Data_prep.md

ScanNet200

Download ScanNet200 preprocessed data

The link to the preprocessed scannet200 data is available in the following link ScanNet200 preprocessed.

Important: please make sure to fill in the ScanNet terms of use, and send it to the scannet group email before downloading the pre-processed data.

Or process the raw scannet200 data

Download ScaNnet200 and follow Mask3D to preprocess data. A preprocessed point cloud scene has the following format id.npy. Kindly move all preprocessed scenes to their corresponding folders e.g. 0011_00.npy to ./data/scannet200/scene0011_00.

Next, you need to download the RGB-D sequence, which is available in OpenScene repository, or from the official Scannet200 website ScaNnet200.

ScanNet200 data folder should be structured as follows

./data
  └── scannet200
    └── ground_truth
            ├── scene0011_00.txt
            └── ...
    └── scene0011_00
            ├── poses                            <- folder with camera poses
            │      ├── 0.txt 
            │      ├── 1.txt 
            │      └── ...  
            ├── color                           <- folder with RGB images
            │      ├── 0.jpg (or .png/.jpeg)
            │      ├── 1.jpg (or .png/.jpeg)
            │      └── ...  
            ├── depth                           <- folder with depth images
            │      ├── 0.png (or .jpg/.jpeg)
            │      ├── 1.png (or .jpg/.jpeg)
            │      └── ...  
            ├── intrinsics.txt                 <- camera intrinsics
            │ 
            └── 0011_00.npy                <- preprocessed point cloud of the scene
            │ 
            └── scene0011_00_vh_clean_2.ply      <- raw point cloud of the scene
    └── ... 

Replica

Run the following command.

sh scripts/get_replica_dataset.sh

A replica folder with the following format will be generated.

./data
  └── replica
    └── ground_truth
            ├── office0.txt
            └── ...
    └── office0
            ├── poses                            <- folder with camera poses
            │      ├── 0.txt 
            │      ├── 1.txt 
            │      └── ...  
            ├── color                           <- folder with RGB images
            │      ├── 0.jpg (or .png/.jpeg)
            │      ├── 1.jpg (or .png/.jpeg)
            │      └── ...  
            ├── depth                           <- folder with depth images
            │      ├── 0.png (or .jpg/.jpeg)
            │      ├── 1.png (or .jpg/.jpeg)
            │      └── ...  
            ├── intrinsics.txt                 <- camera intrinsics
            │ 
            └── office0_mesh.ply      <- raw point cloud of the scene
    └── ...