Add files using upload-large-folder tool

.gitattributes

@@ -388,3 +388,13 @@ scene0355_00/scene0355_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 scene0355_00/scene0355_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0557_00/scene0557_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0557_00/scene0557_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0575_02/scene0575_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0575_02/scene0575_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0074_00/scene0074_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0074_00/scene0074_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0279_02/scene0279_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0279_02/scene0279_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0059_01/scene0059_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0059_01/scene0059_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0292_01/scene0292_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0292_01/scene0292_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text

scene0001_01/scene0001_01.aggregation.json

@@ -0,0 +1,144 @@
+{
+"sceneId": "scannet.scene0001_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [3235,10276,10510,6092,11668,11400,11146,4129,12756,11571,12218,7460,11614,13066,11750,4093,12332,11365,11586,9144,12377,8383,10848,10022,6180,2732,1110,1139],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [122669,122728,118467,122286,122309,118194,122964,119016,123760,122009,121750,119086,123535,122070,123050,121778,119180,124247,118680,119250,120434,118226,117856,124135,121387,120072,119920,120533,118793,123539,120513,120018,122888,122907,124047,119724,118309,121333,117912,123921,121363,119242,106552,119095,117491,106442,107555,120307,117979,118644,119653,124076],
+	"label": "couch"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [2476,2743,2311,25845,29294,26115,29267,25280,29891,29743,3744,27226,2801,26743,23698,29153,23123,24458,29694,24570,29195,3502,3178,29146,8620,24633,25979,27868,25440],
+	"label": "couch"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [68531,95173,93842,96824,97449,95556,95992,95984,96617,93629,96086,116774,116710,95909,93527,68098,69114,95447,95275,65635,93201,97511],
+	"label": "couch"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [89708,15089,98131,78875,28445,14725,91897,98098,19345,5535,6573,5568,111304,19792,6258,6254,105590,55715,22768,51194,104412,19874,43758,45729,102928,92629,114272,51281,27483,26678,119872,63845,38950,28434,27396,92267,55569,33225,91269,56392,56023,101638,79241,92086,98285,99271,103161,112783,92692,51333,103408,89979,91747,57744,89341,59038,63705,111656,116024,111936,111344,104401,117675,113173,57253,56108,23496,55810,14533,76618,75006,48397,49983,51478,24473,76509,79159,31052,83717,121521,6689,31608,38870,64479,63342,89779,94934,94516,94912,116044,116247,116406,113926,121740,121513,91665,87325,117380,103303,117096,51342,102309,103226,51442,50683,69724,43750,45974,45192,44327,20118,19626,19739,45110,14391],
+	"label": "floor"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [114874,110858,111815,114238,115683,113297,114498,108965,111584,113908,110016,110754,114869,109902],
+	"label": "table"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [103147,116943,104256,116937,101270,104848,103778,105001,104633,105191,104101,105848,102115,103907,102156,103350],
+	"label": "table"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [25730,48719,48307,24614,26019,22101,23754,22012,24026,25703,20898,48598,23663,47393,24905,19435,19357],
+	"label": "table"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [48981,44120,47188,47160,48691,49480,44827,44926,45387,48585,46616],
+	"label": "table"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [91842,88044,92990,93491,93320,89244,90802,88311,91652,88836,91904,85293,88750,85081,89228,88470,93571,84661,86716,87885],
+	"label": "armchair"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [13565,13726,11574,8289,13171,7628,11266,12740,13389,11524,18079,9346,11515,9864,8741,10550,12785,13132,12208,7543,13357,11412,19017],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [16680,12313,16539,17204,9883,18395,9319,16985,16015,17093,17020,17357,17619,18780,18969,32446],
+	"label": "window"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [15770,14165,10208,15529,18661,10627,9312,8099,17961,16836,16628,15512,16813,14234,17959,16922,17101,14228,32819,13758,14416,14845,15123,15189,14317,5623,7125,16236,15099,14958,5541,15214,32823],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [37265,34326,33976,36485,38539,37107,35228,37239,31290,33120,38627,41556,42738,40969,36016,35890,36180,35413,38816,40784,39778,41475,40267,40704],
+	"label": "doors"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [41621,42504,62727,41232,61405,61749,64962,65614,69178,61242,68291,69502,40491,61141,61462,61575,68644,62571,62739,62582,43629,61949,62032,62222,62038,62266,62382,67927,68037,66664],
+	"label": "window"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [65909,68224,60908,61535,60965,67529,61716,38907,64350,61728,38166,37970,37846,39031,65926,38730,59534,59683,63961,64236,64579,63946,63784,65230,66391],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [66921,68917,67273,67045,67673,66546,66175,66374,65604,67804,66285,62953,65352,65672,65972,66326,67484],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [87986,88824,108569,88789,87302,107849,85014,106789,106492,105269,107746,106284,106045,107638,107258,108649],
+	"label": "sofa chair"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [108094,107072,105497,108335,108198,107883,107569,107568,108179,108208],
+	"label": "backpack"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [100021,99597,100043,99438,99673,99740,100198,100314,99648,100228,101093,99530,97703,99965,99988,101029,98523,97713],
+	"label": "column"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [55486,55383,55433,50712,50609,51376,52234,51709,55153,51027,51674,54324,52908,51875,50626,52315,53150,53951,54273,54524,54676,55144,50582],
+	"label": "sofa chair"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [78311,55363,82426,82016,76454,76084,82736,82469,82797,79339,80229,51654,79040,79949],
+	"label": "sofa chair"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [72997,73931,77528,70618,72976,72904,78494,73723,73147,73407,74815,77547,73438,74709,70125,72804,78707,73638,72117,72943,45252,74960,47310,69995,70085,71434,71894,71913,72256,69716,72424,72723,77880,74575,71377,76264,69840,70651,69873,70301,70427,70644,73556,77325,73857,74270,75546,76808,72907,77245,78335,44968,70524,70945,70980,75024,75958,77567,78282,45801],
+	"label": "couch"
+	}
+],
+"segmentsFile": "scannet.scene0001_01_vh_clean_2.0.010000.segs.json"}

scene0001_01/scene0001_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.882948 0.469472 0.000000 0.396252 -0.469472 -0.882948 0.000000 6.059490 0.000000 0.000000 1.000000 -0.087321 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 = 1288
+numDepthFrames = 1288
+numIMUmeasurements = 2574
+sceneType = Living room / Lounge

scene0034_00/scene0034_00.aggregation.json

@@ -0,0 +1,306 @@
+{
+"sceneId": "scannet.scene0034_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [126548,84508,125878,117655,84457,82020,128265,117248,83946,84286,117301,122531,117353,127472,117365,117641,128566,129463,127704,128877,123104,126491,123316,117885,122127,119569],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [23596,67234,68888,67942,54026,52857,85883,64436,15832,8580,120061,8981,7735,79811,14342,50932,64771,64979,50516,52421,79404,79658,8169,8298],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [118060,91781,91934,96168,124451,92841,129729,121659,129263,91382,122876,92442,97272,99859,101841,119759,122344,122697,122768,123617,123619,123993,125223,126117,128180,128941],
+	"label": "doorframe"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [89645,83616,84922],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [48612,59002,49337,60513,55871,85748],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [47033,48536,47398,47679,47284],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [58281,58076,51468,55669,53425,56394,55035,55294,57215,59495,60951,58403],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [25794,53543,28059,12874],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [20363,4571,6069,7028,5684,7422,1828,19957,5123,4666,5089,3779,633,1396],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [4896,11206,4476,4042,9425,11059,2846,10236,11051,8723],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [114992,72509,116538,116187,113765,116956,116277,78821,113222,113720,112853,76368,115055],
+	"label": "window"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [79624,83899,122453,90089,125652,118147,123729,79485,79210,84038,81779,81089,81759,119179,129326,85279,92086,90323,82900,85791,127454,91523,125763,127603,122904,122590,123445,118279,123453,125170],
+	"label": "door"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [1368,14200,1806,42,11582,3019,4413,9136,12295,4837,1965,1621,10709,556,2151,8652,14213,2084],
+	"label": "toilet"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [84236,32564,58982,110624,48563,59844,108128,110068,108807,48797,127697,128413,92039,82279,92607,30800,62658,30001,30524,31959,29318,32405,30083,49645,30952,29575],
+	"label": "ceiling"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [35200,35444,11043,9851,37021,34955,34580,34672,34325,36992,24886,33197,36893,35777,24736,10407,11263,10400,11372,38472,37993,24083,37960,26235,37002,23213,68380,21665,26996,27739,22549,33769,36939,22038,24211,38670,34285,35221,37081,34377,28075,22111,32804],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [83635,81913,88421,82861,80093,84273,88949],
+	"label": "towel"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [97808,95439,95227,97960,94289,96322,97806,97245,93107,93304],
+	"label": "towel"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [97326,99755,101534,101997,101461,97363,98314,100067],
+	"label": "towel"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [70319,102989,114215,70527,70651,67655,72023,67666,68650,72497,67418,67332,69835,70873,69728,68885,102604,102323,69408,102679,106082,67213,111778,66920,70404,67375,67766,68524,93429,70208,103842,113443,73828,65467,75216],
+	"label": "bathtub"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [55064,56592,45217,42487,50483,55520,57345,48226,13935,44441,54267,61811,14110,59484,45924,50534,45480,48793,42274,42981,52110,46848,45800,58696,45050,42521,46004,44316,43932,44443,44451,44680,45941,48765,50719,46850,49213,49388,54452,56436,50214,50858,52073,52130,43026,53281,58881,42017,50000,44257,48948,50460,58270,52764,54983,55896,53237,60145,53900,42029,51690,41957,43516,43858,50382,53681,85216],
+	"label": "shower"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [19650,18894,19647,19770,20126,20848,18346,19582,19216,20623,5101,20369,17736,18254,6007,20038,6763,20004,7159,19728,16452,20297],
+	"label": "window"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [38742,36865,37314,37047],
+	"label": "sink"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [82672,79802,80696,84224,80694,84246,89920,85110,87974,88262,79113,83254,92415,89074,87377,87643,90924,82418],
+	"label": "doorframe"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [89131,91824,90084,88203,89858,88784,88776,90645,88693,87487,89292,88467,88970,87397,89408,91107,87494],
+	"label": "towel"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [95548,96009,96982,97161,95735,98356,97076],
+	"label": "towel"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [93277,94052,93547,94368],
+	"label": "scale"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [94226,93413],
+	"label": "object"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [66078,66263,95523,94572,63793,65463,63860,64950,94034,65727,94133,66011,95240,97215,97231,66275,62911,65169,66226,94014,63087,63399,64833,65587,65825,64754],
+	"label": "shelf"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [97977,97738],
+	"label": "object"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [104502,103114,103869],
+	"label": "bath products"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [73663,72503,72452,71064,72090],
+	"label": "object"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [71244,38986],
+	"label": "object"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [33836,35763,36247,34870,37940],
+	"label": "object"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [25867,27139,25906,26233,26123,26145,27585],
+	"label": "sink"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [26676,26071],
+	"label": "cup"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [12246,11021,11662,12033,12435,12910,37867,37013,34130,37634,9271,10856,35160],
+	"label": "mirror"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [27134,28447],
+	"label": "object"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [38004,38524],
+	"label": "object"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [758,564,2237,383,1349,669,687,580],
+	"label": "object"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [22027,22004,24007,14390,24374,21765,24432],
+	"label": "trash bin"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [8705],
+	"label": "object"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [18279,16619,16481],
+	"label": "toilet paper"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [18579,18489,21077,17273,18423,17425,19036,19102,20671,55899,51052],
+	"label": "door"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [52934,58075,27773,62301,59811,54558,29263,22714,29842,31465,26012,26731,24254,61630,29899,30262,60065,31147,31357,30189,51339,54447,54648,55214,55458,62061,25083,23631,28846,25986,27098,32207],
+	"label": "doorframe"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [95949,99432,99874,95917,93628,97952],
+	"label": "wall"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [101302,100098,110829,110679,107499,109282,106424,108899,104826,103198,104760,110841,111186,106834,130257,106693,98260,100292,101024,111641,110633,109075,130479],
+	"label": "wall"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [106995,76207,74504,73328,71280,114347,74209,76219,103219,75002,75343,76411,114900,76517,72560,110568,110874,112830,72204,116355,116459,116514,103607,77982,116592,112895,116845,116929,112388,74890,71314,71967,72563,114080,74624,106278,77599,106858,107305,108727,109627,113214,77713,105087,106054,74107],
+	"label": "wall"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [41613,74328,40943,77067,76381,39298,41774,41871,77667,41831,75094,74215,77288,40054,40899,41095,41245,41255,41314,41361,77868,41444,41491,41582,41765,40188,41903,75635,72572,72694,76706,77060,77853,78293,75777,78398,78797,33876,35624],
+	"label": "window"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [40403,72233,39270,78510,75761,75944,77263],
+	"label": "wall"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [126421,101155,119949,100583,120551],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0034_00_vh_clean_2.0.010000.segs.json"}

scene0034_00/scene0034_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.484810 0.874620 0.000000 -3.577170 -0.874620 0.484810 0.000000 2.691820 0.000000 0.000000 1.000000 -0.093275 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 = 875
+numDepthFrames = 875
+numIMUmeasurements = 2214
+sceneType = Bathroom

scene0059_01/scene0059_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b18aa0955912ea8e770cdabd3ac24ca2b2ca819c0736b2b4676a90519c01b34
+size 7687118

scene0059_01/scene0059_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64b8081d9d9c7cfcddc6a3b7eb15cc8d062e15d918383696dd0acf9e2a42476
+size 7325712

scene0062_02/scene0062_02.aggregation.json

@@ -0,0 +1,144 @@
+{
+"sceneId": "scannet.scene0062_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [21735,34552,7082,2658,21323,33418,29474,30335,29921,21574],
+	"label": "counter"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [29633,30234,33899,30576,29780],
+	"label": "jacket"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [2734,14884,13266,2790,14059],
+	"label": "mirror"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [3778,40031,22526,20897,24055,17118,4483,24136,21478,42768,43664,42563,19872,27042],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [6997,7217,9880,5848,9820,2025,12234,6650,5559,29348,12908,6590,6883,13944,12033,2982,6304,2885,7152,5607],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [29453,32156,33719,29434,45632,46674,33978,45182,44983,50087,50363,44798,44903,55562],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [39272,48358,39732,39700,56748,39637,55351,41469,50053,57544,57303,55702,52316,53943,55332],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [14608,10791,7847,11761,8675,9269,7233,7948,9379,9007],
+	"label": "trash can"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [50804,48360,54838,52064,51388,56312,56062],
+	"label": "trash can"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [52152,52435,55901],
+	"label": "toilet paper"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [45146,45722],
+	"label": "toilet paper"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [46801,45296,47212],
+	"label": "toilet paper"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [14865,14386,13557,13953,13515,10716,14964,10806,13306],
+	"label": "paper towel dispenser"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [30734,9383,32574,17043,49883,35507,35228,35377,35161,36284,7297,9406,10537,32002,32682,31092,15236,17234],
+	"label": "floor"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [50247,54629,51853,53559,51786,52409,52745,49594,49434,49581,49658,47725,54856,48438,53735,53575,48727,49836,49935,49766,53395,53709,51490,50185,47769,48078,50712,49028,50736,47717,50639,47548,48980],
+	"label": "toilet"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [22496,19835,26987,20654,25502,22891,24264,15461,16055],
+	"label": "door"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [11348,12922,11359,14362,13691,12824,14357],
+	"label": "sink"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [14690,13855,12260],
+	"label": "soap dispenser"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [52635,54378,53556,55768,54485],
+	"label": "rail"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [51848,47436,45231,53494,45441],
+	"label": "rail"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [41704,41357,40749,57685,39786],
+	"label": "toilet seat cover dispenser"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [23323,16560,24223,27017,24291,23471,18943,23350,21622,22655,24633,21855,23379,27345,27336,25045,26425,26504,24846,42940],
+	"label": "doorframe"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [42682,43116],
+	"label": "object"
+	}
+],
+"segmentsFile": "scannet.scene0062_02_vh_clean_2.0.010000.segs.json"}

scene0062_02/scene0062_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.707107 0.707107 0.000000 0.685667 -0.707107 -0.707107 0.000000 3.053330 0.000000 0.000000 1.000000 -0.032658 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -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 = 751
+numDepthFrames = 751
+numIMUmeasurements = 1592
+sceneType = Bathroom

scene0071_00/scene0071_00.aggregation.json

@@ -0,0 +1,54 @@
+{
+"sceneId": "scannet.scene0071_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [6683,12136,2735,4615,28092,14454,9382,11884,13618,36996,12833,7732,5415,14939,14093,30904,19495,7070,12030,15667,12892,6526,5755],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [42675,57796,52530,55304,57732,52801,50413,22560,55387,51474,57217,22903,39455,43082,56935,43315,668,42955,51572,41,53731,22188,52953,22607,38564,23570,37481,54645,38943,57383,39169,49848,40637,42287,42926,43089,56874,53372,56920,43142,51457,54809,43396,49496,50280,58205,51088,52397,54636,53171,53195,53217,53319,51984,53757,54176,54340,54684,58026,56046,58112,57368,58512,54425,56902,49714,51343,52090,52794,53076,56502],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [46065,88458,45389,69936,83665,69997,68265,68105,44713,46030,44070,91069,36319,67219,91590,91393,89231,31431,37204,89920,48951,36269,35285,36655,36886,67610,37305,31550,44581,71990,45002,45474,45526,84375,69516,46689,90522,48094,48739,89003,49047,85309,49211,83356,66859,67864,68887,85265,71133,71325,71628,71752,72013,86768,35965,90078,87928,88286,89620,90214,33859,32547,35022,32407,88448,83672,86983,86992,87431,87628,87804,87894,88517,88693,88812,88883,89679,90166,90319,90474,90912,91329,83978,84181,87880],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [64796,29274,37922,61051,25204,28318,37782,61233,26424,28963,29973,65998,25468,29018,65650,28794,29296,45817,74857,76655,29806,43537,8544,25861,65976,60443,27275,37644,73928,76030,29632,26180,38324,27147,25699,26135,25771,43582,43703,38471,37499,37898,65095,37723,74888,38505,38925,61081,51707,58572,51227,78760,58868,60332,59084,60475,59787,59376,60326,65484,65796,76497,65294,77078,60973,59612,60233,49686,49320,67835,58690,59496,64676,65513,65266,67503,67646,65548,66085,45737,64579,68325,67585,45104,66915,67577,44825,45693,78619,32168,32194,16081,16324,65143,77848,77315,51200,67718,44895,73772,58862,78483,78661,79184,59784,59887],
+	"label": "floor"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [9447,14664,9207,17496,8479,19395,19116,16253,19650,16950,14121,18339,18671,18213,17732,16665,16125,9537],
+	"label": "door"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [26626,26751],
+	"label": "traffic cone"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [9809,17123,32564,31113,13411,19341,19544,10135,36959,17420,31062,18777,17955,12904,19067,19064,18688,18597,18390,18576,13586,13409,13506,13670,8948,10820,10809,9705,10929],
+	"label": "doorframe"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [84168,61300,61669,61491,80715,84465,61789,82862,74789,61341,76272,61717,81508,62216,77946,62294,63742,64024,64316,78312,80976,66261,79934,75563,66280,80707,66420,82584,75055,66520,79441,82777,79482,79853,86110,80225,81964,82082,81129,76308,82956,83004,83035,86707,84644,83050,83152,83182,86194,79796,76869,83470,83657,83927,84612,74552,85258,86469,64254,84328,82070,74285,78007,80474,77729,81178,83330,85203,79720,81167,82481,80138,76832,77414,78011,64180],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0071_00_vh_clean_2.0.010000.segs.json"}

scene0071_00/scene0071_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.182236 0.983255 0.000000 -3.890080 -0.983255 0.182236 0.000000 1.376270 0.000000 0.000000 1.000000 -0.124496 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 = 1114
+numDepthFrames = 1114
+numIMUmeasurements = 2676
+sceneType = Hallway

scene0074_00/scene0074_00_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf6ed64ccf5a35daa854a9a7eda4e324e5fad6f15289dd8ec5d818371bba0b9
+size 2533420

scene0074_00/scene0074_00_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b374d4ac866e4545caec6dc17e4344a63e62a54899c087e9f4eee2a31ad2240c
+size 2412042

scene0101_00/scene0101_00.aggregation.json

@@ -0,0 +1,540 @@
+{
+"sceneId": "scannet.scene0101_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [248138,249447],
+	"label": "plunger"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [258115,221857,222753,257981,258900,221959,258698,222934,258288,258760,250905],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [223909,221216,222049,223876,220984,223811,221169],
+	"label": "mirror"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [224153,222328,223741,224460,219501],
+	"label": "light"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [257451,256851,219877,258995,257331,255147],
+	"label": "cabinet"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [219690,219993,219748,257390],
+	"label": "ceiling"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [257828,255669,256219,256774],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [252877,253799],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [246864,247144,244323,243621,247106,244108,243266,243433,243090,244570,244615,245079,247159,245602,246102,246679,246935,278801,245289,243449,244105,246560,246640,243042,244027,245304,243252],
+	"label": "shower curtain"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [245971,256171],
+	"label": "shower curtain rod"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [246056,245641,245984,255342,246115],
+	"label": "clothes"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [279191,244130,242765,248520,279648,243819,242611,278486,278408,278451,280403,280318],
+	"label": "bathtub"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [174051,171173,176002,176549,171890,172427,169453,167785,171888,171778,171868],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [183676,177464,180696,185530,185990,183182,170340,181107,182106,181386,184685,177090,168142,179111],
+	"label": "dresser"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [135965,178462],
+	"label": "shoes"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [138065,139249,137767],
+	"label": "shoes"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [136217,137364,135768],
+	"label": "shoes"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [138224,139163],
+	"label": "shoes"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [134522,134088,105416,134165,135461],
+	"label": "shoes"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [98055,97257,98979,98784,92627,97343,96465,97290,31017,97997,96552,96085,123373,96445,96692,35048,36995,95189,96257,96300,32394,95654,31699,31970,121810,32559,33175,98067,34420,34768,35725,36775,95407,125109,125175,95401],
+	"label": "couch"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [240300,240839,233049,239355,236716,236454,235693,235755,236103,175666,234013,236713,273122,271536,275283,275992,273410,271094,168490,171105,171449,175720],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [257505,249102,254136,280672,280153,251255,251262,251997,254961,255908,279603,280190,281197,281539,281622,251582,279782,278560,279402,281908,279073,279107,279125,282110],
+	"label": "shower walls"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [189718,174246,181145,190787,177691,185618,195862,176559,176536,167885,172939,171606,175448,175984,183627,177728,197601,175969,186312,169789,168305,195306,168653,168401,172028,172822,173048,186007,172359,185770,182419,174139,175196,182285,174226,174787,191198,176444,179740,175967,195464,196840,175915,191484,192057,171385,198659,197524,198108,195661,177892,197810,193224,185458,191442,186928,182464,190851,191073,182658,180316,184844,188017,187996,195373,190407,189072,182454,181357,186654,183942,177822,178273,178734,190974,179130,180725,180778,181492,181813,182237,182376,187924,182512,182734,189168,182823,182912,183132,183228,183267,183391,183959,184302,195242,184346,184376,184644,184884,185695,184964,185348,189759,185402,185806,186125,186566,186591,186830,188616,189037,189232,189313,189700,189941,190300,190391,190833,191228,191328,191419,191893,192577,193096,193206,194109,194391,194797,195383,195779,196009,196072,196159,196339,196407,196561,196966,196985,197126,198253,198479,190706,219395],
+	"label": "closet"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [230378,229146,230118,230645,204512,231187,199691,225544,225398,225727,230870,224939,199230,225559,200188,204528,204538,201332],
+	"label": "stove"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [60536,64766,60616,56305,25942,62457,24006,64507,27090,57160,64554,27786,65284,25918,57467,58200,58965,56628,63413,24280,24803,23855,22337,25525,62698,57692,23146,24499,64164,65091,62786,25915,22256,62791,59894,59810,58910,22540,61041,56212,56542,56662,63650,61831,61972,62254,26742,58167],
+	"label": "shelf"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [141810,178247,193729,141128,141824,139191,135632,138389,140977,140943,138110,177898,137414,179792,146017,145287,144806,177794,137911,135175,137125,139164,193737,183006,141557,177925,193822,140300,138592,137987,144372,144392,178842,180238,184627],
+	"label": "table"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [157241,119995,155733,157625,120032,156957,119037,120494,116796,157017,115079,117230,116644],
+	"label": "window"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [56537,59034,47000,16333,46579,48900,45997,47292,43960,57241,56356,44969,56836,56474,23103,57703,22438,59268,58960,48876,44922,54625,59257,15407,54281,22943,23893,24084,56336,24748,45290,57201,55057,45391,48615,45860,47217,47241,48834,47470,48935,54512,55800,57714,58190,58285,54511],
+	"label": "desk"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [127184,127232,127781,128185],
+	"label": "object"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [162805,154509,163743],
+	"label": "object"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [252546,247464,249936,248061,252269,251093,248367,247392,252134,251246,253234,249539,248473,248942],
+	"label": "toilet"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [161744,155313,203866,155528,153973,154845,154989,161263,156032,162633,163945,203572],
+	"label": "counter"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [68872,103676,77407,99257,67206,104935,105645,103430,105594,104607,104065,70670,106904,106727,77968,81408,65764,135761,66682,81817,105726,81231,68629,69923,80425,78931,66274,70678,69502,70421,106315,69919,66421,66281,69869,70917,103351,81760,102955,104825,105154,147764,106495,100222,103540],
+	"label": "bed"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [127499,126125,121216,126948,126051,121417,121568,130088,129546,121523,122465,122029,124336,124826,121117,125140,127660,131344,123267,124026,124247,126512,121815],
+	"label": "stool"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [126004,122883,121169,125603,113611,123236,113880,122692,114112,128326,122144,123433,124198,126122,126387,127073,122135,127927,113479,114217,121498,122114,114569,114565],
+	"label": "stool"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [133597,99842,207749,201601,125452,202130,43516,235258,143370,260162,248869,207056,179907,43536,177507,242591,242870,214914,242914,55899,101215,166928,166972,99933,133276,170730,99252,102166,45454,99832,54435,134906,102377,158286,101687,101133,99564,101889,100672,102055,101803,122927,209146,99488,96576,55037,65859,269969,96274,99492,102282,122716,114303,100946,99385,21761,99788,123105,100393,121927,53740,102184,45117,158338,206278,55859,21724,102315,55932,105311,103394,96221,125700,129967,130737,123440,122912,132870,124281,122130,121212,125489,123554,159752,206783,207147,206587,202618,202924,201361,260658,228447,260201,270992,270140,209048,241853,248907,167346,132563,131156,100982,169108,169250,136251,138598,135883,137990],
+	"label": "floor"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [236984,240387,239674,274038,237102,235741,238170,208062,238195,237604,236833,240828,208088,239535,237260,239143,271300,237039,273812,240432,239177,239210,233639,240613,240647,240256,238296,240775,270299,240345,236495,234420,233953,271421,233101,272601,238866,240685,271425,239567,206499,235285,235812,237238,275075,237439,237547,237769,270059,237911,238106,238132,272479,271341,238463,238588,275608],
+	"label": "bicycle"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [126170,127869,116717,116741,117158,114640,163918],
+	"label": "microwave"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [145980,141166,139858,139920,140886,146681,147566,140896,139309,147035,139757,141160,141618,148050],
+	"label": "tv"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [58895,99131,102627,99190,102699,45800,53652,99103,102543,57846,44611,45938,45265,44982,48201],
+	"label": "chair"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [171321,169059,168482,169535,171644,171998,171824,174556,167947,167966],
+	"label": "guitar"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [249915,247598,251695,216090,247303,214918,249466,252143,253069,218377,218672],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [231105,230847,227136,229335,226551,232640,232832,230548,227165],
+	"label": "refrigerator"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [203802,163724,162353,161325,163882,161496,162901,154935,161675,163438,158066,203136,153561,159713,160459],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [40324,63528,40427,61062,43442,41013,26938,18648,20119,50813,142014,20097,42615,64599,51716,41718,49212,52806,49351,50914,10895,49715,39321,50185,51430,51672,51745,64016,52245,52513,9768,142480,52916,20358,53003,59663,61114,52268,62529,40101,62888,10480,65430,63145,40190,64097,64581,64640,64657,65264,65648,11405,269512,52350,18479,9804,49469,51889,18521,19004,21139,50006,50902,187535,187722,51754,51763,52252,52820,142008,17612,19393,21247,63669,142677,107213,142191,187497,142204,142248,142369,90841,142535,142925,143145,190078,188089,188318,190872,191601,192748,192879,191993,40253,187133,187486,190365,191815,87006,85017,85698,86583,232313,232239,267102,276805,269688,269460],
+	"label": "ceiling"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [86377,84698,151435,198880,88493,151704,197975,86530,78074,76894,78706,107594,87728,78694,79676,146082,79729,86938,146391,80014,80846,81642,84518,89478,85841,86820,88318,77359,149332,86209,88550,107921,89453,151086,89921,90538,107932,109905,110418,110883,88013,89682,112565,86110,112959,81718,148201,151423,152140,148301,150789,151195,150736,198416,198472,76735,82063,85863,83127,146089,81015,89173,86060,150220,197152,144615,193899,143661,144707,146985,144006,77366,78656,79284,81470,77988,80391,80041,77353,80980,79761,77613,80225,77386],
+	"label": "wall"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [70538,77639,68090,68683,69958,76915,68264,67874,78227,77405,80031,78578,69864],
+	"label": "pillow"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [137961,178634,137120,138155,136976],
+	"label": "boxes"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [141809,147237,145602],
+	"label": "box"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [82349,87680,151640,110105,83563,82563,83887,85016,110129,111861,89662,110570,110789,151310,111446,111773,148790,150280,150534,150587,151751,82830,87612],
+	"label": "wall"
+	},
+	{
+	"id": 50,
+	"objectId": 50,
+	"segments": [150828,82734,111540,110562,112089,111599,111764,113031],
+	"label": "ceiling"
+	},
+	{
+	"id": 51,
+	"objectId": 51,
+	"segments": [74037,73765,79719,29961,9485,29528,68953,77921,71498,68556,69672,74517,86883,68613,76943,70364,70738,83379,84256,71073,71802,71335,71564,72123,75004,86631,90350,72431,68797,76072,73168,74082,84732,74661,68649,74725,74822,27573,74941,75458,77922,78394,69471,2948,80456,16973,84071,83608,84798,83574,83835,77689,84047,85920,89288,4403,89321,90399,69146,90483,68219,76167,68675,76874,9947,86437,84844,81697,80912,79432,83421,27146,20365,24178,19429,10903,12138,14190,12177,13396,8672,9652,13045,13263,13308,13582,11328,8403,9824,12906,10399,11679,4521,2103,3073,2102,5288,3223,4506,4612,4288,4128,4369,2406,2164,4149,3090,5344,6921,4981,3808,15188,388,3963,193,213,10436,10256,13445],
+	"label": "wall"
+	},
+	{
+	"id": 52,
+	"objectId": 52,
+	"segments": [24696,25775,25390,28735,24687,29814,67570,28573,25787,70708,27397,24030,24916,26954,27421,21946,27834,70021,74469,68537,27845,28195,28201,29081,29171,29531,29661,71509,29150,72228,72247,72288,27395,73403,28580,29025,27898,28923,68245,73652,63244,26605,25822],
+	"label": "window"
+	},
+	{
+	"id": 53,
+	"objectId": 53,
+	"segments": [15670,19259,15562,17172,15178,15482,16605,16820,17311,17068,17880,19885,19891,20044,20435],
+	"label": "window"
+	},
+	{
+	"id": 54,
+	"objectId": 54,
+	"segments": [20948],
+	"label": "picture"
+	},
+	{
+	"id": 55,
+	"objectId": 55,
+	"segments": [61454,64949,60625,65534],
+	"label": "object"
+	},
+	{
+	"id": 56,
+	"objectId": 56,
+	"segments": [56807,46516,48429,48685,58225],
+	"label": "laptop"
+	},
+	{
+	"id": 57,
+	"objectId": 57,
+	"segments": [56469,57686],
+	"label": "object"
+	},
+	{
+	"id": 58,
+	"objectId": 58,
+	"segments": [56948,56374,56548],
+	"label": "object"
+	},
+	{
+	"id": 59,
+	"objectId": 59,
+	"segments": [22810,23801],
+	"label": "object"
+	},
+	{
+	"id": 60,
+	"objectId": 60,
+	"segments": [48416],
+	"label": "object"
+	},
+	{
+	"id": 61,
+	"objectId": 61,
+	"segments": [58052,58799],
+	"label": "cup"
+	},
+	{
+	"id": 62,
+	"objectId": 62,
+	"segments": [16084,16571],
+	"label": "object"
+	},
+	{
+	"id": 63,
+	"objectId": 63,
+	"segments": [44284,45579,46036,46420,44716],
+	"label": "trash can"
+	},
+	{
+	"id": 64,
+	"objectId": 64,
+	"segments": [2924,93438,30216,120786,39472,43381,4066,9091,119132,5061,42252,5968,93445,117239,40338,93532,10471,10801,11165,11569,92262,12872,34319,37014,37842,37852,40051,40579,37213,39252,117066,37942,42285,119850,38531,38576,39070,39593,40519,119393,42545,119590,39991,40036,40533,41728,40741,40951,41482,42462,91875,42603,42752,91823,92829,94963,95003,116223,117632,117726,118834,119479,120926,7999,157465,157326,120565,120699,119103,118228,153494,118044,118048,156370,114772,114417,117372,152801,114532,153051,155471,115761],
+	"label": "wall"
+	},
+	{
+	"id": 65,
+	"objectId": 65,
+	"segments": [34436,36546,30891],
+	"label": "pillow"
+	},
+	{
+	"id": 66,
+	"objectId": 66,
+	"segments": [98051,98707,98576,98220,97767,98801,97772,97332,97698,97524,98394,97310],
+	"label": "backpack"
+	},
+	{
+	"id": 67,
+	"objectId": 67,
+	"segments": [116416,127304,114389,113836,115945,117284,113906,93036],
+	"label": "poster tube"
+	},
+	{
+	"id": 68,
+	"objectId": 68,
+	"segments": [129612,131426,130151,129687,132351,131986,132160,132916,132805,130054,132663,130714,131500,128819,128481,130713,131922,130970],
+	"label": "backpack"
+	},
+	{
+	"id": 69,
+	"objectId": 69,
+	"segments": [163203,163801,133072,127300,167520,125895,167699,126481,162366,127591,167365,127905],
+	"label": "breakfast bar"
+	},
+	{
+	"id": 70,
+	"objectId": 70,
+	"segments": [161465,163795,126913,162519,163744],
+	"label": "jacket"
+	},
+	{
+	"id": 71,
+	"objectId": 71,
+	"segments": [154778,154503,154418,154166,154284,163949,155919],
+	"label": "sink"
+	},
+	{
+	"id": 72,
+	"objectId": 72,
+	"segments": [204534,161459,155986,200365,199642,199827,154196],
+	"label": "dish rack"
+	},
+	{
+	"id": 73,
+	"objectId": 73,
+	"segments": [199701,199911,200229],
+	"label": "bananas"
+	},
+	{
+	"id": 74,
+	"objectId": 74,
+	"segments": [199495,155258,199215,155044],
+	"label": "wall"
+	},
+	{
+	"id": 75,
+	"objectId": 75,
+	"segments": [159490,160132,158571,159174,158107,159126,159209,159121,158469,160511,161054],
+	"label": "recycling bin"
+	},
+	{
+	"id": 76,
+	"objectId": 76,
+	"segments": [203509,230569,231004],
+	"label": "towel"
+	},
+	{
+	"id": 77,
+	"objectId": 77,
+	"segments": [228984],
+	"label": "dumbbell"
+	},
+	{
+	"id": 78,
+	"objectId": 78,
+	"segments": [205116,232664,226408,205333,200832,226577,232095],
+	"label": "range hood"
+	},
+	{
+	"id": 79,
+	"objectId": 79,
+	"segments": [226346,205457,164762,164599,165391,232401,164111,165684,165093,205295,164281,164545,165709,204782,156324,156445,157873,157803,156592,164431,165343,157637,156603,156529,157111,156780,157591,206131],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 80,
+	"objectId": 80,
+	"segments": [263720,265947,267335,263925],
+	"label": "wall"
+	},
+	{
+	"id": 81,
+	"objectId": 81,
+	"segments": [261339,276592,277307,262113,267912,267599,265883,263014,276250,264975,276662,268316,271736,265713,267976,277786,265693,263767,259369,259687,265107,260037,260993,261741,261875,261919,261901,261940,262161,264781,264168,266497,262216,276481,262421,274268,262892,263573,264114,264531,265325,277525,265724,269147,265796,276269,265809,266054,266103,266388,266871,267626,270162,268114,268336,272936,276047,268892,269185,271545,272009,274344,274400,276032,276721,276737,266916,267211,266259,265860,261730,259634,260263,272700,259118,260557,259524,273503,271648,270484,266552,277523,277741,263637,266353,266667,266889,267265,268695,276275,276496,277402,277420],
+	"label": "door"
+	},
+	{
+	"id": 82,
+	"objectId": 82,
+	"segments": [274582,272207,274298,274109,275815,272525,275833,272712,274967,274303,274464,270335,270893],
+	"label": "wall"
+	},
+	{
+	"id": 83,
+	"objectId": 83,
+	"segments": [212745,213123,209515,211504,212760,210515,239780,214395,235765,246618,241127,233479,245370,243343],
+	"label": "doorframe"
+	},
+	{
+	"id": 84,
+	"objectId": 84,
+	"segments": [210383,208957,210513,213683,213999,212848,208312,208875,214330,208306,213576,212231,211992,214566,208757,212273,208980,211354,210473,210569,212861,210740,211249,211289,211819,213678,211926,211933,212197,214297,213258,212358,212396,213482,212544,212720,212734,212875,213884,212976,213512,213597,214312],
+	"label": "door"
+	},
+	{
+	"id": 85,
+	"objectId": 85,
+	"segments": [218597,219018],
+	"label": "wall"
+	},
+	{
+	"id": 86,
+	"objectId": 86,
+	"segments": [216412,218223,219006,218781],
+	"label": "towel"
+	},
+	{
+	"id": 87,
+	"objectId": 87,
+	"segments": [220820,217849,216946,218353,216879,216773],
+	"label": "sink"
+	},
+	{
+	"id": 88,
+	"objectId": 88,
+	"segments": [252913],
+	"label": "toilet paper"
+	}
+],
+"segmentsFile": "scannet.scene0101_00_vh_clean_2.0.010000.segs.json"}

scene0101_00/scene0101_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.121869 0.992546 0.000000 -3.003190 -0.992546 0.121869 0.000000 2.852610 0.000000 0.000000 1.000000 -0.130576 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 = 1408
+numDepthFrames = 1408
+numIMUmeasurements = 3320
+sceneType = Apartment

scene0104_00/scene0104_00.aggregation.json

@@ -0,0 +1,264 @@
+{
+"sceneId": "scannet.scene0104_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [13320,3065,15778,14236,13804,15512,5476,7553,5622,5582,7674,6917,14950,6697,7161,7276,7523,7976,7076,13058,12517,13734,15570,14778],
+	"label": "cabinets"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [32205,58412,33080,56176,54983,54961,54977,54071,54502,33818,55524],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [77171,78211,78052,73491,75475,78329,76959,76785,50083,78080,74775,74616,43730,76697,69876,73678,78466,73845,75336,73322,64556,73572,74262,75380,77707,74313,75235,73204,71348,50759,77230,65792,71086,90214,90294,70208,69487,69562,50546,76278,74103,50855,65301,74665,67269,74131,69550,70112,70268,72725,73889,72913,73098,73443,74048,74315,74857,76498,75010,74861,77239,76266,76476,77329,77123,77288,78041,78319,78525,78605,78638,78708,78770,91840,91915,95269,70779,71036,48558,49556,50903,69566,70644,71261,71547,71880,72055,72515,72923,73514],
+	"label": "copier"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [30629,195,29869,4255,3262,31247,4950,2830,3087,3393,2907,3538,3136],
+	"label": "box"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [39471,89281,38759,63381,40333,101758,57892,39510,63079,88318,40344,87591,102287,16526,17601,40449,87940,40328,88136,63671,59531,103402,82473,58190,87155,84993,87275,62078,84751,58693,59290,87922,89468,61502,63806,88381,88152,88211,63571,88575,88824,87768,37581,88347,88925,60109,103469,102500,103267,85796,83236,83054,58884,38075,58307,58683,60574],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [66515,46902,68829,46051,68569,68930,67552,41676,43481,66639,47128,66046,40876,41939,42151],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [45979,42247,41416,43746,47164,44756,46177,44064,45192,45667,42324,41810,41457,41755,43865,48118,47947,46473,47180,41204,43392,44434,45689,45518],
+	"label": "door"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [11859,10370,2764],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [80741,50330,98039,95763,18459,90572,18159,80724,98421,97096,96733,82396,27040,79359,80768,70148,49341,49893,52969,29693,81654,32142,48654,42107,27445,51801,63943,51335,91639,53439,32933,40669,33532,64513,32964,89884,72315,91539,57876,82245,72415,65459,63969,64402,90440,18497],
+	"label": "floor"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [57925,51490,54216,58248,54801,57988,52153,51816,55296,55542,55865,52072,55270,56058,56275,58795,60527,55420,57896],
+	"label": "trash can"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [85463,87202,87143,86633,85853,83108,83725,86339,84959,81590,83097,85210,86589,85484,87228,87394,87399,84645],
+	"label": "recycling bin"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [18944,17689,19158,27054,27827,28097,17740,19548],
+	"label": "step stool"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [56304,60520,54537,54186,59818,59656,54950,55494],
+	"label": "printer"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [36371,36353,55849,34490,55126,36196,38380,38693,54034,61244,38067,59696,35337,37924,38228,38500,39237,54554,39162],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [8644,19462,28826,31006,31374,19707,31264,2132,30944,2189,8651,8616,2232,8795],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [9329,15082,3009,15791,14241,1704,854,13962,13822,15187,15565,16256,13985],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [12013,12177,10149,10368,10109,12230,11762,10758,12081,11669,10795],
+	"label": "boxes"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [12382,14252,10659,16198,11253,13490,13406,10484,9294],
+	"label": "box"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [39703,40543,15914,17206],
+	"label": "box"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [39951,39972,40433,37548],
+	"label": "object"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [99513,101893,100184,99405,103057,97226,99632,102791,97211,99188,99223,100834,101183,101492,102363,101627,101923,102685,100141,101507,102707,101377,102366,103624,103220],
+	"label": "doorframe"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [102957,103145,102682,103197],
+	"label": "door"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [80298,82695,83404,81943,81537,82573,84115,81745],
+	"label": "trash can"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [34737,39067,34922,36019,38263,35278,35340,34397],
+	"label": "copier"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [11637,10960],
+	"label": "object"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [101397,94027,99490,98546,100377,95241,100411,94619,89539,100756,94506,100299,91817,90517,100197,96995,100529,98203,97319,96601,100944,92114,100353,91572,97780,95010,96665,97560,98366,99526,99603,100127,100813,95933,90000,91129],
+	"label": "wall"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [95540,94223,94992,92176,95715,90029],
+	"label": "wall"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [95423,91524,90030,66129,95261,92880,95192,92643,94302,95661,89557,94341,93238,94398,95044,91612,67359,67302,66837,68382],
+	"label": "wall"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [20030,42037,18473,23470,23114],
+	"label": "cardboard"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [22527,18791,30981,23442,22041,18127,20226,23186,24210,28750,30039,30052,18573],
+	"label": "cardboard"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [20626,23615,47890,24219,26607,25322,23452,2027,26656,25677],
+	"label": "wall"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [44198,48029,47850,46634,24580,48092,26352,26066,48128,24533,20379],
+	"label": "rack"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [21621,43527,45927,20465,42876,22422,46060,46224],
+	"label": "rack"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [23576,25190,26699,23065,25465,25977],
+	"label": "rack"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [20844,26522,25361,25763,25410,26385],
+	"label": "rack"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [686,1456,155],
+	"label": "box"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [21422,22107,24061],
+	"label": "box"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [21448,23761,24065,23625,21190],
+	"label": "box"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [373],
+	"label": "box"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [20552,20285],
+	"label": "box"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [20950,22423],
+	"label": "box"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [31338,30650],
+	"label": "box"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [56966,36505,36632,36742,57224,36185,57029,62981,62384,56686,35868,36484,36697,36765,36970,37021,55531,56270,56814,58391,58647],
+	"label": "cabinets"
+	}
+],
+"segmentsFile": "scannet.scene0104_00_vh_clean_2.0.010000.segs.json"}

scene0104_00/scene0104_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.069757 0.997564 0.000000 -1.326530 -0.997564 -0.069757 0.000000 2.061110 0.000000 0.000000 1.000000 -0.036858 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 480
+colorWidth = 640
+depthHeight = 480
+depthWidth = 640
+fx_color = 577.870605
+fx_depth = 577.870605
+fy_color = 577.870605
+fy_depth = 577.870605
+mx_color = 319.500000
+mx_depth = 319.500000
+my_color = 239.500000
+my_depth = 239.500000
+numColorFrames = 1042
+numDepthFrames = 1042
+numIMUmeasurements = 2159
+sceneType = Copy/Mail Room

scene0110_00/scene0110_00.aggregation.json

@@ -0,0 +1,192 @@
+{
+"sceneId": "scannet.scene0110_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [60778,58914,58167,60084,58473,54922,56864,59920,56836,56075,57526,56730,60706,55930,54237,57332,56791,58530,59219,59616,55579,58401,59201,54618,54187,55715,58582,59382,55496,57605,54906,56804,54689,57165,56980],
+	"label": "chair"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [104067,104141,104570,104363,122136,103851,128813,101164,103793,103564,103076,104655,103113,102028,100973,103594,103142,105597,104284,104000,102821,128017,103211,105839,101561,103712,103368,101761,101204,128798],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [84642,63980,128166,3415,81771,58327,63939,80935,23027,79649,81282,71971,98070,64510,22421,81091,9051,107292,7486,61111,104877,96427,61637,104907,98620,101586,22807,10214,101780,128709,77324,79365,58080,39162,77907,3291,75162,62152,55525,61576,61841,95457,61888,61901,43557,61585,33811,38932,39662,57275,113007,44964,16319,56443,9478,7535,105314,128820,127810,121817,128722,102419],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [67447,66578,66198,63470,64624,67302,39900,65976,66273,66345,66436,41604,41315,62489,63484,68329,49641],
+	"label": "wardrobe closet"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [41596,42364,38129,43060,39954,42929,41532,40713,40954,41004,43150,48534,43581],
+	"label": "door"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [98807,123349,125213,124812,124317,99008,98437,126420],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [56970,73280,53808,73160,53555,75762,71201,53893,76332,52382],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [43415,46343,48968,46858,44810,45749,49631,49304,44091,45461,46043,45591,48309],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [95347,94407,96323,95682,98083,96381,94361,94495,96792,98440,98656,98199,98033,98602,98669,98587,94849],
+	"label": "recycling bin"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [70936,71193,76961,74827,78456,75967,71239,71328,71247,71371,77528],
+	"label": "recycling bin"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [110932,122673,126719,103992,111039,121890,123756,127113,127487,126932,104324,107994,104153,105497,105393,121446,109522,121757,104532],
+	"label": "desk"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [53943,60188,59664,58904,74348,73622,60180,51144,52152,52515,73735],
+	"label": "window"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [100568,120239,120370,119787,99192,120392,120144],
+	"label": "window"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [3774,36134,13704,34204,32842,36933,29909,34114,26620,2312,3523,10619,36825,5614,10857,25175,10986,8935,11828,12429,28312,13157,13419,13907,14074,21284,21191,21768,22494,36244,8686,22920,23718,24977,25851,26035,32541,28348,28517,10716,29641,29804,11420,30319,10883,34710,10264,34074,34759,34878,35229,8368,35239,35446,37844,35492,37688,36327,37303,36499,37100,37252,12223,10755,32307,10593,11182,11720,12528,12697,33614,32633,41487],
+	"label": "bed"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [51726,59381,22663,23312,50226,52427,22122,22255,22138,50196,22434,22583,29304,29412,50102,50233,50431,57091,59509,55434,56936,57358,58127,27487,58654,59088,59190,59238,59359,28842,18691],
+	"label": "desk"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [17801,5933,30623,26316,17437,26142,17052,41,31099,23654,31209,23906,2286,6691,28928,31682,23041,16829,17114,16962,17229,6269,4878,5956,6311,5819,1659,6433,6065,1448],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [76538,75019,71790,77644,72048,76433,77311],
+	"label": "trash can"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [71041,71766,77756,74150,79306,70824,76666,75424],
+	"label": "radiator"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [98661,96580,94522,96359,97498,94388,75579,96943,75434,95125,75799,95276,95303,96197,96483,97929],
+	"label": "trash can"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [94887,99261,99892,99639,99929,95533,95045,96817,95557,99647],
+	"label": "radiator"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [78818,79155,78692,79187,94706,78777,77125],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [82121,111249,110273,107026,108213,86450,91694,111172,84800,115639,108796,84078,129102,112071,81465,111287,111630,80285,86966,110688,87815,88174,112047,88625,88642,115457,110259,88656,89034,111361,90403,92563,112439,107838,105012,105164,105403,107446,114127,107569,107636,111593,108204,109497,108902,108337,108565,117652,115871,108790,109227,109489,110826,109727,109801,109881,109996,110266,110440,110523,111075,111148,111368,114439,117579,118104,118631,129652,131430,132853,106661,108516,88469,84752,86031,86924,88653,88943,90535,91701,129310,90670,89755,91112,105684,84263,84895],
+	"label": "bed"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [131618,131699,128956,92995,130733,129886,134197,131555,118039,116350,133500,119199,133259,118695,114389,114307,114595,116973,116932,116242,116805,116028,117106,115017,116735,116731,118723,118768,127712,119229,118946,118387,118823,130270,128309,128067,128665,128043],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [129017,124152,124830,129340,126032,124987,127065,131387,124071,124218,125097,129799,130424,130987,132295,133231],
+	"label": "shelf"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [89708,69672,86505,69915,92790,92742,89553,89612,92583,93801,93155,88449,89550,92744,89640,91743,92245,90728,90735,90917],
+	"label": "wall"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [67283,66637,83266,64898,66918,65739,82757,64754,67069,67140,67475,67610,67973,67984,79784,82453,83048,83237],
+	"label": "wardrobe closet"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [15911,15246,12688,408,2008,607,14784,15597,1954,10498,1311,14950,8370,15348,14659,9425,12440,9239,8775],
+	"label": "wall"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [11198,12118],
+	"label": "light switch"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [12270,12587,15837,13690,13004,44357,9193,14977,11413,12286,12488,15583,15652,15658,43354,48779],
+	"label": "doorframe"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [20343,31097,52104,24690,50798,27548,18765,20756,30955,17451,19868,17524,20234,19436,20016,19648,20187,20105,20238,20302,51081,20397,29578,30573,20645,53568,20691,20946,21015,21057,25908,27342,27972,53118,28765,30914,30523,30790,31389,53623,53681,53835,17678,24648,51299,27908],
+	"label": "shelf"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [24555,29123,28216,27262,29021,27032,27730,24241,26211,25833,29009,26585],
+	"label": "backpack"
+	}
+],
+"segmentsFile": "scannet.scene0110_00_vh_clean_2.0.010000.segs.json"}

scene0110_00/scene0110_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.788011 0.615662 0.000000 -4.437520 -0.615662 0.788011 0.000000 -0.177850 0.000000 0.000000 1.000000 -0.036931 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 = 1155
+numDepthFrames = 1155
+numIMUmeasurements = 2436
+sceneType = Bedroom / Hotel

scene0113_00/scene0113_00.aggregation.json

@@ -0,0 +1,66 @@
+{
+"sceneId": "scannet.scene0113_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [1064,11273,10562,11690,2656,10319,10438,11440,12405,13624,4799,9430,14429,5978,8648,14081,7922,14623,4538,1235,10103,7445,12307,4633,6208,5332,6469,8701,9099,9791,11122,12269,13404,12390,13562,13842,14802],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [83344,80357,61465,90090,79372,84363,11438,15964,80095,79608,30362,60213,84416,80646,76584,67086,50794,44865,81013,25375,47048,34231,61779,34298,32246,33846,32939,18422,31996,31641,90079,33678,12182,32684,90570,61266,62953,61652,77528,58839,78025,79287,48310,78174,76030,27946,77805,78285,76899,27605,55949,62154,11828,45584,14883,29238,50297,49648,64117,53895,62623,56243,59523,52300,45458,60673,91104,60930,57617,61382,62518,64277,47029,62262,25222,44602,62567,45869,27939,7408,7748,6915,11847,37898,29443,29211,61454,41047,64481,63211,77776,76356,39872,22482,91579,91483,90040,90393,78518,89979,79530,90931,77239,78504,78845,76875,83813,70464,79631,79176,51534,50884,49356,45669,42521,18830,15820,33324,34421,32470,36398,35442,31610,52099,49136,3459],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [39167,41992,46572,42767,65000,40594,55828,64883,43041,39259,58774,60378,40974,40577,46133,46476,39321,41436,40549,42997,43456,43487,46021,46086,46329,64461,46220,43062],
+	"label": "sofa chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [24344,23228,22377,24157,23920,35696,23703,22043,23442,22916,19943,22258,24343,36323],
+	"label": "sofa chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [75349,74049,73213,69088,75557,53809,59076,73289,70031,72171,72749,75447,52764,54765,54539,55969,69472,70902,72042,72316,72559,73562,74295,74607,53788],
+	"label": "sofa chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [34518,36656,51793,37998,54116,34733,37580,35143,35218,59276,38363,53059,54797,59300,53484,38011,36761,54949,38841],
+	"label": "coffee table"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [85554,86350,85000,82059,88453,85157,82893,85460,84588,83529,88982,82967,88846,84531,88167,84636,83269,83419,84510,85240,85388,85508,81965,86505],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [51152,81144,68486,79513,15890,79854,31607,30987,68678,80312,47549,67621,67815,31256,67369,67854,68590,16143,47841,47226,16590,79764,47434,47470,49745,51286,16578,15575,31393,67167,68738,47322,68633,16676,16080,16167,15179,16384,15413,14986,15799,16661,30792,31509,31142,16533],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [374,1748,2351,2223,19460,2285],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [2563,1463,1370,5100],
+	"label": "object"
+	}
+],
+"segmentsFile": "scannet.scene0113_00_vh_clean_2.0.010000.segs.json"}

scene0113_00/scene0113_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.998630 0.052336 0.000000 -2.565900 -0.052336 0.998630 0.000000 -2.340140 0.000000 0.000000 1.000000 -0.028225 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 = 734
+numDepthFrames = 734
+numIMUmeasurements = 1540
+sceneType = Living room / Lounge

scene0228_00/scene0228_00.aggregation.json

@@ -0,0 +1,78 @@
+{
+"sceneId": "scannet.scene0228_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [148324,141812,142715,87395,122215,124948,120178,86793,121036,87621,89243,149958,120048,145342,145994,141893,135492,89215,87706,89162,51023,50331,88475,20856,90486,154438,88427,88299,90909,151311,90636,145081,122901,153487,142557,151658,23437,125297,145546,122589,125184,120514,52402,51266,146488,146164,147102,151186,146305,12906,125159,143925,154265,142986,143701,141307,154526,153437,141677,151093,52127,92447,91598,120608,151622,143684,86548,1766,143850,661,144018,141279,30819,51527,134562,149751,149005,51100,90569,25911,6190,26930,3915,2439,428,4385,3019,83680,83552,50862,50918,153482,152597,141028,2418,143968,144003,145147,153171,152863,153897,89711,22030,92330,147727,147562,127443,127499,26695,127689,125645,91510,92195,91581,125637,125633,26769,3949,44873,29011,3302,3023,3634,149294,41669,149739,150053,45250,153731,153110,153890,153980,139,154244,145895,121989,120978,153401,147253,147387,90495,147123,147478,146734,124768,120580,120551,88136,50949,90904,124630,124978,123049,50308,87555,121985,1173,45233,121235,120125,121540,45880,86731,46422,81472,50236,21057,20472,21796,22644,21359,20411,20574,20513,1819,1463,1376,1321,870,96829,96279,96595,25778,30696,32673,39728,41127,41764,6665,5820],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [11588,7182,11943,7109,24177,15982,15541,7712,25375,25616,16769,10157,4234,20301,43736,23630,24576,20165,8442,5645,14319,13485,16084,10271,10695,11370,15516,5452,8898,8387,18801,18201,17476,8812,17268,15238,49066,19621,42747,25273,4252,18125,4373,5757,4811,6922,38957,7025,10196,7157,49956,11631,7776,8465,7333,7379,7418,9819,15740,8187,8395,13519,9082,11903,14005,43433,11951,8681,8736,9890,10116,10426,10809,12105,16185,12236,18221,15693,12760,13086,13193,13557,14237,14706,14799,14816,14850,14986,15078,15206,15328,42660,46457,15658,15850,15862,16056,16300,16407,16453,23584,23100,16529,16614,16996,48715,17045,17274,17578,17786,18107,42917,18231,18358,20467,18496,18611,18675,18893,18911,6378,18941,18991,19109,5481,19245,19272,19593,19724,20048,20056,20110,20400,20484,22410,22739,23532,23577,23657,24079,24225,24453,24774,24928,25291,25529,25566,25596,39385,42320,42491,43026,43455,44039,44228,44580,24619,24810,24656,44342,47285,46322,22674,6834,38930,39024,39432,39868,41831,42023,43262,43781,44504,44691,47851,48832,49306,49313,49731,19907,20312,49599,17254],
+	"label": "food display"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [29194,27230,58687,59551,57124,29880,53016,29744,59016,61405,38553,56037,29630,30051,29971,61542,100136,60761,55474,38613,61566,55410,62395,67883,56787,63815,61200,65364,59771,55124,53504,55789,64919,60599,62341,52507,60605,55337,61174,53733,56778,56658,54544,70634,59676,37236,60451,53343,53881,53887,63811,58890,56650,54142,54290,54604,55001,55072,55155,56241,55201,55715,55839,55914,55936,56017,97396,56379,57010,59660,57062,59638,59697,59844,59945,59998,64751,60039,60272,60783,61485,61618,61652,61954,61963,62065,62423,62512,62538,62697,62783,62921,63261,63448,63535,64056,64282,64520,64547,64730,64979,65006,65165,65582,70649,66321,71003,66758,67572,67701,69071,69884,97513],
+	"label": "structure"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [133072,133040,131693,133557,132693,129319,129073,131862,99793,133060,132146,133624,101135,101829,130974,131566,99057,132228,129077],
+	"label": "trash can"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [138993,137699,134257,129148,139104,138064,139436,137013,131639,140102,129053,132047,134803,137998,138292,138582,140495,140505,131292,132347,133206],
+	"label": "trash can"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [128173,128231,98074,95231,95122,93664,127441,133489,95361,129250,127954,94432,98572,131323,132060,129270,134027,133508,92951,126284,126613,127770,95336,93346,93511,97656,98337,99888,127396,127430,131584,93936,94257,94301,94817,95024,133502,99069],
+	"label": "trash can"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [113994,78348,114409,68056,99585,66514,106568,105477,112397,70198,103539,69644,70291,104090,79415,104298,69809,68222,113949,71085,113980,68366,70223,69345,79226,102988,79474,102256,100426,65438,104910,100570,112531,113266,112017,100786,79799,112054,113524,79929,80021,74585,106439,108064,78881,107062,112711,79090,77827,101508,76358,72429,68867,105672,69841,64539,73375,106856,111412,106607,102695,64015,64034],
+	"label": "structure"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [119472,115444,140217,105867,118064,144807,114969,144901,135123,140319,111273,85615,139447,80865,109655,144796,117555,109924,75815,117957,73282,84670,118800,119670,137132,117598,86347,84845,84877,137127,117707,117393,139838,110939,111905,107302,139675,137957,116033,118504,119125,111794,107374,109334,85052,84711,119277,111726,72505,140626,138534,138668,144712,144972,105110,119351,117800,118864,117316,118388,72516,84436,116727,72924,82204,81095,82614,73813,74379,74784,81002,76051,77445,142550,81125,81890,82313,82823,83130,83132,83896,84170,84701,85139,85336,138361,85595,85720,86432,105359,105596,105705,105799,107814,106812,108114,108204,108527,109075,109785,110040,110602,111058,111132,111748,115111,115370,135955,115780,115829,116578,117024,138386,117728,118091,118261,118975,119175,119529,119722,119837,119858,135248,135592,135660,136895,138490,138511,138743,138796,139539,143709,144190,144597,144967,144979],
+	"label": "food display"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [101927,98539,100807,97510,97152,96916,99246,101431,96679,96341,96002],
+	"label": "object"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [35243,29199,33884,29845,35144,31826,34908,31566,33751,35539,36111,33800,35572,37208,34262,37441,33822,37162,33913,34080,34639,31654,31163,31346,33529,33734,36505,30865,36045,38308],
+	"label": "trash can"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [36392,35136,31025,37259,33515,35717,36723,36298,35644,37866,37619,33235,31123,38477,42721,30525,36496,35755,35608,32858,41905,30630,34206,34866,35204,36203,36575,38470,42415,35393],
+	"label": "trash can"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [75142,71441,39342,72307,71984,72797,43413,43227,44270,77585,43440,38837,71702,75147,75630,39549,71952,73834],
+	"label": "trash can"
+	}
+],
+"segmentsFile": "scannet.scene0228_00_vh_clean_2.0.010000.segs.json"}

scene0228_00/scene0228_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.173648 0.984808 0.000000 -3.323250 -0.984808 0.173648 0.000000 2.600590 0.000000 0.000000 1.000000 -0.117013 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 = 2016
+numDepthFrames = 2016
+numIMUmeasurements = 4204
+sceneType = Lobby

scene0237_00/scene0237_00.aggregation.json

@@ -0,0 +1,84 @@
+{
+"sceneId": "scannet.scene0237_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [4454,24139,24592,23421,3396,24497,24857,24374,10468,23477,4067,4553,4317,24296,24676,24586,24818,24164,9373,9323,23563,9401,24278],
+	"label": "bathtub"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [17125,19912,16399,27847,18157,16733,17705,20209,17761,19378,18284,20267],
+	"label": "bathroom counter"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [16428,16699,19237,17236,17698,16587,28133,17650,15515,15005,15720],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [25986,8961,26520,22502,8845,6791,4643,7585,5899,5677,21555,22754,26497,26995,23084,5064,5569,5128,24851],
+	"label": "shower walls"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [15261,11417,27233,10765,10055,14525,16119,10996,15860,15569,27112,23351,15473],
+	"label": "floor"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [20321,19901,20045,17505],
+	"label": "mirror"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [17659],
+	"label": "towel"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [19490,19397,19633,20399],
+	"label": "sink"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [477,12520,936,13069,13861,1784,12688,13294,1573,1855],
+	"label": "door"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [2158,2502,1752,2264,1822,1171],
+	"label": "doorframe"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [1451,2496,1611,2745],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [1948,1901,1988],
+	"label": "rail"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [16158,17853,15630,19377,12485,10029,16470,10248,10754,11992,15270,15618,10051,15555,14691,10417,28113,11880,15623,14364,15051],
+	"label": "toilet"
+	}
+],
+"segmentsFile": "scannet.scene0237_00_vh_clean_2.0.010000.segs.json"}

scene0237_00/scene0237_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.325568 0.945519 0.000000 -0.837008 -0.945519 -0.325568 0.000000 1.707140 0.000000 0.000000 1.000000 -0.073943 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 = 534
+numDepthFrames = 534
+numIMUmeasurements = 1146
+sceneType = Bathroom

scene0260_00/scene0260_00.aggregation.json

@@ -0,0 +1,162 @@
+{
+"sceneId": "scannet.scene0260_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [9559,7684,8277,7848,8474,10063,9184,7458,7563,6206,8261,7211,7802,7344,7405,7434,8148,8224],
+	"label": "mirror"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [46308,42211,49818,41284,55701,52186,54020,51818,52418,37602,38966,51321,50583,54781],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [10819,30247,31603,11266,33250,12775,31325,10631,11176,11740,11521,30342],
+	"label": "door"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [37739,39169,37600,39127,35585,41860,37088,38025,38668,38792,41448,38875,40989,39497,41942,37357,37099,38439,38207,35716,39370,36576,40684,37506,40308,39179,37951,33480,37153,33425,33726,39528],
+	"label": "shower curtain"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [49941,43615,35948,50153,44181,43142,49111,43294,54725,49725,49500,36475,36755,34562,43227,34104,34593],
+	"label": "bathtub"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [26166,26327,25805,26015,26249,23967,21818,21416,22566,22606,24422,22131],
+	"label": "towel"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [45334,13848,14964,34789,43930,35484,44710,23496,43747,22753,46614,22133,23802,24691,36329,45594,21949,46508,18483,13932,44325,33604,14561,19989,22879,43360,14932,36541],
+	"label": "toilet"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [8317,7044,17372,8302,6777,16262,7600,15961,15336,16281,8658,7551,7387],
+	"label": "sink"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [17962,24881,9449,16547,24023,21253,15974,7003,15734,9447,22170,7755,8466,20691,7153,20827,8769,21054,15390,11657,7172,8055,24309,16933,17259,16356,22340,16842,16408,16214,17257,16219,16740,15593,20659,20841,23430,23394,18911,15466],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [30086,35510,6398,17535,14402,8853,19632,29579,14131,13304,15257,36779,43869,20333,26939,27176],
+	"label": "floor"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [6966],
+	"label": "object"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [16191,8393,8512,16883,8329,16982,7591,15888,15400],
+	"label": "object"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [24918,22465],
+	"label": "hair dryer"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [23292,20923,23619],
+	"label": "toilet paper"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [17484,19166,18867,17938,19601,18308,20041,17731,17559],
+	"label": "trash can"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [45345,45842,25790,46122,23540,20581,48335,21832],
+	"label": "picture"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [55628,51897,51206],
+	"label": "rail"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [7651,7422],
+	"label": "object"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [12822,40274,16911,13775,12883,15954,34018,41186,37552,36135],
+	"label": "wall"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [11307,31269,32251],
+	"label": "doorframe"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [40160,53003,47722,47607],
+	"label": "ceiling"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [25541,23961,21670,18646,19430],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [24843],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [47698,18249,19442,43207,48770,46102,46676,45978,43564,47996],
+	"label": "wall"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [44519,42921,44031,43844],
+	"label": "towel"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [28737],
+	"label": "ceiling"
+	}
+],
+"segmentsFile": "scannet.scene0260_00_vh_clean_2.0.010000.segs.json"}

scene0260_00/scene0260_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.026177 0.999657 0.000000 -2.065560 -0.999657 -0.026177 0.000000 3.339650 0.000000 0.000000 1.000000 -0.087693 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 = 1541
+numDepthFrames = 1541
+numIMUmeasurements = 3218
+sceneType = Bathroom

scene0261_03/scene0261_03.aggregation.json

@@ -0,0 +1,150 @@
+{
+"sceneId": "scannet.scene0261_03",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [23849,23503,35202,35257,24082,36213,32680,26063,61495,25344,32121,32535,49889,23151,23773,30617,50603,30972,60170,32015,34919,32216,32699,33932,34133,34446,34449,35247,33644,35332,35788,36809,50668,59234,58316,58820,50176,58972,59393,60505,62526,58760,51029,62598,62644,62371,32502,35858,58250,23067,29975],
+	"label": "clothes dryer"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [67049,67289,69008,71483,70978,69661,69637,67781,71268,71240,69178,67669,68925,71667,66841,67229,68970,67060,66440,66385,68238],
+	"label": "clothes"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [31331,106697,30087,95665,30996,30688,94872,64072,31314,30794,38006,32096,72954,60680,37565,38535,39533,39743,58208,58435,58521,60231,63733,65296,86196,94682,96159,96257,96390,97031,97881,72621],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [93355,93537,89043,96473,100951,89934,85820,92133],
+	"label": "door"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [68486,70222,70589,110343,65463,68462,72084,70128,69060,69584,68000,69113,107440,107689],
+	"label": "door"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [35148,5986,36433,36104,64408,24046,12259,5010,41457,41739,34562,26176,24809,13445,429,3104,6357,14777],
+	"label": "counter"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [5799,3504,3976,4146,13627,3525,3372,4692,6233,6138,4526,6345,4907,36573],
+	"label": "sink"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [28236,56389,57901,9825,9663,56813,57646,56648,2705,57264,56214,57149,27910,2287,2693,7135,29347,10982,26884,6734,26653,27126,29502,26664,56499,57869,29877,26475,27558,28678,29307,55902,57438,56700,2758,56551],
+	"label": "cabinet"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [60826,53275,52812,89278,60676,52351,51089,50807,89710,61098,61917,53300,54126,54192,60077,62231,86711,54013,50236,85661],
+	"label": "washing machine"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [85854,73737,72980,73729,74012,87693,72962,87588],
+	"label": "trash can"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [110465,110846,36833,85374,105577,10910,105989,11449,85464,36919,29460,37160],
+	"label": "ceiling"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [92917,93831,104216,93835,93467,102051,110371,98805,103174,98257,104677,106371,90046,88630,84136,102451,108120,95582,101300,102367,101652,99736,98347,97855],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [91746,90266,99170,90730,100662,92316,90442,97676,93880,104460,104884,99505,91005],
+	"label": "doorframe"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [76520,52393,24716,353,49826,51480,51720,27532,81286,23659,2239,23497,83530,24730,50076,73262,50313,83612,84263,50465,83108,82045,50947,51027,51139,80283,51386,52053,52198,52304,53625,57190,82721,57347,74234,75457,78949,79924,83197,80448,81528,85459,79613,81053,81649,84764,72997,85155,73506],
+	"label": "wall"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [19327,4488,15924,16172,16038,17851,11578,16042,16175,18874,10969,19453,19537,19577,23030,11532,10144,11838,14505,1464,4999,22814],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [107394,72523,108448,109029,108794,49341,48653,106511,109344,72297,49503,48130,49563,22510,48389,71637,72468,67157],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [40853,40718,64660,63424,38729,38493,42664,38234,43289,38370,38022,63344,38100,39395,39549,39663,39863,40996,40103,40463,64234,41233,41325,43744,41546,42658,41746,42169,42327,41014,42646,64739,42776,43701,42546,40372,42813,42518,64144,64466,41312,64496,64341,64681],
+	"label": "cabinet"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [31453,36497,40136,32343,37810,43098,42904,33556,39680,38686],
+	"label": "cabinet"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [36610,31205,34702,41348],
+	"label": "towel"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [35280,31659],
+	"label": "cabinet"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [82021,90230,74591,81344,75334,77130,92261,76225],
+	"label": "shelf"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [14652,9810,17777,19061,7066,8039,16277,16751,18471,14687,14023,16776,8666,10068,18805,9738,6612,10111,8630,7414,10656,17922,16440,3740,18602,6464,4469,4719,4942,6070,12146,7485,8470,6577,8791,6175,10025,13284,16542,17567,14576,15594],
+	"label": "window"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [78006,78593,87731],
+	"label": "mini fridge"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [98725,97965,101811,94718,100708,97037,100642,101604,97825,102474,95243,95856,95476,100473,102385,102095,101782,98512,101501],
+	"label": "step stool"
+	}
+],
+"segmentsFile": "scannet.scene0261_03_vh_clean_2.0.010000.segs.json"}

scene0261_03/scene0261_03.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.008727 0.999962 0.000000 -1.327850 -0.999962 -0.008727 0.000000 1.762390 0.000000 0.000000 1.000000 -0.187750 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 = 1838
+numDepthFrames = 1838
+numIMUmeasurements = 3903
+sceneType = Laundry Room

scene0279_02/scene0279_02_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e425f37168b17f8bb0b4f57acee762aad735d935b2c71a994a5ec5ee2267bdf
+size 10093554

scene0279_02/scene0279_02_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98348de55e5d6b9716687d2177d7a2254f24d11c132e39c94a6490a3eff3a2a9
+size 9624306

scene0292_01/scene0292_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12fefac9f7cc164b5b7380ef30861ad6a1d0bce1fd7529caf058325bed3a8372
+size 3549714

scene0292_01/scene0292_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ab0a51dc550f92478c1015f28f44c29ef64dcd6afc66a90f0deb0435d7f295
+size 3383832

scene0306_01/scene0306_01.aggregation.json

@@ -0,0 +1,252 @@
+{
+"sceneId": "scannet.scene0306_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [50620,49484,50675,71291,81968,51651,51577,51650,80870,82608],
+	"label": "blanket"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [142889,140531,145166,146481,140755,146873,143103,143079,140484,143481,143440,144141,140686,147423,144864,143887,143347,141086,142176,142654,142168,144122,142043,141906,140613,146254,143953,145763,147350,144155,141381,140716,140995,144320,141815,146577],
+	"label": "clothes"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [90002,92844,90979,94230,100074,98827],
+	"label": "backpack"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [94462,128589,127561,131134,129410,128730,93833,120886,127740,127255,126053],
+	"label": "clothes"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [94590,78674,79894,95234,84096,82495,94704,95257],
+	"label": "clothes"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [2115,87826,29893,64068,18149,25872,70071,43965,68873,32378,14958,119654,1895,87547,15038,38414,17006,18540,26046,55213,25674,26637,40406,69203,30024,31321,53285,55166,67834,68287,55020,68495,68737,39083,68957,41970,68959,87960,69263,32805,85726,69531,85686,31212,32966,88616,26588,43810,32655,37859,40735,39086,40822,55243,87822,45258,41725,43580,45219,53643,73104,54330,38374,55034,73812,88019,114964,131774,38376,54389,41654,44496,38389,38895,41831,43108,45877],
+	"label": "ceiling"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [57292,70302,70684,70448,89369,64663,120435,140188,70411,99867,55814,140344,138124,102460,47187,92803,6975,5401,7803,5588,57769,56129,22254,21211,18591,57136,19147,21980],
+	"label": "floor"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [13883,14155,9726,1948,14863,3183,540,13324,2189,17767,32179,1616,4099,5617,27917,16520,15900,12222,31759,5601,8360,13507,2270,6839,11272,4066,18349,14914,16789,5672,6243,6885,14510,16795,13335,17753,12305,11218,16078,16452,10951,15725,18359,26632,9475,10213,900,9033,17616,13947,5850,4910,14596,18300,14867,14327,17077,24555,5272,5743,6183,6850,7122,7316,110,7390,5811],
+	"label": "curtain"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [99412,99304,100036,99143,99442,98367,98534,99958,100218,98820,96717,98191,99291,97245,100386,97687,96618,95981,98968,97426,97578,97735,97748,100033,100632,97078],
+	"label": "laundry basket"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [138693,156944,156521,154554,156949,150745,151912,152179,156959,150630,152540,156234,155187,154457,154901,155023,155329,155200,125523,156802,155799,155920,122238,156252,127454,152883,155942,154136,156258,155866,151156,150849,125858,151085,128075,130855,150608,151027,152357,132048,152380,139375,128806,150527,153719,154063,137100,153666,132167,138274],
+	"label": "box"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [93527,91678,93134,92980,90735,91203,96171,88803,94046],
+	"label": "box"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [76796,47153,89860,46819,47535],
+	"label": "box"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [50187,49148,36736,78611,50554,49083,79798,80407,83900,81158,51539,105081,49405,82824,83513,79674,80186,75867,74121,95429,51930,74524,95405,83000,81556,37727,78896,33589,80909,105550,84046,76405,34166,104755,77275,104574,51220,51245,105745,84599,79113,51042,108847,48778,106695,82701,81077,50094,78589,83308,77277,82445,35930,34800,82201,80890,83434,51397,80317,78028,81217,36991,34420,35762,36257,50508,75028,77431,89655,76523,77527,76402,76030,84016,81941,82357],
+	"label": "bed"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [57897,62344,55557,59455,59875,62450,58522,60843,56836,62163,61993,60779,59385,56519,57212,61209,57468,58376,58986,60235,60331],
+	"label": "jacket"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [59439,10605,10891,67407,9099,65914,8783,59378,61155,61559,651,61541,67439,62417,61827,62059,67160,62567,66607,51514,50877,9645,836],
+	"label": "desk"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [10363,11965,9050,10608,10681,10284,9194,12389,8912],
+	"label": "monitor"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [74158,107774,122438,128940,110637,104695,110072,78753,107771,114017,113525,126224,112008,106228,109817,110410,109126,75911,78754,120953,106611,107050,114187,105437,107353,108359,110163,113516],
+	"label": "dresser"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [129888,125711,129955,129876,151256,151281,129304,127860,128336,152370,122341,136020,134507,133989,131396,131624,135598,153967,127368,132322,128901,132578,127078,120963,120239,124242,131209,128870,128652,129356,130954,151848,129852,126076],
+	"label": "shelf"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [102874,102955,103064,102971,104404,102826,102599],
+	"label": "door"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [27923,25395,19825,21530,20180,20917,20729,24515,24627,25716,25785,69897,70714,19558,70469],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [35635,86045,118809,71463,148935,118283,149932,36122,36271,38807,119272,149979,112758,39653,34968,109252,72920,37154,36286,37084,39246,72194,116085,41175,39640,41843,41174,42408,43217,71322,73013,71371,72008,73435,72534,72720,85586,114422,85601,85715,41329,86106,39983,88046,107473,108970,109949,110318,118659,110752,33725,114227,107012,114962,44139,115672,117099,35679,117119,148451,33838,34074,45997,34798,41763,113856,78188,84341,108531,109950,113410,148829,42668,38527,35050,36093,38406,41756,43322,44882,44948,38015,39161,45380,43166],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [148125,114751,115939,118609,88676,88565,119950,149237,116964,115045,109874,118980,79259,118264,111016,81269,119098,117115,114926,115415,115993,78766,116883,116976,117194,117488,117614,119283,117929,149026,149609,85226,79087,108076,108155,87098,87895,87019],
+	"label": "window"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [74538,91594,91288,75206,75098,91334],
+	"label": "object"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [2166,2381,4046,31784,36018,4752,52076,41621,33566,35917,42128,42001,35363,3569,2273,2222,34603,38865,40876,41123,34629,38508,3280,42776,44099,1569,46113,35318,39795,36724,41927,42717,43397,46530,34673,35508,37892,38919,40424,43969,44975,45594,44763,37877,45490,2941,38337,41534,13759,31147,30444,32449,32096],
+	"label": "wall"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [22917,28740,28595,23057,30927,22418,24932,25621,30014,28689,22369,29320,29645,24558,31402,25165,23101,19244,25435,32506,24866,22869,23718,20490],
+	"label": "door"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [60564],
+	"label": "keyboard"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [22633,12760,10166],
+	"label": "laptop"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [55768,61294,56018,58291,59262,57149,57546,56276,55553,59275,56851,57956,58170],
+	"label": "chair"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [60634,61376,60609,62574,6452,7274],
+	"label": "computer tower"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [19481,66071,65098,65691,21048,66404,20166,65086,21658],
+	"label": "trash can"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [5236,19739,7580,22436,5893,20252,19007,22613,9622,19430,7985],
+	"label": "trash can"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [89814,93792,90047,89991,94404,92180,92243,90904,93394,91759],
+	"label": "backpack"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [66844,96168],
+	"label": "object"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [138197,140291,121529,139647,123989,123181,137774,123070,139118,139335,139818,120888],
+	"label": "object"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [121943,128081,127662,126453,124074,126783,130950,128266,127450,129149,123156,129427,125685,130619,125423,126838,125322,122759,120341,120902,123791,126805,124481,124815,126112,126511,129905,128103,120222],
+	"label": "object"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [90482,91974,90754,90634,91155,123331,95018],
+	"label": "box"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [94191,123723,122709,120410],
+	"label": "box"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [137458,153534,135985,145245,149674,139497,142836,149974,138771,146019,146651,143374],
+	"label": "wall"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [122669,144738,136145,146644,123517,131813,127114,136004,129362,143089,129009,129543,145506,144641,144607,143171,144664,139004,140926,145575,138238,145105,147117,142624,141462,147441,143353,141510,137479,141903,141239,141925,140581,144891,142245,142711,143452,143072],
+	"label": "closet doors"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [138927,136937],
+	"label": "box"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [139946,137811],
+	"label": "box"
+	}
+],
+"segmentsFile": "scannet.scene0306_01_vh_clean_2.0.010000.segs.json"}

scene0306_01/scene0306_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.382683 0.923880 0.000000 -0.659499 -0.923880 -0.382683 0.000000 3.263520 0.000000 0.000000 1.000000 -0.143696 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 = 1011
+numDepthFrames = 1011
+numIMUmeasurements = 2554
+sceneType = Bedroom / Hotel

scene0361_00/scene0361_00.aggregation.json

@@ -0,0 +1,204 @@
+{
+"sceneId": "scannet.scene0361_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [43426,59878,45983,24349,46187,53388,73675,70904,44032,71951,69888,82465,41468,40221,22984,59712,40546,70035,73884,70842,45233,42088,40878,42607,41387,40324,43448,70007,81814,60687,61443,46296,41447,24224,17450,30476,61450,47736,43048,17459,8840],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [58349,81293,79131,52663,76225,58174,58233,49120,79060,55906,54962,77766,58806,58855,75869,78579,74224,81528,57445,74666,52590,74848,74301,49142,50411,54000,56729,78257,56799,75770,47959,53324,48822,49070,49549,55167,50608,50900,50689,51682,48139,52311,52763,54038,52837,53334,53698,58768,57740,53799,57934,54601,79978,56208,56827,58464,77989,57116,57221,57243,73830,75974,78285,79240,79709,81369],
+	"label": "bookshelf"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [26101,18248,28437,22386,44766,19485,22858,28077,47182,31212,7930,8344,25053,29341,28409,20025,25192,43724,27743,20516,19727,7529,18407,17652,30785,30930,27435,28510,29353,7748,22394,21453,44800,30767,44839,43651,7696,7729,9758,24242,17678,17799,20416,26030,21095,22170,22674,25566,30690,27988,29851,31185,43598],
+	"label": "bookshelf"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [67981,65507,1643,430,61571,16846,9666,35830,34601,5358,589,61951,5150,14471,3092,5679,3149,32295,39530,4709,458,63185,62035,35437,7170,66587,62498,59345,4766,66749,4734,11611,59955,32692,5795,12716,5898,35123,118,10232,255,3987,354,3915,2124,777,7149,38408,4440,764,4000,1585,11826,809,4839,4301,901,2975,1004,1012,3908,17083,1552,1685,62376,1922,66162,2290,2358,62194,2380,68352,2556,2718,2731,2913,3689,3934,5784,9318,11631,16355,11872,61677,12135,12356,12560,13078,36023,13604,65077,14451,64498,14513,14704,37765,14871,15286,15327,68715,16309,16579,16654,17193,17264,32253,32958,33717,33742,34117,12290,31850,34606,34672,15631,34908,2360,35709,36448,36600,37003,37408,37540,37745,37883,37895,37898,38729,59846,60236,60461,60775,61245,61871,14362,61946,62077,62206,62079,62358,62531,62627,62706,63206,16157,63341,63974,62256,64342,64523,64878,65708,65753,65857,66216,36739,66372,66494,66685,67792,14804,68613,34236,10543,11234,11671,31658,32499,60969,63292,2133,1497,1306,717,1392,2267,3025,3035,4845,14145,6232,15652,31563,32148,32728,35674,36099,37189,37599,37678,38164,40058,38414,40168,61897,63957,62865,60808,10321,37555,38268,6658,7257,6966,6116,6227,6951,7206,7208],
+	"label": "bookshelf"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [76167,78866,76088,79865,76645,75507,78691,78165,76375,76953,77524,79909,77527,77975,80010,75464,80718,77400,80805,79783,76369,76422,76547,76568,78098,78251,80678],
+	"label": "lamp"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [59059,57983,55848,58577,55914,57349,58755,55756,56571,57465,57405,57675,56911],
+	"label": "lamp"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [20513,21906,19688,22532,20170,22145,21657,21078,20276],
+	"label": "lamp"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [25648,26994,27608,27848,27040,27396,8256,7722],
+	"label": "lamp"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [6444,6276,12639,16013,6787,14833,17186,16275,16000,15606,12671,13052,6399,6768],
+	"label": "window"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [15516,37913,39803,36787,14042,17108,13312,16293,38537,14005,17302,37946,13920],
+	"label": "window"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [66653,40015,39811,40064,67777,66107,67613,66277,39326,37657,37938,66347],
+	"label": "window"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [86951,89158,88205,87050,87205,86794,88502,86687,86562,88455,87677,88956,87499,88988,89045,88598,86760],
+	"label": "chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [85368,84957,84776,86532,84644,84600,84978,86435,84782,84478,84549,89577,84720,84832,85203,85561,85626,85752,86090,86319,86454,86530,89388],
+	"label": "chair"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [82675,82541,84125,84207,83652,84021,83439,82078],
+	"label": "armchair"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [70271,71912,73120,69945,69786,70216,69520,72984,69469,83780,70098,69705,82100],
+	"label": "table"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [56398,54557,58905,56622,57949,57659,57666,57735,57700,55186,57712,58124,56001,58490,56258],
+	"label": "books"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [52226,54148,54131,53307,53415,53788,54013,54537,54440],
+	"label": "books"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [51004,50943,51971,48199,52033,52135,51075,51640,51892,52142,52010],
+	"label": "books"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [48650,48832,48879,48625,48159],
+	"label": "books"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [74482,73412,73505,47048,74892,74067,75069,73928,74513,73531,74641],
+	"label": "books"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [76027,50792,47462,78583,76927,76366,78501,75319,75910,76481,78567,75904,78204,76412,75342,76706,78082],
+	"label": "books"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [22616,44707,47363,44635,47136,47133,22001,47500,22543,22084,21072,20498,47217],
+	"label": "books"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [45335,43364,18034,47086,18376,18493,19259],
+	"label": "books"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [23098,18116,25475,18529,19341,23117,24027,23627,18098],
+	"label": "books"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [19864,20319,21449,18283,27004,20531,25841,28431,27224,27785,25695,19232,20390],
+	"label": "books"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [28006,27335,25564,30885,28132,27566,30977,31064,27490,28312,28240,25987],
+	"label": "books"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [23490,29563,23534,23425,23330,29884,24717],
+	"label": "books"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [15921,9656,15788,13807,13106,15251,16159],
+	"label": "books"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [8558,10400,11981,610,11937,12266,8897,11280],
+	"label": "books"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [11526,33710,34014,12302,34449,31808,32550,31745,33820],
+	"label": "books"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [31441,60925,59887,60847,60659],
+	"label": "books"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [38043,17276,37910,36819,37036,38862,14461,38154],
+	"label": "books"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [36840,38524,62115,61793,35562,37493,65424,64525],
+	"label": "books"
+	}
+],
+"segmentsFile": "scannet.scene0361_00_vh_clean_2.0.010000.segs.json"}

scene0361_00/scene0361_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.350207 0.936672 0.000000 -3.495310 -0.936672 -0.350207 0.000000 6.228380 0.000000 0.000000 1.000000 -0.068220 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 = 1147
+numDepthFrames = 1147
+numIMUmeasurements = 2305
+sceneType = Bookstore / Library