| # Modified SceneFun3D Dataset for Open Vocabulary Functional 3D Scene Graphs |
|
|
| In evaluation of OpenFunGraph, we do not use the newest released version of SceneFun3D. |
| Here we released the version we used and the annotations we added on this version. |
|
|
| ## Annotations |
| ``` |
| SceneFun3D.annotations.json: Object and interactive element segmentation annotations |
| |
| SceneFun3D.relations.json: Functional 3D scene graph annotations |
| |
| all_labels.json: all labels appeared in the dataset for evaluation |
| |
| all_labels_clip.embedding.npy: CLIP embeddings of all labels appeared in the dataset for evaluation |
| |
| all_edges.json: all relationship descriptions appeared in the dataset for edge evaluation |
| |
| all_edges_bert_embeddings.npy: BERT embeddings of all relationship descriptions appeared in the dataset for edge evaluation |
| |
| OpenFunGraph_split.txt: split used for OpenFunGraph evaluation |
| ``` |
|
|
| ## Assets for each scene |
|
|
| Here the assets and the usage are the same with SceneFun3D (https://scenefun3d.github.io/documentation/). |
| We only use part of the dataset's assets for our work. |
|
|
| ``` |
| highres_depth: the ground-truth depth image projected from the mesh generated by Faro’s laser scanners (1920x1440 in landscape mode, 1440x1920 in portrait mode) - 10 FPS |
| |
| wide: high resolution RGB images of the wide camera (1920x1440 in landscape mode, 1440x1920 in portrait mode) - 10 FPS |
| |
| wide_intrinsics: camera intrinsics for the high resolution images |
| |
| lowres_wide.traj: contains the ARKit camera pose trajectory in the ARKit coordinate system |
| |
| metadata.csv: information about landscape or portrait for each scene |
| |
| xxx_refined_transform.npy: 4x4 transformation matrix that registers the Faro laser scan to the ARKit coordinate system |
| |
| xxx_laser_scan.ply: combined Faro laser scan with 5mm resolution |
| ``` |
