RoyalVane / scenenn

Supplemental code and scripts for the paper SceneNN: A Scene Meshes Dataset with aNNotations

SceneNN

We maintain the following repositories on Google Drive for our dataset:

1. Main

https://drive.google.com/drive/folders/0B-aa7y5Ox4eZWE8yMkRkNkU4Tk0

This includes all 90+ scenes captured by Asus Xtion PRO.

To download the scenes from this repository, use scenenn_download, a Python script that can download the entire dataset or a few specific scenes. To run this script, please install PyDrive.

2. Beta

https://drive.google.com/drive/folders/0B2BQi-ql8CzeUkJNbEVEQkozSmc

This includes annotation for scenes that might receives some experimental updates:

• Semantic labels using the 40 classes defined in NYU-D v2.
• Object poses and better floor aligned meshes.

Such annotation will be merged to the main repository once they are stable.

This repository also includes scenes captured by both Asus Xtion PRO and Kinect v2.

Please refer to our project page at http://www.scenenn.net for the papers and scene previews in the supplementary document.

Folder structure

Each scene is identified by an ID with three digits, e.g., 076, 123. The data of the scene is structured as follows:

SceneNN
├── 123
│   ├── 123.ply                 /* the reconstructed triangle mesh  */
│   ├── 123.xml                 /* the annotation                   */
│   ├── trajectory.log          /* camera pose (local to world)     */
└── oni
    └── 123.oni                 /* the raw RGBD video               */

Depending on which application you are working for, you might want to download only the mesh with annotation (~100 - 200MB per scene), or include the raw RGBD (~1 GB per scene). The object tag and axis-aligned bounding box are stored separately in the XML file. If you need object poses, please find them in the beta repository. We do not provide per-pixel label, as it takes up too much space. You can generate per-pixel label using our annotation tool.

Raw RGB-D videos

We also provide raw RGB-D files that are output from the Asus Xtion camera. They are stored in the oni folder in both repositories. (You might need to scroll down to the bottom of the scene list to see it.)

In order to extract depth and color images from ONI files, please use the tool in the playback folder from this repository. A precompiled binary for Windows is provided. The source code of this tool is PlaybackSync.cpp which is also available in the same folder.