Add files using upload-large-folder tool

.gitattributes

@@ -189,3 +189,13 @@ scene0634_00/scene0634_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -t
 scene0173_01/scene0173_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 scene0173_01/scene0173_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0685_01/scene0685_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0685_01/scene0685_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0672_00/scene0672_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0672_00/scene0672_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0446_01/scene0446_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0446_01/scene0446_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0487_01/scene0487_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0487_01/scene0487_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0596_01/scene0596_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0596_01/scene0596_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0233_01/scene0233_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text

scene0044_01/scene0044_01.aggregation.json

@@ -0,0 +1,114 @@
+{
+"sceneId": "scannet.scene0044_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [92932,101146,99968,102350,99589,103396,99688,94947,100735,103604,101662,101638,102240,102074,101168,93289,102516,101089,99228,102769,100434,99125,65067,93681,100428,101031,100781,92089,91841,103479,94706,103232,93236,93008,92966,93623,94340,92846,94285,92214,94894,92460,94953,94098,100315,100842,93599,94085,101024,101501,102408,102734,100447,92480,92348,93016,92877,93875,94390,99726,100255,100831,100999,100845,101039,101466,102259,102800,103243,103285],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [20231,20384,4355,24532,48711,13365,24721,6081,24160],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [134482,110766,108539,113307,112426,112765,108646,106313,121650,112788,157928,105369,113496,106858,111575,109404,112854,112978,140511,113978,112582,121430,109774,133771,121661,121697,138002,111370],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [20928,1121,23552,21570,22765,2669,23672,2850,400,22922,23163,21116,2301,21316,22019,23782,21469],
+	"label": "door"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [133221,127315,97679,104195,103844,123291,126735,96845,129907,129943,104344,131457,127633,132442,97364,128285,130013,131620,129311,122711,127520,131654,125376,133396,131613,128266,127688,95632,128964,135726,122530,136562,130223,122354,95587,122438,124321,123576,96747,123005,125394,123114,136083,133783,122850,122332,124712,127460,128848,130508,126915,129237,130972,104304,128663,132987,106426,135441,125826,125124,127977,135340,133306,108348,135219,138959],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [150495,147420,154307,156253,139008,153382,144577,153701,150210,150368,144863,155022,150405,150911,134815,153625,147137,148589,143441,155736,154522,155803,145731,152501,142595,156090,144522,149940,110001,138741,150358,152898,142681,151858,148899,146870,144686,138665,150540,155062,152015,149859,146157,137229,155346,146816,152022,150233,143557,148563,147967,145226,150701,139521,137507,140492,140399,149429,142074,144122,143456,140055,139762,141390,150316,154226,146525,147069,153630,145827,134756,142835,141495,138874,155316,139960,153347,139322,142764,144435,110313,143372,157153,144821,142064,144714,146635,151305,156621,151054,156513,112507,117741,137415,139657,137663,138748,144256,138840,139071,139280,155785,139554,141242,139824,139893,140014,140137,154437,140278,140499,140530,140734,140846,141052,141061,141252,141425,141440,141739,141802,141862,142762,143243,143251,143311,143419,143603,143705,143874,143905,144457,144743,156337,145023,144815,144946,145098,148856,145833,151534,145926,146010,146883,146040,146165,146294,146965,147398,147491,156119,147766,147933,149510,147950,148107,148202,149054,152661,149664,150238,151458,151525,155318,152002,152184,152228,152316,152866,153069,153097,153249,153276,153595,153754,154108,154572,154714,154786,154817,155158,155491,155652,155659,155732,156494,156976],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [89020,86696,31153,30535,117419,31380,53296,80349,81536,50078,31514,32238,28306,32411,29918,30883,115427,116054,31426,31131,115998,29673,89214,52773,88534,88635,115051,53286,26361,116455,13137,116776,87726,88163,111599,87130,113174,112407,116021,31647,114422,89118,16157,52810,16376,18107,81478,53218,18980,49850,19738,26076,29387,31959,31979,49170,81952,49423,52641,52965,53243,88935,86632,85386,86681,88182,112120,88333,89025,108724,109114,109215,109726,109847,112772,113445,114540,113546,114049,114175,115075,115271,115433,115767,115928,115983,115994,116070,116118,116569,116938,117125,117367,117737,117770,11316,16858,17050,12306,13818,15107],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [55979,95087,3632,95708,23385,21009,95467,33595,22018,96203,92416,95931,95417,35855,93244,36437,38154,37516,37896,36234,35829,60643],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [8564,2711,16276,3496,10193,3476,7412,5709,5901,15814,8233,8632,8791,19594,9057,19671,19003,9100,10175,10584,17121,19828,19221,12547,16995,18314,19597,31180,19898],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [60588,76894,59004,71854,57106,106812,105207,75206,107866,58334,61039,97528,37609,73723,107502,98068,46784,73271,98432,46662,38026,46333,46660,46519,58934,45827,75714,47259,38628,48143,37250,48020,61272,76564,58792,74423,59758,46779,75715,59749,58748,37093,68724,59765,46146,37664,37945,46186,60330,58992,105294,57152,75342,46501,58178,38347,58210,106483,59182,107343,58563,59035,59133,59982,61257,60108,60232,77285,60888,61093,61135,61375,61505,61570,61575,61580,61708,61717,61884,68937,70030,70202,71512,72130,72537,72707,72886,34426,72974,73026,73322,75513,73788,106660,98240,73906,74002,74212,74277,74615,74820,74878,74930,75033,75788,75822,76369,76643,76711,77557,77580,77820,77926,78739,96763,96991,97179,98705,98715,104920,105218,106865,107611,107643,38504,106512,38576,38544,38204,38672,39168,39209,46568,46870,58627,97486,105084,105318,105678,106004,107462,77991,76879,72346,72555],
+	"label": "stairs"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [86783,83102,81209,86175,79821,83589,79787,81695,48940,49221,52032,48878,80583,49431,52020,81413,51892,48728,52097,43152,68793,83634,69915,85241,79494,79746,81167,79928,81162,79941,83874,81849,80254,81000,86011,84007,81604,82056,84330,84742,84769,85127,85341,85476,40112,48754,80059],
+	"label": "stairs"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [66734,39299,62781,62425,41310,62202,39449,67712,65614,54973,40059,55726,62292,66171,55119,32552,63256,92990,55098,32820,54460,32940,55041,33151,40220,40269,62779,40780,40907,40875,41670,41977,41998,54367,62111,54626,64635,54877,55555,62500,63925,62987,63086,63516,63527,64487,64689,67109],
+	"label": "stairs"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [5590,5040,6615,5197,4720,6103,4817,5606,6098,4924,6569,6769,6442,4899,6993],
+	"label": "backpack"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [22455],
+	"label": "light switch"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [20209,20531,22481,957,22310,1068,20582,22378,2218,857],
+	"label": "doorframe"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [67710,67357,68515,67281,67677,44174,39789,41638,63504,66010,43022,70716,39515,70212,66108,45297,39888,43025,40048,66967,40510,41074,41685,42122,43281,42493,42642,44575,42897,69727,43501,72676,43662,44062,44122,44756,45233,45704,69518,65442,66463,66502,67343,41390,66587,66807,45238,67312,39725,44631,42856,42378,69089,42623,43136,43938,65540,65776,71210,42752,43287,43625,66065,44893,43916,42102,70509,42193,42814,43092,44279,44519,44871,44960,78254,45230,45411,45427,45481,68545,69099,69277,69921,70219,71449,70448,70775,71619,69429,70169,71468,76124,43197,44379,44961,45393,67881,67943,68141,68295,69634,69946,78480,71414,70284,71374,72798,74257,74532,75526,77965,76016,77387,76786,69887,70285,71339,71993,75357,77092,76306,78019],
+	"label": "stair rail"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [8276,8340],
+	"label": "light"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [14882,29824,14285,11858,10812,13645,13755,27905,16979,15267,14659,11732,10939,12349,14111,12374,9751,11288,11463,12102,11788,13090,13629,13681,15250,15584,18497,16481,17841,18207,18681,30887,31090,9465,28375,15445,9873,12993,11548,12558,15086],
+	"label": "pipes"
+	}
+],
+"segmentsFile": "scannet.scene0044_01_vh_clean_2.0.010000.segs.json"}

scene0044_01/scene0044_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.017452 0.999848 0.000000 -1.326520 -0.999848 -0.017452 0.000000 2.949980 0.000000 0.000000 1.000000 -0.778638 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 929
+numDepthFrames = 929
+numIMUmeasurements = 1882
+sceneType = Stairs

scene0126_00/scene0126_00.aggregation.json

@@ -0,0 +1,246 @@
+{
+"sceneId": "scannet.scene0126_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [146406,177209,143767,138977,146202,183681,145211,141410,142567,183922,141443,145082,146026,145722,141402,144179,140082,142072,182186,182057,145462,138137,186218,139358,137397,184975,136204,179443,136361,141314,137850,137863,139068,138619,180238,179882,140972,185486,142020,142225,142742,143102,143643,143763,183052,182307,143820,143895,144123,143907,145595,142467,145833,146229,174782,174935,175826,177516,181719,185317,182497,185080,183966,182602,139921,140000,145932,146171,180250,141706,142968,140597,141343],
+	"label": "cabinet"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [84186,88486,89805,89704,84198,63383,85601,84403,86032,66203,84952,83437,86221,90127,89470,84259,84819,83799,87781,88086,82348,84507,88158,65393,87031,87346,87964,66269,83929,80447,86393,65390,65474,84849,65828,84684,66064,66242,85123,66468,88202,80017,80494,86151,81238,81394,83158,83686,84634,86293,85056,87599,85299,85433,87887,85883,86533,87553,86724,88861,87071,88678,87540,87606,89705,87645,87683,87903,87934,89825,89900,90262,56664,65660,83938,84583,66010,66298,66139,79304,80211,81863,82238,82806,83062,63250],
+	"label": "shelf"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [41120,121897,73659,80204,159268,29768,73249,156104,80873,31459,40905,63447,120434,67952,148789,29213,112192,68523,156470,111739,64839,157477,155464,149662,63612,149217,55049,148383,157481,124176,135527,159719,149159,113841,158782,14476,99245,55275,62122,11551,62583,63086,68295,68745,73209,112825,122892,167594,112970,90743,99615,99721,155239,100670,137097,105841,155147,166871,106094,113114,114344,113331,120010,122655,148937,155243,155757,156073,157462,157917,158055,159395,159615,159877,159900,164837,165082,165589,166520,167844,168224,174908,175235,176102,177936,193260,193418,193774,194681,194737,194844,199801,200116],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [63021,56357,57152,56465,58478,62381,56603,58309,55847,62307,62459,54198,58378,63853,55160],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [170977,168742,157783,170317,157288,173136,155479,170502,167648,170028,170645,169954,166126,169291,166569,168068,164762,165972],
+	"label": "office chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [76888,3022,187282,138884,179350,109855,3407,106799,75179,189134,138807,1384,136853,48367,45857,76648,50039,139821,50629,142014,51499,108075,52784,73993,184180,137306,74115,108287,74228,107542,143662,106875,106749,74811,74958,75695,77117,140530,181642,105965,106396,106126,106874,106499,107030,107901,107386,107997,139758,108390,108425,109101,111053,109180,109205,139741,136550,136845,140829,138281,139008,139545,139702,145713,140242,140359,141493,142045,143912,144108,144471,144533,144951,146072,146382,146475,146546,146568,147516,147529,147622,147738,147996,148059,179183,181547,185802,187629,186473,188113,186984,38452,138228,148196,179148,180378,186270,186462,186852,187419,181162,146773,179468,109920,146999,180559,76430,3135,51310,52769,51677,76780,75888,74180],
+	"label": "picture"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [197405,181601,170898,160465,197145,185083,161131,191974,196875,191181,170761,162966,183888,194905,169271,201747,170517,170928,171081,172574,172748,195564,173180,192403,181818,191323,192338,180533,201728,195481,195598,196438,201646,200435,200785,202207,179765,172722],
+	"label": "windowsill"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [177473,170914,195930,167053,169859,176179,164921,176877,166741,167688,203338,168345,165782,169850,181375,176257,175479,184352,164952,166095,168311,178655,171258,176172,164302,165653,165293,165538,167300,166409,166554,180279,166054,166254,165123,170713,176917,164493,175293,165657,166738,170436,165634,167617,165197,168509,176938,168373,178083,184903,175630,179198,172337,176775,178432,177950,165890,184686,168249,176371,179135,165332,178215,175084,171621,178264,193792,193794,199996,201814,155164,155547,194788],
+	"label": "radiator"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [31621,35874,36030,36647,19433,31855,34791,32798,31713,17156,21772,17589,35008,29750,33040,35415,28381,35332,26285,34917,19593],
+	"label": "door"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [160679,161807,125776,124592,160939,160654,163089,124567,162614,132442,160615,130474,131589,160551,162233,162356,164188,128987,163713],
+	"label": "monitor"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [102602,102892,95435,105419,102349,101836,97342,69416,94745,71221,103537,70858],
+	"label": "monitor"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [80991,79158,79982,83196,80375,83227,82022,79553,80346],
+	"label": "trash can"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [51880,51484,52579,2556,49367,50285,2083,2110],
+	"label": "object"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [105326,135975,95455,69296,95418,72093,126003,103945,70827,70980,131503,71335,102438,68765,67390,97611,95101,103008,69601,100801,127840,91250,102013,121176,102752,73715,69901,67124,101691,102205,70985,71105,72104,92991,70443,100467,104218,92829,125003,68149],
+	"label": "desk"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [163958,162297,160430,126748],
+	"label": "keyboard"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [40959,40583,41821,38731,39985,38666,39536,41586],
+	"label": "box"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [28863,10102,11427,24523,21793,29095,36776,28711,1764,23681,28516,28759,28341,23091,1820,32969,36887,35762,37096,35809,24535,3461,19276,16242,20803,16470,14697,22034,13390],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [20824,4351,21313,11943,4332,20231,13127,28268,17099,20208,6203,18814,12654,16352,10228,9691,4981,4660,4489,6712,8398,4547,4573,25710,5346,6124,28236,21847,19210,6904,21147,8355,7135,7045,7321,10733,7495,7500,17698,7503,7926,8016,8572,8649,17515,11742,21501,15627,12477,14938,16046,16072,16871,17947,26808,18425,18584,19419,19534,19715,21953,23397,23641,24116,25282,9830,3933,4098,4317,20731,4946,5443,6503,6620,7158,7835,7878,8635,9686,9759,9847,10062,10248,17486,10644,15123,15665,16444,19017,19094,19708,20357,22692,24958,4847,9382,8377,6408,7186],
+	"label": "bookshelf"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [27184,28284,24006,24125],
+	"label": "box"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [48680,44906,40968,45773,41190,44001,42559,42680,44184,47545,52891,51204,41403,39086,48111,43593,44482,42643,40287,42384,37585,37662,37959,37954,48097,38266,38292,38708,47289,39450,40200,40501,44955,40516,47978,41044,46697,47495,41058,47094,46842,1956,45257,41948,44960,42090,42098,43957,42625,42676,42906,44500,43003,43189,43338,43699,45201,43732,44465,46591,45095,45230,47070,45315,45471,46226,47441,47501,48248,47609,48492,48786,49220,49621,50647,51270,52618,52650,53135,53317,48150,46440,33571,49541,1823,46718,48517,45392,49572,48925,50481,50164,36395,36500,49688,43031,1508,2161,44461,43233,48287,422,426,800,2539,2709,37472,37702,43321,43694,45383,46046,46848,50140,52994],
+	"label": "shelf"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [191117,173464,182046,173313,186706,187133,192106,173342,201400,186631,195407,186617,188939,174352,187690,197126,196718,179417,198610,199564,198430,199468,188968,199275,202231,187209,179672,181401,169151,171175,174117,172063,204542,190535,172688,173560,198571,198647,173638,174622,174627,174672,191540,199080,183454,183685,196752,187190,188079,190373,198319,189115,204469,188647,192471,189009,189912,190332,192526,192912,202699,194936,196534,197345,198745,198917,199407,200322,201403,201764,201914,202362,202694,203531,203821,203888,204225,204288,204359,204598,206001],
+	"label": "window"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [179619,182204,182573,204749,181366,182424,183206,184842,181016,183735,182845,184636,204688,184475,183616],
+	"label": "plant"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [182052,177678,176187,196031,194709,189482,189817,194552],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [163583,113305,162984,114386,128890,161493,130310,129764,163729,127530,126678,127963,132876,129771,132098,158593,130684,163134,162953,155630,155538,157689,130104,132668,123434,94180,113530,114894,125109,156913],
+	"label": "desk"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [132636],
+	"label": "mouse"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [126733,124893],
+	"label": "telephone"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [132879],
+	"label": "cup"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [122555,123449,132567,128735,127628,123250,121034,121573,127382,125196,123987,90725,133031,123947,131886,123578,123902,120421],
+	"label": "file cabinet"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [122842,135059,133990,123517,133343,134723,134024],
+	"label": "trash can"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [122721,120203,90624,124158,90764,94405,91726,92932,122387,122062],
+	"label": "computer tower"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [98802,98165,95755,91303,96368,96136,97197,97209,71924,97064,70575,71387,98624,69817,69977,69494,96895,90841,97885,95528,97823,97630,97961,93442,68566,91688,91221,92422,91730],
+	"label": "office chair"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [70162,67377,72024,73892],
+	"label": "file cabinet"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [149971,114772,6402,154050,118124,114172,59580,60100,59519,7972,150359,77787,61954,61353,61940,151505,119260,192511,77532,8423,112052,8982,9753,54642,60980,55720,61583,58959,59668,56149,111949,56406,56885,57034,89045,58703,78594,59391,117958,155075,59807,117217,152758,59844,78342,59857,59915,59943,60362,60608,61487,61813,77580,61894,77417,77644,78457,78617,83604,86950,88368,150690,117383,118930,119069,148926,149357,149868,150821,150944,150973,150989,151907,152026,152109,152304,152465,152482,152599,152607,154130,152655,152772,154565,152899,153157,153293,153467,153765,154445,154664,154821,190299,192797],
+	"label": "wall"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [43805,49729,47851,51335,42965,49804],
+	"label": "books"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [9188,4912,26612,6967,26192,24474,23105,18441,6003],
+	"label": "books"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [6954,6484,5104,7034,5436,5027,7683],
+	"label": "books"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [11561,13463,14823],
+	"label": "books"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [84348,86767,84306,86162,65765,84368,87754,86211,89868,85306,89864],
+	"label": "books"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [80909,81543,79885,81544,83250,64687],
+	"label": "books"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [22347,16257,12643,14664,12164,12908,12616,14769,21094],
+	"label": "fan"
+	}
+],
+"segmentsFile": "scannet.scene0126_00_vh_clean_2.0.010000.segs.json"}

scene0126_00/scene0126_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.233445 0.972370 0.000000 -1.137990 -0.972370 -0.233445 0.000000 4.540950 0.000000 0.000000 1.000000 -0.042674 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1664
+numDepthFrames = 1664
+numIMUmeasurements = 3490
+sceneType = Office

scene0161_01/scene0161_01.aggregation.json

@@ -0,0 +1,66 @@
+{
+"sceneId": "scannet.scene0161_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [26479,26966,29406,29612,27890,20371,12445,6094,30356,20245,11316,8342,8459,19047,23473,7799,21261,8768,631,10582,23307,18698,25876,2827,26975,10124,19456,14150,12239,20736,3469,26363,26156,15016,29816,14626,16478,16098,15353,2884,2963,127,666,426,49,2135,3280,4247],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [22318,24870,22059,21268,23002,25168,25396,25068,25275,20447,25067,25361,20804,20896,21328,22938,23426,22504,25111,24880,22221,20961,25013,23690,23968,23360,21133],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [19772,8297,19917,18733,20178,19773,18530,19177],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [18978,20082],
+	"label": "office chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [17687,17605,25885,29333,11214,24706,10062,10001,15746,10633,25559,13631,15747,15205,29212,26675,27806,27658,9854,14080,13472,26332,29179,29036,24310,16761],
+	"label": "table"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [28701,33094,34455,30141,34459,29625,32493,31726,31938,31958,33658,33057,33454,32710,29733,34336,33312,32124],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [12975,13063,12288,11993,12799,12869],
+	"label": "chair"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [12987,4140,6553,7088,4401,8624,2820,2245,4077,2626,4822,7372,4905,4933,5211,5361,5400,5424,5902,6641,13518,7065,7309,7134,7204,11018,7237,6439,10516,7729],
+	"label": "window"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [8651,8027],
+	"label": "door"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [15301,6662,17107,5463,16411,17981,7182,6358,6277,16316,16652,17102,17215,17261,17502,18060,18153,17446,14843,16501,13779,13885,4725],
+	"label": "window"
+	}
+],
+"segmentsFile": "scannet.scene0161_01_vh_clean_2.0.010000.segs.json"}

scene0161_01/scene0161_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.991445 0.130526 0.000000 -2.498890 -0.130526 0.991445 0.000000 -1.059940 0.000000 0.000000 1.000000 -0.025338 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 191
+numDepthFrames = 191
+numIMUmeasurements = 412
+sceneType = Living room / Lounge

scene0233_01/scene0233_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a1215851138b70225600b1d6a528e8b802586c0f41f5ce4c20e2bcc6d7c2cd
+size 11293551

scene0320_01/scene0320_01.aggregation.json

@@ -0,0 +1,240 @@
+{
+"sceneId": "scannet.scene0320_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [90598,88871,91816,89506,90677,90911,87654,88258,91418,91573,91878,92290,91467,89720,88141,91882],
+	"label": "trash can"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [93308,90811,91706],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [125064,122408,108016,167942,111488,138025,152383,137959,166156,165618,108607,170181,150461,166219,112286,169450,160941,107926,112521,168748,160789,112556,122107,112650,112696,112842,113039,162223,113253,125305,135946,113851,114358,125693,114579,121732,122130,125719,168910,148085,125784,148922,135378,136468,149383,150405,152560,163924,153683,154180,154446,169300,166023,168469,95626,161096,161232,161524,163865,170432,166745,168794,168762,169080,169570,170092,120391,112405,107179,152436,148519,149941,151615,154516],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [157542],
+	"label": "mouse"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [150433,125279,125441,125605,138957,141369,139953,141697,141494,141591,140923,141640,154614,124368,124836],
+	"label": "window"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [148794,151191,148557,150670,152809,148650,149092,153021,151657,151793,148439,148152],
+	"label": "stool"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [147133],
+	"label": "keyboard"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [158402,157672,159423,161609,158337,159200,160101,162455],
+	"label": "trash can"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [130806,130445,129863,128983,144082,143172,131756,143611,142266,127360,143294,129973,128719,143812,143333,131247,143924,142851,143563,130745,126871,129523,129762,131218,131286,127657,129113,129708],
+	"label": "bookshelf"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [129375,128660,130464,129408,129091,128892,130102],
+	"label": "books"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [131316,131055,130012,129054,128517,129617,129194,129385,128829],
+	"label": "books"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [115136,97036,86900,98056,105592,98398,115980,117121,116086,116197,116452,116540,116667,117197,116795,117062,117231,117427,117905,117996,118163,117933,103913],
+	"label": "bookshelves"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [84498,73818,68800,83838,86610,83475,70592,83800,84927,79031,68335,103096,66272,87062,86431,87219,62618,64711,64589,65756,65784,66012,66537,69646,84096,70745,70827,71203,83072,86915,71765,74340,65915,77351,76096,76623,83857,80727,81512,82529,82839,82946,69069,83202,83519,83734,73655,84267,71344,72013,73870,85183,96204,86183,62606,66525,66731,66827,67064,67914,69299,71848,72228,72880,72906,77403,74534,75844,77408,101440,102163,72344,85167],
+	"label": "bookshelf"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [86348,78335,75589,78000],
+	"label": "books"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [86821,77715,75651,77319,77947,76578],
+	"label": "books"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [86551,86861,75471,77765,77467],
+	"label": "books"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [66584,74280,73508,68897,69701,73527,73966,70290],
+	"label": "books"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [66800,74148,82836,72169,68965,68508,73289,68805,69202,74125,71802,69235,71401,70902],
+	"label": "books"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [62612,69425,73256,74473],
+	"label": "books"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [66281,69475,67232,70390],
+	"label": "books"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [63109,64487,65768,62426,29276,63188,62459,63003,65939,63701,66235,65416],
+	"label": "stool"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [77397,73301,64617],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [79864,64895,75310,61195,60239,64510,60433,60941,61065,60179,60435,61680,60133,61802,61072,59991,60842,66159,67235],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [30507,35785,36369,31591,32422,64445,75058,29116,29961,62190,76102,65207,34276,38373,36382,37300,33234,31761,32895],
+	"label": "bookshelf"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [32837,9389,31579,10924,29684,10239,8349,28880,10195,33048,32778,33450,34101,34302,36160,28858,8731,30574,32256,34862,36617,10851,10569,8565,9748,10069,9791,36332,36284,35586,35776,35283,35684,36026],
+	"label": "bookshelves"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [55533,58884,59507,59383,58761,55176,58839,57530,56922],
+	"label": "window"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [37961,38102,37949,37627,99624,38822,79070,28541,37730,38108,28587,28678,28499,38645,98901,99992,78391,99135,99366,100027,100407],
+	"label": "ceiling"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [31983,11414,1397,9093,1218,31073,4708,2609,2093,1511,101489,2364,530,2008,106720,3949,107167,101909,2619,82116,3526,81981,80462,127652,44359,142190,102465,44954,128002,12696,176,44412,157357,115074,180,89037,63626,100743,88726,65889,9672,8616,159637,101526,460,1360,1733,2211,9834,1281,80016,9689,1628,677,2842,80781,5134,8491,106023,8532,30914,165576,102913,160359,106803,145855,65820,30143,16208,39172,40254,41441,45323,45882,45898,46835,81224,91231,126550,127569,133096,136818,141852,141866,142044,142343,144183,145172,155008,155058,155175,155238,155769,156575,160872,164437,164558,164644,166285,167090,167193,167262,167532,14691,160862],
+	"label": "floor"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [46341,42509,46125,48222,43526,48692,42837,42777,39941,39554,41842,43513,43006,50998,42884,18779,17851,40702,41327,41352,42264,43294,40954,49023,50374,49420,49581,50685,39272,39777,46876,39861,40233,40392,40500,43855,43753,46948,43273,50413,51204,41525,41125],
+	"label": "chair"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [134516,138989,134561,134089,136213,134283,141163,140473,134945,134119,134218,135044,138924,134756,137909,139015,139026,141498,140661,136552,136302,136712,136587,133988,132339,137349,137494,139731,137926,137279,136545,132244],
+	"label": "chair"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [158302,145701,147082,156907,147862,160272,157781,147265,147318,147956,162059,156949,147232,145635,155857,144556,145034,145449,146287,146473,147422,151386,157847,158119,159128,160619,161139,156647,157412],
+	"label": "chair"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [147271,158172,123698,166646,109420,110305,166505,167682,168615,109442,147334,165304,167604,112006,108783,109039,124660,125154,152600,139396,124703,109554,109706,139820,90575,109242,147141,147610,134758,146955,138730,168677,159975,159469,139439,157940,159928,162309,166308,164901,110708,110104,150410],
+	"label": "table"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [108514,110970,109675,109671,108498,108216,111213,111866,110350,110781],
+	"label": "monitor"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [154096,161546,162636,150050,152901,153679,163587,154543,163517,151016,162197],
+	"label": "monitor"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [56801,56409,52074,26935,19744,91601,47724,51595,55718,51045,57432,54079,50761,47992,15981,58658,26225,18630,52209,25453,26181,25237,49125,58430,56288,58203,27687,58673,26409,55440,25865,57815,57055,18214,18997,95057,27996,22230,22538,18576,13684,27785,50836,51838,50498,19356,20551,22239,27727,49942,58314,24765,50399,45279,52402,19851,19507,48698,25642,17988,54228,19533,25075,20164,22700,20949,22434,24965,25550,25920,26168,26868,26963,27258,91745,27419,44666,27965,44465,47813,48057,48098,48542,48570,48596,48653,48982,49210,50000,50607,50652,54692,55451,55492,57351,46848,14257,15031,16427,23596,45713,23758,24117,24150,54137,24323,24549,24927,43902,44265,44689,44869,44890,45392,46124,46225,46310,46426,46646,46828,47020,47309,47460,52726,52946,53057,53996,87495,90924],
+	"label": "desk"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [6062,5530,6639,13662,5109,3202,5972,16769,6426,3250,5726,7439,7151,23102,22958,5439,6859],
+	"label": "wall"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [15165,16323,14645,17671,14538,16902,13755,15203,15356,15690,15105,17454,13515],
+	"label": "backpack"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [25730,24433,19939,14959,17865,21763,23339,18707,18615,23381,28204,28328,28055],
+	"label": "wall"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [91440,95487,93156,94950,90580,92130,94220,95341,92423,56821,28191,28088,54122],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0320_01_vh_clean_2.0.010000.segs.json"}

scene0320_01/scene0320_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.199368 0.979925 0.000000 -3.377860 -0.979925 0.199368 0.000000 5.210710 0.000000 0.000000 1.000000 -0.060091 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2120
+numDepthFrames = 2120
+numIMUmeasurements = 4426
+sceneType = Bookstore / Library

scene0323_00/scene0323_00.aggregation.json

@@ -0,0 +1,168 @@
+{
+"sceneId": "scannet.scene0323_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [20627,34409,34048,20446,20485,20152,19546,53637,15134,35755,2021,56094,51680,20527,34689,21768,18235,2085,21691,55612,21955,13409,21171,33318,33774,33957,19778,35883,1960,20660,50590,3189,49777,3244,33156,2689,19665,20117,2676,2558,2525,74908,36296,33611,17250,2379,2589,2747,45897,20046,19713,21997,33217,47905,48628,49991,56235,70053,73113,70413,73538,46337,52071,50869,74368],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [44572,45175,35,44584,28844,43608,42245,42651,44022,1424,10870,42216,1095,44879,14546,42454,43275,45760,42550,44844,44241,13426,15128,13472,10191,1610,1639,28421,12279,1307,1060,964,1710,312,325,1117,1720,11903,12005,11172,27670,64098,64672],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [29720,30478,31529,31679,29324,29558,30346,30744,31294,31779,28602,29220],
+	"label": "trash can"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [71559,72276,72410,65593,65660,68351,70226,68366,71950,70321],
+	"label": "microwave"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [47407,56555,71197,56912,24587,70778,47774,46078,50522,72682,56815,73878,65354,65319,67085,61335,61286,57383,61232,22929,26401,5746,40599,4114,65455,8671,25179,40648,68864,67412,25420,59155],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [42684,65541,70856,64998,71689,45177,63835,64592],
+	"label": "dishwasher"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [50441,46311,49244,46303,50833,44641],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [66745,41908,40549,63866,64212,64614,39925],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [7313,39888,7006],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [8513,9556,9051,6711,9775,7541,6031,9888,9071],
+	"label": "recycling bin"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [27601,29339,47189,32701,32264,46059,55233,45385,31820,30603,51612,32862,50432,30867,48590,42181,43044,30023,30696,31690,30677,31052,27944,29282,29427,29622,30665,43389,30735,32538,32764,44531,52838,32474,32523,27695],
+	"label": "refrigerator"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [41410,40783,40388,40271,41961,41223,39890,41301,42098,40218],
+	"label": "coffee maker"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [67114,59955,65408,67949,58707,68078],
+	"label": "sink"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [12149,14425,13864,18765,15517,14293,15531,14237,14072,14173,15139,18509,16051,17755,15512,18037,22186,13533,14555],
+	"label": "door"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [22552,17347,22540,22686,20762,2831,21497,19779,20589,21257,21810,17189,15652,15857,16296],
+	"label": "doorframe"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [27384,7776,8933,8070,7560,8880,7861,8235,8800,27361,8452],
+	"label": "trash can"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [6783,8741,7076,8519],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [46754,46874,47245,46949,43432,50648,49876,46151,46818,47522,47771],
+	"label": "tube"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [54668,49355,44033,49131],
+	"label": "tube"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [54549,53371,55129,73330,70868,48802,47283,46919,73196],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [74051,67177,74677,74805,74494,60922,73795,61875,63666,57163,57864],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [69504,67419,69611,66941],
+	"label": "paper towel dispenser"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [58578,61015,57180,63487,57593,63641,63741,58006,57105,57606,63086],
+	"label": "window"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [60599,58576,59878,58351,60602,61897,60343,61316,59275,61475,59338,61769,58526,60060,62550,62556,62643,59020,58766,59892,58500,58246,59319,59626,59666,59735,59570,62086,62201,62258,60450],
+	"label": "dish rack"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [37603,23758,38169,58164,38185,24349,3360,4917,23212,38743],
+	"label": "wall"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [26160,27269,25812,27058,4936,3489,3943,27021,26517],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [24607,23960,25711,24331,23463,24230,25450,24816,24273,24144,25666],
+	"label": "microwave"
+	}
+],
+"segmentsFile": "scannet.scene0323_00_vh_clean_2.0.010000.segs.json"}

scene0323_00/scene0323_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.342020 0.939693 0.000000 -3.567960 -0.939693 0.342020 0.000000 2.356220 0.000000 0.000000 1.000000 -0.121373 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 954
+numDepthFrames = 954
+numIMUmeasurements = 1911
+sceneType = Kitchen

scene0369_02/scene0369_02.aggregation.json

@@ -0,0 +1,228 @@
+{
+"sceneId": "scannet.scene0369_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [125066,125095,23839,143859,118629,144349,96448,144556,146293,31223,144231,24025,146307,122965,29420,144855,15907,66799,144560,85506,80642,117789,17779,22430,99989,25361,70895,99479,60812,61701,99328,30959,66232,95455,14766,40727,25575,40961,40822,121870,61635,137162,15828,24156,24416,17603,15359,17758,85560,55933,18167,85036,24147,55159,25197,54925,22602,60580,86987,114358,85217,86615,86480,95892,98856,25421,22685,24875,22278,8609,16422,85498,22558,23170,23284,24290,24335,40641,54527,54814,55540,61624,67127,80303,85556,111476,113534,118333,119748,122646,123295,65762,55435],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [98072,43994,152525,42454,39528,42888,47856,45100,45843,44593,45717,46605,46277,46421,101663,46495,47486,46506,44357,46594,47012,47282,47333,102702,47814,47469,41924,128775,103766,48495,48421,47565,103251,47713,47807,47899,48356,97846,124329,98000,98037,103399,124764,125947,144783,102876,103037,103895,99851,42942],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [75027,73816],
+	"label": "picture"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [102843],
+	"label": "picture"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [98041,126310,128434,127183,128046,125916,100278,98765,98823,101305,101131,101220,123672,101227,102110,102258,126857,125721,102433,123270,124554,125558,126057,126148,126276,126597,126817,102983,127725,128123,128210,103617,102138],
+	"label": "doorframe"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [131666,151480,150836,134099,148856,132988,130454,151241,129885,129477,130578,135532,136175,150945,136189,142207,141477,142142,150183,142323,134861,142916,143095,149839,149974,150079,133706,145121,135722,130132,134492,135004,147924],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [131257,131600,130851,130139,129626,131036,129688],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [141368,147027,138051,138576,138992,141794,142122,139372,148464,139246,141196,144358,146024,148758,136712,150332,149849,149584,142381],
+	"label": "door"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [135577,133401],
+	"label": "calendar"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [138211],
+	"label": "book"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [111362,114944,112224,116829,137813,140749,115166,107433,115342,115689,111898,113026,113258,139762],
+	"label": "cabinet"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [140350,138796,138919],
+	"label": "books"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [133766,140801,132895,139505,133320,132949,131879,133555,133542,129747,129657],
+	"label": "books"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [115558,133174,132706,116213,133230,115857,115209,116785,115290,116960],
+	"label": "books"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [115968,115024],
+	"label": "book"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [81479,113603,84385,114756,81224,80316,80387,113739,116186,80604,80653,82081,105842,83594,84296,82807,106928],
+	"label": "cabinet"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [107153,129453,129436,105875,104550,129616,105732],
+	"label": "bear"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [109101,75420,17782,79444,17071,14778,14880,19511,15117,15964,22105,15434,17216,22228,20727,17875,18296,78671,79718,19738,110542,49216,78471,49647,76315,109903,75338,76668,51049,15558,51954,75976,52540,20701,53498,17632,76156,77038,51578,79639,109221,76372,104885,107214,21529,17865,14945,19433,21463,19829,18350,20363,106943,14013,14491,21300,21332,22072,51589,52935,79434,79474,79710,108079,110310,105154,108883,109691,110010,110568,108038,109039,109929,51398,51842,22199,21135,19722,20279,14709,16332,20314,20366,17684,14614,16106],
+	"label": "wall"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [53351,51555,53195,14128,52859],
+	"label": "picture"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [84757,76691,84517,83641,76468,84493,82664,84002,83015,75779,77543,82631,78354,78010],
+	"label": "books"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [106345,75852,107137,105100,76502,76595,107133,76431],
+	"label": "books"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [77212,76577],
+	"label": "book"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [107817,106584,107065,107619],
+	"label": "book"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [104526,117030,107209,106260,116855,114964,105130,107499],
+	"label": "books"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [107664,105834,106316,104328],
+	"label": "books"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [80261,81853,75471,75522,48847,81725,55851],
+	"label": "trash can"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [56702,58836,57947,58276,59075,57657,58928,55722,57943,58320,58444,58725,54768,54013,56050,58207,54325,58708,56758,58870,56282,54028,57154,58161,57040,56088,54014,65544],
+	"label": "office chair"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [63209,92531,88832,94263,64240,120626,83466,120609,116489,121121,90718,117507,88876,89802,91629,88749,27896,26035,28196,68582,90202,92082,63147,94158,68412,64537,34727,68307,28445,68394,69508,64252,88628,82504,90199,88927,64238,65302,91315,90725,26595,91952,118994,26692,27179,27309,28582,27729,65340,34017,34927,62380,63067,63130,63342,63477,64220,65045,65380,88481,90122,28478,29109,84263,118899,117856,118212,118463,118866,60550,60765,63991,93926,62805,92427,120565,89229,91851,91431],
+	"label": "desk"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [28247,26192,26719,28595,26636],
+	"label": "laptop"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [93594,94477,89162,88581,93337,121466,93088,89341,91226],
+	"label": "tray"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [91398],
+	"label": "paper"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [92777,88305,87215,86066,91056,91107,86245,121422,120007,86196,87721,118076],
+	"label": "cabinet"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [96862,93949,96672,90630,95380,92042,90751,97136,91551,96664,96974,96874,96998,97420,94286,85445,85485,88509,89094,92974,93493,94332,94500,88527,95631],
+	"label": "chair"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [68286,66686,69178,65852,69701],
+	"label": "chair"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [69235,67025,66368,66440,67379,97809,67071,69614,69880,66641,70114,94815,69146,69405,70377],
+	"label": "jacket"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [5642,711,7860,1218,36390,7058,3916,45962,6611,36279,3499,786,13462,176,3699,34120,3644,450,6173,884,1472,7873,848,3352,11165,891,43958,902,1056,1118,2286,7694,2485,37641,2571,2669,4580,4987,35705,2895,7920,38512,2916,3037,42190,35524,5968,3384,3500,3714,5497,32302,3859,42806,8686,4022,6649,4136,4149,4527,4631,9136,5814,37409,5238,4647,4821,5726,6084,6266,6222,42936,6292,6445,37940,6773,7189,7350,7766,8037,9651,9702,10130,10262,10435,10469,10621,10675,10873,10952,11085,11182,11264,11310,11488,11636,12010,12042,43384,12192,12520,12665,12667,12705,12892,12898,13958,26884,36114,31615,32158,44422,32289,32755,32977,38455,33301,36323,33511,13207,33604,33797,34039,34301,34699,34707,35097,35280,35285,35324,35330,35876,36212,36396,36441,36553,36722,36893,37053,37091,37134,37190,37317,37344,37452,37512,37525,37706,37800,37996,38019,38083,38120,38123,38480,38684,42024,43241,38747,43510,44216,45462,45580,11465,12864,36798,13268,13179,13288,13296,36831,13052],
+	"label": "window"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [39625,31334,10119,8309,46101,40274,39298,39112,40318,40014,39531,41057,44047,30506,30938,40345,40233,29288,29504,30865,31533,8672,8234,8636,39033],
+	"label": "radiator"
+	}
+],
+"segmentsFile": "scannet.scene0369_02_vh_clean_2.0.010000.segs.json"}

scene0369_02/scene0369_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.139173 0.990268 0.000000 -2.471580 -0.990268 0.139173 0.000000 2.283600 0.000000 0.000000 1.000000 -0.048570 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1100
+numDepthFrames = 1100
+numIMUmeasurements = 2311
+sceneType = Office

scene0377_02/scene0377_02.aggregation.json

@@ -0,0 +1,120 @@
+{
+"sceneId": "scannet.scene0377_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [37735,106202,39355,37197,22263,106595,48938,37565,49788,22643,37087,48270,36795,37262,46568,37580,38329,37681,38069,64793,46575,70664,38959,49270,39093,39169,46305,46497,19913,47571,22459,21782,48127,72328,48609,48744,106067,49570,22256,49806,69632,49861,50577,50737,51168,39537,51200,65958,70322,70988,71108,71218,73313,71333,72000,72122,73343,73526,102790,105360,38336,19470,19557,47406,64768],
+	"label": "ceiling"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [2411,448,215,1354,1646],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [14120,12365,14455,8454,12607,14591,12569,1578,2012,14743],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [18358,16437,16717],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [5643,6406,5489,2359,2637,2830,5740,6112,5676,6100,5861,5492,6814,1775,4591,6022,6154,4289,6819,5965],
+	"label": "window"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [2559,2655,4139,3461,2726,3555,2095],
+	"label": "tray"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [10284,10772,8140,15120,10053,9597,16202,8326,8972,10877,15759,10649,15928,16114,8115],
+	"label": "crate"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [25592,24319,18243,76039,76581,14809,111453,24229,111180,15004,108913,23417,27482,28414,112789,29004,76320,112068,29770,29772,29808,55365,29971,76648,30235,108446,30308,53769,55872,54036,54476,55439,55472,110464,56527,56628,57012,74472,77205,108243,108628,112389,112413,109693,111059,111633,112120,74538,112360,112523,112587,57250,16756,17738,18312],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [16658,16789,28371,17792,27684],
+	"label": "board"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [38278,34723,36917],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [36771,33407,57910,64247,38603,80053,30736,35740,63402,63359,63705,58912,81789,58971,57505,33365,61206,33435,33531,80722,33631,33972,60184,34436,84178,34381,34939,35195,35236,82507,35695,36546,36750,37136,37119,38203,38781,38792,39271,39803,39561,58457,58958,89800,61703,60565,81613,60595,61695,84890,34665,61797,62737,62769,65454,63875,63081,65539,77910,66239,86470,58606,59078,62126,62490,64043,80433,64489,81676,82200,82773,83718,83913,83986,84114,84598,85060,85665,86202,87055,87423,87603,87812,88566,90023,90118,90241,90294,90730,91324],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [97942,97342,95400,85024,101290,106009,103407,81926,102622,80841,90279,83328,92506,83416,86228,97662,87287,87807,98935,88092,92199,88435,99882,88550,89384,90608,104964,89790,100214,89792,90466,94155,95921,96401,96429,96883,106678,98173,97315,97424,97702,97984,98288,102425,100840,92939,98300,98333,98876,99703,99595,99824,99723,99870,100077,100736,104186,100928,103931,101109,101127,101272,102950,103048,103072,103841,103892,105718,104214,111875,104478,104673,104738,105036,105223,98212,105349,105999,106115,106118,106338,106816,111082,113174,111390,103769,96436,102857,103954,104626,104694,107573,108139,111152,112308,97331,86269,81990,83041,85676,98492,101300,102471,103079],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [94781,91391,93464,93929,95160,95133,94565,94395,91480],
+	"label": "bucket"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [25697,23914,28248,26410,27111,26382,28209,30369,26109,26986,25201,52985,24985,25900,28759,29613,29836,53347,23976,25944,24779,28153,24829,27509,25040,25305,25963,25465,25597,26070,26074,26155,26972,26166,26169,30020,26301,24788,26746,27062,27738,28262,29734,24637,30310,25396,25269,27750,29535,53200,24647,26422],
+	"label": "shelf"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [3136,14025,3532,12778,13426,14039,12036,11293,12542,11227,12335,12578,1825,13853],
+	"label": "shelf"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [68334,44111,68789,68870,67919,44515,41417,43129,69550,60570,32474,36476,69532,68284,43950,68463,60863,44341,45800,44597,46138,66610,68071,69235,68286,43601,43687,43964,45569,41816,40938,68666,69564,68682,45233,44233,60712,46047,45496,45510,35861,31331,31509,33996,33427,43115,43729,45836,46184,46231,32338,41299,41052,32538],
+	"label": "machine"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [12181,3392,847,11131,7676,7268,9306,7041,11889,7472,11080,12420,12395,8701,4893,352,384,10446,9678,12500],
+	"label": "shelf"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [67541,95664,42351,58402,66568,41237,20773,20447,92242,42288,59570,59267,31771,8509,10073,10513],
+	"label": "floor"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [107028,107491,107504,108125,93354,94020,107888,108748,100644,108368,91715,98668,96200,94733,108496,107896,110881,109013,97215,108852,110904,110213,97355,97888,93176,98021,100630,97733],
+	"label": "chair"
+	}
+],
+"segmentsFile": "scannet.scene0377_02_vh_clean_2.0.010000.segs.json"}

scene0377_02/scene0377_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.017452 0.999848 0.000000 -0.874520 -0.999848 -0.017452 0.000000 3.405940 0.000000 0.000000 1.000000 -0.043677 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 761
+numDepthFrames = 761
+numIMUmeasurements = 1607
+sceneType = Storage/Basement/Garage

scene0378_01/scene0378_01.aggregation.json

@@ -0,0 +1,282 @@
+{
+"sceneId": "scannet.scene0378_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [153436,124318,68193,119643,160115,4575,194822,58975,57517,58229,48225,56778,31834,59962,16198,68208,16230,159786,123603,113265,159324,31826,137986,33273,113269,42246,59099,158662,42411,43335,57958,47138,56815,152366,57829,57889,158226,58477,95349,68662,175916,68678,160684,68839,160583,94129,94460,97924,113295,113691,113946,139720,119787,124136,124543,124817,125127,137245,157675,158824,159518,159703,194966,57652,158791,139376,69147,119674,1997,4754,47441,45974],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [63677,48378,47424,58785,42248,44132,42785,60648,64847,63732,62179,64806,42419,42604,43094,44013,45819,45991,46044,46578,47208,49166,47275,47680,48239,49036,52763,58878,59156,59824,60362,114467,112743],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [56680,120045,57204,119444,64788,119829,62962,119042,128150,56673,63550,64716,62941,118126,120468,118177,59923,58251,61303,62773,118629,119149,119227,119994,120271,120427,59542,119383,118763],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [103918,101846,101868,102165,97502,97877,103094,96108,95374,102103,94046,94111,94378,94790,96568,97573,98826,98953,99297,99487,101248,102129,96199,102226,102505,95332,103722,105139,112716,97243,95526],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [160018,161718,163329,160454,157987,163430,160279,161508,159981,158601,160682,162288,163115,157311,161821],
+	"label": "chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [75489,30647,71966,20459,23732,21237,21130,30980,30815,70028,22258,80252,23079,25828,23522,21828,23500,134779,133638,134660,21326,23845,131819,132186,79667,79446,30895,75210,133400,80607,24650,80600,17256,73192,22300,72256,9413,22638,72581,75689,8230,18437,21092,25739,73674,18815,79438,18914,21409,19673,19779,19810,19825,19967,71589,20450,22307,23138,24922,21994,23881,24831,24963,30158,30573,24361,70504,70571,76116,76201,76730,77002,77376,78140,78707,80224,132544,133504,80696,74473,23355,22932],
+	"label": "window"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [5102,36055,39704,54710,11389,42399,55312,6725,5244,5538,2152,41440,6212,3371,3880,4282,6385,6479,50160,7365,10684,91435,7456,9043,92589,52846,7407,9188,9854,9866,9964,11517,10078,33318,10522,54687,47885,11023,49711,11719,12059,14082,13394,14666,15922,35997,37070,37854,39380,43759,39521,104663,39764,44870,54239,41119,49088,4740,49313,54426,91943,95501,105973,31272,4254],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [115251,37559,113672,114302,46870,33804,114854,114695,31887,37582,33234,100365,34573,35557,95200,95216,33034,95831,101037,114819,32738,115323,112813,114383,31443,95661,34048,101443,100752,104615,97548],
+	"label": "desk"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [126393,73871,125149,59263,68895,63587,123128,57106,57220,124919,64762,70741,72824,126763,72839,122983,128028,123422,64045,127923,64784,56686,57280],
+	"label": "desk"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [44210,46603,1801,2489,4490,3525,42323,46636,3544,5392,5605,17038,3638],
+	"label": "trash can"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [143911,144511,140469,171710,181138,171684,175641,191712,181732,146578,139409,181264,145914,185181,175045,179257,172183,141834,185682,144256,171771,193404,177737,171615,177228,149646,188068,145670,149962,191586,145306,186879,188017,140679,185792,146619,177182,171295,171810,180014,155264,144008,179797,176858,171656,179613,141716,142964,182572,142221,142841,145382,172290,149857,174917,155258,171342,172873,171568,172251,172345,192509,172965,173650,174990,175703,176265,177300,193148,177769,178083,188267,178228,178695,179331,179359,179991,180463,180566,181249,181415,181436,181503,182093,183588,183117,183260,184102,184641,185112,186118,187622,187897,188365,189312,189710,191070,191323,137663,191374,191790,191951,192396,181317,192487,192883,193591,140968,152718,137451,137820,137940,174295,175540,176529,151946,186863,189087,192171,187791,180159,187464,173119,172410,173568,144787,179161],
+	"label": "bookshelf"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [86095,85748,91712,105476,87055,86030,104818,91533,108023,98464,83301,88820,96945,108436,86474,83329,102857,82614,84123,82211,86867,99439,84821,81549,99108,84075,98499,99601,99152,83791,99924,100151,97099,106492,96997,101852,85077,81833,91143,81346,81396,82094,82302,91584,82831,83007,84761,83419,90315,83956,85750,88160,85051,97517,85197,86031,100909,86821,87507,87510,87643,98352,89038,89123,95891,92041,92722,97217,98141,98029,101148,101324,101391,102433,102692,103237,103938,104225,104418,106071,107051,107533,107673,108280,94422,81583,81615,81666,82060,96521,82226,81819,83733,84369,89274,91620,83761,85526,88806,89585,88809,90976,92298,105734,106213,107147,108170,88201,108075],
+	"label": "bookshelf"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [49981,50484,50743,51632,50644,53686,49692,50221,49278,48968,50148],
+	"label": "monitor"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [7987],
+	"label": "speaker"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [183891,179087,184415,174314,181028,186160,175526,181367,182765,180455,194791,195671,194943,179889,195541,184824,182052,181291,185359,178678,197147,177878,184423,174269,173940,177384,182544,185590,185170,183029,183318,196092,177177,197404,195108,174441,175302,178579,185754,194880],
+	"label": "file cabinet"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [49250,50249,42287,53965,46022,1840,6054,45643,2469,5288,49993,4157,42942,5625,6881,5684,5972,32385,8162,9325,52449,9635,42446,43811,48687,50171,49337,51565,49505,49720,42356,50967,51025,51102,51078,51748,51961,52744,52910,53506,46909,42177,45413,49384,45912,50671],
+	"label": "desk"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [18682,22581,18485,20721,4214,4796,16812,20905,17607,16422,19666,58261,17299,18450,20140,59016,10392],
+	"label": "cabinet"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [10697,20131,6903,21140,20037,10857,8319,17438,10792,9904,6930,21180,22177,22194,10273],
+	"label": "printer"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [40220,122297,27930,28033,28131,13297,28741,27751,15161,150560,26969,27786,28424,28693,28940,29171,29208,29337,29572,29708,30791,30050,110004,111138,111344,111564,115883,116139,116358,121187,147724,121291,110148,122315,150062,150636,150187,164710,150318,150424,150611,150642,151701,155846,27548,28125],
+	"label": "ceiling"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [78017,66640,66199,66012,66084,65636,67464,65585,65570,65684,65630,66180,66205,66260,66627,66873,66732,66824,66923,67286,67236,121337,121823,121145,122266,67193,66907,67172],
+	"label": "ceiling light"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [115744,117375,117915,115873],
+	"label": "vent"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [156312,117623,109010,156937,111909,111817,116479,108987,116858,116423,117184,117362,117856,147657,156361,156715,157132,156931,157123,157045,110144,156419],
+	"label": "ceiling light"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [173003,172785,88788,136061,147561],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [191532,188622,187361],
+	"label": "ceiling"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [189781,187013,144411,91005,147140,87527,136106,140983,144883,147283,172433,173241,189030,190416,190708,191510,193720],
+	"label": "wall"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [137763,148047,138253,145225,139090,138377,141416,145170],
+	"label": "door"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [155167,175487,175275],
+	"label": "shoes"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [187334,189728,193650,186457,173032,172382,189062,190529,146452,145578],
+	"label": "books"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [193571,189666,186406,193700,190968,190643,173301,192141,147804,193601,192096,190928,173042],
+	"label": "books"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [177807,179068,182914,178568,180170,180432,184405,180021,183996,140818],
+	"label": "books"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [182906,183847,185960,183693,181743,183324,144363],
+	"label": "books"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [179481,175892,180616,182447,184924,138536,181441,153025,141179,140939,171721],
+	"label": "books"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [182804,181693,181909,185724,184642],
+	"label": "papers"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [131978,132558,133723,157537,161313,157587,195250,161489,158449,159129,194918,195548,122541],
+	"label": "wall"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [124243,123183,167058,169135,125413,126358,122886,125570,125852,167406,168780],
+	"label": "board"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [168031,162439,168261,170889,196229,168495,165379,171135,166046,198028,198656,131063,126940,127853,169499,132224,162362,161615,169062,168581],
+	"label": "blackboard"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [161341,163436,162094,161722,161290,162115,162862,160244,163285],
+	"label": "jacket"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [41445,39446,40656],
+	"label": "clock"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [92696,90764,89460,108265,90499,106959,89667,108270,107981,89259,91102],
+	"label": "books"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [89099,101902,89103,108312,91168,89132],
+	"label": "books"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [82631,101777,101751,105274,84785,86085,104804,83146],
+	"label": "books"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [86809,86262,87202,83940,83388,82752],
+	"label": "papers"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [87496,85719,87665,86128,104651,84573,85902,103241,84660,85817,83504,87630,85235,104495,104252,105018,103470,100137],
+	"label": "books"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [175268,174347,176716,174359,176349],
+	"label": "box"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [140408,149804,147223,145321,141921,141218,146632,142940,144358,143028,141757,144494,143214],
+	"label": "jacket"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [132353,68312,17473,67728,68646,68040,67819,68885,69455],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0378_01_vh_clean_2.0.010000.segs.json"}

scene0378_01/scene0378_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.681998 0.731354 0.000000 -3.592340 -0.731354 0.681998 0.000000 0.615796 0.000000 0.000000 1.000000 -0.079492 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999999 0.001589 -0.000662 -0.037792 -0.001590 0.999999 -0.000655 -0.003775 0.000661 0.000656 1.000000 -0.022027 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.727112
+fy_color = 1170.187988
+fy_depth = 570.727173
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2305
+numDepthFrames = 2305
+numIMUmeasurements = 5013
+sceneType = Office

scene0425_01/scene0425_01.aggregation.json

@@ -0,0 +1,234 @@
+{
+"sceneId": "scannet.scene0425_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [54395,63307,62029,54898,61160,56933,63300],
+	"label": "pillow"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [17234,27608,17437,17878],
+	"label": "pillow"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [39724,37798,36455,38371,37549,35815,38953,38394,39508,39634,37633,36756,64848],
+	"label": "backpack"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [84273,87553],
+	"label": "heater"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [17666,25982,21333,20878,126,29982,35018,17632,558,33809,16961,19416,17992,18319,19160,32430,19874,764,20433,28133,32701,13528,26971,33644,32859,33082,32649,391,19075,19624,28260,13155,12445,12845,14752,14131,14644,23412,22142,31334],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [52191,122052,13499,95491,123708,15434,75659,15074,52817,13292,14981,15061,15558,43693,43829,44359,77202,45132,44587,126144,47591,45195,77389,45381,47181,98838,47306,47536,49252,120275,51067,72947,74958,77424,95810,95464,120410,120858,96008],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [18157,85876,19284,77689,130956,18378,79635,53599,129791,55073,20138,21810,56193,54429,132235,79326,54500,78527,55688,55738,130661,105278,56369,56501,79348,78150,78400,78815,105475,78954,79231,131143,82186,83152,131813,83187,84674,85102,87761,90244,99642,99732,130950,130493,99947,105674,80861,132056,105866,130164,132043,131644,132184,132249,84836,80153,84379],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [32995,33660,35428,33230],
+	"label": "lamp"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [106678,107818,118491,107073,119577,106904,110139,107133,109701,109396,110268,117495,111724,111758,112023,114125,112210,118987,118332,117515,118286,119217,108599,109647,112050,117897,118203],
+	"label": "wardrobe cabinet"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [125833,122086,123159,117135,121010,122640,126346,132657,133352,132679,125220,125724,126020,113759],
+	"label": "door"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [67070,120249,120273,81342,115668,83121,107731,70097,114995,68891,37108,96089,92188,120244,82471,65047,36151,115553,64721,100116,38442,22646,24054,46577,24508,116061,64057,24661,24828,46269,38862,100644,25085,35812,38255,93373,65058,44765,38707,39028,46058,39236,81563,23116,112849,45594,63523,45689,113100,63820,65121,115868,66030,99591,68187,69394,84227,93890,94938,95671,121105,96029,96157,112974,113609,114449,115417,115769,57611,80464,113225,115630,83011,84539,59381],
+	"label": "floor"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [86575,91409,90790,31753,85377,88006,53847,91213,62621,60736,63121,86084,28669,60273,62824,61893,32205,30722,32360,27214,27715,80046,78188,28302,30285,32139,82936,32251,84268,88373,30552,30833,31422,59713,27421,82762,89838,59723,61073,61574,29928,81896,62014,62978,85735,89373,86907,87054,85706,87086,92411,87539,88008,90108,90806,78762,92430,81041,83872,83577,29335,31974,27077,29602,30524,29754,24847,32258,27259,24339,26010,23014,32304,54538],
+	"label": "bed"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [40177,41185,39958,24650,40709,40141,37057,23635,25979,38989,29914,31950,32237,22857,29876,28884,28454],
+	"label": "dresser"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [4111,4529,6688,6325,7369,42272,4666,4338,5209],
+	"label": "monitor"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [106578,92059,107483,107949,106926,107682,107887,91839,92439,107698,91817,107179,106819,91799,91892,91955,108123,106400,106533,107687,92206,107865,116348],
+	"label": "beanbag chair"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [73824,73697,43440,68670,69705,67997,73207,68899,45226,49138,44412,69017,69175,69429,69037,70801,68433,74308,69947,68563,73870,71659,72693,43512,44712,45014,43964,44629,44650,45976,69322,46120,67055,67361,71351,74938,67625,67695,48566,67731,68609,47657,68729,68816,49031,69796,67275,70456,70544,46222,45239,70987,71672,71692,76904,72880,73428,73742,68201,67422,71057,44380,73631,76169,76875,47845,51208],
+	"label": "shelf"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [73537,50578,51362,48216,51357],
+	"label": "microwave"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [97916,94111,93003,93211,94493,94901,94091,95359,93737,97377,96550,95312,97108,93755,98261,93280],
+	"label": "chair"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [65933,40500,70790,65506,50296,72220,68711,48533,72863,70873,64580,50614,66207,66386,71178,72282,74449,71949,63609,36233,38593,65921,68500,64726,35733,39982],
+	"label": "chair"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [42213,14320,12510,39871,41689,4463,12165,5106,48991,42337,41105,41063,41175,37147,37489,43929,48055,46779,43131],
+	"label": "desk"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [117670,122502,125828,126175,122958,117902,116595,116513,125732,122455,118108,119724,119840,121879,122491,122670,123359,119828,119209,118395],
+	"label": "coat"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [133784,133770,132336,132518,132565,133011,132978,132259,115840,120395],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [70796,73837,72997,73944,73265,74520],
+	"label": "printer"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [38659,36752,35936,37462,37260,36708],
+	"label": "slippers"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [37819,39708,45460,45455,39363,39491,36211,46348],
+	"label": "footrest"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [41543,49539,42531],
+	"label": "keyboard"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [41818],
+	"label": "cup"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [40621,41988,40256,42387],
+	"label": "tissue box"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [2412,2328,10807,9113,9258,16031,32757,33163,28202,8557,12773,13136,10314,2494,9416,33758,9539,7560,9705,14907,1465,1582,1929,1596,1665,2385,6463,15093,6865,6686,10252,7800,7827,9125,10821,15682,2352,15870,16061,4116,29886,33074,4943,7007,14437,9324,8437,9027,9632,13491,10402,16169,12230,6203,33017],
+	"label": "wall hanging"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [18471,18983],
+	"label": "ceiling"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [88575,87346,85055,86899,90429],
+	"label": "water pitcher"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [22795,22140,25476,22930,26216,23148,25620,25079,23991,22732,26235,26636,22054,23388,26483],
+	"label": "recycling bin"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [23979,25029,22254,23091,26626,23755,24489,25955,23967],
+	"label": "trash can"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [23518,58558,57389,65682,57037,57600,57285,58107,59460,57907],
+	"label": "stool"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [65098,65289,64325,64662,65824,65016],
+	"label": "shoe"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [57783,64297,58923,65416,57461,65868,65177,65023],
+	"label": "shoes"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [80848,84625,82484,80504,81194,81689,85597,89697,86350,87471,87865,90533,91381,91169,89086,85039,79914,83313,90884,80916,91015,83637],
+	"label": "laundry hamper"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [127909,129101,128514,127119,129229,127573,129874,128074,127305,128799,101382,130167,130275,129350,126677,126762,126805,127112,127409,127641,100077,102416,127487,126553],
+	"label": "cabinet"
+	}
+],
+"segmentsFile": "scannet.scene0425_01_vh_clean_2.0.010000.segs.json"}

scene0425_01/scene0425_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.224951 0.974370 0.000000 -1.409500 -0.974370 -0.224951 0.000000 2.626860 0.000000 0.000000 1.000000 -0.073327 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+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
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.924255
+fy_color = 1170.187988
+fy_depth = 570.924316
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1674
+numDepthFrames = 1674
+numIMUmeasurements = 3491
+sceneType = Bedroom / Hotel

scene0440_02/scene0440_02.aggregation.json

@@ -0,0 +1,192 @@
+{
+"sceneId": "scannet.scene0440_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [44481,108180,71767,72438,105549,72332,70717,107411,70504,108630,105464,71606,71856,71904,73518,73767,74304,109409,73962,41087,73665,73811,73848],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [17818,16868,16772,17222,17604,16446,86970,75458,16914,15675,15983,77766,47808,14979,14962,45803,15105,45831,45955,46773,46100,46060,76413,76747,75208,77303,86832,87320,113935,74618,87613,87220,86797,86700,77801,77364,75715,114498,79033,110368,81528,83958],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [112221,117663,116303,117174,117022,116395,115410,113637,115570,113521,114745,113374,114001,115630,116314,116848,117209,115857,115925,116497,110688,115080,111915,112096,114515,112137,112452,113886,119317,114411,114640,115595,115683,116650,116897,117938,118451,92269],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [37933,36567,35649,5677,7996,38806,34134,7690,33890,37610,68110,9724,11303,40600,7032,9627,9595,69635,5648,6047,33099,6294,6505,7354,35061,7603,10206,12339,36254,36551,68884,33023,35445,5299,5673,11491],
+	"label": "desk"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [60719,60524,47935,78775,62006,59914,54841,49116,55540,82816,46495,48640,46578,49617,49852,60005,59296,50160,52593,54413,54278,54327,56281,55192,56225,56767,85861,58345,58722,58949,59611,61693,62196,82603,55505,79274,55514,57282,62103,79833,81338,85010],
+	"label": "desk"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [29238,68055,33363,97610,30226,28470,35607,67938,28174,69431,97614,31877,68098,64939,30149,69743,29247,81283,62703,123,66733,128443,67706,45966,1576,80734,57622,55541,6250,6403,93488,23410,7105,7175,21232,21843,21891,22753,27630,54889,29281,78416,30341,35978,54707,56037,69404,57058,57493,57558,98514,67499,67590,78311,67843,78363,78973,78936,97670,79254,120014,98606,79612,81047,120792,122611,63345,78668,58152,18330,78734,80053,81911,81544,79556,79870,78885],
+	"label": "floor"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [24672,24687,60396,23802,58888,61322,66070,26189,14880,25219,21607,23101,25146,52296,25977,65965,17315,58752,19804,66065,62501,25161,24542,61052,61151,26355,59485,20653,49121,52445,16632,25617,20079,14863,22017,17229,18806,20585,65513,23035,22875,25848,24728,25212,26225,27107,47820,49969,60373,60209,66109,21565,17214,15671,18698,20049,16788],
+	"label": "bed"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [74459,91315,85956,92567,85016,91203,84470,96635,94729,90851,85147,83313,95845,84868,79517,92179,92012,93269,91032,82316,75491,75279,82972,76394,79667,112108,111425,95345,80459,81904,82159,82770,83292,110485,84384,112327,84698,85945,85316,85504,89458,119887,112118,89482,91360,92783,93905,91616,84081,91930,92542,94752,96522,82132,111787,119808,119827,82607,112663,79823],
+	"label": "bed"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [48260,83603,47955,50172,49000,74898,51789,75295,52511,77901,49481,46908,47109,53216,47758,49141,49898,49424,76198,49636,51975,50096,51430,52023,52771,52950,53039,53433,76305,75419,53345,50145,76484,86980,76611,77071,77381,84488,78116,50378,86823,87378,47134,48853,51065,53372,52839,53244,52321,50654],
+	"label": "shelf"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [92432,100051,96025,94634,95551,95020,100250,92604,101727,94647,94924,100231,95229,98052,95563,96012,96868,97035,98662,101625,101774,102085,102409,96947],
+	"label": "wardrobe closet"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [130491,124760,129545,123841,122944,123251,124676,125739,125919,126028,127737,120762,127817,121365,120478,125292,127762,127490,130091,130160,127935,121523,126702,122716,123494,127054,123373,130547,125460,123897,124473,126336,124769],
+	"label": "door"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [122847,121376,126586,127095,122883,120745,120806,121317,121945,125672,126878,122886,123804,124227,126342,127052],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [98374,100215,104669],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [104578,124870,123299,120163,126848],
+	"label": "wall"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [107780,107032,107947,105120,109737,106977,130116,129934,128979,130130,108132,128818,109719,107944,130424],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [105791,109805,109235],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [42543,41738,14721,14417,43758,14704,43047,42585,14450],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [39807,43304,39538,9941,41974,13071,8861,39350,9795,13356,44400,43978,8852,38535,43804,13417,10248,10688,39587,10952,11161,12552,13120,13258,37243,37265,40825,37329,39728,38024,38176,39328,38823,14227,38943,39471,42254,42862,43346,44506,40554,44343,44428,37474,40356,38481],
+	"label": "shelf"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [39255,35405,32895,33449,38996,34583,35251,35633,34872,36719,36681,38249,39218,33845,38860,38504,35001,37072,37280,33434,34894,32900,33110,33507,33697,32922],
+	"label": "office chair"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [8955,3230,18052,1314,13126,18887,17841,570,11002,4989,17994,543,875,10934,1020,22531,9397,19636,26467,20487,9123,21062,23824,24758,6006,1418,664,184,2233,6437,9908,10871,11220,11328,12040,13313,21918,22340,23308,25980,11268,7041,7678,8516,8703],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [8627,9239,11560],
+	"label": "telephone"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [4439,3321,3894,4727,4810,1976,29367],
+	"label": "radiator"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [12090,3110,11101,2400,12698,2971,2336,4770,8103,4564,4556,2347,4142,8734,9202,12355],
+	"label": "window"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [31257,31285,31765,30269,30546,31596,30598,32701,32691,32679,29577],
+	"label": "recycling bin"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [30138,27920,27939,28748,30746,32327,30427,28306,31621,31426,28794,27400,27914,29999],
+	"label": "recycling bin"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [32545,30425,30180,30804],
+	"label": "trash can"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [29548,3914,30654,32230,31231],
+	"label": "trash can"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [65693,26917,26923,21281,65552,66102,26644,62842,27236],
+	"label": "dresser"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [87514,114894,86223,86680,86475,87818,86280,86792],
+	"label": "ceiling"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [58917,81103,81258,58806,59144,84352,59371,55006,61814,60469,84001,59785,56286,55527,61177,54566,53687,54552,56130,82478,56878,58376,58245,54222,59134,61892,80592,80023,79984,53703,58041,81063,80068,79355,58389],
+	"label": "office chair"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [88590,88184,92137,91633,90437,94150,95841],
+	"label": "dresser"
+	}
+],
+"segmentsFile": "scannet.scene0440_02_vh_clean_2.0.010000.segs.json"}

scene0440_02/scene0440_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.993572 0.113203 0.000000 -2.452940 -0.113203 0.993572 0.000000 -2.740150 0.000000 0.000000 1.000000 -0.043297 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999999 0.001589 -0.000662 -0.037792 -0.001590 0.999999 -0.000655 -0.003775 0.000661 0.000656 1.000000 -0.022027 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.727112
+fy_color = 1170.187988
+fy_depth = 570.727173
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 923
+numDepthFrames = 923
+numIMUmeasurements = 1988
+sceneType = Bedroom / Hotel

scene0446_01/scene0446_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025edf9dededd9c994ea46bc1ef2dad0a92bf756369a4b5272fd1d50964bbabd
+size 2223087

scene0446_01/scene0446_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81af7e69890560ddd91abd60347464106db3b4dff124d5871a6fd6ed3449a576
+size 2119455

scene0477_00/scene0477_00.aggregation.json

@@ -0,0 +1,372 @@
+{
+"sceneId": "scannet.scene0477_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [240356,240943,240796,240351,240630,264643,275091,236467,237235,236030,235986,236567,240532,237245,236444,236901,238804,274800,275829,264824,265662,235257,276700,273987,265182],
+	"label": "office chair"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [188848,214888,215060,218101,216822,209173,213996,209968,216878,179939,219706,216052,211750,221248,177269,211935,246615,221070,176635,216828,251653,211858,217933,184839,178476,182870,183160,214840,221525,217068,180439,216996,216125,212715,219001,217494,183787,221665,180184,213713,208942,183527,185608,216015,214266,176959,215719,215970,213916,216269,208705,219995,215705,179784,214493,252448,220248,217783,210560,209669,211312,210278,216963,213073,213771,213295,212685,212111,246437,251370,247317,247601,250125,248078,245186,213747,181565,182727,178606,176577,179330,180645,211457,192506,190180,189829,223638,223490,223750,220363,220120,217843,219510,218548,220625,223248,217838,191912],
+	"label": "bed"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [122985,122675,149807,125919,147275,152716,121686,124542,123564,160073,85352,121844,152796,152326,128820,151170,121000,159824,149603,121631,119318,153486,153921,154681,155901,151619,154804,153154,125018,154952,152159,192021,153774,124772,154465,124755,149270,152225,122344,125231,152848,155461,124329,153875,123301,121787,124426,125107,125359,131366,147449,125207,125401,125674,127391,124684,120253,122335,124604,124693,125265,147149,154182,119841,123524,146531,150731,130604,153605,147646,119357,155405,120368,124655,125642,153364,151003,152742,152086,145921,148257,120381,120525,123998,128744,146641,147618,145487,145355,147390,153130,159608,155871,117922,119685,123409,125865,120924,131349,157585,131425,133134,160937,160571],
+	"label": "bed"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [200176,239481,119174,85198,147693,265088,297658,243426,151417,91158,105602,240210,84043,85344,117556,86197,178837,237601,87327,276220,58749,54398,178296,275468,264774,238861,155664,20383,175536,239024,83628,212939,83983,239027,266502,84352,108830,112727,265621,267139,143463,26324,298668,237790,240235,239279,298292,276633,240104,24119,238510,25667,56253,242817,63540,274951,233839,198652,274044,177439,186083,86396,52501,86202,57785,65436,63109,92490,63975,65482,66813,64700,63493,40479,41319,65397,63965,265666,265557,267891,266670,266810,267704,200414,136980,48169,246579,98062,18439,70267,69193],
+	"label": "floor"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [49744,99253,58382,92500,55038,51039,59327,90690,90556,88545,88431,49874,99250,88664,100349,90186,90455,94953,96158,98119,104574,104165,104984,103668,89389,107715,108507,104366,103976],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [79178,263378,109653,205411,196314,110234,208066,230985,171373,139961,166459,51710,48753,50646,167888,139170,167081,141169,166339,112944,117102,49887,48979,50555,173144,206426,50611,198573,51718,79249,79455,81066,81319,109977,167684,168981,173051,110892,139699,173284,137708,139289,166897,167596,167911,168634,170016,171294,258679,205685,198814,205399,208164,51220,258015,50457,48516,136779,136910,165011,171961,165951,171312,171921,172185,173181,196300,205382,206975,207092,207656,224624,225271,226097,228382,259592,230202,230244,260306,230288,230926,231985,232736,232859,233071,233534,233541,256158,256740,256200,256342,258852,259672,259788,260234,260937,260955,262598,262698,262950,263233,263664,201131,225268,108697,115635,110644,111289,109024,142997,109393],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [102763,100328,103559,100586,89459,89688,99647,89845,100922,103284,103671,99755,101364,102471],
+	"label": "picture"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [190388,181629,188470,184860,183345,183847,187252,191656,183273,186760,182429,181601,183688,184858,186191,191421,186260,186961,186403,186778,186947,187579,187592,189156,182912,182532,187969,190602],
+	"label": "nightstand"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [66134,63621,68510,63138,64448,65202,63090,65643,71866,69244,72587,105351,70107],
+	"label": "toilet"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [193708,193762,193848,194182,195313,194887],
+	"label": "lamp"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [279271,277958,264693,270377,279312,276180,266191,276504,279816,275984,278480,274063,277797,266181,280340,270221,264097,279434,279580,278819,279017,271657,279053,275697,270574,279381,280509,279868,264035,270437,267639,267043,280680,276181],
+	"label": "table"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [131477,129221],
+	"label": "pillow"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [219355,218838,248723,248646,219112],
+	"label": "pillow"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [172590,141273,141082,137220,109134,137941,109923,109484,109766,109874,110060,111036,137382,138495,141664,170931,173439,139477,170598],
+	"label": "window"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [79484,114985,114623,77568,113016,78006,114794,113041,77372,50143,77032,77269,49724,48947,49483,49979,50402,77289,80786,111351,113698,114010,114196,114686],
+	"label": "dresser"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [43328,39793,44327,39862,43969,44231,42603,43482,39919,38793,44845,40373,40103,44177,38925,44459,42987,40566,40008,64385,40719,38821],
+	"label": "bathtub"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [162435,203333,175841,162389,174877,196871,165783,166748,162779,164451,174505,163469,163790,163949,164094,164740,165600,201385,166633,198195,175802,204202,197948,200617,201058,201114,201617,203750,202151,204617,203711,196841],
+	"label": "cabinet"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [67582,64276,66932,66146,67173],
+	"label": "door"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [194103,188554,289218,194352,162340,101071,249070,101253,102420,221792,189047,100287,222686,93096,133959,194932,103821,219101,104897,133082,108064,285397,126113,188795,126746,127161,191010,127291,159917,186519,222439,128003,133676,131391,191143,131545,194297,221012,133258,249568,250375,159930,134180,309353,134200,134354,193644,134294,134867,251494,135619,162012,160025,160845,161481,186132,254743,186904,287346,187072,188381,189669,187811,190121,191170,308135,191843,193819,250826,193922,194621,251985,195045,195102,255529,219061,221708,250623,221740,222000,222929,223027,224287,224415,224535,224547,247241,248196,248204,248916,161350,249878,252574,253157,253394,253894,253924,254085,254386,254497,254951,255235,255266,284089,284795,285066,285735,285868,286686,286717,289119,289483,308132,308180,308211,160878,308884,286904,108602,103532,161252,161295,133584,133019,157595,157853,158869,161560,161898,222394,248370,249026,249482,249542,250092,251239,252158,252200,252226,252271,253064,253296,253725,253865,254468,255104,255171,287618,308170,309547,309918,310027,284948,248666,104716,104992,105129],
+	"label": "wall"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [283418,299385,286845,288189,299130,287897,289067,289584,300175,301065,305326,299161,306543,305415,306872,307229,307459,307727,307819,288046,309434,306272,310178,288698,285256,305322,305931,306782,299614,299779,288295,289344,284721,306798],
+	"label": "door"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [296442,273367,300258,306042,299682,264009,258735,265311,264467,271856,296699,256105,281327,259036,301054,265367,260077,271002,281054,299766,276467,265373,293149,303402,265540,269327,296407,267164,300034,268306,294238,301174,270313,271443,290131,272057,272536,272559,279354,300896,301787,280196,281643,291077,294840,296642,291969,292192,296120,300533,306750,292554,292712,292896,293203,294556,294631,295032,295996,296108,289780,296582,296925,297321,300869,297654,298199,299783,298729,299691,301564,301876,302059,302208,302266,302327,302517,302932,303126,303309,303634,304122,307110,293768,294579,294763,296011,296016,298805,304957,296594,263014,297353,302573,303366,297072,261023,257994,273879,297245,266018,266391],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [273068,281476,281369,281245,280187,271168],
+	"label": "picture"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [278142,278791,268974,270266,278187],
+	"label": "clothing"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [173757,142683,145306,142814,143302,142906,143246,230077,170994,169131,145222,169415,142574,171720,173161,176420,145164,142150,170668,176395,206929,167832,172240,168805,169765,169781,231246,170176,173519,173521,260033,260335],
+	"label": "ceiling"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [165418,137401,164389,139179,137038,164591,166097,138009,136868,164235],
+	"label": "radiator"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [197486,199111,199648,200267,200703,196829,199297,198423,197820,200469],
+	"label": "trash can"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [227553,229693,232996,232264,201420,233340,202443,207978,205001,205684,204680,204888,232286,205480,203279,206622,227006,227231,229880,231050,231198,231814,231853,232829,232891,233516,202682,203904,206209,208169,229295,228769,228472,228868,230789],
+	"label": "window"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [82898,81616,81164,83504,81386,83082,80965,82172,81183,82104,81256],
+	"label": "picture"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [114676,114955,113604,115236,113312,115131],
+	"label": "tray"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [242374,241146,242155,237674,241554],
+	"label": "shoes"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [247500,245442,247972,245515,246130,245105,246858,246172,244753],
+	"label": "pillow"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [245544,241622,246937,246973,243728,243770,247362,243963],
+	"label": "suitcase"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [243148,243760,241254,213206,241257,241839,213135,241468,242360,242441,242759,243557,243593,241104,241319,241652,243313,213421,212463,212706],
+	"label": "backpack"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [217030,215127,213504,215756],
+	"label": "clothing"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [221402,218133,218974,218537,219593,218884,220317,184261],
+	"label": "pillow"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [185744,195113,185754,194525,195042,185773],
+	"label": "lamp"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [192299,191078,191695],
+	"label": "telephone"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [157418,158436,156488,157322,158834,156574,158031,159383,157443,190701,157414],
+	"label": "pillow"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [156271,159432,159366,159257,159684,159452],
+	"label": "pillow"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [131177,130790,127569,131273],
+	"label": "pillow"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [98083,94263,94774,98881,95964,87988,87718,88696,92726,98546,92675,94255,96128,97692,98753,98193,92089,129795,92581,93485,97146,97578,98253,98452,131714,87683,92502,91152,91696],
+	"label": "chair"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [91851,87671,88837,93186,92911,95023,93564,94513,131510,99332,98715,93026,92255,94282,98639],
+	"label": "duffel bag"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [52352,54843,54065,54630],
+	"label": "wall"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [54745,54808,52816,52704,52886],
+	"label": "mirror"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [22587,10183,18994,18713,19383,7400],
+	"label": "wall"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [6991,10994,40559,8015,12065,40947,11291,7259,12187,10943,11482,23503,42174,40280],
+	"label": "wall"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [13800,10468,32274,13572,32542,42154,34913,14839,14143,10297,10688],
+	"label": "mirror"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [11378,12144,27040,12035,39605,10601,30251,29702,40128,18467,13554,29801,21561,24987,22860,23774,14867,20881,22094,27717,23198,32591,9427,9846,33097,10596,13774,34456,14359,36398,13951,14504,20908,33438,21532,34528,21906,42061,21965,22589,22712,22968,23206,23244,25092,23314,34915,30791,33853,35865,31233,31502,32835,36925,33758,35350,35353,35549,35626,32142],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [13816],
+	"label": "towel"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [31891,33463,25493,32914,30798,14915,31769,35160,23605,28788,31786,26625,37273,26652,34969,25563,26460,36242,37249,33871,35196,23725,12228,31577,32454,30682,37291],
+	"label": "sink"
+	},
+	{
+	"id": 50,
+	"objectId": 50,
+	"segments": [62804,34576,60670,55832,27477,27669,57431,38341,23540,25849,60495,30443,32109,30237,32536,33005,35776,36104,37129,37226,38065,59434,60127,36985,60157,62146,62641,56975,27734,39677,37069,24989,35883,37949,30420],
+	"label": "wall"
+	},
+	{
+	"id": 51,
+	"objectId": 51,
+	"segments": [23510,28779,28828,27046,28978,23982,26599,26756],
+	"label": "trash can"
+	},
+	{
+	"id": 52,
+	"objectId": 52,
+	"segments": [58450,61756,62814,61021,56858,59042,59627,65877,61993,60590,65337,62022,62356,68153,61720,62447,58710,59419,60318,63018,60393,61630,56906,58867,66164,64500,67731,62484,62219,62242,62929],
+	"label": "doorframe"
+	},
+	{
+	"id": 53,
+	"objectId": 53,
+	"segments": [69539,71844,71335,71784,69182,69054,70940,71628],
+	"label": "trash can"
+	},
+	{
+	"id": 54,
+	"objectId": 54,
+	"segments": [106052,71911,75883,68822,106106,107363,69660,70037,72409,72844,74657],
+	"label": "wall"
+	},
+	{
+	"id": 55,
+	"objectId": 55,
+	"segments": [76222,75503,75793,107067,76325],
+	"label": "towel"
+	},
+	{
+	"id": 56,
+	"objectId": 56,
+	"segments": [106400,106476,107836],
+	"label": "towel"
+	},
+	{
+	"id": 57,
+	"objectId": 57,
+	"segments": [106626],
+	"label": "toilet paper"
+	},
+	{
+	"id": 58,
+	"objectId": 58,
+	"segments": [75143,69253,76235,67024,75499,72150,76349,65935,71310,76246,73291,75965,71340,64312,65305,74103,67084,67724,70699,67916,67684,73078,72088,73805,72681,69157,72884,70056,76245,73511,76261,76463,72189,75306,68132,74372,69877,70469,70273,68759,75544,65330,63634],
+	"label": "shower curtain"
+	},
+	{
+	"id": 59,
+	"objectId": 59,
+	"segments": [75822,69465,68980,44773,76790,73752,76021,45403,47347,46953,47204,44310],
+	"label": "shower wall"
+	},
+	{
+	"id": 60,
+	"objectId": 60,
+	"segments": [48021,45504,47243,40551,44562,39181,40874,41027,39923,42208,43953,43379],
+	"label": "shower wall"
+	}
+],
+"segmentsFile": "scannet.scene0477_00_vh_clean_2.0.010000.segs.json"}

scene0477_00/scene0477_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.292372 0.956305 0.000000 -5.075160 -0.956305 0.292372 0.000000 5.892470 0.000000 0.000000 1.000000 -0.193033 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 4401
+numDepthFrames = 4401
+numIMUmeasurements = 9158
+sceneType = Bedroom / Hotel

scene0487_01/scene0487_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab0bbc37750a6d0873e26170fd05f911076ec9d65d1c26c5f3f0217183ea6ac
+size 8563419

scene0487_01/scene0487_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2ebe5c6510c605d0b0b185473ae4aaec3ae47709f115d0aff071ddf1effc74
+size 8163891

scene0493_01/scene0493_01.aggregation.json

@@ -0,0 +1,102 @@
+{
+"sceneId": "scannet.scene0493_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [29057,94350,82775,11897,12130,84756,56066,31099,59388,57013,13037,12440,32644,35951,12684,15885,57771,12365,29837,29916,78027,77220,76904,22840,28172,76461,76603,15991,30126,12484,59082,80263,28630,11994,13437,38619,38590,31273,77870,80413,95489,79784,22206,79856,55882,80176,54822,84605,82703,65371,77107,88197,87727,80058,36391,102093,83850,37908,17065,76501,79766,81643,79845,78214,56531,55699,37149,77335,56188,54626,55792,28857,28685,28731,9779,28865,28504,11704,12453,13058,17381,20357,21416,65657,22527,21066,22567,23724,23743,22018,53671,20370,20363,63113,23642,24179,23962,43827,49354,38874,49400,49952,44164,43489,10098,45066,43719,56469,21442,22269,22220,12316,38926,22116,78502,44161,77785,68415,28918,13234,63832,17423,18418,22666,22813,23109,24097,24150,28071,28582,29305,30058,32001,32325,32764,32829,35893,37206,37221,37416,37654,38117,38205,38412,39198,44329,53611,54194,54577,54594,54801,55087,83982,55217,84047,3727,55261,55684,56331,56401,56779,56847,57177,57803,62288,62644,63612,63745,64823,64952,65095,65374,65520,65565,69364,69772,80869,77738,77922,77965,78023,78100,78194,78841,79324,79904,80917,81355,81561,82614,82967,83120,83287,84179,94374,94615],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [105242,96370,96805,97868,105022,97288,104102,99760,98131,106825,100120,98922,102856,100388,98080,105776,96944,105823,108806,105216,91977,108702,107718,98688,108802,87666,97230,102538,95959,96378,102651,96989,100469,98830,99413,100325,98621,100337,100531,103733,105422,105471,98431,99889,97145,100081,87649],
+	"label": "whiteboard"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [32367,60038,34426,60121,34154,33455,33449,34519,33889,31427,67202],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [34935,33852,33519,34977,32838,34984,33412,33523,34702,31560,34479,36587,35961,33971,35141,35873,37874,39256,40867,32383,30869],
+	"label": "chair"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [47677,48110,46811,70597,47030,46262,45938,47598,47383,47979,47431,70859,41748,48204,69652],
+	"label": "chair"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [47183,45847,45795,46577,39864,40276,40808,47408,47473,47671,48419,48252,48572,45417,48544,46396,47027],
+	"label": "chair"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [82325,60140,66732,60419,59430,56945,60297,57677,64441,59211,66698,82132,61665],
+	"label": "chair"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [70774,71583,69124,70713,67645,66298],
+	"label": "chair"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [40373,41208,35514,71801,85389,67849,84997,85543,41541,46105,19767,67159,71762,85008,41986,39610,67507,71483,39667,42755,66163,66572,71187,64625,63041,62879,64189,64613,66670,71589,40368,16661,40484],
+	"label": "table"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [10674,11307,2048,3859,2226,4123,1877,10623,11238,10930,816,2228,3262,4116,6599,6173,6211,6672,6691,7634,8262,8914],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [2698,2793,11407,3531,8320,11085,11464],
+	"label": "whiteboard"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [2214,3172,5404,5313,2652,2205,9097,2583,5211,19184,5262,5807,9559,6042,14319,6932,19947,16180,7831,10885,8129,8209,8436,8757,8970,9131,9218,10974,16671,19971,1787,10078,14803,10438,9487],
+	"label": "table"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [25713,92237,75373,91329,91358,49646,90179,24686,23805,93857,89661,24198,24688,72248,73198,74224,74458,75761,88318,88412,90148,90183,90595,92868,90770,91047,91081,93040,91168,91433,91463,89913,91677,91690,92943,93257,93402,93924,93093,93850,92969],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [27198,76309,75964,75350,27294,27182,26225,76060,26680,27305,25465,53149,52251],
+	"label": "whiteboard"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [89456,97513,106521,97937,94331,95509,94911,95043,95201,96985,96212,95258,95770,99374,96368,96668,96697,97155,97285,98882,96431,99255,99686,100713,100902,95293,100805,101543,102210,103751,103817,97943,104479,97341,98232,99647,99317,99803,97399,96712],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [68104,67552,60139,68275,61066,61109,61748,82429,59544,59666,60652,60119,82479,60008,60494,66809,82166],
+	"label": "backpack"
+	}
+],
+"segmentsFile": "scannet.scene0493_01_vh_clean_2.0.010000.segs.json"}

scene0493_01/scene0493_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.993572 0.113203 0.000000 -2.910960 -0.113203 0.993572 0.000000 -2.784510 0.000000 0.000000 1.000000 -0.077416 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1033
+numDepthFrames = 1032
+numIMUmeasurements = 2055
+sceneType = Conference Room

scene0501_02/scene0501_02.aggregation.json

@@ -0,0 +1,258 @@
+{
+"sceneId": "scannet.scene0501_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [29587,27801,28321,25397,29238,17729,29092,29608,29634,26729,22602,29786,15803,29051,26400,32711,17422,29105,22243,6901,25764,32413,17246,15392,33238,15247,16506,31686,25858,28613,28530,23774],
+	"label": "bathroom vanity"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [82838,57238,83196,75177,86520,75465,44294,83467,75547,54474,57243,54113,75624,44759,85722,85391,86225,83042,75653,62537,83231,83025,82364,82559,53886,77794,78576,86143,61827],
+	"label": "bathtub"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [8505,24843,7251,19911,7638,1954,24548,6416,13202,7141,19918,1864,6361,6817,7348,7370,7885,8014,20064,22666,22873,23068],
+	"label": "toilet"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [64973,63501,63839,31959,65493,68796,68208,63945,32900,36260,67295,66216,30273],
+	"label": "door"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [56735,557,54844,20340,26984,38506,27238,23738,28388,45760,43702,26743,26349,24148,26212,6648,8124],
+	"label": "floor"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [38274,76666,70907,38228,70795,41174,71141,73601,73205,73188,73876,81566,39194,52749,76234,78466,70545,70397,41833,40594,72440,42043,74035,43194,73326,70960,42142],
+	"label": "shower walls"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [47559,44449,49472,49700,48008,47153,50682,46241,48066,45592,47223,50591,48855,50185,46462,48320,52343,47878,50739,46063,48847,51220,52355,49393,52258,43888,43643,44035,48554,44156,44586,46067,47187,47487,47656,47846,48185,49015,49067,50687,50779,53102,50803,50955,52255,52855,52817],
+	"label": "shower curtain"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [65269,31859,65653,33048,30905,90609,35280,90439,35312,35068,18130,64817,18040],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [19692,21363,21255,18605,21598,42226,21676,578,21696,38171],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [87846,85236,82031,77898,78309,85115,86695,90807,78137,88224,84351,85288,84380,47307,84860,87739,87971,90898,88694,91139,80643,88942,86764,88816,80792,89497,81677,50959,52336,50164,77626,76177,46951,85455,90942,91472,90729,90239,90769,91429,89824,66240],
+	"label": "shower walls"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [20041,20385,19817,18789],
+	"label": "scale"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [24325,23550,39723,23672,19881],
+	"label": "mat"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [15008,16731,17156,18355,17523,15251],
+	"label": "mirror"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [17450,18164,18202,18292,18146],
+	"label": "bag"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [17389,15921,17088],
+	"label": "object"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [29704],
+	"label": "object"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [16544,17639,16331],
+	"label": "object"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [18139,16514,14993,29071,18218,15858,28636],
+	"label": "sink"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [29335,16619,14999,9610,8754,16656,17733,16502,17291],
+	"label": "sink"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [5934,7671,6353],
+	"label": "trash can"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [12622,4075,14803,6096,9249,8389,9025,5781,7211,2689,675,285,1470,3593],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [2126,14217,1465,11776,8799,1455,5055,1926,1106,10162,1158,2658,2367,1902,1793,2775,791,3733,7420,5865,11248,4337,4635,12985,13628,11412,14066,14495,14909,9703,12090,10353,13448,2179,13397,8885,9147,9286,11778,11580,2599,13529,14354,5629,3816,9190,9480,10021,14179,14307,1741,1969,593,2757,9991,12454,4289,9942,14323,14490,12874,5862,135],
+	"label": "shelf"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [2275,1696],
+	"label": "toilet paper"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [11256,11953,11025,10798,10180,11969],
+	"label": "tissue box"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [20623],
+	"label": "toilet paper"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [70532,38393,37991,74833],
+	"label": "shower floor"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [52406,52432,43372,43015,43350],
+	"label": "shower curtain rod"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [70886,70974,72664],
+	"label": "bar"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [42556,70998],
+	"label": "bar"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [71188,72574],
+	"label": "bottle"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [41708,41445],
+	"label": "bar"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [39954,37909,42212,40321,40829,41365,40722,38947,39333],
+	"label": "towel"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [50457,52668,52456,49914],
+	"label": "wall"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [45399,43423,49942],
+	"label": "wall"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [50789],
+	"label": "wall"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [85117],
+	"label": "bottle"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [84719,84131],
+	"label": "bottle"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [67987,52972,60391,60751,60404,51835],
+	"label": "shower curtain rod"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [59433,58461,57449,60696,60270,58095,60651,59491,60867,55413,60607,58558,58641,59694,57351,59939,58891,58854,59420,53974,58956,55541,55184,56259,57405,56403,57358,57542,57993,58145,58390,58707,58726,58948,59067,59220,59519,59754,60835,53799,54921,53898,55219],
+	"label": "shower curtain"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [64043,59160],
+	"label": "towel"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [34543,34657,32804,67942,66086,33012,30654,68226,32476,66797],
+	"label": "doorframe"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [69912,36943,37032,36798,61131,89104,37083],
+	"label": "ceiling"
+	}
+],
+"segmentsFile": "scannet.scene0501_02_vh_clean_2.0.010000.segs.json"}

scene0501_02/scene0501_02.txt

@@ -0,0 +1,20 @@
+appVersionId = Scanner.v1.20161011132740
+axisAlignment = 0.052336 0.998630 0.000000 -1.512210 -0.998630 0.052336 0.000000 1.567030 0.000000 0.000000 1.000000 -0.050456 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999967 0.005619 -0.005838 -0.037692 -0.005643 0.999975 -0.004188 -0.003544 0.005814 0.004221 0.999974 -0.022235 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 570.707642
+fy_color = 1170.187988
+fy_depth = 570.707642
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2128
+numDepthFrames = 2128
+numIMUmeasurements = 4257
+scanSavedAt = 20161028T060552-0400
+sceneType = Bathroom

scene0505_02/scene0505_02.aggregation.json

@@ -0,0 +1,294 @@
+{
+"sceneId": "scannet.scene0505_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [155153,147844,161810,147753,147253,158946,156171,147904,154015,159945,159176],
+	"label": "box"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [224561,231603,222483,196060,221379,223227,234974,185725,232546,193764,222894,233406,223888,196476,195172,186706,223445,196070,214881,219784,220394,235051,225068,220399,222620,223114,225874,224780,232678,233060,232672,232977,233194,234388,226184,226163,226614,194714,194239],
+	"label": "desk"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [144578,147499,149354,143692,153129,161330,147139,145085,149259,145767,146186,142671,154440,160803,148650,158885],
+	"label": "file cabinet"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [38912,38785,75046,64954,64559,39060,43411,64168,34911,64490,64534,70202,71271,72107,72484,73343,74781,75308,39416,39824,64892,38997,39019,64521,69363,36902,39441,37748,39987,38299,34574,39144,71869,72016],
+	"label": "table"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [86410,96598,97777,88122,87307,88838,97187,95557,90328,91126,90360,96102,141150,139938,97100,97681,96787,91386,91760,87755,87466,86548,84726,85185,85914,94421],
+	"label": "desk"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [242054,235071,242375,240699,246984,240877,232714,240423,239993,240657,242877,243141,268645,244153,244450,247114,228174,256782,257066,257850,263968,230724,232772,230461,233632,239164,227124,226192,263262,261712,268827,261844,264165,264964,242772],
+	"label": "desk"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [253323,266170,253293,261241,225393,235543,232303,221430,214993,258605,223172,220698,231492,261057,216707,229764,270848,217191,224404,221223,261214,214035,269883,214100,214340,214754,253795,216511,216789,216941,272266,258349,260744,233608,223075,219207,219810,268733,220256,256138,222120,258762,224209,224211,225440,225722,231237,256117,234016,260591,253166,254631,258491,256774,258002,258914,259451,259649,259569,260127,261178,261203,261356,270034,272509,271781,272214,271124,271316,264304,255865,216743,218493,226987,253561,253778,254862,255655,255905,252528,226480,227057,227526,252360,228710,255498,253621,255518],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [5151,44676,16066,4418,55676,85016,57121,12906,189430,45020,130561,124451,16578,46939,47096,3812,89600,46165,19395,19483,85823,124243,129607,90289,53468,129838,91836,123829,867,130007,86902,132897,127592,44281,129143,187351,54017,215341,44321,188973,189010,52919,47625,3734,86193,3881,125005,12916,89202,14004,15065,16561,18274,19874,44089,44683,86924,44784,133962,132778,47299,52922,52955,53329,53391,53634,89266,53800,84839,87878,91413,91846,91857,123460,123465,123594,124205,124304,124319,125756,127949,128913,129683,130184,130508,132256,132300,133694,183837,184190,186106,188796,2819],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [24836,10964,36853,10584,27473,7831,5527,4788,81951,11125,39822,7206,23573,12770,4885,10276,9474,10199,8400,11733,4819,72077,3697,12600,24287,1424,2418,74277,73988,1240,4374,1509,2212,2827,42850,3172,5781,4085,4346,12054,25709,12320,7630,7870,39372,8923,7927,24053,8650,9685,12385,10010,10332,11662,11844,11926,23383,33866,24198,71501,31713,24561,24760,33948,40804,75368,40999,42067,65342,66388,74015,79488,80108,80233,80289,81987,82340,82774,36692,83053,83623,7914,8336,27577,29590,35735,6557,12844,25147,25324,25533,26067,27330,28171,28647,28665,29830,30323,36262,36613,38943,39131,43752,70097,72207,43510,37672,33886,23465,24370,24507,25312,25808,36840,21696],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [142359,142293,141571,140204,139941,141842,134738,138902,134522,141741,140753,136056,141094,135332,93961,135646,134577,135162,135486,137108,137185,140041,137944,94787,140701,138136,134594,139318,139380,139852,139862,142222,140106,140989,135440,142373,137329,94507,94377],
+	"label": "office chair"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [202398,206390,206478,201735,205062,204216,205757,205116,201485,202192,202186,202670,202944,203494,203894,204343,204591,204600,204688,204721,204880,204945,205338,205581,205734,205764,206276,203485,203297,203754,150887,203943],
+	"label": "office chair"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [111080,113307,113779,115386,115814,113296,114409,114406,116423,108234,113310,113812,113484,113749,113969,114069,114131,114194,114327,114392,114440,113783,114586,115072,110085,115643,115361,116220,116259,110708,116340,116666,116230,111413,113852,112466,110876,109937,111471,112935],
+	"label": "office chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [192403,98942,124448,34988,59744,60117,101947,60900,57997,58334,263425,57508,165858,100916,60568,61884,184452,168200,99542,59438,98280,49119,102704,98501,218667,99387,134826,99725,137080,244973,145580,138014,145114,158941,48821,50597,86482,134926,169228,99233,99610,86446,135678,102664,58398,168874,50228,85809,50714,216758,149765,60712,151665,62056,138696,196904,60895,57596,60224,236196,101332,59139,145534,59256,59745,60309,102303,94261,98990,102374,197960,138967,135197,255240,125186,86551,85602,61092,136211,138981,62602,201676,1907,20797,34578,35225,35858,49673,57535,58385,58487,58577,58690,59532,60509,63556,67846,86310,94597,117474,98686,100037,100064,230571,100159,164364,101456,102035,102715,253849,102962,68654,105252,150807,111430,106356,219134,110882,111223,112453,112783,112842,122854,150026,123326,123355,239306,123433,125293,134877,136492,138271,138275,138548,139094,143410,143966,146460,149677,150610,254232,150703,151518,151690,167805,153019,164788,165378,166585,166973,167014,239501,236296,168003,168397,168732,111294,180432,190957,191828,198594,198808,213858,262766,214441,216748,216803,217234,217259,217350,218059,218378,117702,218606,219334,227447,229034,230157,236619,237014,237080,237418,238059,238688,238729,246312,261525,261624,262817,263687,263839,264080,264811,13523,13637,44192,117856,6150,6531,67619,67998,68790,67932,117183,68409,69038,111632,203426,202799,192767,95000,110600,100537],
+	"label": "floor"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [47243,52606,52991,52742,46253,49101,53017,50286,47573,49828,51248,53818,46618,47449,53144,54096,54471,49130],
+	"label": "trash can"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [84123,182337,182860,182620,118450,81402,120357,181524,181273,74802,72979,181557,183355,70957,121550,77479,118890,81183,119794,76219,78878,118215,118309,118463,183411,122313,77097,118492,172846,119582,119627,183056,119796,120295,170208,182066,80074,182375,183003,182960,182995,118632,183248,77615,181726,77021,71557,72529,80395,119672,119833,80508,78571,69700,77762,74616,70084,183443,71532,79670,72618,122286,83328,182914,70916,77566,81787,82015,181894,182247],
+	"label": "window"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [15235,415,5012,15879,2046,3723,2833,4001,4749,5356,5483,15016,15281,16480,16844,18023,18903,18680,18875,19003],
+	"label": "door"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [48260,17438,45275,54681,56113,46666,57029,45562,45236,46998,47163,47395,91999,47897,51281,51495,51953,51993,54896,56977,54948,55441,55541,56260,56262,56473,56538,91652,92827,45575,93348],
+	"label": "window"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [127967,130741,93182,131197,127761,132437,128032,93154,90029,87332,131279,88792,88029,93418,89439,133174,128623,132470,133911,133169,133608,92574,131647,131326,132685,133249,133481,132504,87262,129793,88033,127031,88642,131451,130053,87209,87146,90340,128687,92355,87500],
+	"label": "window"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [123961,185855,188742,188135,129359,130785,128932,128863,130035,132578,189288,133667,187202,189147,188832],
+	"label": "window"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [52774,51507,53544,52196,49874,52382,51852,53146,51796,52157,52760,52805,52899,53080,54284,50154,49381,50639],
+	"label": "trash can"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [65772,82479,67200,75773,67290,65746,80632,78424,66258,66948,65541,65532,77005,65637,42788,66718,76690,76752,78816,79133,81498,67190,65725,66222,67068,83342,80454,40606,65943,42732,80497,79252,81123,67061,41195,83040],
+	"label": "shelf"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [30959,30974,33667,33547,33722,31585,31601,27715,31924,32155,32215,33900,31062,31427,27548,27931,9036,22801,32198,10759,22231,23853,31596,32991],
+	"label": "whiteboard"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [29224,29488,30605,30700,28015],
+	"label": "table"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [64704,71312,65373,76550,83380,65550,76893,64732,73891,74716,70146,65150],
+	"label": "monitor"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [64436],
+	"label": "keyboard"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [69799,117677,182111,266565,211022,72144,180365,117382,74954,72307,173041,74755,68052,72537,117890,73313,117093,75110,176386,75282,82027,117331,178270,117996,271675,180413,118660,166349,119643,180852,169363,119693,120708,121621,210585,121686,177439,164322,163820,178906,163855,169603,73746,164255,165277,179201,173760,178982,167007,206954,167655,179360,169033,168907,169491,176421,248343,174316,175939,175723,177109,177951,270092,179465,207117,208665,209527,211107,211760,212042,212179,212974,213043,213111,84212,245391,246993,247384,247482,247918,248250,248308,76861,248712,249316,249769,250637,250877,263386,272355,72894,74400,78464,78692,78858,79162,79550,80107,82396,82954,171387,271234,271611,208033,206654,208425,208265,208526,248857,247869,248338,121928,119264,79016,76340,76240,84237,84324],
+	"label": "wall"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [273482,213645,271878,212872,275776,273791,274816,212508,272911,272920,273878,250208,275154,273898,273619,275266,274001,274507,275161,275335,273340,275218,249819,266986,273016,274141,275195,275530,274780,273368,213697,275484,272879,210232,210757,250925,249408,250114,250373,251003,274721,274701,272751,272972,265953,267024,249891,211765,274455,246821,210416,249830,250166,249469,210601],
+	"label": "window"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [153515,108365,108575,165878,161123,107488,109555,169743,165237,116384,105360,170958,171543,173486,176012,174406,156146,178049,171258,164469,170131,164724,172347,174740,175049,171354,171091,173356,177987,176385,157672,169163,168795,150125,150072,105078,178250,174987,167136,165969,168495,169078,169387,116132,157113],
+	"label": "desk"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [113482,171161],
+	"label": "keyboard"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [159016,107491,158448,162546,108168,108072,108429,109112,155722,108499,109231,154543,158178,154657],
+	"label": "monitor"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [107613,104632,109132,153166,105475,106191,109081,108247,108268,105131,105951,107522,108293,105061,104268,104692,105669,108543,153008,154986,156211,108978],
+	"label": "file cabinet"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [167180,176952,155544,178635,152060,175737,162682,167046,170533,178037,173959,170838,176836,164357,177328,179941,180232,173685,178391,163058,167450,149886,149628,153876,167609,167920,165394,165667,169427,150993,152427,151361,164398,169082,165411,169589,163921,164953,149818,152925],
+	"label": "divider"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [159799,159974,158228,159403,161198,153291,161716,154517,158412,153394,154696,158125,155622,155867,154596,106494,160390,162069,154694,160971,155326,155782,157939,163010,149630,151957,149811,105775,158218],
+	"label": "board"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [153141,174335,212659,178375,157899,206182,209493,157989,212101,159220,152354,150930,154266,160493,152204,150946,149474,207225,165764,169313,169148,167800,160730],
+	"label": "desk"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [154957],
+	"label": "keyboard"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [174939,209759,209590,208981,177929,211558,211986,212815,173576,174296],
+	"label": "monitor"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [240291,241904,244144,244038,241677,243201,240983,242932,235786,241337,242141,237244,242535,243255,236193,240606,240814,242154,238120,240826,241944,242987,243886,242294,239872,238433,237835,237771,236343,238398,237057,237916],
+	"label": "office chair"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [269269,266260,268028,258446,258133,269745,267399,267491,265278,268242,269773,267205],
+	"label": "box"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [257317,240403,244468,243696,259717,258681,242249,241615,242265,256348,242553],
+	"label": "monitor"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [184288,186227,185886,184050,188142,183634,184304,186592,187319,184573,185371,187534,186201,184885,213916,214692,187044,213955,213774],
+	"label": "file cabinet"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [226035,229240,222227,235330,216285,218175,216830,216463,218530,225950,230139,227419,227454,227754,228764,233629,234939,224370,223398,223417,228594,217417],
+	"label": "computer tower"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [223269,222580,219622,222685,232226,221513,221676,224426],
+	"label": "monitor"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [224909,194059],
+	"label": "keyboard"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [193720],
+	"label": "mouse"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [190274,190534,190456,193661,194679,193953,194731,193249,195075,190636,193643,194823,195482,194673,192588,194026,192223,192531,194545,193214,195307,192735,191054,192793,189602,190095,190480,193836,190612,195285,191112,191480,192809,193270,195612,190218,195286,189948,195296,196225],
+	"label": "office chair"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [195802,196032,193778,196388],
+	"label": "object"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [103917,135537,98787,97218,103301,97701,103542,103002,137485,135804,139465,136125,139828,140594,141445,142460,103320,143470],
+	"label": "file cabinet"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [89239,89954,88604,89247,89850,89055],
+	"label": "box"
+	}
+],
+"segmentsFile": "scannet.scene0505_02_vh_clean_2.0.010000.segs.json"}

scene0505_02/scene0505_02.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.933580 0.358368 0.000000 2.259640 -0.358368 -0.933580 0.000000 4.387270 0.000000 0.000000 1.000000 -0.129254 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 3322
+numDepthFrames = 3322
+numIMUmeasurements = 7045
+sceneType = Office

scene0507_00/scene0507_00.aggregation.json

@@ -0,0 +1,156 @@
+{
+"sceneId": "scannet.scene0507_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [18065,17431,9191,5695,14074,12241,16064,14257,14829,19291,14231,11527,14533,13384,13570,16447,7520,14522,7787,10092,10331,10396,19404,14162,13572,15109,18442,6764,9811,8970,19371,8514,15806,18059,14137],
+	"label": "end table"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [39376,17917,17851,14026,8408,13631,39797,15508,17015,9308,18386,17019,10040,15265,33096,39488,38651,15486,17667,18926,14369,15734,16910,11032,7507,33892,14856,35011,33439,14339,14683,29888,37691,38092,38742,17805],
+	"label": "end table"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [2982,5832,13748,2408,20415,3668,1903,11889,33977,7933,33865,5256,11466,34655,33374,13136,13621],
+	"label": "rug"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [37567,31961,24715,38638,25152,25847,24621,23996,49055,43302,22591,49395,20376,23221,35902,22919,45149,31497,49772,35912,23264,25483,25222,26236,42902,25697,25102,24793,43095,48922,46034,48587,44090,46096,41745,56095,50137,51212,44813,47412,48172,25498,35969,37728,29086,36418,57950,37777,36007,39410,30071,57941,56495,57642,55142,29671,37574,34721,36944,37557,28220,36250,30245,32740,30884,37758],
+	"label": "sofa bed"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [58162,52491,52899,51360,52534,52089,52486,51991,48653,53080,52123,52770,50167,47848,48128,47485,47450,48854,47156,48173,51943,52950,47261,56357,49114,49503,51141],
+	"label": "curtain"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [29718,30255,32982,31328,33293],
+	"label": "pillow"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [29485,32140,33200],
+	"label": "pillow"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [32136,23941,25098,23523,24091,47813,25169,25914,26110,50029],
+	"label": "blanket"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [14326,17722],
+	"label": "alarm"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [15073,39608,18132,13940,15360,16042,17146],
+	"label": "lamp"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [6006,4541,4681,10628,3724,6390,8578,3052,2908,34896,19912,20902,3210,22431,22219,19891,35048,40595,40852,13919,13091,35272],
+	"label": "stand"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [1396,41483,33944,34505,8229,53976,1007,1455,1319,12669,6040,19771,13540,40654,40166,54521,60271,40846,60390,60253,19520,5870,282,527,2965,41203,2771,199,20992,21940,22419,19567,60456,41244,41461],
+	"label": "floor"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [14110,15004,18747,17618],
+	"label": "lamp"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [56953,59406,59543,57744,59288,57019,56837,59135,58788,59455,59917,58676,58769,59456,58734,57142,56366,57167,57481,54984,56091,55645,57721,53829,53470,57587,56064,54706],
+	"label": "curtain"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [4173,7232,4966,31391,26968,27808,7037,23623,24676,20935],
+	"label": "box"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [24429,24970,28850,5127,9069,25854],
+	"label": "pillow"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [24217,24986,31589,28499,26032,19906],
+	"label": "pillow"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [8570,9986,31075,26937,27916,31353,28120,7267,29644,5422,9441,28025,27162,27871],
+	"label": "box"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [9826,30672,9818,31925],
+	"label": "pillow"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [29736,31607,32998,48006],
+	"label": "pillow"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [31907,28628,31047,31508,30052,33216],
+	"label": "pillow"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [30431,31443,38869],
+	"label": "pillow"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [14524,17101,19393,16927],
+	"label": "object"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [16871,18034,16830,17688,17882,16378,16189],
+	"label": "object"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [49918,52692,52642,45738,51542,51076,52538,41976,47228,49967,41701,45661,43218,43672,45969,42594,42601,47890],
+	"label": "sign"
+	}
+],
+"segmentsFile": "scannet.scene0507_00_vh_clean_2.0.010000.segs.json"}

scene0507_00/scene0507_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.998135 0.061049 0.000000 -2.124290 -0.061049 0.998135 0.000000 -2.990700 0.000000 0.000000 1.000000 -0.161052 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1212
+numDepthFrames = 1212
+numIMUmeasurements = 2530
+sceneType = Bedroom / Hotel