ws/SpotMap/scene_graph/color_label_mapping.csv --actions translate left 20 "White plastic bottle"