zahidpichen commited on
Commit
7a53037
·
verified ·
1 Parent(s): e022001

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +12 -0
  2. scene0005_01/scene0005_01.aggregation.json +114 -0
  3. scene0005_01/scene0005_01.txt +17 -0
  4. scene0005_01/scene0005_01_vh_clean_2.0.010000.segs.json +0 -0
  5. scene0027_01/scene0027_01.aggregation.json +120 -0
  6. scene0027_01/scene0027_01.txt +18 -0
  7. scene0027_01/scene0027_01_vh_clean_2.0.010000.segs.json +0 -0
  8. scene0155_00/scene0155_00_vh_clean_2.labels.ply +3 -0
  9. scene0155_00/scene0155_00_vh_clean_2.ply +3 -0
  10. scene0172_00/scene0172_00_vh_clean_2.labels.ply +3 -0
  11. scene0172_00/scene0172_00_vh_clean_2.ply +3 -0
  12. scene0200_00/scene0200_00.aggregation.json +120 -0
  13. scene0200_00/scene0200_00.txt +18 -0
  14. scene0200_00/scene0200_00_vh_clean_2.0.010000.segs.json +0 -0
  15. scene0215_00/scene0215_00_vh_clean_2.labels.ply +3 -0
  16. scene0215_00/scene0215_00_vh_clean_2.ply +3 -0
  17. scene0219_00/scene0219_00.aggregation.json +30 -0
  18. scene0219_00/scene0219_00.txt +17 -0
  19. scene0219_00/scene0219_00_vh_clean_2.0.010000.segs.json +0 -0
  20. scene0220_00/scene0220_00.aggregation.json +294 -0
  21. scene0220_00/scene0220_00.txt +17 -0
  22. scene0220_00/scene0220_00_vh_clean_2.0.010000.segs.json +0 -0
  23. scene0220_01/scene0220_01.aggregation.json +366 -0
  24. scene0220_01/scene0220_01.txt +17 -0
  25. scene0220_01/scene0220_01_vh_clean_2.0.010000.segs.json +0 -0
  26. scene0248_01/scene0248_01.aggregation.json +90 -0
  27. scene0248_01/scene0248_01.txt +17 -0
  28. scene0248_01/scene0248_01_vh_clean_2.0.010000.segs.json +0 -0
  29. scene0302_01/scene0302_01.aggregation.json +168 -0
  30. scene0302_01/scene0302_01.txt +17 -0
  31. scene0302_01/scene0302_01_vh_clean_2.0.010000.segs.json +0 -0
  32. scene0329_00/scene0329_00.aggregation.json +270 -0
  33. scene0329_00/scene0329_00.txt +17 -0
  34. scene0329_00/scene0329_00_vh_clean_2.0.010000.segs.json +0 -0
  35. scene0335_02/scene0335_02.aggregation.json +348 -0
  36. scene0335_02/scene0335_02.txt +18 -0
  37. scene0335_02/scene0335_02_vh_clean_2.0.010000.segs.json +0 -0
  38. scene0344_01/scene0344_01.aggregation.json +90 -0
  39. scene0344_01/scene0344_01.txt +17 -0
  40. scene0344_01/scene0344_01_vh_clean_2.0.010000.segs.json +0 -0
  41. scene0353_02/scene0353_02.aggregation.json +324 -0
  42. scene0353_02/scene0353_02.txt +17 -0
  43. scene0353_02/scene0353_02_vh_clean_2.0.010000.segs.json +0 -0
  44. scene0394_01/scene0394_01_vh_clean_2.ply +3 -0
  45. scene0418_01/scene0418_01_vh_clean_2.ply +3 -0
  46. scene0424_01/scene0424_01.aggregation.json +288 -0
  47. scene0424_01/scene0424_01.txt +18 -0
  48. scene0424_01/scene0424_01_vh_clean_2.0.010000.segs.json +0 -0
  49. scene0435_02/scene0435_02.aggregation.json +246 -0
  50. scene0435_02/scene0435_02.txt +17 -0
.gitattributes CHANGED
@@ -345,3 +345,15 @@ scene0345_00/scene0345_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
345
  scene0025_00/scene0025_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
346
  scene0025_00/scene0025_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
347
  scene0418_01/scene0418_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
345
  scene0025_00/scene0025_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
346
  scene0025_00/scene0025_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
347
  scene0418_01/scene0418_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
348
+ scene0418_01/scene0418_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
349
+ scene0172_00/scene0172_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
350
+ scene0172_00/scene0172_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
351
+ scene0215_00/scene0215_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
352
+ scene0215_00/scene0215_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
353
+ scene0457_00/scene0457_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
354
+ scene0457_00/scene0457_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
355
+ scene0155_00/scene0155_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
356
+ scene0155_00/scene0155_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
357
+ scene0453_00/scene0453_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
358
+ scene0453_00/scene0453_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
359
+ scene0394_01/scene0394_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
scene0005_01/scene0005_01.aggregation.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0005_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [95709,63576,97957,62357,35792,14475,62887,10453,40806,40922,65117,122014,63871,14060,37967,38899,98322,97078,62633,35983,39762,40087,100199,12403,64971,14173,35578,35619,16327,35719,13591,11606,15431,36842,11139,69927,37879,38946,38119,41215,39914,38044,12931,99109,41635,34558,36357,40647,38028,11867,37814,36358,97171,36780,94433,95508,122518,39295,96830,37313,122298,95295,101190,10591,38272,16654,38548,36399,36982,37124,39591,40479,41318,41448,62298,63444,63523,65023,65946,70812,93138,93812,94052,94770,70601,94915,96540,97110,98309,98916,99271,99847,101621,101862,101918,121351,123129,123189,123259,123348,37088,36316,35954,35973,66584,67097,66154,70437,97823,98558,66766,101360,98140,101180],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [78513,83461,83493,83465,83914,77824,78331,84048,84026,83031,83504,82248,73603,76387,83040,82065,79575,74933],
15
+ "label": "table"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [84924,59550,91094,87783,86642,87908,90357,56904,86844,86705,86579,59891,84219,84957,87327,87513,87581,87774,88034,91771,89011,89656,89860,91241,91258,91975,92155,117768,85534,88177,87970,61191],
21
+ "label": "table"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [42070,44568,50753,73509,16953,85520,46551,45697,19388,10246,44062,43339,49285,51299,45729,17414,19519,76303,88942,21858,35074,58133,37620,81529,51630,41907,28982,45103,44971,80967,18374,76531,43026,43033,33461,42887,42129,44822,80475,74769,46250,54542,57293,54858,43669,54418,102793,57472,35319,62688,42684,58378,49542,55218,43000,42839,42527,42463,42007,43795,44940,44291,42057,102033,73974,48473,46840,73294,73330,74483,90189,89870,88829,90906,89594,90618,22262,9343],
27
+ "label": "floor"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [60418,55742,59254,56227,61203,60548,56093,61603,61448,55891,56839,56857,56479,56820,54851,57202,57705,60103,58421,59315,60426,60768,54417,55475,57886],
33
+ "label": "chair"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [47769,48586,45186,50206,50410,50152,50051,47162,49962,50187,80753,46677,43996,50475,46736,47477,49336,49802,48615,49624,49700,82950,45159],
39
+ "label": "chair"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [94595,68094,70882,70217,69638,66959,94038,70944,93938,69218,69670,64753,99741,98597,70188,69400,100415,98681,101219,66291,101975,101661,66297,67244,66947,66308,66462,99616,98695,68600,65035,101145,99475,68687,68764,70470,100790,94365,98344,97458,97518,97713,98048,98058,98132,98481,100207,100567,101352,101858,93498,99301,62855,100995,101272],
45
+ "label": "tv"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [119091,119115,119710,117115,116332,113591,111854,116587,112184,119544,115452,113788,117153,115189,111674,104742,114929,117715,112830,112120,121358,121764,102870,103120,110679,118454,114471,114541,114771,122590,116759,121533],
51
+ "label": "bench"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [94956,92295,65043,95781,65646,63089,93467,95057,59286,55523,65938,65939,92304,94653,62651],
57
+ "label": "cabinet"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [51465,54100,54249,50952,54018,59126,52853,50792,50807,52566,50963,51713,51385,53906,53657,53451,61367,59341,50615],
63
+ "label": "chair"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [75616,79829,74329,78538,78974,78873,74861,78690,77118,76008,74842,77891,77990,78923,79068,76667,76370,75278,78834,78913,78659,75875,74779],
69
+ "label": "chair"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [22213,21932,20707,21167,19511,22272,21499,23374,17977,20908,22564,21328,22328,23256,22110],
75
+ "label": "recycling bin"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [25918,678,7478,24296,256,25384,25410,2086,3864,24216,992,3612,2322,24527,24957,26349,25849,23392,142,8633,8879,118,349,21794,2202,2564,2710,2889,3819,23437,4409,7815,4442,6445,24534,4693,7359,8405,8697,671,24182,24580,24784,26308,24998,5178,25128,25896,26201,953,19241,19253,4628,5396,1094,1503,20910,24281,18673,7261,3185,6302,25196,19986,25461,1067,1593],
81
+ "label": "wall"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [3561,3633,8007,32376,28846,32528,30062,29023,5257,28517,4240,5275,28586,5333,5388,5875,31273,6452,32990,6689,7173,29224,8050,8859,26946,26955,28662,28904,31929,31180,31278,31471,31525,31531,33362,31852,31921,31932,32055,32983,32272,32398,32667,32084,32695,31917,32152,28678,32477],
87
+ "label": "cart"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [12855,14892,10813,15200,6911,14146,16169,8912,6277,7390,10467,10937,12728,9268,12916,14820,13375,13422,13445,14045,15628,15691,15825,9829,16560,9762,5573,9783,6128,6738,8357],
93
+ "label": "door"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [19001,18929,18136,17781,17183,16794,18881],
99
+ "label": "wall"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [76847,79674,105959,71931,103510,77897,105713,72725,71929,73212,105091,78174,72244,72016,73231,71469,71579,74951,107920,107587],
105
+ "label": "wall"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [119759,121155,118100,119776,117503,112099,111148,106066,103842,116052,108118,111002,121381,121284,122373,118096],
111
+ "label": "wall"
112
+ }
113
+ ],
114
+ "segmentsFile": "scannet.scene0005_01_vh_clean_2.0.010000.segs.json"}
scene0005_01/scene0005_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.994522 0.104528 0.000000 -2.634020 -0.104528 0.994522 0.000000 -4.633250 0.000000 0.000000 1.000000 -0.058952 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1451
15
+ numDepthFrames = 1451
16
+ numIMUmeasurements = 3044
17
+ sceneType = Misc.
scene0005_01/scene0005_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0027_01/scene0027_01.aggregation.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0027_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [19464,19511,43796,1568,44639,71494,102048,19177,16186,73938,18107,44961,103072,17063,44200,101436,98106,17020,74468,14369,101049,97170,100379,102214,101171,40094,43728,46192,13552,45902,45659,71574,76434,75695,337,74586,16237,43934,18776,73068,18125,25752,17564,15132,46314,19281,1520,16820,16373,42288,19201,98855,41199,72515,98213,100728,16671,13591,14432,103925,16681,1758,73481,1152,42038,42705,43038,44126,72597,77100,101982,97030,98036,98437,99276,100598,98858,96972],
9
+ "label": "couch"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [117761,39574,38608,106847,55548,107703,107892,39285,6622,12949,106648,12447,94916,56030,107984,115604,82225,7281,7132,81535,57320,56042,56383,55414,57649,12063,88136,55178,28596,54689,108483,33574,39503,12560,14637,39159,37801,131715,108929,34912,6598,6843,39364,34537,32867,12320,39354,1283,81636,95019,12743,35330,34635,35155,132679,12058,34714,11972,118047,12082,38746,108287,38582,306,14579,7662,6786,81473,118558,131795,123081,55377,33741,86637,55434,8609,95800,99003,99249,121245,122658,121782,99637],
15
+ "label": "floor"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [125938,138064,124488,134167,123286,126149,134514,119915,137013,119767,119461],
21
+ "label": "chair"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [90166,90062,89307,90504,90494,87759,91205,84390,90115,90531,86739],
27
+ "label": "chair"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [125841,126498,125257,125181,124040,123910,123395,126441,127275,120081,127079,120072,119270,119808],
33
+ "label": "chair"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [1282,2053],
39
+ "label": "door"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [482,2180,2397],
45
+ "label": "doorframe"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [4051,1398,2292,22538,772,25011,2751,3231,18117,25235],
51
+ "label": "wall"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [22303,21274,22227,21353,21389,21318,80339,49920,21680,78339,22653,23247,23542,23963,48199,50506,51620,79771,79911,80143,53329,49609,74554],
57
+ "label": "ceiling"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [102408,50697,51857,80029,79014,51464,75198,46239,51356,26252,50981,136366,53420,100867,100349,78542,79699,126444,25270,100098,79581,76707,44756,79739,78178,28216,45265,46256,79174,100787,48072,78034,79885,129379,48526,52488,49077,50948,121320,49175,122278,50202,50753,129068,77924,50825,77461,51241,77235,51528,51934,101813,101023,127989,79290,51966,76446,120920,52416,74874,76954,80360,80454,77707,128123,77280,77431,127886,78949,136570,79386,79607,79930,80362,80659,81064,81114,81222,101606,103242,104141,129336,129190,104282,104313,123797,104525,105094,105285,105369,105653,105747,106003,106152,123103,49946,123236,123822,123873,123962,124157,124365,124480,126001,124794,124894,124922,125032,125427,125716,125926,126229,126339,21869,126818,127852,127918,137978,128247,128487,128593,128718,128748,128963,128989,129148,129222,136957,137129,138217,138287,26596,27973,27631,27639,26248,26619,28395,25950,28037,26624,27794,27927,25461,24714,137215,137943,121768,137145,133307,137633,137733,137254,136651,121906,122273,122615,122976,122692,120660,121945,120543,136530,136080,123028,121567,122641,120679,131593,138013],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [133680,107965,132305,132210,135996,111968,107106,133422,134692,130121,135206,134932,115347,117296,113199,106507,109456,111594,107903,107539,114702,107872,107857,110204,111063,109895,115968,116131,107173,117353,116948,106958,111769,111644,112090,112120,111737,112191,112318],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [130528,131143,130629,134304,131111,116271,113131,135969,116891,130443,111535,116980,111790,116678,117264,109950,130394,134341,134951,110954,110919,110809,111979,112414,112980],
75
+ "label": "whiteboard"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [91799,62609,67518,59058,66897,65810,91663,65668,66378,62478,92915,62793],
81
+ "label": "picture"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [9821,66360,5237,84940,67171,82684,83123,85241,55504,11689,59257,11307,83109,61742,59525,61425,66902,82870,31789,83130,85643,91826,30334,89406,84035,86225,5408,31896,86409,67693,86260,30871,84821,86465,92930,92238,85581,86027,85852,91852,91876,31317,65958,65142,66386,66788,30348,31034,66598,31410,65601,6279,32655,32591,61882,61232,63246,10432,32028,4926,32560,31774,29846,10388,8250,6755,11045,9178,8955,8809,5807,62449,59268,63530,57866,84324,85145,54351,83345,82979,84434,83935,57770,28747,54560,60121,60991,54243,56177],
87
+ "label": "wall"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [6272,9503,6385,11239,11338,5884],
93
+ "label": "picture"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [64007,59310,61583,64349,59738,91257,91475,59816,64487,59731,64064,57387,63602],
99
+ "label": "chair"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [60235,58635,60016,59250,58362,64139,62899,63820,62679,64493,64920,58850,59376,59696,64915,58176,57150],
105
+ "label": "music stand"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [61493,37027,36730,36186,64838,30482,29916,36707,10075,30247,29911,36143,60899,36534,36293,36655,30161,10088,36208,36052,37392,34565,6725,36390,29285,36669,30340,62714,59522,37122,37131,34793,35916,37369,35680,34370],
111
+ "label": "piano"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [11319,9469,10397,10296,11173,10929,10825,9884,8653],
117
+ "label": "music stand"
118
+ }
119
+ ],
120
+ "segmentsFile": "scannet.scene0027_01_vh_clean_2.0.010000.segs.json"}
scene0027_01/scene0027_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.366501 0.930418 0.000000 -3.873550 -0.930418 0.366501 0.000000 1.788870 0.000000 0.000000 1.000000 -0.099625 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999263 -0.010031 0.037048 -0.038549 0.009933 0.999947 0.002817 -0.004287 -0.037074 -0.002447 0.999310 -0.020574 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 570.924255
9
+ fy_color = 1170.187988
10
+ fy_depth = 570.924316
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 969
16
+ numDepthFrames = 969
17
+ numIMUmeasurements = 2037
18
+ sceneType = Living room / Lounge
scene0027_01/scene0027_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0155_00/scene0155_00_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:712a0ed321973c83928c15b0a26ae47cd98b9c49037ee7062cd13624a851809c
3
+ size 10353501
scene0155_00/scene0155_00_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:769706de8f945bc0c35b5cb80ef09bfc2ffc4acd55b0c341e8584bd40b1ff93b
3
+ size 9867293
scene0172_00/scene0172_00_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b4fb4e62eae8a4667048fc23f94f3f68c579f461e4fad4572c3a0b5cd4be08f
3
+ size 4626352
scene0172_00/scene0172_00_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e2b3e445217688831b801c5ab82892f7c5cc7616c8d4988203107e4d1476168
3
+ size 4408760
scene0200_00/scene0200_00.aggregation.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0200_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [88165,30427,17155,30409,16443,68494,17719,48534,50295,29557,28705,28348,17169,66333,30082,16507,49613,68555,62729],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [10099,17745,485,10253,9805,6468,14285,16145,1968,14247,7649,3861,14790,6451,13650,1243,6818,13471,8036,9636,13219,8507,13104,8694,10016,8682,10503,10902,11373,14121,15695,7009,11109,11897,8127,12503,13251,13383,15323,13384,15568,13680,14028,14638,14461,15713,14813,15389,15677,15614,15702,15786,3164,14567,7260,7856,16275,7755,8941,13797,7950,16293,16327,5464],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [86679,88070,66203,64265,62828,87228],
21
+ "label": "radiator"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [23038,38995,2919,7963,33141,36609,208,40686,40761,40465,6554,40189,5874,36913,36298,6940,38279,39059,3199,38712,4390,37715,40823,4571,39739,4782,4873,5903,36206,5954,5974,6190,34207,6680,7192,37634,7521,37653,38245,8180,38463,8575,23185,40049,23499,23889,34524,35863,37152,37157,37812,39096,39578,39923,39937,40298,40471,40562,40781,31862,35601,39633,411],
27
+ "label": "bed"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [42453,55977,18047,39583,32578,31798,37844,24167,38603,33264,43113,41666,35564,56228,39653,24820,10147,57320,78388,12080,25598,23990],
33
+ "label": "floor"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [78536,61724,79449,61999,58974,82253,58843,58697,58709,58256,58927,58373,58524,61680,61827,79532,80471,80718,80788,80843,81774,80931,81237,83163,55538,60109,79025,83316,83845,83478,61155,78870,78859],
39
+ "label": "cabinet"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [84340,84553,84781,85645,85312],
45
+ "label": "door"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [86111,82592,84836,84370],
51
+ "label": "doorframe"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [87938,79868,77535,78528,78286,81488,81023,80531,80487,80759,76810,77335,80152,74152],
57
+ "label": "wall"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [77572,75662,74994,74999,73717,54600,54261,53548,54006,51434,54827,51084,75397,51135,53644,53763,74626,50602,76539],
63
+ "label": "door"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [31892,33852,34558,32493,53337,34588,33976,50783,35381,34619],
69
+ "label": "closet doors"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [3189,20879,32211],
75
+ "label": "wall"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [4163,95,734,2757,19569,899,1007,20131,142,19242,20287,21403,18710,526,18810,77,1232],
81
+ "label": "nightstand"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [17941,10130,9792,15458,9199,10160,10399,10529,11099,11720,12582,12889,17656],
87
+ "label": "shelf"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [44900,43742,41057,26793,25768,42045,44384,25625,44582,42054,42487,44628,45015,50117,49144,27811,27403,25214,24681,26015,26715,27008,27909,27398,27978],
93
+ "label": "desk"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [27694,27717,25190,27002,27015,27657,27930,27974,43000,26724],
99
+ "label": "chair"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [30068,28110,30549,30088,49487,49303,28631,47087,50160,47328,30665,28042,29827,30611,48465,46379,28725,31017,50093,50104,28926,28162,29073,29228,30302,30188,30353,47843,29415,30485,49781,48635],
105
+ "label": "window"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [47558,67849,65852,46884,69479,68045,66465,67891,65426,69304,69054,69230,47426,47601,64914,48597,66022,49534,49628,49773,67645,66062,46606,68114,66233,66251,66798,66969,67029,46286,67349,65705,67662,68133,68184,68472,69471,49427,46852,65079,64717,68354],
111
+ "label": "window"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [64220,43368,68738,60248,62923,44088,45917,44771,45915,45581,41777,45335,45813,46145,47068,48248,48890,67297,62745,63028,67387,63255,66328,65401,67493,66600,68584,69030,45487,43555,62633,46661],
117
+ "label": "shelf"
118
+ }
119
+ ],
120
+ "segmentsFile": "scannet.scene0200_00_vh_clean_2.0.010000.segs.json"}
scene0200_00/scene0200_00.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.999848 0.017452 0.000000 -2.158880 -0.017452 0.999848 0.000000 -2.319090 0.000000 0.000000 1.000000 -0.018433 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999263 -0.010031 0.037048 -0.038549 0.009933 0.999947 0.002817 -0.004287 -0.037074 -0.002447 0.999310 -0.020574 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 570.924255
9
+ fy_color = 1170.187988
10
+ fy_depth = 570.924316
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 1110
16
+ numDepthFrames = 1110
17
+ numIMUmeasurements = 2345
18
+ sceneType = Bedroom / Hotel
scene0200_00/scene0200_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0215_00/scene0215_00_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0348c045d16e18c2dfe4572f60c9bb4a171bc94d4386ae9a7bbb01c2fd2fea57
3
+ size 6770360
scene0215_00/scene0215_00_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9ea821d93595f385f98019dd650dce252ba2f03d93d15363bb94b6e706b9ee3
3
+ size 6450652
scene0219_00/scene0219_00.aggregation.json ADDED
@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0219_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [1410,1488,16206,12686,5701,12494,11614,12540,12525,28458,45275,44967,11636,56,20406,29134,29024,28755,45775,26490,412,8167,4440,26304,27833,20735,21110,44373,44190,42755,37054,42990,754,13469,12551,1774,35113,245,13483,103,146,3451,2303,19684,7591,988,26851,6584,35721,874,6173,12418,12638,14247,27112,2139,2397,20212,2860,13561,1894,15602,32357,20964,33664],
9
+ "label": "floor"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [25443,15322,17415,24194,5092,3258,5096,23421,15457,16631,38814,18011,16584,5631,22722,5224,6265,21989,2464,4902,2199,18553,19064,9475,22049,11084,8942,21822,10040,15184,25703,10941,5780,4497,16549,8498,23307,4474,3022,9349,8757,5239,17310,5192,4865,17654,21423,19005,16614,10038,17976,5311,17128,2116,2091,8329,6846,6511,1715,2036,15620,20940,14127,18603,17351,15057,5517,22331,24567,8835,6849,10633,5624,9769,8199,9716,6495,11335,10308,16873,23446,23564,24300,24851,24602,24873,39289,22302,46115,38729,23268,33688,34695,33725,46076,41873,3654,5484,7136,8711,9183,10148,11010,11080,14056,14276,15074,17442,18164,24185,18360,18551,18893,19950,20549,26578,32280,38726],
15
+ "label": "bed"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [9776,8351,8966,10764,8371,9566,9702,11386],
21
+ "label": "pillow"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [34723,30459,41167,41161,34912,42152,15380,35053,30855,17545,41390,37109,36072,33679,39964,32459,30070,32001,37272,33116,33690,36220,37691,35010,39508,38359,42375,39196,40998,37536,32511,42017,37736,42382,32762,30661,36771,38393,31495,38149,34996,31285,32698,34089,37474,37600,35471,36701,37980,35203,37059,31141,34548,30322,34186,36426,42291,31282,31608,38804,35504,31979,32252,32779,32800,34123,40767,35936,39874,33653,32593,42070,37429,30557,15641,29990,30176,31540,32144,32553,34394,34734,36749,39059,40044,40603,40870,41683,42261,42263,15204,37850,34253,35037,32903,41741,41779,39456,41476,39975,39884,31122,40294,29776,30354,37496,31167,33481,33511,34700,34921,35335,35578,36682,37389,37782,39322,39383,40213,40221,41247,39467,31628,36264],
27
+ "label": "shelf"
28
+ }
29
+ ],
30
+ "segmentsFile": "scannet.scene0219_00_vh_clean_2.0.010000.segs.json"}
scene0219_00/scene0219_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.748956 0.662620 0.000000 -4.039470 -0.662620 0.748956 0.000000 0.107660 0.000000 0.000000 1.000000 -0.023758 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1119
15
+ numDepthFrames = 1119
16
+ numIMUmeasurements = 2334
17
+ sceneType = Bedroom / Hotel
scene0219_00/scene0219_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0220_00/scene0220_00.aggregation.json ADDED
@@ -0,0 +1,294 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0220_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [293910,292303,293937,294015,290562,293973,292845,292775,294716,291411,294865,283901,293279,282132,289820,292162,283802,286111,292702,289659],
9
+ "label": "chair"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [210741,210539,210010,209477,210107,210793,211202,209859,206770,210242,209084,210224,208840,210892,205922,210849,206174,207959,207366,208688,209177,209492,210058,210514,210733,210438,210861,210544,210712,210742,210189,208789],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [223604,225925,224764,223330,219913,226056,224159,223119,217499,221120,221087,223705,221445,223190,217657,218578,225274,220170,220181,223433,223637,225007,225521,225530,225598,225427,224979,218597,226049],
21
+ "label": "chair"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [95187,97286,97399,47945,44925,44597,97173,97347,42614,44897,44090,47238,97448,97076,46338,44109,45338,48513,44787,48325,97352,97911,44161,98112,98144],
27
+ "label": "stove"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [296793,273627,296089,279249,274731,277675,306283,275333,279285,273180,294498,292214,305862,276712,275119,275314,305590,279762,304862,271788,297216,277606,290216,290389,305449,275814,275155,308919,276834,272521,294964,294526,306224,304497,278627,293807,277370,274032,293438,272368,274750,309036,293342,290458,294293,291790,292167,294183,294462,295979,297395,297900,275401,277962,276121],
33
+ "label": "curtain"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [146743,141749,191011,148812,143071,142715,141700,146549,148019,146282,145199,140642,148626,147041,146781,147336,149268,148003,144282,148124,147874,145306,144971,142207,149405,140439,188426,144290,144577,186269,144624,148657,191933,147099,146208,144475,148928,144037,188034,144992,146154,148693,144396,146989,146499,145637,146727,182964,146476,140311,145933,144061,144534,149132,144620,144637,145816,146892,147787,185229,186663,191352,142612,142732],
39
+ "label": "window"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [187964,253433,182732,186432,184826,183826,189273,191893,186128,185385,192160,186217,251507,189438,250824,187631,182991,190340,191947,183682,253964,191530,183743,251744,182515,188396,185675,188917,187772,187637,248902,184167,185187,188785,186280,186581,183699,190310,187789,187410,186772,183721,182842,182871,183136,184686,183144,249024,186054,183421,185194,183578,183768,187646,185459,183987,183840,187913,183895,184587,184652,184791,185253,185879,187466,187850,188374,188384,189410,189600,190047,190204,190516,190556,190625,190762,190967,190996,191052,191381,191493,191632,192152,249227,249759,250177,250195,250283,250584,250858,250870,251448,251480,251755,251825,251904,252222,252787,253115,253149,253712,190475,250443,250495,250839],
45
+ "label": "cabinet"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [123166,165551,127514,164160,123347,129378,134008,168644,123791,128612,128165,122841,161126,167829,124689,162965,165887,123313,121311,129477,120878,164661,163382,133806,164020,122215,125406,168062,122773,123452,165471,123251,118872,119988,118551,119669,119795,122002,128002],
51
+ "label": "refrigerator"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [241693,243328,230209,242344,241445,231921,237910,222756,237199,225809,240068,235576,222442,241289,219146,225254,234748,234405,238507,243487,239031,241758,243189,240360,237350,239525,243475,237070,240910,236574,237451,239920,241975,242977,243305],
57
+ "label": "door"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [174487,137217,137529,286909,101073,95823,268414,99580,234664,101456,60790,269274,266477,286334,208316,119236,8182,88540,72038,32921,132388,60117,32788,133719,102140,132458,281061,220608,8113,218690,218595,32211,265948,209155,171811,161659,218039,220655,99656,7301,7334,7543,132551,32926,208433,43102,43120,43270,208034,61097,72314,87799,197153,99958,100152,118950,207636,136444,160506,160643,288228,196772,196789,197451,206524,207173,266860,269171,281570,286682,282598,282623,282642,285593,282809,284022,285181,285959,286084,286091,286979,287264,287734,287761,288648,288663,288683,303482,303721,303759,303849,304105,304109,118106,264434],
63
+ "label": "floor"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [215538,57434,139311,104823,98367,107459,106389,71642,105281,56694,255581,196278,105246,55602,54496,42017,233228,170061,130703,54731,193416,56040,59029,56834,57371,57426,58176,58666,105583,58740,59031,105349,59105,59316,193769,69844,105173,70245,134409,139998,70514,106911,71368,193063,104667,104780,139193,105781,106611,168697,172145,107027,107530,107590,107601,169075,107785,176066,134212,139140,139243,150501,172155,172314,176289,176342,193346,194202,195096,195939,213806,214656,214872,215437,215877,216030,216224,232672,216463,245458,255341,299837,299924,300990],
69
+ "label": "ceiling"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [103367,102991,103918,100204,104304,100533,100079,99886,102249,102714,73952,63006,73672,110708,108024,65085,65404,75933,99806,107995,102708,104387,102650],
75
+ "label": "recycling bin"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [138891,174055,102673,175862,103090,100563,100955,101918,103199,104412,138285,103336,103521,102917,99910],
81
+ "label": "kitchen cabinets"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [142877,142762,143535,138382,143773,138535,140519,140475,140433,180279,143323,140643],
87
+ "label": "sink"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [181600,177606,181240,178915,180168,182104,177397,178731,179086,179033,178644,179295,180713,180784,181319,181394,181505,181658,182133,180572,178115,180313,179329,179490,180410,181470],
93
+ "label": "microwave"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [72608,74522,64161,64956,73599,63979,62371,60262,64155],
99
+ "label": "trash can"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [264781,266986,266695,206602,264981,207695],
105
+ "label": "object"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [269726,273361,271805,272311,271139,273697,274226,292327,269916,273382,293693,273314,289909,290971,293073,293892,294124,272073],
111
+ "label": "table"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [76543,63668,78463,65815,66928,64608,14796,63237,74642,20760,63203,64135,62129,64113,77531,64338,65795,79360,66266,67362,67865,67716,76068,68172,68825,68351,67785,68387,68439,62534,72074,73582,75792,74179,73860,73890,74098,74629,76388,77196,77682,77700,77898,78143,79052,67592,79343,79468,61534,76582,62820,65257,63474,63945,68831,62515],
117
+ "label": "doorframe"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [75816,78600,80088,75710,75052,72163,76058,75383,194826,76945,108491,108396,109590,113935,114192,116846,140286,247799,144053,144211,145697,149691,149922,73371,192878,178327,150566,151772,190485,190641,254577,140497,140306,142368,75331],
123
+ "label": "wall"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [110010,113349,144622,109444,111022,111792,112743,110285,112078,112598,115067,112936,144718,112468,77306,113632,113835,114851,115483,115253,109036,115026,115278,115737,115763,115981,113133,114502,116292,116256,144034,146949,115935,110884,111588,113005,113516,114155,112384,114459,114766,115124,108865,115404,115962,146218,112929,116477,112281,116131,116520,113598,109349,115999,114362,116287,116267,111488,108655],
129
+ "label": "window"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [254766,248259],
135
+ "label": "wall"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [247427,103278,143877,109157,109431,142763,109424,109599,108846,141385,142815,180555,140770,178508,138336,103158,137581,137768,175593,174789,175629,238325,247337,103928],
141
+ "label": "kitchen counter"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [236816,236540,240933,240653,246476,239683,247966,247736],
147
+ "label": "kitchen cabinet"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [252806,255354,254922,248078,248563,249610,250058,251948,255552,249854,251592,247958,247674,253500,253575],
153
+ "label": "kitchen cabinet"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [245415,240023,243136,228065,239550,243690,242265,242927,244271,244445,236689],
159
+ "label": "wall"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [224967,225099,230044,222425,228223,229510,226469,222007,229991,223230,225236,223513,223778,225438,228407,231225,231751,232538,220371],
165
+ "label": "wall"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [221052,230060,233080,223276,227192,212214,226263,212383,226252,228882,216674,213477,211912],
171
+ "label": "wall"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [53798,70052,54188,56199,53927,48875,45717,52376,46600,52385,52485,69572,48197,49729,50700,51486,53933,52236,52378,54457,55053,55293,55670,58072,66259,68568,68663,69784,42936,71217,44613,64970],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [52873,47871,52251,44665,50575,45797,50243],
183
+ "label": "wall"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [39393,41818,36187,42522,36629,51471,37486,36047,38778,33900,37286,33152],
189
+ "label": "wall"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [41869,39052,40217,37335,37541,39709,31611,38900,41505,33362,38174,39484,40495,40724,40997],
195
+ "label": "kitchen cabinet"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [40506,38845,40266,39616],
201
+ "label": "picture"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [85770,92184,86468,92944,86774,86019,31688,31374,31871,31681,30815,83024],
207
+ "label": "kitchen cabinet"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [29428,83332,81643,83251,30090],
213
+ "label": "wall"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [89900,89529,90017,88877,90549,88141,38332,88483,88904,89663,91012,91115,91399,88862,87921,90703,91871,90940,33319,30159,32397,29979,29571,31115],
219
+ "label": "kitchen cabinet"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [91286,90115,91455],
225
+ "label": "water pitcher"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [163783,125619,92316,122796,130690,128676,124209,120016,122393,125189,89378,127439,165361,121412,125866,161510,126373,129309,166693,167671,168583,169411,163047,120808,121567,125157,119604,118514,118912,121622,122414,163196,122603,122604,123188,123362,123929,123972,126711,127755,129375,161551,163863,167663,165092,163238,165938],
231
+ "label": "wall"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [160058,152748,160717],
237
+ "label": "wall"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [197670,154222,153237,155292,158505,199108,154011,154205,152200,154721,200434,155089],
243
+ "label": "door"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [152463,200172,158333,198447,154974,158145,155019,203330,153818,157512,156993,153659,154438],
249
+ "label": "doorframe"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [156766,203402,159693,205350,203400,205604,158124,201136,205390,205783,205857,201685,201761,202114,199958,197681,198667],
255
+ "label": "wall"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [258405,198421,198618,198111,260716,200845,261438,264461,202165,259728,198687,202077,198174,256705,262440,201947,202103,202766,203482,207698,263193,259413,209875,256907,202351,261628,257115,257470,261723,260517,258045,257961,261158,258154,260447,258174,258676,259294,258811,270985,258867,259055,262666,259403,259538,260174,279109,277289,260229,260959,261659,200965,261228,201253,262436,263155,263651,264024,203302,256630,256796,263204,260859,262170,264029,201448,200265,200201,258433,259367,256881,255807],
261
+ "label": "curtain"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [270813,272251,274261,273111,272604,270310,271453,271887,271737,273060,269493],
267
+ "label": "plant"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [271210,272929,271661,272703,271670,269768,270527,274452,270288,270370,271075,271434,272210,272469,272771,266550,272836,273238,273183,266226,265322,267289,268286,272287,268512],
273
+ "label": "chair"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [301907,306074,301812,280841,301981,302017,307659,305237,301697,299921,306386,310085,307535,299848,310619,300343,300781,301399,299866,298958,308920,308169,310083,280148,309858,308251,307819,301247,280107,280813,301041],
279
+ "label": "wall"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [300864,231909,299544,299691,290187,229145,227987,289710,231773,222148,226541,221952,292198,220136,222110,222687,286736,219767,218151,220520],
285
+ "label": "wall"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [23960,22039,6257,5830,18661,2885,20322,17894,20369,14992,14916,21826,22563,16694,19603,1181,4392,28476,15041,21261,1526,14505,1412,747,938,1005,20169,19237,18665,2170,18884,2461,20479,2632,3529,21903,16822,5230,3942,24762,3953,12556,5876,4243,5100,5128,5196,5385,5599,27721,5680,24571,29039,6350,14652,17962,15453,15897,16512,18216,19544,20074,20362,22420,26324,20894,16980,20639,27062,20864,13468,21878,24016,22373,27117,27489,27607,29096,21671,5645,2,111,1265,1875,2014,2428,2740,3326,5036,5188,5358,6029,6318,6872,12388,12645,12865,18875,13539,14590,15057,15338,15529,15648,15697,22229,16009,16741,17578,17725,18107,18124,18128,19464,19968,20220,20478,21108,22259,22592,22918,24258,27613,6891,28638,25076,15176,23011,24875,24877,26229,28344,28943,23210,24119,24491,25562,27394,27872,28411,23258,8335,8362,23941,26786,5650,3589,5760],
291
+ "label": "wall"
292
+ }
293
+ ],
294
+ "segmentsFile": "scannet.scene0220_00_vh_clean_2.0.010000.segs.json"}
scene0220_00/scene0220_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.078459 0.996917 0.000000 -1.763050 -0.996917 -0.078459 0.000000 5.518550 0.000000 0.000000 1.000000 -0.206312 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 2669
15
+ numDepthFrames = 2669
16
+ numIMUmeasurements = 5638
17
+ sceneType = Kitchen
scene0220_00/scene0220_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0220_01/scene0220_01.aggregation.json ADDED
@@ -0,0 +1,366 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0220_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [255253,251204,251119,251756,249087,249600,250246,306366,248409,248912,253083,309055,247663,246389],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [303455,270947,267789,304143,307703,301742,248827,251504,256929,306648,272116,300383,256184,304472,249685,299550,304383,305227,306209,299798,302809,300337,301962,303796,301844,304856,271518,299637,257295,301047,272714,302508,299294,304560,300279,299319,305181,300029,305150,301363,300801,300396,305856,307915,308285,307036,305656,306150,300495,304936,303209,299323,301831,306989,305191,305535,302286,301744,301352,303267,308037,300057,302612,299297,302746,300841,306367,295277,307193,305688,305869,305794,300111,270007,245131,244685,244581,246437,303111,304743,305684,307319,302207,302754,304800,308097,305940,307273,296851],
15
+ "label": "curtain"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [289424,289553,283489,285469,287834,318412,318171,291918,282932,288291,288227,291707,292951,318370,290359,290082,290363,292020,284999,283479,285904,283488,281668,290808,285285,286421,290334,291344,283300,281730,315963,315409,317282,289359,314397,286796,316929,314696,318416,318005,289148,289303,282222,292964,291649,288830,289960,286662,314267,313881,315964,316210,287103,287919],
21
+ "label": "curtain"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [74321,72772,75146,74984,30559,74027,31161,32756,75021,70553,29976,73316,74541,72915,66961,71776,68868,72008,72301,71236,27690,33003,27863,28548,30953,31088,73733,31881,72279,75218,32999,66900,74638,68220,71110,70376,70973,74221,71384,71678,72879,71989,72159,73612,73964,74903,75335,75404,71938,72564,31941,28319,30073,28786],
27
+ "label": "stove"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [153657,151333,149561,233409,157715,154487,157994,161336,151591,225439,151279,233192,157388,154476,170094,230062,235424,169975,231398,160445,230669,160646,158498,234049,157200,156103,232576,225558,168282,229475,165977,228196,165994,164020,149996,161510,162959,163983,232893,235362,231616,234819,226083,230840,235445,233027,228975,235325,231576,229154,228856,161359,162294],
33
+ "label": "door"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [255134,251897,254856,249735,238016,248357,252525,256092],
39
+ "label": "door"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [201622,68495,205725,6655,115674,145059,297577,11395,208910,135953,312812,40648,40946,41699,178891,206058,225191,296459,206264,280836,245858,226637,295545,11402,267752,279252,267741,267634,244469,40407,276598,280331,297537,6957,274579,276171,225865,276410,279874,11262,275220,205986,281589,265472,226571,226200,206436,265728,68383,202378,266719,246813,129296,136402,23502,244195,264823,279720,296438,9579,6072,69026],
45
+ "label": "floor"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [96492,99946,98803,43532,97524,45650,42513,97754,95796,94725,90127,91489,53576,96603,146140,95992,147195,96920,46767,110545,43091,91594,42842,53429,54227,52885,62420,96344,95720,100528,97461,110782,98571,101239],
51
+ "label": "kitchen counter"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [146824,89033,161218,40886,100866,98964,144749,161703,97375,146204,144732,150284,146294,41491,162624,90926,156971,145492,98056,146248,157745,146698,51323,100537,51358,87569,40832,88503,89177,100394,93653,93992,94193,94384,159302,94295,150233,150350,150780,152704,153150,154748,156706,156890,162177,44689],
57
+ "label": "kitchen cabinet"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [139637,191060,192835,137589,137374,138321,192750,197364,139515,135437,138704,137370,192367,192661,191557,136979,139792,191597,194861,139530,139289,138045,189798,137293,137769,138644,188828,196768,192707,193189,191602,192768,138645,138450,194950,135809,136675,138994,191743,197607,139420,193428,187130,191088,191255,191926,196635,197066],
63
+ "label": "refrigerator"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [80651,259546,38703,80718,237020,51073,83962,203153,82065,80406,78086,133723,78020,294119,274018,49992,82863,78117,78298,262160,78394,78621,198810,187849,114570,78974,80738,78998,198091,83122,79093,79167,79790,82318,80115,80779,80954,81052,86356,81143,198443,81456,81633,172942,81916,82263,260119,82756,83464,86162,86327,86927,91967,92867,109456,109725,109759,133922,140581,260517,140592,140776,258220,143195,143240,243494,198342,143463,147402,148646,174126,198251,199173,199176,199219,199606,199639,200700,202810,202832,203359,203775,204013,204506,243759,204650,204889,221482,221539,221544,272956,221769,222410,222654,242647,223639,223877,224335,224423,235935,242827,259149,259439,259731,260306,260494,261042,261264,261375,261408,262770,261740,262051,262175,263740,263965,273493,273616,273650,294136,258687,262698,223955,243253,262191],
69
+ "label": "ceiling"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [273926,274012,273673,272667,272088,272905,272109,273337,273604,273695,272946],
75
+ "label": "ceiling light"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [37928,36808,76166,9726,34151,39568,39746,36435,38989,35743,33723,37254,35140,31886,28697,75732,21862,23167,23327,28450,35085,29825,35361,30969,31315,32850,33058,35146,35860,37312,37737,38711,38827,39823,63913,63933,66167,76053,77323],
81
+ "label": "wall"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [70673,74718,70805,74097],
87
+ "label": "towel"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [30919,29815,32666,37125,34047,33368,33380,36616,34403,32040,30099,26783,28101,29136,32478,29768,33030,31469,18452,32012,33599,34493,34545,35996,24641,36252,19397,36699,37042,37620,12071,14551,12627,18525,35772,16638,14892],
93
+ "label": "doorframe"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [24546,50309,52631,25904,45067,46134,25428,25531,46324,108995,24858,24047,98084,53263,23709,108976,109432,103301,108579,114500,114279,114375,99766,110481,58660,52533],
99
+ "label": "wall"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [174776,110471],
105
+ "label": "wall"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [46244,43873,46060,43266,42678,45671,43809,44556,46383,24231,40855],
111
+ "label": "trash can"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [42314,44449,42903,42998,44118,43017,43365,40204,41273,44974,45145,46001,46847,46819,45622],
117
+ "label": "trash can"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [146655,153057],
123
+ "label": "cup"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [103593,105148,107288,105115,106534,162718,103316,107839,163520,113013,102758,104441,163238,107634,104485,103174,106666,107778,101961,104082,104117,104566,104976,106609,112834,105230,171664,113583,168356,107989,105310,108459,106063,113995,106097,107262,107692,107693,108223,108825,111916,108794,111880,111997,112291,112383,112469,113461,113981,171633,112907,113289,111837,111891,113131,113537,113317,106132,111693,112660,147269],
129
+ "label": "kitchen cabinet"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [165157,174596,153330,169239,171568,169313,173279,170500,172401,157569,175025,174493,159001,174627,157957,166581,162704,160642,156665,164397,170676,165028,165553,168266,165615,168163,159444,164734,167924,168035,168737,173839,159672,169573,170721,157037,161932,170999,171650,171762,171801,153788,172613,172753,172924,174842,153118,154331,155749,156271,168011,158158,159929,165368,161575,156160,165061,172148,153594],
135
+ "label": "kitchen cabinet"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [169321,174785,231895,167422,235581,236088,236123,237092,231877,236290,232561,157349,153864,159504,150962],
141
+ "label": "wall"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [214615,213259,217608,220621,210060,211164,210076,205831],
147
+ "label": "wall"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [211622,213857,211198,212560,213682,209430],
153
+ "label": "wall"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [54341,95532,91249,91311,54147,100241,95924,54195,91190,91643,90126,90264,90777,91522,91119,91180],
159
+ "label": "sink"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [49164,60587,48779,47465,56834,56022,56492,45697,51941,47883,49090,49673,54309,57303,55181,58416,55779,59171,55983,56749,56886,56953,57758,57901,58338,58692,59209,59232,59237,59525,59548,59601,60337,60336,60428,61165,55215],
165
+ "label": "window"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [107666,99867,105889,57332,60782,60907,108155,60642,103522,96142,62401,54158,103917,56790,107651,53431,54545,103825,54572,60684,55599,104105,55769,61119,55950,104651,56549,98866,56686,57741,97412,57937,58452,60184,60241,60600,62720,62750,62968,62978,101870,102489,107965,102618,102968,103370,104464,104802,105412,106476,107080,107408,107669,108634,106463,97076],
171
+ "label": "window"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [69894,63201,83637,77052,72232,73106,64214,74280,63397,72508,76079,70016,78507,66896,66991,67776],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [70330,74882,72016,124606,123684,73372,120429,115612,63043,68406],
183
+ "label": "wall"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [125066,126158,77729,75785,124268],
189
+ "label": "picture"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [121149,125656,120576,122615,118256],
195
+ "label": "kitchen cabinet"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [117285,116728,116181,114948,114895,115447,114964],
201
+ "label": "kitchen cabinet"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [121011,183638,121512,130862,131644,118698,122014,120592,117555,119567,121039],
207
+ "label": "kitchen counter"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [180284],
213
+ "label": "water pitcher"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [131388,178702,115545,131743,128738,115349,177314,119057,115778,178075,179431,181980,129547,115661],
219
+ "label": "kitchen cabinet"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [115395,117951,115321],
225
+ "label": "kitchen cabinet"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [123034,122127,123190,119317],
231
+ "label": "wall"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [121387,180168,176640,175706],
237
+ "label": "wall"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [185207,126255,127343,127231,186898,127054,125167,125791,183894],
243
+ "label": "kitchen cabinet"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [180102,181104,191250,179632,190371,185812,180863,178716,180685,178399,178258,185467,187397,177316,180523,180558,181051,196399,182180,182309,187627,182367,196539,182395,195120,184486,184746,185389,185799,185820,187450,187933,191454,194492,197029,197414,190569,197810,197860,199740,189114,193464],
249
+ "label": "wall"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [239596,238569,243318,241182,238781,239572,237175],
255
+ "label": "wall"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [256251,245485,246504,246867,249793,244324,248048,251609,255746,256471,239879,241177],
261
+ "label": "doorframe"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [242415,253959,259464,256861,256827],
267
+ "label": "wall"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [244179,264334,250171,244491,266292,246809,248298,244497,245708,250926,246443,247773,248544,248804,265514,249375,250147,251087,251296,266678,267429,270113,270813,249032,250118,250564,250892,250206,246855,245789,246871,246518,247507,247554,266754],
273
+ "label": "chair"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [298083,296169,296649,297619,265683,267216,267655,296119,298144,298447,296033,296855,298417],
279
+ "label": "radiator"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [299996,314321,315656,299644,299396,301579,301057,265852,316016,280337,264763,264528,266277,268962,267427,280449,281550,278284],
285
+ "label": "chair"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [291711,314080,319131,314458,314625,315928,315344,317275,316402,315071,290537,285438,283166,283180,276619,280187,281202],
291
+ "label": "wall"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [276465,284166,285562,285079,284317,287295,277068,282277,279399,228233,229742,274652,275368,276423,278523,283288,278174,278994,283305,283326,285131,288082,285551,279374,277032,276070,275869,279671],
297
+ "label": "chair"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [269830,269270,269707,269741,229246,268339,270261,269638,286046,212817,283772,228046],
303
+ "label": "table"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [270518,271295,271544,269087,271137,268348,269480,269146],
309
+ "label": "plant"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [211953,207401,211005,205879,206257,212004,210062,206414,205238,206298,206824,207018,207082,209216,207761,207936,213626,208082,208117,208339,209454,209700,209906,213072,213801,213920,214203,209114,205365,210011,267925],
315
+ "label": "chair"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [232992,211567,212220,228113,229368,210800,231967,208829,227241,228523,276339,286595],
321
+ "label": "wall"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [6339,16028,5120,20922,16251,19077,21665,14703,22219,975,17242,5808,13888,2740,21384,18036,25,7305,742,603,17720,576,482,829,13222,1763,1889,3962,2198,2490,20357,3462,18577,13744,4453,19118,4487,9547,4509,5230,4657,5237,5468,5556,1638,5727,1125,22901,14192,7203,17857,7301,17584,10902,14529,11731,12191,20784,12409,13154,15288,16187,20624,22042,22115,1609,12853,18734,3124,1870,2040,2302,2469,2712,2729,2807,4276,3067,3745,4220,4289,4715,4770,4922,6171,16284,18165,19206,19555,19849,22244,22683,2111,4861,5879,18043,13478,12769,18200,17380],
327
+ "label": "wall"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [253561,216657,217813,222679,263288,218431,217764,219689,216343,221434,216090,216558,214492,261950,215479,215083,219821,219868,220516,222780,254211,223836,223893,221043,252600,214843,223198,224873,252848,214647,224471,214815,214920,217527,218904,253826,255818,262313,256337,257471,261720,258506,260839,219501,217715,218159,256906,217603],
333
+ "label": "wall"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [215728,223458,218857,224927,217805,218590,217295],
339
+ "label": "wall"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [252538,215151,219324],
345
+ "label": "ceiling"
346
+ },
347
+ {
348
+ "id": 57,
349
+ "objectId": 57,
350
+ "segments": [95873,97211,99593,98464,99418,100780,97682,96733,98817,98538,100318,98220,100842,101290,101081],
351
+ "label": "object"
352
+ },
353
+ {
354
+ "id": 58,
355
+ "objectId": 58,
356
+ "segments": [43721,49766,59344,47659,47396,43076,49718,47842,49590,47131,47175,44695,47304,48799,49627,52210,58865,48774,53486,43342,60293,54163],
357
+ "label": "blinds"
358
+ },
359
+ {
360
+ "id": 59,
361
+ "objectId": 59,
362
+ "segments": [107319,108650,56285,60173,57338,105389,56149,54822,104552,107057,105552,100121,98107],
363
+ "label": "blinds"
364
+ }
365
+ ],
366
+ "segmentsFile": "scannet.scene0220_01_vh_clean_2.0.010000.segs.json"}
scene0220_01/scene0220_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.866025 0.500000 0.000000 2.495060 -0.500000 -0.866025 0.000000 5.935570 0.000000 0.000000 1.000000 -0.137851 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 2442
15
+ numDepthFrames = 2442
16
+ numIMUmeasurements = 5141
17
+ sceneType = Kitchen
scene0220_01/scene0220_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0248_01/scene0248_01.aggregation.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0248_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [373,60110,16826,30161,32471,62095,101174,42024,99577,85404,76555,88757,61498,46069,99882,100074,18824,100937,16500,92218,24807,94474,58424,68460,88092,32590,67893,55028,76554,55426,30768,33139,87764,54153,32381,31689,7632,63188,585,17991,84727,61129,63529,62927,65436,60842,53221,86444,18465,85520,75967,84723,87638,54742,56173,99816,32091,94895,41337,53209,93837,87883,50301,33057,48856,7595,35350,74508,73092,23721,92808,94102,93930,98501,24299,98387,81810,81207,81741,102075,102057,101946,100400,57941,58353,48560,49069,27245,24820,26397,24592,22323,26989,27233,24335,72607,74932,67489,16765,450,514,22582,22856,49272,63886,68920,67974,68447,73837,40902,15617],
9
+ "label": "floor"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [79585,79889,77166,77662,80452,78685,78113,72227,80293,77340,73359,80005,76680,77549,77652,74671,72180,73196,76216,82235,78671,79169,72938,78304,78590,74657,74426,72254,74084,78616,79666,78565,72665,79661,77062,75029],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [66488,43385,44657,43547,45105,60063,45030,66362,42819,39565,49330,42259,49908,66411,41582,41644,47273,41128,40295,41710,39612,45254,43727,42977,40086,41614,60252,44441],
21
+ "label": "chair"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [50723,52627,52310,51076,45326,47937,52771,52918,50471,45399,50987,52284,51384,47306,51496,45814,50042,47411,52591,50671,46576,51017,48454,43089,47634,48206,46420,50039,50238,49395,49244,47466,49729],
27
+ "label": "chair"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [17766,41911,20099,22009,42221,42615,39898,20245,20926,19822,21447,19443,39330,17883,16256,18394,16007,16211,21691,22144,20032,22171,43871,22220,17053,17709,40368,16681,17647,40888,15989,19588,40827,21076,21778,20323,21533,19288,17770,21152],
33
+ "label": "chair"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [71529,70708,72002,71157,71210,70516,69938,67425,70551,70251,80351,68857,76937,80528,71944,71601,80222,75941,70232,67343,67817,71134,71124,69664,74387,89287,93695],
39
+ "label": "chair"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [26208,27919,27353,27357,28788,30014,28211,22608,24833,29497,25632,29840,28075,27618,26561,26805,49980,29275,29118,47448,47908,50470,28831,27878,24151,23202,25591,24328,17270,24862],
45
+ "label": "chair"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [90099,91134,96746,91750,94954,91929,88059,90185,91033,94641,96341,93461,93462,91349,95618,94819,88043,91078,91181,95546,94237,95084,92367,92495,87993],
51
+ "label": "chair"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [99192,97567,97784,75058,99460,72269,96597,99068,98694,99265,94439,94865,74607,99333,98550,98469,95060,92878,92600,99003,99283,93236,91485,74226],
57
+ "label": "chair"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [11561,35781,13709,9036,10280,11533,12643,36643,10259,14258,13839,11253,10328,10081,9525,8378,13833,38390,38272,11616,37567,37872,11753,37271,12312,9572,38810,10525,14311,12605,15466,12163,8508,13546,14454,11549,14899,13257,10849,11212,11233,10585,14979,13744,8933,10090,12866,13989,8858,9258,9667,10083,13303,10375,13138,13341,14243,14928,38773],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [97262,96953,80044,96049,79274,97941,78978,97281,79247,78881,91200,97100,97136,97992],
69
+ "label": "table"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [43396,20640,44644,52303,52917,44342,22141,19430,44109,28525,51444,51870,52408,43514],
75
+ "label": "table"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [57396,57090,59960,58827,58850,59022,56971,57047,59924,58027,59285,35270,36255,36699,57339,58466,57929,82556,56981,59043,59141,59551,59557,59841],
81
+ "label": "stair"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [38031,38673,36744,36779,35172,37661,37726,38859,37017,37183,36366],
87
+ "label": "wall"
88
+ }
89
+ ],
90
+ "segmentsFile": "scannet.scene0248_01_vh_clean_2.0.010000.segs.json"}
scene0248_01/scene0248_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.861629 0.507538 0.000000 1.392930 -0.507538 -0.861629 0.000000 4.100890 0.000000 0.000000 1.000000 -0.064792 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1378
15
+ numDepthFrames = 1378
16
+ numIMUmeasurements = 2867
17
+ sceneType = Living room / Lounge
scene0248_01/scene0248_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0302_01/scene0302_01.aggregation.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0302_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [129105,133491,82013,136706,133539,129654,128616,126324,133484,130480,128563,128817,130313,219564,132869,132631,137370,129117,124221,133087,128315,137074,137224,136693,137223,126994,130470,125377,124121,130269,125053,130270,132363,127236,137446,133589,133429,129958,129851,128397,128731,124646,127742,127763,130671,127825,129912,125711,130988,132823,132144,128197,131168,130445,133158,130376,129967,132458,132318,131696,129353,131810,130948,129317,129203,137046,130805,131296,130905,129199,132028,131249,128942,127731,219716,130044,136724,137176,74617,84722,124569,125681,127430,128164,128217,128655,137510,128906,129003,129046,129166,129284,130054,130132,130345,130355,131872,131938,132067,132749,137571,219599],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [23051,23127,3465,5252,1513,5338,23967,20641,5771,6784,5012,24022,20953,4214,1657,7210,7596,3146,4779,30933,4394,3023,1529,22924,2361,1571,3011,1111,21588,7329,23035,5736,3742,2081,5843,2310,5961,23130,26792,1967,30984,28026,27113,7385,4654,29372,28199,28201,3868,31254,27947,4196,20352,22010,5434,21527,1509,4046,2101,3315,4222,21385,3102,4426,4725,4797,20670,20879,21228,21856,21863,23378,26751,30849,30091,28824,30672,24615,855,1309,4981,23907,30953,24767,5245,857,7178,6809,15382,7292],
15
+ "label": "window"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [190645,192379,168769,107410,192805,209436,213142,62682,66976,101280,117304,192681,213042,68126,194958,193487,191097,192795,172882,117250,41695,211657,210736,210893,117955,209425,112696,212737,211664,63670,105299,193495,62704,62836,42198,63792,107320,102099,105284,105598,107501,110359,112042,112593,118264,112685,116921,116955,194684,218481,117042,191354,117443,168427,191192,191481,217707,192892,209652,211148,39722,39367,39721],
21
+ "label": "table"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [25845,35347,104335,204111,104861,36421,36276,57833,75105,56844,36964,55681,55717,57188,109880,125868,165246,69804,201584,124860,209401,188066,65033,41247,207412,68528,126639,202515,75909,189102,187544,104112,103500,41273,166415,36218,127117,166747,165141,103642,72946,68556,109528,125854,200262,66415,65083,18336,35247,73045,9131,109918,111341,64799,68747,76016,73189,75298,69753,75595,72740,125010,125647,43858,201312,217239,57233,55883,86643,87717,86674,88028,100986,86206,100726,100795,56018,101167,87281,164074,166126,165812,63405,41256,39332,35535,87801],
27
+ "label": "floor"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [76662,79395,77468,76571,79160,73356,74008,77204,71854,75823,79338,72793,79408,77302,78526,78158,72476,72589,73527,75600,73627,73801,74030,74195,75082,75269,75435],
33
+ "label": "folded chairs"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [194286,194007,187375,109972,188305,190733,164350,183975,194911,184857,193716,185608,185923,193459,186152,187844,164331,172524,186345,187700,164709,186404,186750,187784,170402,187858,189772,191001,191472,188275,191085,108744,164658,166739,167855,193486,172978,167383],
39
+ "label": "chair"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [105961,101653,101994,105464,102509,101810],
45
+ "label": "chair"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [105059,169970,173003,104397,169605,169197,104062,169671,106251,103435,104758,104939,171605,163811,169479,171602,163872,170206,103588,163753],
51
+ "label": "chair"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [115148,111022,121596,114993,115239,123430,113510,114529,199460,111136,111094,215257,121662,175930,215816,113465,180669,182872,219101,195671,213890,179855,115222,119050,215944,157789,178083,115412,121633,119129,182062,122090,119161,119165,121542,119568,123114,119706,154171,120367,121052,214548,199353,121351,121359,121470,135029,219146,121483,121695,196517,122024,135432,122186,135044,123078,123159,173653,174682,218902,175981,175999,177373,178968,196879,181822,182880,197457,198391,182287,216351,213384,134931,213782,114294,197261,181273,182891,195223,213525,195605,195656,196120,196186,196240,196491,196977,197126,197387,123389,198260,135917,198742,198945,199065,199110,199359,199441,115187,213287,213750,214299,214370,214585,215491,215664,119813,215780,215917,219286,108560,108273,174187,161868,176390,134419,176432,178171,178962,180565,180952,150811,195426,181570,183717,135727,107689,157196,160207,174783,175300,175667,177800,178235,179741,182078,182587,183927,182616,183775,174496,176239,177839,108012,108135,158075,152401,154217,155420,215653,157477,174036,134986,119546,71518,114995,115057,115139,115172,123598,219371,133921,134072,134397,134487,134828,135113,135264,135771,136038,136442,195310,199788,199868,213920,215222,216015,216334,216337,135669,133893,122195,195447,219054,215950,196083,198283,214262],
57
+ "label": "ceiling"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [77558,77946,80817,81642,80014,78720,76377,76795,80746,81602,78965,77756,80525,81335,81699,81658,81764,76400,79254,80046,80675,79282,79769,80074,80260,78813,79900,81855,78941,81280,81392,76438,77397,78469,80851],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [22029,27432,45488,21699,22858,47743,28144,27604,29834,45186,17770,49194,44317,72171,49876,25057,46075,18704,46366,50174,46877,52084,52342,47131,25094,48558,49793,50426,50468,51271,51418,51446,45229,71673,49774,29581,30560,29074,49608,49091,46971,50947,51033,51805,52259,52375,53190,19921],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [53614,52009,53410,51211,52429,53726,52324,52500,85650,52655,51229,51127,84091,84189,51998,84049,52326,83646,85959,52725,85461,53667,85127,85762,53636,51322,53505,53529,83881,85103,84793,51342,85181,51328,84149,82290,82325,82607,82642,83606,83786,84060,84254,84086,84294,84427,84475,85700,85781],
75
+ "label": "window"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [58840,91593,60332,60264,16480,54921,10795,11090,11054,8476,90348,54310,15459,7894,34551,9715,34213,9746,11216,98586,97489,56267,13773,12075,11244,12247,100296,12813,13362,12518,86622,13438,98378,14170,34486,15819,16721,98731,55076,16826,16845,17523,60410,56573,98352,32591,17257,32892,58820,34611,61175,35098,38246,54675,54695,55079,59929,60372,60394,86762,60566,60834,86482,95847,95894,95896,100186,85,203,601,983,7677,8539,9489,9567,11792,13688,17628,87350,94634,94923,95726,96606,95095,86602,99326,8675,11825,19031,34152,89321,36552,31712],
81
+ "label": "wall"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [16047,16305],
87
+ "label": "clock"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [152652,142226,155019,156114,221243,141782,90662,221909,160930,91820,183579,221222,89071,163270,91228,223322,91089,222072,171481,168838,169305,89196,89022,143332,91027,140793,89062,145343,92510,138425,223894,93558,88775,88818,143920,93346,89247,99707,89368,89617,141920,137741,89651,94268,90921,91497,168618,91718,224294,91975,92403,144788,92961,143282,142503,94601,137836,94830,137960,101488,102007,102558,137684,137744,139672,140828,141402,142243,146032,142346,144451,224118,145994,146116,146235,146935,167737,147596,147785,154208,158027,167324,167996,170735,170857,222681,170959,171360,171415,177017,177782,177952,182801,220786,219889,220021,220366,220434,223453,220508,220640,220889,220984,221101,221613,221771,221869,222290,222330,222362,222628,175030,222752,222857,223423,223807,146452,223829,224608,224874,224910,225020,87253,92735,167879,223217,220575,224159,224259,225007,159270,150907,155731,175916,176340,178448,178805,180012,182448,183757,142569,146068,142405,142655,142396,141523,145043,147277,223924,92167,87036,94250,93368,100476,100564,97778,96752,97351,94219,88228],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [93563,161666,99203,183793,94028,168148,90519,223961,92795,93371,181646,146933,93643,88874,92441,153499,149222,94698,159455,155563,94981,95924,151455,96520,97022,172960,150865,99482,99980,147092,101386,102042,103233,159364,103262,161419,103294,176986,143386,138152,138981,155802,147009,138805,139615,153383,169992,158315,140091,140952,151148,142193,152572,147028,173092,147782,154099,150956,152186,153145,92981,183024,151547,159958,156469,180283,170036,159291,182290,169054,159583,159842,163329,163425,147583,169384,142811,220617,172976,89282,91681,146519,92619,93460,93503,94263,94620,157381,95664,95864,161191,96176,97552,156974,221350,97633,157395,99798,159248,100336,182849,102339,102949,155379,103028,103073,103130,138241,152259,138263,138904,179226,140368,182643,141265,147336,142929,143175,143855,88087,144138,97708,144634,146648,152269,152684,152803,153558,155552,152904,172579,154048,157230,157480,159864,179757,160425,161858,163101,169996,170921,149094,176368,171544,172228,95187,151413,172279,174111,95645,174945,175082,170809,175486,175536,179576,179747,142709,183607,183823,221284,143818,155439,149683,153466,156977,181648,155680,88541,90341,90550,97252,97769,98083,138240,138476,161266,138729,139585,139680,140352,140714,140981,150140,141307,141617,147247,154815,144231,144496,154908,144866,146223,147131,173935,149137,149017,149379,150083,150908,151399,162532,152055,142291,152680,152951,153031,146940,153099,153495,153709,154012,154429,154740,157217,162599,155628,155791,155836,151834,156073,156316,156809,156998,157351,179225,158402,139822,158688,158717,159245,159399,160296,160323,160883,160976,161085,151680,161023,163252,167449,176259,180850,155079,89543,89827,90154,91836,93892,158910,94470,138315,139150,140936,140995,141551,142190,159442,138882,139161,139762,139824,140189,161537,141663,142589,143361,144248,144498,145866,146344,146488,146715,146746,172116,149165,150596,151424,151700,151833,152296,152829,154760,99653,155332,155473,155497,155610,157128,157944,158362,158365,158395,163055,179497,156062,182225,222641,224572],
99
+ "label": "whiteboard"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [191745,191164,194306,187237,193351,189968,189066,187356,185476,189186,189822,186386,191065,193333,186810,185103,184142,189586],
105
+ "label": "chair"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [200933,193600,205177,192810,194669,191211,211524,208852,211864,201579,194750],
111
+ "label": "chair"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [201566,200758,205096,211195,206780,203864,202954,204441,201113,200916,211925,200949,201638,201519,202521,203167,204804,200976,205585,205731,207427,209355,209874,210670,207096,202968,210594,204197,205374,208092,201837,209019,203319,205086,217248,218131,200684,217603,217805,217097],
117
+ "label": "chair"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [116378,111312,111794,115959,206232,116864,115915,203957,218633,206539,200396,117290,206698,209208,217854,117185,217836,118294,117153,218785],
123
+ "label": "chair"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [70593,70314,70948,70648,70615,70093,116612,70384,116720,69730,70348,69146],
129
+ "label": "chair"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [70274,68250,70799,67487,67249,66208,66581,71132,71173,70803,66255,64732,64497,64601],
135
+ "label": "chair"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [66957,64640,66883,66350,66566,66886,66336,66891,66759,67083,65844,67339,65773,65004],
141
+ "label": "chair"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [44735,66131,63334,64481,44663,63404,41424,44615,41460,41680,38922,41180],
147
+ "label": "chair"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [40372,41638,41952,41734,38862,40182,41594,42315,39618,39281,42525,42553,41363,41941],
153
+ "label": "chair"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [61914,61512,37289],
159
+ "label": "chair"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [62536,61834,62519,62879],
165
+ "label": "chair"
166
+ }
167
+ ],
168
+ "segmentsFile": "scannet.scene0302_01_vh_clean_2.0.010000.segs.json"}
scene0302_01/scene0302_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.861629 0.507538 0.000000 1.574340 -0.507538 -0.861629 0.000000 4.470610 0.000000 0.000000 1.000000 -0.098224 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 839
15
+ numDepthFrames = 839
16
+ numIMUmeasurements = 1742
17
+ sceneType = Conference Room
scene0302_01/scene0302_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0329_00/scene0329_00.aggregation.json ADDED
@@ -0,0 +1,270 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0329_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [132946,317866,127915,114677,54059,195045,273940,63452,278734,254924,98436,190826,28014,270765,99531,309079,217927,220164,228399,56986,229073,259159,80080,80362,273107,26545,128390,228690,115352,115013,190884,56168,76857,316294,78412,276456,81504,79744,131067,312095,131035,193921,275072,171180,269355,226597,222828,54332,194511,270179,98184,81901,98187,56928,55549,98261,79833,190413,190966,80207,270188,223697,274124,98244,297351,286466,228131,297517,276023,272347,280310,142607,272432,63200,142433,226015,227533,82356,313412,352870,311955,171804,143308,311818,217093,226220,286412,203453,79694,79011,215485,244252,62648,170145,142376,171364,56005,215397,58903,193500,222681,214804,315808,225678,225397,194991,223720,193527,215459,353867,273728,61612,214487,218539,173068,221539,118114,216165,120781,342327,354216,126772,66952,258135,61269,226068,79286,61723,220718,59750,338756,98605,64784,220783,168928,66278,354132,62852,142503,26041,143089,27348,29039,25367,21546,227587,839,335975,194170,21246,339922,127309,597,43391,29029,278536,21612,130083,82315,227207,84071,252919,81938,150608,120772,43083,96931,80132,79130,81309,169987,81556,81357,227800,76974,79077,342586,119904,81837,228613,78316,216551,114567,286475,54024,119756,315793,118595,121014,215504,198093,198311,27267,120597,126817,313235,115251,116373,117459,117432,120975,314487,118572,65911,118499,116878,352921,117359,171926,142316,315411,279732,228536,343407,225567,217851,128182,126604,129273,226112,60922,62714,336888,143209,231260,194357,193317,232621,316739,229261,314037,227251,95688,141199,100773,148270,100500,143365,217262,66064,61759,67040,16657,245076,274382,315691,195626,270133,224602,172077,172689,80803,171542,342302,171539,136066,135903,352189,193310,135892,169661,79905,80659,128619,128095,147624,119722,225305,224383,227517,194942,228851,61353,273875,193199,63530,343772,83366,82591,339242,224543,226019,223258,223975,222759,224418,224964,217073,226167,169078,352643,221999,280708,220297,336640,233149,221545,220006,220975,194569,220627,220028,219510,297013,66511,217725,129557,226109,1439,142612,141668,141612,337803,272453,226389,145342,226528,229036,354249,223659,225128,222036,174679,66557,228592,218676,354263,29394,227080,275395,276042,272924,273514,312934,233090,244407,286748,286185,286311,244551,258517,245040,17493,15278,220777,96658,147803,149940,193171,193953,254366,256382,254534,195275,192089,193830,352109,190652,195345,148712,195804,28159,194497,192321,194572,194368,253879,254160,336480,91586,255144,254212,256371,255195,190462,192193,295569,193761,194798,191694,340294,191125,254099,216893,141358,174727,135147,133855,83496,338818,83850,84346,54976,54224,352784,59476,98959,217337,66209,64789,220991,65686,338095,192980,198011,191633,231256,278784,279995,286820,311814,312848,314622,313774,336209,312184,313165,311983,215879,315493,216312,338479,316086,278926,278574,317061,352898,316982,342515,352034,203583,344088,337701,339083,342538,341796,353140,353905,353936,354378,352620,354951,353763,274954,352599,311763,341850,309747,270482,275132,273956,223405,221209,219579,217412,215669,216251,214775,218599,217207,218477,318450,343847,328949,317737,308677,296369,297089,217957,204544,251548],
9
+ "label": "floor"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [85990,58702,131519,91476,55583,56940,92265,90139,55045,52176,44615,131338,93551,49607,57061,55810,54124,130860,132115,96727,91995,86690,93569,83966,50873,93603,46780,85454,58632,90622,89980,88330,58820,82792,89562,93341,92861,44590,51114,91818,89079,47265,47418,85775,46903,50776,86041,131863,87141,85778,84461,48535,48087,55339,58547,45954,47621,50509,57081,50821,84679,85477,87384,86312,87107,88425,88813,89163,89326,90163,92571,93086,93434,96968,84659],
15
+ "label": "couch"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [177336,174000,134573,175763,177462,176114,173292,138233,140758,134117,175464,137459,140613,140656,180394,175093,178774,175474,173494,140871,176713,140444,173427,135467,177194,136942,136532,138752,173711,177080,176966,178256,174093,134354,134589,135194,135353,135742,138071,139244,172759,176013,177149,177284,179159],
21
+ "label": "couch"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [305485,321585,215551,161389,335441,263779,300809,162410,345611,218862,307014,122199,271763,162890,311609,121980,168507,126199,321435,168730,322622,163274,164677,156738,332564,349927,123209,204558,299476,337717,268745,122662,344808,319221,344300,337410,125566,124874,210326,123337,346451,349545,123465,159715,122508,119674,332335,112755,331035,122454,113933,118343,114209,303451,114172,349389,305118,203069,350119,347041,112692,206587,345584,336658,123572,165625,267833,157188,341261,323861,207570,300640,323839,298851,209867,347052,348712,301213,266523,318903,304147,123193,345966,302245,295546,342797,306457,307461,160497,310811,311595,267930,331689,338252,338825,346392,204215,343575,325377,346239,330665,318369,331386,305205,268396,327772,344488,349567,335560,328960,163016,330419,347699,344721,213412,324916,331296,351112,348764,334602,322771,347991,337505,307493,341414,306921,336625,344281,268442,325553,348949,268849,346697,350292,331054,295644,159038,349973,348229,326599,344895,350217,162898,350093,125877,349703,114077,304522,306283,307873,271669,327948,295804,305000,305006,306262,212099,209347,164887,328546,346070,162656,329731,113078,157191,304589,259206,159051,124209,119573,155924,294816,113973,307126,113493,267013,213615,213581,269089,334980,350239,319396,329691,340258,328131,350562,336697,326881,159813,338608,322268,323300,349760,268377,327560,268318,112540,112947,335845,112961,112966,294936,113454,295265,113618,157203,113678,113824,345374,335336,331613,113873,114027,118142,124135,268728,124645,124889,125010,125456,125649,347133,125532,125784,297075,126155,155913,156005,156701,296004,157335,157428,157512,157609,157636,157727,157797,307266,307393,304987,329494,158090,210805,158123,258040,158136,158193,341264,158949,159533,159578,159957,305890,160021,343190,160287,328520,160585,329441,160619,163182,343379,160660,160674,306079,160693,160715,161135,328076,328409,161176,161672,161888,324327,162198,326383,162210,162314,162646,305147,269055,163724,331428,163965,164488,339272,202678,202692,203119,350001,205420,328042,205483,206643,207244,349857,207478,324170,209154,209480,210072,327912,326938,210401,318577,210582,210867,211307,211333,305506,322617,318685,320105,328840,211700,211776,212790,213343,302316,321230,214049,216705,267942,256704,257487,318520,257990,307218,332175,258025,258652,259964,324439,260121,320442,319195,260356,260486,261623,301907,261797,264320,351614,264902,265221,308000,265377,265564,267741,302487,267910,319855,268404,319342,268461,268520,349139,330485,332867,268543,269006,322385,271458,271706,295095,295119,297675,295623,351761,295728,295996,296200,326409,331795,296994,350281,351828,297605,343181,297621,297640,319776,297649,297735,297791,304211,304383,304430,327750,335563,304640,307794,304657,304706,304786,306745,338235,304818,305017,340391,305489,305532,320573,305587,305794,305967,306017,332665,338735,340631,306163,335547,306440,306803,307046,325984,307113,307725,307740,342887,308110,319019,329566,319513,323554,320021,320099,320815,337646,321140,321171,321271,333783,321954,322115,322438,322627,322683,322825,323034,323062,347486,323086,328111,323167,340710,323225,323561,324286,324372,324824,324866,340952,325849,327046,327056,333058,334483,327918,329102,329355,341526,329535,329692,329703,329818,329871,330304,330465,330507,346030,331071,331097,342493,331728,332272,332698,332760,333145,333194,333831,334167,334598,355085,335115,335490,355132,335502,335645,336709,337789,338398,338433,338650,339347,339860,351523,340948,341496,342092,342717,344020,345276,351737,345314,345990,348092,348295,348381,350082,350336,350453,350953,351066,351385],
27
+ "label": "wall"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [38990,109745,15063,71111,13371,25949,13346,5060,110824,9160,75663,12582,13167,35621,13964,109735,14780,8553,74407,7878,74693,9251,14344,6597,3421,69923,41707,30943,72233,9572,40001,110316,27021,74340,71926,75112,39265,33966,4303,111131,111202,108244,11745,103209,9302,106562,107812,5743,42258,2792,2950,12651,3214,3964,11812,4464,4198,37761,5945,35918,9330,6329,6726,11313,8517,13078,8808,8647,13919,35337,8918,10687,10830,12918,13338,13450,13569,13888,13911,13972,14082,14206,14388,14579,14626,14723,14856,24969,24986,25164,70071,37095,25178,27470,28700,29590,30060,30827,32953,34403,34467,63668,34557,34729,35356,35674,36359,36546,36653,36718,36805,41667,37019,37055,37077,36047,37194,37348,73382,37355,37586,37684,37717,37722,37750,65027,37799,37920,38101,25822,38388,39049,39143,39171,39380,39528,39562,27481,40390,40613,41834,66706,70972,72179,72255,72495,72793,73265,75230,100964,101200,101950,106631,107565,108935,29368,109553,109834,111086,111464,31350,32760,3582,217,1997,3131,4580,8334,14935,25306,25844,26234,26875,26916,27125,27138,27405,27425,27496,28091,28430,28481,28592,29473,29866,41363,41387,41464,64620,65356,65568,66787,29404],
33
+ "label": "wall"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [110702,107043,103802,149676,102582,108686,152909,106457,107780,105161,108181,145917,146053,146216,110340],
39
+ "label": "door"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [283469,281667,316690,283895,288968,240353,289912,289011,290554,284566,287095,285382,316577,282404,287343,292333,290020,283330,288696,291466,240646,239681,281270,288545,281237,281342,281658,285554,284462,282125,282459,283084,283160,283416,283733,316334,284249,284381,316282,285227,285500,287734,288087,315892,288351,237308,284965,235968,233282,285502,284719,241094,281051,279133],
45
+ "label": "table"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [185612,189363,186081,252825,187293,239562,246206,247389,245735,189443,189078,188792,185897,249823,186157,186560,186619,187882,189737,189759,190214,246062,246136,246719,239970,248910,248918,249284,252446,232769,185984,187151,186570,185640,185395,186502,236272,235608],
51
+ "label": "table"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [24205,24070,32655,24206,24387,5519,6405,23812,3266,24010,6102,7198,6830,7966,31015,23852,4317,5132,6457,7609,3758,5476,7699],
57
+ "label": "table"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [95769,95365,134462,95213,134057,134414,96301,136733,90758,90807,134687,91875,94639,95796,96007,96293,97027],
63
+ "label": "coffee table"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [17143,19258,17135,16943,16927,15284],
69
+ "label": "lamp"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [250551,250565,234820,249571,291385,240152,236590,240958,237399,235998,238530,239742,239576,243116,237224,246345,233093,234593,238866,243114,236789,242430,243784,293239,250452,242932,242624,292974,241238,235997,235217,247945,241632,240019,235186,239181,242279,291922,242117,250253,292767,251169,233750,250601,235329,293614,238404,231375,234380,234215,293855,232875,236619,250080,246782,232628,250969,250983,250508,247653,241393,293933,243708,231551,234576,240520,238437,250938,246931,248466,293011,245417,250315,243777,238434,240933,239226,233834,236454,249126,291595,291289,233208,250074,240833,249045,234609,246387,237402,293330,292571,243697,236457,238839,292028,291345,231069,231602,231609,231721,231843,232168,232422,233022,233315,233923,235025,235082,235108,235529,235615,236684,292976,237627,236932,237177,293578,237471,238481,238817,239034,239906,240206,240220,240445,241566,241825,242265,242374,242514,243281,243763,244140,244722,245719,246309,246319,246370,246963,247161,248160,248660,248665,249267,250115,250460,250798,251123,291054,291307,291624,292020,292869,292873,292956,293288],
75
+ "label": "shelf"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [288127,240567,233996,236850,288572,236141,288255],
81
+ "label": "monitor"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [180762,182528,182408,186953,186469,187648,186048,187833,182386,183863,181460,185230,182553,182541],
87
+ "label": "chair"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [106108,104923,105850,105246,103246,104067,104598,103498,104029],
93
+ "label": "trash can"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [58832,87373,83050,89751,53400,87689,53515,1271,86441,47470,81,19771,5929,608,6664,10348,1588,7088,1769,1785,87760,2129,53346,46307,20610,2251,5850,5313,5798,7387,20521,5811,7237,8286,9150,9259,9677,21374,11440,12226,89685,16565,17146,18043,18418,44744,19453,17839,48778,20568,20779,44487,44754,45294,47272,50819,48422,85676,16967,49557,49808,49990,50157,58013,85416,88378,89460,53809,52476,53486,44568,1729,6940,15479,15847,16337,16761,16919,17022,17743,17787,47835,52414,52424,52711,52832,53730,53894,54952,56177,57673,87484,18091],
99
+ "label": "wall"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [93771,52324],
105
+ "label": "object"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [35295,24649,9976,37309],
111
+ "label": "picture"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [24740,35286],
117
+ "label": "picture"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [35266,38835,35782,39663],
123
+ "label": "picture"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [37298,35241,37815,38511,37795],
129
+ "label": "picture"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [70417,73241,72144],
135
+ "label": "picture"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [72272,71745,75474,70632],
141
+ "label": "picture"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [104642,106898,108331,106923,108393,107115,109208,105939,109843,110019,103571,76281,67716,69950,67868,104311],
147
+ "label": "door"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [65607,108559,73594,66999,73190,107818,108229,100900,70326,109458,105866,106409],
153
+ "label": "doorframe"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [102761,105546,105910,105671,102586,102558,103669,102366],
159
+ "label": "trash can"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [148462,151618,106484,154394,148477,150622,110205,146078,146070,109085,103813],
165
+ "label": "doorframe"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [147312,148723,147048,147465,148806,147442,149076],
171
+ "label": "trash can"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [197576,151524,199678,195968,195930,199920,190965,153053,197152,154326,154095,150279,150600,154249,153520,153653,196560,198717,201049,150624,154487,154069,197769,149327,152655,152469,146908,199696,154408,198040,153186,200295,199941,199129,199997,197029,201151,200021,200170,198871,202117,197688,196007,200854,200586,201474,197995,198445],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [186325,187631,186250,185958],
183
+ "label": "file cabinet"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [247732,248831,248060,246921],
189
+ "label": "monitor"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [250771,250424,247177,249361],
195
+ "label": "monitor"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [290552,281429,288038,314887,288753,314820,315173,315007],
201
+ "label": "monitor"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [291977,287955,287318,289241,288427],
207
+ "label": "monitor"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [230227,230546,229841,229589,234554,230646,230490,229764,229983,239481,229716,236628,284025,285171,285564,230445,229819],
213
+ "label": "chair"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [241057,238991,233430,232425,236541,237601],
219
+ "label": "computer tower"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [284408,284759,282756,281152],
225
+ "label": "file cabinet"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [285179,284364,284098,281610,284960,283676,283080,281170,285114,281841,281981],
231
+ "label": "chair"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [332166,332419],
237
+ "label": "picture"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [303651,322862,310479,303895,331435,310435,320434,301445,320474,317995,301923,301041],
243
+ "label": "door"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [300428,329715,311013,298174,303974,332089,302613,303904,326744,320996],
249
+ "label": "doorframe"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [257818,266319,303558,265261,265136,264017],
255
+ "label": "door"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [261432,265027,296877,299820,265094,257146],
261
+ "label": "doorframe"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [207041,208125,218765,262881,263309,263248,165167,263817,219114,164473,261231,164446,168594,164157,204750,260014,205018,206798,206823,206927,207843,163613,208596,162164,161831,164624,163368,161032,158103,161544,206459,167380,157450],
267
+ "label": "whiteboard"
268
+ }
269
+ ],
270
+ "segmentsFile": "scannet.scene0329_00_vh_clean_2.0.010000.segs.json"}
scene0329_00/scene0329_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.694658 0.719340 0.000000 -0.584211 -0.719340 -0.694658 0.000000 7.337400 0.000000 0.000000 1.000000 -0.087177 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1559
15
+ numDepthFrames = 1559
16
+ numIMUmeasurements = 3125
17
+ sceneType = Lobby
scene0329_00/scene0329_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0335_02/scene0335_02.aggregation.json ADDED
@@ -0,0 +1,348 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0335_02",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [7007,4441,55945,55130,55608,4802,55666,5271,6116,4125],
9
+ "label": "object"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [52917,92374,91756,97581,53300,55673,54034,54492,56273],
15
+ "label": "plate"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [44061,38745,40741,41065,41042,41137,40129,37606,34971,39686,36388,42095,36973,41927,39240,39938,37777,32185,42910,31906,43686,38519,40452,36711,37676,31725,39407,32620,36081,34722,43205,33145,39327,35728,41325,37602,33326,37267,38610,37431,41491,42009,33916,35857,36416,37287,41455,42970,41901],
21
+ "label": "shelf"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [148567,152638,150259,152147,147592,152939,150448],
27
+ "label": "wall"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [127802,173821,33586,49049,173657,88087,95260,174669,90428,121944,96892,184220,89046,89502,58713,57972,173758,87340,85610,50818,184470,58594,51162,184202,172146,58133,52134,51711,52423,85749,86373,174457,86408,176134,134478,129248,87083,87026,180920,180418,183756,183722,159454,121838,33601,134633,90357,88238,142184,172538,172310,174129,183612,181214,181264,173513],
33
+ "label": "floor"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [4566,8771,15586,11686,14104,9252,12598,7869,8846,13627,13852,9270,8883,5753,6635,8634,13313],
39
+ "label": "tv"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [37381,617,39651,35316,32004,53860,49303,43498],
45
+ "label": "stool"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [53892,37291,51448,31817,49128,50215,54258,55971,32312,50271],
51
+ "label": "stool"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [82491,123621,82688,80549,81760,124195,81432,82176,122547,83137,79936,83486,120324,123245,115881,123517,77967,124713,80979,82587,81073,69340,75980,123031,76965,83595,79129,120680,80922,76397,78487,75741,120336,121417,120497,78225,79986,116046,72943,72969,115053,81252,82960,82108,78610],
57
+ "label": "stove"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [70520,26955,27341,24362,18003,83018,20030,26126,18196,69536,17880,37718,115719,18021,40082,40618,25705,125195,20052,20483,39001,124682,125022,116784,124327,124237,71748],
63
+ "label": "counter"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [109802,68318,113881,112072,108689,113886,112881,103743,103509,109021,104698,112244,107256,104883,113556,69168,113749,68540,64525,106739,113248,102528,102491,106069,108495,105375,65235,105753,106349,66631,66493,107727,105158,105231,106852,68960,106320,106297,105684,66087,105445,65781,100799,98206,105080,63333,106170,110990,99202,99724,102565,68781,112559,68416,68770,69126,104149,65327,66247,113648,104117,109766,65373,65364,111178,102121,107736,113957,99972,102582,111689,112115,67224,108216,111064,110487,102213,113196,102436,63412,63992,107782,65238,65767,66353,66474,67042,67347,67442,67577,67989,68501,68580,98214,99139,99301,99480,99692,100613,101418,101568,101913,101984,102066,102271,102280,102659,103080,103281,103521,103830,103925,103980,104276,105106,105351,105530,105774,106000,106310,106417,106477,106743,108876,106927,107156,107378,107411,114001,109224,107449,107876,107986,113690,108372,108756,109236,109250,109338,110153,110329,110541,110577,111133,111702,111935,111968,112598,112664,112671,113862,104902,68953],
69
+ "label": "doors"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [99452,155287,103916,155319,155507,108550,97784,155091,154374,101047,98981,154676,153939,153977,95605,149416,150805,155294,153363,144585,96257,96555,97327,96294,153998,94353,99894,154500,102408,153369,154804,155588],
75
+ "label": "shelf"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [89708,51909,91041,91968,92291,52728,92160,93673,56341,56368,95327,51784,88841,97911,59449,60418,93014,98084,91316,91897,87392,95276,91376,97985,92774,51670,97859,97190,92608,97495,56530,60895],
81
+ "label": "table"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [37395,43611,40010,54123,40399,54935,38629,56006,38082,56279,43968,43437,53014,54594,37260,44065,41196,37244,857],
87
+ "label": "plant"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [54096,89533,55506,48671,89651,92481,54634,91974,53662,88721,56346,90829,90593,89476,48498,56732,92852,54664,92848,90703,52930],
93
+ "label": "chair"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [53674,56848,53957,53954,53030,55368,52699,55742,49980,52845,55351,53377,50134,53763],
99
+ "label": "chair"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [97274,92927,90737,91142,93458,88776,92079,87411,92447,88698,93094,93193,92920,89782,90450,90261,93325,89266,95153,89408],
105
+ "label": "chair"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [171996,170917,130908,141504,137082,131726,130452,141573,131979,131029,132603,170018,170194,138604,133101,132522,168555,133492,129033,139436,135060,136946,129976,132396,132528,131606,131674,130600,140696,137649,139244,133037,129256,127856,134697,134026,133870,132510,169785,169032,140134,134612,136780,168285,137224,171654],
111
+ "label": "cabinet"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [86836,26114,78788,23892,28122,41486,23668,82084,77046,82848,86890,86794,28953,27233,28923,26154,42270,41275,33991],
117
+ "label": "cabinet"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [133912,132212,130394,134010,134120,132320,133176,139587,133814,133014],
123
+ "label": "microwave"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [160605,116267,157944,159606,114281,114938,116887,115868],
129
+ "label": "door"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [126070,182659,183180,170696,186769,140532,163533,185872,20977,75205,119378,170749,185956,185991,175462,143589,143776,144361,170920,171934,172875,175521,151893,29872,45406],
135
+ "label": "ceiling"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [161678,160510,163868],
141
+ "label": "wall"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [159181,160012,159922],
147
+ "label": "dustpan"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [161801,159711,158943],
153
+ "label": "swiffer"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [120093,120571,119554,114440,122187,120766,120613,121116],
159
+ "label": "bag"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [161992,164098,162079,117566,125469,164443,163620,157801,118990,118494,118977,119130,114890,114792,116914],
165
+ "label": "doorframe"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [164500,117361,164894,163590,72217,164024,162506,114554,161589,118582,118853,115765,164498,119015,118027,115004,114855,116987,74649,73694,74710,69551],
171
+ "label": "wall"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [126343,72923,83845,116381,72336,123082,127050,72433,83812,85231,124638,126583,84529,75366,72991,71157],
177
+ "label": "kitchen cabinet"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [80986,73759,73926,85479,73361,18634],
183
+ "label": "kitchen cabinet"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [22080,29439,30724,20862,22668,47782,46402,46347,46078,40985,42561,28073,31643,20949,21268,47681,21389,22482,22833,24245,28946,18740,29736,29975,30299,30509,46292,27799,19206,20111,44141,27054,25898,39153,26748,47742],
189
+ "label": "kitchen cabinet"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [17515,20892,16362,17467,31403,47280,28200,27369,46813,18118,29657,26389,25369,27318,39627,14428,9181,42473,14626,8941,8267,8397,6888,16190,306,26224,44026,835,375,4758,41060,44497],
195
+ "label": "wall"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [125191,123673,121396,119835,123043,120316,116133],
201
+ "label": "kitchen cabinet"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [124610],
207
+ "label": "oven mitt"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [123435,124911,124652,124626,124297,123120],
213
+ "label": "rice cooker"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [120556,76997,75757,75944],
219
+ "label": "ball"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [81302,79671,79507,77255],
225
+ "label": "towel"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [78323,78384],
231
+ "label": "towel"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [83277],
237
+ "label": "towel"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [71478,16388,70078,70328,16604,16886,71990,16411,69499,70390,72502,71696,16858,69528,16927],
243
+ "label": "microwave"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [26203,24511,25314,19092,27727,18234,82500,27261,28291,25636],
249
+ "label": "sink"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [34843,35228,36070,32156],
255
+ "label": "box"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [94852,96977,96946,95259,95540,87346],
261
+ "label": "chair"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [96040,96729,94778,95039],
267
+ "label": "shoes"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [95648,96578],
273
+ "label": "shoes"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [156280,113553,12872,111246,14838,156071,101839,11769,15172,16066,13059,59475,61838,10601],
279
+ "label": "wall"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [59925,61738,61848,67807,59753,62055,62021,59727,60567,61521,61884,62108,62419,65339,65651,57425,60007,62267,69003,57232],
285
+ "label": "curtain"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [60159,111025,100639,113389,111122,59148,96684,59170,110289,98483,101349,110141],
291
+ "label": "doorframe"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [148478,174279,147164,174172,145140,148645,173147,174402,174362,174234],
297
+ "label": "hoverboard"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [136520,134870,138393,137325,140193,140932,137424,136510,135177,138417,138718,139367,139573,137636,141173,137754,138037,136071,138095],
303
+ "label": "refrigerator"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [185363,184603,185309,185264,184278,185369,184347,183402],
309
+ "label": "table"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [176171,176459,179690,179472,179148,177015,174735,176766,177650,175750,175939,176439,176448,176773,176871,177050,177102,177907,179096,178156,178882,174966,179086,179174,179688,177757,180007,177443,175144,176675,177065,177396,178239,178891,174802,174856,179325,174983,179401,179517,177225],
315
+ "label": "plant"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [44935,46897,45070,46560,47572,47234,44131,44584,48269,44554,45120,46501,46429,47364,48210,48256,39323,44309,46225,46492,46522,47798,47094,45494,48012,47146],
321
+ "label": "plant"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [79355,72702],
327
+ "label": "object"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [181870,181281,182998,183148,181751,181650,181741,182180,182108],
333
+ "label": "wall"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [42408,37156,39838,42785,39608],
339
+ "label": "tissue box"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [43695,41707,36913,42385,39280,38098,43625,36752,40359,42891],
345
+ "label": "coffee maker"
346
+ }
347
+ ],
348
+ "segmentsFile": "scannet.scene0335_02_vh_clean_2.0.010000.segs.json"}
scene0335_02/scene0335_02.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.968148 0.250380 0.000000 -2.862750 -0.250380 0.968148 0.000000 -2.558530 0.000000 0.000000 1.000000 -0.127252 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ 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
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 2577
16
+ numDepthFrames = 2577
17
+ numIMUmeasurements = 5485
18
+ sceneType = Kitchen
scene0335_02/scene0335_02_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0344_01/scene0344_01.aggregation.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0344_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [6561,56908,54355,15058,31089,54144,59066,32203,63184,62918,34958,29705,14017,59960,33506,11078,11488,34183,34375,33713,35766,58623,2151,15600,60588,60685,13909,57305,6505,17669,55034,32046,56796,34190,34574,19655,8286,28803,29655,19721,31713,54034,16006,28833,29521,18288,17094,31609,29400,13883,13782,18446,14810,12287,14997,16821,15510,18434,17195,6376,17704,5787,20032,19025,19248,19913,18417,7923,7689,6198,19226,8034,18373,16550,7043,4757,1786,33801,19068,18460,16445,3750,18944,7236,6842,19343,14784,663,14530,14417,14962,19353,18949,18978,17709,16791,19313,16870,19592,19380,18262,19763,16089,34607,32043,34666,33455,34973,32738,34210,33464,33156,34488,34641,33190,35529,33028,36185,35495,35225,35785,35404,34940,55417],
9
+ "label": "couch"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [39983,38732,39702,40329,38975,69454,39726,70193,39886,39878,68986,68461,69963,38841,67066,70522,40562,66094,65385,39494,39320,65435,41801,68025,39908,68440,72657,66928,39709,65591,66500,68726,38871,42461,67814],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [79835,79826,72258,79813,53415,79800,74219,77381,44373,47063,74422,45909,40808,78531,45798,40599,47367,46355,75843,77227,77531,71908,73445,73011,73265,71251,47957,75772,48069,42378],
21
+ "label": "chair"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [46702,42785,47011,46630,47467,48004,40735,47313,47553,46647,40878,47274,46427,46958,44524,47766,43720,45993,46021,45320,43404,43446,40915],
27
+ "label": "chair"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [83745,66538,70337,83798,77192,69734,83336,83196,70241,72802,83508,82359,72706,74877,69343,69224,83023,67296,76944,74100,72113,85233,72806,84548,65354,85494],
33
+ "label": "chair"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [10326,10908,13226,10499,9579,21856,13244,8507],
39
+ "label": "seat"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [74596,77755,38934,80418,71852,70787,51918,74809,84027,68039,73021,41699,36513,74723,678,78215,44419,66743,83913,712,85883,50727,68475,48772,25708,42527,64772,20826,9439,21076,41640,21187,64779,9678,85052,81804,42595,25803,23512,81981,622,82746,20584,27363,21191,50891,44274,78597,67284,73786,67549,38150,64141,37446,36491,25229,9686,21843,8942,85658,64714,190,65035,66328,66084,43067,39207,85840,52125,27622,66131,43566,51418,9542,10683,12570,11439,8654,14214,15974,258],
45
+ "label": "floor"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [25125,12391,24834,27145,26843,25100,24878,31191,24378,24334,12072,28104,24080,24748,25196,27410,28130,27544,10627,12127,26453,27219,28116,23959,11725,30151,24973,26141,25136],
51
+ "label": "table"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [46139,69627,40237,75715,76493,69377,76024,70269,76252,76632,46252,72447,74579,71678,75282],
57
+ "label": "table"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [4670,4753,1213,1483,5710],
63
+ "label": "table"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [57402,49772,51226,48787,61203,49993,57264],
69
+ "label": "table"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [56698,58442,56688,55069,62018,57764,53155,59735,57382,53180,58772,56489,53045,54827,56079,56305,58527,58528,58557,59299,61660,60911],
75
+ "label": "lamp"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [5509,2676,5845,5708,2363,2495,5240,3301],
81
+ "label": "lamp"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [7810,2692,4852,5414,20109,3510,5119,5839,2375,19536,20228,17245],
87
+ "label": "wall"
88
+ }
89
+ ],
90
+ "segmentsFile": "scannet.scene0344_01_vh_clean_2.0.010000.segs.json"}
scene0344_01/scene0344_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.642788 0.766044 0.000000 -5.199850 -0.766044 0.642788 0.000000 0.269066 0.000000 0.000000 1.000000 -0.048368 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 812
15
+ numDepthFrames = 812
16
+ numIMUmeasurements = 1692
17
+ sceneType = Living room / Lounge
scene0344_01/scene0344_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0353_02/scene0353_02.aggregation.json ADDED
@@ -0,0 +1,324 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0353_02",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [95645,133249,94901,94038,94139,95716,103808,105143,136850,103824,103775,136340,105894,137029,137198,135637,137851,165330,166980,160090,162390,136505,135124,129071,92609,104133,133574,106172,133469,135471,136274,163938,50086],
9
+ "label": "couch"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [159950,130799,132152,132366,52607,159843,93379,159705,159541,56521,159343,158161,132489,132417,132147,132321,103506,138176,103381,97414,103100,102995,103024,94502,103359,53248,53698,54622,54235,128513,54808,10551,53452,11657,48740,20054,52863,20097,21295,23310,12660,94404,53735,51845,128889,55211,95686,54883,129030,128542,52300,49834,95135,94109,50771,51075,52467,55113,102189,55624,98498,99551,101728,96935,50068,50923],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [169087,170362,169167,170238,170306,163294,189588,170609,159974,159893,157617,171000,171145,171194,169324,169364,167159,170830,190859,189009,190668,190340,189860,191035,190533,189291,189046,190358,162439],
21
+ "label": "wall"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [126016,88881,86140,126120,88236,91869,122088,91620,91925,90675,127238,127688,127209,90010,90810,90660,127615,127011,90039,127437,79900],
27
+ "label": "wall"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [540,2541,46398,10187,7191,32024,46070,45914,36044,46562,37998,33569,9987,10092,48140,45528,10138,10143,36750,2407],
33
+ "label": "wall"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [149985,150128,116757,181394,181213,118276,179832,117091,149232,118703,185340,177261,186005,149186,145869,116739,150138,118266,114171,186160,146685,119004,150024,182759,118986,185048,154070,110780,184084,152716,186279,147077,185208,183988,149830,150460,154712,176538,185169,114096,142572,179962,151989,180753,181368,184946,181766,181491,180265,119024,185431,142509,151806,142214,142445,117827,148771,149252,149711,148742,150260,151852,116440,111013,118858,111871,148361,149300,150076,147651,150145,150904,151234,151801,151865,146052,146747,114366,115114,116887,117357,141709,146307,146451,147923,148039,148352,147086,152919,153051,112514,145456,146078,146100,147194,148200,151100,153918,154120,153487,152894,152615,117320,153489,109745,120852,145514,147687,147850,152728,141178,142526,154308,150385,150590,151796,152909,153913,154791,114521,118149,109762],
39
+ "label": "wardrobe closet"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [32837,4677,5481,3141,31960,31036,8827,5457,33206,3795,30715,43369,41924,9942,3264,9575,44378,31009,33068,31309,31895,32865,32829,33450,33368,42392,33477,4704,31835,9698,32507,32091,31656,42734,32699,31400,32901,32050,30985,33044,5363,5137,3131,3073,4784,3521,2316,5222,44882,9579,44086,3312,43898,42492,42785,43474,43010,40932,44755,45154,43948,42332,44367,41713,44263,44686,42289,42908,42169,41643,42081,42024,42240,1777,1925,2394,7604,6354,29331,8240,8189,919,6251,8099,40832,40690,35575],
45
+ "label": "curtain"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [39236,44864,84492,39124,89840,74483,89141,72521,87572,85601,73115,79261,113919,110855,90419,110953,124322,112308,126872,117163,75576,115536,87685,124325,89954,26467,116898,40939,43067,116210,125921,112858,43538,43653,75282,88803,75425,121565,87690,88038,87895,89105,89858,122035,118116,75345,118202,75040,126974,74857,117711,75702,74922,126209,75788,75986,76148,74953,75374,75093,116024,75920,75521,117653,116021,118895,76122,75564,36090,116959,44436,121373,122885,39268,84401,117031,111456,122585,114214,109916,111652,110703,111752,111831,108572,109142,107762,119568,38521,40908,35777,40831,34850,43945,43572,44737,42864,43642,79762,45226,43625,45160,40255,46123,113198,75263,110480,36093,37106,37796,34566,82350,123634,121412,41178,38259,40072,35637,39186,85384,36178,71930,40510,114059,86286,79826,83359,81513,85283,124535],
51
+ "label": "bed"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [36662,38373,37408,81390,37566,76509,38705,40235,76651,76853,39467,86578,34027],
57
+ "label": "dresser"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [160842,172430,174357,171311,140896,165899,161396,173379,174673,174403,141989,172423,141483,139050,178078,141174,139964,141931,172956,141944,141209,134181,137734,133839,136053,139165,139839,140148,140504,173923,177394,133831,134825],
63
+ "label": "chair"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [73241,71724,73686,73083,71379,74282,73799,73531,72726,74491,69781,28678,74533,69271,74472,29147,29612,30042,72369,29254,26569,73311,69103,73422,70269,23683,68053,68388,69335,70007,70795,70986,71301,71501,72178,71638,72211,73495,73047],
69
+ "label": "chair"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [26656,28479,28296,28084,23943,27684,28256,27319,25677,27893,26054,28271,24754,24340,25300,24494,24589,27964,24933,24805,13276,24919,24972,25439,26218,30080,26425,27183,27858,28469,28963,29008,23787,24210,24756,27487],
75
+ "label": "chair"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [140802,186552,171723,187001,105754,172649,134696,187019,144531,186424,187077,143176,188101,183508,175832,187321,187309,188041,171669,108348,143553,106620,143495,182150,108965,103552,107713,174391,174515,13467,57585,133042,187161,107401,139744,133600,58344,105251,25733,23884,24026,107152,69272,25355,134297,59154,174738,59043,23706,5527,183017,173858,13537,25201,25430,69045,144788,108991,143711,144407,173794,174489,182341,182593,182740,187239,187629,187730,187791,191336,191517,76677,76335,24171,78103,70791,68270,77983,24321],
81
+ "label": "floor"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [28917,65657,66443,32966,66358,66983,66621,20003,67096,64640,20553,11468,60780,56402,27545,63887,48663,67289,20341,65447,9265,4305,21051,19689,22363,66244,3032,3699,21858,4663,9962,20508,19556,65702,52978,19918,53064,21517,20163,11000,21055,62890,32692,11797,22504,53853,7243,54836,54657,65688,66619,66439,22104,66960,65998,67018,22071,753,56326,19584,21184,22112,22270,30810,31678,29953,62724,32006,32497,65169,66706,9174,32146,4742,55058,21253,6051,6558,27088,59857,6457,6522,7056,589,1606,6502,6440,62675,57191,61411,61703,61410,18917,14634,17268,61162,27243,15367,18197,63662,6357,59376,65767,67259,53786,54864,52601,52453,53824,54421,54710,61940,21092,3257,599,3826,9031],
87
+ "label": "bed"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [179050,176381,173358,180409,177421,180792,178017,180455,181398,179946,180262,177202,177329,179119,179067,177187,176079,179144,176446,175964,176871,172325,174196,175698,176610,181563,181188,181139,176607,178829,173441,177711,178924,173460,174984,176850,177389,177816,179230,179807,181254],
93
+ "label": "door"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [101709,96794,97524,100034,138041,101807,99707,97107,102483,96850,102108,96654,96469,101851,138603,99297,100348,97426,102604,101639,99371,101074,98620,99043,98572,100406,100535,102702,98137,102249,138239,101208,102137,98240,96874,97935,138639],
99
+ "label": "shelf"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [167565,163255,166402,166503,166473,161850,165387,157280,167528,167104,163957,165368,164340,163872,168870,168934,168800,161585,165200,168520,164552,163479,168193,157217,165126,163806,163836,162716,155674,168584,154980,163155,155954,161220,167425,164726,164728,164744,167600,165670,165092,155139,156460,165930,165659,165755,167330,166584,168360,156234,164617,168118,161326,154947,162708,160836,161197],
105
+ "label": "bookshelf"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [156016,157294,168511,168132],
111
+ "label": "whiteboard"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [160859,160248,161759,160481,162573,160153,160627,162484,162653,162689,162049],
117
+ "label": "trash can"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [85372,82626,86541],
123
+ "label": "laptop"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [114431,107733,111591,108234,114675,112647,111174,108562,113340,109031,110523,114412,110231,106528],
129
+ "label": "mini fridge"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [115207,110591,114290],
135
+ "label": "book"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [110016,73000],
141
+ "label": "book"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [72057],
147
+ "label": "bottle"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [71584,72085,73577,79313,81972],
153
+ "label": "monitor"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [81467,85046,79844,83382,85882,88644,83210,82673,79579,90122,88636,79212,80111,86601,85317,81061,82908,82909,83291,84245,86606,89312,79953,87935,81516,84702,85352,79794,80427,81988,85275,87739,89291,88002,87205],
159
+ "label": "shelf"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [70576,70411,69937,68429,68808],
165
+ "label": "shoes"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [69747,68455,68622,67705,70033],
171
+ "label": "shoes"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [109268,78737,109664,69598,69903,107476,69434,120343,76384,108504,109242,119482,106832],
177
+ "label": "backpack"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [126195,122510,123461],
183
+ "label": "wall"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [6566,7273,28972,38026,8308,6226,26363,7548],
189
+ "label": "window"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [62339,61795],
195
+ "label": "dresser"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [14122,59249,13975,13373,12679,58664,13793,13920],
201
+ "label": "backpack"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [15152,14673,14827,18047,18431,15026,17878,14335,16076,18240,15119,20679,15528,15656,17108,17243,17424,17889,19737,17663,18256,19011,18453,18858,19147,22052,10456,22357,14976,16827,15088,16100,18705,18786,19692],
207
+ "label": "shelf"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [17743,16635,16453,17233,17484],
213
+ "label": "book"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [15493,16235,14593,17244],
219
+ "label": "desk lamp"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [17677],
225
+ "label": "plate"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [61835],
231
+ "label": "book"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [94667,93950,95741],
237
+ "label": "calendar"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [130054,131376,131603,130080],
243
+ "label": "decoration"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [159166,158341,131606,131973,131480],
249
+ "label": "decoration"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [137004,135696,137288,134995,136570],
255
+ "label": "pillow"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [93522,92864,95343,94728],
261
+ "label": "pillow"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [186585,177514,163564,179445,180047,189676,171062,189168],
267
+ "label": "doorframe"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [190907,127679,127594],
273
+ "label": "ceiling"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [62729,52067,51343,51097,61623,61751,50194,63492,50736,60596,60817,61124,63038,63708,64012,64260,59326,61323,62745,62790,59597],
279
+ "label": "clothing"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [103939,105451,56822,58260],
285
+ "label": "shoes"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [57114,61195,64314,62107,61240,48634,61224],
291
+ "label": "folded boxes"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [32620,44057,39100,44136,45325,44938,41971,35137,32344,39661,41937,44640,10362,27823],
297
+ "label": "object"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [34719,38381,41133,36757],
303
+ "label": "jar"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [35215,35156,36795],
309
+ "label": "bowl"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [113937,114482,115440],
315
+ "label": "bowl"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [61361,60338,62894,59478,64074],
321
+ "label": "bag"
322
+ }
323
+ ],
324
+ "segmentsFile": "scannet.scene0353_02_vh_clean_2.0.010000.segs.json"}
scene0353_02/scene0353_02.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.350207 0.936672 0.000000 -3.258180 -0.936672 0.350207 0.000000 1.754370 0.000000 0.000000 1.000000 -0.198432 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 2135
15
+ numDepthFrames = 2135
16
+ numIMUmeasurements = 4449
17
+ sceneType = Bedroom / Hotel
scene0353_02/scene0353_02_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0394_01/scene0394_01_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab1d8379ca0ba6a4cbb2e5f4f55808b36790ab25e4577c833fbd974330800f21
3
+ size 5456262
scene0418_01/scene0418_01_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e656c528e6e3aad8e96589e590aad9ba43182f331e734f3f2b00f40da7027134
3
+ size 7290343
scene0424_01/scene0424_01.aggregation.json ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0424_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [16582,107095,51083,110738,51466,16127,106680,18521,53869,49604,52277,108591,52626,105991,46804,45109,14895,103709,44664,44511,45900,14243,14196,47127,15166,52174,46244,51517,16042,48283,14574,15658,52333,46585,47340,47854,51271,52688,108900,105866,106393,15331],
9
+ "label": "couch"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [50895,2686,52624,2255,54058,18580,50179,1002,2293,50223,52659],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [57740,57121,57559,55037,56054,23338,21140,23401,54393,58088,58360],
21
+ "label": "wall"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [68244,55341,128864,61662,76566,117471,73585,117282,138511,81865,118979,62041,71712,130419,82169,128813,133008,134643,127885,64737,138024,119230,131635,57217,121334,133554,134065,67435,123154,77304,124104,58642,71444,128354,76175,79884,78930,76492,79597,75444,64008,56302,62950,58154,67873,66988,62592,72525,77194,63650,62678,75329,125688,75306,71299,78567,62748,122549,125214,76148,75746,123374,57124,76261,128527,75230,72880,70668,55108,59049,82787,69220,73708,124530,62915,56786,126144,136607,77731,54923,77107,64294,55428,72594,55636,67641,61979,121406,57251,62503,122762,63316,63493,127315,63795,64039,67782,64077,130754,66569,64641,65036,83070,65338,80721,73880,65372,68109,65506,65743,65860,81388,66809,126998,80606,67127,67171,67182,78781,67803,123124,67807,68194,68255,68396,68401,68565,68708,69753,70262,81348,70332,70365,70756,70799,70806,70813,60157,70919,70932,138345,70978,71193,76116,71304,71514,77507,71543,71641,71943,72501,137551,72549,79988,72811,73035,135283,73055,73348,74632,75152,75442,76063,122909,76530,76734,77193,77709,77953,78176,78479,78919,79157,79251,79290,79641,79967,80243,80281,126208,81064,81809,81896,61580,82468,82695,82753,116645,116909,117090,117379,117395,117537,117948,118087,118404,118465,126826,119111,119301,126406,119422,122465,119817,136450,119835,120071,120383,120390,120432,120733,69670,120931,64684,122339,122425,122475,129004,122607,122894,122919,123456,123651,123687,124368,125353,125489,125564,126260,127947,128045,128627,128635,128772,128975,129040,129804,129888,129926,130325,132224,133060,133777,134097,59172,137107,137692,138080,138166,139426,82657,118493,129461,72814,61137,68533,60796,60717,59216,60902,69134,69325,64804],
27
+ "label": "cabinet"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [45204,28539,29730,43602,43373,43470,59489,86002,27704,43398,60651,19379,61546,42554,26542,25559,12831,30503,13318,14888,94765,84072,85934,87345,3520,85358,18784,43769,104459,43581,59667,42566,30315,48540,27667,4585,26938,19010,87027,19195,1266,15100,18888,26686,27790,29596,84842,44902,103893,95681],
33
+ "label": "floor"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [142557,133147,135116,131396,139608,137583,132445,135603,140499,132340,132129,138453,130985,135500,129512,129972,132664,135575,138644,137501,141548,143221,143575,131086],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [143399,116164,116574,143811,113038,141681,113873,112713,140783,111502,140467,107613,141935,114292,109796,113251,114695,143962,140617,143783,142276,115869,114042,115792,143186,112242,114411,141422,113331,114068,115834,114472,143764,114615,109261,109258,139699,140908,142389,112804,108107,114869,144571,143909,111539,144652,140227,112562,114778,112116,114074,114184,140572,113177,102700,114994,107729,109086,112758,115773,142560,106171,110227,116050,111119,141590,108490,97205,141333,106213,102964,143180,144403,139591,113300,115460,140743,111295,140762,140046],
45
+ "label": "window"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [21537,33546,22673,23952,40213,33300,38316,23238,21257,23081,21978,24328,22536,20019,31431,20033,20604,20872,24992,24023,23942,20913,22493,22258,21892,22803,23898,25118,35053,40285,36183,38212,38795,40404,23426],
51
+ "label": "bookshelf"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [94667,97151,91141,88671,98935,91533,87071,99396,98168,97417,100412,89012,94452,89868,89710,97111,99002,85767,87614,100233,85017,91618,48952,48806,85437,86356,84429,48772,90170,47859,87653,83657,48874,83553,49030,83707,84221,84464,84792,85221,87993,88420,99678,83808,89838,90022,91542,90130,96098,90242,92254,94271,94848,95028,86322,85873,96435,94699,100080,86393,88049,126008,95394,89799,90150,91878,98575],
57
+ "label": "desk"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [90618,90567,87746,91410,86512,91264,88275,89569,87100,87116,85784,83642,84484,84777,85754,84862,85235,85572,89874,94987,84306,87222,94886,94946],
63
+ "label": "chair"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [37497,29259,35357,27437,27159,37187,35573,37584,25359,29327,30637,33073,28976,28054,33479,29181,31821,36286,32981,30205,29128,25682,33942],
69
+ "label": "chair"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [60735,59359,27563,26443,60783,66862,69136,72582,63686,59328,60600,59159,68491,29742,64237,65570,68093,61885],
75
+ "label": "chair"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [106738,104612,103855,104425,94075,99254,104042,94357,100304,98051,103864,103785,104649,104979,94740,106898,99670,103846,104637,97706,104364,103825,107078,111106,95813,96686,104286,93902,94302,95282,96904,95992,103840],
81
+ "label": "radiator"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [49856,53713,52940,109033,51497,110984],
87
+ "label": "pillow"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [88829,98475,100165,90893,89723,88562,91435],
93
+ "label": "monitor"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [92789,76675,39456,11736,41489,24195,44171,132214,58726,49195,80897,75652,79746,79862,80419,137060,81666,80466,83312,83318,111519,114836,133655,134334,134593,134971,137337,137367,138371,23815,25052,23691,111739,134158,13914],
99
+ "label": "ceiling"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [1684,2274,567,1875,8863,7634,6554,10655,34366,5162,37688,4360,3821,7004,3962,6363,7675,31120,32689,33527,34500,9911],
105
+ "label": "wall"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [36379],
111
+ "label": "book"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [9827,7257,8037,4501,4016,7916,5310,8176,11227,594,12669,12444,12529,13375],
117
+ "label": "door"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [16208,16925,17027,15859,17237,17084,15781,16936,15582],
123
+ "label": "backpack"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [110635,108134,108998],
129
+ "label": "flag"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [105410,115675,114107,143546,106048,107302,105253,50497,116454,112355,115956,114433,116095,116464,54216,116341],
135
+ "label": "wall"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [105619,100009],
141
+ "label": "windowsill"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [94992,96741,45621,46867,47647,47109],
147
+ "label": "computer tower"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [75570,70718,63505,82665,62248,62064,120183,73025,78864,67451],
153
+ "label": "tv"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [120891,122324,120970,120301,124848,121904,125487,124549,120838,121279,125608,119782],
159
+ "label": "books"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [134746,123814,134478],
165
+ "label": "globe"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [122145,120620,134151,125351,138605,125056,137859],
171
+ "label": "cd cases"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [120144,119716,124142,125309,125322],
177
+ "label": "cd case"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [81162,73391,76303],
183
+ "label": "cd case"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [81778,79788,77687],
189
+ "label": "cd case"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [74006,77723],
195
+ "label": "cd case"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [77926,76216,81766],
201
+ "label": "cd case"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [82189,78235],
207
+ "label": "cd case"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [33474,10372,6208,10917,39910,7793,9393,11029,41463,10260,9465,9988,11687,40422,32448,35728,37836,40915,38408,38620,40311,41434,8937],
213
+ "label": "bookshelf"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [38882,38678,37919,41271],
219
+ "label": "books"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [40340,41590,10520],
225
+ "label": "books"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [38545,38254,40281,10568,9379],
231
+ "label": "books"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [38915,9717,39981,40173,11521,40086,9526],
237
+ "label": "books"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [41003],
243
+ "label": "books"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [23126,38153,24720,22126,41439],
249
+ "label": "books"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [23498,24350,21929,24732],
255
+ "label": "books"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [19751,21380],
261
+ "label": "books"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [20664,31273,34465],
267
+ "label": "books"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [31439,3433,36599,9130,3435,7443,3869,33431,5345,30104,30253,4367,34677,27446,8536,8606,25650,33130,27487,27595,29670,36438,35711,29704,31261,31950,36867,32012,32514,36833,33338,36584,36457,34863,34866,34899,36606,31580,33210,28784,29760,34113,28840,28318,30329,30980,28738],
273
+ "label": "shelf"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [28092,6002,8578,7540,5934,34741,7409,8561,6471,8643,8843,8795,36610,37674,4701,4102,3827,5065,29529,26346],
279
+ "label": "stand"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [98984,100710,99325,101520,99625,99406],
285
+ "label": "monitor"
286
+ }
287
+ ],
288
+ "segmentsFile": "scannet.scene0424_01_vh_clean_2.0.010000.segs.json"}
scene0424_01/scene0424_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.819152 0.573576 0.000000 -3.280240 -0.573576 0.819152 0.000000 -0.018613 0.000000 0.000000 1.000000 -0.121646 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 869
16
+ numDepthFrames = 869
17
+ numIMUmeasurements = 1836
18
+ sceneType = Office
scene0424_01/scene0424_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0435_02/scene0435_02.aggregation.json ADDED
@@ -0,0 +1,246 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0435_02",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [118480,120196,80365,117708,113473,119433,119362,118723,115330,112912,75771,115809,112635,112136,76016,118260,112889,118773,110282,72505,120589,118595,117721,115098,113252,117619,114527,114701,118194,120065,118831,117655,77967,81269,81260,75567,117909,74451,120091,75930,78652,81002,120415,113007,117989,113857,114967,116288,116564,119221,119585,120270,79905,80071],
9
+ "label": "tv stand"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [149786,141444,112683,147107,147185,154590,148347,139407,158668,147200,110422,150580,148679,153109,153976,158751,152703,150834,150938,148170,158744,158826,151901,153107,201075,153743,150380,153486,153549,153999,152237,111214,147511,110661,150357,148027,152833,112344,112797,113184,157821,110980,112180,112899,141409,158383,142751,158875,149531,158324,158165,138917,198436,154734],
15
+ "label": "desk"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [46512,24201,46929],
21
+ "label": "shoes"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [38731,7844,12279,70076,10524,41770,71172,66815,7132,65271,70229,40702,38194,34373,37728,6678,28959,37547,7702,7160,38312,44011,37605,6502,29085,27333,67549,40737,69627,36390,5056,68833,33446,68984,8768,37596,42214,10246,33538,9367,6353,11229,6611,36567,11026,8085,10491,10770,28079,7540,8980,32509,32388,33200,32011,4442,29034,26750,30347,4765,8423,4960,31824,4862,8809,8978,10069,7882],
27
+ "label": "bed"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [65099,99672,100360,105086,96538,100036,98477,100257,98637,99628,136875,96904,100878,97132,101376,106679,108403,107663,100083,99809,135762,108963,64862,101729,98631,103700,136741,86973,100596,97500,64794,107248,58276,106146,103041,50077,56132,56441,56998,105275,60336,97275,61358,100670,101125,86662,106289,88818,103493,96335,96570,96690,97291,105032,99015,99441,100284,100650,106250,100866,101380,101475,101777,103878,103890,104680,105264,105384,106377,62743,106611,107944,107989,108029,108533,108736,134231,134424,134662,135482,135617,135958,136022,136039,136881,137174,137463,137614,59621,137676,92613,48814,89035,92985,89308,50872,49310,48841,58708,61045,62315,30909,56085,54576,52427,53314,48750,89092,52154,50493,49447,52151,51273,50397,51312,50142,55753],
33
+ "label": "bed"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [191530,188946,137744,187997,138276,138777,189572,188453,190347,187707,189976],
39
+ "label": "suitcase"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [43427,72158,66529,66799,41003,69000,43730,44650,43706,43792],
45
+ "label": "suitcase"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [8994,39920,32197],
51
+ "label": "pillow"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [8840,7299,8374],
57
+ "label": "pillow"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [51521,59388,58461,51928,49757],
63
+ "label": "pillow"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [92082,89471,51142,91256,88958,89203,92373,90221,90033,61800,89868],
69
+ "label": "pillow"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [116959,122701,119352,122352,119154,117705,115082,114883,123137,122817,122186,116833,115007,118642,116054],
75
+ "label": "tv"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [206110,206713,183823,208016,177950,130492,124888,207892,206417,177173,176813,206609,207590,165862,185328,207676,132192,178305,171018,178761,185208,182347,182837,183204,184536,179166,181829,182161,177245,177105,178457,131935,183331,184356,185820,170492,182541,186703,181278,132470,186710,181507,184660,185768,181703,185533,182700,181736,181264,172321,180599,185861,171259,209804,178951,179117,186673,182989,179105,182306,167248,182797,186215,165314,169340,171871,179288,178918,171309,170146,131295,132255,164074,132082,124530,183552,130869,133713,169434,182057,206582,186779,186146,184158,180211,178259,124739,126121,127616,127952,128291,128444,207247,129536,129820,129976,131738,131873,133046,132780,133109,133319,133326,133353,134043,162249,163664,163707,163907,167906,169042,170564,171323,209585,171900,171922,172144,174126,174460,205890,175196,175377,176214,176967,206308,177672,178029,179325,179667,180482,181989,182396,182802,182914,183818,183968,184399,184423,206314,184777,184779,186375,186529,186593,206383,206566,208215,208226,206656,207452,207136,173613,173584,205952,208319,206989,124185,125922,127376,127217,125045,127260],
81
+ "label": "curtain"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [145585,110226,110856,110059,146606,145557,143974,143951,145499,143396,109622],
87
+ "label": "trash can"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [27628,26579,30451,57704,26167,31031,28283,27594,32484,31168,34245,31147,57992,32801,27850,24953,29165,25238,59265,26896,59185,60692,34031,61863,58347,26747,33635,26704,27128,26385,28356,61094,61137,24967,25369,25534,25637,26513,26628,26857,32882,59063,62505,60325,26211,32442,25498,56218,57066,57752],
93
+ "label": "nightstand"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [62447,36657,36737,31360,35735,36918,28751,31494,30000,31009,34271],
99
+ "label": "lamp"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [153322,151443,154136,150011,149242,145946,142848,151421,153276,147103,141586,138773,150196,146254,144664,142385,148133,140823,142940,138222,143107,141356,143834,146283,140764,141598,145714,138871,140531,140637,152480,143007,140734,140912,141045,142253,144512,152794,146847,147948,149727,150046,151026,152341,147661,141934,137879,141033,141974,145912,153030,142540,140903,150018,146771,145095],
105
+ "label": "chair"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [132926,133755,129593,133679,130569,132695,132679,131208,129358,131781,126285,90088,131657,129516,131041,124106,131546,131748,133548,132712,131946,132434,132832,133044,133610,133433,86638,128425,129417,130016,130087,133850,133385],
111
+ "label": "chair"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [63251,102722,104896,105103,127970,101006,44186,146352,103809,102920,105244,175661,137095,104839,158429,26410,136388,137108,111205,25539,110905,144263,143389,68250,103544,44079,110070,109808,111518,146724,110440,37878,37933,163242,38490,44603,66957,101684,67174,161505,67363,68247,69335,87241,146292,101764,87650,100614,103451,110996,46632,142805,63875,144716,27717,145433,163146,188188,163388,172987,190798,104802,199550,139169,135532,129718,162803,174177,67499,200183,198464,145583,157771],
117
+ "label": "floor"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [173960,177453,173908,180362,177003,180717,180451,178801,174249,180144,172478,183397,173843,176748,183693,175965,179812,182388,182710,179782,182735,183588],
123
+ "label": "mini fridge"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [71586,79851,73117,81487,82402,47729,78363,76414,72429,47464,78352,76052,47475,47693,78433,47806,71970,76863,72377,76597,72478,78182,75177,73507,72541,72644,79400,73308,73631,79291,73660,80762,73684,78510,77636,73885,74039,74147,82803,74155,80056,79923,75943,82198,82869,75968,76298,76466,80795,76644,76670,76747,78062,78407,78753,80139,80330,80590,81531,82342],
129
+ "label": "wall"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [46387,46346,46983],
135
+ "label": "shoes"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [82211,77849,76107,75706,74219,75332,77610,78106,78646,78717,81107,81146,81986],
141
+ "label": "wall"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [20730,22939,23326,23390,24654,22767,22182,24820,22377,45414],
147
+ "label": "door"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [20970,44952,21566,45523],
153
+ "label": "wall"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [17169,4058,19193,13582,3508,1494,6287,23130,887,18211,15222,1777,44911,14948,14531,9041,13042,13660,18673,16114,17212,17225,21816,19450,17565,16019,13444,23412,4234,22410,14283,13085,23963,1808,13737,2192,21965,12743,2807,16936,13379,3005,3428,19268,13155,19427,23606,13176,13191,14090,16874,14703,14835,15146,15257,15955,15999,16034,16225,16575,620,20215,16633,17493,17791,18068,18436,19471,19185,19738,20076,20115,21209,20156,22025,23849,22405,22581,22657,23358,23874,23900,43526,45656,759,1780,4008,16533,16965,17022,12715,337,1715,17821],
159
+ "label": "wall"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [54105,1424,1472,84702,9093,3769,85377,127037,3020,53791,29595,924,94713,1931,36216,11935,5786,94988,94615,55785,54916,50156,126116,10559,85656,195,1127,1911,30517,52681,2040,3391,36769,4676,34624,4759,5101,5107,12316,5227,53104,37084,5667,52989,6693,7032,36105,10261,10294,49617,11674,10647,10929,53573,11123,11593,84120,11607,12042,55400,12257,35830,36746,52648,36763,37367,55237,51491,51699,51772,52563,53281,54926,56036,84351,84757,84758,86191,86238,86263,88456,89738,11991,93138,93184,93303,93509,93722,94341,94346,94401,95386,95801,95945,96171,96313,31748,126720,126750,54441,83256,31270,91528,1934,2078,2178,27888,28112,31166,31579,34441,34548,84286,34620,36501,54719,55742,59373,83050,83178,83422,83626,84264,84515,85205,85280,85630,90431,127021,54477,52520,53194,63003,37343,37195,53552,54260,55192,88708,1639],
165
+ "label": "wall"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [9537,9253,8579,5866,8102],
171
+ "label": "pillow"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [38651,33187,4477,4882,9438,29609,39280],
177
+ "label": "pillow"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [62387,61832,62637,58676],
183
+ "label": "pillow"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [91469,91736],
189
+ "label": "pillow"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [86555,87130,130369,129557,86707,86463],
195
+ "label": "backpack"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [169496,166586,166405,169825,171540,165261,168660,169569,167680,169929,170360,170048,161699,160918,167275,170121,168279,171495,166862,168516,166995,164467,163268,169230,163886,161258,167973,164521,167139,171097,166981,165894,167349,171458,164133,170641,169177,167132,160963,167932,167806,164294,163909,162280,162644,167181,171723,163249,166808,162943,163792,163968,164882,164043,164629,168987,165022,168481,166109,166442,166912,167541,167740,167985,168185,169353,169321,169906,170406,170918,171127,171197,171206,171413,171584,171636,172006,161069,164204,160711,162617,170740,163768,169349,161223,162404],
201
+ "label": "curtain"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [197404,209359,195046,186968,188182,191513,210001,191051,209122,210118,208428,210139,209057,189325,187392],
207
+ "label": "wall"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [194612,197146,192518,194697,196594,197657,193487,195650,197917,198017,187720,193983,186944,186882,187011,187728,189504,189911,190417,193468,191739,193310,193393,193532,194615,194162],
213
+ "label": "wall"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [156190,196635,197707,196768,156442,156671],
219
+ "label": "wall"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [157275,198157,196086,154793,156859,196981,205314,196114,196705,196717,197250,197662,203073,203773,203925,203985,205240],
225
+ "label": "ceiling"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [203449,201516,114864,115975,190230,202096,203088,115874,199803,143113,203337,160184,116616,121079,119467,199061,122442,199742,195835,123483,123753,147926,203110,202675,149081,121564,149188,153186,153205,200209,153732,122518,154083,159063,205568,159277,204917,159297,159635,194379,198321,117583,157973,198424,122976,198764,199272,202271,199746,201147,153043,201962,157899,203072,205546,195324,201045,123008,158277,142433,159245,157933,157979,116887],
231
+ "label": "wall"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [154949,156092,156119,154945,156073,155719,158699,149922,153790],
237
+ "label": "picture"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [151855,147543,151134,156289,154396,156938,154636],
243
+ "label": "lamp"
244
+ }
245
+ ],
246
+ "segmentsFile": "scannet.scene0435_02_vh_clean_2.0.010000.segs.json"}
scene0435_02/scene0435_02.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.566406 0.824126 0.000000 -4.623450 -0.824126 0.566406 0.000000 1.582560 0.000000 0.000000 1.000000 -0.114378 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1617
15
+ numDepthFrames = 1617
16
+ numIMUmeasurements = 3350
17
+ sceneType = Bedroom / Hotel