Add files using upload-large-folder tool

.gitattributes

@@ -199,3 +199,14 @@ scene0487_01/scene0487_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 scene0596_01/scene0596_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0596_01/scene0596_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 scene0233_01/scene0233_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0233_01/scene0233_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0252_00/scene0252_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0252_00/scene0252_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0525_02/scene0525_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0525_02/scene0525_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0521_00/scene0521_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0521_00/scene0521_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0588_01/scene0588_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0588_01/scene0588_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0200_02/scene0200_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0200_02/scene0200_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text

scene0044_00/scene0044_00.aggregation.json

@@ -0,0 +1,84 @@
+{
+"sceneId": "scannet.scene0044_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [78482,31777,3494,20862,29860,25696,15704,76169,26607,93240,77901,27569,78987,30204,31426,37364,33681,24074,81635,4608,5395,69588,23124,36392,79634,82578,69293,35365,22515,79256,73328,31951,68860,3015,29701,33109,81517,26191,84496,12691,3474,28684,83259,82285,30043,26643,13170,32043,4015,37877,36215,27921,33640,34230,23527,10160,6597,813,23551,24853,24905,72293,15385,23745,36307,83977,1352,5738,5389,26170,35128,6310,31616,54308,4172,33461,25497,1969,5920,44560,83668,2121,70403,33411,32924,27537,27393,20679,34692,24383,44929,21099,25997,23076,81878,30712,29956,34794,82676,83238,84032,80328,72016,42858,1348,44973,45103,556,83298,7244,3874,80661,15359,17960,41303,18064,81619,82519,83961,37491,83690,21127,92742,80613,57009,84283,20388,81418,11855,652,47308,1797,47136,41242,22435,55071,42998,47834,79370,46843,80143,34203,54100,35203,5734,15310,8474,37967,27717,26868,18764,31975,44494,26798,27154,20917,19019,31278,34936,37500,2688,37608,25448,24461,6166,33935,41312,24057,30882,9541,24606,37611,61,330,404,777,846,1009,1364,41236,1426,1790,2073,30823,2184,43992,2467,2771,13132,2955,2983,45412,3448,3876,32650,21829,3988,4222,4201,4304,4559,4762,83138,4800,5169,5246,5258,79866,5321,5422,5565,5730,82754,6024,41875,6138,6232,24253,6326,6363,6467,28140,6580,6765,6930,7125,48529,33134,7270,82421,10247,10650,36524,11270,11738,11926,92817,12203,12992,34813,13284,13297,15409,77617,45117,15531,15557,16058,49369,16383,84342,84107,34061,16797,17066,20534,17246,36159,17287,17387,17505,32965,27419,17582,17615,17713,17810,43049,18058,18300,18377,18825,20062,36771,20352,20566,20618,92803,20620,21109,83437,28186,21824,21832,21867,35412,22157,22245,22365,22540,22555,22667,22708,23009,23361,93182,23562,92543,24194,24323,82841,24755,29706,24824,25731,44505,25752,78190,26501,26564,26833,32825,26917,26921,27192,27812,28126,28327,28424,31160,28702,49842,29150,70646,29319,29413,29496,29842,77533,30104,41385,30344,30802,30827,31156,31306,31604,31685,84254,31970,32057,32994,33192,34005,34138,34214,78605,34483,34773,34898,34925,35339,35013,37552,35801,80312,36089,36805,36490,36535,69539,37167,80863,37617,41563,42187,81665,43023,93155,81847,71659,43174,92704,43274,43330,43456,44991,45036,92263,45444,45572,45781,45820,45895,48732,49865,52814,78703,54293,55438,56839,68758,70832,71729,71825,75974,76751,77074,77183,79140,79394,79902,80600,80798,80989,81080,81614,81627,82002,83786,84003,89060,89109,90809,92318,92425,93252,93309,93352,93462,93556],
+	"label": "staircase"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [146219,148670,185506,180047,180073,187054,145621,186630,185820,175872,147473,179924,147126,146836,147301,146714,147242],
+	"label": "door"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [113179,91335,89532,89241,40962,61312,89909,89446,40825,60707,40443,40452,40560,88997,60499,89879,90083,91525,92081,111987,112323],
+	"label": "stairs"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [91956,136060,89630,89101,89095,77138,77611,77731,77631,90688,122799,128568,128993,129747,154505,159765,162014,160820,176893,69180,77825,68679],
+	"label": "floor"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [46292,50756,8406,151631,97598,47205,67733,51054,51435,153244,121567,116649,55092,68236,49493,46207,46800,52506,56957,53670,47188,50058,104196,97276,47287,8166,108304,49592,53771,47791,56852,48161,50663,119811,48189,48298,53505,138090,48543,118901,57259,48614,140440,55953,48623,48650,52190,48845,64389,49859,96686,50477,56605,50729,102594,95619,54234,12698,50795,50870,51279,65595,52807,51337,51617,119892,51966,101816,52059,52663,153116,53133,53264,53502,55956,119379,53523,53886,54395,143918,54647,94744,54803,54825,56038,118771,55223,55971,56604,56680,56738,104947,99506,66116,115593,66464,66536,66743,66896,67035,153669,119476,67048,118748,67066,121100,67308,95583,67314,67383,67504,120580,67768,153114,67905,117123,68073,68195,68231,96035,68329,93651,93921,105049,93989,94104,94166,108286,105180,94384,96964,94531,94654,94665,95250,95065,95352,95517,95824,96025,96049,102107,96080,96191,96220,96239,96336,96468,96500,96710,96936,96948,96985,139280,97187,138959,97227,97544,97667,63198,97760,97979,98055,98160,55810,98261,99179,100703,101040,62928,101055,101076,101080,101161,101358,120096,101550,101982,142374,102384,143219,102531,103265,102803,103030,103096,103306,103391,103485,103510,103711,109308,104281,14022,63092,104325,105086,105281,105544,105826,106051,106208,138351,106657,106684,143291,142205,106699,106794,107039,107775,108050,108071,14280,108817,109068,109224,153913,115289,117163,115535,115885,116008,12947,116364,116391,116596,116994,117161,117631,153867,118045,118072,44852,118747,119105,119525,8676,119978,120093,120117,120266,11239,120290,120467,120515,121326,121347,121466,121480,45890,121769,136870,136572,136713,136875,137190,137897,137513,137605,138118,44515,140276,50683,140289,140404,141063,141816,142803,142811,13863,143497,143725,143942,144103,151216,151530,151067,151461,150688,140820,66643,49151,48173,43423,43881,8221,41341,45363,64831,66376,64988,11165,9191,12232,14463,14935,11995,9353,10457,9057,43297,63557,14487,152841,12426,137823,8455,45653,44125,41816,44093,67167,112908,42938,46239,43661,139669,139474,118367,50116,47752],
+	"label": "staircase"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [59813,61638,188545,61968,64413,118639,114904,61077,64963,64821,188029,153286,61153,62196,62131,62109,186751,118667,61718,60050,60690,153681,59843,59740,60394,62048,113397,119335,112891,111917,188227,148145,114750,117280,119285,117409,149044,151288,188404,186980,186829,152726,150651],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [147506],
+	"label": "light switch"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [174178,180621,171586,182343,160959,180764,185129,170539,181316,175362,182230,182226,168131,177787,177277,160460,182424,182319,182629,166828,169503,166411,169964,166482,168304,167831,173355,175859,162027,169906,162793,163729,169662,174134,184898,169333,165599,166118,166228,167323,168494,185466,167552,160102,168011,171490,168657,168140,171782,169394,169441,169637,169909,182882,170360,170489,171903,171444,176195,159069,177708,177759,178366,183371,173359,173591,158923,159172,157346,158746,157789,157430,171089,166291,157863,156159,157218,172115,172645,155440,164824,158283,173974],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [170839,171419],
+	"label": "light"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [161980,177855,176637,160823,159472,159889,160121,159978,160158,160152,160270,161571,177835,178239,162058],
+	"label": "backpack"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [174852,175272,87136,39231,87962,39443,39832,87155,174903,39433,88347,39577,86962,134389,175185,87857,39938,40107,88196,86964,87293,133744,88512,132751,132777,132940,133060,133379,134701,174885,175245,39300,132730,175611,133161,134301,175378,174937,132789,134054,134358,133587,88966,174857,39632,87214,40056,87393,132768,88311,88049,134752,59447,88125],
+	"label": "ceiling"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [72323,18496,127106,72195,69377,69917,73560,71075,74507,70836,73001,73567,72602,70754,73677,88021,126291,158237,156557,158225,159188,127479,75660,85767,38259,39494,88618,7939,7642,7776,7774],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [122704,130390,126972,128777,131089,163056,166488,171618,170653,160870,130518,170587,129655,131363,163851,124377,163523,163666,164687,165162,166041,168126,168204,168699,126853,170127,169977,170800,164263,170905,171128,155996,124355,171980,131373,155995,162644,163702,124974,125228,125649,130196,173059,163046,171153,130896,124201,124861,122820],
+	"label": "pipes"
+	}
+],
+"segmentsFile": "scannet.scene0044_00_vh_clean_2.0.010000.segs.json"}

scene0044_00/scene0044_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.104528 0.994522 0.000000 -1.884010 -0.994522 0.104528 0.000000 2.923610 0.000000 0.000000 1.000000 -1.272030 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1459
+numDepthFrames = 1459
+numIMUmeasurements = 2925
+sceneType = Stairs

scene0057_00/scene0057_00.aggregation.json

@@ -0,0 +1,180 @@
+{
+"sceneId": "scannet.scene0057_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [246480,206880,243201,203843,243570,205585,204728,241675,243155,246151,246204,245523,242708,242663],
+	"label": "lamp"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [108707,71767,69935,66298,67963,66281,72950,74222,73519,116067,66512,75704,75972,110640],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [121393,32920,69259,85505,84360,202168,84108,30793,106336,212544,68423,67837,52640,31244,85257,49733,159079,148492,193771,163926,123444,69427,122995,33663,239606,238918,249966,249550,122033,211479,212284,121497,202456,51579,202787,163041,27397,87270,27752,27772,28297,89804,164682,32475,29716,33035,88692,33259,150223,33639,50393,233632,53543,50760,164773,52219,52370,52641,64913,68789,81886,83131,165730,87230,87474,88708,89417,104498,108698,163569,146716,162823,163709,163806,164173,164302,164532,164633,164695,164781,164899,165397,165949,194611,211102,234206,234286,240354,240446,240506,240985,249348,30365,218919,232801,158717],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [210639,252942,176578,176297,144882,200784,199042,155414,200775,142897,252882,187861,198691,186811,117033,231420,256965,145719,156592,142145,120231,217784,155507,229542,277050,160453,273442,160828,275553,154845,273388,256955,160992,235755,229414,175623,129203,154579,286105,228744,228351,274023,143071,200898,276334,143233,103197,155427,127635,127642,144979,287383,128601,141810,142042,145429,142531,188316,142552,146198,155044,157461,272915,160029,286402,190079,160077,237662,191158,248192,160769,230271,161623,277377,162345,173741,190249,187056,189686,189737,191299,191491,191779,191940,198511,199440,200737,201205,208265,208762,208834,210425,227795,227896,227952,228018,228107,228464,228566,229068,229135,229141,229235,229672,229756,230020,230123,230518,230553,279054,230582,230751,230885,231091,231350,231721,231888,232287,235522,235725,2650,236083,248063,248573,248595,257240,273209,273505,273646,275365,275521,275920,276863,278404,286133,286152,286903,287453,287617,8133,287861,287948,288020,288844,288903,289234,289316,289647,289666,57469,42988],
+	"label": "ceiling"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [174266,170354,174389,173136,172335,217095,173616,169397,166442,173985,174536,175191,175910,176035,176295,176542,172140],
+	"label": "cabinet"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [269988,267545,266352,273214,270197,278013,276614,278277,265849,265665,265894,272762,273371,276491,274762,276810,276850,277895,278152,277588,278501,270782,278852,272894,278944,277111],
+	"label": "window"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [3572,7476,3957,8813,3336,4941,3571,8624,3497,2749,1987,6679,4668,4740,6999,7404,1988,1624,1019,762,6083,6602,5298,8618,4552],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [45681,8036,49713,56193,55917,56648,51117],
+	"label": "door"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [43135,42995,43336,38963,43938,44595,43285,44056,42879,44244,44702,35485],
+	"label": "cabinet"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [36501,39486,30046,29308,36412,40720,31519,25149,15640,12850,13839,28879,19517,27403,30563,30990,31508,31932,32689,34074,37159,41057,41476,28285],
+	"label": "rack"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [38971,17121,4175,34489,37989,15736,36298,16873,35418,17543,16309,41407,36879,24466,4251,18685,38107,2068,35975,41451,35511,23520,42049,33901,34315,34424,35286,39431,4421,1371,41212,35384,35562,37004,37792,38589,40564,38817,41130,41640,39265,41672,36727,22799,22704,38235,4822,17458,40999,33871,33982,34005,37454,34655,36423,38410,40012,41806,40754,4225,4680,38953,42130,37704,39726,41470,38215,34865,29491],
+	"label": "clothes"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [32118,28745,27906,27580,30228,28649,32502,29975,29699,28072,28130],
+	"label": "stool"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [14997,34214,38831,36732,15461,42136,15310,14819,14954,39824,15306,17397,16069,16088,16612,17396,18227,24646,18392,38881,20781,21654,22456,24995,41766,24998,35722,40453,36066,40710,41623,36251,25583,33843,16272,21507,25936],
+	"label": "container"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [105017,16961,154171,153512,181065,157,140925,96316,186307,2137,74163,184587,59703,178342,12858,227120,72438,224447,71351,114440,18741,100515,224444,147444,75762,150029,1485,105975,63750,20176,1939,100939,19000,10030,9375,15849,9533,18186,139565,107179,9537,180567,76037,62064,114277,20376,225822,100596,9636,136043,105568,9667,178003,10415,22073,115309,184206,17960,112757,140189,11692,184116,186123,219463,140632,18591,78931,11958,179296,225607,130738,96010,73986,12240,12973,62346,13214,71770,59453,220279,13555,154090,14680,137802,64565,17782,131367,80460,14793,14968,141175,15210,20423,151424,15436,110667,22663,16917,131040,114874,70436,178171,15508,18482,151410,64622,15561,182761,15975,22946,16327,17090,138843,17294,20306,17915,182005,18860,95880,78071,18316,103302,18323,22513,73709,18811,139580,19649,100047,98014,18939,220202,134026,20963,149908,69262,21887,22023,226571,132218,130976,22156,184780,22238,70009,22413,224159,95933,22564,80385,22620,73293,22696,139523,23476,62574,23700,102166,23720,24073,136093,100865,25347,25378,111130,25480,25594,25642,26231,131813,26284,97608,131209,26354,140666,58680,136127,58721,140861,109035,58746,113014,132929,58792,97781,58827,133233,183757,60619,58891,79141,58950,98565,59069,114454,59208,100563,59284,133306,59300,131689,59305,100436,59371,99013,61039,59626,60000,98863,60144,60248,100453,75780,60267,60528,219833,116268,140705,67868,60570,60666,60767,61019,140295,61104,61152,75878,61278,61289,61430,114503,61455,101284,102083,61464,61524,61580,61543,61649,62048,62179,24639,78723,62239,179035,98302,62317,178475,101501,62395,153500,62417,62701,62946,182334,63046,178181,63145,79789,63167,112237,141278,63368,185452,226910,131894,76986,63443,177340,180288,64140,178723,64186,183271,64388,64819,183025,64830,65021,223151,132175,79182,65839,178128,66588,180627,66997,115816,67637,74203,67949,23203,68013,177879,68671,112459,68986,69725,181693,69749,96180,185315,181818,69819,101376,69985,74709,225007,78593,70014,136129,78250,70201,79349,224737,70434,70673,70681,70952,77021,71005,72101,72263,133006,112351,72306,141113,140377,72358,72408,72907,223671,73126,77931,73535,73657,73697,181318,78117,74057,152338,74098,74154,74514,131793,74607,74921,96936,75038,75363,75769,76344,76452,79680,106307,80175,76516,76844,154232,136638,105601,77012,99009,77046,78384,78417,134893,100742,78421,79387,79545,177518,79800,176873,221370,79854,80345,95937,96020,96475,96490,177644,96531,96625,115583,96780,96802,96912,97066,97428,97436,97516,222687,1396,114154,97645,98049,133023,98187,113097,98439,176853,98541,100773,98572,177847,98967,98982,99477,99532,99814,139295,99927,109332,115657,100109,116524,100210,136659,183049,100271,100412,138989,101519,100911,136811,100984,101180,139502,101319,112236,101333,138969,132770,101441,101475,107666,102040,136337,102045,102144,113925,102352,135799,102473,102700,103597,25962,103800,153434,104321,104617,104945,105503,105616,106508,106871,112878,184604,107164,107482,108734,109258,139742,134382,115365,110101,109597,109725,225020,110017,110464,110655,110746,110871,111422,226659,130984,111454,111644,133897,112216,112324,112461,131683,112804,132651,223541,113189,113490,113763,224895,114133,114311,114750,226066,114856,152363,115012,116639,115238,115889,116245,74217,116433,116464,137779,130145,223030,136446,130327,130788,23580,135041,219644,130986,180256,152400,131082,131102,131551,132993,132476,132612,132628,223243,223372,132716,180006,132863,133035,133108,133201,133383,133456,133912,151915,133965,79753,134239,179597,134464,184246,134551,134552,134694,134952,135166,135235,110787,135418,135550,135976,138753,136181,136254,70478,136411,136461,139572,137378,137500,137652,134757,139248,137812,138024,138159,138560,138679,179452,138713,138825,139093,227166,139264,139750,181142,140034,150672,140157,140177,140714,146661,184045,146979,147939,24545,150188,150449,150526,151049,154011,151215,151648,152986,225200,153245,153712,153849,176904,176945,178339,177303,177515,177729,177970,178156,113873,178174,101456,178266,178601,178916,80479,178939,178946,179155,179241,179645,179783,179938,179961,180230,180265,180309,180443,180541,180828,180955,181351,181556,181749,181963,182225,182269,182394,182405,182461,182702,182706,182793,183139,183404,183438,183621,183625,185172,183783,136493,183884,183908,111442,183996,184446,184611,184818,224034,61873,185197,185332,185718,185802,185805,186032,186092,186102,186137,115813,186239,218887,220713,220835,222666,220964,220989,221351,222157,222191,222200,222429,222710,72396,223799,224534,224569,224612,225078,225225,153941,225297,225789,226599,226691,11622,15597,20952,23595,60387,72790,74882,78739,97363,97709,99831,100842,101281,139855,139954,140330,148846,18210,18707,21027,70786,72227,72538,73906,74537,79172,99990,150100,182192,223522,226978,225507,225833,222223,177989,63015,218914,219031,220270,219302],
+	"label": "shelf"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [103738,108392,106659,106506,104868,109423,108566,106353,104127,109339,107313],
+	"label": "table"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [151780,113396,152705,116314,112535,115743,115731,103934,149612,153903,151385,152620],
+	"label": "bin"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [149967,148209,150283],
+	"label": "box"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [197514,193174,193274,193788,149441,196226,193322,193515,150838,152929,149253,194417,192281,194528,192792,193735],
+	"label": "table"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [187252,231189,141441,190432,188066,190475,190488,231220,258973,187078,146095,191250,231645,231140,142300,143512,145590,142151,145794],
+	"label": "wall"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [129754,129606,141431,143069,129852,129872,129912,129733,144527,145744,142811],
+	"label": "window"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [256973,258045,284203,255978,254351,254597,258808,289153,257144,256773,256625,257735,259509,259714,260071,268249,260855,258022,255238,266016,256729,257283,260109,258513,265877,257888,256702,273853,282416,256398,287945,255714,257583,280696,258113,260471,270608,273090,273379,279038,275164,285695,278570,283648,287277,255546],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [207333,207750,214098,214323,206882,206466,204048,204673,213654,216158,213331,204206,203799,203834,205641,206797,242328,251391,244417,239609,239847,238304,244862,240947,249689,249677,240317,207522,211525,207207,202040,214937,202577,212881,201871,203919],
+	"label": "table"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [93745,54574,55329,55505,91855,90035,91271,91870,92037,92137,94597,58466,95276,58110,53061],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [93736,124520,94004,85564,86194,93854,123954,126550,123504,93184,123791,128855,120490,94872,95463,92261],
+	"label": "cabinet"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [126531,123803,122428,170073,125101,123631,125021,124362,127908,127728,122851],
+	"label": "cabinet"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [174290,173381,175988,167616],
+	"label": "wall"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [173175,176360,252199,252670,176437,217460,167230,174704,218189,214557,167395,174830,175871,250959,251852,252507,212590,166134,168720,169693,170596,172484,212065,171518,213841,214465,211774,211536],
+	"label": "wall"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [271748,232382,265559,219915,271592,268421,226067,265110,270501,270878,266176,233034,232827,233436,272264,233523,233587,234365,262723,234438,269400,260878,260911,261346,260937,263423,261361,263624,261549,268973,261579,233328,270942,269266,261808,261853,261860,261979,265423,262148,262200,262310,262444,262655,269170,263357,263471,263609,269207,263897,265704,264005,264258,270883,265212,265243,266072,267606,268979,270394,269271,269127,270357,270466,271276,271940,272292,279680,261887,262216,263145,268670,279561,283431,264989,234012,234304,254391,263358,256139,266186,271480,255758,254462,270756,272282,272400,279292,261629,255802,264324,282430,261448],
+	"label": "shelf"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [245366,243522,246595,242216,283325,281691,280704,245209,282241,281771,282497,243907,245456],
+	"label": "wheel"
+	}
+],
+"segmentsFile": "scannet.scene0057_00_vh_clean_2.0.010000.segs.json"}

scene0057_00/scene0057_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.121869 0.992546 0.000000 -2.929480 -0.992546 0.121869 0.000000 3.421510 0.000000 0.000000 1.000000 -0.079560 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1705
+numDepthFrames = 1705
+numIMUmeasurements = 3608
+sceneType = Storage/Basement/Garage

scene0085_01/scene0085_01.aggregation.json

@@ -0,0 +1,210 @@
+{
+"sceneId": "scannet.scene0085_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [162242,150856,156807,152136,150752,153661,152966,157291,151078,150985,154240,155020,162843,162297,157314,153192,156926,161448,157670,151466,151951,162308],
+	"label": "tv"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [32924,32021],
+	"label": "pillow"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [42152,40732,39651,40000],
+	"label": "pillow"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [55124,112206,44747,43299,75448,76910,44646,40093,52145,79267,42606,40378,74543,37928,74951,79700,44563,77478,79454,36197,40006,75501,77672,111922,77528,39401,111628,41999,40909,47570,36960,38948,43089,37211,36933,76015,34862,74257,75374,110792,18235,112837,79441,35700,34797,18080,17732,17988,54558,48134,44381,50880,40528,20944,20331,21233,19836,43580,42595,42453,51455,45784,56170],
+	"label": "bed"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [154720,149353,151660,153646,151876,156528,159786,150140,152295,150266,151435,155015,163524,150264,149287,158419,155119,160094,164947,158151,162781,162028,155181,149378,165304,161161,149349,160806,150232,159088,156212,163756,149000,149095,150001,163216,150749,152149,152642,159427,152857,148794,153826,155361,155712,156203,158467,159777,160232,161078,164192,164313],
+	"label": "dresser"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [18275,35537,34968,36969,29600,34778,33673,33263,31022,33385],
+	"label": "dresser"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [62790,65335,63629,25331,63209,24234,61787,62830,64209,24432,64325,63169,63843,24944,62347,61167,63340,65873,23201,64528,29231,23824,61418,26036,63254,25254,66598,61725,65548,22674,61774,62746,61599,65427,65010,64569,62871,26157,28124,63055,63233,23056,27102,61571,23712,62019,63866,23097,24795,29117,25683,22750,22946,23065,64423,23265,25054,28551,28805,29179,61067,29419,61077,61639,62027,63565,63700,27956,63913,64211,64365,64434,64523,64557,64646,64948,65087,65353,65387,66047,66470,66482,66576,67163,25108,26270,25285,22497,23991,24513],
+	"label": "curtain"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [3086,15207,8453,20146,43622,9591,47663,302,6002,52691,46123,20354,8421,46659,21579,7478,45218,52376,7975,15733,15388,51736,17372,901,46864,54883,2679,8657,10456,3525,16756,48345,9203,8281,6093,9922,14710,43840,47748,18438,5878,7699,46005,6225,5221,3621,2384,20754,4635,5038,1360,18970,1311,1919,21480,55413,15352,10822,11557,14996,20723,16767,55140,56340,47902,47896,50977,54356,48641,52393],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [104954,105141,106717,144460,107411,107462,106472,144246,104761,144268,105987,105762,104911,105428],
+	"label": "luggage"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [24389,12290,7811,30427,13337,10192,29963,14504,72303,68537,11939,16187,5426,6135,73193,31108,32703,13559,26832,69593,11604,13144,9361,69925,68347,68644,16223,67422,16153,69223,72369,73575,73752,70845,71776,72410,16260,70906,30857,13397,4838,15393,5967,13120,11485,12341,2884,10321,1635,7487,6137,14153,16000,5062,15119,15296,10738,6097,12522,15007,16326,16329,12346,11782,12086,13611,26108,4595,26699],
+	"label": "bed"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [127581,117894,130420,126265,115363,113286,124092,121567,131503,120485,125004,128430,134377,129317,130744,123398,123520,131620,96342,121867,127098,113530,120901,114447,135468,119092,118105,125903,120554,117190,120674,119360,135683,121542,121996,119024,132376,117756,117105,120655,119671,125805,115337,119541,113575,114605,128717,115621,98534,116026,130913,114830,130217,128334,131189,89877,113350,113361,119321,113782,114810,116944,116441,117981,119130,120474,123320,123482,123811,124355,124790,125568,126515,130750,131560,131978,132007,132015,132186,132655,132704,133934,132869,132898,132999,133168,133229,133429,133646,133807,134074,134382,134681,134912,135451,135453,135643,135782,135811,135839,136044,136236,136282,136343,136562,88878,131298,131276,127544,87131,127781,131884,133549,114685,113132],
+	"label": "door"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [172697,170746,172461,169686,172369,173176,173437,130490,169841,169798,170124],
+	"label": "picture"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [141236,138484,103081,136700,107362,139918,138812,142880,138340,138586,141332,147146,139614,137564,101223,102415,102492,103741,136657,136714,137071,139320,137481,138035,145123,139072,139807,140011,143823,145385,142479],
+	"label": "chair"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [166979,108039,179040,35258,72466,178324,149305,167221,74760,108410,108521,109389,150602,99901,137202,142846,143323,113747,116085,158496,105334,114037,142045,142366],
+	"label": "floor"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [38193,37866,38295,38747,18013,38531,38064,17799,20280,38537],
+	"label": "lamp"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [38105,37471,33213,38455,18987,18778],
+	"label": "lamp"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [147814,145713,143217,145932,146697],
+	"label": "lamp"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [102728,102409,101722,100465,101658,100327,100873,100666],
+	"label": "backpack"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [31320,27762,24667,31286,32939],
+	"label": "pillow"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [25427,5238,1511,2049,12559],
+	"label": "pillow"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [17508,32192,31683,19639],
+	"label": "telephone"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [78083,76743,77197,77636],
+	"label": "jacket"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [40919,40562,41134,40011],
+	"label": "pillow"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [40295,50840,40799,39604,41966],
+	"label": "pillow"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [54907,55661,90423,89313,89919,91793,92869,82320,91691,88893,87574,88155,80624,84948,80040,49407,82098,80366,81293,45527,56250,82047,82599,81239,85322,84299,49224,88602,48585,89963,51370,90622,87283,87333,88091,84486,82261,85010,82313,84131,84366,85897,92420,89251,85069,91276,85376,88746],
+	"label": "mirror"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [92335,87454,86407,80560,92020,88550,90840,99390,90462,91707,87401,86077,84054,97301,81382,97852,82792,83369,83188,79762,81680,95673],
+	"label": "closet"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [126231,130605,125591,131228,128738,118345,116119,117273,116104,114632,125552,114667,119002,126739,119461,119933,120515,120724,126546,120766,123237,124286,124666,125134,126420,128748,126574,130773,121633,113438,124486,121255,124465,126322,115644],
+	"label": "wall"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [170907,189954,173070,169668,171735,130891,127958,173291,191164,172898,171217,173230,190110,170394,190240,170024,171498,169634,171622,169143,169268,169245,189921,190182,190015,189989,189847,189790,191237],
+	"label": "wall"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [175495,165842,179794,186132,188360,145447,182771,176675,141506,181257,146676,157238,141851,141945,142498,142878,155489,143544,146153,174005,178306,146383,146793,163451,157020,146799,161439,147155,147511,147608,156799,161833,147889,152230,164710,153788,161744,165275,153939,173821,154524,155254,152482,161361,159896,162553,160926,175562,161075,162130,174556,163112,175038,163501,174124,165291,166093,175909,166411,173884,183943,174525,175611,175721,176117,158242,176531,176414,178050,176933,178618,179025,179184,179898,180151,180610,180737,181124,181697,187566,188788,181984,176428,182126,182646,182958,183387,183837,184281,184408,184647,184709,185413,185457,185493,185760,186253,186321,186340,186415,186501,186547,186772,187077,187130,187217,187272,187732,187763,188011,188318,188514,188546,188819,188921,189062,189282,189297,190915,191303,149974,156735,165852,157145,160040,173703,176339,176753,176790,179702],
+	"label": "wall"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [160207,158984,159351,160410,158392,159111,159481,159897,158813],
+	"label": "trash can"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [102276,138726,104489,103290,103293,103712,104550,138994,141818,101604,100303,139799],
+	"label": "wall"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [103628],
+	"label": "wall"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [5723,60921,102733,4131,22213,22305,4581,22132,1151,2608,477,325,27187,7703],
+	"label": "wall"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [62212,60139],
+	"label": "radiator"
+	}
+],
+"segmentsFile": "scannet.scene0085_01_vh_clean_2.0.010000.segs.json"}

scene0085_01/scene0085_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.986286 0.165048 0.000000 1.885110 -0.165048 -0.986286 0.000000 3.557730 0.000000 0.000000 1.000000 -0.152584 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1747
+numDepthFrames = 1747
+numIMUmeasurements = 3623
+sceneType = Bedroom / Hotel

scene0092_00/scene0092_00.aggregation.json

@@ -0,0 +1,372 @@
+{
+"sceneId": "scannet.scene0092_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [128377,128850,123918,125692,124055,125121,124102,125047,124200,124046,125264,121305,121228],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [125483,121154,121172,123979,121063,121135,125232],
+	"label": "board"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [122086,121069,123003,122394,122074],
+	"label": "object"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [110473,110188,110065,87729,87796,87932],
+	"label": "painting"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [26031,56557,49499,82651,56098,109235,27964,82936,134517,85958,86789,82123,133185,131349,52063,86024,51953,55431,52010,134972,87511,87188,86983,83641,88023,86785,110824,109294,108158,84504,108581,132342,109275,110242,110668,133848,110344,27769,135457,131401,134706,132794,50810,134085,134211,134758,49638,49878,52270],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [113074,120192,119207],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [23021,18026,10126,11616,18259,16997,18428,17981,18424,21156,17534,16389,17260,23410,21735,15684,21095,21803,22346,15708,18272,13107,18322,18552,22261,22331,22559,13319,23738,5172,12208,21607,7840,10673,16917,24349,24418,21746,22309,24112,24229,24836,15908],
+	"label": "window"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [7128,4386,10639,8403,6115,9211],
+	"label": "object"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [54950,51211,55434,51405],
+	"label": "object"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [27582],
+	"label": "object"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [23188,26435],
+	"label": "object"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [48450,46707],
+	"label": "object"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [55905],
+	"label": "keyboard"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [55676,51662],
+	"label": "object"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [46815,48807],
+	"label": "object"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [77742,78329,48581,77885,47861],
+	"label": "object"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [82110],
+	"label": "object"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [83364,81976],
+	"label": "object"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [81954,83258,85220,84591,86452],
+	"label": "object"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [84977,81809,78845,82730,83227,79435,85827,84242,78506,86228,78315,78196,77223,84134],
+	"label": "printer"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [81324,84358,80816,85449,84220,80872,84973,82712,84381,80318,81124,84791,84355,73786,86305,82290,86030,86271,86638,82615,81812,84480,86347,86524,81110,80633,80662,83606,80827,85290,81185,80372,80100,80152,80380,80560,81098,83313,80452],
+	"label": "shelf"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [73539,75170,76579,76597,76820,73514,75236,74802,77069,76948],
+	"label": "trash can"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [73439,74654,76214],
+	"label": "object"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [77055,46727,78057,85689,45249],
+	"label": "computer tower"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [73742,76400,80455,84629,79280,78400,79008,79710,73697,78867,77983,79444,74641,78264,76142,78817,77421,75037,78644,78692,73585,79728,76763,77028,73911,78948],
+	"label": "storage shelf"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [50643,25904,25476],
+	"label": "object"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [69997,74957,68658],
+	"label": "clothes"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [69641,68916,68736,70007,67947,68405,69330],
+	"label": "clothes"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [69267],
+	"label": "clothes"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [90359,90482,92676,93017,88849,94132,91219,94669,94315,91027,91196,91670,92194,92250,93106,90022,88666,88515],
+	"label": "guitar"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [114369,90643,113610,119634,119625,93953,112168,112048,111472],
+	"label": "laundry hamper"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [115705,112052,112543,113234,113246,119852,119512,111128],
+	"label": "laundry hamper"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [97810,97310,99261,95704,99418,97417,96757,96030,95946,98640,97841,98190,96771,97043],
+	"label": "monitor"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [91024,93687,93895],
+	"label": "object"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [7818,34057,9714,8117,2844,8961,29545,35907,37000,31711,10705,8764,3372,487,36011],
+	"label": "guitar case"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [30307,31397,29285,29664,30653,29010,35658,31052,37148,36004,36507,38420,33581],
+	"label": "guitar case"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [34368,31382,28840,38309,29942,36290,37970,36279],
+	"label": "guitar case"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [3812,2402,2794],
+	"label": "object"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [38876,11623],
+	"label": "object"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [80239,75860],
+	"label": "object"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [107263,109209],
+	"label": "object"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [126439,120848,126243,126406,126740,127456,122423,123496,121825,126458,122631],
+	"label": "backpack"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [120704],
+	"label": "lamp base"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [126283,126642],
+	"label": "mail"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [117502,115219,123298,116012,116575,117691],
+	"label": "fan"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [141721,141596,141626,140223,140271,137321,136021,114149,135761,138689,138167,136028,137984,141442,137173,119796,137146,141383,120218,141406,139601,120493,120402,115742,136778,116942,136460,137149,136698,139770,138947,135678,136854,135557,135954,141365,137757,136073,141450,136813,137105,138263,139602,140881,140533,140544,140999,119755,141795,141796,119950,119793,119470,114919,116743,118559,120098,120405],
+	"label": "closet"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [140871,140746,138593,136112,141064,136288,139469,139501],
+	"label": "wall"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [5425,20135,10945,17351,18731,19554,24143,27124,2439,25060,14329,26253,26767,14658,25860,24032,24611,25069,22623,14962,20139,22702,21525,21127,18701,23714,18721,19259,21039,16117,17370,16452,21782,19504,18980,15097,12984,14973,3320,6768,7247,5306,4204,13453,13241,5594,25430,13969,16018,19154,13342,14121,28603,9777],
+	"label": "wall"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [32239,1096,62161,31250,60208,32269,90273,1502,31825,144,28924,32249,1014,63056,63529,57909,62353,60589,63419,59879,62105,30008,89057,91613,62451,91353,60024,62576,57293,91770,61034,29887,63774,63444,62942,63183,63270,62796,60280,92388,60331,61375,88095,94937,57753,58823,28997,113714,92487,62855,89606,60782,95233,112035,60463,112062,92831,57531,88281,60062,60139,94531,60132,29138,29923,30160,28902,58481,29063,25,29196],
+	"label": "wall"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [100969,115019,97205,136588,50694,122658,104036,122796,88356,121900,115654,89774,121391,138731,138122,14150,137089,137971,103410,136722,140102,2427,138898,33497,104131,114214,39938,96415,98506,97133,74170,75620,44824,46409,50830,44446,96198,102522,103599,14073,15411,2329,3612,45489,96970,88608,15240,88610,97092,20020,19186,14698,99919,25613,73018,2511,19435,40035,3985,25615,2716,50573,44930,44101,2710,2552,131453],
+	"label": "floor"
+	},
+	{
+	"id": 50,
+	"objectId": 50,
+	"segments": [47884,45945,42140,48866,40385,41356,48862,49118,39472,49174,42495,42400,47595,45448,47850,48323,47408,41800,43822,42721,42223,40521,41853,46289,40688,43368,40752,43481,41032,42941,47179,40192,41883,48422,40844,47297,41313,47289,48491,41161,45138,44060,46076,45047],
+	"label": "chair"
+	},
+	{
+	"id": 51,
+	"objectId": 51,
+	"segments": [114257,118511,114741,119488,120656,118323,117184,118242,117758,114944,117540,120530],
+	"label": "monitor"
+	},
+	{
+	"id": 52,
+	"objectId": 52,
+	"segments": [98914,98979,89082,64413,65133,99049,96623,99167,98700,97411,99387,96867,99386,98368,95992,95170,88745],
+	"label": "nightstand"
+	},
+	{
+	"id": 53,
+	"objectId": 53,
+	"segments": [52109,52110,54121,55141,54266,52980,52071,51074,53645,52997,51349],
+	"label": "monitor"
+	},
+	{
+	"id": 54,
+	"objectId": 54,
+	"segments": [35516,70419,65725,63853,61101,68444,57781,65041,64144,37382,64055,70600,98393,66971,69165,72151,36095,43121,38230,71556,41812,35475,40532,72127,72400,42740,38194,36634,35316,71174,66027,72396,72660,65776,38384,64817,36607,64858,66422,61354,65786,37300,36439,66623,40424,64463,69174,71620,60801,71245,57002,68894,41087,68271,68460,41504,69604,40693,39106,42882,37920,71922,71747,72519,72633,66437,66505,67515,43584,72220,42420,64794,38006,40661,42910,42975,42216,36467,36100,36658,36394,34688,35166,34912,34845,34110,40157,39801,30115],
+	"label": "bed"
+	},
+	{
+	"id": 55,
+	"objectId": 55,
+	"segments": [11502,9970,11203,12060,9570,4354,13171,39081,4954,4175,5204,13173,13589,12126,1320,7084,6121,10752,5855,7228,1933,1556,630,4608,8597,11035,6609,8770,13510,11356,964,10885,6968,5327,4430,472,10049,1876,7232,2207,9826,7959,8780,8471,5175,6134,8580,7437,9520,2013,8832,1731,2907,6112,8204,13675,12064,12134,12271,11822,7078,6376,12339,11715,8432,10318,180],
+	"label": "bookshelf"
+	},
+	{
+	"id": 56,
+	"objectId": 56,
+	"segments": [108944,109049,104507,106083,106872,128452,104984,105701,106455,104829,105842,101649,107935,108143,105927,107913,108679,106726,109009,103784,108000,109258,108380,106591,106323,107655,106037,104034,105981,101317,107416,105355,105675,105859,133594,133961,103833],
+	"label": "dresser"
+	},
+	{
+	"id": 57,
+	"objectId": 57,
+	"segments": [54215,82761,22390,47257,78272,47672,78606,47146,78631,77903,48431,53151,23802,78046,47567,51370,79508,85105,81475,55328,51123,51680,27589,79755],
+	"label": "desk"
+	},
+	{
+	"id": 58,
+	"objectId": 58,
+	"segments": [93488,92660,90904,92322,91339,94307],
+	"label": "lamp"
+	},
+	{
+	"id": 59,
+	"objectId": 59,
+	"segments": [65502,59531,65882,58283,65273,59257,61129],
+	"label": "pillow"
+	},
+	{
+	"id": 60,
+	"objectId": 60,
+	"segments": [130522,129992,134902,128493,128987,128715,131156,134679],
+	"label": "door"
+	}
+],
+"segmentsFile": "scannet.scene0092_00_vh_clean_2.0.010000.segs.json"}

scene0092_00/scene0092_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.061049 0.998135 0.000000 -2.121820 -0.998135 0.061049 0.000000 1.985560 0.000000 0.000000 1.000000 -0.128878 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2235
+numDepthFrames = 2235
+numIMUmeasurements = 5634
+sceneType = Bedroom / Hotel

scene0093_01/scene0093_01.aggregation.json

@@ -0,0 +1,144 @@
+{
+"sceneId": "scannet.scene0093_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [70853,34967,49580,84285,94753,94635,9191,85664,9840,28482,27399,59167,26586,26577,84840,53052,84724,11444,11516,88357,35628,8755,96311,94401,69745,10591,9581,8524,9556,36696,10649,223,78145,4256,78139,9667,48080,9994,78899,10075,10645,12341,27798,18494,75518,18519,18549,26944,27613,46770,47577,52449,47856,47962,49461,49818,49961,50069,53222,52464,54026,54584,59093,79765,79776,79808,79923,80666,81680,89113,27664],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [27952,37152,33616,65475,27148,41066,34960,65505,39183,28049,40586,32567,37783,38091,38708,27559,28560,28687,32440,32445,63609,32505,36104,65607,66410,35073,64254,31248,60919,27924,36711,58497,59319,59371,62556,62565,62986,63721],
+	"label": "office chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [52280,49726,49649,46644,50305,48646,50578,50161,47635,46869,48123,49375,51120,51228,51828,52088,51455,49441,51021,46793],
+	"label": "office chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [15401,14956,14566,9985,16398,17015,12585,15406,13949,13844,13792,15363,16709,11197,12354,13002,13284,16884,9878,9691,11477,11215,17551,12221,11523],
+	"label": "office chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [46537,76650,76359,76892,52046,50476,74242,77099,48875,76191,76322,76150,75357],
+	"label": "office chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [3245,1513,17363,1602,45082,16531,17177,2810,17973,18180,1239,3294,1510,2871,1534,73351,2383,44536,17988,1809,11249,1633,2239,66,18064,16835,71184,17790,69666,50503,52313,46070,72635,45296,44786,45841,70445,45112,588,72497,44920,43375,46176,42859,44983,17692,46214,46187,2088,14808,17631,17871,73627,72044,71697,72112,43596,18138,16961,18111,12883,15861,16822,16918,45105,73307],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [24594,23653,19633,20562,22440,21216,26197,23665,23619,24364,24497,24595,23042],
+	"label": "monitor"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [98006,92207,97322,41790,67773,97851,91861,98151,68340,68091,69052,98352,96722,41084,67496,97900,38362,41724,41831,41867,96614,88244,88321,91082,92390,92585,93474,96725,98521,87705,41534],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [70087,73902,70581,95586,94295,69807,69826,95662,72129,94878,95843],
+	"label": "cabinet"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [89579,97785,91165,91954,96746,92273,98102,91646],
+	"label": "whiteboard"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [3264,1609,999,6470,7689,6870,6429,1467,8109,7392,41114,6826,7552,7903,7956,40916,6126,30388,6025,8375,33006,8326,40201,7013,38734,39846,39179,30029,5099,5584,7214,30776,37987,38693,6538],
+	"label": "window"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [2493,2567,870],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [23552,19827,22867,56444,21056,21143,24638,23229,25125,19836,19672,20116,23492,23823,20421],
+	"label": "monitor"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [4982,85574,20438,32626,14705,53331,5407,56511,17261,4564,31204,20239,5259,23110,5114,23794,24127,24798,24854,25625,62312,29207,30237,54010,78178,30771,31544,80192,31953,52919,33979,32549,51634,32804,33324,34136,56567,51154,54311,51390,55510,56635,56663,61290,61269,61550,62227,81929,83450,74172,76333,76102,78185,79949,76583,50665,82454,80780,48773,54776,54176,54621,51126,53152,52377,51147,77023,77501,86535,82757,82978],
+	"label": "table"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [23304,23370,23156],
+	"label": "keyboard"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [81613,80122,81911,78388,77307,80594,78284],
+	"label": "trash can"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [78131,80344,80905,80405,77811,77889,80358,81736,78584,78701,82079],
+	"label": "trash can"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [59880,60031,61037,54300,54817,59294],
+	"label": "file cabinet"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [86960,85076,79081,85969,83031,86793,82105,84289,80581,86974,85923,83678,83747,86044,87401,86619,86941,87546,86900,86271],
+	"label": "chair"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [26395,55502,20167,29072,24413,56335,21470,57365,24607,20708,23297,55577,30321,26004,55779,20445,24424,28914,24144,20462],
+	"label": "monitor"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [31365,33115,30815,32785,34372,30274,29001,31511,34107,32250,29403,29465,31730,30688],
+	"label": "monitor"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [31125],
+	"label": "keyboard"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [33557],
+	"label": "telephone"
+	}
+],
+"segmentsFile": "scannet.scene0093_01_vh_clean_2.0.010000.segs.json"}

scene0093_01/scene0093_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.250380 0.968148 0.000000 -2.619120 -0.968148 0.250380 0.000000 1.236780 0.000000 0.000000 1.000000 -0.026763 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 964
+numDepthFrames = 964
+numIMUmeasurements = 2026
+sceneType = Office

scene0114_00/scene0114_00.aggregation.json

@@ -0,0 +1,180 @@
+{
+"sceneId": "scannet.scene0114_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [117105,154108,126387,112250,128449,124779,125386,127597,127090,151937,119312,119565,153824,117051,160214,91553,153404,89875,74080,74107,117357,96739,118138,119465,117455,118562,120457,117278,159902,117726,86930,73138,87505,117808,151120,120435,159256,111313,75168,158615,120229,47690,37175,126728,86847,124237,142502,125309,113190,129181,90006,119551,159839,110298,74219,124784,62610,60617,112557,160085,160246,158799,152469,74764,94628,94821,91534,37646,95035,97115,87097,131539,44295,48369,45710,86794,37252,48015,36245,90340,91901,50492,49473,47885,8509,45905,48893,45092,45444,126321,63693,62813,117921,72439,90478,36236],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [86066,80497,28690,79807,80044,28953,77864,86344,84960,85442,84482,33422,84904,33561,79636,27529,29447,79522,82421,75645,33277,84249,84168,76599,28997,31698,29341,28085,83065,28256,30691,85517,33076,80956,81747,83034,82927,84108,81280,27609,75519,83731,86003,84838,27421,82672,77390,76812,30633,76256,28983,29377,85247,76858,78257,30188,33614,28803,83182,76628,26401,27237,79020,27928,31108,31206,32624,76871,78034,78712,78930,78992,79116,79866,80575,80714,80890,82585,85852,86315,25565,74724,74939],
+	"label": "plant"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [123316,123585,123184,78785,117266,120696,122793,123897,121419,123954,123205,123904,121370,121212,122305,121069,120798,121446,124113,122160,123320,123921,121190,117320,123632,120203,121946,82352,124003,119653,122921,123593,113760,122533,74287,74925,117591,121256,121855,122751,117076],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [163212,160819,127861,127994,163323,161485,157045,161963,163242,161144,159267,167112,125137,159688,161620,160482,162287,126030,166617,127762,159824,127226,160457,158316,127349,125890,158436,124637,125176,126824,124364,126400,157706,160432,162363,127003,160288,125362],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [155565,172975,152138,175912,152471,173044,154062,151213,163091,152670,155138,152637,151520,161685,151682,152104,171596,175090,174253,151010,151748,151799,152261,152935,155205,161982,176381,154800,159850,151212],
+	"label": "chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [39702,43187,39074,39182,36873,88057,38849,42876,38840,38934,39393,42877,37796,87918,36881],
+	"label": "chair"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [31333,71285,60469,25181,32495,35232,25079,35147,71476,30893,35365,71322,28936,34514,2889,5273,3597,6115,27929,35109,35402,33101,686,70915,43786,34234,34445,32994,32604,35070,5413,2236,64102,71687,3548,18969,5522,19395,59842,3901,5728,34239,33418,31901,60353,5852,70778,66951,18573,18249,3682,71934,71678,61552,4067,959,1347,1728,4799,24671,24755,25881,25441,30659,25628,28135,31089,28623,28729,29581,32040,32091,32549,33081,58462,58491,58627,59412,59735,65615,65771,66669,67148,67389,67446,68394,68872,68925,68964,69940,70333,26652],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [66336,65544,116657],
+	"label": "telephone"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [41499,14584,40412,42024,33582,611,38272,10604,43830,6828,6486,15517,2439,1280,39213,8622,39556,5156,33637,40202,41686,18212,43441,42672,40007,41064,11305,41846,10106,7942,9109,8672,7643,9368,40726,9621,36719,41925,14639,17112,41073,1164,1236,1077,9829,8492,1841,38657,38725,13927,41250,10534,17166,43135,43860,16464,11221,11287,7471,6826,1906,38922,37897,10944,8891,36135,38645,9730,4287,10156,39775,17191,10527,7046,7847,7930,8735,8369,8410,6919,7725,40263,31233,31064,29897,29423,41320,36483,37981,38335,42015,1536,39898,40335,696,10332,8294,8103,6511,8763],
+	"label": "cabinet"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [100130,96444,100917,100887,102441,94698,105951,100593,101905,100628,98458,101846,105916,103396,100093,57113,95302,57190,57464,57848,57866,94535,103724,94546,96937,99514,99547,99581,102129,100586,101621,101624,101778,101942,102067],
+	"label": "cabinet"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [131769,128260,130641,124262,128089,166742,130298,127764,130730,124418,128145,131826,165295],
+	"label": "cabinet"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [91578,92887,91909,93629,91041,88448,90971],
+	"label": "file cabinet"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [170921,173289,107772,107515,174522,170948,170897,108359,107661,170995,114927,107317,107625,110889,107710,107479,107605,107045],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [93821,41223,93939,92468,74831,77465,46157,92450,89723,85102,42939,89306,131930,133545,88603,131941,131466,130527,130364,130962,92902,89564,72305,39537,88775,80168,93609,93508,41009,46236,93915,92747,73210,91396,72343,45298,44397,129580,130830],
+	"label": "desk"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [115583,77287,68986,76474,83146,77441,85276,68348,59716,77010,72812,82667,67093,115846,78542,84945,115441,73405,66120,70485,65354,67413,114721,68948,69450,76448,81366,82761,116501,120910,85572,79478,76442,83525,75900,83740,74535,74912,75334,109477,114888,85334,84646,82065,78231],
+	"label": "desk"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [156761,114495,173777,156657,148778,147041,149655,108494,174346,115608,115200,115516,149787,144922,156882,156462,114837,116793,116459,148016],
+	"label": "ledge"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [111678,146884,142514,142461,141131,144421,142250,143958,142724,156733,142430,142417,152424,142600,142967,155141,143399,142458,146646,145739,151790,148267,141592,141312,143689,143716,144259,141271,144805,153230,155057,143374,141798,144374,142489,144184,112833,150353,142095,151308,114326,145436,143761,147710,152938,154558,152561,152201,142377,143337,151669,151115,153094,115138,143379,141605,142194,143325,141497,141670,114806,144373,112588,113110,110228,141388,143966,111092,143198,111294,112401,112312,144499,156745,144066,141422,151971,144321,142907,155442,111136,113664,114175,115896,116364,140702,141042,141056,143692,141890,143659,148415,148491,149245,149326,142576,110926,111837,112453,142536],
+	"label": "radiator"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [76291,81384,78045,76797,84145,83595,85534,78118,82999,77656,79315],
+	"label": "monitor"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [163196,159425,158444,158794,157962,160486,159809],
+	"label": "table"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [66862,70819,72176,78411,84740,65540,71441,66431,70007,85868],
+	"label": "monitor"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [94501,96521,95057,99009,96470,96004,94984,101137],
+	"label": "cabinet"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [51271,53949,50446,51901,46945,50615,46862,48030,49623,49591,55700,55408,23243,50016,52215,52727,52917,54947,55892,49885,48273,49986,50538,50473,49239,50062,49810,50138,22871,20893,53007,48120,48507],
+	"label": "door"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [24416,23854,19868,19057,54464,23980,55671,266,47587,23779,18787,19048,106264,19702,19724,24130,56885,106756,105007,24468,273,58262,103589,103666,103777,57245,106582,106924,106972,104481,46546,52412,56049,46771,49118,48574],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [135090,165980,158273,137653,101389,167292,175471,136504,138436,132922,104214,106350,134282,166521,138190,139797,140069,140164,140166,157582,174078,157792,160190,164578,163375,163641,164931,165512,172338,165596,165985,166870,167521,168612,168679,168862,169070,169196,176273,169511,171810,176275,171844,129967,175569,140063,175711,175779,176007,176638,176687,140401],
+	"label": "wall"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [109320,172988,108029,172029,108781,107987,147419,108324,146396,147463,108050,148967,150777,169627,109402,109599,110014,110049,145434,145800,145971,146218,146295,146382,110039,146708,170332,147167,147273,147403,170022,147526,170085,147659,148051,147780,170199,147898,148009,148312,148917,148979,169670,150196,150714,150769,169621,169740,170005,170681,172527,169946,169634,169808,109631],
+	"label": "window"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [59852],
+	"label": "wall"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [108934,108200,109867,109652],
+	"label": "cup"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [62415,62110,62051,61627,113308,110916,69523,60934,63270,112603,63089,63307,65206,65622,110411,68199,112530,113316,116298],
+	"label": "file cabinet"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [88182,87364,87898,73435,88137,37366],
+	"label": "trash can"
+	}
+],
+"segmentsFile": "scannet.scene0114_00_vh_clean_2.0.010000.segs.json"}

scene0114_00/scene0114_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.793353 0.608761 0.000000 -4.328740 -0.608761 0.793353 0.000000 -0.403754 0.000000 0.000000 1.000000 -0.035388 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1905
+numDepthFrames = 1905
+numIMUmeasurements = 4024
+sceneType = Office

scene0200_02/scene0200_02_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b78d0791a6df31a238a3ac7ee1d7fd94ba16a5fc0f1773b1c06fc0b1c8e84222
+size 4026596

scene0200_02/scene0200_02_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61ce409d280d533298c818c6c3b89c7a94c7232cfcfd9468c34c896ae8dbb77
+size 3839474

scene0233_01/scene0233_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9c301d5582799b7b9f5916774cd9e2c2164bdd4d856502956ac6e9b4dee9032
+size 10767555

scene0237_01/scene0237_01.aggregation.json

@@ -0,0 +1,78 @@
+{
+"sceneId": "scannet.scene0237_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [4757,11285,18989,13133,11279,11301,13762,13990,21138,19023,8299,13981,19306,12730,4898,5013,14069,4906,11864],
+	"label": "toilet"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [5748,17051,2885,2459,17906,3278,18018,2566,2454,12086,17749,17427],
+	"label": "door"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [237,6282,8488,7192,290,7248,381,546,136,9232,7942,9104,7482],
+	"label": "sink"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [4569,2949,1491,2576,2486,2168],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [6416,6969,7110,6064,6038,8259,7671,6186,4841,6479],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [18983,19043,12818,20652,18777,20627,13272,19542,19304,20574,19174,11149,19950,19252,20360,20442,21058,19118,19880,20892],
+	"label": "bathtub"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [10901,19465,18704,5132,11840,5579,4692],
+	"label": "floor"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [301,8915,7184,6847,7984,24,28,248,7668,7700,7852,444,7991],
+	"label": "sink"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [3811,4008,2547,2692,3890,3401,3025,3194,1505,2722,3897],
+	"label": "doorframe"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [3858,3880,4082,4063,2573,2252],
+	"label": "rail"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [21867,21407,23726,21610,23824,23863,23248,24398,23425,24664,21005],
+	"label": "shower walls"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [17231,14971,18358,15295,14245,17170,18098,17621,18553,14325,14351,14979,14454,16902,17844,16063,18393,18008,14763,15718,15635,14679,16559,16399,12605,16150,15871,18122,17828,17788,11345,12812,14146,14226,13001,16158,16886,17077,18452,16803,15967],
+	"label": "shower curtain"
+	}
+],
+"segmentsFile": "scannet.scene0237_01_vh_clean_2.0.010000.segs.json"}

scene0237_01/scene0237_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.968148 0.250380 0.000000 -1.903680 -0.250380 0.968148 0.000000 -0.951876 0.000000 0.000000 1.000000 -0.119364 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999999 0.001589 -0.000662 -0.037792 -0.001590 0.999999 -0.000655 -0.003775 0.000661 0.000656 1.000000 -0.022027 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.727112
+fy_color = 1170.187988
+fy_depth = 570.727173
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 589
+numDepthFrames = 589
+numIMUmeasurements = 1313
+sceneType = Bathroom

scene0252_00/scene0252_00_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc90608403a932459933305ddaa55caf1f0824ebeeb3b220c44d2d520c85842
+size 5001281

scene0252_00/scene0252_00_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f95ccc5966b7795534d5d3f8d5ba84dae65566672e2780e1cbb4ca9b29bc4f0c
+size 4767841

scene0261_01/scene0261_01.aggregation.json

@@ -0,0 +1,264 @@
+{
+"sceneId": "scannet.scene0261_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [114524,125294,116286,117166,123164,117415,114101,112274,114601,114625,115765,117613,116076,124921,116675,114253,119101,125231,125532,115096,117494,124538,121732,125415,118817,124374,125495,123081,123418,111464,123043],
+	"label": "door"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [30349,141488,44150,64053,38227,31238,100467,168521,31337,106798,112623,119560,61824,28979,29644,120220,29537,97666,98511,18505,104933,63460,45057,99606,97230,169497,62808,99945,17415,153160,153460,28524,120336,29907,28148,28076,169413,28308,37891,63498,41222,60720,42389,45385,62747,119898,64352,106819,106154,121753,125538,141491],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [20139,102810,144742,102804,143753,147327,101884,102934,144438,88301,87387,147331,100778,88582],
+	"label": "counter"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [69929,78611,66110,76844,74209,65926,66537,61611,68537,68775,68981,67850,62684,77241,63198,78072,70019,63404,70071,64943,64279,65379,66788,68492,68584,69194,62464,72340,72513,72992,73115,73942,75020,75622,76128,76129,76168,60796,61145,62062,63392,64278,66847,67283,76748,78030],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [103355,159333,110558,160061,154902,108466,107917,159595,108927,158397,154403,108417,159128,158020,157626,157018,105706,108147,107528,160341,157557,109036,110067,103452,153821,107630,106216,156689,103381,107946,103054,104351,107381,107760,158784,108358,108736,108790,155512,108937,157977,109491,109722,110622,154171,153564,154132,155092,158835,156162,156221,157587,158868],
+	"label": "washing machine"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [102898,109234,101986,107766,109647,146811,100776,141335,102323,108489,156846,146395,155273,146393,142541,99134,99699,152859,107252,101021,156671,101719,101991,152706,143426,102263,154082,107184,108113,110534,144086,110656,153170,141352,141630,141877,143524,142670,142471,146671,142962,142951,143009,143125,143177,143284,143356,145062,144646,153120,154027,155456,157347,152695],
+	"label": "clothes dryer"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [95577,95528,88518,88960,9056,92476,94992,92004,95544,91098,91937,88131,92907,13201,138831,136328,92588,91245,10015,91876,92245,92922,93077,139218,93399,139174,94337,88670,90950,91778,88428,94917,92972,91341,94117,88247,11483,95252,136952],
+	"label": "window"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [97252,97838,147663,142345,17524,19444,18553,99997],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [101866,87737,90342,90214,87628,87549,87392,89501,87366,87817,89091,102367],
+	"label": "sink"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [141447,146850],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [86315,54518,52122,63652,60792,64046,53498,68401,71100,57145,71096,71478,71988,75059,76677,38760,68979,76118,73392,39275],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [80831,79860,86817,86578,132596,85649,131336,132347,133583,86342,132718,130502,73733,73457],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [86252,86544],
+	"label": "ceiling"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [166060,97007,96677,150908,15235,151868,165805,166574,165878,180298,181116,166200,96167],
+	"label": "ceiling"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [132124,74627,127469,83265,77563,129156,129467,129295,84520,128976,78441,128028,80295,73226,133857,131492,131332,83956,81722,79349],
+	"label": "door"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [73977,76932,77181,78720,73640,77502,74107],
+	"label": "towel"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [85458,80419,80191,83285],
+	"label": "light"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [71488,71995],
+	"label": "light"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [73473,67242,70182,70221,69689,76788,78879,67921],
+	"label": "sink"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [66430,68619,78644,84063,73797,77644,75457,73405,71222,80242,72150,65789,79360,64871,71225,71055,67396],
+	"label": "mirror"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [45372,38435,39255,40558,38634,55167,52221,55769,38556,38980,39305,40146,40932,42437,44861,42563,43338,43381,43638,44136,44801,44951,44943,45389,46266,46323,54207,55397,55584,43412,61630,62944,64071,43427,60868],
+	"label": "toilet"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [55286,49207,48231,45972,42211,41821,51731,37658,42403,49895,46924,51975,52005,55399,44894,44365,51100,39520,43881,54612,52964],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [58932,47938,46586,52831,58159,53405,41251,114781,60459,50060,57939,47955,117057,116506,118560,114308,118700,59315],
+	"label": "doorframe"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [129866],
+	"label": "wall"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [126077,132900,131692,126174,128299,125635],
+	"label": "wall"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [134408,129897,119758,121033,121703,123094,124596,124646,122601,122867,127997,129332,120931],
+	"label": "shower"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [124454,129820,119726,121074,124178,124563,121114,124129,122860,123409,128544,128775,121675,120609,121302,123008],
+	"label": "shower door"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [123515,121467],
+	"label": "wall"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [124059,121204],
+	"label": "wall"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [44544,49644,38588],
+	"label": "toilet paper"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [119121,56507,60252,58985,119323,119141,58843,58279,44813,59816,57637,57875,51182,51610,50703,53369,49156,48866,52195,38195,46287,39688],
+	"label": "wall"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [174237,172106,174314,171291,170644,175212],
+	"label": "mini fridge"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [135268,145890,165108,139438,145512,141768,145859,168244,163620,144791,146608,144926,147616,160779,159771,148067,149098,150743,156937,157301,157390,157553,168574,158945,159301,161529,162310,163693,166762,175207,136154,157897,169503,152090,153107,152188,153500],
+	"label": "wall"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [169370,167578,169651,169228,167524,168556,168756,168467,169314],
+	"label": "trash can"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [148545,150541,164422,161978,149219,161724,163791,149800,150632,150732,161779,163269,161383,164290,164859,164389,164500,165276,161443,164939,162569,139366,137924,140896,140048,139892],
+	"label": "cabinets"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [11809,95283,88530,95641,96046,15637,8474,135351,96084,89538,15806,94587,97073,10949,136854,136248,96072,87918,89085,90107,92682,96450,96786,135756,138987,139349,140501,141026,135077,11774],
+	"label": "wall"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [58681,26744,27446,37436,53027,60149,27599,35858,58604,37066,55338,55651,56282,32749,27653,27735,30488,34463,55867,42839],
+	"label": "wall"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [25136,13082,25062,24897,25506,25649,25880,21872,23102,23001,22145,27333,20147],
+	"label": "board"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [32634,37449,34201,29355,31926,36812,34528,34952,36249,37549,29027,32705,34228,32279],
+	"label": "door"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [35615,33331,32748,36717,33533,35277,37052,31891,31886,34476,36080,36447,36847,36963,31636,35190,34654,34054,31971,31997,33553,34455,32765,31593],
+	"label": "clothing"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [52281,52429,53639,46227,47640,45807,50633],
+	"label": "ironing board"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [21254,18914,35032,17771,16297,33624,19003,30647,23620,16435,17335,19987,17109,21850,29647,19703,19234,19827,16178,20054,20066,17519,20344,23966,22235,22093,18194,23980,16614,16960,18067,24709,20827,16156,30087,17429,17628,17899,18558,18099,23892,24763,31135,33757,16469,16947,18091,20165,20168,24603,33732,28830,19935,19665],
+	"label": "cabinet"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [102975,101050,97360],
+	"label": "towel"
+	}
+],
+"segmentsFile": "scannet.scene0261_01_vh_clean_2.0.010000.segs.json"}

scene0261_01/scene0261_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.999657 0.026177 0.000000 -2.815130 -0.026177 0.999657 0.000000 -2.485360 0.000000 0.000000 1.000000 -0.117588 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 578.000000
+fy_color = 1170.187988
+fy_depth = 578.000000
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 4344
+numDepthFrames = 4344
+numIMUmeasurements = 9229
+sceneType = Laundry Room

scene0263_00/scene0263_00.aggregation.json

@@ -0,0 +1,192 @@
+{
+"sceneId": "scannet.scene0263_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [86203,88954,94459,89736,36525,91834,23223,89074,38344,90718,89393,96118,93983,95660,101828,91238,90405,98527,94649,101526,88184,88254,94350,88394,96332,102308,95378,98126,59325,97687,63951,27226,89922,101620,91053,100729,88421,24219,93293,100866,93632,97103,85052,17666,98476,95666,99948,101720,96226,93606,102636,99187,17926,93348,98071,93730,102000,57584,88205,100355,16897,92614,98889,98286,98563,92613,68980,97795,62773,99396,94865,95125,99538,93715,32379,92927,17752,97585,90211,102651,87782,101195,102241,26632,96529,103434,103328,96729,23779,95393,98703,22324,96298,97708,99367,95853,97098,102074,103120,101226,103232,102177,19691,101441,101052,95813,97236,101797,102974,99414,96305,97679,96129,31786,94662,95355,96580,59637,98110,33636,58928,95989,87826,97451,100879,101518,100803,101635,101120,86929,95842,86225,52001,86912,58101,51586,101137,37900,58151,57880,59005,21066,62962,63070,66241,59690,67213,28883,60747,67218,65518,58050,21702,69107,65757,58229,59822,57606,57834,60112,68677,38675,68169,26970,65994,25070,61906,96969,64805,24320,63481,63923,20275,59266,24722,60409,61073,58976,59315,59386,59880,34760,61409,59421,57903,59520,64064,31388,63220,65070,23265,24176,60393,99722,58077,61663,24820,22754,26752,21097,19412,24847,96419,21491,24716,21569,18132,21481,19582,17431,19082,93823,20484,17812,98067,17759,17204,19164,19703,20282,33994,23241,24490,23425,21448,21310,23559,21880,22192,21602,20355,96208,18440,17105,17083,98101,33460,17920,17303,18883,17519,29404,18346,93722,30597,29445,28674,30087,100061,31821,36620,37772,37891,33655,34930,31777,21278,38549,26146,27173,57327,26665,58237,93223,90562,60259,55164,97938,56909,90216,94148,90772,95935,98198,90155,92935,89327,100700,100758,101582,88441,97612,101402,38699,38782,99394,92938,95548,94813,98514,92403,95044,92796,99878,99986,96176,98790,93308,100525,93317,92706],
+	"label": "screen"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [46132,79056,46679,44781,45196,46827,45967,78936,44806,45851,44565],
+	"label": "box"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [109399,109303,108249,108782,108532,109328,109706,109716,108653,109233,109242,109777],
+	"label": "box"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [11646,11740],
+	"label": "box"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [50187,51056,47775,50751,50387,110640,50380,50297,50586,50691,119875,80778,49212,83651,81654,119261,121915,121164,83577,115247,111773,48832,123044,119813,120811,50959,110854,114681,47432,47222,47202,114893,51091,81511,50108,112229,122898,110631,80222,83089,78110,79285],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [84492,68089,115536,84482,115473,85332,88066,85054,115437,25838,26756,24978,85009,85534,84760,87617,87994,87338,86866,51880,87502,68823,3097,67661,67007,66049,1591,69003,23272,66590,66000,26737,87082,24939,2332,27130,25588,25158,23287,732,20209,1578,2614,2998,2504],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [41473,28353,40632,30647,32123,28929,29343,30324],
+	"label": "computer tower"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [75306,74007,75399,75708,75198,74729,73682,74224,74830,74439,75402,74610,74651,74847],
+	"label": "studio light"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [106471,105967,105794,106388,105499,106234,105892,106350,105667,106345,105335,105369,105353,106176],
+	"label": "studio light"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [39355,38923,35425,33828,38936,37520,38786],
+	"label": "studio light"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [43384,74865,44263,73618,35700,74096,35662,43757,37590,36026,77841,35781,39981,30698,77041,70169,77483,73779,77722,76609,71875,71249,74603,36342,74111,74826,35014,75029,35695,33056],
+	"label": "desk"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [4314,6364,12564,6864,13249,4080,5095,12295,12752,10534,13500,13326,12828,13345,5721,7330,7542,7589,6809,10100,7728,14474,15930,12229,14743,15657,15302,393,14704,4011,5093,4167,5617,7856,14703,5622,12394,5697,14894,6035,6829,7162,6936,7930,7189,7255,47324,14720,7515,13474,7824,8075,9771,9746,10105,11232,13464,11483,12071,16426,13008,14727,15973,14851,16220,16504,16554,1467,15907,16324,16457,9516],
+	"label": "curtain"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [8493,92009,105039,106687,107071,104623,42552,110661,70471,104009,91890,72543,106790,32576,91926,76311,104844,107390,103759,92035,104723,116196,91060,56523,88834,92207,116799,104805,71401,116927,28694,72349,17851,30426,31139,30863,77485,28894,90321,71397,104634,104702,28106,32554,28516,104310,28466,3138,29153,106590,107426,78388,79671,89744,107527,55741,105205,115826,104532,88946,56934,53627,54203,39997,117358,117575,117192,117650,116971,119452,19078],
+	"label": "floor"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [108955,118947,117843,117324,118107,118153,117332],
+	"label": "table"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [42875,40146,43871,43547,44007,41682,40361,41690,40458,43966,42564,40825,42501,42778,42998,40667,41520,41315,41935],
+	"label": "chair"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [110381,81070,114150,114081,76896,111582,108968,112153],
+	"label": "chair"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [120265,120791,120488,111839,122341,122637],
+	"label": "chair"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [79625,80643,79786,82941,80583,82023,81467,80414,80069],
+	"label": "chair"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [124946,119926,125413,124964,123974,124528,119216,124798,124446,124975],
+	"label": "box"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [36194,34526,33782,33582,35661,37221,36705,34666,36596,35765,33252,37524],
+	"label": "monitor"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [118423,119034,117902,117973,118733,117772,118985,119053,118079],
+	"label": "trash can"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [48543,48734,49776],
+	"label": "switch"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [8455,14302,8827,8227,15957,8911,44750,13883,45648,46431,46906,8721],
+	"label": "radiator"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [34903],
+	"label": "telephone"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [43869],
+	"label": "keyboard"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [81680],
+	"label": "whiteboard"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [80830],
+	"label": "whiteboard eraser"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [123379],
+	"label": "cabinet"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [53220,54483,53157,53556,61577,53244,57113,53271,54364,52827,17560,52510,52596,59678,57390],
+	"label": "cabinet"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [71355,52764,55197,72643,71928,71550,55008,70120,53195,54952,69563,69763,70268,70285,71641,72215,73595,71416,73025,72498,70752],
+	"label": "box"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [65096,60217,64392,61973,61110,61986,59365,64831,63369,60977,64635],
+	"label": "object"
+	}
+],
+"segmentsFile": "scannet.scene0263_00_vh_clean_2.0.010000.segs.json"}

scene0263_00/scene0263_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.139173 0.990268 0.000000 -2.352940 -0.990268 0.139173 0.000000 1.626160 0.000000 0.000000 1.000000 -0.057331 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1054
+numDepthFrames = 1054
+numIMUmeasurements = 2217
+sceneType = Office

scene0371_01/scene0371_01.aggregation.json

@@ -0,0 +1,90 @@
+{
+"sceneId": "scannet.scene0371_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [56073,48413,14298,15721,65735,16082,2188,15352,20613,35536,53908,15897,14404,55627,14484,16363,47866,36244,48618,492,1723,891,1159,31115,2206,38124,30372,33453,48361,37801,10160,19746,10224,15173,30152,54284,34785,37068,19787,47335,49288,66171,53487,30129,35863,36517,39808,38236,1172,35335,1774,55132,30263],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [69514,70193,61416,69979,70015,62189,58585,65696,69297,70332,61781,57640,65531,66481,69202,70028,70156,70325,70706,67064],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [40339,63041,20743,62569,42825,42257,20620,44836,42585,41453,45321,39599,43608,62526,63839,40255,42791,41902,45543,45091],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [62672,65407,44817,61257,43169,21831,61903,44606,64969,22193,20709,22746,63235,46769,42905,46313,43028,46733,22429,44637,45578,47047,61353,61545,62034,62181,21761,61592,62323,63390,63474,63683,64384,65392,64666,65081,44394,22917,23103,64688,65351,21195,24092,45793,47036],
+	"label": "whiteboard"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [19844,19394,16090,15017,16738,19261,12867,12976,14110,19179,21030,18870,15168,18400,18635,19347,17196,10402],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [12853,13915,11350,13187,13024],
+	"label": "doorframe"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [5343,26717,25320,7659,4682,25234,2299,4456,4780,24737,25753,27905,28756,9482,24608],
+	"label": "door"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [50666,7428,3991,4466,52542,7854,8329,2297,7668,8081,27401,28404,28675,29764,29051,48733,29437,47924,48528,53168,48942,49125,50036,51490,52929,51364,29973,52618,51196,28342,28460,66842,29979,48594,50118,50347,50647,53471,50935,66620],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [47852,52372,50357,51372,53129,48192,47472,51224,48034,49598,50221,52844,47257,49858,53110,66670,50831,66946,66934],
+	"label": "chair"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [57926,57974,58478,56731,57453,55111,58490,54200,55119,58197,58501,57868,56441],
+	"label": "chair"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [38737,37388,38842,34553,34188,38570,38584,35596,39064,36194,57553,35108,39172,38429,38536,39118],
+	"label": "table"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [30273,34211,31365,33756,34375,33536,30457,34406,32918,34522,34519,34609,33487,31053,31345,32263,30198,31180,31867,33087,33996,30838],
+	"label": "chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [11801,11558,10916,12765,10922,12733,11508,11270,12623],
+	"label": "trash can"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [41412,39534,43231,43617,42485,37362,38275,45200,36766,41505,41814,42283,42687,42948,43388,44729,44883,45188,45353,35265,35729,35655,35381],
+	"label": "chair"
+	}
+],
+"segmentsFile": "scannet.scene0371_01_vh_clean_2.0.010000.segs.json"}

scene0371_01/scene0371_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.026177 0.999657 0.000000 -2.335950 -0.999657 -0.026177 0.000000 4.124460 0.000000 0.000000 1.000000 -0.029663 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 930
+numDepthFrames = 930
+numIMUmeasurements = 1961
+sceneType = Living room / Lounge

scene0381_01/scene0381_01.aggregation.json

@@ -0,0 +1,72 @@
+{
+"sceneId": "scannet.scene0381_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [58581,61753,61650,60509,65183,65653,50362,46147,45984,49699,46097,58359,59699,58740,62173,65699,44277,44380,59664,44984,48284,47422,58436,58070,57822,57739,50934],
+	"label": "couch"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [58506,38001,40063,37132,41505,39872,41470,34788,35108,38086,34302,37675,39259,37156,41065,34368,41191,36307,37393,38662,36765,39650,39396,40438,41911,39546,58524,35558],
+	"label": "armchair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [10777,26670,26637,8902,28165,27648,7638,26521,8298,10221,4205,4504,24628,29630,9785,20393,7673,21103,22826,28859,10587,30520,7079,22285],
+	"label": "armchair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [54549,7113,27221,11534,49424,30560,1171,67959,11307,67780,70342,70651,13814,11472,27962,54513,54218,32895,29064,70990,26447,29695,50407,14144,68408,50827,67688,54560,32468,69983,32768,70826,70446,14712,54626,53764,53878,69955,69991,68605,70402,31989,51185,54479,70470,70037,33375,11258,64764,47129,47980],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [65450,52404,49248,63764,47228,47365,66780,66465,68458,66016,68855,68844,51854,68432,68990,52095,31049,31758,31171,52457,53410,53782,69930,67357,66765,66863,67107,68642,66045,69027,69467],
+	"label": "whiteboard"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [134,42864,15296,18708,57485,56043,56888,3633,56659,55490,33513,34009,33933,56460,411,33975,33901,14995,54667,34674,14912,18675,14870,2398,1942,21761,25194,30283,46527,1110,402,674,269,750,167,6321,3684],
+	"label": "floor"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [4017,4679,22652,2531,3480,5293,22676,1432,3621,5982,6375,5992,4498,2616,5145,2150,1660,4076,23250],
+	"label": "ottoman"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [19010,19339,19015,18124,16337,19602,16055,15382,16754,19023,17959,15233,17848,19464,19503,19631,19834],
+	"label": "ottoman"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [45361,28050,23068,18941,21858,24092,24331,45516,45464,20635,20985,21451,22169,24491,24521,43680,46143,24989],
+	"label": "table"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [69427,60882,68672,68056,70887,68313,62960,64039,66846,68521,70943,75128,62896,62890,63095,62361,62393,62678,62659,65429,66228,69117,70674,61024,61745,60657,63312,60368,60660,60675,59582],
+	"label": "window"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [55228,55294,55211],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0381_01_vh_clean_2.0.010000.segs.json"}

scene0381_01/scene0381_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.300706 0.953717 0.000000 -2.957940 -0.953717 0.300706 0.000000 1.988490 0.000000 0.000000 1.000000 -1.510060 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 739
+numDepthFrames = 739
+numIMUmeasurements = 1610
+sceneType = Lobby

scene0420_00/scene0420_00.aggregation.json

@@ -0,0 +1,264 @@
+{
+"sceneId": "scannet.scene0420_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [200325,140368,263052,189664,244546,196446,118085,115972,197561,191179,189176,201068,244585,119821,140548,145039,205799,192828,119395,207620,196266,139692,207624,139706,144729,139708,140037,243649,140848,140509,202421,141287,142794,143367,144257,144595,196981,144875,188032,190653,195550,242667,188301,195012,190052,188348,188682,188743,188821,147599,191536,189284,189770,149708,191416,190189,237605,190229,191068,197344,205382,197296,195104,191592,192143,210424,196977,192662,192720,193618,194055,199594,194191,194649,194916,195563,195600,195863,195911,197251,197545,197627,197707,197777,197853,197936,198012,198071,198329,198444,199673,200032,200050,200086,200629,200688,201013,201378,201696,201748,205671,205858,191102,211537,206395,207169,210423,210460,211068,239218,239656,239712,240786,241478,242095,245062,120977,149526,149876,121766,121821,145233,145277,145608,146301,147860,148963,149048,149287,200357,203350,203440,205735,206646,208092,243159,245268,261545,245572,120737],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [153994,159384,156747,151825,160715,253347,166293,156808,156438,157681,221037,151200,158420,154682,155351,151218,151652,151544,168301,122604,151030,158948,165885,151118,152361,159376,213012,157212,152920,153462,155013,159908,158541,154830,155318,159321,155808,246579,157568,164627,164369,217756,159867,266816,155139,160258,163121,162025,160521,153197,166712,167114,167374,152149,222288,154244,161608,162016,213045,163306,154146,153540,156535,168454,153475,255342,156052,246967,160616,157587,158218,158472,160149,158630,162344,161086,162397,260194,162914,163854,213130,161898,163240,164055,167717,252607,164000,158841,162437,163337,166320,153082,152819,156146,267482,156999,157163,157381,160255,162188,163414,266335,164728,165752,165974,166190,166363,217676,257998,267952,266423,265896,256495,267417,258363,267206,151790,151957,267742,259922,157617,255226,160162,160196,161927,163516,163841,165100,172379,212847,213183,213236,213519,214155,214651,215183,215944,215991,216684,217745,218079,218168,218530,255290,218835,219109,219494,220171,221571,221934,223963,224363,252191,227465,246666,265951,247229,247834,248076,247196,248798,253862,253883,254336,255423,255634,255655,255676,212185,256314,257192,257332,259627,168533,259685,265937,266742,266557,266896,265758,266295,252510,253310,265902,254848,254874,255336,164824,163380,162686,161586,153605,167568,260560,260320,260337,267447],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [189576,134507,192108,135680,136314,91888,192133,186053,15669,251992,106610,192321,90713,132751,185921,29110,190261,181275,190976,188880,107324,189675,45111,38886,184057,254,186065,193591,134493,134196,76432,97315,91136,135439,255427,109598,44308,253268,168722,254799,253519,82632,97085,29161,97788,107829,98008,75835,46352,130023,46281,15189,46245,11133,92040,109193,184318,136081,134478,16213,1651,1947,170457,15201,24821,39328,15385,109692,16273,28208,38869,39186,40045,191722,40345,45317,128157,53429,53590,126424,64354,64517,181746,66421,67758,75519,77016,77900,192677,79058,81131,81545,83800,84270,84439,84657,84855,86160,85298,86064,90839,90927,110477,91010,91084,91270,91617,92246,181023,169344,92270,92302,98455,105888,106718,136974,106758,106882,108542,110433,114258,118010,118014,125993,126295,126619,127029,127448,127793,127892,173921,128223,128277,136547,141791,168697,252654,169038,169062,169871,170042,170187,170217,180851,184359,184545,185159,185186,185667,188723,188784,188891,189321,225513,192153,192682,193715,213108,213709,213923,223702,223713,225186,225639,225759,247241,254628,260764,114221],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [70178,66354,70118,64253,68609,68553,66928,69085,75653,64781,104951,66709,69040,67407,104953,69287,69972,104188,104187,73564,67061],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [250786,158796,223052,230270,257887,250383,165723,171807,219374,167682,162734,220014,161961,229924,226981,163738,260177,260363,218410,257986,251210,251465,251084,229677,160841,151627,152132,227206,167938,153872,153932,229218,157426,221809,217975,166408,229579,157543,160338,157656,158507,223021,160379,158596,226501,222747,159882,162946,164668,164924,165826,167065,167361,167624,168025,173607,223222,218356,219481,220054,220194,222593,227471,222595,223125,223394,229903,248030,248045,249014,249570,249576,250166,250797,250997,251293,251344,251595,251643,251820,257394,257416,257459,257770,258686,258821,259664,260442,258612,260679,228662,152478,166457,167835,229420,230018,247995,249619,255845,257671,259511,223476,230024,229612,251572,251127,251600,160960,151997],
+	"label": "board"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [111681,88583,88512,87627,90517,88043,94132,93178,89541,87638,87887,87370,108314,86397,94093,110797,111708,89229,90386,88302,108245,108391,111942,108506,87293],
+	"label": "table"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [42204,37836,40872,42515,18021,37497,18548,42836,39506,37406,38288,38435,82995,16794,77386,77761,41451,41263,83308,39997,43429,42730,39575,39877,40429,43146,42901,41240,39815,39783,37443,36395,43441,42542,41613],
+	"label": "table"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [63287,124353,99340,101979,63543,63294,71587,98825,98267,99646,102444,101689,101822,99073,103231,99200,99331,99603,102830,99636,68089,100228,100728,101534,101764,63764,101793,102101,102105,124725,97962,98843,101288,96332,103274,101714,72573,102898,70416,72570,96792,63711,63718,64083,102122,101039,103172,103214,103217],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [150888,117722,209512,116609,112981,112814,150087,112991,138933,116191,117610,150597,150674,208709,208876,209290,209338,209458,237632,237670,237766,237792,237944,238521,238519,232305,238474,238720,232480,116429,150805,117086,117728,116421,116759,117285,117590,209348,209826,112779,204639],
+	"label": "ceiling"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [208507,138350,208392,209213,210250,187355,187290],
+	"label": "ceiling light"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [98797,98756,122879,97547,98570,97442,97994,96970],
+	"label": "object"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [124639,124143,124470,122466,122275,123665,125200,124775,124443,124263,122461,122494,122758,124928,124943,125107,122946],
+	"label": "door"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [72636,25195,26183,66893,24980,71804,73240,73452,69395,24745,25140,64173,65699,71869,73190,25487,26124,25654,68506,64748,67785,66401,24733,26785,27045,28663],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [71478,73116,68343,66081,64805,66731,64678],
+	"label": "wall"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [34536,34071,31911,29211,31779,33065,31507],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [7030,5372,8554,2559,12244,34412,32010,34509,12279,2854,8803,32296,6889,33259,2668,14177,3076,30862,3940,5503,28191,33485,6759,9963,8376,6903,7188,9369,11347,8231,7339,7366,34285,7850,27394,8144,8332,8632,8900,6546,9282,9551,9717,10437,29341,10478,31580,6007,11510,32672,29216,12838,13293,13703,34268,14016,14522,30634,31462,31748,31917,33389,33684,34103,34448,5877,5205,7211,11394,26578,26789,26399,98,1457,276],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [630,48035,45593,2573,2041,47460,46559,3513,1191,53307,18186,59661,15391,54694,24444,57331,3989,50453,21599,14976,18890,15150,16948,18991,18324,18847,50760,20891,18854,19029,19118,19833,47703,52154,20644,50126,22081,55034,20873,22492,22615,50790,24094,53634,24450,44547,45379,45462,45532,46143,47931,46621,23435,47667,50734,53155,51141,51181,53268,53666,54271,56853,45260,45335,45739,45794,46059,46649,46715,48605,50648,53046,55043,56043,57666,59349,44281,56434,94079,4267],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [54349,4809,18218,24328,4407,63067,2629,24196,2922,54360,59359,19300,21101,49097,62083,94630,54007,53967,19630,52249,19785,59471,19960,48859,24469,20353,19991,54958,20371,23213,20725,21094,21184,23683,21347,21693,21372,59918,21522,22074,21645,22169,23777,55971,21774,95403,21791,21912,22015,22540,61497,22927,52363,23252,95997,48273,23333,60507,23700,2371,57375,47473,23734,24117,61259,49698,24335,24410,24687,50140,50752,4762,51653,51692,54507,51715,52069,55708,52033,51947,52204,54197,54378,54386,54461,54437,54574,54834,54866,54897,55013,55050,55119,55368,55568,55736,55752,55844,56253,56360,57146,57278,57975,50310,58013,58018,58108,58168,58328,58585,59143,59355,59591,59608,59617,59834,59835,60004,60112,60371,60516,60666,60782,60822,60897,61011,61048,61597,61750,61752,61899,61926,62040,62228,62260,62486,62532,62727,63029,94399,60537,50829,58371,22551,16980,16431,21909,49867,52500,51439,95792,17838,50720,52056,59033,56200,20815,3536,48103,49929,17224,21773],
+	"label": "window"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [261675,233410,233780,234037,261098,232637,233188,233942,234785,261602],
+	"label": "trash can"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [148469,146947,146605,207805,145135,207951,245675,149481,242648,204153,204303,205361,207410,206137,208109,211373,245817,206833,207329,211132,206102,147877,204363,242870],
+	"label": "projector screen"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [148759,148715,143752,119235,145629,208233,148055,121015,204706,193972,205456,206808,119662,204129,202385,121003,149825,144151,145049,115474,142022,120974,120778,146248,147813,146536,146553,146912,145273,211301,121321,147616,196601,148460,149206,195766,149492,207522,149920,197356,201731,149922,196805,199029,199959,196661,199434,206456,205031,207025,207716,207794,210952,144292,211154,143522,212070,118884,96210,200722,121447,119463,195833,204514,199738,205911,206220,208006,208053,195215,196293,147167,145798,148282,149195,205445,206059,115813,149440,205844,148051,201761],
+	"label": "blackboard"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [245095,197661,242655,197004,197371,263263,203137,237299,202798,262148,241072,205990,241659,262229,196281,195407,244710,199508,264474,200260,201064,242147,208141,241756,202214,245730,207571,262737,235281,240241,241426,242363,241980,241490,242041,242375,264352,242580,245531,262880,263632,263935,265288,264475,264685,205504,268258,262317,263291,245714,195559,243074,200028,204636,200938,202630,236246,236382,245037,204995,205431,242842,237416,244932,245139,265060,245257,265158,236933,237393,243827,237117,237124,207696,193974,196159,202767,205087,206673,207439,235859,243833,245427,240904],
+	"label": "blackboard"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [177932,177031,178546,183044,231918,182294,182120,226275,228263,227609,228378,182119,182491,227176,182595,182943,182208,182675,182801,183150,183243,183580,232008],
+	"label": "table"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [177344,176042,181118,180258,174694,178093,177085,180418,181919,177857],
+	"label": "chair"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [178818,177081,177270,174806,179327,176150],
+	"label": "chair"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [128883,133018,129324,133859,129328,132879,129744,172779,172880,131278,131333,171210,172411,177996],
+	"label": "table"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [133664,175667,132226,131961,176031,131917,130261,131482,178661,178202,174840,175668,132121,133330,133872],
+	"label": "chair"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [169850,171564,179077,173237,177439,170319,177301,178512,169865,178244,178699,176420,128810],
+	"label": "chair"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [127567,129651,127004,128469,129498,129053,128783,129194,128425],
+	"label": "chair"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [172695,172128,156289,218385,160177,217691,152650,218878,154566,159847,171889,220418],
+	"label": "chair"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [222238,220438,217783,218981,216934,172369,220762,218015,172897,221433,170810,216428,169573,169896],
+	"label": "chair"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [217663,220422,220435,220379,221469,223553,217293,225932,225828,223697,225208],
+	"label": "chair"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [228426,228022,227914,226358,247328,227868,248266,227731,247445],
+	"label": "chair"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [259131,253642,255888,253424,254910,259451,259867,258029,258802,253445,253950,255721,259551],
+	"label": "chair"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [111095,111219,107122,111134,110395,107691,112095,111361,112288,108840,90034,90200,109324,109571,83966,112234],
+	"label": "chair"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [114778,115139,114821,112448,115059,115212,93034],
+	"label": "chair"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [51841,83404,51378,87660,85442,82896,85241,86288,51422,87733,46858,49848,50462,50958,83279,83977,84288,84322,86824,89882,87566,88603,89309,90464,88873,45986,45878,87116,88809],
+	"label": "chair"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [78325,80080,76639,80751,76732,77759,79451,79427,80364,78894,76593,80202,77221,77479,77836,78409,78814,79000,80047,79781,79865,80332,79829,79896,80071,80166,80652,76104],
+	"label": "chair"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [43291,42785,83347,43321,42307,83450,44050,42899,42444,82856,83596,82136,42122,39557,39813],
+	"label": "chair"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [34939,36317,37157,37562,38013,36788,38148,38554,34724,36126,36931,35598,35402,35561,38002],
+	"label": "chair"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [12758,14072,13033,11075,11731,14301,13830,13142,12961,11784,13009,15069],
+	"label": "chair"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [29371,32585,30125,31870,30059,31355,29085,28876,28137],
+	"label": "chair"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [74752,65067,75725,69856,69644,31610,24775,64817,65052,66986,73732,70902,33147,74581,74717,65209,65854,73600],
+	"label": "chair"
+	}
+],
+"segmentsFile": "scannet.scene0420_00_vh_clean_2.0.010000.segs.json"}

scene0420_00/scene0420_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.587785 0.809017 0.000000 -6.170760 -0.809017 0.587785 0.000000 1.186980 0.000000 0.000000 1.000000 -0.050335 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999999 0.001589 -0.000662 -0.037792 -0.001590 0.999999 -0.000655 -0.003775 0.000661 0.000656 1.000000 -0.022027 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.727112
+fy_color = 1170.187988
+fy_depth = 570.727173
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1393
+numDepthFrames = 1393
+numIMUmeasurements = 2965
+sceneType = Classroom

scene0459_01/scene0459_01.aggregation.json

@@ -0,0 +1,180 @@
+{
+"sceneId": "scannet.scene0459_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [121,70132,36685,34700,51433,36098,14445,34809,37472,53274,37134,10976,1716,36961,36918,52563,35932,35828,9669,50330,36483,10279,2539,53632,73718,37081,38023,53485,53137,12675,38000,53609,53475,53528,73452,73798,70085,73793,53450,72250,33725,11680,73300,33903,72574,52577,52332,12699,37627,36173,1516,36085,36632,14820,824,701,14809,13606,14897,8908,2435,1187,1818,714,816,8661,1572,13173,14489,9503,11726,53540,13707,8644,72634,53775,70732],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [24508,25285,24347,41034,19973,40113,43057,41410,25136,24318,39968,40164],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [81833,82903,85648,85486,85342,86681,86662,84431,83505,85521,83649,85349],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [5258,12101,7536,12162,7435],
+	"label": "trash can"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [107724,26464,4027,58687,3501,107756,3651,4305,4153,3926,3530,27617,3890,58285,18356,19829,87449,17110,16249,75184,18228,77154,38850,59106,38395,29515,41466,55277,41482,5792,5672,7350,27707,28982,27610,73995,107992,46751,80881,43542,75325,56552,61699,58309,57261,57356,55121,77031,55049,55385,75429,74801,54459,75888,108058,75109,74675,75931,107552,107560,108098,108431,108328,77047,88301,87812,86907,86857,87237,87134,80489,78731,39503,39496,39280,54959,57155,39253,88001],
+	"label": "floor"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [83045,90617,83955,86627,92577,84260,79101,85635,83124,86014,81053,85237,84041,83694,81900,86130,81927,92596,81142,81795,91945,86404,90017,81883,79757,84016,86539,81807,84463,85754,85316,85977,90890,82020,79465,89061,81475,80754,79174,80054,81953,84694,81160,85803,78803,93017,85832,91571,86058,79575],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [65293,88614,92956,66128,59596,65881,64588,62132,62494,62288,62594,82145,84174,91392,64508,92992,63572,65527,66375,93694,86829,59567,60060,62028,91923,87660,65400],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [115461,88537,110225,88322,91726,88771,90491,114412,90675,92261],
+	"label": "chair"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [32387,31274,31904,46494,28116,32276,30003,31781,30715,32890,31601,29353,29943,32675,32605,28695,28053,30935,29106,27686,28135,44276,32497,32308,32751,31099,31148,32614,28835,27952,31073,33522,30553,45387,30698,29988,30957,32720,44301,43318],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [45325,46232,45705,47338,43519,43575,31106,45874,48857,30621,47207,48286,47346,45096,45961,46149,45489,44016,44322,44558,43406,43279,46366,46268,45885,45948,27559,45786,32100,45994,43530,44170,28669,44144,45153,45821],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [62081,66179,91886,63722,63972,64304,62981,62810,65090,63541,68377,64130,61863,66474,64402,66979,90012,64891,62763,66600,62175,66534,68224,64159,65520,67781],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [61740,48644,66362,64938,47807,46937,49674,47440,49237,47011,48262,48636,48117,65548,48521,47889,49747,47181,50001,47146,48203,66698],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [68769,68361,67789,52776,68504,67914,69241,67822,51288,69349,69367,68844,67719,69529,68676],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [47000,48190,49323,48953,48393,48915,35554,48585,48574,46985,47053,47434,47604,36714,34826,47451],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [65164,64353,62457,63036,64389,62397,61790,62867,65754,63670,65507,63195,63079,63546,63895,66184,61116,61171,61100,61114,61161],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [36648,35738,36864,36429,34299,35436,34119,35144,34944,36630,32985,34287,36846,32941],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [52474,52999,51688,53067,52594,52248,47287,51978,51165,51092,52467],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [33823,15441,34551,15505,35574,33450,13896,36449],
+	"label": "stack of chairs"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [77135,42679,78112,43003,42727,78125,41523,41845,78004,76971],
+	"label": "doorframe"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [112586,111686,112529],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [112846,112228,114049,108820,82127],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [83913,83309],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [22317,15933],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [17698,15953,17671,23717,25663,21379,23885,19210,17700,17354,22906,18189,19302,22931,19500,19739,22688,25081,20132,20809,21061,21336,22362,23622,22782,24283,23878,16286,24938,25067,24523,24090,25441,15954,22337,23981],
+	"label": "wall"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [11500,9793,8588,11489,5255,11893,8713,10849,7250],
+	"label": "recycling bin"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [5939,7883,4824,5207,4941,5993],
+	"label": "trash can"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [103917,102460,94363,72471,96890,98862,104557,99553,104654,104443,102420,102320,96655,105870,105016,97289,94291,102984,94685,95469,96393,96446,97237,97596,97728,97764,102859,99379,99514,97538,100238,99630,106867,102812,99832,98576,104052,100076,105885,100798,100907,100945,105896,106965,101999,106123,102035,102738,106618,103564,104763,105135,105468,105544,106013,106034,106092,106562,106148,96781,94874,106415,106967,99551,101036,95317,100694,102450,71141,94306,94792,99571,101029,102903,103866,104001,105100,105158,106180,107203,101835,96102,98950,103790,103231,100439,97236],
+	"label": "window"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [88720,97863,101224,98978,97968,97438,101099,97517,93118,92071,112964,115355,89316,93382,109827,109570,88506,109561,110274,113387,111467,111521,109728,115497,116324,113197,101894,115044,113251,110085,112005,103257,91901,111174,89745,110246,95877,114613,102877,89599,98591,94801,89969,101690,95631,90196,113422,90197,90512,100317,115555,115568,95601,90749,90752,98670,91125,95052,96417,113575,96878,97275,100160,97562,111329,98040,98334,99106,99435,110805,101161,101214,109787,109801,109831,110363,110411,96362,110595,111029,111110,111407,111646,112214,112235,112470,112570,112709,113093,113157,114076,113547,113594,113757,113914,114858,113935,114091,114404,115408,116304,116350,101708,93837,93490,101579,112742,103108,96718,97990,98268,98615,102610,109102,110255,111412,114125,114420,115327,115811,115890,116107,116413,116505,116626,100262],
+	"label": "window"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [97696,92306,69582,67398,68513,62729,93237,89998,93816],
+	"label": "table"
+	}
+],
+"segmentsFile": "scannet.scene0459_01_vh_clean_2.0.010000.segs.json"}

scene0459_01/scene0459_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.580703 0.814116 0.000000 -1.782210 -0.814116 -0.580703 0.000000 6.766490 0.000000 0.000000 1.000000 -0.058151 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 892
+numDepthFrames = 892
+numIMUmeasurements = 1786
+sceneType = Misc.

scene0505_01/scene0505_01.aggregation.json

@@ -0,0 +1,354 @@
+{
+"sceneId": "scannet.scene0505_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [64420,49654,65227,64946,51600,48797,49398,61132,62132,62219,62809,63786,64268,64950,62507,65087,53940,65061,64134,52340],
+	"label": "box"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [62035,63580,114496,112309,116468,130372,118272,111091,126049,116671,127862,130055,110799,118800,111238,120788,121099,52177,61912,112984,113763,114129,114216,126307,127161,127650,129022,120669,130558,131804,126667,126246,111945,113053,115695,113791,113555,118961,112122],
+	"label": "couch"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [199963,48780,219464,271102,290214,142577,28311,135648,201956,136295,337556,111911,240404,218786,241797,217931,258641,288398,186433,70627,241484,346798,291180,46880,48971,127038,346847,259581,110957,63571,290628,75144,78079,128178,199453,78485,96330,129057,96986,219450,97035,180536,112741,258443,290559,113808,288798,199300,180260,128413,241646,232522,128656,277535,136211,180974,142407,150424,186909,201375,178967,186958,188572,188420,200353,348182,201807,211482,335854,213563,233524,242025,199556,239739,239827,258322,258972,277544,277809,278170,287700,288081,288373,289734,290585,291747,312877,319816,320840,320974,333356,333828,334208,334277,334546,335056,335411,335911,337418,346237,346316,347051,372985,373696,374141,374320,374543,385503,135703,233535,384524,90536,333958,90811,150748,211971,212798,219128,290377,219479,147760,335423,334517,385639],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [268498,337739,339346,348957,339702,337147,339351,341573,341919,350014,337829,339068,340669,341619,350202,335878,349501,334317,280832,350171,279385,270017,272004,334299,339888,269980,337203,268439,279228,269673,334127,334808,336299,336812,335349,336020,336897,336102,334600,337442],
+	"label": "office chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [214576,224354,222193,223355,221674,224855,219924,213931,221245,214507,211719,224025,152751,153415,155680,143497,214703,213903,142514,214111,214073,211437,211399,214591,211890,213276,212983,220163,218029],
+	"label": "office chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [153682,143926,81749,92663,157020,149105,156878,155561,92665,75321,154700,152693,80817,149028,151616,154251,155031,156821,79081,152370,155479,155607,75745,82083,79629,152207,80798,80569,76891,77637,76911,147592,153525,147827,149220,91410,152875],
+	"label": "desk"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [326039,324106,325566,380620,378278,374727,377561,323429,374445,378010,322192,324092,377025,321791,321448,326265,378913,379362,380629,324597,337891,374488,322161,322069,324093,325537,325853,341311,319112,325130,320738,320309,339624,318935,321140,373908,338895],
+	"label": "desk"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [266366,211163,304394,66572,124213,272190,123618,267110,58498,66051,273576,65922,267858,184353,66238,66693,109309,66955,198946,138566,67362,89305,67616,198855,68038,265658,275170,184486,68238,108227,275584,304947,109854,198220,124046,183961,273897,184134,144791,267721,184360,66364,184786,264321,216084,185278,186163,139879,193008,264662,193089,197210,145852,197224,72258,210594,145378,72671,366162,275112,303785,210632,352291,264912,264760,265900,266301,266364,266638,305285,286426,273678,267259,275391,345568,267342,267960,272461,273115,273837,366584,332455,273919,274979,275847,276170,277158,284851,215448,285200,285710,186178,286507,303456,303474,344986,303488,303760,304263,72952,304495,304517,304621,304704,185781,304829,304877,305318,305416,305729,305863,331452,342558,330594,25368,140636,330615,331281,332306,332638,68330,332662,332969,333044,333051,342699,345369,342721,167166,342726,343282,343700,343944,257551,344417,345003,345168,144505,345690,353093,351093,351164,351621,351729,351958,352152,216416,352243,353232,353638,354735,354740,365189,367370,215336,66541,66994,74355,139681,144760,145946,146242,184868,185320,186006,215889,227867,216426,216499,216955,368771,227821,217012,227698,228848,257758,353056,353735,354134,354420,353938,354534,45445,19697,20578,21228,21257,21294,21406,21503,23991,24547,58743,59393,73426,87148,89031,137577,165976,168078,228137,228385,330920,331399,331911,331974,332834,333094,352020,353351,354090,365319,366103,366401,366422,367439,367702,368097,138960,168050],
+	"label": "ceiling"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [140847,69074,146803,138340,73917,215360,66395,146318,66547,140362,66552,68673,68992,67635,138540,68062,138894,68605,141057,137218,137785,138124,138243,139481,139578,140023,140430,68503,66028,144929,145405,146434,216942,145800,216973,217359,217472,137722,146205,66430,215150,138468,66725,67908,137913,138768,139333,138929,139918,141034,146546,68518,74695,68759,137388,140121,67766,67195,139812,66147,72377,137421,215394],
+	"label": "ceiling light"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [275096,266411,193185,274384,192219,265277,185279,276251,344138,184234,274707,273370,183841,185297,264921,267007,263742,267206,267509,343270,273179,273380,277106,342205,264375,344127,354336,351140,352811,191217,191736,274645,266935,274849,275809,276440,272816,276741,276815,264145,342833,343764,343926,272788,264255,344438,345862,273467,346061,353378,342670,344998,264445,352717,191379,263882,272108,264688,265027,265079,267582,268030,273761,274635,343928,344273,344385,344677,345220,345327,345801,353106],
+	"label": "ceiling light"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [95822,4619,102150,59734,57869,103151,99702,181985,55968,54543,52719,175786,174605,103506,1795,4368,180311,50798,58079,4683,52047,104782,99853,52381,175842,58776,101702,53524,5748,102492,60570,58827,56050,104192,56296,100372,102818,56759,60090,185253,57176,57383,104534,58354,57677,60369,2827,58492,98155,58507,59126,59177,99096,59245,103410,59803,59825,60127,97788,98734,103099,98761,99199,8297,104298,99250,8526,95634,99818,100018,99942,101435,101628,101867,101997,104450,104643,105804,106639,106708,107253,107977,108064,108246,108443,108494,108655,110140,105768,114977,116544,118417,121431,106184,123374,178382,123789,124135,173539,175423,175442,95728,55027,175678,175730,180250,175838,175879,175967,176303,176490,176869,177447,177550,177643,101156,178149,178331,181291,183202,183327,183959,184480,181831,95742,98178,104439,172617,1721,96544,174662,96205,102859,179967,180717,107150,107517,15094,107690,106679,102655,103676,103938,104687,108170,176227,106153,102556,103337,106755,106991,107752,103520,107875,23693,2925,578,3015,3187,3654,902,4195,24952,25052,25193,24257,25409,96758,5244,20068,1399,95861,180773,96414,179176,468,10930,2392,2241],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [22790,20183,20373,24114,5035,24846,20256,21572,21838,24783,23738,23884,24422,19412,24803,19399],
+	"label": "window"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [5297,2306,18312,17735,17714,7740,17443,4635,9485,8171,20472,9986,2324,5493,13068,6197,7174,7332,19010,7878,8048,16477,8592,10248,9129,17194,9860,10039,10686,11038,11977,15948,12451,9133,14622,15258,15960,17184,18434,19034,11330,8792,9110,12278,12580],
+	"label": "door"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [50733,63404,49492,65406,53337,64473,51626,52186,63261,2974,2894],
+	"label": "box"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [64739,51407,49287,54451,64153,65604,51074],
+	"label": "can"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [53008,120242,116980,50017,53610,53164,51569,52366,52355,116778,52140,52447,50835,51925,52906,53101,53114,52145,53943,53953,54171,117913,115743],
+	"label": "box"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [167586,417,92532,24378,157336,39765,31117,26994,87689,90875,87755,29454,48158,167461,91042,88733,94560,94283,168377,28003,79818,161091,26186,155752,25890,18872,26048,147361,27630,27725,28381,41204,29669,170373,29814,31410,32482,152617,91482,34557,47048,165159,47745,77253,78265,27113,83823,81148,81220,81231,84040,90715,91479,165545,164633,91522,92522,148443,170486,152072,26479,46902,27327,147043,149375,155166,160533,169886,78379,159716,163652,12615,165223,167622,168614,168593,171293,2512,21205,22704,25544,22674,23029,30366,1406,51,249,1118,165913,18348,38609,38217,16122,43347,41569,32886,17758,37766,43340,1637,33873,35340,1552,161059,157226,171012,171286],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [71411,70871,71552,70028,46980,30900,71827,47371,71075,69912,71742,48034,47056,47601,47806,33450,71892],
+	"label": "trash can"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [75353,78818,81532,78673,80323,78213,75626,79715,77801,79593,81023,81689,82210,47875,77042,82666,75719,76063],
+	"label": "trash can"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [42413,36130,18807,29851,19166,31522,36785,36626,34698,12315,40427,17267,37314,39133,42440,39145,43095,30657,42101,39453,29738,12402,19368,10096,30471,17265,13600,41195,14664,9341,30217,17107,2006,2112,7748,9876,8665,32590,30606,8682,9096,15207,9217,72059,32830,9296,29880,10700,11018,29194,11204,15092,13315,14100,31270,14180,17093,17412,19131,29299,30549,29461,30183,30326,31339,32659,31745,31652,32311,42238,32693,32863,39570,38080,33049,33192,33508,33599,33714,33729,34353,34808,34970,35066,35259,35280,35358,35592,35723,35865,2398,35953,36081,36229,36667,36885,37143,37237,42383,37438,15560,37483,37493,37605,37677,37763,38508,38531,38895,39128,39555,39745,39966,40140,40278,40492,40494,40664,40839,40955,40975,41180,41532,42139,42483,43396,43856,44025,44125,44204,44230,44326,30409,28983,33336,12004,8814,9211,9788,15394,17416,29279,8208,14402],
+	"label": "shelf"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [45556,74343,45897,46515],
+	"label": "box"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [93936,159099,163467,158785,158615,157087,159869,163094,158728,163082,160583,163323,93173,158861,159662,158889,157820,163205,162680,159607,159664,159673,164075,93822,162781,157840,163774,160700,162490,158634,85639,157854,161549,94442,163494,163814,160864,159472,163285,163314,159719,160997,159469,158272,159805,162050,161467,163429,159691,162544,94108,161777,161216,164406],
+	"label": "shelf"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [79207,79662,81304,79919,143535,82561,82543,80925,82329,83369,83278,142850,142869,82051,80271,81879],
+	"label": "box"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [143609,79634,152638,156440,152022,91591,81036,154611,143832,92274],
+	"label": "monitor"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [147094,153705,156035,148537,154448,153082,170699,148454,149503,150868,156677,153224,155162,150844,150066,150854,152840,152635,149901,149331,150803,149790,153629,148891,156261,151299,151692,152767,156006,168517,169757,147651,152133,155932,169735,170665],
+	"label": "file cabinet"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [167886,298700,295455,167766,300352,293366,389391,292569,223389,303687,224641,160285,220550,221702,221929,390646,225280,305391,307570,306445,297825,287639,289833,289580,346272,300329,289992,290066,291232,292271,292816,301070,293123,306727,293197,305204,293365,295341,295558,296104,300784,296649,384908,298244,299555,306753,307187,299969,300133,300440,366293,306973,300811,301518,301605,301936,302376,302472,302836,308633,303859,303918,304497,304859,306667,305183,306644,347090,347354,351642,306383,352106,353703,354949,363909,364558,365582,366191,366359,366513,366539,366893,366897,367391,367976,384635,392424,385191,385433,385735,385910,385911,386552,387059,387724,387855,388823,222454,220155,218404,219563,221654,227941,228454,286999,289961,306295,218061,306695,351270,365396,366217,367480,386500,170423,157127,157506,168012,168209,169593,170733,219084,221398,222188,288264,288651,300719,303436,287304,354279,368329,226202,287146,290734],
+	"label": "wall"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [223361,226552,221092,303081,229236,221223,307950,223252,301292,230787,221918,228608,169145,223052,221902,309700,298155,303263,227788,168570,158903,226608,169320,224939,222087,222559,230242,222610,308196,224500,224793,309725,308416,229730,225669,226966,226973,227256,227933,227294,298156,227844,225322,229799,229046,230475,221507,230738,231609,300797,307148,307750,307981,308238,309332,308630,308875,309246,310290,220834,220353,310824,311083,310981,221068,311059,309881,230821,223054,223450,224627,225960,226343,226526,229221,230556,229551,229874,229922,230067,230273,230291,306887,307831,308446,308927,308955,309401,309808,310034,310181,310589,311019,222639,308788,220339,220633,222296,223261,223744,296065,308844,222103,225399,229481,306919,307266,221957,222083,222252,223985,224094,224818,307712,310261,169358,156575,168391,227570],
+	"label": "window"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [356326,356515,361972,392693,358059,391180,357721,364891,361502,393013,391560,387420,362321,349653,355885,387514,356907,350513,389397,356762,357230,358310,362773,358545,390223,362067,355917,386931,359420,391784,360639,360307,359569,362391,363036,393231,360743,349882,363364,389826,363762,390254,363280,386626,386823,387334,390401,387570,387881,386774,388178,363054,360329,392408,389742,360115,389322,388625,392615,389488,388733,360957,392728,388989,358873,362231,391411,391909,392491,392379,360658,351045,393368,356131,359363,356833,387053,387557,390053,387237,393149,350895,352286,350872,350947,351001,359694,367045,363725,363727,363983,364011,364050,361668,364080,364435,364501,365092,389711,392121,392307,366097,392578,392650,368405,366850,367187,389139,386577,387565,357645,359280,359932,363499,360071,360090,360129,360440,360685,361340,361511,362006,362053,362543,363152,363268,368075,387251,387918,390015,390168,391213,391688,359474,359992,362509,355980,363416,389632,393563,358175,359553,360082,393617,389358,387606],
+	"label": "window"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [289797,214148,205885,214294,214718,207405,293901,214136,287066,287523,201913,291412,204868,287703,202282,199862,200634,204136,201774],
+	"label": "desk"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [199425,206441,202611,201532,200582,202177,135751,204244,205920,208681,205821,209349,208974],
+	"label": "file cabinet"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [205006,205184,207344,203763,208966,203245,203265,204110,208107,209208,209099],
+	"label": "box"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [213835,298563,295143,213805,292124],
+	"label": "monitor"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [205830,204355,280927,201775,203209,204672,207547,206283,207182,281005,201495,203129,202149,199361,199653,209960,210415,206422,202393,206777,207472,208532,209056,204374,209924,281464],
+	"label": "board"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [271754,269372,268973,268371,278255,196453,268638,269716,269584,269608,269692,270700,271307,271616,278855,279073,281516,280219],
+	"label": "file cabinet"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [281162,282765,288563,291831,281392,297166,359099,281186,358867,291938,271863,282672,281146,283687,208519,289276,289035,355257,287272,298150],
+	"label": "desk"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [295263,298752,293963,298074,280265,283664,281357,281138,282453,298075],
+	"label": "monitor"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [281499,349555,282415],
+	"label": "keyboard"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [282900,283191,283459,282213],
+	"label": "keyboard"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [373797,380320,386054,385684,374023,386376,373024,385548,389800,379272,374874,389455,373451],
+	"label": "file cabinet"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [369272,370522,381447,327297,318124,315192,311494,257945,379732,313774,370430,254155,325497,322429,240346,320627,246705,321309,311808,317361,241275,257166,384088,248350,321698,315874,377795,244482,312962,372861,250940,253497,316109,253951,243768,322200,322884,254222,255056,324187,255260,330670,257453,256030,315075,258049,318255,315349,312438,326176,322664,312445,380906,326687,312938,313927,314486,317766,314868,327545,315119,316515,317539,320162,317545,325630,383989,383162,317588,317933,318269,318394,320865,321428,321780,326703,326740,332893,327233,327632,328220,328314,328350,328718,329154,329190,329222,329477,329786,329905,374802,330093,330409,330424,330448,332028,332518,368829,368883,369048,369342,369616,369780,373563,369830,369951,370065,246302,370708,371102,371196,371329,236908,371573,371796,234139,371951,371978,372147,372606,372920,373142,374147,374467,374516,376101,376412,376924,380106,377076,378612,378616,378712,379255,379663,380234,380846,380971,381408,381733,381823,382024,382067,382376,382947,383000,383381,383663,383815,383994,384014,384082,327475,232351,247564,311913,314580,327325,317860,329449,331803,332695,332760,333049,332474,256731,239745,236616,233492,234497,234613,235387,235443,240411,250259,250271,257631,232286,376909,315588,251255,254386,253028,253182],
+	"label": "wall"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [375728,379895],
+	"label": "keyboard"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [379574,375519,375802,377408,377364,376943,376324,379460],
+	"label": "monitor"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [338158,341278,338085,342165,339030,337816,341335,339754,341877,335363,341970,341839,340759,337746,338921,340323,340782,334853,336178,334097,334101,334333,336097,336339,336499,335691,336557,337179,333802,337086,337034,336491],
+	"label": "office chair"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [237837,251081,255635,251805,252977,256143,255178,251864,254093,253152,251233,237745,255305,252620,256667,253012,236156,255443,252907,252574,254146,253383,255079,256630,236169,255546,254881,253149,251085,252081,253892,252571,254792,252674,251901,251035,237880,238592,250700,252710,253540,254115,254467,255818,255136,255838,255975,256883,251523,255036,256188,255808,250291,254022,255418,251090],
+	"label": "shelf"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [236533,237852,232684,250788,237703,238930,235338],
+	"label": "wall"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [238663,235725,234191,236614,236038,234808,176313,237503,238629,177867,238931,238702,178136,238874,238793,235093,233958],
+	"label": "wall"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [324996,260993,248303,313062,325579,243751,248469,247976,262323,246184,246953,247505,261741,249868,312716,312823,319047,311712,232486,233847,233444,249144],
+	"label": "desk"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [248187,249350],
+	"label": "keyboard"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [248824,242668,245761,247303,246527,249863],
+	"label": "monitor"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [260820,245685,260745,262307,260793,260735,245740,245870,262618,245972,262838,260461,314550,314673,260728,313277,261556,248822,246052,314842,313422],
+	"label": "computer tower"
+	},
+	{
+	"id": 50,
+	"objectId": 50,
+	"segments": [245726,263176,263177,239529,261737,181903,248944,260446,260559,263283,261397,261708,181963,242635,261523,243165,248882,241860,263169,249079,241856,249440,249883,262154,261663,263391,241322,242545,242075,182993,241832,246939,261415,260845,260953,261197,261587,242253,261063,260304,240203,240202,259454],
+	"label": "office chair"
+	},
+	{
+	"id": 51,
+	"objectId": 51,
+	"segments": [189005,182283,189400,189459,119329,189428,115782,188563,190449,189129,189086,189507,189966,190102,189748,99348,181323,187923,181856,183093,189774,188945,189910,190931,188999,182055,188291,187530,186900,186917,187780,188615,188244,188569,190711],
+	"label": "office chair"
+	},
+	{
+	"id": 52,
+	"objectId": 52,
+	"segments": [246635,249809],
+	"label": "box"
+	},
+	{
+	"id": 53,
+	"objectId": 53,
+	"segments": [249652,244337,248762,245039,243590,242882,247428,245919,243544,248602,245449,248545],
+	"label": "box"
+	},
+	{
+	"id": 54,
+	"objectId": 54,
+	"segments": [191028,96803,189064,116324,120907,190171,187335,100768,126192,97919,100483,97272,95807,188069,125677],
+	"label": "desk"
+	},
+	{
+	"id": 55,
+	"objectId": 55,
+	"segments": [196702,133129,133321,132168,129902,131850,130728,196705,194618,130724,195947,196853,130155,194074,131245,193663,194214,193530,130451,131476,131653,130156],
+	"label": "board"
+	},
+	{
+	"id": 56,
+	"objectId": 56,
+	"segments": [121863,121286,119694,117070,127095,123062,125828,118211,126591,120794,120343,130320,127033,130278,130569,116223,121479,122889,131152],
+	"label": "divider"
+	},
+	{
+	"id": 57,
+	"objectId": 57,
+	"segments": [38358,48239,48371,40747,48436,48324,86202,47561,93070,47384,86233,86690,93437,93643,43997],
+	"label": "whiteboard"
+	}
+],
+"segmentsFile": "scannet.scene0505_01_vh_clean_2.0.010000.segs.json"}

scene0505_01/scene0505_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.788011 0.615661 0.000000 0.972584 -0.615661 -0.788011 0.000000 5.065540 0.000000 0.000000 1.000000 -0.166035 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 4336
+numDepthFrames = 4336
+numIMUmeasurements = 9146
+sceneType = Office

scene0505_04/scene0505_04.aggregation.json

@@ -0,0 +1,294 @@
+{
+"sceneId": "scannet.scene0505_04",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [132541,132388,131439,130254,128093,127391,131333,127091,130907,132458,90040,127489,132364,125510,127567,91783,125814,128607,126121,126430,126630,128248,126684,129567,130838,130921,131003,128555,131755,131503,132461,132656,127879,91132,130044,129560,128212,129636,128448,129493,127714,90002],
+	"label": "chair"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [106647,109281,110206,108767,106512,108326,109275,109448,103571,106595,109978,110048,107649,106632,107847,107936,108099,108473,106779,109848,109184,109654,105885,108771,107197,107491,105751,104710,105700,106393,103927,106506,108844,103951,103521,104489,104163,104107,103418],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [190184,189999,187490,189254,188214,188328,185675,189138,186271,185210,185145,188871,185138,185361,185857,186797,186012,187710,187723,188014,187900,188565,188610,189151,189572,189750,190146,192485,196518,185841,185226,136142,191444,188697,190466],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [178397,173001,178855,177895,178499,177141,177127,173205,179375,173351,173747,174086,176242,174716,175207,175273,174101,177232,176638,177437,177700,177675,178268,178588,174736,178872,179015,178793,179573,173690,173808,179373,176592,174661,173296],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [223666,219000,223350,223269,222091,220272,220292,219890,219552,217966,221349,221502,222661,222689,223299,223513,224627,218058,220298,224499,227835,227836,224464,221508,222444,221577],
+	"label": "chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [183059,95240,28134,126457,111885,182971,51870,187215,51962,180986,180430,119479,127956,19829,80641,181484,21791,91608,129078,104267,180233,53824,119655,240536,53043,18690,198270,81071,55605,515,82095,11985,18683,18700,104529,19063,126050,20451,46486,29250,41047,53413,41253,46334,81188,50985,53194,51685,51826,52482,52733,91004,100971,52966,53080,82357,53812,219532,55523,80108,79715,120973,80307,184788,151243,81037,91177,150826,125404,153152,98094,104813,121293,201588,127169,128096,129438,129472,132747,201263,132857,134793,136161,137463,138316,138505,138631,149919,150744,151618,151720,152004,152983,153639,167654,168396,173143,173184,173596,174052,174922,175082,175839,176557,180579,181812,182378,183985,184245,184810,185183,185758,187629,190328,190916,191510,197767,199941,201502,207980,208100,208982,209713,240694,217554,218515,218724,219659,219963,220742,220926,229387,234335,234834,235906,240669,240706,241592,242435,242451,242553,243103,243236,243586,60064,59321,59234,58288,111717,110884,58806,175874,175550,127576,129663],
+	"label": "floor"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [86046,84738,84024,85018,87576,83455,85186,88586,84468,87731,87901],
+	"label": "box"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [140508,135250,135841,147646,143730,145826,135905,141677,144912,146443],
+	"label": "box"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [210633,206835,213765,203377,199261,214402,213614,217099,214739,211502,202366,198196,212511,239913,242405,197812,237248,215531,206881,239687,207126,239639,246132,198346,240074,206026,209202,172596,234018,198094,215381,198287,198216,201016,213738,199984,207697,238678,200246,200602,234648,206598,200735,201230,206384,201582,201304,201499,201544,202799,202916,217293,204478,213033,204679,211590,206761,210175,208281,208873,213670,212452,213253,216578,234402,234590,247149,236718,234608,234949,235251,237891,238134,239648,239807,240400,243651,244566,248235,240868,208140,208214,210402,210985,211413,244238,233927,209542,211154,234706,238487,221311,223652,217724],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [2830,35401,4550,75002,9573,10450,22268,4087,20108,9662,6319,59318,8903,31211,4766,10427,9387,34316,32451,9220,3492,64943,10128,3584,10307,4840,3153,336,2113,2709,20413,5886,1415,72089,77393,763,10999,1038,1188,9318,6314,8923,19901,20277,22025,20657,37540,21061,34257,31028,22584,23061,23143,23198,23382,24178,24860,25406,29126,32389,35500,37962,37261,37603,37712,38327,38390,38470,38503,38550,38691,38867,38872,39770,40604,61146,68198,68791,76992,78429,29334,6357,5257,29804,29270,28710,28605,72399,20351,20866,36029,34029,61862],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [154051,59597,113356,74840,113378,195857,75077,62564,111631,162772,163591,114537,164325,165644,114569,111601,153873,117069,164314,110694,58780,60673,165156,61283,71469,67897,62136,156465,197058,62879,229070,70978,67771,164965,67966,158379,160856,110283,111660,114888,164520,77523,163723,194389,164293,164664,228610,164820,74418,77664,77879,61032,76457,61808,196567,63739,64642,70518,75534,160101,77100,161493,166382,160258,161285,190489,64693,164887,161694,162689,167004,244706,241939,110786,153431,161793,191533,192049,192701,193836,194143,195133,195901,196409,227886,228505,229813,229889,232755,233196,250543,241447,245428,248174,248212,248427,249271,249709,231688,228060,228318,228440,229621,65688,72034,191303,248627,190687,60805,191323,191555,229234,114772],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [81308,15528,41393,11435,41501,41056,41433,42002,172046,86040,11998,49489,41651,41579,3473,85550,3197,4331,4735,168810,119666,86671,82106,79545,167553,82218,85161,83936,84009,87596,87418,119506,119973,86276,123284,121157,170478,172126],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [177809,205382,214430,203122,213190,182621,209387,216868,214128,215882,213512,216965,210677,208538,207240,178180],
+	"label": "desk"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [92042,85343,82694,80770,94559,131759,131599,83566,130669,93915,94416,81065,87909,94443,130084,131777,85598,84634,92935,94490,93693,93466,86262,92014,94764,92913,80587,92001,86338,81529,79374,80416],
+	"label": "desk"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [241061,225082,227362,219514,227350,243241,223838,246320,212916,222069,222255,222560,223379,223193,224304,224308,224911,224998,225028,225233,227448,227561,237440,247227,218137,220659,220055,218834,227451,243750,241807,245233],
+	"label": "desk"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [191893,158651,154508,153821,193810,145774,147826,157583,159312,195001,154013,148102,148395,152964,153334,146851],
+	"label": "desk"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [60357,60757,33767,63215,31723,56816,31131,30832,31120,39837,61193,62836,64114,65704,56674,60160,29913,30246,33763,56357,64585,56953,32079,30427,31081,28232,32718,56124,29535,28193,64753],
+	"label": "desk"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [166674,77546,113410,166012,113990,63547,69920,115192,74992,166700,167246,78823,116740,66802,77660,67538,112084,78914,165977,112016,112089,116578,113320,114002,115065,75622,163784,115745,166143,115804,115878,164124,117721,115958,72256,116503,68307,67872,116773,78141,116945,165880,166056,75344,69881,78562,60460,115776,113907,74533,117843,114210,117288,117912,166706,78794,77232,164582,116169,165070],
+	"label": "window"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [230260,232258,197089,192555,196315,250614,232707,250345,250357,249915,250668,192665,195322,250713,233353,233321,194218,197589,193959,196937,197067,197435,230305,231903,197462,233311,250126,231551,233413,250533,250586,250172,250980,250828,250729],
+	"label": "window"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [48812,47498,49771,47902,47610,48005,47582,45016,46832,47424,47823,48785,49831,46792],
+	"label": "trash can"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [2033,14914,16563,4295,1982,14740,4954,17582],
+	"label": "door"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [85443,82843,84055,84322,122382,83893,122212,84130,123650,87861,84578,88709,86817,87060,88933,85197,124013,121915,88635,124329,86862,84307,88536,88861,84969,123572,89198,122239,83962,84194,122600,85088,88394,86056,87756,121660,122608,125170,86315,88793],
+	"label": "window"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [170224,172566,172533,122903,123597,123539,124959,125032,122013,118441,118871,122278,171576,123636,124433,171413,124913,172869,169609,172112],
+	"label": "window"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [82675,48589,50600,16924,16840,50544,50784,13234,14826,14891,15056,50595,15218,16670,16678,17110,17132,42039,87297,42298,42504,49360,50764,42153,44094,44233,44009,47685,43101,42518],
+	"label": "window"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [23605,24586,22915,24897],
+	"label": "table"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [225040,221467,225595,224582,225654,223456,221659,237777,238439],
+	"label": "monitor"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [203792,212637,205610,205805,212456,203172,203083,202852,203298],
+	"label": "monitor"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [135767,134692,142872,143676,143417,133584,135792,143024,134432,136462],
+	"label": "file cabinet"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [95017,135481,97783,93606,97384,96314,96885,129885,96533,93263,97020,97303,95361,129214,132779,134847,136040,133582,134613],
+	"label": "file cabinet"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [46221,48992,47776,48752,49367,45659,49664,48249,49928,48608,48431,47025,46576,46655,47812],
+	"label": "trash can"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [26696,26765,9848,9921,26257,27176,27558,35651,26470,26990,22674,30659,33754,37552,37144,10322,10344,7264,23160],
+	"label": "whiteboard"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [57700,57225,58022,58225,58202,76820,78831,58147,36222,58137,78802,57244,57762,76596,68863,78329,69747,69437,78645,57995,69463,57283,34713,73132,58003,58026,36018,34572,69983,73289,70899,36369,77104,57554,35083,36849,70118,36179,68510,57574,34102,57814,72214,75298,70548,74314,36294,68239,57431,57181,57338,72917,72636],
+	"label": "shelf"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [63420],
+	"label": "keyboard"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [69615,66299,71613,66179,69999,63444,70590,73414,68891,74223],
+	"label": "monitor"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [155432,107144,159578,108777,159343,156921,154205,160540,159929,160792,153971,108740,164004,165923,140285,146330,151459,143783,163582,152120,152415,152486,150901,136608,139224,137985,136643,98795,138058],
+	"label": "desk"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [108407],
+	"label": "keyboard"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [156653],
+	"label": "mouse"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [145087,144086,143710,100990,144292,101774,101995,101016,102142,144861,145402,102733,140725,148396,148508,101219,101743,102940,102714,146272],
+	"label": "monitor"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [98884,102518,101443,98931,100595,99765,97861,100045,101181,101989,102273,103009,98654,144574],
+	"label": "file cabinet"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [142710,149159,140331,139880,144444,141458,142636,142378,142094,140133,142162,149006,142831,143253,137568,146003,147503,148205,147628,145916,148293,146791,102612,100204,140631,141132,147531,141020,145188],
+	"label": "board"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [147995,159220,162739,155894,162573,163007,161172,157416,148639,163159,160824,148788],
+	"label": "divider"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [160026],
+	"label": "keyboard"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [157591,155947,193972,195968,195596,158603,160366,194092],
+	"label": "monitor"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [244306,247002,245101,236179,237745,247260,245307,246531,236783,248077,244612,245599],
+	"label": "box"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [178280,177036,179272,177016,179577],
+	"label": "object"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [177113,176656],
+	"label": "keyboard"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [210864,207616,208352,216408,201409,207721,208656,213089,180533,173515,182628,205930,202268,215446,204351],
+	"label": "computer tower"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [170823,169407,167730,168181,169433,168706,169370,168613,170737,171692,170754,167368,167349,167430],
+	"label": "file cabinet"
+	}
+],
+"segmentsFile": "scannet.scene0505_04_vh_clean_2.0.010000.segs.json"}

scene0505_04/scene0505_04.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.933580 0.358368 0.000000 2.138200 -0.358368 -0.933580 0.000000 4.540400 0.000000 0.000000 1.000000 -0.136144 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2493
+numDepthFrames = 2493
+numIMUmeasurements = 5244
+sceneType = Office