ScanNet

ScanNet is an RGB-D video dataset containing 2.5 million views in more than 1500 scans, annotated with 3D camera poses, surface reconstructions, and instance-level semantic segmentations.

ScanNet Data

If you would like to download the ScanNet data, please fill out an agreement to the ScanNet Terms of Use and send it to us at [email protected]

Data Organization

The data in ScanNet is organized by RGB-D sequence. Each sequence is stored under a directory with named scene<spaceId>_<scanId>, or scene%04d_%02d, where each space corresponds to a unique location (0-indexed). The raw data captured during scanning, camera poses and surface mesh reconstructions, and annotation metadata are all stored together for the given sequence. The directory has the following structure:

<scanId>
|-- <scanId>_vh.sens
    RGB-D sensor stream containing color frames, depth frames, camera poses and other data
|-- <scanId>_vh.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
    Aggregated instance-level semantic annotations
|-- <scanId>_vh_clean.segs.json, <scanId>_vh_clean.aggregation.json
    Aggregated instance-level semantic annotations on hi-res mesh
|-- <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.

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.

ScanNet C++ Toolkit

Tools for working with ScanNet data.

• SensReader loads the ScanNet .sens data of compressed RGB-D frames, camera intrinsics and extrinsics, and IMU data.

ScanNet Scanner iPad App

• ScannerApp is designed for easy capture of RGB-D sequences using an iPad with attached Structure.io sensor.

Benchmark Tasks

We provide code for several scene understanding benchmarks on ScanNet:

• 3D object classification
• 3D object retrieval
• Semantic voxel labeling

Label mappings and trained models can be downloaded with the ScanNet data release.

See Tasks.

Labels

The label mapping file (scannet-labels.combined.tsv) in the ScanNet release contains mappings from the labels provided in the ScanNet annotations (id) to the object category sets of NYUv2, ModelNet, ShapeNet, and WordNet synsets.

Citation

If you use the ScanNet data or code please cite:

@inproceedings{dai2017scannet,
    title={ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes},
    author={Dai, Angela and Chang, Angel X. and Savva, Manolis and Halber, Maciej and Funkhouser, Thomas and Nie{\ss}ner, Matthias},
    booktitle = {Proc. Computer Vision and Pattern Recognition (CVPR), IEEE},
    year = {2017}
}

Help

If you have any questions, please contact us at [email protected]

Changelog

License

The data is released under the ScanNet Terms of Use, and the code is released under the MIT license.

Copyright (c) 2017