zahidpichen commited on
Commit
b45fcbe
·
verified ·
1 Parent(s): 401a24d

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +8 -0
  2. scene0000_01/scene0000_01.aggregation.json +438 -0
  3. scene0000_01/scene0000_01.txt +18 -0
  4. scene0000_01/scene0000_01_vh_clean_2.0.010000.segs.json +0 -0
  5. scene0000_02/scene0000_02.aggregation.json +432 -0
  6. scene0000_02/scene0000_02.txt +18 -0
  7. scene0000_02/scene0000_02_vh_clean_2.0.010000.segs.json +0 -0
  8. scene0015_00/scene0015_00.aggregation.json +330 -0
  9. scene0015_00/scene0015_00.txt +17 -0
  10. scene0015_00/scene0015_00_vh_clean_2.0.010000.segs.json +0 -0
  11. scene0024_01/scene0024_01.aggregation.json +354 -0
  12. scene0024_01/scene0024_01.txt +18 -0
  13. scene0024_01/scene0024_01_vh_clean_2.0.010000.segs.json +0 -0
  14. scene0046_00/scene0046_00.aggregation.json +348 -0
  15. scene0046_00/scene0046_00.txt +18 -0
  16. scene0046_00/scene0046_00_vh_clean_2.0.010000.segs.json +0 -0
  17. scene0054_00/scene0054_00_vh_clean_2.labels.ply +3 -0
  18. scene0074_02/scene0074_02_vh_clean_2.labels.ply +3 -0
  19. scene0074_02/scene0074_02_vh_clean_2.ply +3 -0
  20. scene0077_00/scene0077_00.aggregation.json +144 -0
  21. scene0077_00/scene0077_00.txt +17 -0
  22. scene0077_00/scene0077_00_vh_clean_2.0.010000.segs.json +0 -0
  23. scene0079_01/scene0079_01.aggregation.json +120 -0
  24. scene0079_01/scene0079_01.txt +18 -0
  25. scene0079_01/scene0079_01_vh_clean_2.0.010000.segs.json +0 -0
  26. scene0095_01/scene0095_01_vh_clean_2.labels.ply +3 -0
  27. scene0122_00/scene0122_00.aggregation.json +108 -0
  28. scene0122_00/scene0122_00.txt +18 -0
  29. scene0122_00/scene0122_00_vh_clean_2.0.010000.segs.json +0 -0
  30. scene0146_01/scene0146_01.aggregation.json +120 -0
  31. scene0146_01/scene0146_01.txt +17 -0
  32. scene0146_01/scene0146_01_vh_clean_2.0.010000.segs.json +0 -0
  33. scene0174_00/scene0174_00.aggregation.json +162 -0
  34. scene0174_00/scene0174_00.txt +20 -0
  35. scene0174_00/scene0174_00_vh_clean_2.0.010000.segs.json +0 -0
  36. scene0176_00/scene0176_00.aggregation.json +114 -0
  37. scene0176_00/scene0176_00.txt +18 -0
  38. scene0176_00/scene0176_00_vh_clean_2.0.010000.segs.json +0 -0
  39. scene0201_01/scene0201_01.aggregation.json +198 -0
  40. scene0201_01/scene0201_01.txt +18 -0
  41. scene0201_01/scene0201_01_vh_clean_2.0.010000.segs.json +0 -0
  42. scene0224_00/scene0224_00.aggregation.json +96 -0
  43. scene0224_00/scene0224_00.txt +17 -0
  44. scene0224_00/scene0224_00_vh_clean_2.0.010000.segs.json +0 -0
  45. scene0231_02/scene0231_02_vh_clean_2.labels.ply +3 -0
  46. scene0231_02/scene0231_02_vh_clean_2.ply +3 -0
  47. scene0256_00/scene0256_00.aggregation.json +90 -0
  48. scene0256_00/scene0256_00.txt +17 -0
  49. scene0256_00/scene0256_00_vh_clean_2.0.010000.segs.json +0 -0
  50. scene0285_00/scene0285_00_vh_clean_2.labels.ply +3 -0
.gitattributes CHANGED
@@ -66,3 +66,11 @@ scene0106_01/scene0106_01_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
66
  scene0564_00/scene0564_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
67
  scene0564_00/scene0564_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
68
  scene0054_00/scene0054_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
66
  scene0564_00/scene0564_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
67
  scene0564_00/scene0564_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
68
  scene0054_00/scene0054_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
69
+ scene0054_00/scene0054_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
70
+ scene0231_02/scene0231_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
71
+ scene0231_02/scene0231_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
72
+ scene0074_02/scene0074_02_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
73
+ scene0074_02/scene0074_02_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
74
+ scene0285_00/scene0285_00_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
75
+ scene0285_00/scene0285_00_vh_clean_2.ply filter=lfs diff=lfs merge=lfs -text
76
+ scene0095_01/scene0095_01_vh_clean_2.labels.ply filter=lfs diff=lfs merge=lfs -text
scene0000_01/scene0000_01.aggregation.json ADDED
@@ -0,0 +1,438 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0000_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [59679],
9
+ "label": "scale"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [55645,46357,56256,45355],
15
+ "label": "laundry basket"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [64567,64474,64414,65138,65088,64779],
21
+ "label": "toaster oven"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [58976,58952,60669,59589,59823,59433,58671,59025],
27
+ "label": "guitar"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [66861],
33
+ "label": "dish rack"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [60056,60789,60511],
39
+ "label": "towel"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [77135,76841,77189,79563,77478,76876,76916],
45
+ "label": "toilet"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [73482],
51
+ "label": "door"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [68237,13457,22847,68359,68522,68490,43359,15468,15265,54971,55246],
57
+ "label": "ceiling"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [34450],
63
+ "label": "tissue box"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [35680,35637],
69
+ "label": "object"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [35578,35877],
75
+ "label": "object"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [36122],
81
+ "label": "object"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [55594,45745],
87
+ "label": "object"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [56618,57512],
93
+ "label": "object"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [71907,70366,59966],
99
+ "label": "doorframe"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [59882,57818],
105
+ "label": "ceiling"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [80004,79250],
111
+ "label": "mirror"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [70739],
117
+ "label": "trash can"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [78198,77223,69564,77550,78220],
123
+ "label": "window"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [73905,74417,75526],
129
+ "label": "doorframe"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [42179,42217],
135
+ "label": "object"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [4062],
141
+ "label": "shoes"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [3388,3457,3129,5242],
147
+ "label": "wall"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [34412,33754,14901,14697,55296,15007,32741,14690,23490,44042,53927],
153
+ "label": "wall"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [40062,39799,39283],
159
+ "label": "guitar case"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [28310,38075,28127,37340,47970,37870,37828,38219,28071,39178,37099,47978,38681,20230,20025,28168,20320,20507,37856,39054,40591,40650,28367,37904,37825,28123,37466,37403,37947,20330,19629,47875,38616,38099,39218,30567,40399,19050,47856,28561,19954,20075,29109,28559,38527,19947,38930],
165
+ "label": "couch"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [77750,79577,77641,77605,79068,80111,80242,77791,71162,71717,70282,70437,78379,78819],
171
+ "label": "wall"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [75210,72769,74353,80541,76287,76605,76578,76097,74790,68187,68248,74782,74458,73662],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [61493,58506,58650,55848,57451,58759,59951,56701,59812,58544,59367,58442,58104,60130],
183
+ "label": "wall"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [56013,57710,58975,59773,57058,59843,60744,60991,58920],
189
+ "label": "wall"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [52563,52852,42842,53002,53641,42858,52983,42105,52304],
195
+ "label": "wall"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [60397,71747,71900],
201
+ "label": "wall"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [67051,76396],
207
+ "label": "wall"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [1475,5075,6064,4573,7498,1568,6048,4873,4278,4440,7415,4840,4435,4980,7759,4323,4620,8027,4130,4491,5377,4201,52,5858,6740,5754,6399,5808,4288,4718,1535,4521,5708,5789,6334,6427,7816,6457,211,8576,8326,5969,7663,152,7756,8534,232,1425,1393,7865,8587,1850,1260,982,9644,1143,1411,8116,6942,7108,725,3454,4644,4663],
213
+ "label": "curtain"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [33760,14774,32677,32720,24084,34985,24147,23452,23343,14635,14609,23857,23630,34678,14653,23669,26627],
219
+ "label": "curtain"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [17133,25517,24723,26090,25876,26639,17460,26501,16723,15563,15996,25802,26102,26235,14003,13931,24567,26603,25434,24524,17127,25374,24800],
225
+ "label": "desk"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [10480,1159,12435,11975,10645,9606,863,12372,2355,1993,10218,11797,9832,12482,12149,12564,11070,10874,11310,11408,2089,12200,11169,2291,12771,2317,2495,11568,9409,12507,10055,1735,11879,11894,11857,12280,11061,11125],
231
+ "label": "cabinet"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [16572,18280,18292,15653,3845,3760,18188,3558,16553,2827],
237
+ "label": "shoe rack"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [66815],
243
+ "label": "toaster"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [6983,8209,7239,9313,9738,9604,7287,655,9956,7345,9749,9473,8433,8363,9708,6881],
249
+ "label": "bicycle"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [41974,51994,41435,41723,51867,52032],
255
+ "label": "stool"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [50200,48442,48126,48613,49089,49278],
261
+ "label": "stool"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [49016,51490,50792,50500,50829],
267
+ "label": "stool"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [39431,50596,51345,51185,51672,51712,50286],
273
+ "label": "stool"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [64490,62570,64764,63198,62945,62895,63245],
279
+ "label": "refrigerator"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [44231,34597,44539],
285
+ "label": "pillow"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [62391,75113,62742,75080],
291
+ "label": "trash can"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [74829,75303,75742],
297
+ "label": "trash can"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [24814,25777,24369],
303
+ "label": "trash can"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [11302,11603,11523,11081,10662],
309
+ "label": "tv"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [19237,18817,18883,19301,19139],
315
+ "label": "backpack"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [3450],
321
+ "label": "clock"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [46082,36370,44450,35905,46628,45947,46261,46560,45893,47201,44507,35259,34260,33781,46676,45327,45986,44065,46850],
327
+ "label": "bed"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [36277,62743,24579,73227,61825,71075,70068,59131,29934,46488,24503,24393,46724,58850,44088,66068,41217],
333
+ "label": "floor"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [43587,42928,53351,43524,43446,53356,43660,42721,42972,42975,42778,43767,53518,43414,53669,52903,53436,52855,53580,53269,42785,43469,43145,43450,53105],
339
+ "label": "window"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [50126,42194,50202,40895,40213,39126,49653,42305,50210,49575,39384,41205,41622,42046,42452,48369,49539,49615,49658,49795,49955,49974,51574,51665,51686,49812],
345
+ "label": "counter"
346
+ },
347
+ {
348
+ "id": 57,
349
+ "objectId": 57,
350
+ "segments": [65079,66892],
351
+ "label": "kitchen counter"
352
+ },
353
+ {
354
+ "id": 58,
355
+ "objectId": 58,
356
+ "segments": [29009,29215,29202,20811,28672,20604,21046,20688],
357
+ "label": "ottoman"
358
+ },
359
+ {
360
+ "id": 59,
361
+ "objectId": 59,
362
+ "segments": [31390,22917,21409,31789,22971,30511,22030,31540,30484,22478,30390,30813,13213,30278,21503,13167,40951,30409,21974,21885,13131,41982,30085,39522,30204,30195,13142,22396,30529,30657,30711],
363
+ "label": "cabinet"
364
+ },
365
+ {
366
+ "id": 60,
367
+ "objectId": 60,
368
+ "segments": [73834,70841,73466,74291,72051,74294,74447,70465,74219],
369
+ "label": "cabinet"
370
+ },
371
+ {
372
+ "id": 61,
373
+ "objectId": 61,
374
+ "segments": [63688,75968,65775,63619,63838,76020,65684],
375
+ "label": "cabinet"
376
+ },
377
+ {
378
+ "id": 62,
379
+ "objectId": 62,
380
+ "segments": [58410,58545,54970,58322,55008,56528],
381
+ "label": "cabinet"
382
+ },
383
+ {
384
+ "id": 63,
385
+ "objectId": 63,
386
+ "segments": [17647,14567,16828,17151,15963,16981,15127,13715,13983,13959,2779,16027,16330,16963,17156,17669],
387
+ "label": "cabinet"
388
+ },
389
+ {
390
+ "id": 64,
391
+ "objectId": 64,
392
+ "segments": [64189,66348,66182],
393
+ "label": "kitchen cabinet"
394
+ },
395
+ {
396
+ "id": 65,
397
+ "objectId": 65,
398
+ "segments": [67622,67535,66513,64920],
399
+ "label": "kitchen cabinet"
400
+ },
401
+ {
402
+ "id": 66,
403
+ "objectId": 66,
404
+ "segments": [65300,65739],
405
+ "label": "kitchen cabinet"
406
+ },
407
+ {
408
+ "id": 67,
409
+ "objectId": 67,
410
+ "segments": [55731,57030,55636,55642,68841,68783,69866,69251,56076,56104,56666,56887,57826,56541,57337,54868,54878,57616,58515,69097],
411
+ "label": "shower"
412
+ },
413
+ {
414
+ "id": 68,
415
+ "objectId": 68,
416
+ "segments": [65666,65847],
417
+ "label": "microwave"
418
+ },
419
+ {
420
+ "id": 69,
421
+ "objectId": 69,
422
+ "segments": [33026,34566,34607,32964,24763,33420,25689,24518,34112],
423
+ "label": "nightstand"
424
+ },
425
+ {
426
+ "id": 70,
427
+ "objectId": 70,
428
+ "segments": [54066,45323,57961,54188,54767,46378],
429
+ "label": "nightstand"
430
+ },
431
+ {
432
+ "id": 71,
433
+ "objectId": 71,
434
+ "segments": [79351,79573,79050,70259,70304,78519,78713,78684,79078],
435
+ "label": "sink"
436
+ }
437
+ ],
438
+ "segmentsFile": "scannet.scene0000_01_vh_clean_2.0.010000.segs.json"}
scene0000_01/scene0000_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.958820 0.284015 0.000000 -5.169340 -0.284015 0.958820 0.000000 -2.982450 0.000000 0.000000 1.000000 -0.052345 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 5920
16
+ numDepthFrames = 5920
17
+ numIMUmeasurements = 12584
18
+ sceneType = Apartment
scene0000_01/scene0000_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0000_02/scene0000_02.aggregation.json ADDED
@@ -0,0 +1,432 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0000_02",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [56134,55625,45205,45971,31544,72348,32641,56776,44228,31931,73042,56225,55546,56875,32133,31576,47210,72389,47021],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [5745,7174,6354,7276,7372,8940,8492,8776,658,7936,8005,5814,5621,5739,5750,6542,8222,714,6563,5940],
15
+ "label": "bicycle"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [66276,24404,29240,49892,78845,79003,24191,61258,42879,64306,20558,29586,18971,53114,50140,84479,43119,34075],
21
+ "label": "floor"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [69713,70274,67515,68552,70759,69632],
27
+ "label": "kitchen cabinet"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [69397,71215,71287,71376,69316,71541,72915,69509,80716,69420,70768,72619],
33
+ "label": "kitchen cabinets"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [69101,67179,67251,68883,68239,68218,68713,69081],
39
+ "label": "refrigerator"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [15179],
45
+ "label": "clock"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [26005,24123,25368,22578,26054,25440,34301,33612,22726,24338,24577,23980,33070,35966,35877,35787,24601,33413,34125],
51
+ "label": "desk"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [17372,17302,1902,4073,3206,3540,6833,3754,3600,3880,5481,3629,17173,4012,5324,3242,1119,17223,3147,3041,4694,6027,5106,4308,4915,5307,17098,5319,1335,5438,7004,7041,320,4292,7415,6633,6216,108,370,454,535,338,1032,17350,1974,1899,1928,270,1201,5977,17344,753,5927,6188,5635,6489],
57
+ "label": "curtain"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [36261,36332,23523,23327,23884,22839,23560,34961,23121,23435,23604,22993,34742,34761,34872,34883,36571,36075,23343,23461],
63
+ "label": "curtain"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [47291,47631,56889,56461,56499,47683,47571,47143,32086,46297,47189,45222,46578,56664,46260,46730,46930,47278,47262,46493,32432,56901,56650,32575],
69
+ "label": "window"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [81504,81558,83441,83471,83690,83236,82581,83091,81480,81740],
75
+ "label": "window"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [49163,49742,37439,48125,38224,50766,58344,50191,34437,50554,57611,50288,38197,36852,50600,50105,50788,50057,36990,32859,36915,49986,58174],
81
+ "label": "bed"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [8688,10801,2786,2842,11293,10365,11462,9895,2261,2817,2740,2612,2386,2378,9300,2586,9329],
87
+ "label": "tv stand"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [28377,19773,19746,28800,19566,29467,28681,20213,29072],
93
+ "label": "ottoman"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [52464,51829,51990,53558,53110,51950,52713,54465,53355,51935,53398],
99
+ "label": "stool"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [45001,42659,40591,43122,43934,42931,41044,43565,43574,43444],
105
+ "label": "stool"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [26665,24138,25559,26805,25602,25110,26775],
111
+ "label": "chair"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [54187,54270,53200,41157,40692,54421,54357,54061,53074,53069],
117
+ "label": "stool"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [43265,45409,44036,44784,43729,45207,43357],
123
+ "label": "chair"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [57840,59349,59438,57660,57193,57370,58760],
129
+ "label": "nightstand"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [34912,34962,33716,33188,32872,34414,35202,34801,33193],
135
+ "label": "nightstand"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [13159,16300,16116,13232,14293,16801,16232,13663,13277,16173,16337,16348],
141
+ "label": "shoe rack"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [30704,30356,9408,12030,11736,20402,30288,11802,1729,21745,21619,9210,21165,30632,29566,11757,12330,11387,30324,519,29930,11497,12057,11876,12024,29924,12292,21849,21349,11937,1561,10727,31421,9430,21421,11212,11127,8865,31497,8202,31468,21409,8250,8509,31405,10069,31830,10709,1758,12414,8998,12253,21641,30601,22285,29899,29319,32168,11597,11482,32657,9927],
147
+ "label": "cabinet"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [14504,14397,15340,23300,14120,12528,13016,15089,12985,15174,14756,12669,13464],
153
+ "label": "cabinet"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [60181,60190,59907,60286,59874,58378],
159
+ "label": "cabinet"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [77515,77310,78121,76949,77528],
165
+ "label": "cabinet"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [70457,69775,70503,69912],
171
+ "label": "toaster oven"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [1022,10274,10148,10663,2316,10873],
177
+ "label": "tv"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [17988,17696,17661,18209,18607,17654,17727],
183
+ "label": "backpack"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [79429,78666,78898],
189
+ "label": "trash can"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [67065,66934],
195
+ "label": "trash can"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [39597,39162,29272,28071,39496,29536,40214,40992,28028,39044,28473,40033,41785,41900,39513,28806,27593,51403,40111,52792,18797,19306,52507,39069,19144,19185,19059,27889,27951,29300,39924,41803,42705,39423,27979,27877,27486,40207,40266,28909,29795,28483,52267],
201
+ "label": "couch"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [81422],
207
+ "label": "washcloth"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [61330,65373,61682,61613,65049,65700,61614],
213
+ "label": "guitar"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [57755,73609,73634,63406,73374,74770,73508,61745,58797,74835,74934,74888,61359,63203,75070,59624,74525,59645,57263,61249,61992],
219
+ "label": "shower"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [85107,85364,85356,85429,83946,85295],
225
+ "label": "sink"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [43448,54339,44258,41974,52543,43039,52061,45614,45683,43714,54372,42063,42263,44964,41949,52401,51741],
231
+ "label": "breakfast bar"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [62662,57463,61246,61183,58339],
237
+ "label": "laundry hamper"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [24625],
243
+ "label": "table"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [82422,82291,81763,81903,82440],
249
+ "label": "toilet"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [80319,79170],
255
+ "label": "door"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [62772,62845],
261
+ "label": "towel"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [71564,71165,71411,67900],
267
+ "label": "microwave"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [16595],
273
+ "label": "shoes"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [44681,41076,42467,40948,40955],
279
+ "label": "guitar case"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [56955,15648,73105,31111,71704,72124,47368,47480,32728,45982,11647,2951,15581,26139,48989,61086,61018],
285
+ "label": "ceiling"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [1830,4102,14960,15959,15164,4136,14239,5300],
291
+ "label": "wall"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [12794,23176,36451,58243,23260,58527,35497,25207,48818,48313,35438,22417,58747],
297
+ "label": "wall"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [34021,33600],
303
+ "label": "trash can"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [34906,33381],
309
+ "label": "object"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [49203,49200,48198],
315
+ "label": "pillow"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [37353,37425,37186],
321
+ "label": "object"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [38210,38334],
327
+ "label": "object"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [37221],
333
+ "label": "object"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [61598],
339
+ "label": "object"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [64115,63157,62433,61792,63906,59794,63267,64210],
345
+ "label": "wall"
346
+ },
347
+ {
348
+ "id": 57,
349
+ "objectId": 57,
350
+ "segments": [76579,65625,75311],
351
+ "label": "wall"
352
+ },
353
+ {
354
+ "id": 58,
355
+ "objectId": 58,
356
+ "segments": [76157,75280,76408,64674,75882,76616,65569,65377,75839,64579,65450],
357
+ "label": "doorframe"
358
+ },
359
+ {
360
+ "id": 59,
361
+ "objectId": 59,
362
+ "segments": [79211,79626,79285,80257,80188],
363
+ "label": "doorframe"
364
+ },
365
+ {
366
+ "id": 60,
367
+ "objectId": 60,
368
+ "segments": [85993,80519,85920,77668,80329,80218,77673,72087,80044,80437,78854,80883,71972,68807],
369
+ "label": "wall"
370
+ },
371
+ {
372
+ "id": 61,
373
+ "objectId": 61,
374
+ "segments": [70661],
375
+ "label": "toaster"
376
+ },
377
+ {
378
+ "id": 62,
379
+ "objectId": 62,
380
+ "segments": [70684,70629,69963],
381
+ "label": "dish rack"
382
+ },
383
+ {
384
+ "id": 63,
385
+ "objectId": 63,
386
+ "segments": [65466,64511,61746,63241,65722,62053,62370,63308,64120,63149,65782],
387
+ "label": "wall"
388
+ },
389
+ {
390
+ "id": 64,
391
+ "objectId": 64,
392
+ "segments": [61629],
393
+ "label": "scale"
394
+ },
395
+ {
396
+ "id": 65,
397
+ "objectId": 65,
398
+ "segments": [74247,81302,83648,83373],
399
+ "label": "wall"
400
+ },
401
+ {
402
+ "id": 66,
403
+ "objectId": 66,
404
+ "segments": [84914,85204,84278,83829,85614,82168,85582,84585,82661,84428],
405
+ "label": "wall"
406
+ },
407
+ {
408
+ "id": 67,
409
+ "objectId": 67,
410
+ "segments": [84109,75456],
411
+ "label": "wall"
412
+ },
413
+ {
414
+ "id": 68,
415
+ "objectId": 68,
416
+ "segments": [84494,84364,84340],
417
+ "label": "trash can"
418
+ },
419
+ {
420
+ "id": 69,
421
+ "objectId": 69,
422
+ "segments": [85826,84675],
423
+ "label": "mirror"
424
+ },
425
+ {
426
+ "id": 70,
427
+ "objectId": 70,
428
+ "segments": [35774],
429
+ "label": "object"
430
+ }
431
+ ],
432
+ "segmentsFile": "scannet.scene0000_02_vh_clean_2.0.010000.segs.json"}
scene0000_02/scene0000_02.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.398749 0.917060 0.000000 -2.504150 -0.917060 -0.398749 0.000000 5.676270 0.000000 0.000000 1.000000 -0.046902 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 6170
16
+ numDepthFrames = 6170
17
+ numIMUmeasurements = 13137
18
+ sceneType = Apartment
scene0000_02/scene0000_02_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0015_00/scene0015_00.aggregation.json ADDED
@@ -0,0 +1,330 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0015_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [192151,193126,196827,195637,192234,198047,196995,196198,198647,197877,192110,192876,195022,195506,197108,195625,192857],
9
+ "label": "chair"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [197167,196679,197616,196737,197075,195486,198900,198101,199013],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [180286,183567,186715,179083,182909,179272,184830,183621,179242,185344,183223,182824,184253],
21
+ "label": "window"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [181331,183863,183850,183246],
27
+ "label": "windowsill"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [182946],
33
+ "label": "wall"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [179969,186337,215850],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [215131,212607,213553,212124,214071,215191,213500,213563,213789,210856,210963,211133,213410,214094,214355,212657],
45
+ "label": "window"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [174309,214856,214449,214053,214390,214925,176358,214574,210915,214743,214640,215292,214536],
51
+ "label": "windowsill"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [173616],
57
+ "label": "wall"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [211614],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [202291,207312,205981,206035,207336,204604,205496,206005,204018,202933,202867,202063,205919,206632,204749],
69
+ "label": "windowsill"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [204963],
75
+ "label": "wall"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [190651,188189,189950,152028,190292,153567,153222,191024,189008,189498,188313,189370,152454,152691,188971,152565,189815,151931,150810],
81
+ "label": "chair"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [188670,190222,188369,190097,189350,188494],
87
+ "label": "chair"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [77896,24731,74643,78893,75708,75808,77103,76672],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [151706,88106,359,52458,154586,91580,88624,123357,9640,75385,117659,110168,88637,119234,170789,88681,142889,51209,163865,94010,35686,89022,194260,115507,169318,89182,86990,110404,170865,53370,21876,53430,60098,163594,75447,63588,163403,97919,64211,81646,123744,154176,124528,117270,25575,105389,123929,116313,84233,165224,200642,16209,165025,159641,115480,170055,115428,209982,164535,189786,159823,209844,170591,165198,142907,193626,156166,210317,178092,162792,160376,85304,158457,159903,34617,25881,119303,149646,157935,156040,155744,150804,152758,150030,144424,144355,169583,150070,143832,9993,76479,194586,27933,81023,80648,162508,25594,28004,37849,36497,25745,34880,36338,35758,36562,36631,189055,35739,169592,46921,45441,47457,46324,105122,47187,36055,5357,10262,10194,278,876,83682,52248,103114,51335,80924,26609,28809,25657,82388,26785,25582,79772,27949,104283,26042,28141,25707,81102,27653,26408,27037,170041,25013,25019,46886,76246,74542,74569,74917,75208,76418,128958,76444,105320,109413,200729,105765,111438,87196,88908,45925,46805,44756,105952,152734,194660,178855,159695,191281,145129,169089,201354,158754,194037,193835,170765,21586,10178,46628,51777,46555,47123,88525,36478,36621,35474,84231,82796,85527,84857,200912,134835,28300,26742,25490,27520,10590,10758,171267,10496,1194,130376,15842,17428,21743,22011,22077,22086,169257,109954,134279,134794,178830,187076,178769,178603,124936,124463,124076,124029,124481,129998,178645,178538,177726,177973,169505,163761,162871,164077,169450,142586,210128,163765,199451,199312,143002,159991,160241,104675,193822,200137,194597,200401,191338,189153,188867,145882,142549,143222,144871,188085,143991,143607,143231,145792,103170,104821,105470,10020],
99
+ "label": "floor"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [127631,126591,125615,126826,128697,126891,125331,128141,126149,125710,128747,128146,127551,126748,126722,127384,126128,126203],
105
+ "label": "chair"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [165697,168456,167991,166838,165708,167555,166954,166758,167961,165942,166621,166919,168259,168282,166611,165822,165013],
111
+ "label": "chair"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [57862,54190,57374,56148,56458,56305,55738,55363,56983,57730,58379,62396,51489,51330],
117
+ "label": "chair"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [112703,151500,152112,149448,109234,152130,111888,112934,110827,109038,150122,152368,113412,113238,113436,112565],
123
+ "label": "chair"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [109538,112542,112993,112579,112785,111205,112192,111513,110034,112407,109878,112194,111951,110875],
129
+ "label": "chair"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [77243,76580,78312,108595,105299,77003,75156,78309,77051,77265,78765,103882],
135
+ "label": "chair"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [83336,83764,84372,85440,85511],
141
+ "label": "chair"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [49509,48019,45879,47639,45306,44473,50359,47819,46871,47754,46179,46764,49736,48912,47791,49801,48297],
147
+ "label": "chair"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [85686,38682,85174,82857,85459,40263,82538,82602,85084,86420,35975,82241,83082,84795,85644,85978],
153
+ "label": "chair"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [6858,49667,5783,8360,7076,7034,46944,49046,7392,48879,7127,50279],
159
+ "label": "chair"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [163681,168444,120941,117264,166021,165646,166127,167612,166597,168471,166531,166368,119558,117531,119417,163778,119616],
165
+ "label": "chair"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [135824,131235,136615,137605,138475,136568,137247,130968,184224,131876,134903],
171
+ "label": "chair"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [11340,13118,11538,12564,15094,13074,15304,11579,14563,13012,12338,12818,14861],
177
+ "label": "chair"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [148695,148391,146994,148123,144329,145526,188095],
183
+ "label": "chair"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [156968,154830,156994,156390,155169,157101,156305,157165,157502],
189
+ "label": "chair"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [151073,153320,192326,153273,191165,192870,193132,151524,191698,193098,192349,192053,193091,192119,191196,156287,191201,190595,153551,157730,156825,153797,156682,157133,191571,150264,151641],
195
+ "label": "table"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [160405,160736,160827,196858,160902,197368,161590,197080,203964,196573,167206,116960,161632,204871,161465,162296,161841,168155,196225,116711,198768,203437,203699,204453,205378,161036,116920,160698,166478,206122,159940,158363,160051,160459,203178],
201
+ "label": "table"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [131500,129795,95122,97160,126324,95074,132020,127442,123379,125745,132372,97208,95193,95179,95152,183790,95302,128062,123918,96589,126014,183673,182305],
207
+ "label": "table"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [123114,174710,122506,93196,121418,93121,127814,121500,121228,121596,120752,173687,121078,117975,121520,120382,121577,122326,122423,125862,125914,173011,173955,175288,175564,176459,117539,121200,120371,120251,120487],
213
+ "label": "table"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [17507,60054,19210,63194,59923,20242,16299,62782,16015,16420,17935,60761,63198,60252,62554,13664,63182,62558,1809,20315],
219
+ "label": "table"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [108757,107379,106545,148286,106145,106389,107903,148968,146791,106194,108666,104906,103719,104374,105242,106634,145605],
225
+ "label": "table"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [41120,90976,86186,87675,89317,40508,85629,40924,38886,39442,48339,48487,89597,89902,89586,88246,89670,90343,89882,90284,89999,90338,90674,90885,91033,91132,91211,90724,90252,89377,86906],
231
+ "label": "table"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [33998,33127,30780,31679,32938,32696,33587,31924,26509,32492,33679,33647,29002,31558,26218,29507,34325,33120,29207,31293,30492,26801,31912,31366,30537,31112,32632],
237
+ "label": "wall"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [102646,108812,108142,106279,77204,142753,145230,105337,145936,108770,108262,146185,105433,146876,147508,146403,147554],
243
+ "label": "wall"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [43991,42403,34498,51097,41898,42691,42274,33985,48978,42845,42045,38261,40424,41895,42916,38514,41398,49524,50842,50862,43218,9476,50639,44238,8632,8626,7189,42630,7330,40693,33086,9048,9312,33398,40293,41114,42622,43107,43980,44175,44207,49041,49062,50454,50785,29854,38323],
249
+ "label": "whiteboard"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [9964,6320,28132,50376,33491,36481,7335,30572,27387,4285,4955,5280,26288,5289,35789,11151,31202,8024,25768,26448,36074,35666,36594,38484,15681,35353,5831,34970,40064,2733,7525,41653,6309,5619,36994,34613,45420,5096,11236,7020,44326,5116,5308,5159,14670,13579,7520,11657,6916,7323,6189,8086,10325,14038,14121,38585,4925,12599,11206,11785,3336,4061,3853,3799,2329,11823,49,501,591,12331,1551,1724,1274,681],
255
+ "label": "wall"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [58262,56980,51692,55220,54373,51716,57266,58024,56548,53368],
261
+ "label": "wall"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [58183,55267,54143,53196,57043,59670,55162,59090,58601,58977,57284,52363,51448,9864,10829,12186,13098,14075,14441,56456,13435],
267
+ "label": "wall"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [54467,54054,56018,55263,54890,54728],
273
+ "label": "backpack"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [20712,20206,19992,19521,20480,19373,19180,21329,20443,20934,20857,21175,20641,1471],
279
+ "label": "object"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [24412,3103,23376,99644,3857,1843,23074,23259,68326,23826,73654,23341,74000,68214,64017,64068,67171,64535,73369,64772,73759,73538,99082,73617,68056,97505,100968,64472,136780,134816],
285
+ "label": "wall"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [141647,71313,66315,24356,102462,22571,22665,71489,72118,66341,68513,140625,68466,70345,69415,65609,67064,67897,68785,102465,72878,67123,100468,99167,140521,141461,22319,140196,74250,22880,65683,65934,66712,102041,67047,67450,67656,69200,69300,69772,73953,72696,70840,69906,70402,70516,71698,73684,72298,72733,100159,72974,66807,74197,72756,100140,100397,101122,101425,101690,101760,101887,136035,140149,102425,65823,23657,68963,69085,72458,101593,72658,71046,70048,69776,72596,72313,69779,70384,70393,70431,71379,71528,72442,72511,73186,73267],
291
+ "label": "whiteboard"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [139988,183661,216821,140611,187591,181612,203323,140285,177729,141430,141594,137678,140813,184069,141528,216647,136838,138436,139626,173040,135956,184782,210596,136436,215533,139008,137000,182837,137921,176294,182047,137853,134943,176009,136689,136977,138383,140374,209553,187823,176831,186372,187705,169968,209721,180271,212318,180472,181402,174649,178201,186983,177365,133381,179514,173332,177521,177136,180563,208407,172081,211638,208179,211447,212572,184490,182239,170221,182231,179771,195709,179186,209204,178239,172323,178410,178251,178296,175806,173863,206733,174120,169067,169919,171408,168716,214003,197321,215143,213025,212048,209505,197017,208878,213249,209304,203800,204315,209264,208718,196450,212343,206680,205506,202303,204455,198943,206291,207952,207490,205397,197824,205953,216659,204688,199938,204889,201363,206703,208031,204527,205584,207977,204002,206487,207059,195273,194904,197470,195442,197166,197034,195389,216325,216300,216141,214464,199130,199372,200746,207004,204624,204739,204845,204406,203291,169721,210216,209523,209432,209122,208699,171783,201148,200068,202061,215520,208591,215646,208582,214024,208617],
297
+ "label": "wall"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [180492,133075,182788,184667,132261,132404,131358,132466,132387,183891,179779,184613,131617,132605,131516,125526,131088,128109,131707,131639,130980],
303
+ "label": "chair"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [175935,126542],
309
+ "label": "starbucks cup"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [161587,160670],
315
+ "label": "water bottle"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [119494,121158,117564,117615,123096,120617,119868,118658,117953,119510,121592,118320,118231],
321
+ "label": "chair"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [176307,174539,172993,176043,172523,175980,172208,175018,211496,173992,175492,171639,172281,173196,174729,173046,169028,174048,174681],
327
+ "label": "chair"
328
+ }
329
+ ],
330
+ "segmentsFile": "scannet.scene0015_00_vh_clean_2.0.010000.segs.json"}
scene0015_00/scene0015_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.857167 0.515038 0.000000 -5.433980 -0.515038 0.857167 0.000000 -2.128340 0.000000 0.000000 1.000000 -0.097699 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1971
15
+ numDepthFrames = 1971
16
+ numIMUmeasurements = 3935
17
+ sceneType = Classroom
scene0015_00/scene0015_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0024_01/scene0024_01.aggregation.json ADDED
@@ -0,0 +1,354 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0024_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [141164,131245,130265,129126,126335,127821,146637,132771,141298,148094,146022,147989,139690,139197,123385,137536],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [211285,210181,199705,211304,167766,211359,190154,169656,199010,210200,198739,166817,209282,224310,181528,175963,171931,167355,173320,172309,175044,175877,174934,212960,202081,210270,213461,199385,213085,199469,198826,183324,176102,211111,177975,213397,211702,208403,176031,181802,191163,181871,182870,209390,223180,189190,189733,188734,181414,176097,183500,166784,175219,176067,182665,170261,173708,170391,171424,172723,168739,216200,215407],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [80905,83797,80433,115758,85927,82853,84801,85335,121018,85799,85526,84206,85289,82162,81616,81064,84347,84709,84447,84374,80255,83543,83802,81529,84183,117355,117906,82667,81472,82892,83148,117665,83677,83748,86216,86245,86303,86334,117506,117927,120160,121499,80230],
21
+ "label": "cabinet"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [38016,15742,37696,25615,29589,29434,15685,26857,17783,18739,36888,26228,18685,28843,25782,27353,29623,25553,37188,29262,24779,29660,37874,37553,27633,27891,38487,33301,19751,17173,29186,24215,17327,18847,18232,28367,18657,25457,25662,25673,26552,26746,26827,27264,27816,28793,28808,19684,19501,34971,37753],
27
+ "label": "piano"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [150798,153176,184130,186557,149073,179507,177241,153888,154963,180447,180359,183959,153937,187459,154021,177493,155260,148541,153515,153239,155230,178905,152917,155238,185092,188497,188623,179627,151620,178288,151984,179993,152512,180031,169932,137217,188236,141221,137361,186319,140708,178696,179331,149306,150780,152066,166665,185075,152594,152718,152978,154579,154786,154619,172011,177919,187479,179743,180547,185844,186513,185925,140276,137651],
33
+ "label": "couch"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [78510,114348,44325,109438,112233,77816,113880,77067,77045,112651,114354,79525,44575,114116,114279,113743,78117,79151,78936,45538,79018,77265,113964,79048,113370,113188,113891,114240,111747,109271,108594,77453,78172,77733,114193,111275,46308,44846,44923,44898,42037,40752,40737,45851,45469],
39
+ "label": "table"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [191744,192754,192286,193024,192782,156359,192096,155511,156895,156469,153063,193168,151412,193007,192699,193975,156178,153604,156504,156022],
45
+ "label": "table"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [102028,64322,101952,102065,102267,50513,93755,104104,103208,102251,103363,103331,64422,62614,62028,63251,63366,61507,61735,64278,90785,64945,100139,48072,50323,102384,103131,103265,89596,103954],
51
+ "label": "armchair"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [75281,76018,72643,77249,71544,72449,73167,72195,75311,76296,74648,40511,73710],
57
+ "label": "chair"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [9453,154228,9693,11164,11886,80594,3271,108765,11521,58663,8817,155713,118670,108072,24481,109327,167166,24749,163600,80001,74457,36233,108699,111929,43128,80879,160478,108066,153094,80391,108376,148724,148533,137698,193480,134425,66821,155806,199915,153964,148543,153996,118909,24000,67475,57384,108059,32695,69581,69997,161772,138395,71660,41941,134815,76546,215454,214193,161030,212758,164154,118481,80855,11961,80595,79984,115911,73787,111147,41022,40408,73694,74598,40890,75794,9774,9125,9037,10264,1462,3129,2623,4081,1612,4238,25082,25003,13935,14665,60496],
63
+ "label": "floor"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [209470,206466,209544,204513,206451,223005,222439,210551,202570,206653,211157,211593,206056,202301,211341,205650,224250,211398,211811,205305,210764,208060,202604,222528,210340,218018,206941,204916,207727,208113,209088,203137,202785,206095,207525,208398,216392,206840,203035,206630,203169,202956,209055,203954,202935,203088,218634,205152,204154,204366,207043,204659,205041,205104,205581,208620,205902,206012,206125,207017,207896,208700,209040,209992,210970,222535,223094,216101,206933,207918,208463,203208,202210,221130,206590,208852,207519,221418,217368,219080,218237,216517,218332,217468,222970,218196],
69
+ "label": "window"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [151012,151375],
75
+ "label": "book"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [151366,155090,155022],
81
+ "label": "object"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [154652,154650],
87
+ "label": "book"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [133788,138129,134783,133589],
93
+ "label": "ball"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [98352,53368,173930,65178,52363,52810,22696,53361,53890,54037,107377,106154,65674,54980,96299,55730,146184,55966,190530,53465,56748,65094,181806,65210,65521,56206,105973,65532,105109,66133,105179,66230,145716,106402,93893,97535,105814,98572,104282,104349,105665,106138,106320,106326,106336,106391,98953,107239,99517,107311,107349,146030,146093,147569,147620,147771,147793,174157,53071,182722,55924,129409,55997,95028,97010,97846,99606,107284,98109,52364,66319,129961,188980,189791,190444,223811,163114],
99
+ "label": "ceiling"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [169968,177030,174571,173248,175981,146055,170897,174656,175502,174902,169625],
105
+ "label": "wall"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [171959,171170,171504,171003],
111
+ "label": "lamp"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [168351,167834,168577],
117
+ "label": "table"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [178093,189073,189817,186654,189237,188453,187198,189018,190698,183430,188594,185697,189737,190092,190749,180635,180227,182626,184368,188522,186106],
123
+ "label": "picture"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [200970,199857,200012],
129
+ "label": "shoes"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [196448,197222,195109,196107,196694,195477,195820,194876,194760,194553,194530,195793,196414,195160,196252],
135
+ "label": "books"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [201683,201303,201391,200803,201635,201041,201995,201945,200234,200076,201710],
141
+ "label": "radiator"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [214394,205673,161114,202695,199783,200580,214497,202186,222124,216860,162437,162184,162806,200090,158896,201237,216097,202645,217924,161927,203750,205879,206977,159217,216580,215037,221649,212152,213038,212428,213287,213481,213500,216806,216939,217097,219857,217827,219441,215490,220005,220809,220022,221043,162362,221449,162066,158941,218926,162383,159174,162226,159209,203202,162054,162750,162417,162501,162615,162596,205615,202648,162705,214624,217576,222139,204208,204641,207347,207934,215576,215692,215918,215924,215951,216159,216657,216903,217347,217764,217794,218525,219752,220456,221413,221507,221366,158887,159074,159098,201590,201707,201888,219018,219302,219729,220213,220424,220484,216370,205193,202196,205333,205436,206724,207389,203889],
147
+ "label": "plant"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [165699,165952,166028,165267,165120,166023,165631,225248,165442,224491,224877,224645,225464,165038,165663,165692,164794,164897,165416,164832,225004,224691,163960,164113,164516],
153
+ "label": "wall"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [214788,221707,219364,221192,219834,213998,212596,214702,214549],
159
+ "label": "table"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [164579,164537,161489,159634,161676,160881,160025],
165
+ "label": "hoverboard"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [86849,86768,121990,122176,121930],
171
+ "label": "wall"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [120261,122546],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [72485,72146,73633,75098,72297,75633,74419,74709,73226,70798,70350,74462,76229,76325],
183
+ "label": "chair"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [109770,110256,76258,110378,75343,112644,113293,113887,109782,110558,112154,110175,112068,113538,112676,114183,113073,113801,113099,74712],
189
+ "label": "chair"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [81491,82635,82607,83001,83897],
195
+ "label": "chair"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [82991,82152,82981,82203,83042,82461,84460,81886,83611],
201
+ "label": "chair"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [45158,43689,46530,42808,46283,44156,43885,44363,44006,45834,42127,43006,43001,41222,40767,42890],
207
+ "label": "chair"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [7633,7964,7308,3036,2577,6019,1386,1893,1781,7662,6312,6370],
213
+ "label": "door"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [6972,7476,6191,4663,6888,3215,7380,7486],
219
+ "label": "doorframe"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [211,6163,158,866,3583,877,66,854,3102,3657,7416,497,284,165,36326,33488],
225
+ "label": "wall"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [2534,31922,36923,3897,2501,6759,6517,35430,33935,4550,36914,31436,35898,4453],
231
+ "label": "box"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [35999,36167,36099,33697,33168,33305],
237
+ "label": "backpack"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [33350,31501,35601,33633,36027,35178,32703],
243
+ "label": "jacket"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [30727,20686,20243,22052,21314,21315,17664,20771,21709,37073,28699,30343,30015,30210,21754,30499,30889,31165,38565,38770,21246,29890,29682,32605,22890,14505,16176],
249
+ "label": "wall"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [24890,24843,68241,68313],
255
+ "label": "stool"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [29631,26381],
261
+ "label": "metronome"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [29106,68033,68837,24453,24143],
267
+ "label": "piano bench"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [20361,23679,14583,14157,14143,14386,15389,19226],
273
+ "label": "wall"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [21681,19555,21359,19177,15973,21412,20660,15502,18217,16398,20485,17136,15428,17686,16785,19128,22617,15066],
279
+ "label": "star"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [54524,52500,54834,23505,21632,52703,55330,49691,55495,50440,18901],
285
+ "label": "wall"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [54250,64445,50697,48293,62891,65174,49257,64781,65759,51721,50812,55765,64095,63759,64314,51272,51520,49786,51286,49378,50329,50852,47444,52073],
291
+ "label": "window"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [63796,59396,61366,64405,51818,59596,62384,62985,63086,63829,60860,62872,56991,59256,62995,58377,58150,59328,61361,60020,60654,60927,61079,61273,63543,61327,61543,62378,60580,62788,64237,59949,59378,57201,57543,60619,57971,62155,63935,13525,64144,64925,62257,62259,64976,14364],
297
+ "label": "plant"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [48905,55933,96227,55723,129171,51470,132441,51877,99794,95289,93877,94211,99463,95773,95408,98329,132642,131966,88650,87287],
303
+ "label": "wall"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [92596,88837,94290,91728,94780,94669,90440,90296,51147,51838,92282,55547,91024,88394,88380,50556,48523,49419,50105,95929,92866,88863,50110,52437,92128,52463,90229,52694,97739,93400,91816,54453,54499,55532,56259,88596,88048,89143,89053,88405,92714,88748,89912,89195,90126,89864,89966,99977,93417,90135,90661,91805,90666,90810,90851,94164,91047,93583,91258,91815,92132,98950,92324,99184,92392,92760,94131,94380,94376,94707,94903,95319,96163,96416,96671,96686,96701,96787,97048,97166,97872,98073,98224,98432,99193,99336,99670,99922,88447,89016,88388,89440,54561,50810],
309
+ "label": "window"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [128054,131796,132183,130908,126010,129843,126023,132544,127031,128811,126525,125072,128297,128677,128935,129031,129016,129085,132452,125912,129425,129437,130073,132195,131695,132394,127000,127774,124924,126420,127005,128475,131444,131551,131618,131668,126093,125411,132207,126915,125574],
315
+ "label": "window"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [125301,92458,89279,92117,90925,127870,93805,91474,127625],
321
+ "label": "plant"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [142184,143617,143059,144300,144436,143578,143628,141978,138903,139156,103536,143586],
327
+ "label": "plant"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [141719,140284,143251,144442,142299,138914,139473,139201,142044,141063,140487,144229,143515],
333
+ "label": "plant"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [138807,143040,142151,143500,144652,139154,141291,142033,141477,140458],
339
+ "label": "lamp"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [138637,139420,142782,144464,142405,141048,136987,140364,138155,137122,134898,138458,137243,137326,136373,101772,123426,100764,134611,102336,103485,124244],
345
+ "label": "table"
346
+ },
347
+ {
348
+ "id": 57,
349
+ "objectId": 57,
350
+ "segments": [144891],
351
+ "label": "book"
352
+ }
353
+ ],
354
+ "segmentsFile": "scannet.scene0024_01_vh_clean_2.0.010000.segs.json"}
scene0024_01/scene0024_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.999848 0.017453 0.000000 5.017270 -0.017453 -0.999848 0.000000 2.979470 0.000000 0.000000 1.000000 -0.071109 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 2263
16
+ numDepthFrames = 2263
17
+ numIMUmeasurements = 4793
18
+ sceneType = Living room / Lounge
scene0024_01/scene0024_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0046_00/scene0046_00.aggregation.json ADDED
@@ -0,0 +1,348 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0046_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [74596,73333],
9
+ "label": "picture"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [58053,64348,67651,65561,68214,56650,67655,62277,60946,68570,67812,52962,57772,60086,56754,68817,53115,53436,55819,53827,54706,54866,55137,56736,55603,56418,56251,57353,60464,68226,60733,63779,64484,66916,68808,68943,69117,55450,66270,56201,63746,67207,65034],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [153878,167102,159768,154692,168284,167139,172723,124629,154266,158451,159308,172557,166208,166562,167034,166641,166630,167642,170938,159710,153353,153661],
21
+ "label": "bathtub"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [85992,42113,67483,89195,67164,90724,91112,37536,71801,73681,72151,70581,69612,88738,91370,91429,88232,72670,42668,92503,67573,95538,69708,70858,85492,94677,71219,73035,93941,94120,95460,70150,118824,43773,85383,87149,116033,88204,71951,86808,91674,90291,40883,86785,87051,85996,42321,88969,88936,91367,90993,65918,65741,65635],
27
+ "label": "bed"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [38842,46903,42331,39031,36293,37242,39335,8965,40487,42400,33296],
33
+ "label": "wardrobe"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [33999,54048,82952,10949,24049,108781,22995,55649,190948,33426,34016,109775,106868,55285,108577,116346,153966,57176,154239,69569,118350,110453,64393,54039,34209,25794,11796,55476,65639,35096,67060,66562,76203,65473,67247,87142],
39
+ "label": "floor"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [61286,82485,80284,60185,60562,49964,82429,81396,62629,80131,59559,59774,56552,82479,59396,48346,52554,61937,60599,79496,28985,48504,56317,77078,55372,50251,54605,54819,57206,60987,60246,61000,62619,62401,76604,80479],
45
+ "label": "desk"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [45255,32064,45524,19153,45834,19552,39473,46857],
51
+ "label": "ceiling"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [7532,9270],
57
+ "label": "wall"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [75113,74424,10335,44927,97319,45613,45684,45813,73809,74543,75990,73416,73509,70631,43822,97803],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [88597,108945,113768,91269,93564,98439,91834,114710,94178,120245,88978,87828,114779,114180,113487],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [57847,61411,61777,59509,61402,62097,59391,59996,57880,59352],
75
+ "label": "laptop"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [48925,49683],
81
+ "label": "object"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [61216],
87
+ "label": "luggage stand"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [79588,82196,81246,80955,58981,81472,59625,62163,80834,82455,80240,81999],
93
+ "label": "object"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [80712,82449,81179,80637],
99
+ "label": "object"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [54300,24218],
105
+ "label": "lamp base"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [23538,23640,23594,19828,22568,22283,23438,21517,24564,24381,23423,26044,20275,20690,21181,24718,24370,21369,22813,24493,23963,23910,23981,24229,25841,25895,26015],
111
+ "label": "suitcase"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [25767,56793,22661,54349,25666,19846,23803,22624,20379,20502,20727,21507,53789],
117
+ "label": "backpack"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [78218,77156,77218,78567,78208,78811,79107,76557],
123
+ "label": "table"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [49676,48099,81184,47354,151555,80977,105309,49692,51120,149613,103979,102820,62976,52025,62993,56027,17329,19596,151941,17795,17511,49291,11663,147831,47832,48400,48446,56087,152262,150838,145979,146109,184798],
129
+ "label": "wall"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [195183,192599,187999,194626,185166,194017,181752,185697,184631,191303,184425,185185,196289,185424,196908,192780,186348,188261,188504,188524,186061,186950,189050,186714,196760,192398,191180,191505,197470,191709,192570,191992,195772,192277,188211,192634,197131,194469,193449,194042,193037,194127,189996,196795,194428,195813,197459,188362,196294,187700,196476,185169,196564,192921,183909,192264,192954,193063,193880,188158,189613],
135
+ "label": "door"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [157359,161173,154415,156690,162754,165548,161776,161886,110434,162237,166005,195748,113778,111724,112715,108323],
141
+ "label": "wall"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [159662],
147
+ "label": "light switch"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [109655,113065,111656,113075,165032,154069,118734,154147,154269,155431,156741,156865,157863,158130,158387,159191,159458,162921,161392,160560,165008,163417],
153
+ "label": "doorframe"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [106628,113052,111926],
159
+ "label": "wall"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [116357,115479,119072,120554,117795,120775,118992,116908],
165
+ "label": "door"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [92143,92182,97912,98046],
171
+ "label": "wall"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [97165,98193],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [132567,130965,95616,128950,135337,122621,94872,122171,130171,123463,126401,124280,128701,131867],
183
+ "label": "wall"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [116694,115837,117291,115974,117528,116538,115322],
189
+ "label": "mat"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [93767,127998,123764,115328,128435,122836,124480,117454,118457,122684,117183,96159,122712,122991,123349,126051,129966,129159,86898],
195
+ "label": "toilet"
196
+ },
197
+ {
198
+ "id": 32,
199
+ "objectId": 32,
200
+ "segments": [126707,95569],
201
+ "label": "toilet flush button"
202
+ },
203
+ {
204
+ "id": 33,
205
+ "objectId": 33,
206
+ "segments": [93218,96382],
207
+ "label": "toilet paper"
208
+ },
209
+ {
210
+ "id": 34,
211
+ "objectId": 34,
212
+ "segments": [95057,94484],
213
+ "label": "ledge"
214
+ },
215
+ {
216
+ "id": 35,
217
+ "objectId": 35,
218
+ "segments": [134802,127113,126048,132739],
219
+ "label": "light"
220
+ },
221
+ {
222
+ "id": 36,
223
+ "objectId": 36,
224
+ "segments": [127978,119490,128713,123868,115235,118877,119134,119666,120038,129006,119416,123736,127601,127099,122657],
225
+ "label": "towel"
226
+ },
227
+ {
228
+ "id": 37,
229
+ "objectId": 37,
230
+ "segments": [127238,130799,131090,130415,131139,127747,127944,128665,130391,130210,130849,128484,129642,130866],
231
+ "label": "sink"
232
+ },
233
+ {
234
+ "id": 38,
235
+ "objectId": 38,
236
+ "segments": [130469,128868],
237
+ "label": "object"
238
+ },
239
+ {
240
+ "id": 39,
241
+ "objectId": 39,
242
+ "segments": [132981,129226,130957,136118,136323,132606],
243
+ "label": "mirror"
244
+ },
245
+ {
246
+ "id": 40,
247
+ "objectId": 40,
248
+ "segments": [129750,130153,127415,124988,130212],
249
+ "label": "ledge"
250
+ },
251
+ {
252
+ "id": 41,
253
+ "objectId": 41,
254
+ "segments": [125803],
255
+ "label": "object"
256
+ },
257
+ {
258
+ "id": 42,
259
+ "objectId": 42,
260
+ "segments": [127215,126879],
261
+ "label": "object"
262
+ },
263
+ {
264
+ "id": 43,
265
+ "objectId": 43,
266
+ "segments": [134917,134394],
267
+ "label": "vent"
268
+ },
269
+ {
270
+ "id": 44,
271
+ "objectId": 44,
272
+ "segments": [132020,127411,128444,179336,169102,129132,175628,130863,132933,134707,170534,168044,169871,169949,170025,170484,174992,132673,170033,170106,130983,170690,127332,172497,171620,173209,173641,175672,134214,178936,173881,175382,176108,174452,176719,176890,177109,171964,175519,170917,177927,171420,175123,177137,170068,169504,174464,173810,179169,130458,178595,173844,169886,176497,166027],
273
+ "label": "shower curtain"
274
+ },
275
+ {
276
+ "id": 45,
277
+ "objectId": 45,
278
+ "segments": [179655,179535,170018,168726,177496,169335,174801,159267,174412,170888,167785,168410,171577,171653,172729,173767,175796,176757,191369,177282,177980,193060,194831],
279
+ "label": "wall"
280
+ },
281
+ {
282
+ "id": 46,
283
+ "objectId": 46,
284
+ "segments": [159085,161530,157095,162224,163182,159069,155067,155467,164725,163825],
285
+ "label": "wall"
286
+ },
287
+ {
288
+ "id": 47,
289
+ "objectId": 47,
290
+ "segments": [91914],
291
+ "label": "pillow"
292
+ },
293
+ {
294
+ "id": 48,
295
+ "objectId": 48,
296
+ "segments": [83223,85141,82774,84266,84528],
297
+ "label": "shoes"
298
+ },
299
+ {
300
+ "id": 49,
301
+ "objectId": 49,
302
+ "segments": [77480,66154,77460,83018,76633,83134,77993],
303
+ "label": "shoes"
304
+ },
305
+ {
306
+ "id": 50,
307
+ "objectId": 50,
308
+ "segments": [108587,102894,102321,78940,102496,103708,102607,103493],
309
+ "label": "backpack"
310
+ },
311
+ {
312
+ "id": 51,
313
+ "objectId": 51,
314
+ "segments": [110341,109732,109452,102727,102937,108824,106701,103628,76140,78564],
315
+ "label": "clothes"
316
+ },
317
+ {
318
+ "id": 52,
319
+ "objectId": 52,
320
+ "segments": [33739,33134,33027,33022,35412,35563,35302],
321
+ "label": "backpack"
322
+ },
323
+ {
324
+ "id": 53,
325
+ "objectId": 53,
326
+ "segments": [43560,37189,43529,46936,37154,47314,40688,42450,41613,35692,42600],
327
+ "label": "tv"
328
+ },
329
+ {
330
+ "id": 54,
331
+ "objectId": 54,
332
+ "segments": [41503,42919,34254,41579,42913,35002,43197,35987,41558,44232],
333
+ "label": "nightstand"
334
+ },
335
+ {
336
+ "id": 55,
337
+ "objectId": 55,
338
+ "segments": [42181,36080,43292,44292,40376,41215],
339
+ "label": "object"
340
+ },
341
+ {
342
+ "id": 56,
343
+ "objectId": 56,
344
+ "segments": [26470,1176,1909,18403,27640,27844,4476,183,2025,15113,27182,26917,32489,1567,26776,32093,28762,2616,870,94,7505,1618,6901,7377,5792,17115,7063,14200,28303,7167,5949,1765,4588,30040,1856,7499,4630,9842,173,4480,4340,4780,26826,26037,1841,1142,2756,16109,3456,2036,10014,8216,9998,29864,1881,32152,1983,1088,1200,30193,31170,2329,29645,30265,31128,29882,19449,26228,32035,16617,30411,32612,29802,17955,27736,26152,27236,32194,13431,15067,13041,14404,23368,19236,15099,26140,26041,14798,18442,18761,31318,15270,26205,2335,27230,27795,21916,29375,2934,3622,1900,1449,7008,6610,4722,4155,4049,27532,30518,31958,27261,28131,31080,32553,16900,15332,14979,17368,11968,26697,4998,2048,2658,31904,3299,29135,14158,13550,11141,18225,15984,19341,18290,13725,19086,28504,11946,17527,12888,12893,11862,17408,18903,15277,14476,18125,28553,437,19973,14076,22187,27446,7294,22620,9873,8485,9719,4702,6672,4352,216],
345
+ "label": "curtains"
346
+ }
347
+ ],
348
+ "segmentsFile": "scannet.scene0046_00_vh_clean_2.0.010000.segs.json"}
scene0046_00/scene0046_00.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.406737 0.913545 0.000000 -0.944400 -0.913545 -0.406737 0.000000 3.881650 0.000000 0.000000 1.000000 -0.072924 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999977 0.004401 0.005230 -0.037931 -0.004314 0.999852 -0.016630 -0.003321 -0.005303 0.016607 0.999848 -0.021860 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 571.623718
9
+ fy_color = 1170.187988
10
+ fy_depth = 571.623718
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 2481
16
+ numDepthFrames = 2481
17
+ numIMUmeasurements = 5197
18
+ sceneType = Apartment
scene0046_00/scene0046_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0054_00/scene0054_00_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73ca6a4766fe8f65a509a56b55e2c95b614379314663d54551098ebb5044d798
3
+ size 22972835
scene0074_02/scene0074_02_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:69fd5d64bf7e3cda930ee1dbe8836772718ad503c80c4202233ec7f7b83a7ef8
3
+ size 2959498
scene0074_02/scene0074_02_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:02b3ad20f23f8bd6b402a01cb39399af18fcc9968b8c064645ddcb034a2f4e20
3
+ size 2819196
scene0077_00/scene0077_00.aggregation.json ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0077_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [52860,52307,53008,52948,50834,51677,51645,52786,51719,51666,51293,52480,52493,53165],
9
+ "label": "copier"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [40513,42055,42912,43037,40594,22790,40306,22911,41271,42948,41017,22614,41182],
15
+ "label": "printer"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [36717,37564,11522,38023,38056,35386,37764,37211,36657,37961,36221,37704,35832,37286,36339,38014,37622],
21
+ "label": "printer"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [24164,26195,16151,24540,15332,13734,25043,25793,24771,18197,24884,14436,25676,15543,24877,23455,25470,23545,18176,23743,25512,21793,13816,24725,24562,25604,20733,25806,25902,24669,16765,26082,21397,24625,24486,14261,19368,19372,19506,18083,17273,24371,20668,25776,13381,13538,14893,21853,14404,25431,22833,25373,15279,13673,18914,16110,10358,21029,25798,26135,26013,24463],
27
+ "label": "window"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [15703,7088,5304,4069,15743,19021,16688,2250,7057,4934,13461,12315,18738,18972,4436,13529,16703,20090,3686,7713,3327,20525,4358,18436,5219,19967,18719,16242,20212,20520,5528,19456,6843,7879,13917,15261,9345,4951,5085,14728,5079,13787,20007,8908,13699,16096,8048,38360,5479,18118,4217,17837,5424,17016,15666,16418,15144,7049,6488,8709,20709,15744,4711,16819,16335,19016,19205,3390,7151,7186,6987,10033,5978,18629,20048,14073,13154,11760,18756,11552,16165,15435,18053,15798,12990,14144,17363,18033,32505,3309,3506,4196,4207,5266,5514,5606,5747,6252,13543,6415,6422,6473,6768,6963,7674,7992,8081,8088,8453,9170,9264,9476,9593,9784,9953,17096,11792,11968,13237,13331,13542,15186,15684,15924,16180,16811,17532,19097,19965,20910,21843,32581,38512,20997,5576,21373,38663,38590,21018,38375,38471,1320,10778,11227,1361],
33
+ "label": "shelf"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [35095,54313,34178,33814,27069,88622,73210,38,38771,39951,39114,58058,71429,26945,75892,71403,33832,38955,66044,39053,54814,81902,39364,65294,44363,45042,73068,44383,44718,49697,69653,69394,55825,57245,65172,75184,66482,72283,65792,72734,75085,76133,75635,75802,80666,73479,76967,81208,76764],
39
+ "label": "floor"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [35930,10201,43050,201,26682,39705,40811,26948,34584,87,33186,39390,39229,39468,33327,10242],
45
+ "label": "cabinet"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [12586,21619,18392,12763,22803,22871,1119,3272,12060,1349,3109,628,491,11910],
51
+ "label": "shelf"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [45646,54023,46277,48532,56530,46897,56632,49215,60220,47355,58546,53985,48915,47458,45898,45852,58236,62966,61796,62445,58392,49421,59722,57249,53813],
57
+ "label": "trash can"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [70875,92071,90893,92720,89276,88124,69762,69440,70189,70674,89332,70743,70912,91259,87781,92394,70391,71115,71344,69720,70858],
63
+ "label": "door"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [91477,88228,90928,91174,89321,89784,91725,88400,89892,67671,69074],
69
+ "label": "doorframe"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [89226,86781,90523,91231,87072,90965,89945],
75
+ "label": "wall"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [85095,84289,83137,85420,81402,81828,84255,84426,85834,86101,86560,86561,86619,84433],
81
+ "label": "wall"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [83275,82045,83801,83502,81960,82524,82410,80723],
87
+ "label": "trash can"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [86499,86126,82401,84348,86373,81390,87004],
93
+ "label": "doorframe"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [40887,691,36816,22031,40683,40042,42330,37162,37783,28578,28727,27733,27620,29405,11238,28418,2768,1113,12698,10411,22699],
99
+ "label": "counter"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [42917,50585],
105
+ "label": "table"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [32384],
111
+ "label": "ceiling"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [84033,84515,81086,86915,84307,81581,84964,84799,85584,83050,85272],
117
+ "label": "wall"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [59903,28605,58172,32050,62279,45688,44829,29684,45953,29334,28844,46324,29412,28202,28476,29498,31865,47670],
123
+ "label": "wall"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [79709,80631,55527,77399,60166,61781,61790,59088,61170,56450,76897,56627,58119,58665,58869,80441,60036,60264,61908,71720,72426,74375,77648,78245,79089,79146,77682,80141,79869,78514,78596],
129
+ "label": "door"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [44205,41555,23356,43775,22059,43626,23308,43608,43919,40483,52000,52312,53701,52151,52160,68044],
135
+ "label": "wall"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [46565,47513,50233,47231,46075,50287,50014,49537,50110,49442,45266,29494,27540,49820,49915,36047,48471,45793,47744,27837,46786,50159,27741,45545,49387,48665,45192,45933,27382,28610,37651,45028,45802,47881,45092],
141
+ "label": "copier"
142
+ }
143
+ ],
144
+ "segmentsFile": "scannet.scene0077_00_vh_clean_2.0.010000.segs.json"}
scene0077_00/scene0077_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.008727 0.999962 0.000000 -1.883530 -0.999962 0.008727 0.000000 1.896960 0.000000 0.000000 1.000000 -0.092646 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 604
15
+ numDepthFrames = 604
16
+ numIMUmeasurements = 1268
17
+ sceneType = Office
scene0077_00/scene0077_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0079_01/scene0079_01.aggregation.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0079_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [59704,28825,33639,18644,79507,44962,43625,32743,114977,42972,42949,68324,12605,111106,22252,98337,114512,68591,114197,13351,71129,105296,58452,113336,103449,56499,28507,3041,108977,18017,15048,15470,15675,28449,16962,17846,107224,18448,86101,21397,57280,33045,22303,108302,58226,107531,23228,24363,31069,31540,32177,72462,32775,44516,32911,33481,43603,43987,44611,59642,44659,45233,80383,57095,57243,58992,78882,67886,70154,72896,73237,79272,79931,81400,82453,82954,83095,83959,84489,85299,86160,86332,87913,93759,93825,94240,94325,94459,94981,114774,95511,97147,97400,98454,98468,98544,98588,98599,99110,105172,105291,105503,105545,106040,107044,107238,107458,107510,110972,111084,111622,112027,112147,112774,113648,114461,114583,114676,114997,115071,113625,113660,22885,19750,22511,14929,10797,11735,13412,13756,13446,13750,3497,2824,2695,1763,2915,3289,1724,3973,3553,3754,952],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [70979,71300,55648,55874,68582,66945,67830,55589,53350,66879,68149,67949,54266],
15
+ "label": "monitor"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [91401,86977,76727,76809,93027,92606,92817,93115,95840,77253,77373,94139,86111,77781,93401,82471,83724,77761,92312,77969,78272,85715,77572,76547,87117,96549,76723,77147,86348,77586,77717,78059,78292,84099,93130,85917,92517,86765,87514,87662,93406,92324,91714,92988,92073,93471,94644,95095,96233,96788,90350,84376,73989,73817,84378,90721,86436,87712],
21
+ "label": "copier"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [83889,83846,83051,80195,84576,79290,83691,78860,87199,83276,85087,86169,79525],
27
+ "label": "machine"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [9043,6308,12574,11850,6882,7273,7769],
33
+ "label": "door"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [39221,35979,38577,36196,38587,39417,37631,35101,39131,39326,41354,39444,38639,42315,37978,36165,35526,51471,34798,35729,38424,39385,57089,39903,41319],
39
+ "label": "keyboard"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [80999,62558,5047,27671,1014,4381,100411,88860,7410,34218,4153,13917,46787,5754,963,3625,1447,374,1498,108015,1296,1025,73262,41244,1265,109157,110737,548,980,5186,37923,23711,27638,61644,46768,25518,23612,110730,38251,88989,37247,107993,40818,34232,99506,33764,110461,46728,75373,37985,45853,108091,60973,87987,60773,74746,88463,110366,107805,88438,89017,107987,110320,100687,110726,108044,108537,108649,110312,101887,99751,88147,73452,88364,24675,76110,61423,65235,63066,36485,40909,41625,42329,57111,47207,48362,48927,47413,63831,65274,63930,80435,62412,82691,78347,90957,82341,78351,79661,78980,82073,81565,46979,50956,47329,36816,24386,42468,40648],
45
+ "label": "floor"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [69540,72318,62314,63133,67703,65690,67870,71914,63190,66153,62614,62219,62654,64993,64197,64387,69541,64333,63673,63403,64725,66619,62393],
51
+ "label": "chair"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [30055,34302,24570,41905,44453,40011,41200,36756,39453,41671,28749,25921,25714,27682,24988,26645,25573,25203,27447],
57
+ "label": "desk"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [12201,11170,12958,8066,8765,11998,9886,11351,8651,9423,9481,6327,7080,7302],
63
+ "label": "doorframe"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [69846,72327,51266,55424,72058,68403,55047,71793,55482,68946,71692,55527,67684,56058,52568,48586,48387,48761,56321,52361,49311,49948,51632],
69
+ "label": "table"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [52444,53285,54672,70464,65813,68186,55374,62870,68082,47453,48026,66655,56037,52018,52204,65659,68378,72253,48837,70357,64630,64390,54815,62147,52868,47364,50153,49185,47045,63002],
75
+ "label": "chair"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [52145,45135,52674,54298,38814,48913,47347,48463,41447,52571,50941,42462,40812,40841,40539],
81
+ "label": "table"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [37043,54879,49648,47211,56112,55446,51182,55748,53640,36982,49000,51677,51291,51589,47759,47791,54842,50360,49572,47034,55618,49429,51865,52937,48398,52728,36039,53651,50403,48591,51997],
87
+ "label": "chair"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [28278,23964,24183,24148,36211,23986,24101,35739,23835,23793,37138,24112,25600,26391,28976,37973,27475,39333,38621,39432,28936,44077,42479,35785,25924,41204,27690,25155,24888,25135,27247,38918],
93
+ "label": "chair"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [20757,21412,21287,19737],
99
+ "label": "sign"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [29288,30163,29659,30029,29119],
105
+ "label": "jacket"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [81389,82633,61891],
111
+ "label": "power strip"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [80865,80598],
117
+ "label": "power strip"
118
+ }
119
+ ],
120
+ "segmentsFile": "scannet.scene0079_01_vh_clean_2.0.010000.segs.json"}
scene0079_01/scene0079_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.325568 0.945519 0.000000 -3.926640 -0.945519 0.325568 0.000000 4.202390 0.000000 0.000000 1.000000 -0.043857 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ 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
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 570.727112
9
+ fy_color = 1170.187988
10
+ fy_depth = 570.727173
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 462
16
+ numDepthFrames = 462
17
+ numIMUmeasurements = 983
18
+ sceneType = Hallway
scene0079_01/scene0079_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0095_01/scene0095_01_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e37ef7bbd1c0f5dadd1e91fc9c397db4b7f320161e865f528c7cdb2185985b5
3
+ size 9287721
scene0122_00/scene0122_00.aggregation.json ADDED
@@ -0,0 +1,108 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0122_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [57304,40064,61021,52825,52766,37136,40314,50490,39761,37034,39807,52547,39871,34284,48940,60644,33216,35817,36628,36732,37356,38002,57130,38754,50034,39633,57641,39094,38389,32142],
9
+ "label": "chair"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [68566,65929,68117,67311,66198,64525,67819,66971,63596,68934,66068,65337,69030,69706,68859,66664,68202,62796,62709,67635,65399,65419,63135,65495,64716,64457],
15
+ "label": "chair"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [26686,21021,26710,25681,26299,27055,24497,24103,22051,24639,24727,25351,24170,24802,21620,22407,22649,23617,24720,24770,25277,25359,22830,22679,21955],
21
+ "label": "chair"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [57288,66726,58968,55207,57104,58004,59040,57267,59337,58582,59371,58249,58655,60051,40092,57276,54278,53299,53175,38681,56903,56597,64238,63159,55085,55779,54627],
27
+ "label": "chair"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [32979,19613,3520,8874,65315,19957,55648,33629,19896,9091,27676,14882,72392,23338,28234,28708,29469,27264,55979,24440,40810,61884,72225,63286,56105,56388,54818,40842,62853,55184,62325,65182,19730,3240,24939,23217,33612,33187],
33
+ "label": "floor"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [16360,14894,15253,1257,14986,52307,14732,2501,33326,15159,100,19,2039,52915,36887,32726,17684,18220,48504],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [5515,6474,7256,7270,5287,6783,7357,3371,7209],
45
+ "label": "door"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [43572,42540,43360,43596,43282,42030,43794,43484,43601,43863,43490,42093,43697,43015],
51
+ "label": "table"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [9479,3210,77,1982,10513,2160,7212],
57
+ "label": "doorframe"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [12222,10120,9253,13049,9805,8794,12749,10462,12521,7881,10254,9096,9101,8765,9022,11567,7920,11284,8340,11874,11718],
63
+ "label": "window"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [12307,13349,13448,10676,12831,13515,12340,10564,14516],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [31408,28597,31482,13771,14315,29420,30864,29821,30408,31620,47777,31708,44705,44365,46398,47348,71336,47678,47783,47931,70679,48114,48152,45997,46152,47399,45692,46633,47201,48279,47709,65812,70170,71245,70418,69255,28878],
75
+ "label": "wall"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [60686,55568,57998,54589,54696,73233,57551,54226,59650,57903,60243,66342,72034,72641,72868,73913,74297,74840,74855,48750,57485],
81
+ "label": "wall"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [58857,51614,57901,49043,51466,49046,48537,49267,53663],
87
+ "label": "wall"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [52839,48907,50952,52577,50684,50330,60148,49573,49535,51934,50787],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [35641,34715,19444,34365,34394,16688,37014,19049,19412,2210,18399,17870,17985,16934,34206,34967,35169],
99
+ "label": "whiteboard"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [27541,26623,29537,30980,25537,23945,25502,27070,26727,25783,26163,31133,31891,25169,25953,26426,30631,29837,31350,29033,31088,22244,28544,27242,27416,28912,27256,21173,22572,24568,28974,23564],
105
+ "label": "chair"
106
+ }
107
+ ],
108
+ "segmentsFile": "scannet.scene0122_00_vh_clean_2.0.010000.segs.json"}
scene0122_00/scene0122_00.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.165048 0.986286 0.000000 -1.767060 -0.986286 0.165048 0.000000 1.563080 0.000000 0.000000 1.000000 -0.085792 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ 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
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 577.870605
9
+ fy_color = 1170.187988
10
+ fy_depth = 577.870605
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 977
16
+ numDepthFrames = 977
17
+ numIMUmeasurements = 2031
18
+ sceneType = Conference Room
scene0122_00/scene0122_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0146_01/scene0146_01.aggregation.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0146_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [7118,6346,1180,6911,7525,6867,6903,1391,6612,1899,10752,2439,3927,5186,4917,6171,7628,346,1469,1501,1875,1887,2020,7317,7677,8275,10406],
9
+ "label": "trash can"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [41804,44320,43620,41214,42032,42999,45398,43071,44946,41304,42289,41757,43326,45129,43515,41209,43484,42593,41562,45385,39180],
15
+ "label": "sink"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [22248,36347,22925,22307,21063,35768,22089,32334,32590,35652,13066,25273,3516],
21
+ "label": "floor"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [26813,26721],
27
+ "label": "rail"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [28488,24886,24074,26837,25097,26491,25140,24018,24890,28782,29165,26181,25864,26740,26934,29034,30899,27358,26626,28166,24599,26575,25254,25357,25565,26647,25928,24627,30571],
33
+ "label": "toilet"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [41129,41390,42822],
39
+ "label": "soap dispenser"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [28738,43052,14264,29804,28364,38280,29874,30347,39129,40073,30139,24478,27458,26978,27480,28035,13873,29153,29198,44979,44738,44745,30939,28271],
45
+ "label": "wall"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [44075,45260,44626,42257,44449,44384,41883,43033],
51
+ "label": "mirror"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [38751,41911,41694],
57
+ "label": "wall"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [58279,58866,58996],
63
+ "label": "wall"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [58807,47067,48569,48314,48023,54762,47327,50910,52291,54313,53618,55015,56792,56541,49591,57000,54662,52357],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [53031,56905,56706],
75
+ "label": "door"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [49463,52690,54255,55036,47752,56973,49843,46881,54200,52784,53365,54575],
81
+ "label": "backpack"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [49314,32263,49814,45869,35434,33630,20708,20929,2805,2781,279],
87
+ "label": "wall"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [11879,12777,9277,12334,12058,11375,8455,11987,16165,11520,11695,12530,8541,14959,15368,13400,5777],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [5452,4981,5780,5219,21371,3570,6026,4117],
99
+ "label": "object"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [6269,15843,15959,14500,6312,11141,6652],
105
+ "label": "rail"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [10398,11088],
111
+ "label": "toilet paper"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [9116,6359,6342],
117
+ "label": "toilet paper"
118
+ }
119
+ ],
120
+ "segmentsFile": "scannet.scene0146_01_vh_clean_2.0.010000.segs.json"}
scene0146_01/scene0146_01.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.139173 0.990268 0.000000 -1.323190 -0.990268 0.139173 0.000000 1.295070 0.000000 0.000000 1.000000 -0.042078 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1139
15
+ numDepthFrames = 1139
16
+ numIMUmeasurements = 2365
17
+ sceneType = Bathroom
scene0146_01/scene0146_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0174_00/scene0174_00.aggregation.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0174_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [2512],
9
+ "label": "wall"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [20033,14877],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [31506,37792,30666,37444,32289,32095,36852,33096,36777],
21
+ "label": "painting"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [44841,45255,44306,46341,45478,44457,45424,44789,45173,45783,44729,45434],
27
+ "label": "box"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [101577,63855,102227,66426,60965,61150,67111,61132,59928,65448,66451,66733,101782,103249],
33
+ "label": "door"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [54132,80953,50718,50835,53522,54857,50883,50321,85304,50618,54460,49984,75285,55548,50197,50539,50869,75828,85392,85689,78755],
39
+ "label": "keyboard piano"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [60642,35391,60348,101829,67637,60921,60338,61191,60224,60616,102399,102777],
45
+ "label": "wall"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [49263,70551,49266,22024,23046,48322,107350,48801,73817,23074,129371,48753,49385,40295,129908,49271,51845,70871,51482,71001,71319,38847,68408,130829,69607,69258,67728,109329,110567,130956,69439,63613,63357,41610,51612,73616,48774,72775,52886,129717,130161,129775,130443,40079,41421,41612,130253,41739,42715,67974,67994,73840,121137,129287,130997,129786,130574],
51
+ "label": "floor"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [119013,21701,118933,98348,59555,106895,97396,47041,59065,51161,59832],
57
+ "label": "ceiling"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [111517,113540,114757,100826,112916,114988,101222,100767,113339,115519,111676,113573,111003,112942,114623,112723,116051,102771,109375,109827,111174,111374,116697,111580,113399,114470,110035,114590,114662,115385,116999,118442,118643,117335,117081],
63
+ "label": "curtain"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [71458,69896,69693,112350,76218,82874,111384,121470,82860,112976,113125,114024,120094,69642,68873,115001,73642,108407,72400,72208,71376,124714,125141,73325,71112,73159,71641,70991,71464,121506,73068,76806,76608,73089,73137,71584,70565,69950,69861,79070,86975,83062,124933,88220,72369,75809,71440,74572,73013,74195,79034,110150,69672,69674,72711,78771,73664,73199,120706,71133,68594,114685,108969,107277],
69
+ "label": "desk"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [88761,92285,96930,90896,90736,96994,85404,95870,84225,96783,96074,86962,89887,74963,93978,92194,89459,96052,81884,75836,95429,91673,91784,94092,94380,95805,94343,91384,74225,89810,91477,80107,92697,94405,93865,94494,88766,88652,94994,73909,92565,90936,92272,89161,93231,92591,84633,93216,94751,90256,94319,76182,94256,91907,95532,95912,94519,83563,89954,84277,88806,92572,96031,90359,90476,92293,90001,92405,91706,90649,96562,95687,90774,94659,95800,91231,95962,83416,95452,93997,89697,96373,92540,88851,78327,77766,82636,78633,86518,74324,92928,91849,91846,94847,91393,82462,91178,94756,87794,93136,94565,74953,90191,94948,84066,85193,87898,87976,84829,88028,81655,80160,85274,74097,81775,80765,77884,81792,75922,81666,76304,87587,82019,80207,76141,76142,79216,74805,77585,85834,78812,85891,88164,74172,84519,93701,84417,84957,85464,82301,85576,92889,74677,76480,84904,79209,73880,95092,76984,79166,81477,91927,78387,78089,89980,81202,76264,85422,77395,74449,88342,84753,80093,84036,79825,81501,73949,77047,77136,77189,86926,82534,73899,78649,74011,77450,75191,79784,74519,75873,87372,82134,76263,92380,74727,82891,84260,83844,82346,82299,79251,83597,89278,80799,87090,75681,88427,82693,84659,74604,87411,85314,82327,86102,75517,84675,88183,82320,79558,86657,83469,95830,79457,89499,95662,88666,91595,94766,74796,85131,86183,87177,92317,77183,93879,87167,90705,93629,89404,81516,88608,95398,91242,85527,74131,87520,88571,77340,82002,82521,81639,77643,78975,79885,80324,83937,80672,77443,90744,83716,75117,75704,76241,83387,76316,78993,83773,92983,93032,93057,93189,93326,93892,93705,93814,94786,95474,95528,86214,87928,86885,81013,87340,75756,88056,76036,76766,81900,84869],
75
+ "label": "window"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [87805,88407,124828,85196,87711],
81
+ "label": "monitor"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [107976,108431,67784,108942,107082,107112],
87
+ "label": "backpack"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [17709,25628,25178,23462,27731,26326,26561,19343,28490],
93
+ "label": "door"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [8059,6841,44699,4016,14434,211,8331,6760,5164,9539,36154,10651,14331,45747,36478,4453,9313,13944,44861,5640,805,32608,33554,3686,19686,5714,751,7563,5262,7290,7287,33455,3487,7430,4650,37806,20,44675,116,10212,12301,7306,15787,3052,121,276,280,2913,323,3107,354,403,800,823,14379,939,33680,30205,6444,1474,6255,5525,1766,2809,5194,3236,13350,4252,34186,4500,33191,31182,20600,4750,5158,5180,5441,5719,5807,11293,6094,6597,6462,13194,32340,6638,7331,15668,6909,33977,7673,7786,7835,8113,8482,8702,19830,8715,16760,9041,9485,9212,9214,9372,7209,9474,9687,9852,10033,10617,11228,11462,11572,11660,11891,12085,13263,12345,12434,33456,12481,12489,12715,13010,13071,13116,46822,13528,13716,13795,13999,32734,14211,14370,14700,14725,14883,14993,15000,15014,15088,15799,15825,15853,16117,16213,32703,16739,17607,17882,15879,18543,18658,18916,1823,19030,19194,19446,19843,20462,20841,31590,32412,32688,32898,32920,33030,33409,33657,33841,33979,34189,34326,34348,34402,45557,34450,34485,36634,37156,37618,37965,16265,44946,45813,42959,37,3366,14038,18388,30637,11783,44051,44984,2455,9218,13332,17714,19993,20621,8153,9943,14250,14975,16281,18204,18698,19770,20756,11823,15568,17674,19503,18933,35715,3823],
99
+ "label": "bookshelf"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [125202,123234,122052,123370,121893,122795,122204],
105
+ "label": "stuffed animal"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [54384,55565,54186,55525,53294],
111
+ "label": "music book"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [57779,57200,58786],
117
+ "label": "picture"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [86923,88085],
123
+ "label": "keyboard"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [99403,100347,99655],
129
+ "label": "box"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [122220,119572,127226,112717,128666,114093,115680,114974,125222,116920,108579,117737,128478,122709,123978,124345,128775,125888,126144,126184,126620,126662,127717,122863,107183,123531,121140],
135
+ "label": "wall"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [102452,98704,99205,106075,101890,105291,103613,118203,116024,114796,108604,109776],
141
+ "label": "doorframe"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [52204,57812,57092,70357,54213,59642,56982,57403,59605,52916,51838,52417,53357,54240,70545,84203,53763,29737,30040,55802,59404,59519,56043],
147
+ "label": "wall"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [17399,26723,26232,27962],
153
+ "label": "wall"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [11108,6046,4240,8238,14432,3864,9766,9065,17975,12567,27051,27701,27968,25971,26268,25158,27886,22523,23942,6824],
159
+ "label": "doorframe"
160
+ }
161
+ ],
162
+ "segmentsFile": "scannet.scene0174_00_vh_clean_2.0.010000.segs.json"}
scene0174_00/scene0174_00.txt ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ appVersionId = Scanner.v1.20161011132740
2
+ axisAlignment = -0.374607 0.927184 0.000000 -1.132490 -0.927184 -0.374607 0.000000 2.218000 0.000000 0.000000 1.000000 -0.072651 0.000000 0.000000 0.000000 1.000000
3
+ colorHeight = 968
4
+ 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
5
+ colorWidth = 1296
6
+ depthHeight = 480
7
+ depthWidth = 640
8
+ fx_color = 1170.187988
9
+ fx_depth = 570.707642
10
+ fy_color = 1170.187988
11
+ fy_depth = 570.707642
12
+ mx_color = 647.750000
13
+ mx_depth = 319.500000
14
+ my_color = 483.750000
15
+ my_depth = 239.500000
16
+ numColorFrames = 2429
17
+ numDepthFrames = 2429
18
+ numIMUmeasurements = 4855
19
+ scanSavedAt = 20161028T055823-0400
20
+ sceneType = Office
scene0174_00/scene0174_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0176_00/scene0176_00.aggregation.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0176_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [25272,49535,46034,51515,50585,44172,24232,25242,21740,45097,24093,46974,44048,21565,23549,50619,21923,42810,43085,47904,25020,49840,49096,50979,51024,44523,45647,44155,49847,46128,42721,50102,25529,50053,50208,45750,42943,46245,49878,45894,50291,45950,43466,44574,23689,24488,50515,24811,50071,20442,46270,45628,41874,19295,23314,49638,45263,51562,50453,49797,74956,24444,50367,24836,42675,46254,47000,46367,24159,43403,19337,19840,23878,21798,24977,24172,50702,42977,50236,49254,45515,43387,43151,50210,48990,50134,44686,44969,43699,50952,45110,51034,74819,42479,76790,78012,46175,23916,23452,23975,40913,43324,47510],
9
+ "label": "foosball table"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [75394,98491,80818,85964,77835,67832,96741,83881,68934,96644,80638,98108,36549,81460,83689,82409,97901,82952,98468,84509,99224,80325,72409,97843,82074,75695,68701,75417,31069,80823,77160,73474,97793,82851,82714,73158,85770,97743,98952,81656,81404,86219,67489,70495,67457,72724,38222,85787,80604,36042,77481,82990,82723,83351,83114,83022,82902,70314,35284,72924,68760,81506,71856,69550,71180,67909,81190,72776,67323,31358,67570,36455,39275,36253,67728,69342,69476,69354,69586,70552,83122,85701,98358,97639,80582,98122,84417,98698,71873,77648,81103,81081,82360,84488,84554,73100,71667,86462,73283,34779,38239,68155,69950,70171,70397,70852,72199,85650,85915,96912,98480,98747,98928],
15
+ "label": "window"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [46457,93952,47333,86866,21323,52507,21353,53340,53205,47814,17967,41703,21912,9064,10035,54154,42399,48530,88873,75050,40262,48284,21754,21652,21591,51694,40486,10419,28755,40661,18194,39894,46657,40944,41258,30197,41408,42354,53446,17780,28062,47600,22449,18482,39843,41329,54323,18546,21875,52004,54306,86661],
21
+ "label": "floor"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [33294],
27
+ "label": "wall"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [38624,38662,81418,69830,83319,72763,69330,72705,82165,83454,80647,80672,98732,35617],
33
+ "label": "ceiling"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [85759,86100],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [78725,76166,76800,79799,77784,78597,80101,76611,75349,77364,77517],
45
+ "label": "windowsill"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [99759,73849,86156,77045,93064,81365,84398,89577,100691,85556,34117,81329,35640,35077,78073,36119,37249,34430,31812,33079,77486,78826,77980,91285,93584,101508,100615],
51
+ "label": "wall"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [92737,58076,57810,101328,93651,91553,92438,92976,93141,100649],
57
+ "label": "ceiling"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [39301,15513,5706,15934,21143,38628,38833,16179,16037,15959,17077,14915,37216,36067,37726,39422,15139,6368,5851,20936],
63
+ "label": "ceiling"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [9838,33708,1938,631,8640,1245,14646,468,30072,3129,9348,5042,4613,1559,1830,4022,9391,2267,29975,14722,3083,4110,4948,8522,9680,10379,10042,10056,10461,10750,30810,10955,11240,11487,5236,11939,12590,13082,29298,30820,31046,2151,8224,8383,1033,8475,2338,17061,29585,5145,9512,15773,6254,4023,3113,4601,4012,654,2252],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [16243,13372,12488,12758,14479,367,14660],
75
+ "label": "picture"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [13605,16059,12873],
81
+ "label": "picture"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [20061,2934,19797,6243,5748],
87
+ "label": "wall"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [7105,7479,7241,19590,20402,7642,6862,7186,7933,19036,7749,7723,7420,20842,19630,19505,20681,7816,7941,19513],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [94286,86660,58178,88693,25803,99626,94569,57464,95096,57478,100768,56139,55042,26218,100162,27141,26900,51725,54683,55655,26337,51773,52555,54185,53538,55100,26987,55800,54839,55822,56780,57220,56085,27114,96242,27127,26970,55064,27227,90113,52206,26522,26011,25647,26128,95766,53576,89462,95641],
99
+ "label": "wall"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [91005,93234,90140],
105
+ "label": "picture"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [95466,95566,55320,96075,95157],
111
+ "label": "picture"
112
+ }
113
+ ],
114
+ "segmentsFile": "scannet.scene0176_00_vh_clean_2.0.010000.segs.json"}
scene0176_00/scene0176_00.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.656059 0.754710 0.000000 -3.627170 -0.754710 0.656059 0.000000 -0.289884 0.000000 0.000000 1.000000 -0.048698 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999263 -0.010031 0.037048 -0.038549 0.009933 0.999947 0.002817 -0.004287 -0.037074 -0.002447 0.999310 -0.020574 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 577.870605
9
+ fy_color = 1170.187988
10
+ fy_depth = 577.870605
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 1074
16
+ numDepthFrames = 1074
17
+ numIMUmeasurements = 2241
18
+ sceneType = Game room
scene0176_00/scene0176_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0201_01/scene0201_01.aggregation.json ADDED
@@ -0,0 +1,198 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0201_01",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [119428,97869,107981,74999,97699,102251,103017,99421,104649,72859,100062,117759,102018,105791,100430,71655,116924,97521,102783,101661,98342,98987,74589,100027,98604,98721,101390,101499,101830,102300,102863,103514,103684,103965,117544,120002,121068,104924],
9
+ "label": "couch"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [99261,118951,118649,97952,100265,97323,117737],
15
+ "label": "wall"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [38108,68950,40789,67922,68367,68750,40037,67795,69033,67946,65572],
21
+ "label": "wall"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [36228,11999,37836,31688,35074,32663,12081,36266,11976,8861],
27
+ "label": "wall"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [4896,5409,10936,5926,6458,6277,10701,5670,9145,6027,4395,6701,9993,10273],
33
+ "label": "wall"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [19666,15367,5708,22096,4664,5975,6367],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [68023,66065,68307,43383,70704,66581,38943,40916,38555,66306,65131,40001,40125,40910,41866,65165,65291,65358,66130,66576,66828,67228,65533,67296,65235],
45
+ "label": "chair"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [40551,38499,42987,46433,47204,42249,46282,39184,38713,39593,39605,40240,41435,46321,46504,47616,48502,47962,48601,39963,48438,39628,38565],
51
+ "label": "chair"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [25787,5114,49003,48401,70966,46348,70237,904,11381,16973,3837,72525,2457,104165,69802,3970,1092,66394,67207,67006,26618,66654,7696,97201,541,727,1987,2872,72572,7794,3606,103347,21904,9909,17448,102726,76671,1040,49556,71331,49712,49588,7675,47210,70463,46664,69684,70844,53009,21133,16012,21173,21359,11589,11753,11025,9157,8241,7203,7059,9255,16859,12338,431,2165,1119,1489,3497,3662,40710,40229,40511,65243,65226,96713,96768,97103],
57
+ "label": "floor"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [80995,80079,78883,80191,75039,80313,79146,78184,78129,73732,79774,80309,73324,74269,76747,78067,78234,78392,78792,79539,79805,80532,80561,75720,83135,82255,78801],
63
+ "label": "refrigerator"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [53776,54582,27113,83712,52495,30881,53310,32196,33413,52236,58003,85894,52753,83829,77364,78192],
69
+ "label": "cabinet"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [44174,41062,44824,69194,44750,41439,43209,69071,43352,42968,43185,42182,42830,38907,45380,39518,39890,41375,41087,45227,39341,38695,39088,66650,69322,65921,41142],
75
+ "label": "table"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [58015,83935,85545,31903,63787,83867,86322,78447,62831,29450,85497,95541,94552,94778,62120],
81
+ "label": "kitchen counter"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [106586,106220,104499,105930,107953,108276,106106,109764,107889,104292,108239,105532,107007,105426,120489,105655,104477,107581,105539,105215,104820,104503,105150,106960,106575,105786,111471,107266],
87
+ "label": "blanket"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [109578,112570,112289,113449,117622,119765,117336,118561,95865,120370,120298,119702,120324,109353,120948,121107,112588,117330,93616,94996,108906,108419,107047,109921,109055,95566,108861,109382,109301,115720,114480,112899,113037,112758,111190,116276,113927,113860,85292,115577,115881,86766,84499,83944,94705,110631,116605],
93
+ "label": "wall"
94
+ },
95
+ {
96
+ "id": 15,
97
+ "objectId": 15,
98
+ "segments": [74496,102148,104956,106525,110682,75010,107920,108796,75470,75176,108628,75472,81508,82275,75194,81835,72798],
99
+ "label": "wall"
100
+ },
101
+ {
102
+ "id": 16,
103
+ "objectId": 16,
104
+ "segments": [114895,113577,91682,96658,84202,83157,96216,88710,91720,112699,116472,82191,85341,84924,82596,84865,85350,87943,88490,91363,93400,114502,81866,85238],
105
+ "label": "kitchen cabinets"
106
+ },
107
+ {
108
+ "id": 17,
109
+ "objectId": 17,
110
+ "segments": [88090,81976,61067,87916,59678,90110,87814,87429,113956,88006,89048,89739,89265,113219,89727,90672,93224,90826,92548,92831,60846],
111
+ "label": "ceiling"
112
+ },
113
+ {
114
+ "id": 18,
115
+ "objectId": 18,
116
+ "segments": [36204,37198,36273,96346,59515,59958,61908,58697,60566,36052,35447,34533,55274,57071,61539],
117
+ "label": "kitchen cabinets"
118
+ },
119
+ {
120
+ "id": 19,
121
+ "objectId": 19,
122
+ "segments": [63202,61649,63392,31550,95193,62977,55996,94409],
123
+ "label": "wall"
124
+ },
125
+ {
126
+ "id": 20,
127
+ "objectId": 20,
128
+ "segments": [35874,61259,37050,59900,60080,60560,61468],
129
+ "label": "range hood"
130
+ },
131
+ {
132
+ "id": 21,
133
+ "objectId": 21,
134
+ "segments": [84532,86733,85358,84293,84251,86906,86443,85520],
135
+ "label": "sink"
136
+ },
137
+ {
138
+ "id": 22,
139
+ "objectId": 22,
140
+ "segments": [56435,55476,33828,58223,62350,34678,31545,33306,32637,55610,52968,33387,32139,57513,53531,55928,55572,53859,54762,54528,30575,57955,31071,31612,63853,52610,54361,54592,55231,55250,56159,57494,57320,57922,57722],
141
+ "label": "stove"
142
+ },
143
+ {
144
+ "id": 23,
145
+ "objectId": 23,
146
+ "segments": [29538,28265,27082,24674,29251,28944,29636,35765,29631,28829,29374,34550,36601,29967],
147
+ "label": "wall"
148
+ },
149
+ {
150
+ "id": 24,
151
+ "objectId": 24,
152
+ "segments": [30112,29873,30130,30322,35718,30208],
153
+ "label": "calendar"
154
+ },
155
+ {
156
+ "id": 25,
157
+ "objectId": 25,
158
+ "segments": [24449,23848,26236,23635,27102,27032,27556,22975,22968,26553,25886,24061,25114,25186,25399,27706],
159
+ "label": "recycling bin"
160
+ },
161
+ {
162
+ "id": 26,
163
+ "objectId": 26,
164
+ "segments": [24292,26747,24402,7405,7708,23590,7764,9851,26026,27581,8018,23604],
165
+ "label": "recycling bin"
166
+ },
167
+ {
168
+ "id": 27,
169
+ "objectId": 27,
170
+ "segments": [16746,21546,15496,14989,16195,17120,15791,14875,14825,15781,16797],
171
+ "label": "trash can"
172
+ },
173
+ {
174
+ "id": 28,
175
+ "objectId": 28,
176
+ "segments": [13195,3325,12681,3273,14177,3182,2994,3336,13093,13740,13794,12687],
177
+ "label": "wall"
178
+ },
179
+ {
180
+ "id": 29,
181
+ "objectId": 29,
182
+ "segments": [14984,18804,18392,18227,16253,17726],
183
+ "label": "doorframe"
184
+ },
185
+ {
186
+ "id": 30,
187
+ "objectId": 30,
188
+ "segments": [42934,17603,45942,43573,38254,40933,41878],
189
+ "label": "wall"
190
+ },
191
+ {
192
+ "id": 31,
193
+ "objectId": 31,
194
+ "segments": [68903,69240],
195
+ "label": "telephone"
196
+ }
197
+ ],
198
+ "segmentsFile": "scannet.scene0201_01_vh_clean_2.0.010000.segs.json"}
scene0201_01/scene0201_01.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = 0.857167 0.515038 0.000000 -4.569960 -0.515038 0.857167 0.000000 -1.234600 0.000000 0.000000 1.000000 -0.052159 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorToDepthExtrinsics = 0.999263 -0.010031 0.037048 -0.038549 0.009933 0.999947 0.002817 -0.004287 -0.037074 -0.002447 0.999310 -0.020574 -0.000000 0.000000 -0.000000 1.000000
4
+ colorWidth = 1296
5
+ depthHeight = 480
6
+ depthWidth = 640
7
+ fx_color = 1170.187988
8
+ fx_depth = 570.924255
9
+ fy_color = 1170.187988
10
+ fy_depth = 570.924316
11
+ mx_color = 647.750000
12
+ mx_depth = 319.500000
13
+ my_color = 483.750000
14
+ my_depth = 239.500000
15
+ numColorFrames = 878
16
+ numDepthFrames = 878
17
+ numIMUmeasurements = 1845
18
+ sceneType = Kitchen
scene0201_01/scene0201_01_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0224_00/scene0224_00.aggregation.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0224_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [39097,34055,42159,40945,43335,31990,31216,36342,46882,40416,34663,36369,34553,33518,38356,33649,47111,74927,36123,33513,35514,31324,46284,45709,29991,31780,40401,28560,30143,74943,29983,45503,43396,30125,74859,31241,33738,32593,47564,35521,30536,39619,43725,30616,74884,45448,30491,45060,47057,46815,30709,39464,47870,40650,43926],
9
+ "label": "wardrobe closet"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [53264,73216,62531,64022,64170,53327,62908,64153,65006,24026,62870,64949,72797,64430,41451,63883,62464,25393,25140,53389,24896,63667,63546,63319,59103,61644,41379,60060,52289,62663,62712,65080,65054,25381,55321,60070,70294,60068,60188,59544,61515,59173,61825,60225,73572,60730,58629,62036,60984,63460,41863,73488,72848,14586,41173,73222,39033,38890,73241,54165,73537,43059,40319,73466,24716,73080,58375,40335,72667,25924,25940,26360,61486,17882,17939,17719,24680,61560,25071,27200,61843,24736,25736,25371,17005,17155,15974,52969,63257,26593,64459,64744,62381,25756,62485,25328,24598,17428,26580,39573,73457,71048,71528,72234,10584,71790,72415,26992,72327,71240,72238,69048,48674,68079,24635,11199,26941,63636,63822,54083,58825,64764,59876,58682,58782,60942,54142,54814,55686,56893,58877,57640,53938,54543,56418,54234,59584,34117,71191,71137,59405,40734,57895,71172,60156,61207,14684,15056,16066,14447,14510,14629,49554,50260,16869,13767,53091,10787,24608,24555,10680,10892,25482,25083,24330,38949,26274,26679,25606,25653,24273,26408,63727,40585,73594,41971,73676,73021,62592,64029,64113,64383,38933,30912,31208,24960],
15
+ "label": "bed"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [50556,66863,47954,48329,48003,48504,75137,75249,66403,50584,75215,57022,66662,56414,53923,57460,68484,67127,67734,69052,54821,70455,70837,28605,65785,58114,70934,28611,67977,68339,66032,74307,66312,66104,69690,66907,69998,74003,66167,70173,68111,69439,66066,70334,70995,68072,74281,67813,18967,29463,57446,29043,53636,5759,54839],
21
+ "label": "carpet"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [58563,29097,58955,56628,62017,55244,55533,72487,71741,19757,53657,61862,60811,60823,31583,53757,37551,59348,54720,60891,55637,20017,20231,60563,20090,29068,32021,23077,36921,22797,21722,23725,22048,18769,58172,22061,72137,21614,61971,61337,54314,71482,72225,55355,59278,31819,33251,72130,57205,32554,31317,28885,29129],
27
+ "label": "couch"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [2821,4095,42378,3730,3219,4299,40388,30736,1206,23113,5626,11514,24965,9152,6593,7061,2916,1976,8680,41062,9990,7710,8486,6958,8297,1753,37342,2581,699,5730,37505,5361,9823,6763,552,2385,42985,43106,42318,38860,11341,4680],
33
+ "label": "wall"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [16466,3957,14797,250,1724,14970,2070,1438,305,16369,16281,16315,16655,14904,14685,13894,2399,15937,2441,1998,48648,3765,1077,15292,1511,14642,50536],
39
+ "label": "wall"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [46164,45080,46732,45786,47183,46791,43407],
45
+ "label": "wall"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [36230,30396,30896,37715,37649,10019,36044,34866,36567,8779,37892,33506,9519,35865,21108,22072,36106,8049,7275,21670,30938,22385,31398,22585,9524,23286,23014,10013,7344,20901,8185,9092,21297,20971,9273,31450,22854,12038,35194,6704,35205,8341,8206,33752,40172,9661,33830,42597,31379,6762,34895,34883,35531,8293,8890,21282,21294,23646,23295,23579,32130,32630,8592,22478,33808],
51
+ "label": "bookshelf"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [29333],
57
+ "label": "floor"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [21668,19005,21178,18810],
63
+ "label": "pillow"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [9335,7785,1741,7074,2421],
69
+ "label": "mirror"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [4771,5139,8481,5656,8730,5849,5845,5651,5804,9770,5344,5465],
75
+ "label": "object"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [39810,40812,40056],
81
+ "label": "picture"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [10421],
87
+ "label": "picture"
88
+ },
89
+ {
90
+ "id": 14,
91
+ "objectId": 14,
92
+ "segments": [11033],
93
+ "label": "picture"
94
+ }
95
+ ],
96
+ "segmentsFile": "scannet.scene0224_00_vh_clean_2.0.010000.segs.json"}
scene0224_00/scene0224_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.968148 0.250380 0.000000 0.664919 -0.250380 -0.968148 0.000000 2.471480 0.000000 0.000000 1.000000 -0.038410 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1127
15
+ numDepthFrames = 1127
16
+ numIMUmeasurements = 2349
17
+ sceneType = Bedroom / Hotel
scene0224_00/scene0224_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0231_02/scene0231_02_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d94e8e27a2ec364bfc6af18252a46f48760b2fb022ade80297d8a80a5963fcf9
3
+ size 15102317
scene0231_02/scene0231_02_vh_clean_2.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:632d90c0885de9c91e258d18ff7fbf209c612774623bd23b41e2183b96179bba
3
+ size 14396271
scene0256_00/scene0256_00.aggregation.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sceneId": "scannet.scene0256_00",
3
+ "appId": "Aggregator.v2",
4
+ "segGroups": [
5
+ {
6
+ "id": 0,
7
+ "objectId": 0,
8
+ "segments": [35923,35511,32619,63380,37084,71786,28238,38341,32324,74876,34249,36549,63523,37402,32132,59240,34039,28797,32457,34482,33111,32043,32901,73515,28612,64775,40075,63450,38326,65612,35681,63859,37839,65193,63725,64818,36189,62965,34814,63390,65032,45601,72512,72208,37333,32037,46062,58249,69443,37420,45978,67573,64696,33504,28673,29384,29719,30005,34758,31674,34056,36390,34472,35124,38229,58198,36435,36482,37255,36955,37574,38343,39437,40010,43423,58049,58128,58320,58540,58647,58773,58836,58865,58926,58990,59127,59210,59346,59893,60055,60308,60470,60736,60877,61311,61408,61502,61919,58124,62348,62390,62818,62945,63056,63081,63158,63364,63462,63546,64027,64060,64245,61612,64459,64553,71535,64673,64785,65234,65602,65738,68139,71141,69514,69734,70359,71657,71710,71954,72233,72447,72500,73800,74003,58119,57683,61726,61319,30481,27996,29012,43762],
9
+ "label": "table"
10
+ },
11
+ {
12
+ "id": 1,
13
+ "objectId": 1,
14
+ "segments": [41639,46592,46364,46369],
15
+ "label": "lamp"
16
+ },
17
+ {
18
+ "id": 2,
19
+ "objectId": 2,
20
+ "segments": [53562,49664,54216,105825,80757,76859,83649,82179,79795,77902,104262,82316,81342,10450,80415,10126,48481,77858,80826,52751,82636,80447,50733,79607,104767,84594],
21
+ "label": "wall"
22
+ },
23
+ {
24
+ "id": 3,
25
+ "objectId": 3,
26
+ "segments": [51111,52505,52837,51165,53365],
27
+ "label": "box"
28
+ },
29
+ {
30
+ "id": 4,
31
+ "objectId": 4,
32
+ "segments": [47893,47867],
33
+ "label": "box"
34
+ },
35
+ {
36
+ "id": 5,
37
+ "objectId": 5,
38
+ "segments": [79911,48999,54852,76261,48250,86243,43930,59999,55935,20261,68732,67751,19509,86392,85257,85322,96156,48629,44303,104192,95538,30505,77107,44083,61176,89134,30227,75220,30790,130,28207,30690,28057,44872,61559,30409,85459,55372,55334,50298,85617,86341,89973,48304,49552,1474,44149,30779,55346],
39
+ "label": "floor"
40
+ },
41
+ {
42
+ "id": 6,
43
+ "objectId": 6,
44
+ "segments": [72468,67215,71560,74192,69575,71490,66208,73835,73698,68825,70887,69024,68535,68994,66222,66561,66606,69766,66641,69863,67390,67701,67736,67870,69811,69725,68704,74664,69591,72673,71737,70755,71215,71743,71768,66121,71896,72285,72709,69111,72897,67040,74359,68643,73374,72914,67899,73179,70327,71108,66716],
45
+ "label": "tray rack"
46
+ },
47
+ {
48
+ "id": 7,
49
+ "objectId": 7,
50
+ "segments": [94684,104674,94738,106249,107536,94371,102479,93947,100528,102167,100436,95656,102871,102551,90661,98614,92404,102411,101499,97798,94664,101680,93021,94014,104274,91675,91139,107508,93332,96672,96288,94214,103738,92517,89525,95467,92464,93230,93196,89965,103402,89285,97698,90754,94595,106566,90885,104861,97942,91782,98537,92301,92703,92803,97842,92817,94077,94184,94206,102282,94607,95122,95666,95696,95978,103174,96258,97207,96323,97009,97085,97373,98069,93462,97571,98424,98521,98635,99039,99189,99214,99369,99482,99926,99969,100055,100235,100380,100414,107753,100602,100608,100620,100807,101421,101740,101958,102115,102283,102362,94404,102387,102521,102910,103066,103525,104414,105070,105576,106411,106677,106821,106983,107012,107436,107542,104802,108024,96331,102897,101220,103097,107896,106491,90815,88055,88207,91868,93762,94257,92715,87508,88931,91512,90916,93719,92794,92873,97103,102996,103062,105971,106542,106573,106615,107017,107638,88882,90113],
51
+ "label": "curtain"
52
+ },
53
+ {
54
+ "id": 8,
55
+ "objectId": 8,
56
+ "segments": [56187,56515,55353,56528,56540,56548,56728,55492,56646,55937,56587,56054,55459,54797],
57
+ "label": "chair"
58
+ },
59
+ {
60
+ "id": 9,
61
+ "objectId": 9,
62
+ "segments": [5475,26854,22275,5433,26827,43062,26657,25734,42831,21971,2616,26204,41406,25727,26507,27600,42943,23740,42448,35031,39488,41826,25453,43276,26994,37611,22767,573,7562,35281,23091,42091,19363,42241,42442,3832,41807,3178,40568,26933,27053,3300,35728,25088,20355,6037,22046,2038,24209,26038,40875,8640,24904,703,27343,35017,33794,31765,37438,3657,2338,38920,31825,6096,1818,5783,31922,4251,31452,2609,6658,4880,4446,4043,198,791,902,1793,2180,24911,20065,2654,2839,3383,3589,7044,5198,3605,4493,4741,4872,5236,5293,9316,5401,5441,24868,5457,5473,5647,6607,7452,7758,7996,8012,23938,8027,8048,8085,8178,8204,8540,8801,31622,18692,19090,19174,19764,19906,20119,21158,21397,42337,21537,21693,22244,22568,31487,22931,42684,23088,23251,23284,24107,24643,25509,41219,25936,34708,26212,26931,27729,27935,28931,28039,28063,28204,29001,29960,30152,31679,32085,32310,32406,34495,32440,33042,33598,33989,34015,34084,34388,34633,35072,35849,36195,36313,37821,37914,38015,38189,38716,38742,39264,39893,40021,40184,40451,40649,41096,41151,41285,41300,41645,42413,46790,2521,26070,41778,40269,26473,41925,27233],
63
+ "label": "curtain"
64
+ },
65
+ {
66
+ "id": 10,
67
+ "objectId": 10,
68
+ "segments": [18477,20834,19648,20918,25092,20110,27364,20735,24330,27491,26170,24949,10729,14152,6821,3221,6393,16418,2558,16986,17760,14513],
69
+ "label": "wall"
70
+ },
71
+ {
72
+ "id": 11,
73
+ "objectId": 11,
74
+ "segments": [17468,9534,50290,47277,15196,54367,12564,14108,13391,50870,12299,48762,15029,17280,13788,10040,13694,14341,48913,15269,11209,13335,10926,16635,53816,52956,12735,9502,12202,9667,12414,11867,11500,10353,10476,11176,11646,47772,12056,16297,12159,12412,13164,13497,13330,13562,13595,49489,13806,14548,47855,14539,48566,14758,15203,15274,16507,16585,16997,17025,49646,17585,46867,47448,48468,51232,51249,51356,51498,53224,53233,53549,10233],
75
+ "label": "clothing rack"
76
+ },
77
+ {
78
+ "id": 12,
79
+ "objectId": 12,
80
+ "segments": [51514,48688],
81
+ "label": "box"
82
+ },
83
+ {
84
+ "id": 13,
85
+ "objectId": 13,
86
+ "segments": [77574,76996,77331,77223,77846,75439,77507],
87
+ "label": "stand"
88
+ }
89
+ ],
90
+ "segmentsFile": "scannet.scene0256_00_vh_clean_2.0.010000.segs.json"}
scene0256_00/scene0256_00.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ axisAlignment = -0.275637 0.961262 0.000000 -3.354310 -0.961262 -0.275637 0.000000 2.601440 0.000000 0.000000 1.000000 -0.038708 0.000000 0.000000 0.000000 1.000000
2
+ colorHeight = 968
3
+ colorWidth = 1296
4
+ depthHeight = 480
5
+ depthWidth = 640
6
+ fx_color = 1170.187988
7
+ fx_depth = 577.870605
8
+ fy_color = 1170.187988
9
+ fy_depth = 577.870605
10
+ mx_color = 647.750000
11
+ mx_depth = 319.500000
12
+ my_color = 483.750000
13
+ my_depth = 239.500000
14
+ numColorFrames = 1556
15
+ numDepthFrames = 1556
16
+ numIMUmeasurements = 3242
17
+ sceneType = Office
scene0256_00/scene0256_00_vh_clean_2.0.010000.segs.json ADDED
The diff for this file is too large to render. See raw diff
 
scene0285_00/scene0285_00_vh_clean_2.labels.ply ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:427fbd2ec216d7a1c19b96e23b28d0c019c2ece6ec46776b0a4fdf3f862e4268
3
+ size 8678639