Add files using upload-large-folder tool

.gitattributes

@@ -328,3 +328,11 @@ scene0043_01/scene0043_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 scene0043_01/scene0043_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0575_00/scene0575_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
 scene0575_00/scene0575_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0057_01/scene0057_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0057_01/scene0057_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0418_00/scene0418_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0418_00/scene0418_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0068_00/scene0068_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
+scene0068_00/scene0068_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0478_00/scene0478_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
+scene0478_00/scene0478_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text

scene0016_01/scene0016_01.aggregation.json

@@ -0,0 +1,300 @@
+{
+"sceneId": "scannet.scene0016_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [23617,46312,46001,49782,22464,26817,49823,49315,49837,49225,48161,46050,49697,48957,66700,48291,21364,46222,48102,18653,47274,46497,47774,45770,21603,17841,22461,21269,21036,20550,21748,24999,27799,23160,22291,23316,23201,23790,24970,22675,21928,27171,22377,25702,18968,24485,22537,24664,46455,22382,45671,20183,65886,64220,24326,17790,16483,26174,23251,23140,19395,25465,17380,23578,20819,21965,21497,21545,24683,24340,48948,19323,24559,66562,25429,17021,18640,46969,16421,17885,18848,19249,19908,23895,24042,25900,48542,65593],
+	"label": "elliptical machine"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [55407,30180,49287,53390,49970,31756,48882,28611,54176,51597,54507,54797,50403,53474,52472,54440,55426,28373,31877,31571,29106,54958,29969,27220,29918,30534,31569,29577,29101,28365,16438,47403,51043,25634,28550,53170,30942,20200,54724,32094,31944,30340,30422,31132,30001,55244,53956,30832],
+	"label": "curtain"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [100138,102197,97724,98837,99782,95702,96307,97258,102269,99340,95784,96950,97260,99242,69686,99748,101081,102880,96528,95429,68780],
+	"label": "curtain"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [32863,33368,41913],
+	"label": "ball"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [63470,89291,87923,62921,90720,62861,89413,91379],
+	"label": "blanket"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [96401,96336,105183,104862,105001,76148,77201,104585,99392,77135,75682,98025,72730,72640],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [55398,54352,68793,103962,53068,54312,68065,52333,67131,52486,68474,50044,69855,54715,50968,67125,103537,55133,31489,29064,31116,28359,28385,103123,103329,103356,103695],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [26364,27379,19922,24303,23884,27122,21703,22076,21419,20229,18164],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [93786,56702,43781,13045,19213,55649,56437,43133,34152,33947,33104,70928,21517,16160,64868,34693,43796,864,43799,43741,20866,65320,18479,66005,63783,63497,34629,55889,71518,55454,56353,56678,56790,65293,65729,2387,65891,95143,50736,45546,19518,28019,80723,19055,3678,66021,93405,46437,67454,95501,33497,95303,13479,32942,33222,6089,33478,12978,57721,55877,56269,57422,50701,58514,65806,12870,899,1455,933,1346,400,986,4319,4077,47126,3583,3998,2504,83335,79450,19002,17556,2049,82426,33835],
+	"label": "floor"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [45244,45273,45224,15048,44576,44584,44257,15705,15254,44070,36722,15238,44318,14930,15420,44186,14723,15451,44097,15765,15371,15302,44122,42087,15217],
+	"label": "object"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [94338,94502,95759,101120,97737,93235,95508],
+	"label": "mini fridge"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [75300,71730,83155,91094,82921,75359,75734,90195,85250,81471,87653,87018,76027,84569],
+	"label": "shelf"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [37715,37356,34379,7085,37691,37746,35891,32383,38958,35899,35903,35427,36600,32988,38900,37422,36748,6482,7990,6733,7450,35946,34573,34046,33515,32965,38055,35443,32515,33019,35668],
+	"label": "piano"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [66987,64913,65071,68926,68866,67565,68036,65267,64192,67083],
+	"label": "object"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [93411,81878,79993,81250,81969],
+	"label": "storage container"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [63288,62734,59075,63520,79769,80005,63539,80078,81449,63415,80093,58706,57397],
+	"label": "laundry basket"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [60180,81103,91896,81106,82701,95223,79798,80168],
+	"label": "pillow"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [22153,29493,22343,29380,22976,26456,28213,20698],
+	"label": "box"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [5970,6058,27216,16130,23475,17051,22874,25035],
+	"label": "wall"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [5475,4720,4973,4767,5160,5258,5056,5391,4544],
+	"label": "couch"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [102247,99608,95838,98912,96131,102182,97421,102265,99533,99726,100556,97885,102571,102682,99579,98437,100267,101346],
+	"label": "storage container"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [85765,99292,95697,102396,87771,91333,96339,84350,97256,84066,83669,85002,99626,96717,100257,96731,96738,97221,98404,99273,102458,99682,96021,85955,85094,101684,100789,96624,85133,90515,101628,100575],
+	"label": "storage container"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [87853,91168,97297,100324,86555,97663,89009,88732,91307,83707],
+	"label": "storage container"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [100607,96231,97477,102059],
+	"label": "storage container"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [95631],
+	"label": "storage container"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [94254],
+	"label": "storage container"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [94410,79474,82266,82221],
+	"label": "storage container"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [93390,92817,94906],
+	"label": "storage container"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [93255,83020,94061],
+	"label": "storage container"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [84649,90653,86071,84150,88354,86447,89247,92436,74849,90389,92264,92164,88693,70320,92424,77126,85697,86846,87434,90583,98767,97614,92691,78357,90198,80149,73188,83287,71106],
+	"label": "curtains"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [70305,71606,58888,72936,60091,60505,71814,61082,74756,75225,77352,61441,58653,60008,59670,73988],
+	"label": "wall"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [87645,89761,91489,90872,84908,86916,87348,89946,89183,90173,90549,90740,87492,86866],
+	"label": "storage container"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [91952,88807,79842,82797,84505,79447,87881,79426],
+	"label": "storage container"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [77771,77750],
+	"label": "object"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [84901,88492,88520,90553,77174,73486],
+	"label": "microwave"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [77482,76778],
+	"label": "tube"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [77234,75780,75046,75635,76558,79059,74368,78979,75914,77568],
+	"label": "storage box"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [76056,77236],
+	"label": "stool"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [73594,78221,78501,77988,73643,78663,78514,78363],
+	"label": "object"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [74789,75591,72752,77600],
+	"label": "object"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [89331,87179,91970,85853,90909,85742,92515,87461,84035,91827,84846,85958,84920,84923,87039,87089,88161,92658,86627,84396,89982,92500],
+	"label": "bag"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [11509,10675],
+	"label": "picture"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [336,10086,12021,106,11997,307,131,12383,10314,10611,12036,9699,12227,12043,8491],
+	"label": "wall"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [41853,41967,12942,43462,42411,43361,14239,42054,14562],
+	"label": "shoes"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [36401,7245,57589,32187,33529,35277,32379,36568,33708,8109,34857,36452,61347,60937,35705,39430,7642,34137,39700,36157,36242,60492,35505,38811,60297,12154,36684,40900,40073,40465,39666,39870,10053,12039,11006,11429,9827,10382],
+	"label": "wall"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [38800,38328,38435,36107],
+	"label": "case"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [6366,7929,9374,8153,8620],
+	"label": "box"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [9283,8310,8585],
+	"label": "object"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [76853,87896,97031],
+	"label": "doors"
+	}
+],
+"segmentsFile": "scannet.scene0016_01_vh_clean_2.0.010000.segs.json"}

scene0016_01/scene0016_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.034899 0.999391 0.000000 -4.375790 -0.999391 0.034899 0.000000 4.329750 0.000000 0.000000 1.000000 -0.058195 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 577.870605
+fy_color = 1170.187988
+fy_depth = 577.870605
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1747
+numDepthFrames = 1747
+numIMUmeasurements = 3680
+sceneType = Gym

scene0023_00/scene0023_00.aggregation.json

@@ -0,0 +1,180 @@
+{
+"sceneId": "scannet.scene0023_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [106153,115609,64463,30801,109158,157630,65439,31444,67216,99580,51649,58258,65089,2817,92693,55383,163153,87455,51762,56792,147286,56059,54437,113309,65186,105644,55927,50479,159313,56553,56699,49999,54883,57660,150790,16892,15866,65375,92063,32629,63747,106923,158414,150350,30916,63534,123578,32293,56910,94519,50010,51615,164995,50646,144964,91838,127212,89445,99482,116294,134137,64076,55876,133693,152717,152533,152926,159625,115331,152996,159913,161490,99837,89157,63712,117755,116643,144524,159442,157006,148570,157282,149125,157111,127538,145347,108177,150812,105624,105815,105824,103570,103990,104519,104046,160237,104247,125154,32319,125230,126385,123800,129181,126806,124210,123468,146335,159325,158076,157278,159826,165354,68645,91765,113587,109569,108756,89201,32468,32613,73404,99591,98471,140759,140680,136220,135225,134335,153053,51355,97780,81254,125784],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [107567,107840,88474,88054,88597],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [88506,88667,88322,87742,88150,88167],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [77605,139605,6160,135236,137538,75445,116554,37739,36077,30951,34977,10134,152401,82715,96760,21395,35298,24258,152292,21806,35435,15590,154085,139033,152415,151058,136013,17181,152356,152173,152871,138287,155866,136599,118744,71280,31769,25746,21543,114239,38960,120025,103155,102482,100440,70483,77731,74827,78364,70548,5578,24423,15499,33547,34129,74253,72179,72059,120663,114861,140326,135123,138220,155481,154572],
+	"label": "table"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [107448,90236,91357,87674,89795,110009,88882,90526,112285,89262,91196,111542],
+	"label": "table"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [128961,126457,129000,144620,129138,145082,145378,129312,126666,126384,131994,149527,129471,129466,129854,124537,123434,130874,129015,131151,131828,131324,130616,125272,129291,130766,129214],
+	"label": "table"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [148645,129516,130611,146391,128927,147102,148828,129193,149860,148214,130416,128744,131295,131619,130811,129799,131414,130251,130119,131034],
+	"label": "chair"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [146447,147032,148727,150026,148030],
+	"label": "chair"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [123791,126646,126886,123531,125786],
+	"label": "chair"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [126531,124621],
+	"label": "chair"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [110729,111155,110111,111781,111635,110337,111682,110552,109969,111056,109789,111177,110505,111742,109909,109642,110943],
+	"label": "chair"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [109846,89993,110748,91324,90999,110998,90861,111898,109676,111965,111710,111031,108931,110057,90390,90232,111500,89950,89419,89758,90798,90894,112200],
+	"label": "chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [86575,12239,5106,14421,12119,13082,14508,13440,12690,86165,11612,11599,9276,11095,7598,12520,13609,7378,11495,5523,4479,11914,13195,13845,8850,14772,85300,7206,8595,61522,8917,15043,11701,58784,10020,85374,61226,60864,13556,84914,59320,86329,86156,86958,86526,84790,4110,86945,12682,85860,4132,5626,85099,7091,12801,7096,7664,12449,12744,14571,85016,85183,85254,85527,85881,86416,86932,84526,59456,13022,5238,5608,11692,8432,4743,12762,14652,516,402,4976,7588,56576,61247,7212,5377,8786,9898,4552,9751,59542,8246,4703,4279,8821],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [6264,62598,52004,11824,53213,87160,58993,62831,52505,62208,63095,11578,52135,53513,62996,59279,59652,14054,62359,62323,62480,62756,62790,52494,63023,85775,7289,8178,9285,53539,53471,52108,52317,53887,63002,53509,52306,53565,62549,4789],
+	"label": "whiteboard"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [23495,10359,8024,24900,25233,28047,4913,10327,25887,20951,27773],
+	"label": "printer"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [72776,454,39082,22249,73313,76655,79323,48189,35692,27673,1316,82954,34819,75304,35272,39892,36123,76224,83511,34449,40090,77616,82073,84298,83296,81681,82619,81853,82205,81835,75054,37335,32836,48265,32620,78714,72357,39767,22171,75465,31210,47952,47950,32539,34127,33927,73944],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [29808,19726,40461,38542,44935,41639,46744,30376,36011,76784,41538,41589,17954,39053,29413,28957,79922,30477,17841,19110,19274,20135,37600,21163,35730,21641,37140,21692,46760,22211,24699,25056,29887,25404,28252,45161,25622,25851,40385,26780,49614,26908,35660,27342,41443,47124,28336,37763,30127,44636,42948,28937,28660,41227,28893,35846,29569,29905,41759,29941,41523,30065,30288,30344,30412,36037,36069,37206,37431,39905,39593,37528,39647,70769,40428,42289,42615,45121,42624,42744,43294,26876,43301,30337,43503,43638,44107,44309,44732,44758,44998,45459,45656,45750,45781,45872,78535,46023,46256,46567,47070,47394,47420,47463,76903,48430,48829,49059,49222,49507,49517,49525,69556,69914,42375,71342,71765,71825,76590,78667,78761,47295,79797,79810,26063,42495,43268,28349,46799,1942,20960,21111,76258,27320,29268,29672,29782,29791,29995,35913,38718,41084,43686,45950,29888,47571,79240,29252,2289,2517,28620,43994,2080,44324,46261,41203,77845,2250,44426,46057],
+	"label": "shelf"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [23598,20531,24990,24359,25987,28033,1232,27869,23311,20766,20047,21926,20072,20365,21365,21518,21707,21722,22011,22866,23073,23624],
+	"label": "computer tower"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [40264,36809,25251,22892,40495,26861,19475],
+	"label": "monitor"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [25789,22484,21754,19715,23604,70540,38846,37017,32026,35789,18909,32406,37162,40581],
+	"label": "chair"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [69956,66891,70142,67931,68400,69911,66695,70307,72724,68556,70840,71373,70331,71151,71549,68478,69760,70621,70545,69102,67122,75325,67245,71114,68179],
+	"label": "chair"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [78287,76995,77763,97347,96408,79225,76643,76068,94726,72266,72933,73745,74814,76213,74903,92166,81376],
+	"label": "chair"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [92885,96864,95895,95596,96259,96953,93043,96639,103135,96819,96935,95215,93337,95709,96054,97348,97446,92634,93001,92703,93828],
+	"label": "chair"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [95527,96623,94264,118409,116224,117857,120730,95231,119989,119651,118009,94086,97540,96324,119537,119546,118768,118127,93933],
+	"label": "chair"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [118769,114214,114482,114344,114176,119743,113249,120098,113885,118725,119801,120977,114038,114532,116365,116671,116061,115478,115537,113725],
+	"label": "chair"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [139690,136836,140085,138749,137595,138126,137076,136497,139372,136540,137053,137534,137329,141085,136958,135462,136098,135748,134562],
+	"label": "chair"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [140122,136847,137108,139806,139419,137783,136506,137071,137087,139450],
+	"label": "chair"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [143030,165130,156607,101958,143843,102555,154271,100172,142778,102562,102005,123337,162119,154675,154053,165012,100918,101183,101709,102811,143289,103127,155753,153399,142689,103214,103241,160395,118367,142821,162900,143039,154810,143435,156661,156241,155455,156031,156513,160490,162245,163815,163903,165359,165226,165794,166116,154914,155700,156267,101808,102155,103019],
+	"label": "wall"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [122813,120564,122996,123386,122425,102507,117851,117921,122614,122565,123382,123021],
+	"label": "window"
+	}
+],
+"segmentsFile": "scannet.scene0023_00_vh_clean_2.0.010000.segs.json"}

scene0023_00/scene0023_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.594823 0.803857 0.000000 -6.075690 -0.803857 0.594823 0.000000 -0.777724 0.000000 0.000000 1.000000 -0.101227 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 = 1140
+numDepthFrames = 1140
+numIMUmeasurements = 2406
+sceneType = Misc.

scene0047_00/scene0047_00.aggregation.json

@@ -0,0 +1,258 @@
+{
+"sceneId": "scannet.scene0047_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [95809,48242,95895,78735,76965,77805,78977,77277,76173,77012,75982,44173,47755,78886,47669,78226,74240,74678,74772,75070,76415,74071,74473,74609,77951,77214,77862,78923],
+	"label": "cabinet"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [72303,72719,72806,72738,72882,73188,72423,73792,73652,72223,72204,72638,77245,73325,77264],
+	"label": "window"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [78950,95761,76839,46247,77393,78321,95993,78235,95644,78397,78692,77756,47689],
+	"label": "counter"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [65767,89256,71286,66865,65189,66811,66890,65672],
+	"label": "sink"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [32253,70924,61477,40139,64495,68747,31212,34637,35508,41063,33901,69964,32691,38734,69204,67330,40404,63203,64085,35102,60580,60300,62263,35330,65216,70546,71423,67152,30947,30135,30919],
+	"label": "refrigerator"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [44986,45957,44409,47594],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [21108,19343,23789,2325,23597,18641,20641,7262,45655,5513,18905,20439,3572,3869,6358,7051,19222,47432,19300,20122,20795,21688,23648,21436,47661,23798,22193,45777,46870],
+	"label": "counter"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [64831,66196,93056,66906,89163,88699,109055,70654,88673,90839,88541,111154,109895,110282,94246,70183,70705,71508,71083,93393,71136],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [6928,5742,5072,3737,4246,3800,6842,7401,7103,6387,3085,2921,982],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [38173,35307,40438,40274,40347,34164,41402,37216,36370],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [109536,107545,108751,112945],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [59033,57783,59288,59015,59295,58726,58523,60052,60182,58035,58988,58213],
+	"label": "chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [82177,82740,54614,51493,54782,50969,50681,51397,51646,54692,82673,83096,52022,53179,53715,82148,82356,51343,52488,51727],
+	"label": "chair"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [101642,55267,79463,61023,81385,79883,27856,25335,28104,86169,95067,50154,57010,29758,113650,114148,97962,95177,80087,17249,86166,75030,76082,114073,27801,114807,26296,24212,25479,13283,13641,32213,79455,76528,13558,68,94841,29873,29202,50076,49432,44700,56970,61967,9241,49346,97953,55666,49753,76077,74236,56048,27454,114520,97916,113608,114961,114971,75174,49988,1315,56967,7886,57644,58211,79805,81394,83873,102924,113367,113961,114467,114898,114978,87389,29051],
+	"label": "floor"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [64205,87597,62124,66005,90593,108505,61319,63134,85576,85628,86067,87404,64422,65601,62000,61975,86312,86033],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [110645,112613,108021,111998],
+	"label": "door"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [16669,21927,44331,5069,1386,5046,23700,21115,48263],
+	"label": "cabinet"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [18787,21172,22735,21509,19646,22974,19758,21562,19967,18980,20453,21369,22100,18844],
+	"label": "microwave"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [53910,54706,53325,52160,53959,53109,50925,51634,53320,54186,52544,54209,50516,53147,51837],
+	"label": "chair"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [26535,54734,25282,26530,57641,58296,51702,56563,85310,85314,58499,28210,29440,58232,26798,26726,26858,26882,29492,51219,58010,24673,29611,51856,55689,52242,58687,58793,85320,24858,58975,82589,60039,50128,55216,24430,55868,56360,56974,57820,49509,56191],
+	"label": "dining table"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [95413,95246,99488,99561,95046,98702,97847,96637,94866,98617],
+	"label": "door"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [98977,103043,98834,98982,99404,99777,100022],
+	"label": "door"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [106635,104447,112322,105921],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [104654,103741,102501,104991,105343,101220],
+	"label": "doorframe"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [102712,102333,100830,101407,104244,103442,105860,104208,104853,105853,106016],
+	"label": "trash can"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [109445,109726,111987,107643,106274,109248,111840],
+	"label": "doorframe"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [107812,112573,110862,109341,110141],
+	"label": "wall"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [94381,113129,93137,113198,93491,94358,72155,71991,70171,71204,93622,41794,41714],
+	"label": "wall"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [70641,90782,63311,94083],
+	"label": "soap dispenser"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [88100,89924,90470,89124,90250,87933,89357],
+	"label": "paper towel dispenser"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [91624,92204,91945,91738,92144,88271,92562,90325],
+	"label": "microwave"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [87955,92178,88181,68795,89797,92022,88089,69946,68457,69373,91706,91883,67765,67813,67936,67347,68227,38275,38567,40062],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [68610,39023],
+	"label": "ceiling"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [40643,37201,68903,39214,69461,39323,40257,30640,34920],
+	"label": "wall"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [36418,13975,32159,14210,30627,34075,14013,32285,33862],
+	"label": "cabinets"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [37476,40361,37612,38809,38336],
+	"label": "cabinet"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [47120],
+	"label": "wall"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [48080],
+	"label": "power outlet"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [16347,42591,16223,43116,15879,16168,42941,42112,46559,16210,42246,42207,14451,15547,20408,15083,16481,14615,14982,15126,15333,15509,15543,15763,16306,42064,42131,42331,42366,42919],
+	"label": "window"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [23818,6287,22879,4622,2631,4845,395,4739,4154,4731,5101,2216,5698,3095,4087,3697,5241,7200],
+	"label": "window"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [19143,6587,72202,45724,18531,73140,23157,4505,19237,5375,22825],
+	"label": "wall"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [12566,9601,11595,12116,12223,8164,11485,10057,7678,9652,10441,10991,11075,12617],
+	"label": "door"
+	}
+],
+"segmentsFile": "scannet.scene0047_00_vh_clean_2.0.010000.segs.json"}

scene0047_00/scene0047_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.052336 0.998630 0.000000 -2.762300 -0.998630 0.052336 0.000000 3.956110 0.000000 0.000000 1.000000 -0.042103 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 = 1366
+numDepthFrames = 1366
+numIMUmeasurements = 2878
+sceneType = Kitchen

scene0052_02/scene0052_02.aggregation.json

@@ -0,0 +1,90 @@
+{
+"sceneId": "scannet.scene0052_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [61021,127586,77834,125782,77766,119965,78421,122497,80987,123740,59496,126257,126133,78960,77822,74358,122473,60129,128387,59580,125481,124066,35801,122547,37460,38516,39149,61949,58774,33708,78415,63627,36982,97328,62100,61109,57006,63589,62588,90455,118969,124371,59027,59379,62889,96475,61994,126116,59489,64494,60150,60196,61782,63281,61839,61991,75262,73887,62143,62225,75475,62229,62591,62895,63034,63807,64129,64133,80259,64528,73524,74598,77397,77929,79026,79042,79111,79172,79388,79490,79681,80306,96622,80313,90484,90659,91451,92120,92459,92557,92782,93654,94878,95118,96081,97787,98169,118333,118782,118937,119154,120362,120455,120506,79820,120558,127015,121358,121434,121960,122054,122539,122670,122713,123386,123725,123855,124317,124347,125586,126469,127891,128570,128882,37485,127469,97597,39301,80327,78426,81017,78982,62614,62092,81175,119019,34400,64148,57646,62211,62393,62398,63925,64416,79497,95917,96199,96222,96371,96870,96974,118260,119042,125579,126548,128488,119684,124037,123075,123744,124117,120669],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [55576,35226,56082,59185,27567,59365,59503,26440,55803,35504,27195,61449,37052,27633,29032,27361,24913,53067,59378,27401,56323,35707,54376,55399,53863,52930,54777,33937,35945,36199,55417,53749,54218,57377,24383,35574],
+	"label": "seat"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [51551,113211,86652,87293,120882,118575,109924,49230,82272,71212,65256,52270,86936,51806,88063,51281,70548,69972,69960,86297,88187,71254,7549,88299,90260,89172,72417,70020,2430,866,52587,57675,7333,52612,49670,49281,113149,70179,65602,115025,86649,1318,86752,88685,87376,88273,698,8551,88336,88404,9015,71217,71529,332,90137,7720,89954,73619,89689,24087,40943,1502],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [4914,4339,43950,46244,41614,46132,41527,46318,44186,45412,41579,45544,40993,44158,43669,44215],
+	"label": "trash bin"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [55681,55646],
+	"label": "jacket"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [14503,21156,10169,8379,14551,18052,35338,8955,12262,10915,18728,10808,10381,16703,11996,12344,7572,9060,14389,9086,19275,10222,19213,11516,13807,13832,13873,20796,14800,16769,17199,17347,17755,25999,17851,8302,17994,32988,39114,18165,22719,19763,20047,20174,19841,7898,20215,20457,21953,21960,23719,22592,23099,23916,24989,38513,34270,16783,22074,37261,34312,15962,10548,10701,12553,15835,12644,16316,19746,20548,21110,32526,23026,26741,27144,27472,27677,27856,28571,29741,29823,30015,30249,30376,30667,30727,30757,31267,31321,31513,31543,31716,32058,33448,33576,34579,34823,34958,36182,36871,37342,37503,37889,38433,38527,39333,30726,39807,25114,38673,38750,39669,29596,7373,8051,8576,11185,15398,17969,21747,21992,22704,22947,23398,29883,30660,30993,31419,32156,38364,39849],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [29382,32191,26338,23728,28931,30701,21525,29837,26352,26860,29475,30653,31445,31064],
+	"label": "bulletin board"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [129432,108769,107072,136749,101772,128998,132634,104478,130706,106882,112625,106327,129399,129918,138466,107697,134390,103598,102711,136655,107454,130795,106997,129856,109967,107007,98475,102482,132426,104117,139663,103322,132937,104505,105334,107796,107648,106085,106241,106346,107552,106977,113472,107238,107626,107875,108001,131184,108334,132633,109243,112281,112326,113597,114707,140161,126043,132342,130570,128307,128588,129394,130013,130946,131915,131379,131805,139320,131608,132165,133552,132322,133702,134041,134292,136354,134605,134865,135364,136036,136516,136832,136860,137148,137204,137516,137697,138440,138534,138657,139457,139649,141023,130425,106064,106564,106668,137753,137791,137822,138353,138794],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [111142,113730,109035,117427,109009,112870,111955,114917,114916,108198,116125,108708,108756,109939,110129,112695,112847,113232,113286,113715,113952,115154,115704],
+	"label": "radiator"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [5928],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [6799,4820,2865,5344,3413,3067,1496,1064,6006,4587,1589,4632,2359,2436,4051,5405,47243,49051,46508,6693,47769,48242,5959,6380,7062,6955,43230,44328,39990,41290],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [43613],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [140479,145126,140573,145831,143207,111886,142710,140214,141253,144656,144963,143609,141267,144797,140429,144173,144567,143994,141168,145628,111652,143266,143419,143109,139992,144613,145708,143707,142412,142757,118225,140134,145572,140287,140375,140782,140070,141618,142914,141657,141772,143679,141797,141892,142406,143067,143661,143154,145318,143543,143899,144210,144437,144796,144806,144898,144950,145662,142442,142766,117683,145174],
+	"label": "window"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [66219,65594,98816,84529,84860,48113,48588,69749,40177,68311,66057,68603,68940,69023,69304,85651,98282,102201,102803,101220,102112,103561,102081,84779,48652],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0052_02_vh_clean_2.0.010000.segs.json"}

scene0052_02/scene0052_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.026177 0.999657 0.000000 -3.094500 -0.999657 -0.026177 0.000000 3.250530 0.000000 0.000000 1.000000 -0.101159 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999933 0.011114 -0.003244 -0.037769 -0.011128 0.999928 -0.004527 -0.003329 0.003193 0.004562 0.999985 -0.022138 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1180.313110
+fx_depth = 570.021362
+fy_color = 1180.313110
+fy_depth = 570.021362
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 678
+numDepthFrames = 678
+numIMUmeasurements = 1457
+sceneType = Copy/Mail Room

scene0055_01/scene0055_01.aggregation.json

@@ -0,0 +1,96 @@
+{
+"sceneId": "scannet.scene0055_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [98804,105071,89512,105131,98090,104585,99584,106777,105427,90809,106008,102467,104946,99969,104863,100170,105770,104035,106707,100252,99221,102221,91716,96650,101514,91533,106509],
+	"label": "wall"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [61047,80383,80087,60968,36250,86916,79438,61189,83495,37898,33462,85969,102626,60642,64193,83811,44190,82062,59811,35272,62474,61073,32167,33714,83462,33867,35457,89177,59639,35745,36955,82579,37763,60414,78624,62556,38744,38761,81464,47739,83124,57766,60321,59103,59607,59875,60215,60551,60585,61675,82950,64184,64249,80947,89814,81349,81670,83551,81682,85959,81920,47533,82522,82661,83256,82715,83277,85367,86972,87399,89471,90077,102568,103646,103837,106438,43542,85223,85845,39676,87531,103648,103006],
+	"label": "bed"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [57531,55132,41017,33340,57496,55573,29782,12033,62824,12377,11576,56964,57519,40678,51262,63333,92590,55802,77865,12820,76379,85228,33523,39647,34053,59267,58487,59148,32120,20217,12092,19174,33437,12028,41140,32619,41359],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [21775,45370,45064,42388,21400,48528,45518,43493,15604,34020,47526,39451,44663,42883,43654,40575,42561,45118,39403,45169,48055,23711,45792,22070,36571,42339,16658,49640,43350,22271,14688,22130,45406,37937,44414,20638,20696,42515,49311,43687,43929,21010,21463,22151,22289,47234,23333,44020,35683,41887,42768,43410,14071,44096,45218,44105,44182,45276,45639,15341,38815,45671,46074,47422,44940,48184,50052,20948,50161,32978,35119,37359,12016,12446,12593,13770,13931,14708,19497,35589,21308,31737,33107,35282,35494,38963,41195,41352,41444,42280,42422,34134,40138,19807],
+	"label": "desk"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [49899,48690,89456,23125,22711,65862,66006,48379,40516,88067,65856,86333,90868,65423,65420,87804,87585,86710,84982,90816,40682,90727,48609,65508,64168,66691,23166,84378,85823,84612,85760,84614,84294,20058,20440],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [15231,35851,13057,14870,35701,36321,13556,10782,39123,16894,11260,15525,16493,37768,38812,38851,38935,37502,39260,12420,34634,16879,16299,17832,36204],
+	"label": "chair"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [6213,4956,6447,7162,4459,15202,6158,5042,6350,6358,6715,6971,7073,7455,7204,10244,7608,7678,7950,8195,9074,8410,9573,9834,9984,8236,10011,10197,9954,6373,6849,8175,8317,8550,8887,9583,6332,10423,6611,14319],
+	"label": "window"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [13692,10633,3734,23119,18582,10619,4859,2034,11127,11328,245,18676,18796,18202,18707,23288,23254,15527,22706,13464],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [4218,5380,6130,4804,5066,5578,4557,4833],
+	"label": "radiator"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [28247,3421,26510,29173,27830,25704,29224,2438,25357,53312,54510],
+	"label": "closet doors"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [28053,29115,786,3390,75384,51642,973,3122,1603,3201,53349,69432,2780,54258,54128,53064,54887,75693,50941,53516],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [73643,68345,68427,72667,69421,71386,67960,70120,67793,67878],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [74701,92690,92517,72390,69695,75142,74930,73591,74621,75432],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [96759,101205,100505,98489,94743,93829,93209,94690,99678,93616,98756,93738,95455,95506,95724,96899,98122,101962,98554,99425,99666,100078],
+	"label": "door"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [104609],
+	"label": "light switch"
+	}
+],
+"segmentsFile": "scannet.scene0055_01_vh_clean_2.0.010000.segs.json"}

scene0055_01/scene0055_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.087156 0.996195 0.000000 -1.438760 -0.996195 -0.087156 0.000000 1.970340 0.000000 0.000000 1.000000 -0.038045 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999933 0.011114 -0.003244 -0.037769 -0.011128 0.999928 -0.004527 -0.003329 0.003193 0.004562 0.999985 -0.022138 -0.000000 -0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1180.313110
+fx_depth = 570.021362
+fy_color = 1180.313110
+fy_depth = 570.021362
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1779
+numDepthFrames = 1779
+numIMUmeasurements = 3775
+sceneType = Bedroom / Hotel

scene0057_01/scene0057_01_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509aa5abec6fe1f3d06d1f238cbdf187cb467a87b66b38f5adac62cd3f9e883a
+size 10297430

scene0057_01/scene0057_01_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5a13d3839873904180f1981106fcf37df5e14333773c7f6a455fa670fc60fb
+size 9807406

scene0064_00/scene0064_00.aggregation.json

@@ -0,0 +1,348 @@
+{
+"sceneId": "scannet.scene0064_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [199671,194625,171207,225944,203183,147586,135749,134156,214023,157113,140644,172802,170523,209003,108512,111640,134567,189820,183904,146661,132992,110910,110196,224770,137973,145347,143436,127053,224554,187244,113084,213429,138722,212761,187664,220570,183212,225526,203421,209048,160357,160295,112279,174535,133434,208075,165923,165979,126173,150556,164991,195959,216680,108784,109986,203624,203807,226548,159807,176813,187840,160262,185882,214152,210927,227107,184179,166984,128765,151965,197988,154419,118729,152083,126943,212493,165603,227674,141148,148672,141605,137621,126359,215844,205000,148590,215829,167188,191020,189737,182012,194240,136226,136306,156270,217458,133677,120702,117794,121841,209981,208113,204864,221956,142382,133401,198611,194413,199674,208518,122422,198033,162745,214411,230499,154117,116629,183502,186880,120821,112073,227019,198591,135050,212346,136625,121801,222355,203249,123788,228663,155946,146475,148781,150333,130790,191551,224085,144655,182248,107530,208213,104393,185946,216715,188623,218669,118692,111850,195870,167775,112648,212420,184556,153989,203951,155399,187711,180747,133668,148974,142939,130329,123520,223808,126597,214756,220091,194771,140658,170912,214040,107753,198737,204346,219918,148941,187572,121015,130991,204757,170563,216153,149808,118403,207004,164446,120871,181237,203211,118268,152048,154438,187157,190564,216073,164902,170079,155095,139252,190661,218640,128673,149576,215196,182213,104994,210988,187043,217404,212872,148013,207963,183512,224586,207809,163825,219937,155167,187276,108511,161911,230364,134133,166651,182283,221209,226511,156647,110254,189479,163978,145854,190177,135580,222002,203462,108480,182023,216280,226448,187236,166613,139433,208727,216645,189779,200519,110779,224801,223892,209346,219344,184391,165773,186282,190418,194577,183338,139690,107900,158617,183458,214569,190272,199349,174895,107694,184866,129953,208358,202349,124743,107426,205559,135471,209964,208186,230029,143702,160891,220939,218932,148391,153816,230146,136125,228367,222474,225466,217496,154043,210268,157741,167876,158081,148959,193198,121326,120167,203708,127087,128304,209765,187525,182528,158767,182945,182831,194561,196379,201626,182474,119662,153073,104217,184544,158043,107307,112843,211540,194366,185935,218660,157349,213906,222050,192181,158784,156493,152995,229793,222105,205922,209592,185903,206284,140239,205426,196157,120304,127679,197173,185082,209075,193988,187874,188853,199911,186588,107081,107186,107682,107767,107851,170835,211194,108074,153829,109498,110662,190230,110682,110886,111219,111608,170829,111696,218046,111896,218193,111983,223612,112187,112409,112444,220689,162077,112469,112526,140292,112824,206871,187991,113405,116083,116555,159756,192134,189195,117748,118195,118385,118467,183875,118756,184211,118908,119001,120270,190363,191078,121037,183154,123922,227753,124085,125508,126412,126670,186575,227685,127478,128693,187035,129236,192957,131127,189503,131971,133411,173114,134791,136601,136844,136879,137468,190802,217064,139123,139791,139919,140519,140652,140941,140947,208581,143596,144066,144638,192877,147068,149521,152990,153125,153552,153884,154610,155744,156717,230237,158713,166988,159329,161136,162180,162348,195678,216588,165867,184765,185853,167828,229847,168182,169243,169274,169840,222156,169973,182616,196469,206149,170952,171047,172598,192084,178954,228791,181134,182123,182928,183379,196150,222635,183533,189091,183896,183941,206606,184693,185509,186705,185992,221661,186264,227957,201581,186468,186736,187284,217994,187351,187803,187846,187918,188009,188171,188295,188480,188925,189213,190206,192060,192602,192684,215766,192766,199927,193108,223587,217978,193115,193407,217703,196791,196843,193790,197373,194128,196051,206835,196313,198433,199396,199493,200170,200894,202013,203018,230490,203711,204227,204846,210359,212765,213815,213835,214613,214914,214964,215263,215291,216003,215661,215838,216234,216304,216911,217022,217066,217402,217793,218131,219244,219364,219608,219877,220274,220349,220402,228816,220417,220444,220848,224535,221064,221312,221351,221493,222857,223022,223211,230016,223221,223323,223719,224322,224472,224842,225421,225525,225630,225732,225950,225991,226078,226286,226302,227027,227553,227642,228295,228434,228796,150210,228860,229465,229617,230044,230523,230660],
+	"label": "bookshelf"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [75466,32044,123685,100649,2515,15627,24825,28290,55694,23128,63711,55292,28676,40840,99178,98620,26308,42564,43067,28318,42934,99756,22140,18002,20758,28065,1468,40607,1109,508,810,1993,2931,2643,24243,71617,2184,1083,16731,75181,5003,18087,74819,1915,106160,25497,28241,256,15753,14385,15833,40410,40272,15669,14639,25063,41211,14674,101253,7787,80799,14414,40781,99747,98536,98851,14438,25652,56156,976,105370,16405,51222,40862,14926,80471,81073,81773,81677,28277,26715,27516,26359,26823,4224,31517,3192,9916,85514,26978,123366,28251,54122,62089,123265,7333,5861,6238,6027,5285,8194,2792,117675,28416,29998,27129,57186,117098,114270,40173,40595,40491,14333,14683,80429,151231,81087,106211,99168,98398,98735,99304,10911,99645,99849,99768,63078,8226,7884,5988,6157,7222,4095,3104,5213,7819,30351,36733,171932,131968,61700,85756,87083,93214],
+	"label": "floor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [78455,145711,75969,77397,77423,72728,78121,74435,72852,79455,72128,71678,149246,75056,143513,77520,75697,149856,145832,76527,80445,79491,77002,76650,80275,75932,71980,142527,79393,144052,77538,143244,77258,73605,75664,75667,75782,147769,76490,148429,143989,77053,77656,78029,78380,79045,79081,79101,79505,142476,80152,80330,149662,151595],
+	"label": "coffee table"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [51676,51536,113928,50979,52248,51353,53435,53533,116068,53196,53194,114785,50404,50294,50878,50835,53575,50357,51925,117402,52962,115622,116562,116804,117405,117628,49410],
+	"label": "coffee table"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [112955,43837,112065,43409,105088,47625,107068,48423,19554,46907,46556,48455,19638,52937,21541,46876,46353,18624,48436,44584,47987,48260,104563,51788,48302,47157,106450,108733,51550,45176,17913,44059,20364,48311,45379,21138,47030,46795,44915,47808,46415,20330,46206,51180,48655,48581,52401,47726,43772,43661,19635,43443,50802,49192,20170,43854,43521,45864,53049,106997,108174,43466,20651,49550,53183],
+	"label": "couch"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [82582,157164,86652,84161,29863,155610,151711,152845,32395,84080,152225,84169,86070,84350,86521,82356,29463,29306,32849,83178,82190,82045,29454,83720,83306,154819,151891,156206,84177,82566,86298,29561,86425,152336],
+	"label": "couch"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [36092,38072,9749,13660,12333,13530,8549,39396,36806,8292,39614,39199,8955,37600,10831,38676],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [69458,71086,70720,64225,62060,67535,70021,66729,70910,69394,67205,66291,67887,66909,67004,69207,61654,69462,69188,70059,67173,66737,63738,66824,66057,67089,66450,68617,63363,67093,65771,61099,70066,70684,68583,63643,68919,66935,61932,62253,65145,65919,69880,61759,61852,65189,63723,70905,64504,62863,63534,64049,65908,64240,65004,66012,66666,67586,68019,68102,68386,71149,69268,70303,70347,71393],
+	"label": "armchair"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [69066,68770,57235,60149,57900,56488,58666,54585,57736,59356,60688,59105,57758,60509,57809,57865,57946,58529,58581,58638,59427,60127,59449,59824,60102,60289,60602,60964,67098,57628,54925,59264,59069,59845,125554,124283,54121,56321],
+	"label": "armchair"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [9202,8536,11235,13147,8698,11024,11448,8973,14157,13849,11274,13652,13883,9020,9189,13917,9457,10161,10221,10996,11088,11513,14160,12415,12570,12599,12970,13298,13394,13487,13540,13575,13935,9707,13250],
+	"label": "door"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [91142,173368,34859,178848,91962,39930,34415,33999,89836,91382,89387,173065,39639,36446,91501,89573,175502,92255,173304,88361,173699,91019,36650,39407,179211,91361,31846,32612,89156,33458,88748,95146,33857,33875,34136,39218,37661,36372,34149,93474,91467,34490,97439,39894,34767,88011,35178,38653,174625,35306,35470,89226,37093,36444,36479,37108,88374,37242,89462,92703,37514,37793,89047,38802,38936,89993,87135,88609,88622,92999,89280,89345,91048,173389,91506,91604,91612,95606,91664,91743,92006,92017,92127,92216,92345,92594,92888,92940,176137,93016,93109,93431,93699,94059,94349,94438,94481,94628,94822,94971,95168,95555,95679,95820,95977,174854,96396,88260,96514,96573,96598,96914,97667,97753,97839,171878,172007,172149,91635,172311,172535,172539,172550,172568,173039,94555,173574,173636,177823,173683,174766,175504,180076,175815,175914,176079,176222,177571,177686,177715,178942,179247,180135,180203,38467,90384,92288,178653],
+	"label": "bookshelf"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [108066,100505,102836,101835,102526,100513,102173,102046,102184,102776,102905,103757,101281,103930,101155],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [44922,46069,46111,48600,47366,48497,46528,48477,46604,44812,47412,47225],
+	"label": "backpack"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [34977,33512,33677,39938,34146,33913,34700],
+	"label": "books"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [33437,35023,34866,34253,34952,34751,97566,35167,33594],
+	"label": "books"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [32087,36315,36520,32701,32654,32635,91058,33282,35699,36508],
+	"label": "books"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [88646,96611,87273,87881,96331,95790],
+	"label": "books"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [95327,86499,96623,95387,86374,95156,95548],
+	"label": "books"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [94157,94443,92780,89827],
+	"label": "books"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [97033,178277,178281,180316,179029,178292,177912,180278],
+	"label": "books"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [176700,179075,180416,168260,169043,177542,169543,178556,178127,180542,96353,87587,177960,169479,176853,178139],
+	"label": "books"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [170748,169799,168216,168455,167944,168828],
+	"label": "book"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [168647,171125,170439,168730,169052,170255],
+	"label": "book"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [168428,229620,170217,169101,169655],
+	"label": "book"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [160677,160132,159978,158976,158762,159271],
+	"label": "book"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [159896,159416,159563,159129,158416,159196],
+	"label": "book"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [220891,225042,221122,215662],
+	"label": "book"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [218092,216628],
+	"label": "book"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [215299,220824],
+	"label": "book"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [218713,221013,147937,217044],
+	"label": "book"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [210668,210756,206387,138766,211158,206102,205702,208167],
+	"label": "book"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [140511,211655,211365,210694,210748,211318,209065,211343,209647],
+	"label": "book"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [136631,211533,138438,211867,134759,207086,209794,211907],
+	"label": "book"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [205246,199023,210970,206351,204875,198905,141177,138267,199817,211961,204877],
+	"label": "book"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [198964,125847],
+	"label": "book"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [204964,200389],
+	"label": "book"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [193125,192523,196583,202589,197744,190908],
+	"label": "book"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [195862,191038,194888],
+	"label": "book"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [195833,190907,194803,195325,190472,196721],
+	"label": "book"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [193165,196647,190639,194697,197259],
+	"label": "book"
+	},
+	{
+	"id": 40,
+	"objectId": 40,
+	"segments": [185443,184188,185128,185179,184562,186974,187280],
+	"label": "book"
+	},
+	{
+	"id": 41,
+	"objectId": 41,
+	"segments": [161687,164552,162724,169904,171313,165151,166404,162773,162169,163460],
+	"label": "books"
+	},
+	{
+	"id": 42,
+	"objectId": 42,
+	"segments": [164460,176156,162908,162782,161420,163102,163406,166586,162678,164538,161391,166725,163178],
+	"label": "books"
+	},
+	{
+	"id": 43,
+	"objectId": 43,
+	"segments": [165632,165914,166580,155053,154131,152489,166810,155357,155642,158064,154794,153075],
+	"label": "books"
+	},
+	{
+	"id": 44,
+	"objectId": 44,
+	"segments": [164177,156765,157096,222617,164650,163993,156032,156588,152029,222730,222935,156749,154839,154444,156796,153098],
+	"label": "books"
+	},
+	{
+	"id": 45,
+	"objectId": 45,
+	"segments": [156140,155016,153203,147553,145966,146112,144205,212639],
+	"label": "books"
+	},
+	{
+	"id": 46,
+	"objectId": 46,
+	"segments": [212852,222700,150338,145261,152872,213461],
+	"label": "books"
+	},
+	{
+	"id": 47,
+	"objectId": 47,
+	"segments": [134866,150077,144435,213453,139824,141064,136837,145588,148141,139586],
+	"label": "books"
+	},
+	{
+	"id": 48,
+	"objectId": 48,
+	"segments": [148920,146261,135459,137390,212857,144803,147051,207028,138783,148516,136332,149985,149362,207356,138261,148483,150205],
+	"label": "books"
+	},
+	{
+	"id": 49,
+	"objectId": 49,
+	"segments": [139110,137112,140853,126611,138272,210416,139270,137898,202396,125518,198565,138834,139108,139191,199834,201603,200913,205431,207008,210201,136034,137532,140441,126640,138810,137129,137709,139253],
+	"label": "books"
+	},
+	{
+	"id": 50,
+	"objectId": 50,
+	"segments": [138488,207259,207616,137979,134111,138606,134102,137643,137368,207251,209249,210493,132636,136471],
+	"label": "books"
+	},
+	{
+	"id": 51,
+	"objectId": 51,
+	"segments": [120287,127583,125855,128803,127423,195988,129159,120373,119422,121583,125663,126017,126661,128528,128574,128928,130632],
+	"label": "books"
+	},
+	{
+	"id": 52,
+	"objectId": 52,
+	"segments": [119596,118694,117955,118389,120808,188454,120003,118031,184918,121825,120662,121515,121561],
+	"label": "books"
+	},
+	{
+	"id": 53,
+	"objectId": 53,
+	"segments": [130554,130804,125227,200454,130085,200426,189721,201980,199574,129585,122969,127523,123059,130411,130893,130929,200107,200132,200457,200607,198138,201888,113743,201508,123796],
+	"label": "books"
+	},
+	{
+	"id": 54,
+	"objectId": 54,
+	"segments": [115765,114382,119949,117932,119315,118273,189975,120455,192449,190173],
+	"label": "books"
+	},
+	{
+	"id": 55,
+	"objectId": 55,
+	"segments": [186728,113445,189044,110171,110908,109651,183852,112759,109691,108943],
+	"label": "books"
+	},
+	{
+	"id": 56,
+	"objectId": 56,
+	"segments": [182835,106499,105620,106971,182093],
+	"label": "books"
+	}
+],
+"segmentsFile": "scannet.scene0064_00_vh_clean_2.0.010000.segs.json"}

scene0064_00/scene0064_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.999391 0.034899 0.000000 -3.783430 -0.034899 0.999391 0.000000 -6.155420 0.000000 0.000000 1.000000 -0.152881 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 = 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 = 1205
+numDepthFrames = 1205
+numIMUmeasurements = 2519
+sceneType = Bookstore / Library

scene0068_00/scene0068_00_vh_clean_2.labels.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f19c88e5c7e3e48afeea099812b06adde5b2d8e67fe65e33425c04bde176a9b
+size 2961062

scene0068_00/scene0068_00_vh_clean_2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4a10c8103b4e3148082f106ccd06a6fbe6efdcd83eef4ae3b1594a75e3ba3d
+size 2821944

scene0091_00/scene0091_00.aggregation.json

@@ -0,0 +1,186 @@
+{
+"sceneId": "scannet.scene0091_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [83037,71247,3037,40721,4583,1578,117040,6371,5124,44326,5356,46415,66387,46709,68258,44989,68170,68252,1115,72092,67223,20577,2372,8218,5626,55714,637,1744,4846,2625,2586,19676,71482,413,66805,47,72183,5253,73358,12712,72969,72380,73783,71961,49811,107434,58616,104104,83225,57163,19415,37203,22174,55819,57021,83087,3074,11906,49965,39147,8520,10213,8722,12514,40382,39530,40936,105715,107502,104807,106668,116069,105854],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [69616,67356,104114,107173,105461,70110,104888,116924,107238,105327,104170,114810,105375,105260,104529,69232,69445,68602,69511,69679,113242,106928,106870,107891],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [53480,82403,74738,72310,18140,48882,78393,76405,79908,77215,72846,76562,71994,82065,76650,80517,81457,50337,76490,77926,72275,79791,77037,74732,75977,76451,73795,74064,70899,49904,80118,76582,54146,74724,16672,16632,53538,16728,51003,49859,54034,53222,54366,17256,52988,51941,75223,75165,74807,74233,73865,49583,74413,52857,49024],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [4042,3282,3717,3189,26571,3952,3600,33718,3587,3357,3425,3293,2664,3897,3518,1527,2634,2578,1983],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [59929,83285,25316,64443,62983,64748,27298,102124,35306,26705,61332,64363,26889,63017,34690,64244,63276,58061,63730,24135,64335,86753,63072,34730,87052,85839,103578,83778,23670,64589,60881,58054,25438,57627,28760,55131,24799,56352,33296,32619,29845,31073,30123,33323,24744,83523,83722,24629,23918],
+	"label": "wall"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [9243,9511,45863,44298,9960,49614,49018,49214,11789,9338,5676,16331,12270,17194,9959,11299,53152,12524,12556,45778,47811,47941,13519,14450,44391,10839,13872,11298,9019,11005,52568,46943],
+	"label": "couch"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [64459,61763,63362,61988,60415,64547,60529,59052,60023,63435,60074,59582,62116],
+	"label": "blinds"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [8341,35561,37096,38932,40305,5239,37948,36437,39674,35914,40163,40356,39823,36693,46568,45977,36144,41763,36854,42474,37362,36379,44686,39313,46205,6295,39731,43764,4345,41880,41940,5742,40483,38493,37591,37616,6729,40415,4825,7140,7205,8354,36446,39025,36645,37677,37168,37992,38534,38711,39705,39946,40712,41374,36215,7966],
+	"label": "coffee table"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [97756,89460,101407,105294,93422,87957,105198,110663,99670,92384,88755,107999,101362,111645,91738,97612,97863,111738,100105,103540,104048,102601,88535,100705,96024,88735,91652,101707,95623,102940,90288,108672,92209,95835,92966,93702,93882,98358,98834,100312,102398,110143,95540,99402,98414,99864,100451,102840,103739,104975,100838,101186,110233,103675,111495,101424,103881,114723,114273,102298,104030,109018,112153,94532,92993,97931,93300,93492,88660,93517,93739,93900,99478,98562,91527,100880,101295,103684,109925,110177,112233,114534,112439,98411,92058,94070,94842,95778,96155,107901,97497,98846,99309,100925,108136,92010,111508,92171,102351,102635,109575,110991,99399,98109,89399,93802,95918,96879,97289,109037,111371,111740,99170,114023,100983,109975,88226,90473,111771,108741,98812,112562,113811,113066,91323,93029,95007,96019,106259,107095,107906,107956,108073,108306,109195,110264,110270,110308,110618,110847,111010,111087,111234,111515,112059,112948,113190,113285,113633,113918,114285,114699,114750,115101,115348,114642,109496,112593],
+	"label": "shelf"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [108886,109121,117413,76464,115146,119562,76515,111118,111231,107951,78251,113821,114629,119442,112116,119509,77579,112795,115407,117960,108265,109350,79499,105498,109506,114066,72267,76627,71912,120646,74877,71527,116197,78951,77187,76110,69972,77678,118737,118174,116582,118382,106542,118605,78435,105945,81794,75800,72970,116805,118521,110504,113516,120256,120005,111630,117827,119241,67734,108477,70010,79891,105621,118911,105796,107887,109995,111570,111779,111875,112497,113307,114745,115631,116821,118243,119206,119626,119875,120502],
+	"label": "desk"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [81436,71187,80821,79965,78460,78153,79799,70863,78987,78908,77583,73831,76599,77739,75119,75798,75982,80130,81631,80943,82179,76513,75754],
+	"label": "ladder"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [79803,78003,117651,118713,117378,115998,119491,76456,116497,118276,119288,119001,120700],
+	"label": "door"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [82071,81550,80732,74248,52213,76455],
+	"label": "object"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [77001,51118,53973,72072,51201,73042,53674,76541,50474,52382,72096,78332,79390,71326,73815,79689,49003,76038,78903],
+	"label": "object"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [47596,16160,48565,15805,46192,47413,43799,48233,47873,43879,48421,47741,11773,11003,15257,46139],
+	"label": "pillow"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [13605,13411,16342,14288,15757,17638,13798,13481,15758,14702],
+	"label": "pillow"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [13906,15980,13741,14042],
+	"label": "pillow"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [9681,15494,15610,15360,13830,12914,15601,14051],
+	"label": "pillow"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [42116,43096,43222,41323,42914,43435,42817,41529,41804,42477,41776,43130,41544,41967,42782,42876,43008,43064,43069,43383,42271,42291,42414],
+	"label": "light"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [58011,57325,55918,55589,56261,55479,55036,55181,55503,56792,56197],
+	"label": "stool"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [67162,64995,65950,66946,89630,55904,66524,61450,55350,57350,89480,66717,55707,55161],
+	"label": "stool"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [24658,27712,60229,60748,61553,26651,22832,28555,61433,22772,61719,26726,26947],
+	"label": "tv"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [24148,21651,19751,61777,19898,21134,23826,27644,26883,27342,19847,21126,59046,57996,19363,24841],
+	"label": "tv stand"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [25504,25772,24723],
+	"label": "light"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [30335,29234,30422,24926,24287,25804,22792,23303,31715,21211,21190,22056],
+	"label": "wall"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [87500,89413,90191,89121,88202,88365,87411,88610,89670],
+	"label": "books"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [98791,97467,83948,94448,84809,100254,100801,84967,90491,94315,96959,96878,97763,85137,92040,93751,96147,95643,94138,94349,94644,97411,99113,97722,101122,100291,96069,95290,96522,97578,100214,85335,85025,85412,98381,92651,89696,101803,96627,91589,97906,85243,96113,84777],
+	"label": "clothes"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [85207,83474,85098,84663,84873,85697,82926,84342,85665,82903,85212,84992,84637,84929,85590,103959,86726,84937,86701,85501,86107,86019,99305,102173,103596],
+	"label": "object"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [116968,115969,110375,104724,104414,104687],
+	"label": "wall"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [117269,117355,119587,117699,118753,120328,120495,120702],
+	"label": "mirror"
+	}
+],
+"segmentsFile": "scannet.scene0091_00_vh_clean_2.0.010000.segs.json"}

scene0091_00/scene0091_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.342020 0.939693 0.000000 -1.057570 -0.939693 -0.342020 0.000000 4.322180 0.000000 0.000000 1.000000 -0.069560 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 = 1550
+numDepthFrames = 1550
+numIMUmeasurements = 3258
+sceneType = Living room / Lounge

scene0094_00/scene0094_00.aggregation.json

@@ -0,0 +1,132 @@
+{
+"sceneId": "scannet.scene0094_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [69586,65636,41477,27557,48604,1103,48622,2292,48697,27013,49751,41100,48886,38744,39026,41165,3406,27140,12077,26203,39810,53687,3273,27037,77000,31844,18992,77829,77616,49815,13615,12231,13017,2728,12445,13730,41563,336,2329,13355,12462,13791,13680,362,849,1557,1921,49811,40672,1033,1370,421,52547,76929,77077,2802,29505,2193,29466,26461,27280,39340,3419,70671,2937,40700,76922,93243,92960],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [17605,25530,20939,15491,25032,14392,17793,17870,25406,22346,15023,18587,15073,19240,16915,15330,18325,25222,12497,18392,12214,18280,18602,27301,20787,28614,18794],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [67673,67829,67863,66574,66554,72497,67092,83959,66796,67466,66642,67956,66694,66882,85304,85268,66655,67494,67286,85372,85397,67117,67539,84123,85853],
+	"label": "sink"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [44185,45050,43046,43238,44466,43662,42019,44135,40415,45509,41853,44137,41378,44279,46055,45353,45961,40564,45141,46303,45357,45536,45092,45633,45169,39705,46711,43172,43652,39036,42608,45777,43271,40869,39191,44694,42910,42015,39562,40359,41392,44303,46341,43948,40356,39368,38701,38969,40317,41132,40535,40833,41816,41908,43763,43121,43152,43338,45714,44250,44281,44986,46029,46668,46690,39158,41535,44105],
+	"label": "shelf"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [73989,71124,71696,52446,77199,73554,59900,70490,64689,78891,70368,65227,78571,64839,65883,65259,64902,64146,54979,65215],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [74438,76495,75728,76287,75229,92541,76242,75043,90413,73411,74556,75832,72766,75143,75027,76027,75372,75908,80499,71861,74615,92448,79872,90334,75266,76440,76422,74380,76534,76584,72050,71812,72017,72068,76472,74246,75680,76081,76097,76141,91063,76200,76391,76458,91304,92479],
+	"label": "cabinet"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [16781,17851,11723,15534,12709,11339],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [24839,13961,21207,16733,13537,22605,22449,24918,16875,14601,18120,24529,19838,23478,14032,15352,24123,21051,18989,11631,21771,23028,21391],
+	"label": "stove"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [88090,69052,86916],
+	"label": "ceiling"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [62138,82030,61989,55381,63297,57585,50701,62088,60957,58776,62267,63074,58600,61758,50627,57201,60501,62376,60859,60871,62403,61046,62392,62109,63304,62232,82716,62518,62745,63432,50590,63505,68054,69250,60257,61038,63720,61961,81018,82499,82769,63443,50785,86230],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [68860,61827],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [88484,83951,88809,84106,90262,80961,83893,87026,85670,89746,91174,90154,80574,80638,82041,84702,90219,89745,91266,94140,93676],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [72595,90514,90669,91492,81326,83553,83008,60733,58481,73457,57304,55735],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [74147,72506,72494,90582],
+	"label": "sign"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [55536,32554,34859,53731,55902,56578,54455,51584,36551,52510,51336,52458,52732,53283,56097,55608,56952,56012,58724,57610,58784,59008,59697,59717,60270,53431,51614,55205,32588,53418,51956],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [36262,37739,33099,32766,10443,36213,35151,34788,35531,38018,37213,37471,36800,33510,37510,37795,31191,38339,36508,36579,4833,34235,35426,35342,36701,38035,34046,33430,34902,36954,30869,37674,34757,6655,37776,38158,31053,31393,5616,33344,33393,33872,33980,9343,34034,35940,37398,30270,37787,35336,34763,33002,31197,35884],
+	"label": "refrigerator"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [22858,16080,23511,23689],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [22634,19075,20648],
+	"label": "kitchen cabinet"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [30799,29666,50406,30930,30645,50546,29749,30570,50219,50477,29649,29624,29686,29716,30070],
+	"label": "window"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [78013,79295,78461,78072,80486,79596,78443,79192,78521,79919,80191,80294,80118,78287,79399,76795,92967,79446,93203],
+	"label": "sign"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [7778,6792,5907,4845,5691,4182,9530,7968,5695,8522,3354,7491,8324,6433,6814,4471,7192,5628,9721],
+	"label": "cabinet"
+	}
+],
+"segmentsFile": "scannet.scene0094_00_vh_clean_2.0.010000.segs.json"}

scene0094_00/scene0094_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.999048 0.043619 0.000000 4.217360 -0.043619 -0.999048 0.000000 2.149120 0.000000 0.000000 1.000000 -0.055318 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 = 1105
+numDepthFrames = 1105
+numIMUmeasurements = 2333
+sceneType = Kitchen

scene0160_03/scene0160_03.aggregation.json

@@ -0,0 +1,96 @@
+{
+"sceneId": "scannet.scene0160_03",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [38799,43945,41148,54757,44687,55531,44326,43703,56966,45591,46606,42039,55783,45670,49887,45628,43885,38309,40053,44704,41065,53314,42496,50636,42105,44448,38587,42304,43419,45751],
+	"label": "coffee table"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [22494,14702,20316,29663,20016,28360,30295,28929,19523,18407,13241,21280,23057,22720,22445,18903,17662,24968,19021,19070,19250,19545,30316],
+	"label": "coffee table"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [63276,65598,64125,36238,64477,64790,65387,37573,37471,65729,61277,63804,65539,64977,49260,64958,64969,65104,65229,36987,36585,37587,37241,37430,37547,36417,36370,37298,37092,37490,37042,37479,36893,36506,37427,37526],
+	"label": "wall"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [6310,4079,14534,12371,2372,7717,6911,16778,18043,7871,5732,17174,4640,11799,20280,5515,15693,1145,20034,15495,14806,15419,16011,5712,12028,15378,8028,15726,168,6378,2003,1071,15630,1624,201,2083,12829,1543,6477,7958,1195,16961,1449,828,15778,7511,2704,7346,785,20615,15637,11907,116,4381,5986,6560,5901,6862,12082,8021,12443,3243,3995,5219,7025,5896,2463,2946,4288,7708,2962],
+	"label": "couch"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [35972,40249,49127,48635,35853,41199,53607,64279,50688,51528,53330,37599,53139,35727,51973,51705,40089,53661,53773,36271,49759,48759,54183,53592,49812,53379,54331,49541,49305,49087,49797,48549,36037,49608,49219,48462,39385,51081,50111,41281,41755,40139,51715],
+	"label": "couch"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [58837,59648,58119,58425,59509,58933,57008,58316,56058,54492,67370,55032,55358,56340,55602,55548,57587,55982,67412,55392,55866,67377,60429,60639,60393,68199,68257,68029,56758,56322,57532],
+	"label": "couch"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [56448,51542,38971,40164,46321,59921,38700,34555,35049,35031,67112,63654,46669,59827,66027,9289,44044,34760,46861,56248,14094,46844,34659,63146,47746,40152,29552,47040,46949,47209,62887,48231,59610,51983,47914,24802,48183,59126,60056,47640,57939,56345,44434,43455,55494,55128,63054,66849,66216,54980,57516,62635,63789,35668,30087,67076,66381,64374,62615,62664,61571,51019,52517,50930,37785,41402,40701,30239,28675,28144,30599,31245,32589,31390,28917,22784,21644,22314,22027,21903,29753,39319,28272,22299,21756,8892,17820,12380,30644,43237,17409,18448,13922,24963,14261,24426,23835,45522,59501,57302,66446,55735],
+	"label": "floor"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [24725,26200,25448,24651,24207,24261,23622,24141,25289,25189,26392,26508,26042,25859,26715,26457,26255,26607,25662,25874,26684,26801,26500],
+	"label": "chair"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [2939,10020,2455,8920,9159,9673,6935,8819,9402,9169,11269,11600,8415],
+	"label": "end table"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [10369,6189,9777,11051,4323,10255,10930,5652,11667,9827,6611,9789],
+	"label": "lamp"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [45970,45847,45795,46032,45908,46038,46102],
+	"label": "candle"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [19369],
+	"label": "candle"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [29850,33066,31039,32729,31983,28186,32250,32292,30785,33516,33877,29954,29245,41388,39594,40409,29775,38346,32649,31211,32182,31466,32889,32706,32940,29035,31790],
+	"label": "bench"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [7803,2129,5948,942,1585,9780,1230,1401,1356,1176,1286,5782,5996,6332,7007,11377,11146,8025,7416],
+	"label": "wall"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [12685,12189],
+	"label": "end table"
+	}
+],
+"segmentsFile": "scannet.scene0160_03_vh_clean_2.0.010000.segs.json"}

scene0160_03/scene0160_03.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.920505 0.390731 0.000000 -3.999850 -0.390731 0.920505 0.000000 -0.736771 0.000000 0.000000 1.000000 -0.033821 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 = 548
+numDepthFrames = 548
+numIMUmeasurements = 1141
+sceneType = Living room / Lounge

scene0206_01/scene0206_01.aggregation.json

@@ -0,0 +1,228 @@
+{
+"sceneId": "scannet.scene0206_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [158826,191311,121605,162391,188376,185129,155658,82328,152507,190516,154546,147771,155102,150836,192613,86491,186023,131120,91716,161027,97714,157421,92357,181863,79292,192589,128621,156326,185449,153598,124179,120683,123489,158221,119062,120715,178482,154277,150124,156249,99152,90347,90791,123323,87544,152818,88778,84287,189657,157149,123177,163111,125966,89116,88381,164717,89470,154887,126592,123471,127949,120934,93762,92189,92489,120557,125260,91430,88790,193645,126310,92175,150179,157618,164323,177075,82905,183474,155433,155562,91273,186342,98646,155418,91755,91055,185329,188508,156315,188852,91582,87111,90603,126554,129569,163247,123880,121203,126884,126724,89789,79938,90962,153452,125299,191563,163149,127261,118533,156289,79293,81297,157126,84117,152596,84356,181977,180623,153875,95916,84424,190751,158100,127658,124166,84436,152544,84629,161161,151229,84879,177355,85295,85478,186942,85758,85847,189417,97949,85947,182432,86344,128895,86402,183123,86747,86826,86930,86933,179036,86947,130914,98596,87094,87133,87170,118881,87199,87212,120745,92208,87429,87543,124897,87562,87631,125381,122570,88033,88115,193617,88186,191009,88483,89069,190198,89804,187665,177934,158189,154064,89849,89940,90465,121480,90515,121773,90994,91052,91368,91728,131357,91871,91987,92200,92709,188410,157534,92763,92932,189314,93610,93611,184521,156836,93674,93780,94429,124938,94467,155222,125917,94520,188084,94616,123652,94639,193580,183637,132438,123925,94969,191442,160364,95031,95050,95435,156293,95852,156939,121025,95911,158048,96004,158972,96100,151218,96329,96382,96555,96565,96639,190900,131485,123276,96935,97016,97336,97463,97565,97851,189265,97928,160115,98252,191398,127800,98469,98674,181515,98898,99124,158419,99186,99426,192251,189514,99533,178337,99658,122751,99864,162764,99872,189430,117994,118486,120282,118649,118876,186008,129312,118894,119001,193360,162999,119005,119067,119120,119149,119489,119506,119831,119960,120377,120502,120614,184956,120915,120947,121044,192643,188302,121104,125499,121114,158986,121349,193853,161400,121408,193376,122866,121695,121956,122083,122164,122209,122367,122510,182914,122572,122802,122856,155745,123021,123157,123751,123210,123363,177983,123664,123930,183755,124163,124178,183799,151671,124251,124519,184753,124611,124615,156753,124842,182835,124982,125211,125305,125374,191088,163365,125869,126207,126422,162273,126530,153767,127069,127155,127611,131394,127981,186839,128306,190801,128815,180180,128838,151897,129068,164692,129592,129901,130098,130497,131709,132323,132665,158911,147711,148063,155335,150283,150741,150808,151255,151541,152002,152299,191983,152825,153204,192333,153424,153610,153761,154237,154523,154610,179070,154629,190012,154923,154935,155033,155847,156343,156558,156578,156751,157311,160100,157357,157549,157972,192429,158065,158197,158801,158889,158938,159203,159444,159476,186233,159619,159736,159852,184210,160171,160251,192657,160471,163991,160766,182359,161228,161517,162155,162269,162515,163091,188587,163872,164713,177341,178885,177707,178464,178933,183628,179958,180193,192511,180371,181209,181464,181544,182011,182509,182137,182151,182196,182350,182520,183208,183687,183852,184170,184535,185148,188086,185639,185736,185936,186477,186770,187423,187621,188069,188351,189283,189345,193822,189571,190020,190195,191638,190830,190847,190963,191229,191716,129753,191750,192846,192912,193123,193633,193686,193782],
+	"label": "shelf"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [114298,114949,113522,114765,113122,111915,112384,111187,112202,114723,111226,114111],
+	"label": "monitor"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [34460,32292,34012,36022,31787,30645,31009,36422,30838,28569,31128],
+	"label": "object"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [174332,174594,175416,174748,174350,174164,175238],
+	"label": "box"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [139324,173307,139163,140189],
+	"label": "box"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [101146,143330,101689,141452,104053,142808,101884,142211,142921,141458,142370,143100],
+	"label": "box"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [10781,6179,7130,10863,17204,9521,10974,10523,1646,10398,12788,10278,5675,12502,7187,7729,61422,13481,7699,17033,10465,13594,15601,6848,16658,16558,12444,3836,12160,15821,4906,5970,11062,11719,8117,6967,7763,7750,9191,4514,16772,1777,16377,1560,10621,59638,8183,15904,16357,7586,6401,11533,4873,2402,13579,4563,9986,7617,7469,57709,15790,12886,13479,8176,16670,1444,3846,5163,5678,10168,10871,11381,15843,11409,12717,15622,15983,16478,16584,16600,49809,58436,58598,60817,4949,2866],
+	"label": "window"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [69440,102799,73431,143287,105311,72570,144410,73554,140682,144038,144305,106507,105964,73542,145367,144316,27279,70966,27487,106185,24643,106418,70633,105504,25867,106107,72289,22940,72554,25454,143440,26936,24570,24673,24766,23537,25110,144979,25807,20169,70419,140771,145475,144649,141876,143286,21558,141988,143223,102663,66758,20099,20223],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [213445,54325,215472,52470,216025,212108,215655,187758,215861,215353,213991,55322,60824,215177,54798,215194,215111,213845,61172,213399,54398,100419,215184,211988,161754,210171,213331,60857,207905,218878,55291,218290,218549,210608,218356,52687,83384,218190,218792,95372,217868,55478,54274,218595,59343,134006,218234,100348,208461,100842,165043,58614,133522,55462,134204,55238,59855,53528,100243,55089,100021,134325,53299,194027,161779,63715,52259,53020,53257,53537,53828,54852,55408,55680,60346,55832,55885,55973,56231,56424,57021,57138,57362,58206,58260,58324,58667,58679,59341,59371,59699,59794,59869,60035,60755,60810,61071,61470,61619,61938,62353,62417,81267,94546,94586,94669,97022,100016,100483,100671,100686,126756,132856,132914,133244,133342,133476,134076,177017,208684,217338,218074,218287,218719,58969,192665,190935,132661,130284,130684,164364],
+	"label": "wall"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [170784,169885,170355,170271,138110,170170,170752,136382,137311,195877,137286,137962,167814,170561,165633,168666,168130,136446,136355,195866,168948,136191,195196,167904,195313,167952,136236,135042],
+	"label": "wall"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [152330,150155,148541,149869,150087,153554,149805,147496,148940,148962,150569,147575,149008,148523,149388,148399,149502,150480,148262],
+	"label": "chair"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [77458,78399,76678,76186,77995,77771,74731,75137,75294,77637,74527,74397,76747,76333,75677],
+	"label": "chair"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [67470,68170,64389,68793,65065,67243,64689,68778,71275,68507,67677,66898,68939,66999,68030,68145,68354,69146,70955,69130,71293,64485,71412,64602],
+	"label": "chair"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [175585,171963,175331,173183,173210,172929,173494,173930,171526,172850,199503],
+	"label": "chair"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [64073,81710,74814,83399,178614,149737,28286,80743,203730,75774,147786,64778,149141,150595,64045,195351,102909,172953,194447,205181,80567,65578,165345,180978,149433,117531,102664,64502,178510,178181,180607,106850,149197,178563,150019,116806,107773,208391,208224,209141,66063,207826,203905,39756,74423,146737,216651,217223,75267,76058,217413,138399,40064,206497,176893,66454,109915,81537,198107,147861,117243,75547,74346,81293,134835,29326,140976,139444,171797,134898,140059,171140,135950,134990,79584,165498,165404,165826,140149,82319,82825,198110,165987,83315,180497,210258,82961,81777,205338,216736,216680,171154,74180,29865,41635,81226,80223,38924],
+	"label": "floor"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [31731,34627,36936,35917,32190,21998,36948,33452,21286,23066,34968,36371,22242,36504,22492,20160,35593,35585,34244],
+	"label": "box"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [93169,93199,51922,93214,93311,133152,93428,37677,37731],
+	"label": "ceiling"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [206996,201137,207307,202138,201027,201136,206902,202153,175205],
+	"label": "table"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [108303,78225,78726,107796,114470,114198,107443,110695,113113,110375,114202,107126,74189,76923,77684,109489,107729,78009,107906,78389,107193,111684,109122,107200,108361,107256,107533,107599,110384,109335,109266,109268,109315,109321,110305,110339,110791,112254,113568,114790,108023],
+	"label": "table"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [172107,173579,172396,173617],
+	"label": "bottle"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [143468,138608,140402,142780,144453,143246,144544,142305,141379,145112,145678,139347,139183,140442,141035,142756,144039,144415],
+	"label": "tripod"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [77741],
+	"label": "mouse"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [111534,114485,114474,111747,114340,109639,112036,111280,113432,111909,113178,114361,109754],
+	"label": "music stand"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [114733,78630,77665],
+	"label": "keyboard"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [115699,116102,116984,116655,115917,117338,116448],
+	"label": "box"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [117720,119828,121598,122236,120975,119072,116323],
+	"label": "object"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [125355,125559,92046],
+	"label": "box"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [211386,208816,211146,207377,210892,207827,210702,209103],
+	"label": "trash can"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [213196,209069,207853,210388,212738,213844,211775,214426,210557,211955,210851,211694,212522,214947,214091,212145,213681,211755,213942],
+	"label": "tripod"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [217056,208711,217518,217453,217363,211059,211374,217125,217312],
+	"label": "recycling bin"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [106806,106594,103431,103570,105122,70784,103433,141283],
+	"label": "whiteboard"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [70388,18791,71843,23071,22801,67345,69783,20042,64965,21323,23472,24098,68763,67109],
+	"label": "box"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [13832,18426,58797,7864,18063,51877,60005,51388,14327,62876,51933,63382,14845,14758,6190,14813,1183,12126,11148,120,13732,63623,14362,14709,14532,14639,15255,15461,17866,17924,18047,18132,18481,18654,18577,18592,52245,18666,3012,18667,62481,62161,3296,62627,63331,63471,14948,52177,14211,15283,52140,18493,62267,57416,13964,17903,18126,6466,1173,136,671],
+	"label": "wall"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [56196,55146,60311,47000,48209,57141,59441,48666,53399,54878,54357],
+	"label": "box"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [50302,44853,51824,51750,85270,50457,50697,50419,51765,51275,51416,43123,45685,43894,41870,51761,47612,45925,50299,44977,89382,41896,45436,47852,47809,49564,45940,38538,39881,39398,39028,83103,41789],
+	"label": "object"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [85125,88771,88772,82940,89783,84509,84272,81500,89794,79896,81678,88651,90077,82889,80717,83363],
+	"label": "stand"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [34254,43728,33586,42794,36586,32900,34947,47228,34298,30936,35076,35085,36409,36601,38958,35706,33875,46106,35483,46880,32486,33163,30851,35929,32276,47795,31962,36231,31179,28198,48723,43055,48484,32499,35137,42773,44707,44852,47755,32864,46119,46164,48860,44114,46887,40409],
+	"label": "object"
+	}
+],
+"segmentsFile": "scannet.scene0206_01_vh_clean_2.0.010000.segs.json"}

scene0206_01/scene0206_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.095846 0.995396 0.000000 -2.709210 -0.995396 0.095846 0.000000 2.713410 0.000000 0.000000 1.000000 -0.114338 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 = 2190
+numDepthFrames = 2190
+numIMUmeasurements = 4571
+sceneType = Office

scene0232_02/scene0232_02.aggregation.json

@@ -0,0 +1,198 @@
+{
+"sceneId": "scannet.scene0232_02",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [17049,21071,52966,15094,17903,20632,41909,42771,43890,40516,18105,15944,40830,14207,21462,10991,21501,20782,12387,16436,17950,21581,20988,14776,21530,41556,44023,14698,11301,43840,13413,13364,13812,12637,43275,21435,12927,21225,14318,23843,46770,11461,52853],
+	"label": "washing machine"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [48401,46996,23252,24500,24564,24630,24045,48536,24521],
+	"label": "clothes"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [41560,42081,12470,34117,34371,31004,42967,38327,38434,45206,38644,39688,39685,7314,45306,46334,45360],
+	"label": "floor"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [47998,22616,22880,53068,50717,23243,23218,50805,52430,51855,52795,48423],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [8722,42365,34625,40678,34579,39643,11511,36301,43523,38964,39125,38788,7281,43701,7386,7678,11002,30798,32722,34520,34606,35133,37204,39630,41922,39678,40078,42971],
+	"label": "toilet"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [62892,60768,60762,64188,60799,69282,61004,63478,65610,68990,71291,67439],
+	"label": "door"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [48540,26739,23823,54216,56497,25239,23124,21950,21919,24079,51512,50937,57548,55833,26443,25574,25830,25300],
+	"label": "cabinets"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [32683,35161,37113,35695,36278,32775,34635,36780,36551,35555,37009,37715],
+	"label": "bathroom cabinet"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [41431,46336,49829,45314,49583,47610,44926,52530,50099,43499,53104,50668,52698,51218,53745,43760],
+	"label": "clothes dryer"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [19645,17584,9837,19370,9150],
+	"label": "picture"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [35620,36873,34861,35403,36283,36615,36143,37299],
+	"label": "sink"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [35539,29836,9005,27469,35253,38060,10229,8719,9934,38037,29103],
+	"label": "mirror"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [9248,7643,29620,12181,16219,9834,9579,11952,14522,10737,11523,12605,16461,18246,14028,18225,17980,14634,13237,18268,18543,14817,17715,19666,15298],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [13617,10335],
+	"label": "plunger"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [34011],
+	"label": "toilet paper"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [34574,34308,33989],
+	"label": "trash can"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [35343,32447,65340,27697,65333,64429,64769,27460],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [27282],
+	"label": "object"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [27345],
+	"label": "object"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [28305],
+	"label": "object"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [28039,26834],
+	"label": "object"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [27622,29330,27576,27629],
+	"label": "picture"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [65488,69705,68888,70254,67876],
+	"label": "wall"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [68737],
+	"label": "object"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [69831],
+	"label": "object"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [71186],
+	"label": "object"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [70800,70322,67488,64562,64697],
+	"label": "doorframe"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [66812,67966,67809],
+	"label": "object"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [44619,44241,54613],
+	"label": "wall"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [19824,55851,55115,72561,56709,55097,26078,57459,57247,55969,56135,54634,57903,56549],
+	"label": "ceiling"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [50572,47038,51601,51776,47269],
+	"label": "paper towel roll"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [23282,16693,22515,17781,23931],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0232_02_vh_clean_2.0.010000.segs.json"}

scene0232_02/scene0232_02.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.965926 0.258819 0.000000 -2.215940 -0.258819 0.965926 0.000000 -1.212570 0.000000 0.000000 1.000000 -0.049723 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 1938
+numDepthFrames = 1938
+numIMUmeasurements = 4171
+sceneType = Bathroom

scene0278_01/scene0278_01.aggregation.json

@@ -0,0 +1,132 @@
+{
+"sceneId": "scannet.scene0278_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [30318,25283,937,47167,32135,30662,24576,30774,31666,31786,26548,25227,9489,9142,41829,2194,9913,45639,42533,26658,43078,41895,54510,1268,54866,2266,56171,65425,64072,56652,58062,54435,56793,1295,58006,283,54335,2233,7786,47201,8533,8999,17057,10131,16534,26240,43386,54534,56683,58304,71330,56326,71880,802,46360,46923,56831],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [45996,46396,50091,48685,47049,45645,46643,47046,58385,45397,45537],
+	"label": "chair"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [56649,58971,59772,57199,57036,57525,57881,56986,57284],
+	"label": "chair"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [12600,14668,10206,13228,10870,10525,14604,11577,8221,12603,368,11898,14077,1597,204,12650,983,10063,1435,1668,1110,97,8402,1380,1111,1121,8495,14020,14834,8960,9699,10150,10301,11131,12962,14732],
+	"label": "wall"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [69656,69476,73731,66759,66613,75618,68090,68245,74131,68202,73906,75470,74378,66382,65826,69059,68306,75126,75193,75380,76444,77096,68077,64701,63647,66864,71291,74044,75247,75350,76389],
+	"label": "copier"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [46025,49705,49999,35337,33325,46153,31977,47463],
+	"label": "boxes"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [55059,41526,54063,26002,55531,44549,28865,29121,65261,27898,45065,6911,23011,44520,54718,28624,28864,55721,55311,27247,28871,28688,44834,12647,64836,13920,44355,66773,7038,27511,9400,25307,11637,41750,12404,55799,42942,23113,53705,24948,54328,26490,26987,45075,45128,54553,55288,64771,66458,66502,68172,68564,63043,11994,53241,22924,22763,39955,51871,53375,61796,14579,11767,14227,63026,62790,63086,26418],
+	"label": "cabinet"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [31125,34859,35800,33115,34416,33704,33988,32605,35370,34099,33451,35885,35857,17796,15207,33073,34641,18798,18454,16852,17320,34960],
+	"label": "cabinet"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [4574,4192,17692,16612,17903,5034,15183,16316,2082,17212,3535,3041,5145,5176,18684,15079,15919,17204,17637,18103,19101,18267,2964,19092,14949,14990,15637,2319,2794,3304],
+	"label": "trash can"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [3105,3859,4510,4435,5045,4119,4373,3072,3842,3596,3583,1736,2627,2991,4521,5053,5081],
+	"label": "trash can"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [5216,6237,5630,38638,38908,39148,6132,60918,74062,21684,5603,5754,5872,20179,20284,20551,20561,21349,46157,21596,75795,34058,38723,38852,39512,46929,47831,56192,80041,59507,80022,56876,5810,57274,57387,47065,21439,21217],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [49595,51437,51794,50284,36280,34946,77450,33775,37714,34782,51688,61072,61455,74687,77393,81952],
+	"label": "bulletin board"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [71816,71048,71205],
+	"label": "bucket"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [73070,72143,80154],
+	"label": "broom"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [78317,81893,78489,81825,77924,80903,80844,80155,80932,81182,79591,81670,80982,70076,77764,82758,79242,70201,79928,82610,77984,82722,79865,77980],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [67047,70112,69576],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [66994,62994,70036,63878,63322],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [52422,41630,51835,39764,43945,44874],
+	"label": "paper cutter"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [53314],
+	"label": "paper"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [52786,7452,63040,52535,22454,52103,62042,40550,23775,23410],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [7064,12068,7982,11891,10907,14810,7068,6830,12177,14069,13279,10454,14626,12120],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0278_01_vh_clean_2.0.010000.segs.json"}

scene0278_01/scene0278_01.txt

@@ -0,0 +1,17 @@
+axisAlignment = 0.069757 0.997564 0.000000 -1.775500 -0.997564 0.069757 0.000000 3.782880 0.000000 0.000000 1.000000 -0.066430 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 = 716
+numDepthFrames = 716
+numIMUmeasurements = 1502
+sceneType = Copy/Mail Room

scene0307_00/scene0307_00.aggregation.json

@@ -0,0 +1,246 @@
+{
+"sceneId": "scannet.scene0307_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [218118,236909,216298,221947,234995,230739,215829,216502,234978,235043,235217,236467,236899,237052,236279,235513,214398,236233,222092,236799],
+	"label": "door"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [251897,348546,254871,346930,369586,253638,349154,367620,248693,249314,313247,252502,252043,253862,253965,353108,354183,256980,323141,323524,349074,257255,259239,259516,346134,259965,260096,369388,314004,317639,322717,368496,347302,347548,348280,349402,349441,354715,350232,351717,353823,354194,353735,353906,354208,368906,354919,355656,367899,353426],
+	"label": "wall"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [320817,314674,310485,321984,322452,319991,313969,317544,316978],
+	"label": "door"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [314771,314955,315301,315794,313641],
+	"label": "laundry detergent"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [349142,347586,346773,347591,348966,346938,347216],
+	"label": "sink"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [350270,350986,348420,348225,349146,341488],
+	"label": "sink"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [161753,170343,177895,172767,172784,170309,177067,166639,168996,177002,166018,154749,164426,170768,179429,170781,173200,174638,176323,176568,176658,177250,178255,177360,177505,177574,177597,177802,177992,178620,178784,179578,251694,167610,163889,178262,259484,177509,251328,253779,255583,257627],
+	"label": "wall"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [165738,166676,176070,174623,162933,176039,158430,166889,168050,175698,165813,162112,173858,173576,166236,159549,162463,167666,176944,166025,162077,163508,165387,165740,167224,168076,159613,168374,173930,176342,174156,174667,176970,175013,175294,177142,175325,175734,175739,176182,176500,176663,248345,160772,158390,159870,162442],
+	"label": "radiator"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [167759,244692,238884,244580,148619,244349,151477,149048,245014,243142,244111,244296,165358,165245,237548,168168,167012],
+	"label": "table"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [87412,90845,142130,145357,144450,144170,158031,87181,156138,151561,147888,145112,146497,146567,88179,142832,90339,156628,141164,86642,155450,146889,141768,146261,153927,89716,140211,146047,140845,143089,140917,145895,141166,147864,141697,141440,147949,141506,141695,147963,142245,142299,142348,142349,142669,142804,142836,142894,154859,145732,143162,143242,149663,143340,143563,144463,153584,144826,145455,144996,145105,153274,145642,148983,145967,147900,146436,146562,146662,147354,146864,147988,149265,149462,149524,149615,149881,149926,149984,150937,150978,151298,151506,151838,152179,152390,152527,152850,153898,154036,154485,154199,154438,155521,155668,155820,155948,156314,141403,156537,156679,165985,156847,157190,157387,157610,157702,158208,152543,151820,154396,137108,142533,143684,143886,144709,167706,145294,146754,147184,147775,151707,153012,154578,154722,154973,155031,155848,165975,167521],
+	"label": "shower"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [153087,155995,132385,138812],
+	"label": "wall"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [131928,128411,132643,131756,131198,128463,131806,128863,138746,132324,132476,132575,135265,215365,132921,133338,133357,133707,135342,136545,139110,229005,224130,135962,137339,230242,230663,134292,136564],
+	"label": "doorframe"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [62479,123221,120653,125531,61629,59424,122021,63029,58874,60223,125993,120976,53216,53310,58095,58803,63984,59145,60078,60826,63985,62182,63530,63158,63565,122245,64631,122008,64651,121167,67996,122442,74311,122300,121547,121795,121908,121994,122662,122714,122750,122813,123015,123141,125547,125940,126097,125895,58090],
+	"label": "drying rack"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [269990,284616,268783,272648,283608,205357,270554,206374,271417,206829,272452,272783,284725,274197,279443,280618,281380,281766,283634,285857],
+	"label": "water heater"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [203047,273001,197151,198724,198979,199724,200491,202917,202395,203159,204300,203852,276315,199142,203705,270060],
+	"label": "water heater"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [33899,34257,12003,34007,106262,4500,34442,37719,39126,105343,110027,9622,11894,113575,52296,33171,110105,16668,99126,16248,9373,3068,16299,109603,93665,98547,8659,94802,7083,92618,100527,32943,32437,14363,16238,2523,5319,4920,32808,39821,32553,103020,6507,38389,6503,3160,37218,16209,4121,4235,39506,5942,11535,103128,6317,33783,7491,8620,8686,53072,8802,32749,10099,11110,111121,11281,114002,12586,12833,13117,48149,14647,33981,48488,104773,15161,15098,15303,98969,16187,32540,17015,32929,32979,32989,33081,33387,33475,33590,33595,39774,33693,33925,34085,34154,35586,34217,93291,34227,34241,34892,34547,48954,92168,34635,34682,34788,34797,34807,34817,34838,34966,39903,40482,35065,35129,35165,3116,35404,38510,35771,36046,36072,36260,36301,36534,36591,36810,36822,36860,104058,36985,37016,37049,48647,113708,37055,107194,15909,37056,37430,37500,37521,105335,37539,43352,37601,100751,38081,102233,38178,38629,38754,39027,39082,96115,39670,51588,112863,39694,39872,52866,101615,39876,39944,40102,40581,40672,40734,40745,42333,44310,44381,44806,44942,45089,112993,45375,45488,105833,45773,45820,46014,108710,46083,46384,102899,46452,114149,47115,102871,48121,48593,104668,48817,49577,111875,49769,50195,50453,50540,50756,102465,106326,51319,52527,52710,92227,92231,93126,109266,94109,98799,94159,95707,105062,7400,96499,106479,96797,97994,98480,99054,99257,3036,99744,100721,100678,102651,100754,100954,101460,101714,101775,101886,101926,101935,101981,102021,102050,102281,102371,102489,102628,102746,102758,102810,104247,102990,103003,103022,103066,103079,103158,103470,2731,103486,103540,103842,103849,104120,104164,104465,104626,104762,105181,105324,105730,105910,105998,106308,106683,106888,107356,107507,107693,107738,108006,37227,111264,108606,108608,108621,109635,108766,108830,109027,109427,109519,109824,109876,2585,110278,110751,111082,111123,111137,112366,112453,112841,113026,113106,113167,113194,113351,114253,114280,114310,114458,114636,114733,114942,114956,11187,2577,2872,3103,3198,11972,13506,15622,16513,17349,37732,40723,98114,38219,36845,37272,108905,4332],
+	"label": "shelf"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [31565,28630,12191,21848,24604,26356,26254,7812],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [30450,24957,31186],
+	"label": "window"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [15758,14533,23563,22554,17354,14808,26921,5874,13656,15062,9499,12083,14126,6342,20801,23907,17409,25856,11004,22907,18343,26224,19512,25348,20895,10121,6501,20607,11904,18488,20933,26988,12807,27948,12330,13483,46,10764,24779,24679],
+	"label": "window"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [47233,49655,48659,62368,47024,57676,65071,53122,61032,49752,61200,58385,49119,61824,63577,48606,59506,47304,48161,43413,58913,55423,46933,41061,48874,43296,42437,56614,55003,54519,43276,43593,49169,43642,44433,48248,44703,44706,49732,54244,44710,44784,45217,45334,45763,46241,61398,46362,60588,46654,46697,56821,47164,47881,47970,53134,48183,48836,48908,62029,58494,49245,54008,54324,54947,60948,55115,57255,57457,57576,57617,58755,60243,60375,61123,61515,63115,63263,63608,64089,64094,64300,64347,44332,47681,47627,44820,45166,46369,42827,43014,45547,49538],
+	"label": "drying rack"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [223942,220354,211232,219439,220687,214412,210415,227036,216745,283969,218631,219164,218135,218782,216474,281599,225303,224962,223005,218984,283810,287422,214245,294002,283171,225612,283951,215895,229176,214318,284566,289760,227615,91972,228086,217532,226448,285682,226062,213938,224670,213795,213956,228497,214259,228205,218177,214321,216963,218863,220359,222641,223088,223429,224887,225250,226645,230591,227794,228478,228445,228449,228837,229211,230434,230814,280560,281906,282027,282157,282332,282405,282779,282895,283580,283670,283748,283802,285142,155238,285548,287078,287324,293682,298354,299564,300726,306270,306860,132797,130394,128604,90571,155571,137170,139461],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [260696,262068,267722,261482,265383,267354,266862,274747,265363,276671,268383,266002,266355,276026,273541,271065,278076,272870,276731,280307,269883,269538,269109,269900],
+	"label": "wall"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [74971,75112,78962,73909,68054,68621,70865,76200,76158,78642,71366,79683,127643,67951,72896,68229,68361,75107,68370,71249,73923,69324,69922,70155,70303,79654,70322,70699,70760,72069,72107,72351,73333,82983,73812,74539,75330,75509,75971,76917,80263,68978],
+	"label": "cabinet"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [350457,368021,344231,368500,349136,348961,348873,364139,344666,350261,344525,344972,346602,361865,339554,339904,344075,344193,344619],
+	"label": "cabinet"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [220508,218105,303699,306603,215173,215073,301625,228428,216927,225688,299162,307073,221886,215540,295355,301399,229707,215609,297079,228303,225281,220331,215953,224105,301183,217246,306782,303894,216787,303580,299518,215891,301596,297396,298488,219126,299646,228455,215668,299832,301351,297257,214363,214760,214916,215395,215095,216552,224258,220894,217109,221238,302193,219529,217402,217690,226361,218321,217796,222727,218640,302145,228620,219754,221953,220606,220756,298763,221828,222791,223610,222961,299735,227969,303234,224071,294131,228649,228933,293563,293588,301328,293708,294068,294256,294295,294641,221755,294731,295079,295304,295593,295660,295691,295733,296302,295739,295787,296111,296357,296377,296646,296648,296776,297020,297056,297105,294435,297302,297687,298062,298311,298383,298476,303787,298862,298965,299213,299424,299725,299901,300139,304905,300193,300634,301002,301057,301235,301286,301710,305053,301830,301920,302111,302756,303030,303120,303347,303485,303552,303741,304090,294562,304128,304982,221060,305199,305467,305605,306256,306581,306688,306843,227371,217714,225398,228947,294809,297676,299314,300500,300976,303660,293624,294303,307122,294661,295948,296298,296733,298693,301240,304117,306222,297021,220861,294635,300688,300723,293614,218289,297775,298230,304157,293662],
+	"label": "shelf"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [251874,251632,249339,255023,246434,250267,245639,248971,244357,242466,249941,243183,252744,254271,249814,255090,253169,252366,251962,249653,250203,253760,250417,251790,238013,237680,248555,249358,244575,239255,242637,249655,246267,249907,250627,251279,251474,252214,253252,249562],
+	"label": "cabinet"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [199105,185508,263832,198094,263747,186147,185438,260322,187647,264843,186943,263373,260593,264105,264521,265043,187736,185618,263381,184322,198386,263470,199061,197249,188693,196669,197225,260826,185551,261500,182485,184475,188399,189045,198413,260443,261384,263164,264957,265054],
+	"label": "shelf"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [308286,332682,326902,338616,328174,326000,330683,330291,330209,288328,331758,332134,307173,293470,340236,290548,327974,338442,293551,327474,327975,331589,331592,331712,288468,326862],
+	"label": "chair"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [127996,117301,42599,42040,115770,233754,233550,115936,184549,115889,56840,213440,115225,117048,358074,54161,121729,68835,84532,311313,67964,339851,307568,357791,84538,84555,308506,307864,371320,85239,196838,142769,97213,361742,198205,115933,240133,98573,232827,185039,183558,308817,212624,144453,242805,99769,143914,231060,56241,370995,308908,356801,238469,357642,310056,309361,308831,202259,311800,312199,290692,357391,308207,308862,308622,308714,357137,358026,362135,358473,357863,357986,357685,360818,196815,197955,182691,196950,97574,185920,185062,182831,183011,185400,197794,95119,31949,98122,179678,117137,95285,183244,179669,201806,42706,31840,41263,120693,312772,54934,210057,211131,95014,212653,211912,231119,209971,56225,54322,55098,57208,55901],
+	"label": "floor"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [258799,247871,179352,178111,156091,334336,351776,323502,256202,170983,342731,168628,172284,172323,172324,172569,259874,318632,255645,255663,256239,256655,258831,323952,335547,258872,229007,259529,260025,342670,315910,135869,316166,316373,318611,323033,318628,318749,322095,322639,322700,323264,333272,351922,334356,342595,351843,353124,353965,354139,139287,227964,225669,304384],
+	"label": "ceiling"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [243973,244647,246601,247450,246803,173045,170273,245082,170928,245401,161487,163772,169359,170247,246386,247242,165230,161412,246313],
+	"label": "clothes"
+	},
+	{
+	"id": 31,
+	"objectId": 31,
+	"segments": [82816,71543,61020,59496,75661,75184,81456,62506,73071,73746,57098,74249,83256,71374,57015,61301,60060,65387,73321,73496,73764,55282,74770,76035,53756],
+	"label": "refrigerator"
+	},
+	{
+	"id": 32,
+	"objectId": 32,
+	"segments": [346195,312687,313129,310802,349641,311047,345152,310031,310296,312975,310494,311027,312213,312291,312798,313289,313426,315731,314693,314861,315114,344220,346792,347346],
+	"label": "washing machine"
+	},
+	{
+	"id": 33,
+	"objectId": 33,
+	"segments": [191077,190861,193994,194098,194245,182865,193160,190571,189142,194121,189504,196565,184413,260612,186338,187600,187902,184050,188419,188996,190216,193097,196027,195133,187636],
+	"label": "door"
+	},
+	{
+	"id": 34,
+	"objectId": 34,
+	"segments": [25230,23079,93345,137415,23523,65685,11018,285063,66926,268111,275364,81226,275665,208519,11683,16938,85932,23648,11068,85415,50024,78563,16319,40281,23588,24086,24727,25009,111048,194350,79735,51368,25077,92993,25339,204575,26285,26397,27994,51495,267031,30151,123807,204110,37613,50343,67145,51278,52741,66914,78319,136474,79669,79937,81162,81413,81596,82693,82814,83623,85874,93692,228049,106486,106643,111410,106666,106869,262512,107279,110954,108392,108403,224597,109591,110666,112137,112055,112239,112304,113037,113578,288035,113925,114052,114561,114650,208143,114920,190060,118408,193602,118517,118960,126277,193825,126820,126823,180898,127099,134395,135735,137137,137277,139076,139492,180611,181781,182420,189648,189966,190056,190074,190166,190226,190715,191060,192156,193318,193891,193893,194053,194444,194703,194976,195271,279576,195434,196203,196600,199897,203789,203829,204200,204344,204503,204531,207151,207337,207245,207280,207349,207482,207619,208228,208302,196484,208642,208946,209081,274969,209304,224099,224451,224858,225066,225262,225529,226483,227090,228217,267796,228889,230170,230202,265740,191718,266278,268226,268572,275697,278105,278638,278690,285273,285680,286148,189500,276435,285484,285737,302488,304219],
+	"label": "ceiling"
+	},
+	{
+	"id": 35,
+	"objectId": 35,
+	"segments": [340304,342851,341760,343920,341982,341348,338604,343274,342134,343716,341686,342309,341739,339160,342422,343490,342069,342613],
+	"label": "door"
+	},
+	{
+	"id": 36,
+	"objectId": 36,
+	"segments": [330361,328326,334852,328609,367062,361732,328336,327516,328354,328877,364653,329337,331320,331470,332672,333262,333902,336029,337260,337690,358513,360790,361716,363164,366713,366922],
+	"label": "doorframe"
+	},
+	{
+	"id": 37,
+	"objectId": 37,
+	"segments": [335533,366155,362634,364596,367188,361287,334968,334147,329780,329877,328987,325745,325442,326097,332158],
+	"label": "wall"
+	},
+	{
+	"id": 38,
+	"objectId": 38,
+	"segments": [328183,330410,329978,327722],
+	"label": "wall"
+	},
+	{
+	"id": 39,
+	"objectId": 39,
+	"segments": [327818,330641,329836,326027,329969],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0307_00_vh_clean_2.0.010000.segs.json"}

scene0307_00/scene0307_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.430511 0.902585 0.000000 -5.509910 -0.902585 0.430511 0.000000 1.438680 0.000000 0.000000 1.000000 -0.080740 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 = 2048
+numDepthFrames = 2048
+numIMUmeasurements = 4317
+sceneType = Storage/Basement/Garage

scene0348_01/scene0348_01.aggregation.json

@@ -0,0 +1,192 @@
+{
+"sceneId": "scannet.scene0348_01",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [23457,32527,31752,22736,32185,25075,30505,3904,32732,30569,24700,5001,3363,3222,30408,25108,4997,1315,8325,2042,7311,1630,5112,2748,25096,2912,2913,4766,3627,25982,1483,7591,6072,6719,29540,32682,28958,8542,5798,32769,26861,7969,27067,2897,4905,8481,6869,22051,6775,8371,1364,2019,2027,2660,3330,3079,3457,3564,24813,5185,25372,5904,6351,30737,25218,6882,3631,8535,5063,25030],
+	"label": "stove"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [61558,61236,58251,54553,60037,59896,50328,59834,51760,58620,56094,60703,61562,60139,59437,54884,57709,58733,54643,49759,51238,49824,48829,50237,48597],
+	"label": "refrigerator"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [9199,33207,45399,45101,33101,44517,33336,43985,9285,44986,39277,9934,44598,45312,45636,45588,44213,9522,9046,9925,9475,9572,9570,40302,8725,4358,4031],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [60852,60478,51235,52947,52162,60731,51955,51856,52887,61424,60717,61625,59850,61467,60356],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [41208,68345,42722,37304,38807,65677,41298,37010,40493,40032,69187,67455,70330,65405,44799,38308,66940,39147,41253,39520,41386,41596,41638,45505,45549,63858,64283,67644,69105,69605,70594,40574,42822,43109,64504,65979,70553,70571],
+	"label": "window"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [51257],
+	"label": "wall"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [4262,6130,33200,33201,4148,9009,4315,9385,4342,9100,4318],
+	"label": "microwave"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [8051,7712,5789,7107,6401,6182,4914,4971,42331,5838,11124,7703],
+	"label": "sink"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [40604,5209,41727,5285,31705,40187,30503,38415,8180,10823,10014],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [32956,31596,32671,30344,30963],
+	"label": "pot"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [55160,56760],
+	"label": "cutting board"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [30036,22570,28533,23035,22188,29622,29710,63065,48437,30161,53042,53472,53070,53035],
+	"label": "floor"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [25499,4059],
+	"label": "wall"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [32692,28621,28588,29370,28289,29177,30674,42668,28856,32660,31681,31777,36493,28206],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [37087,40313,38631,37342,43717,40935],
+	"label": "frying pan"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [7327,8130,6855],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [36393,33935,65015,65947,64570,63564,43333,38931,61865,39636,11209,36943,65455],
+	"label": "wall"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [63558,62563,33547,63181,63310,62172,35814],
+	"label": "trash can"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [56159,66763,58754,55375,65209,65425,56536,57598,56341,67618],
+	"label": "kitchen counter"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [51125,52783],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [57426,65154,67428,58120,66020],
+	"label": "wall"
+	},
+	{
+	"id": 21,
+	"objectId": 21,
+	"segments": [68378,52992,62377,65556,54800,53297,54470,54173,56152,63234,57954,53457,53876,56346,57152,57315,64671,66210,66295,69440,54218,68004,53212],
+	"label": "kitchen cabinets"
+	},
+	{
+	"id": 22,
+	"objectId": 22,
+	"segments": [60698,61189,61082,59802,59717],
+	"label": "basket"
+	},
+	{
+	"id": 23,
+	"objectId": 23,
+	"segments": [37325,34936,36037,41641,36828,39714,34813,42427],
+	"label": "dishwasher"
+	},
+	{
+	"id": 24,
+	"objectId": 24,
+	"segments": [24078,16689,13026,24479,13629,12971,12852,12601,12723,46151,15996,22070,22265,45955,47336,48422,47608,45689,46129,23978],
+	"label": "floor"
+	},
+	{
+	"id": 25,
+	"objectId": 25,
+	"segments": [46350,47948,46291,48027,46656,46569,46923,47091,47821,48043,48089,14786,46491],
+	"label": "ceiling"
+	},
+	{
+	"id": 26,
+	"objectId": 26,
+	"segments": [13879,21976,18781,20495,20014,17284,21013,20358,21993,20721,19858,13934,21720,19350,18770,20580,19282,17229,20715,21004,21414,16979,17004,17305,20749,20935,17967,21022,21592,20711,21914,17919,19215,18046,21047,19033,20156,13680],
+	"label": "chair"
+	},
+	{
+	"id": 27,
+	"objectId": 27,
+	"segments": [20698,757,457,293,21198,20692,21767,17666,17164,19404,17207,20199,14214,14564,14361],
+	"label": "table"
+	},
+	{
+	"id": 28,
+	"objectId": 28,
+	"segments": [57999,56798],
+	"label": "object"
+	},
+	{
+	"id": 29,
+	"objectId": 29,
+	"segments": [64328,66773,68934,64526,67264,64464],
+	"label": "object"
+	},
+	{
+	"id": 30,
+	"objectId": 30,
+	"segments": [3065,48877],
+	"label": "wall"
+	}
+],
+"segmentsFile": "scannet.scene0348_01_vh_clean_2.0.010000.segs.json"}

scene0348_01/scene0348_01.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.992546 0.121869 0.000000 0.678540 -0.121869 -0.992546 0.000000 3.849380 0.000000 0.000000 1.000000 -0.213339 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 = 1885
+numDepthFrames = 1885
+numIMUmeasurements = 3786
+sceneType = Kitchen

scene0349_00/scene0349_00.aggregation.json

@@ -0,0 +1,132 @@
+{
+"sceneId": "scannet.scene0349_00",
+"appId": "Aggregator.v2",
+"segGroups": [
+	{
+	"id": 0,
+	"objectId": 0,
+	"segments": [21704,5302,5084,4084,19067,19191,19534,28975,21208,27519,32671,33960,18849,32521,33607,33305,35427,46695,47202,21386,33813,35008,35590,35197],
+	"label": "floor"
+	},
+	{
+	"id": 1,
+	"objectId": 1,
+	"segments": [40496,39366,47999,39709,33768,37736,39066,41217,36010,38860,36977,35481,37859,36960,33829,48921,39836,33574,33722,35414,39335,48001,38067,37207,39406,48546],
+	"label": "sink"
+	},
+	{
+	"id": 2,
+	"objectId": 2,
+	"segments": [42628,44869,45187,43634,43556,50333,43787,45607,46522,45514,50885,41947,44676,38759,41358,41379,41923,42594,45166,43264,43561,46379,43592,43609,45023,45202],
+	"label": "shelf"
+	},
+	{
+	"id": 3,
+	"objectId": 3,
+	"segments": [20747,33384,20026,21193,34521,33636,32566,19174,32485,34312,32941],
+	"label": "trash can"
+	},
+	{
+	"id": 4,
+	"objectId": 4,
+	"segments": [7177,26455,21944,5511,4662,7957,5396,8114,22678,7130,5614,4639,20789,5147,21351,11062,729,5268,23615,20191,6307,6167,7348,19179,18779,4122,7865,20045,21970,22779,24717,12458],
+	"label": "clothes dryer"
+	},
+	{
+	"id": 5,
+	"objectId": 5,
+	"segments": [23387,10229,21896,10359,23373,23238,29082,25411,13205,23778,9375,21248,11525,20059,26204,25670,11373,11129,9750,11185,9406,9981,13749,9620,13400,22564,11423,10479,11851,12484,20356,22018,11387,25920,24334,12761,26084,11165,10384,19832,25389,11681,24785,24763,21133,9122,9633,35255,9761,12048,25689,11349,14180,20443,21003,23304,22897,23023,30159,25721,31371,9756,12674],
+	"label": "washing machine"
+	},
+	{
+	"id": 6,
+	"objectId": 6,
+	"segments": [21752,21934,20437,18576,27883,47277,27097,27544],
+	"label": "dustpan"
+	},
+	{
+	"id": 7,
+	"objectId": 7,
+	"segments": [43655,40734,41607,44693,35668,49239,43432,45118,43839,49396,42612,38635,36134,38359,38672,44022,46513,49315],
+	"label": "wall"
+	},
+	{
+	"id": 8,
+	"objectId": 8,
+	"segments": [44646,43911],
+	"label": "bottle"
+	},
+	{
+	"id": 9,
+	"objectId": 9,
+	"segments": [41720,41660],
+	"label": "bottle"
+	},
+	{
+	"id": 10,
+	"objectId": 10,
+	"segments": [47891,39950,42189],
+	"label": "bottle"
+	},
+	{
+	"id": 11,
+	"objectId": 11,
+	"segments": [50654,28874,48907,48354,28064,49630,46771,48005,27498,47318],
+	"label": "wall"
+	},
+	{
+	"id": 12,
+	"objectId": 12,
+	"segments": [19852,21439,18816,28570],
+	"label": "broom"
+	},
+	{
+	"id": 13,
+	"objectId": 13,
+	"segments": [35826,35246,41710],
+	"label": "wall"
+	},
+	{
+	"id": 14,
+	"objectId": 14,
+	"segments": [31523,29943,33647,30054,39935,35269,34993,29447],
+	"label": "wall"
+	},
+	{
+	"id": 15,
+	"objectId": 15,
+	"segments": [847,15558,12818,16540,10113,3119,10270,29393,2053,30749,9659,31387,10685,10857,10957,13915,17605,30969,31363,374,660],
+	"label": "wall"
+	},
+	{
+	"id": 16,
+	"objectId": 16,
+	"segments": [17734,16452],
+	"label": "paper towel roll"
+	},
+	{
+	"id": 17,
+	"objectId": 17,
+	"segments": [17064],
+	"label": "paper towel roll"
+	},
+	{
+	"id": 18,
+	"objectId": 18,
+	"segments": [17184],
+	"label": "paper towel roll"
+	},
+	{
+	"id": 19,
+	"objectId": 19,
+	"segments": [3662,5822,3391,7767,6255,1647,2942,6449,1848,160,702],
+	"label": "wall"
+	},
+	{
+	"id": 20,
+	"objectId": 20,
+	"segments": [1866,1024,2235,2237,52,1365,1910,1258],
+	"label": "bag"
+	}
+],
+"segmentsFile": "scannet.scene0349_00_vh_clean_2.0.010000.segs.json"}

scene0349_00/scene0349_00.txt

@@ -0,0 +1,17 @@
+axisAlignment = -0.069757 0.997564 0.000000 -0.725221 -0.997564 -0.069757 0.000000 1.316870 0.000000 0.000000 1.000000 -0.072262 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 = 1846
+numDepthFrames = 1846
+numIMUmeasurements = 3789
+sceneType = Laundry Room