Dataset: ScanNet
获取方式:
签署协议书(http://dovahkiin.stanford.edu/scannet-public/ScanNet_TOS.pdf)后发送至邮箱:scannet@googlegroups.com
Data Organization
<scanId>
|-- <scanId>.sens
RGB-D sensor stream containing color frames, depth frames, camera poses and other data
|-- <scanId>_vh_clean.ply
High quality reconstructed mesh
|-- <scanId>_vh_clean_2.ply
Cleaned and decimated mesh for semantic annotations
|-- <scanId>_vh_clean_2.0.010000.segs.json
Over-segmentation of annotation mesh
|-- <scanId>.aggregation.json, <scanId>_vh_clean.aggregation.json
Aggregated instance-level semantic annotations on lo-res, hi-res meshes, respectively
|-- <scanId>_vh_clean_2.0.010000.segs.json, <scanId>_vh_clean.segs.json
Over-segmentation of lo-res, hi-res meshes, respectively (referenced by aggregated semantic annotations)
|-- <scanId>_vh_clean_2.labels.ply
Visualization of aggregated semantic segmentation; colored by nyu40 labels (see img/legend; ply property 'label' denotes the ScanNet label id)
|-- <scanId>_2d-label.zip
Raw 2d projections of aggregated annotation labels as 16-bit pngs with ScanNet label ids
|-- <scanId>_2d-instance.zip
Raw 2d projections of aggregated annotation instances as 8-bit pngs
|-- <scanId>_2d-label-filt.zip
Filtered 2d projections of aggregated annotation labels as 16-bit pngs with ScanNet label ids
|-- <scanId>_2d-instance-filt.zip
Filtered 2d projections of aggregated annotation instances as 8-bit pngs
Data Formats
The following are overviews of the data formats used in ScanNet:
Reconstructed surface mesh file (*.ply
): Binary PLY format mesh with +Z axis in upright orientation.
RGB-D sensor stream (*.sens
): Compressed binary format with per-frame color, depth, camera pose and other data. See ScanNet C++ Toolkit for more information and parsing code. See SensReader/python for a very basic python data exporter.
Surface mesh segmentation file (*.segs.json
):
{
"params": { // segmentation parameters
"kThresh": "0.0001",
"segMinVerts": "20",
"minPoints": "750",
"maxPoints": "30000",
"thinThresh": "0.05",
"flatThresh": "0.001",
"minLength": "0.02",
"maxLength": "1"
},
"sceneId": "...", // id of segmented scene
"segIndices": [1,1,1,1,3,3,15,15,15,15], // per-vertex index of mesh segment
}
Aggregated semantic annotation file (*.aggregation.json
):
{
"sceneId": "...", // id of annotated scene
"appId": "...", // id + version of the tool used to create the annotation
"segGroups": [
{
"id": 0,
"objectId": 0,
"segments": [1,4,3],
"label": "couch"
},
],
"segmentsFile": "..." // id of the *.segs.json segmentation file referenced
}
2d annotation projections (*_2d-label.zip
, *_2d-instance.zip
, *_2d-label-filt.zip
, *_2d-instance-filt.zip
): Projection of 3d aggregated annotation of a scan into its RGB-D frames, according to the computed camera trajectory.