Reconstruct Scenes to Isaacsim usd/usdz

dataset

https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec

step

1. clone and download
hf download --repo-type dataset nvidia/PhysicalAI-Robotics-NuRec --revision main --include "hand_hold-endeavor-wormhole/**" --local-dir .
git clone https://github.com/nvidia-isaac/pyCuSFM.git # 不开源，使用colmap替代
git clone https://github.com/colmap/colmap.git
git clone https://github.com/NVlabs/FoundationStereo.git
git clone https://github.com/nvidia-isaac/nvblox.git
git clone https://github.com/nv-tlabs/3dgrut.git && cd 3dgrut && git submodule update --init --recursive && cd -

2. install

3. reconstruct

4.

ref

[1] https://docs.nvidia.com/nurec/robotics/neural_reconstruction_stereo.html