import numpy as np ######################################################################## # Download information # ######################################################################## FORM_URL = "http://www.scan-net.org/ScanNet" ######################################################################## # Data splits # ######################################################################## SCANS = { 'train': [ 'scans/scene0000_00', 'scans/scene0000_01', 'scans/scene0000_02', 'scans/scene0001_00', 'scans/scene0001_01', 'scans/scene0002_00', 'scans/scene0002_01', 'scans/scene0003_00', 'scans/scene0003_01', 'scans/scene0003_02', 'scans/scene0004_00', 'scans/scene0005_00', 'scans/scene0005_01', 'scans/scene0006_00', 'scans/scene0006_01', 'scans/scene0006_02', 'scans/scene0007_00', 'scans/scene0008_00', 'scans/scene0009_00', 'scans/scene0009_01', 'scans/scene0009_02', 'scans/scene0010_00', 'scans/scene0010_01', 'scans/scene0012_00', 'scans/scene0012_01', 'scans/scene0012_02', 'scans/scene0013_00', 'scans/scene0013_01', 'scans/scene0013_02', 'scans/scene0014_00', 'scans/scene0016_00', 'scans/scene0016_01', 'scans/scene0016_02', 'scans/scene0017_00', 'scans/scene0017_01', 'scans/scene0017_02', 'scans/scene0018_00', 'scans/scene0020_00', 'scans/scene0020_01', 'scans/scene0021_00', 'scans/scene0022_00', 'scans/scene0022_01', 'scans/scene0023_00', 'scans/scene0024_00', 'scans/scene0024_01', 'scans/scene0024_02', 'scans/scene0026_00', 'scans/scene0027_00', 'scans/scene0027_01', 'scans/scene0027_02', 'scans/scene0028_00', 'scans/scene0029_00', 'scans/scene0029_01', 'scans/scene0029_02', 'scans/scene0031_00', 'scans/scene0031_01', 'scans/scene0031_02', 'scans/scene0032_00', 'scans/scene0032_01', 'scans/scene0033_00', 'scans/scene0034_00', 'scans/scene0034_01', 'scans/scene0034_02', 'scans/scene0035_00', 'scans/scene0035_01', 'scans/scene0036_00', 'scans/scene0036_01', 'scans/scene0037_00', 'scans/scene0038_00', 'scans/scene0038_01', 'scans/scene0038_02', 'scans/scene0039_00', 'scans/scene0039_01', 'scans/scene0040_00', 'scans/scene0040_01', 'scans/scene0041_00', 'scans/scene0041_01', 'scans/scene0042_00', 'scans/scene0042_01', 'scans/scene0042_02', 'scans/scene0043_00', 'scans/scene0043_01', 'scans/scene0044_00', 'scans/scene0044_01', 'scans/scene0044_02', 'scans/scene0045_00', 'scans/scene0045_01', 'scans/scene0047_00', 'scans/scene0048_00', 'scans/scene0048_01', 'scans/scene0049_00', 'scans/scene0051_00', 'scans/scene0051_01', 'scans/scene0051_02', 'scans/scene0051_03', 'scans/scene0052_00', 'scans/scene0052_01', 'scans/scene0052_02', 'scans/scene0053_00', 'scans/scene0054_00', 'scans/scene0055_00', 'scans/scene0055_01', 'scans/scene0055_02', 'scans/scene0056_00', 'scans/scene0056_01', 'scans/scene0057_00', 'scans/scene0057_01', 'scans/scene0058_00', 'scans/scene0058_01', 'scans/scene0059_00', 'scans/scene0059_01', 'scans/scene0059_02', 'scans/scene0060_00', 'scans/scene0060_01', 'scans/scene0061_00', 'scans/scene0061_01', 'scans/scene0062_00', 'scans/scene0062_01', 'scans/scene0062_02', 'scans/scene0065_00', 'scans/scene0065_01', 'scans/scene0065_02', 'scans/scene0066_00', 'scans/scene0067_00', 'scans/scene0067_01', 'scans/scene0067_02', 'scans/scene0068_00', 'scans/scene0068_01', 'scans/scene0069_00', 'scans/scene0070_00', 'scans/scene0071_00', 'scans/scene0072_00', 'scans/scene0072_01', 'scans/scene0072_02', 'scans/scene0073_00', 'scans/scene0073_01', 'scans/scene0073_02', 'scans/scene0073_03', 'scans/scene0074_00', 'scans/scene0074_01', 'scans/scene0074_02', 'scans/scene0075_00', 'scans/scene0076_00', 'scans/scene0078_00', 'scans/scene0078_01', 'scans/scene0078_02', 'scans/scene0079_00', 'scans/scene0079_01', 'scans/scene0080_00', 'scans/scene0080_01', 'scans/scene0080_02', 'scans/scene0082_00', 'scans/scene0083_00', 'scans/scene0083_01', 'scans/scene0085_00', 'scans/scene0085_01', 'scans/scene0087_00', 'scans/scene0087_01', 'scans/scene0087_02', 'scans/scene0089_00', 'scans/scene0089_01', 'scans/scene0089_02', 'scans/scene0090_00', 'scans/scene0091_00', 'scans/scene0092_00', 'scans/scene0092_01', 'scans/scene0092_02', 'scans/scene0092_03', 'scans/scene0092_04', 'scans/scene0093_00', 'scans/scene0093_01', 'scans/scene0093_02', 'scans/scene0094_00', 'scans/scene0096_00', 'scans/scene0096_01', 'scans/scene0096_02', 'scans/scene0097_00', 'scans/scene0098_00', 'scans/scene0098_01', 'scans/scene0099_00', 'scans/scene0099_01', 'scans/scene0101_00', 'scans/scene0101_01', 'scans/scene0101_02', 'scans/scene0101_03', 'scans/scene0101_04', 'scans/scene0101_05', 'scans/scene0102_00', 'scans/scene0102_01', 'scans/scene0103_00', 'scans/scene0103_01', 'scans/scene0104_00', 'scans/scene0105_00', 'scans/scene0105_01', 'scans/scene0105_02', 'scans/scene0106_00', 'scans/scene0106_01', 'scans/scene0106_02', 'scans/scene0107_00', 'scans/scene0108_00', 'scans/scene0109_00', 'scans/scene0109_01', 'scans/scene0110_00', 'scans/scene0110_01', 'scans/scene0110_02', 'scans/scene0111_00', 'scans/scene0111_01', 'scans/scene0111_02', 'scans/scene0112_00', 'scans/scene0112_01', 'scans/scene0112_02', 'scans/scene0113_00', 'scans/scene0113_01', 'scans/scene0114_00', 'scans/scene0114_01', 'scans/scene0114_02', 'scans/scene0115_00', 'scans/scene0115_01', 'scans/scene0115_02', 'scans/scene0116_00', 'scans/scene0116_01', 'scans/scene0116_02', 'scans/scene0117_00', 'scans/scene0118_00', 'scans/scene0118_01', 'scans/scene0118_02', 'scans/scene0119_00', 'scans/scene0120_00', 'scans/scene0120_01', 'scans/scene0121_00', 'scans/scene0121_01', 'scans/scene0121_02', 'scans/scene0122_00', 'scans/scene0122_01', 'scans/scene0123_00', 'scans/scene0123_01', 'scans/scene0123_02', 'scans/scene0124_00', 'scans/scene0124_01', 'scans/scene0125_00', 'scans/scene0126_00', 'scans/scene0126_01', 'scans/scene0126_02', 'scans/scene0127_00', 'scans/scene0127_01', 'scans/scene0128_00', 'scans/scene0129_00', 'scans/scene0130_00', 'scans/scene0132_00', 'scans/scene0132_01', 'scans/scene0132_02', 'scans/scene0133_00', 'scans/scene0134_00', 'scans/scene0134_01', 'scans/scene0134_02', 'scans/scene0135_00', 'scans/scene0136_00', 'scans/scene0136_01', 'scans/scene0136_02', 'scans/scene0137_00', 'scans/scene0137_01', 'scans/scene0137_02', 'scans/scene0138_00', 'scans/scene0140_00', 'scans/scene0140_01', 'scans/scene0141_00', 'scans/scene0141_01', 'scans/scene0141_02', 'scans/scene0142_00', 'scans/scene0142_01', 'scans/scene0143_00', 'scans/scene0143_01', 'scans/scene0143_02', 'scans/scene0145_00', 'scans/scene0147_00', 'scans/scene0147_01', 'scans/scene0148_00', 'scans/scene0150_00', 'scans/scene0150_01', 'scans/scene0150_02', 'scans/scene0151_00', 'scans/scene0151_01', 'scans/scene0152_00', 'scans/scene0152_01', 'scans/scene0152_02', 'scans/scene0154_00', 'scans/scene0155_00', 'scans/scene0155_01', 'scans/scene0155_02', 'scans/scene0156_00', 'scans/scene0157_00', 'scans/scene0157_01', 'scans/scene0158_00', 'scans/scene0158_01', 'scans/scene0158_02', 'scans/scene0159_00', 'scans/scene0160_00', 'scans/scene0160_01', 'scans/scene0160_02', 'scans/scene0160_03', 'scans/scene0160_04', 'scans/scene0161_00', 'scans/scene0161_01', 'scans/scene0161_02', 'scans/scene0162_00', 'scans/scene0163_00', 'scans/scene0163_01', 'scans/scene0165_00', 'scans/scene0165_01', 'scans/scene0165_02', 'scans/scene0166_00', 'scans/scene0166_01', 'scans/scene0166_02', 'scans/scene0167_00', 'scans/scene0168_00', 'scans/scene0168_01', 'scans/scene0168_02', 'scans/scene0170_00', 'scans/scene0170_01', 'scans/scene0170_02', 'scans/scene0171_00', 'scans/scene0171_01', 'scans/scene0172_00', 'scans/scene0172_01', 'scans/scene0173_00', 'scans/scene0173_01', 'scans/scene0173_02', 'scans/scene0174_00', 'scans/scene0174_01', 'scans/scene0175_00', 'scans/scene0176_00', 'scans/scene0177_00', 'scans/scene0177_01', 'scans/scene0177_02', 'scans/scene0178_00', 'scans/scene0179_00', 'scans/scene0180_00', 'scans/scene0181_00', 'scans/scene0181_01', 'scans/scene0181_02', 'scans/scene0181_03', 'scans/scene0182_00', 'scans/scene0182_01', 'scans/scene0182_02', 'scans/scene0183_00', 'scans/scene0184_00', 'scans/scene0185_00', 'scans/scene0186_00', 'scans/scene0186_01', 'scans/scene0188_00', 'scans/scene0189_00', 'scans/scene0190_00', 'scans/scene0191_00', 'scans/scene0191_01', 'scans/scene0191_02', 'scans/scene0192_00', 'scans/scene0192_01', 'scans/scene0192_02', 'scans/scene0194_00', 'scans/scene0195_00', 'scans/scene0195_01', 'scans/scene0195_02', 'scans/scene0197_00', 'scans/scene0197_01', 'scans/scene0197_02', 'scans/scene0198_00', 'scans/scene0199_00', 'scans/scene0200_00', 'scans/scene0200_01', 'scans/scene0200_02', 'scans/scene0201_00', 'scans/scene0201_01', 'scans/scene0201_02', 'scans/scene0202_00', 'scans/scene0204_00', 'scans/scene0204_01', 'scans/scene0204_02', 'scans/scene0205_00', 'scans/scene0205_01', 'scans/scene0205_02', 'scans/scene0206_00', 'scans/scene0206_01', 'scans/scene0206_02', 'scans/scene0209_00', 'scans/scene0209_01', 'scans/scene0209_02', 'scans/scene0210_00', 'scans/scene0210_01', 'scans/scene0211_00', 'scans/scene0211_01', 'scans/scene0211_02', 'scans/scene0211_03', 'scans/scene0212_00', 'scans/scene0212_01', 'scans/scene0212_02', 'scans/scene0213_00', 'scans/scene0214_00', 'scans/scene0214_01', 'scans/scene0214_02', 'scans/scene0215_00', 'scans/scene0215_01', 'scans/scene0216_00', 'scans/scene0218_00', 'scans/scene0218_01', 'scans/scene0219_00', 'scans/scene0220_00', 'scans/scene0220_01', 'scans/scene0220_02', 'scans/scene0223_00', 'scans/scene0223_01', 'scans/scene0223_02', 'scans/scene0224_00', 'scans/scene0225_00', 'scans/scene0226_00', 'scans/scene0226_01', 'scans/scene0227_00', 'scans/scene0228_00', 'scans/scene0229_00', 'scans/scene0229_01', 'scans/scene0229_02', 'scans/scene0230_00', 'scans/scene0232_00', 'scans/scene0232_01', 'scans/scene0232_02', 'scans/scene0233_00', 'scans/scene0233_01', 'scans/scene0234_00', 'scans/scene0235_00', 'scans/scene0236_00', 'scans/scene0236_01', 'scans/scene0237_00', 'scans/scene0237_01', 'scans/scene0238_00', 'scans/scene0238_01', 'scans/scene0239_00', 'scans/scene0239_01', 'scans/scene0239_02', 'scans/scene0240_00', 'scans/scene0241_00', 'scans/scene0241_01', 'scans/scene0241_02', 'scans/scene0242_00', 'scans/scene0242_01', 'scans/scene0242_02', 'scans/scene0243_00', 'scans/scene0244_00', 'scans/scene0244_01', 'scans/scene0245_00', 'scans/scene0247_00', 'scans/scene0247_01', 'scans/scene0248_00', 'scans/scene0248_01', 'scans/scene0248_02', 'scans/scene0250_00', 'scans/scene0250_01', 'scans/scene0250_02', 'scans/scene0252_00', 'scans/scene0253_00', 'scans/scene0254_00', 'scans/scene0254_01', 'scans/scene0255_00', 'scans/scene0255_01', 'scans/scene0255_02', 'scans/scene0258_00', 'scans/scene0259_00', 'scans/scene0259_01', 'scans/scene0260_00', 'scans/scene0260_01', 'scans/scene0260_02', 'scans/scene0261_00', 'scans/scene0261_01', 'scans/scene0261_02', 'scans/scene0261_03', 'scans/scene0262_00', 'scans/scene0262_01', 'scans/scene0263_00', 'scans/scene0263_01', 'scans/scene0264_00', 'scans/scene0264_01', 'scans/scene0264_02', 'scans/scene0265_00', 'scans/scene0265_01', 'scans/scene0265_02', 'scans/scene0266_00', 'scans/scene0266_01', 'scans/scene0267_00', 'scans/scene0268_00', 'scans/scene0268_01', 'scans/scene0268_02', 'scans/scene0269_00', 'scans/scene0269_01', 'scans/scene0269_02', 'scans/scene0270_00', 'scans/scene0270_01', 'scans/scene0270_02', 'scans/scene0271_00', 'scans/scene0271_01', 'scans/scene0272_00', 'scans/scene0272_01', 'scans/scene0273_00', 'scans/scene0273_01', 'scans/scene0274_00', 'scans/scene0274_01', 'scans/scene0274_02', 'scans/scene0275_00', 'scans/scene0276_00', 'scans/scene0276_01', 'scans/scene0279_00', 'scans/scene0279_01', 'scans/scene0279_02', 'scans/scene0280_00', 'scans/scene0280_01', 'scans/scene0280_02', 'scans/scene0281_00', 'scans/scene0282_00', 'scans/scene0282_01', 'scans/scene0282_02', 'scans/scene0283_00', 'scans/scene0284_00', 'scans/scene0285_00', 'scans/scene0286_00', 'scans/scene0286_01', 'scans/scene0286_02', 'scans/scene0286_03', 'scans/scene0287_00', 'scans/scene0288_00', 'scans/scene0288_01', 'scans/scene0288_02', 'scans/scene0289_00', 'scans/scene0289_01', 'scans/scene0290_00', 'scans/scene0291_00', 'scans/scene0291_01', 'scans/scene0291_02', 'scans/scene0292_00', 'scans/scene0292_01', 'scans/scene0293_00', 'scans/scene0293_01', 'scans/scene0294_00', 'scans/scene0294_01', 'scans/scene0294_02', 'scans/scene0295_00', 'scans/scene0295_01', 'scans/scene0296_00', 'scans/scene0296_01', 'scans/scene0297_00', 'scans/scene0297_01', 'scans/scene0297_02', 'scans/scene0298_00', 'scans/scene0299_00', 'scans/scene0299_01', 'scans/scene0301_00', 'scans/scene0301_01', 'scans/scene0301_02', 'scans/scene0302_00', 'scans/scene0302_01', 'scans/scene0303_00', 'scans/scene0303_01', 'scans/scene0303_02', 'scans/scene0305_00', 'scans/scene0305_01', 'scans/scene0306_00', 'scans/scene0306_01', 'scans/scene0308_00', 'scans/scene0309_00', 'scans/scene0309_01', 'scans/scene0310_00', 'scans/scene0310_01', 'scans/scene0310_02', 'scans/scene0311_00', 'scans/scene0312_00', 'scans/scene0312_01', 'scans/scene0312_02', 'scans/scene0313_00', 'scans/scene0313_01', 'scans/scene0313_02', 'scans/scene0315_00', 'scans/scene0317_00', 'scans/scene0317_01', 'scans/scene0318_00', 'scans/scene0319_00', 'scans/scene0320_00', 'scans/scene0320_01', 'scans/scene0320_02', 'scans/scene0320_03', 'scans/scene0321_00', 'scans/scene0322_00', 'scans/scene0323_00', 'scans/scene0323_01', 'scans/scene0324_00', 'scans/scene0324_01', 'scans/scene0325_00', 'scans/scene0325_01', 'scans/scene0326_00', 'scans/scene0327_00', 'scans/scene0330_00', 'scans/scene0331_00', 'scans/scene0331_01', 'scans/scene0332_00', 'scans/scene0332_01', 'scans/scene0332_02', 'scans/scene0333_00', 'scans/scene0335_00', 'scans/scene0335_01', 'scans/scene0335_02', 'scans/scene0336_00', 'scans/scene0336_01', 'scans/scene0337_00', 'scans/scene0337_01', 'scans/scene0337_02', 'scans/scene0339_00', 'scans/scene0340_00', 'scans/scene0340_01', 'scans/scene0340_02', 'scans/scene0341_00', 'scans/scene0341_01', 'scans/scene0344_00', 'scans/scene0344_01', 'scans/scene0345_00', 'scans/scene0345_01', 'scans/scene0346_00', 'scans/scene0346_01', 'scans/scene0347_00', 'scans/scene0347_01', 'scans/scene0347_02', 'scans/scene0348_00', 'scans/scene0348_01', 'scans/scene0348_02', 'scans/scene0349_00', 'scans/scene0349_01', 'scans/scene0350_00', 'scans/scene0350_01', 'scans/scene0350_02', 'scans/scene0352_00', 'scans/scene0352_01', 'scans/scene0352_02', 'scans/scene0358_00', 'scans/scene0358_01', 'scans/scene0358_02', 'scans/scene0359_00', 'scans/scene0359_01', 'scans/scene0360_00', 'scans/scene0361_00', 'scans/scene0361_01', 'scans/scene0361_02', 'scans/scene0362_00', 'scans/scene0362_01', 'scans/scene0362_02', 'scans/scene0362_03', 'scans/scene0363_00', 'scans/scene0364_00', 'scans/scene0364_01', 'scans/scene0365_00', 'scans/scene0365_01', 'scans/scene0365_02', 'scans/scene0366_00', 'scans/scene0367_00', 'scans/scene0367_01', 'scans/scene0368_00', 'scans/scene0368_01', 'scans/scene0369_00', 'scans/scene0369_01', 'scans/scene0369_02', 'scans/scene0370_00', 'scans/scene0370_01', 'scans/scene0370_02', 'scans/scene0371_00', 'scans/scene0371_01', 'scans/scene0372_00', 'scans/scene0373_00', 'scans/scene0373_01', 'scans/scene0374_00', 'scans/scene0375_00', 'scans/scene0375_01', 'scans/scene0375_02', 'scans/scene0376_00', 'scans/scene0376_01', 'scans/scene0376_02', 'scans/scene0379_00', 'scans/scene0380_00', 'scans/scene0380_01', 'scans/scene0380_02', 'scans/scene0381_00', 'scans/scene0381_01', 'scans/scene0381_02', 'scans/scene0383_00', 'scans/scene0383_01', 'scans/scene0383_02', 'scans/scene0384_00', 'scans/scene0385_00', 'scans/scene0385_01', 'scans/scene0385_02', 'scans/scene0386_00', 'scans/scene0387_00', 'scans/scene0387_01', 'scans/scene0387_02', 'scans/scene0388_00', 'scans/scene0388_01', 'scans/scene0390_00', 'scans/scene0391_00', 'scans/scene0392_00', 'scans/scene0392_01', 'scans/scene0392_02', 'scans/scene0393_00', 'scans/scene0393_01', 'scans/scene0393_02', 'scans/scene0394_00', 'scans/scene0394_01', 'scans/scene0395_00', 'scans/scene0395_01', 'scans/scene0395_02', 'scans/scene0396_00', 'scans/scene0396_01', 'scans/scene0396_02', 'scans/scene0397_00', 'scans/scene0397_01', 'scans/scene0398_00', 'scans/scene0398_01', 'scans/scene0399_00', 'scans/scene0399_01', 'scans/scene0400_00', 'scans/scene0400_01', 'scans/scene0401_00', 'scans/scene0402_00', 'scans/scene0403_00', 'scans/scene0403_01', 'scans/scene0404_00', 'scans/scene0404_01', 'scans/scene0404_02', 'scans/scene0405_00', 'scans/scene0407_00', 'scans/scene0407_01', 'scans/scene0408_00', 'scans/scene0408_01', 'scans/scene0409_00', 'scans/scene0409_01', 'scans/scene0410_00', 'scans/scene0410_01', 'scans/scene0411_00', 'scans/scene0411_01', 'scans/scene0411_02', 'scans/scene0413_00', 'scans/scene0415_00', 'scans/scene0415_01', 'scans/scene0415_02', 'scans/scene0416_00', 'scans/scene0416_01', 'scans/scene0416_02', 'scans/scene0416_03', 'scans/scene0416_04', 'scans/scene0417_00', 'scans/scene0418_00', 'scans/scene0418_01', 'scans/scene0418_02', 'scans/scene0419_00', 'scans/scene0419_01', 'scans/scene0419_02', 'scans/scene0420_00', 'scans/scene0420_01', 'scans/scene0420_02', 'scans/scene0421_00', 'scans/scene0421_01', 'scans/scene0421_02', 'scans/scene0422_00', 'scans/scene0424_00', 'scans/scene0424_01', 'scans/scene0424_02', 'scans/scene0425_00', 'scans/scene0425_01', 'scans/scene0428_00', 'scans/scene0428_01', 'scans/scene0429_00', 'scans/scene0431_00', 'scans/scene0433_00', 'scans/scene0434_00', 'scans/scene0434_01', 'scans/scene0434_02', 'scans/scene0436_00', 'scans/scene0437_00', 'scans/scene0437_01', 'scans/scene0438_00', 'scans/scene0439_00', 'scans/scene0439_01', 'scans/scene0440_00', 'scans/scene0440_01', 'scans/scene0440_02', 'scans/scene0442_00', 'scans/scene0443_00', 'scans/scene0444_00', 'scans/scene0444_01', 'scans/scene0445_00', 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'scans/scene0606_01', 'scans/scene0606_02', 'scans/scene0607_00', 'scans/scene0607_01', 'scans/scene0608_00', 'scans/scene0608_01', 'scans/scene0608_02', 'scans/scene0609_00', 'scans/scene0609_01', 'scans/scene0609_02', 'scans/scene0609_03', 'scans/scene0616_00', 'scans/scene0616_01', 'scans/scene0618_00', 'scans/scene0621_00', 'scans/scene0629_00', 'scans/scene0629_01', 'scans/scene0629_02', 'scans/scene0633_00', 'scans/scene0633_01', 'scans/scene0643_00', 'scans/scene0644_00', 'scans/scene0645_00', 'scans/scene0645_01', 'scans/scene0645_02', 'scans/scene0647_00', 'scans/scene0647_01', 'scans/scene0648_00', 'scans/scene0648_01', 'scans/scene0651_00', 'scans/scene0651_01', 'scans/scene0651_02', 'scans/scene0652_00', 'scans/scene0653_00', 'scans/scene0653_01', 'scans/scene0655_00', 'scans/scene0655_01', 'scans/scene0655_02', 'scans/scene0658_00', 'scans/scene0660_00', 'scans/scene0663_00', 'scans/scene0663_01', 'scans/scene0663_02', 'scans/scene0664_00', 'scans/scene0664_01', 'scans/scene0664_02', 'scans/scene0665_00', 'scans/scene0665_01', 'scans/scene0670_00', 'scans/scene0670_01', 'scans/scene0671_00', 'scans/scene0671_01', 'scans/scene0678_00', 'scans/scene0678_01', 'scans/scene0678_02', 'scans/scene0684_00', 'scans/scene0684_01', 'scans/scene0685_00', 'scans/scene0685_01', 'scans/scene0685_02', 'scans/scene0686_00', 'scans/scene0686_01', 'scans/scene0686_02', 'scans/scene0689_00', 'scans/scene0690_00', 'scans/scene0690_01', 'scans/scene0693_00', 'scans/scene0693_01', 'scans/scene0693_02', 'scans/scene0695_00', 'scans/scene0695_01', 'scans/scene0695_02', 'scans/scene0695_03', 'scans/scene0696_00', 'scans/scene0696_01', 'scans/scene0696_02', 'scans/scene0697_00', 'scans/scene0697_01', 'scans/scene0697_02', 'scans/scene0697_03', 'scans/scene0699_00', 'scans/scene0700_00', 'scans/scene0700_01', 'scans/scene0700_02', 'scans/scene0701_00', 'scans/scene0701_01', 'scans/scene0701_02', 'scans/scene0702_00', 'scans/scene0702_01', 'scans/scene0702_02', 'scans/scene0704_00', 'scans/scene0704_01'], 'test': [ 'scans_test/scene0707_00', 'scans_test/scene0708_00', 'scans_test/scene0709_00', 'scans_test/scene0710_00', 'scans_test/scene0711_00', 'scans_test/scene0712_00', 'scans_test/scene0713_00', 'scans_test/scene0714_00', 'scans_test/scene0715_00', 'scans_test/scene0716_00', 'scans_test/scene0717_00', 'scans_test/scene0718_00', 'scans_test/scene0719_00', 'scans_test/scene0720_00', 'scans_test/scene0721_00', 'scans_test/scene0722_00', 'scans_test/scene0723_00', 'scans_test/scene0724_00', 'scans_test/scene0725_00', 'scans_test/scene0726_00', 'scans_test/scene0727_00', 'scans_test/scene0728_00', 'scans_test/scene0729_00', 'scans_test/scene0730_00', 'scans_test/scene0731_00', 'scans_test/scene0732_00', 'scans_test/scene0733_00', 'scans_test/scene0734_00', 'scans_test/scene0735_00', 'scans_test/scene0736_00', 'scans_test/scene0737_00', 'scans_test/scene0738_00', 'scans_test/scene0739_00', 'scans_test/scene0740_00', 'scans_test/scene0741_00', 'scans_test/scene0742_00', 'scans_test/scene0743_00', 'scans_test/scene0744_00', 'scans_test/scene0745_00', 'scans_test/scene0746_00', 'scans_test/scene0747_00', 'scans_test/scene0748_00', 'scans_test/scene0749_00', 'scans_test/scene0750_00', 'scans_test/scene0751_00', 'scans_test/scene0752_00', 'scans_test/scene0753_00', 'scans_test/scene0754_00', 'scans_test/scene0755_00', 'scans_test/scene0756_00', 'scans_test/scene0757_00', 'scans_test/scene0758_00', 'scans_test/scene0759_00', 'scans_test/scene0760_00', 'scans_test/scene0761_00', 'scans_test/scene0762_00', 'scans_test/scene0763_00', 'scans_test/scene0764_00', 'scans_test/scene0765_00', 'scans_test/scene0766_00', 'scans_test/scene0767_00', 'scans_test/scene0768_00', 'scans_test/scene0769_00', 'scans_test/scene0770_00', 'scans_test/scene0771_00', 'scans_test/scene0772_00', 'scans_test/scene0773_00', 'scans_test/scene0774_00', 'scans_test/scene0775_00', 'scans_test/scene0776_00', 'scans_test/scene0777_00', 'scans_test/scene0778_00', 'scans_test/scene0779_00', 'scans_test/scene0780_00', 'scans_test/scene0781_00', 'scans_test/scene0782_00', 'scans_test/scene0783_00', 'scans_test/scene0784_00', 'scans_test/scene0785_00', 'scans_test/scene0786_00', 'scans_test/scene0787_00', 'scans_test/scene0788_00', 'scans_test/scene0789_00', 'scans_test/scene0790_00', 'scans_test/scene0791_00', 'scans_test/scene0792_00', 'scans_test/scene0793_00', 'scans_test/scene0794_00', 'scans_test/scene0795_00', 'scans_test/scene0796_00', 'scans_test/scene0797_00', 'scans_test/scene0798_00', 'scans_test/scene0799_00', 'scans_test/scene0800_00', 'scans_test/scene0801_00', 'scans_test/scene0802_00', 'scans_test/scene0803_00', 'scans_test/scene0804_00', 'scans_test/scene0805_00', 'scans_test/scene0806_00']} ######################################################################## # Labels # ######################################################################## NYU40_NUM_CLASSES = 40 NYU40_IDS = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33, 34, 36, 39] SCANNET_NUM_CLASSES = len(NYU40_IDS) NYU40_2_SCANNET = np.repeat(SCANNET_NUM_CLASSES, NYU40_NUM_CLASSES + 1) NYU40_2_SCANNET[NYU40_IDS] = np.arange(len(NYU40_IDS)) NYU40_STUFF_IDS = [1, 2] CLASS_COLORS = np.asarray([ [174.0, 199.0, 232.0], # wall [152.0, 223.0, 138.0], # floor [ 31.0, 119.0, 180.0], # cabinet [255.0, 187.0, 120.0], # bed [188.0, 189.0, 34.0], # chair [140.0, 86.0, 75.0], # sofa [255.0, 152.0, 150.0], # table [214.0, 39.0, 40.0], # door [197.0, 176.0, 213.0], # window [148.0, 103.0, 189.0], # bookshelf [196.0, 156.0, 148.0], # picture [ 23.0, 190.0, 207.0], # counter [247.0, 182.0, 210.0], # desk [219.0, 219.0, 141.0], # curtain [255.0, 127.0, 14.0], # refrigerator [158.0, 218.0, 229.0], # shower [ 44.0, 160.0, 44.0], # toilet [112.0, 128.0, 144.0], # sink [227.0, 119.0, 194.0], # bathtub [ 82.0, 84.0, 163.0], # otherfurniture [ 0.0, 0.0, 0.0]]) # ignored CLASS_NAMES = [ "wall", "floor", "cabinet", "bed", "chair", "sofa", "table", "door", "window", "bookshelf", "picture", "counter", "desk", "curtain", "refrigerator", "shower curtain", "toilet", "sink", "bathtub", "otherfurniture", "ignored"] # For instance segmentation MIN_OBJECT_SIZE = 100 STUFF_CLASSES = [i for i, idx in enumerate(NYU40_IDS) if idx in NYU40_STUFF_IDS] THING_CLASSES = [i for i in range(SCANNET_NUM_CLASSES) if not i in STUFF_CLASSES]