README.md

Prepare 3RScan Dataset

Step1: Download 3RScan dataset from here. We test our model on the test split, which contain 46 scenes. Then put downloaded scenes in a folder named '3RScan' and rename the scenes as ['000', '001', ..., '045'].

We also provide processed data for 3RScan dataset. You can download the processed dataset from here, and unzip it to get '3RScan' folder.

Link '3RScan' folder to this directory, namely ESAM/data/3RScan. You should get the following directory structure:

3RScan
├── 3RScan
│   ├── 000
│   │   ├── sequence
│   │   ├── labels.instances.annotated.v2.ply
│   │   ├── mesh.refined_0.png
│   │   ├── mesh.refined.0.010000.segs.v2.json
│   │   ├── mesh.refined.mtl
│   │   ├── mesh.refined.v2.obj
│   │   └── semseg.v2.json
│   ├── 001
│   └── ...
├── batch_load_3rscan_data.py
├── load_scannet_data.py
├── README.md
├── 3RScan.v2 Semantic Classes - Mapping.tsv
└── scannet_utils.py

Step2: Run the following commands:

python batch_load_3rscan_data.py

Then you will get a new folder named 3rscan_instance_data.

Step3: Go back to the root directory of ESAM, and generate .pkl file by running:

python tools/create_data.py 3rscan --root-path ./data/3RScan --out-dir ./data/3RScan --extra-tag 3rscan

Final folder structure:

3RScan
├── 3RScan
│   ├── 000
│   │   ├── sequence
│   │   ├── labels.instances.annotated.v2.ply
│   │   ├── mesh.refined_0.png
│   │   ├── mesh.refined.0.010000.segs.v2.json
│   │   ├── mesh.refined.mtl
│   │   ├── mesh.refined.v2.obj
│   │   └── semseg.v2.json
│   ├── 001
│   └── ...
├── instance_mask
│   ├── xxx.bin
│   └── ...
├── points
│   ├── xxx.bin
│   └── ...
├── semantic_mask
│   ├── xxx.bin
│   └── ...
├── super_points
│   ├── xxx.bin
│   └── ...
├── 3rscan_instance_data
│   ├── xxx_aligned_bbox.npy
│   ├── xxx_ins_label.npy
│   ├── xxx_sem_label.npy
│   ├── xxx_sp_label.npy
│   ├── xxx_unaligned_bbox.npy
│   ├── xxx_vert.npy
│   └── ...
├── batch_load_3rscan_data.py
├── load_scannet_data.py
├── 3rscan_oneformer3d_infos_val.pkl
├── README.md
├── 3RScan.v2 Semantic Classes - Mapping.tsv
└── scannet_utils.py