scene stringclasses 264
values | view_count int64 2 24 | point_cloud_ids listlengths 2 24 | point_cloud_files listlengths 2 24 | overlap_subgraph dict | min_overlap_ratio float64 0 1 | avg_overlap_ratio float64 0.11 1 | bottleneck_overlap_ratio float64 0.1 1 | edge_density float64 0.3 1 | inputs listlengths 2 24 |
|---|---|---|---|---|---|---|---|---|---|
IndoorScan/leg_robot_running | 12 | [
0,
1,
2,
4,
6,
7,
8,
10,
11,
13,
14,
16
] | [
"000.ply",
"001.ply",
"002.ply",
"004.ply",
"006.ply",
"007.ply",
"008.ply",
"010.ply",
"011.ply",
"013.ply",
"014.ply",
"016.ply"
] | {
"matrix": [
[
1,
0.8478419897585955,
0.8361375274323336,
0.3862472567666423,
0.2765179224579371,
0.21141185076810534,
0.1850768105340161,
0.30285296269202633,
0.373811265544989,
0.2955376737381127,
0.4001463057790783,
0.4389173372348208
... | 0.10501 | 0.329894 | 0.329206 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.8149866121386143,
-0.5727203233295568,
0.0882510809005296,
3.4710236510494408
],
[
0.5766857412619057,
-0.8165335261798738,
0.02658112957471343,... |
IndoorScan/leg_robot_running | 12 | [
0,
1,
3,
4,
5,
6,
9,
11,
12,
13,
14,
15
] | [
"000.ply",
"001.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"009.ply",
"011.ply",
"012.ply",
"013.ply",
"014.ply",
"015.ply"
] | {
"matrix": [
[
1,
0.8478419897585955,
0.5479151426481346,
0.3862472567666423,
0.37527432333577176,
0.2765179224579371,
0.19970738844184346,
0.373811265544989,
0.30870519385515727,
0.2955376737381127,
0.4001463057790783,
0.4381858083394294
... | 0.158422 | 0.333105 | 0.292446 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.12494590990880447,
0.9914356489249274,
0.03799833730400661,
-2.0992365270496354
],
[
-0.9919327165304874,
-0.12399909245381341,
-0.0263383930238... |
IndoorScan/leg_robot_running | 13 | [
0,
1,
2,
3,
5,
6,
7,
8,
10,
11,
12,
15,
16
] | [
"000.ply",
"001.ply",
"002.ply",
"003.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"010.ply",
"011.ply",
"012.ply",
"015.ply",
"016.ply"
] | {
"matrix": [
[
1,
0.8478419897585955,
0.8361375274323336,
0.5479151426481346,
0.37527432333577176,
0.2765179224579371,
0.21141185076810534,
0.1850768105340161,
0.30285296269202633,
0.373811265544989,
0.30870519385515727,
0.4381858083394294,
... | 0.120796 | 0.350121 | 0.329206 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.8168020878114555,
0.574388070390601,
0.05396937965003124,
-3.7466257138133408
],
[
-0.5766313326930406,
0.8157647346751389,
0.04499115265302984,
... |
IndoorScan/leg_robot_running | 14 | [
0,
1,
2,
3,
4,
5,
6,
7,
8,
11,
12,
13,
15,
16
] | [
"000.ply",
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"011.ply",
"012.ply",
"013.ply",
"015.ply",
"016.ply"
] | {
"matrix": [
[
1,
0.8478419897585955,
0.8361375274323336,
0.5479151426481346,
0.3862472567666423,
0.37527432333577176,
0.2765179224579371,
0.21141185076810534,
0.1850768105340161,
0.373811265544989,
0.30870519385515727,
0.2955376737381127,
... | 0.10501 | 0.342915 | 0.329206 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.484578341072345,
-0.8746852408938216,
-0.010467125970937779,
0.7687283640272166
],
[
0.8730416174490375,
0.48285150401118015,
0.06821113747849174... |
IndoorScan/leg_robot_running | 17 | [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
] | [
"000.ply",
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"009.ply",
"010.ply",
"011.ply",
"012.ply",
"013.ply",
"014.ply",
"015.ply",
"016.ply"
] | {
"matrix": [
[
1,
0.8478419897585955,
0.8361375274323336,
0.5479151426481346,
0.3862472567666423,
0.37527432333577176,
0.2765179224579371,
0.21141185076810534,
0.1850768105340161,
0.19970738844184346,
0.30285296269202633,
0.373811265544989,
... | 0.10501 | 0.325676 | 0.316592 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.8808953379761452,
0.4650371811070498,
0.08811256278137578,
1.1682640657971801
],
[
-0.4664398885441203,
-0.8845376158279801,
0.00519966924923981... |
IndoorScan/matterport3d_17DR | 2 | [
15,
16
] | [
"015.ply",
"016.ply"
] | {
"matrix": [
[
1,
0.7256792287467134
],
[
0.3800257022214063,
1
]
]
} | 0.725679 | 0.725679 | 0.725679 | 1 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
-0.6397014390052856,
0.7634932654598101,
0.08865721928914116,
-7.119381977113877
],
[
-0.7676204382713155,
-0.6404933334378629,
-0.022959803348636... |
IndoorScan/matterport3d_17DR | 3 | [
5,
13,
21
] | [
"005.ply",
"013.ply",
"021.ply"
] | {
"matrix": [
[
1,
0.23200559049615654,
0.5750058234334964
],
[
0.6112304387849034,
1,
0.6274930960417306
],
[
0.6330298756250802,
0.26221310424413385,
1
]
]
} | 0.61123 | 0.623918 | 0.627493 | 1 | [
{
"point_cloud_id": 5,
"point_cloud_file": "005.ply",
"transformation_matrix": [
[
-0.6434698726801398,
0.764207802953799,
-0.04396540523562042,
-5.224372165428509
],
[
-0.7651223291344839,
-0.6403801954769194,
0.06708969146422711... |
IndoorScan/matterport3d_17DR | 4 | [
21,
31,
42,
44
] | [
"021.ply",
"031.ply",
"042.ply",
"044.ply"
] | {
"matrix": [
[
1,
0.5407103474804462,
0.25323759456340555,
0.6286703423515836
],
[
0.41756609565303493,
1,
0.2026933359738588,
0.46885830280225765
],
[
0.5609201931269525,
0.5813689292814541,
1,
0.470604941777904
],
[... | 0.470605 | 0.546244 | 0.56092 | 1 | [
{
"point_cloud_id": 21,
"point_cloud_file": "021.ply",
"transformation_matrix": [
[
0.8776170385665112,
0.47929740388204267,
0.007895077560164351,
3.5176240507989873
],
[
-0.4793624132753281,
0.8774944832470081,
0.0146665813985301... |
IndoorScan/matterport3d_17DR | 5 | [
1,
12,
19,
30,
35
] | [
"001.ply",
"012.ply",
"019.ply",
"030.ply",
"035.ply"
] | {
"matrix": [
[
1,
0.4516425453710085,
0.5552492533884678,
0.6034918447048013,
0.5460601883758328
],
[
0.3754057666603017,
1,
0.47565400038189803,
0.6247851823563109,
0.3523009356501814
],
[
0.2161316283644818,
0.2227488151658... | 0.352301 | 0.497318 | 0.54606 | 1 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.9338001615373038,
0.3537089201558118,
-0.05391899586522994,
-1.1054341159929058
],
[
-0.34852305810762274,
-0.9332984109229427,
-0.0865202527505... |
IndoorScan/matterport3d_17DR | 6 | [
4,
11,
14,
16,
27,
29
] | [
"004.ply",
"011.ply",
"014.ply",
"016.ply",
"027.ply",
"029.ply"
] | {
"matrix": [
[
1,
0.11659732866214145,
0.31191153930370047,
0.5248522005693015,
0.24600394131815195,
0.28913947887015545
],
[
0.19869402985074627,
1,
0.6744402985074627,
0.6201492537313433,
0.6427238805970149,
0.3761194029850746
... | 0.198694 | 0.51565 | 0.524852 | 1 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
-0.580496809122888,
-0.8140796485089183,
-0.017256317154634337,
-1.3127890417269492
],
[
0.8142610164881044,
-0.580406115396165,
-0.010379703198666... |
IndoorScan/matterport3d_17DR | 8 | [
2,
14,
16,
21,
22,
31,
41,
44
] | [
"002.ply",
"014.ply",
"016.ply",
"021.ply",
"022.ply",
"031.ply",
"041.ply",
"044.ply"
] | {
"matrix": [
[
1,
0.11156343898420083,
0.24852185712901037,
0.2771154405350393,
0.36425317437239507,
0.5966850828729282,
0.04410196762624794,
0.32296210138606185
],
[
0.12502715620247665,
1,
0.6206821638062133,
0.18238105583315228,
... | 0 | 0.318211 | 0.50298 | 0.857143 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.7974306563857174,
0.603102055044336,
0.019294026473047395,
-3.2839448006878813
],
[
-0.601850478881351,
-0.797260025509686,
0.04639453410245069,... |
IndoorScan/matterport3d_17DR | 9 | [
4,
15,
19,
27,
29,
33,
36,
38,
43
] | [
"004.ply",
"015.ply",
"019.ply",
"027.ply",
"029.ply",
"033.ply",
"036.ply",
"038.ply",
"043.ply"
] | {
"matrix": [
[
1,
0.31191153930370047,
0.5020801401357565,
0.24600394131815195,
0.28913947887015545,
0.03240639369389096,
0.05287935187212612,
0.030216772498357785,
0.0209108824173418
],
[
0.49938650306748467,
1,
0.21209465381244522,... | 0.041289 | 0.275406 | 0.485013 | 0.722222 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
-0.46679119400855595,
0.8842138664805159,
0.016486949979998954,
-4.897330800840698
],
[
-0.8837527023522808,
-0.4670806429537367,
0.028580309007515... |
IndoorScan/matterport3d_17DR | 10 | [
4,
5,
7,
15,
18,
19,
21,
23,
29,
41
] | [
"004.ply",
"005.ply",
"007.ply",
"015.ply",
"018.ply",
"019.ply",
"021.ply",
"023.ply",
"029.ply",
"041.ply"
] | {
"matrix": [
[
1,
0.7477556382745785,
0.2839938690606525,
0.31191153930370047,
0.23516531640026275,
0.5020801401357565,
0.559010291219619,
0.6536019268666521,
0.28913947887015545,
0.12743595358003065
],
[
0.7954810156068017,
1,
... | 0.063687 | 0.373527 | 0.485013 | 0.933333 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
0.5818345739085381,
0.813187498629433,
-0.013950651507225737,
1.365883925923802
],
[
-0.8110275146106664,
0.5788349896726553,
-0.08476098911116149,... |
IndoorScan/matterport3d_17DR | 16 | [
4,
5,
12,
15,
19,
21,
27,
28,
29,
32,
33,
34,
36,
37,
38,
44
] | [
"004.ply",
"005.ply",
"012.ply",
"015.ply",
"019.ply",
"021.ply",
"027.ply",
"028.ply",
"029.ply",
"032.ply",
"033.ply",
"034.ply",
"036.ply",
"037.ply",
"038.ply",
"044.ply"
] | {
"matrix": [
[
1,
0.7477556382745785,
0.08670899934311364,
0.31191153930370047,
0.5020801401357565,
0.559010291219619,
0.24600394131815195,
0.05200350339391285,
0.28913947887015545,
0.16750602145828772,
0.03240639369389096,
0.253229691263411... | 0.001719 | 0.252349 | 0.475654 | 0.633333 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
0.816122417930859,
0.5778683967544327,
0.003509271028242209,
3.273530779501368
],
[
-0.5771455384795011,
0.8153773419133834,
-0.04541825302091733,
... |
IndoorScan/matterport3d_17DR | 16 | [
0,
4,
9,
13,
17,
20,
22,
23,
24,
25,
30,
31,
40,
41,
42,
46
] | [
"000.ply",
"004.ply",
"009.ply",
"013.ply",
"017.ply",
"020.ply",
"022.ply",
"023.ply",
"024.ply",
"025.ply",
"030.ply",
"031.ply",
"040.ply",
"041.ply",
"042.ply",
"046.ply"
] | {
"matrix": [
[
1,
0.06325301204819277,
0.030352177942539388,
0.02015755329008341,
0.579935125115848,
0.053521779425393885,
0.15871177015755328,
0.12604263206672844,
0.25278035217794254,
0.06811862835959222,
0.11839666357738647,
0.16936978683... | 0 | 0.223874 | 0.421327 | 0.633333 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.5901053651324194,
-0.8071480146816954,
-0.01696291358615828,
-1.7265927261299938
],
[
0.8030245299496241,
0.5846653813025083,
0.11540362301755389... |
IndoorScan/matterport3d_17DR | 20 | [
2,
5,
8,
9,
13,
14,
16,
21,
23,
25,
27,
28,
30,
33,
36,
37,
39,
40,
42,
43
] | [
"002.ply",
"005.ply",
"008.ply",
"009.ply",
"013.ply",
"014.ply",
"016.ply",
"021.ply",
"023.ply",
"025.ply",
"027.ply",
"028.ply",
"030.ply",
"033.ply",
"036.ply",
"037.ply",
"039.ply",
"040.ply",
"042.ply",
"043.ply"
] | {
"matrix": [
[
1,
0.3746244063196666,
0.055442473587283124,
0.22244838615876708,
0.11340505961035184,
0.11156343898420083,
0.24852185712901037,
0.2771154405350393,
0.4344286129688863,
0.19589027818164195,
0.07347097024328778,
0.0346030822913... | 0 | 0.24118 | 0.462495 | 0.610526 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.738225919565358,
0.6731764841122394,
0.0430803078002646,
-3.266845138943024
],
[
-0.6729352277566921,
-0.7393726154748334,
0.022052544750053305,... |
IndoorScan/matterport3d_17DR | 20 | [
0,
3,
4,
10,
16,
17,
20,
22,
24,
25,
26,
29,
30,
31,
32,
35,
39,
41,
44,
46
] | [
"000.ply",
"003.ply",
"004.ply",
"010.ply",
"016.ply",
"017.ply",
"020.ply",
"022.ply",
"024.ply",
"025.ply",
"026.ply",
"029.ply",
"030.ply",
"031.ply",
"032.ply",
"035.ply",
"039.ply",
"041.ply",
"044.ply",
"046.ply"
] | {
"matrix": [
[
1,
0.23887859128822983,
0.06325301204819277,
0.3561167747914736,
0.04796107506950881,
0.579935125115848,
0.053521779425393885,
0.15871177015755328,
0.25278035217794254,
0.06811862835959222,
0.03429101019462465,
0.0322057460611... | 0 | 0.223581 | 0.439033 | 0.610526 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.7542441887801844,
0.6562614779453732,
-0.02089440729659606,
2.0896647115979476
],
[
-0.6565739080530785,
-0.7535900498625173,
0.0318235763564740... |
IndoorScan/matterport3d_1LXt | 2 | [
8,
34
] | [
"008.ply",
"034.ply"
] | {
"matrix": [
[
1,
0.5317674239507124
],
[
0.6897412845869544,
1
]
]
} | 0.689741 | 0.689741 | 0.689741 | 1 | [
{
"point_cloud_id": 8,
"point_cloud_file": "008.ply",
"transformation_matrix": [
[
-0.22790428333230303,
0.9736791882279777,
0.0029113657440504362,
11.531640104305735
],
[
-0.9725482490355357,
-0.2277818832363861,
0.04759534606659... |
IndoorScan/matterport3d_1LXt | 3 | [
8,
10,
26
] | [
"008.ply",
"010.ply",
"026.ply"
] | {
"matrix": [
[
1,
0.4489795918367347,
0.4949557181363111
],
[
0.34109524923941026,
1,
0.3127779077931196
],
[
0.6796024109125516,
0.5652955482711219,
1
]
]
} | 0.44898 | 0.564626 | 0.565296 | 1 | [
{
"point_cloud_id": 8,
"point_cloud_file": "008.ply",
"transformation_matrix": [
[
0.9219934289927733,
0.3839727079372114,
0.04993071653314208,
4.678291593218267
],
[
-0.3842118514895969,
0.9232308711386824,
-0.005100171707447862,... |
IndoorScan/matterport3d_1LXt | 4 | [
6,
10,
26,
35
] | [
"006.ply",
"010.ply",
"026.ply",
"035.ply"
] | {
"matrix": [
[
1,
0.546416220248186,
0.23937071946836644,
0.3566827151285007
],
[
0.47144863093845074,
1,
0.3127779077931196,
0.5084835010531242
],
[
0.3732684783758063,
0.5652955482711219,
1,
0.6602516654330126
],
[
... | 0.356683 | 0.514233 | 0.546416 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
-0.9022860118304604,
0.42228902883215946,
-0.08690183532626873,
3.4671699382300463
],
[
-0.427491626527795,
-0.9024519093460736,
0.0532114702507505... |
IndoorScan/matterport3d_1LXt | 5 | [
6,
10,
16,
22,
26
] | [
"006.ply",
"010.ply",
"016.ply",
"022.ply",
"026.ply"
] | {
"matrix": [
[
1,
0.546416220248186,
0.41310096968875026,
0.5474333762799214,
0.23937071946836644
],
[
0.47144863093845074,
1,
0.3171074186754037,
0.3423238942195179,
0.3127779077931196
],
[
0.3863276047942165,
0.343712347009... | 0.343712 | 0.461328 | 0.546416 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
-0.5921791566654312,
-0.8006095687155965,
0.09136829259674863,
-8.82669404595868
],
[
0.8015334546289167,
-0.5969015952069675,
-0.03539218487196857... |
IndoorScan/matterport3d_1LXt | 6 | [
6,
8,
10,
22,
26,
34
] | [
"006.ply",
"008.ply",
"010.ply",
"022.ply",
"026.ply",
"034.ply"
] | {
"matrix": [
[
1,
0.24981352139418186,
0.546416220248186,
0.5474333762799214,
0.23937071946836644,
0.14253746524716893
],
[
0.2837119753561802,
1,
0.4489795918367347,
0.25637273777435504,
0.4949557181363111,
0.5317674239507124
],... | 0.209969 | 0.438747 | 0.546416 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
0.5198941928406545,
-0.8488595833579057,
-0.09564222912504201,
-7.008232104117074
],
[
0.8527140630551814,
0.5223768331355944,
-0.00108206799759090... |
IndoorScan/matterport3d_1LXt | 7 | [
6,
8,
10,
16,
22,
26,
34
] | [
"006.ply",
"008.ply",
"010.ply",
"016.ply",
"022.ply",
"026.ply",
"034.ply"
] | {
"matrix": [
[
1,
0.24981352139418186,
0.546416220248186,
0.41310096968875026,
0.5474333762799214,
0.23937071946836644,
0.14253746524716893
],
[
0.2837119753561802,
1,
0.4489795918367347,
0.30889487870619947,
0.25637273777435504,
... | 0.209969 | 0.423957 | 0.546416 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
0.7812097180890228,
-0.6237940454331149,
0.024338554711783675,
-5.198253229506083
],
[
0.6240564942344102,
0.781366854974586,
-0.004396584012799299... |
IndoorScan/matterport3d_JF19 | 2 | [
4,
9
] | [
"004.ply",
"009.ply"
] | {
"matrix": [
[
1,
0.7111826226870475
],
[
0.5804333552199606,
1
]
]
} | 0.711183 | 0.711183 | 0.711183 | 1 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
0.3153893469519997,
-0.9460228838322685,
0.07463419521150642,
-5.141948056610242
],
[
0.9487916846565075,
0.3128642850272543,
-0.04370673038619135,... |
IndoorScan/matterport3d_JF19 | 3 | [
6,
28,
38
] | [
"006.ply",
"028.ply",
"038.ply"
] | {
"matrix": [
[
1,
0.4742523049246683,
0.656397571396447
],
[
0.2880753995355826,
1,
0.5629012429995902
],
[
0.43116691285081243,
0.6087149187592319,
1
]
]
} | 0.474252 | 0.579788 | 0.608715 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
0.15955579813501153,
0.9858672820429837,
0.051065149355302486,
-0.4218140391986517
],
[
-0.9855047042766841,
0.1620906509775657,
-0.050070936821617... |
IndoorScan/matterport3d_JF19 | 4 | [
2,
8,
21,
25
] | [
"002.ply",
"008.ply",
"021.ply",
"025.ply"
] | {
"matrix": [
[
1,
0.5652810304449649,
0.6583723653395784,
0.49677985948477754
],
[
0.37892464678178966,
1,
0.44191522762951335,
0.489010989010989
],
[
0.49104803493449783,
0.49170305676855897,
1,
0.5807860262008734
],
... | 0.491703 | 0.55564 | 0.565281 | 1 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.048986454361159816,
-0.9983617749546482,
-0.029565073964502815,
-4.861317613700596
],
[
0.9969537210757825,
-0.05067320522269456,
0.059291688334... |
IndoorScan/matterport3d_JF19 | 5 | [
15,
26,
31,
39,
40
] | [
"015.ply",
"026.ply",
"031.ply",
"039.ply",
"040.ply"
] | {
"matrix": [
[
1,
0.3395638629283489,
0.5309795777085496,
0.4292142609899619,
0.575631706472828
],
[
0.3803799922450562,
1,
0.8088406359053897,
0.8522683210546723,
0.29895308259015124
],
[
0.48806872414890234,
0.6636971046770... | 0.298953 | 0.534804 | 0.53098 | 1 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
0.8915638740795234,
0.4447955033490184,
0.0852690954379437,
-7.752802544804822
],
[
-0.44515783898976474,
0.8953132511426486,
-0.01576961363963035... |
IndoorScan/matterport3d_JF19 | 6 | [
6,
15,
26,
31,
39,
40
] | [
"006.ply",
"015.ply",
"026.ply",
"031.ply",
"039.ply",
"040.ply"
] | {
"matrix": [
[
1,
0.2138520350798291,
0.06431302001349225,
0.15043849786372834,
0.1194063413537216,
0.6968742972790646
],
[
0.3291796469366563,
1,
0.3395638629283489,
0.5309795777085496,
0.4292142609899619,
0.575631706472828
],
... | 0.110896 | 0.45762 | 0.53098 | 1 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
-0.9442241158407454,
-0.3171574390321587,
-0.08861138714254052,
7.876736109438873
],
[
0.31883146790786315,
-0.9477979889394471,
-0.005046507114536... |
IndoorScan/matterport3d_JF19 | 7 | [
15,
17,
18,
26,
31,
39,
40
] | [
"015.ply",
"017.ply",
"018.ply",
"026.ply",
"031.ply",
"039.ply",
"040.ply"
] | {
"matrix": [
[
1,
0.205607476635514,
0.2869505019037729,
0.3395638629283489,
0.5309795777085496,
0.4292142609899619,
0.575631706472828
],
[
0.18977635782747604,
1,
0,
0,
0.1159744408945687,
0.07188498402555911,
0.58881789... | 0 | 0.453443 | 0.53098 | 0.857143 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
-0.38234081708920264,
-0.9211015195114132,
-0.07339952548434323,
1.189348546199874
],
[
0.923932965782549,
-0.38219498244308076,
-0.01657920793030... |
IndoorScan/matterport3d_JF19 | 9 | [
15,
17,
19,
26,
28,
31,
38,
40,
48
] | [
"015.ply",
"017.ply",
"019.ply",
"026.ply",
"028.ply",
"031.ply",
"038.ply",
"040.ply",
"048.ply"
] | {
"matrix": [
[
1,
0.205607476635514,
0.0910349601938387,
0.3395638629283489,
0.18899273104880582,
0.5309795777085496,
0.26722049151955696,
0.575631706472828,
0.27864312911041883
],
[
0.18977635782747604,
1,
0.1891373801916933,
... | 0 | 0.32456 | 0.506209 | 0.777778 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
-0.46273979730011117,
0.8859747008201193,
-0.030343195305570378,
7.483868414161703
],
[
-0.8864615393512402,
-0.4621580441288704,
0.02441068409542... |
IndoorScan/matterport3d_JF19 | 18 | [
0,
7,
8,
15,
17,
19,
21,
28,
31,
33,
34,
36,
38,
40,
42,
43,
45,
48
] | [
"000.ply",
"007.ply",
"008.ply",
"015.ply",
"017.ply",
"019.ply",
"021.ply",
"028.ply",
"031.ply",
"033.ply",
"034.ply",
"036.ply",
"038.ply",
"040.ply",
"042.ply",
"043.ply",
"045.ply",
"048.ply"
] | {
"matrix": [
[
1,
0.21662337662337663,
0.15766233766233767,
0.03844155844155844,
0.03922077922077922,
0.22883116883116883,
0.03168831168831169,
0.16467532467532467,
0.02909090909090909,
0.5451948051948052,
0.22883116883116883,
0.156103896103... | 0 | 0.207761 | 0.404394 | 0.627451 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9866639708398524,
-0.15756045664518215,
0.04085230897142227,
5.431945401810488
],
[
0.15687195060394313,
-0.9874251470808921,
-0.019564509347094... |
IndoorScan/matterport3d_JF19 | 19 | [
0,
7,
8,
12,
15,
19,
21,
25,
28,
31,
33,
34,
36,
38,
40,
42,
43,
45,
48
] | [
"000.ply",
"007.ply",
"008.ply",
"012.ply",
"015.ply",
"019.ply",
"021.ply",
"025.ply",
"028.ply",
"031.ply",
"033.ply",
"034.ply",
"036.ply",
"038.ply",
"040.ply",
"042.ply",
"043.ply",
"045.ply",
"048.ply"
] | {
"matrix": [
[
1,
0.21662337662337663,
0.15766233766233767,
0.05116883116883117,
0.03844155844155844,
0.22883116883116883,
0.03168831168831169,
0.07454545454545454,
0.16467532467532467,
0.02909090909090909,
0.5451948051948052,
0.228831168831... | 0 | 0.207596 | 0.404394 | 0.619883 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.7943457097939282,
0.6036405303498752,
-0.06806616965058274,
-2.2331941904295816
],
[
-0.6022693998675491,
0.7972158240861786,
0.04145479236200917... |
IndoorScan/matterport3d_XcA2 | 2 | [
3,
88
] | [
"003.ply",
"088.ply"
] | {
"matrix": [
[
1,
0.6196284215004964
],
[
0.6838315855376428,
1
]
]
} | 0.683832 | 0.683832 | 0.683832 | 1 | [
{
"point_cloud_id": 3,
"point_cloud_file": "003.ply",
"transformation_matrix": [
[
-0.992483308984751,
-0.12234329141793955,
-0.0030000719498556845,
-0.49799893413874846
],
[
0.12216342662817961,
-0.9889706243101245,
-0.0837448592... |
IndoorScan/matterport3d_XcA2 | 3 | [
0,
4,
69
] | [
"000.ply",
"004.ply",
"069.ply"
] | {
"matrix": [
[
1,
0.39565909996017523,
0.637594583831143
],
[
0.6222987785781396,
1,
0.643282179768243
],
[
0.17903270897400056,
0.1148448420464076,
1
]
]
} | 0.622299 | 0.634392 | 0.637595 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9642720306834577,
-0.26252763069540064,
0.03547807721763079,
0.2909568840309972
],
[
0.26254446023096256,
-0.9649104626034872,
-0.00426679743564... |
IndoorScan/matterport3d_XcA2 | 4 | [
23,
39,
64,
102
] | [
"023.ply",
"039.ply",
"064.ply",
"102.ply"
] | {
"matrix": [
[
1,
0.5399216631515517,
0.5611931304609822,
0.433805363061163
],
[
0.5803860603705143,
1,
0.5914626246923177,
0.420909444228527
],
[
0.553159895462105,
0.5423497267759563,
1,
0.6119030648610121
],
[
... | 0.484455 | 0.587046 | 0.580386 | 1 | [
{
"point_cloud_id": 23,
"point_cloud_file": "023.ply",
"transformation_matrix": [
[
0.09994563432656657,
0.9932669023580912,
0.05858097693810006,
1.5470758351476532
],
[
-0.9945274614892605,
0.09792496998639788,
0.0364119293211780... |
IndoorScan/matterport3d_XcA2 | 5 | [
34,
43,
47,
85,
100
] | [
"034.ply",
"043.ply",
"047.ply",
"085.ply",
"100.ply"
] | {
"matrix": [
[
1,
0.19414402532313374,
0.4522553415985228,
0.5974017409654445,
0.3641519388024268
],
[
0.23173803526448364,
1,
0.5269993702770781,
0.4553683879093199,
0.6456234256926953
],
[
0.301702520786591,
0.2945316968017... | 0.231738 | 0.481824 | 0.548458 | 1 | [
{
"point_cloud_id": 34,
"point_cloud_file": "034.ply",
"transformation_matrix": [
[
-0.6766457205380132,
0.7361956163943076,
-0.012906714508289112,
-1.1401059840119248
],
[
-0.7360988579232216,
-0.6767674148343542,
-0.012014057705... |
IndoorScan/matterport3d_XcA2 | 6 | [
8,
40,
53,
61,
85,
100
] | [
"008.ply",
"040.ply",
"053.ply",
"061.ply",
"085.ply",
"100.ply"
] | {
"matrix": [
[
1,
0.4592905987110739,
0.29635460225316085,
0.5336252275298864,
0.5893639002312195,
0.5273281841885178
],
[
0.5029088558500323,
1,
0.21994182288299935,
0.517560870502047,
0.6705451411333764,
0.38396897220426635
],
... | 0.295784 | 0.500994 | 0.527328 | 1 | [
{
"point_cloud_id": 8,
"point_cloud_file": "008.ply",
"transformation_matrix": [
[
0.846046583403841,
0.532977428795433,
-0.011842259298668795,
-2.214107052741742
],
[
-0.533104025858487,
0.845925680507669,
-0.014485878334112356,
... |
IndoorScan/matterport3d_XcA2 | 7 | [
53,
60,
67,
74,
84,
85,
93
] | [
"053.ply",
"060.ply",
"067.ply",
"074.ply",
"084.ply",
"085.ply",
"093.ply"
] | {
"matrix": [
[
1,
0.5899014778325123,
0.13575775137641263,
0.7647783251231527,
0.7100840336134454,
0.41618371486525646,
0.5162996232975949
],
[
0.3852850721551928,
1,
0.0876744736219541,
0.5199432221433641,
0.448355807901585,
0... | 0.17061 | 0.458871 | 0.514133 | 1 | [
{
"point_cloud_id": 53,
"point_cloud_file": "053.ply",
"transformation_matrix": [
[
-0.9747867468553374,
-0.20842815768532252,
0.07967748263525096,
-0.18802832635798733
],
[
0.20625281608332394,
-0.977882824665214,
-0.034712491735... |
IndoorScan/matterport3d_XcA2 | 8 | [
5,
13,
74,
82,
84,
85,
94,
100
] | [
"005.ply",
"013.ply",
"074.ply",
"082.ply",
"084.ply",
"085.ply",
"094.ply",
"100.ply"
] | {
"matrix": [
[
1,
0.17087696335078534,
0.5363874345549738,
0.4493455497382199,
0.45464659685863873,
0.29901832460732986,
0.32604712041884815,
0.59967277486911
],
[
0.1810051993067591,
1,
0.29109185441941077,
0.4573310225303293,
... | 0.181005 | 0.489649 | 0.500192 | 1 | [
{
"point_cloud_id": 5,
"point_cloud_file": "005.ply",
"transformation_matrix": [
[
-0.5241429544755375,
-0.8514757730681715,
-0.01622255071233762,
-1.5859761192409783
],
[
0.8504879057632534,
-0.522358561178073,
-0.061740227683486... |
IndoorScan/matterport3d_XcA2 | 10 | [
12,
35,
39,
64,
69,
76,
88,
95,
96,
108
] | [
"012.ply",
"035.ply",
"039.ply",
"064.ply",
"069.ply",
"076.ply",
"088.ply",
"095.ply",
"096.ply",
"108.ply"
] | {
"matrix": [
[
1,
0.17447231895387677,
0.5993177457181437,
0.4959135811242982,
0.5038021462582617,
0.004974770805202189,
0.47601449790348943,
0.06666192878970933,
0.16345675502807192,
0.3463151161964324
],
[
0.17259561304836896,
1,
... | 0.00285 | 0.341826 | 0.487954 | 0.888889 | [
{
"point_cloud_id": 12,
"point_cloud_file": "012.ply",
"transformation_matrix": [
[
-0.7922953015347236,
-0.6047215088071438,
-0.08111751939015927,
-1.1467433950095323
],
[
0.6081494986706213,
-0.793427422464938,
-0.02504221530369... |
IndoorScan/matterport3d_XcA2 | 11 | [
2,
13,
29,
30,
47,
58,
63,
67,
78,
85,
98
] | [
"002.ply",
"013.ply",
"029.ply",
"030.ply",
"047.ply",
"058.ply",
"063.ply",
"067.ply",
"078.ply",
"085.ply",
"098.ply"
] | {
"matrix": [
[
1,
0.4360843530330643,
0.13160635251236658,
0.19604269721426712,
0.3575891694871127,
0.2941942202551419,
0.34990887789638114,
0.7531892736266598,
0.2807862535797969,
0.4550898203592814,
0.5443894819057538
],
[
0.232235... | 0 | 0.319421 | 0.481843 | 0.745455 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.6129489600387287,
0.7896427104704361,
0.02753111309671068,
-2.207883666394587
],
[
-0.7900386617247489,
-0.6130193466541507,
-0.0067965879591173... |
IndoorScan/matterport3d_XcA2 | 17 | [
15,
17,
25,
28,
30,
36,
38,
42,
43,
48,
66,
72,
74,
81,
84,
99,
100
] | [
"015.ply",
"017.ply",
"025.ply",
"028.ply",
"030.ply",
"036.ply",
"038.ply",
"042.ply",
"043.ply",
"048.ply",
"066.ply",
"072.ply",
"074.ply",
"081.ply",
"084.ply",
"099.ply",
"100.ply"
] | {
"matrix": [
[
1,
0.26121141525917296,
0.5671714230246554,
0.30168899242865466,
0.039603960396039604,
0.3889536012424772,
0.0945447485925063,
0.3541059988351776,
0.00009706853038245001,
0.4413706076490002,
0.09706853038245002,
0.140166957872... | 0 | 0.249448 | 0.472439 | 0.602941 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
-0.7021056065802778,
-0.7097621913608672,
-0.05731796335495657,
-3.302607797357646
],
[
0.7117115468791799,
-0.702036065105368,
-0.024739388234481... |
IndoorScan/matterport3d_XcA2 | 17 | [
0,
3,
4,
9,
20,
27,
33,
44,
45,
50,
52,
69,
73,
77,
80,
89,
96
] | [
"000.ply",
"003.ply",
"004.ply",
"009.ply",
"020.ply",
"027.ply",
"033.ply",
"044.ply",
"045.ply",
"050.ply",
"052.ply",
"069.ply",
"073.ply",
"077.ply",
"080.ply",
"089.ply",
"096.ply"
] | {
"matrix": [
[
1,
0.2588610115491836,
0.39565909996017523,
0.11051373954599761,
0.2881322182397451,
0.3064516129032258,
0.14516129032258066,
0.08104340900039825,
0.013739545997610514,
0.08144165671047392,
0.2891278375149343,
0.63759458383114... | 0 | 0.242484 | 0.43234 | 0.617647 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9016168871501017,
-0.4322773473039031,
0.014942684285676204,
0.24540119994033155
],
[
0.4320787176958607,
-0.898539703869405,
0.0770349419716961... |
IndoorScan/matterport3d_aayB | 2 | [
20,
62
] | [
"020.ply",
"062.ply"
] | {
"matrix": [
[
1,
0.5021696842735298
],
[
0.6740309299056035,
1
]
]
} | 0.674031 | 0.674031 | 0.674031 | 1 | [
{
"point_cloud_id": 20,
"point_cloud_file": "020.ply",
"transformation_matrix": [
[
-0.7673987220023688,
-0.6355317485538325,
0.08484455226612342,
5.407774310750079
],
[
0.6364105831865178,
-0.7710974324551573,
-0.0197564994181754... |
IndoorScan/matterport3d_aayB | 3 | [
45,
50,
54
] | [
"045.ply",
"050.ply",
"054.ply"
] | {
"matrix": [
[
1,
0.5488218023036965,
0.6768049386433788
],
[
0.5352422907488987,
1,
0.6332599118942731
],
[
0.6440750823900272,
0.6179252041839806,
1
]
]
} | 0.548822 | 0.619629 | 0.63326 | 1 | [
{
"point_cloud_id": 45,
"point_cloud_file": "045.ply",
"transformation_matrix": [
[
0.4824721038008067,
0.8695699623922943,
0.10520812496707314,
1.3652739860421848
],
[
-0.8726499181251117,
0.4875512087929087,
-0.02785568525111604... |
IndoorScan/matterport3d_aayB | 4 | [
23,
33,
53,
63
] | [
"023.ply",
"033.ply",
"053.ply",
"063.ply"
] | {
"matrix": [
[
1,
0.5812571139496648,
0.5550777791830024,
0.2195522954344252
],
[
0.2865158032541612,
1,
0.30652702449971947,
0.09207655383080855
],
[
0.532904322486644,
0.597013113161729,
1,
0.21393880524526468
],
[
... | 0.486175 | 0.561823 | 0.579987 | 1 | [
{
"point_cloud_id": 23,
"point_cloud_file": "023.ply",
"transformation_matrix": [
[
-0.8982679592669087,
0.4375003119702286,
0.04132977595409636,
13.425859083446085
],
[
-0.4329297617099606,
-0.8971601310856058,
0.0876100486029733... |
IndoorScan/matterport3d_aayB | 5 | [
11,
20,
22,
44,
59
] | [
"011.ply",
"020.ply",
"022.ply",
"044.ply",
"059.ply"
] | {
"matrix": [
[
1,
0.30806324110671934,
0.3472727272727273,
0.46687747035573124,
0.6092490118577075
],
[
0.5831213526859195,
1,
0.15771360167589407,
0.3104893012120305,
0.5102498877749514
],
[
0.2523117569352708,
0.06053644247... | 0.157714 | 0.465195 | 0.553429 | 1 | [
{
"point_cloud_id": 11,
"point_cloud_file": "011.ply",
"transformation_matrix": [
[
-0.5787485912673938,
-0.8149944199823197,
0.028881888852521426,
2.170683935352883
],
[
0.81456816757143,
-0.5794183786803064,
-0.02744162580474428... |
IndoorScan/matterport3d_aayB | 6 | [
26,
44,
55,
59,
63,
68
] | [
"026.ply",
"044.ply",
"055.ply",
"059.ply",
"063.ply",
"068.ply"
] | {
"matrix": [
[
1,
0.5109788803218237,
0.20407308079114986,
0.3138618840093865,
0.1337579617834395,
0.2325678846798525
],
[
0.31202661207778914,
1,
0.054657113613101334,
0.5534288638689867,
0.024411463664278404,
0.3343398157625384
... | 0.007698 | 0.309026 | 0.496022 | 0.733333 | [
{
"point_cloud_id": 26,
"point_cloud_file": "026.ply",
"transformation_matrix": [
[
0.9403262405263202,
0.33836757732730693,
0.035971432989051734,
-10.124864570273921
],
[
-0.33412369938897735,
0.9381643836517323,
-0.0906032160245... |
IndoorScan/matterport3d_aayB | 7 | [
2,
9,
25,
28,
34,
39,
64
] | [
"002.ply",
"009.ply",
"025.ply",
"028.ply",
"034.ply",
"039.ply",
"064.ply"
] | {
"matrix": [
[
1,
0.4563979355757252,
0.47188111763659013,
0.22575191315180637,
0.3182950702972059,
0.4026517173874355,
0.2394554191137213
],
[
0.5983434437704153,
1,
0.37470835277648157,
0.06836210919272048,
0.5274148390107326,
... | 0.032686 | 0.36103 | 0.471881 | 0.714286 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.006920507150384603,
0.9983556795534039,
0.056903810805980115,
2.717178207307168
],
[
-0.9977346635523658,
-0.010701720131605346,
0.0664154675679... |
IndoorScan/matterport3d_aayB | 8 | [
14,
16,
23,
33,
36,
41,
46,
58
] | [
"014.ply",
"016.ply",
"023.ply",
"033.ply",
"036.ply",
"041.ply",
"046.ply",
"058.ply"
] | {
"matrix": [
[
1,
0.06420633831801345,
0.27987378241185346,
0.6353409246810262,
0.1446014542461243,
0.4254355878721361,
0.08547125806009055,
0.272465358759775
],
[
0.29545454545454547,
1,
0.1976010101010101,
0.35795454545454547,
... | 0.098093 | 0.394401 | 0.470572 | 0.964286 | [
{
"point_cloud_id": 14,
"point_cloud_file": "014.ply",
"transformation_matrix": [
[
-0.5984910734744016,
-0.7979241974385913,
0.07159196961558043,
2.905989404949418
],
[
0.7970987479221328,
-0.6020504269321628,
-0.0465711229386689... |
IndoorScan/matterport3d_aayB | 10 | [
2,
9,
25,
27,
28,
34,
39,
47,
50,
61
] | [
"002.ply",
"009.ply",
"025.ply",
"027.ply",
"028.ply",
"034.ply",
"039.ply",
"047.ply",
"050.ply",
"061.ply"
] | {
"matrix": [
[
1,
0.4563979355757252,
0.47188111763659013,
0.1003737319807795,
0.22575191315180637,
0.3182950702972059,
0.4026517173874355,
0.08275493860117458,
0.20573055703861898,
0.21489588894821143
],
[
0.5983434437704153,
1,
... | 0 | 0.257598 | 0.45984 | 0.622222 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.9988618031449328,
-0.025278272422014764,
0.0404488215083217,
12.906743899053572
],
[
0.023162909073851226,
-0.9983816681013603,
-0.0519376977000... |
IndoorScan/matterport3d_aayB | 13 | [
2,
8,
9,
25,
28,
34,
38,
39,
47,
50,
54,
61,
64
] | [
"002.ply",
"008.ply",
"009.ply",
"025.ply",
"028.ply",
"034.ply",
"038.ply",
"039.ply",
"047.ply",
"050.ply",
"054.ply",
"061.ply",
"064.ply"
] | {
"matrix": [
[
1,
0.10775938779142197,
0.4563979355757252,
0.47188111763659013,
0.22575191315180637,
0.3182950702972059,
0.17494216052678413,
0.4026517173874355,
0.08275493860117458,
0.20573055703861898,
0.18268375155721658,
0.21489588894821... | 0 | 0.258604 | 0.471881 | 0.602564 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.5640772587037028,
0.8253116933486917,
-0.026027966405984312,
9.997842611270919
],
[
-0.8256779837785218,
-0.563441369106565,
0.02810143559953314... |
IndoorScan/matterport3d_aayB | 13 | [
0,
10,
11,
33,
35,
43,
44,
53,
56,
60,
63,
68,
70
] | [
"000.ply",
"010.ply",
"011.ply",
"033.ply",
"035.ply",
"043.ply",
"044.ply",
"053.ply",
"056.ply",
"060.ply",
"063.ply",
"068.ply",
"070.ply"
] | {
"matrix": [
[
1,
0.4000354327221189,
0.09154929577464789,
0.07387722561785809,
0.16976702985206837,
0.0009301089556205156,
0.1641420852156967,
0.005270617415182921,
0.3179643901142705,
0.31725573567189297,
0.000044290902648595976,
0.3837806... | 0 | 0.24292 | 0.420316 | 0.679487 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9221970112053014,
0.3855853729519455,
-0.029607308042413974,
-2.0020449749700777
],
[
-0.38391399542794963,
0.9220243583557257,
0.049810909580739... |
IndoorScan/matterport3d_aayB | 20 | [
8,
12,
17,
18,
24,
25,
27,
28,
38,
42,
47,
49,
50,
52,
54,
61,
64,
65,
66,
69
] | [
"008.ply",
"012.ply",
"017.ply",
"018.ply",
"024.ply",
"025.ply",
"027.ply",
"028.ply",
"038.ply",
"042.ply",
"047.ply",
"049.ply",
"050.ply",
"052.ply",
"054.ply",
"061.ply",
"064.ply",
"065.ply",
"066.ply",
"069.ply"
] | {
"matrix": [
[
1,
0.5621900826446281,
0.1788223140495868,
0.690599173553719,
0.5300619834710744,
0.20743801652892563,
0.5996900826446281,
0.3114669421487603,
0.03161157024793389,
0.09855371900826446,
0.362396694214876,
0.3921487603305785,
... | 0 | 0.244696 | 0.425595 | 0.605263 | [
{
"point_cloud_id": 8,
"point_cloud_file": "008.ply",
"transformation_matrix": [
[
-0.8885683893478564,
0.4580384070606656,
0.025436884814857803,
17.556845817118756
],
[
-0.4567222167959158,
-0.8884912446594392,
0.0445883936528935... |
IndoorScan/matterport3d_aayB | 20 | [
0,
1,
4,
10,
13,
16,
19,
22,
23,
33,
35,
41,
43,
48,
56,
58,
59,
60,
67,
68
] | [
"000.ply",
"001.ply",
"004.ply",
"010.ply",
"013.ply",
"016.ply",
"019.ply",
"022.ply",
"023.ply",
"033.ply",
"035.ply",
"041.ply",
"043.ply",
"048.ply",
"056.ply",
"058.ply",
"059.ply",
"060.ply",
"067.ply",
"068.ply"
] | {
"matrix": [
[
1,
0.405173177429356,
0.23066702099388786,
0.4000354327221189,
0.06023562760209053,
0.0009743998582691115,
0.33860395074851624,
0.12091416423066702,
0.0005314908317831517,
0.07387722561785809,
0.16976702985206837,
0.0254672690... | 0 | 0.232414 | 0.434783 | 0.642105 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9959575491183082,
-0.04360344297200367,
-0.07853215975153002,
-4.338113134538947
],
[
0.04085804093956672,
0.9985077604283789,
-0.036233587386346... |
IndoorScan/matterport_demo1_building_under_construction | 6 | [
2,
7,
34,
41,
48,
49
] | [
"002.ply",
"007.ply",
"034.ply",
"041.ply",
"048.ply",
"049.ply"
] | {
"matrix": [
[
1,
0.5398907103825137,
0.533879781420765,
0.3038251366120219,
0.12185792349726776,
0.07540983606557378
],
[
0.5095410005157297,
1,
0.3924703455389376,
0.17534811758638474,
0.041258380608561115,
0.013408973697782363
... | 0.018271 | 0.375927 | 0.490049 | 0.8 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.6886351227301073,
0.7233066740586747,
0.05107957522012369,
-5.701768741447291
],
[
-0.725099734434457,
-0.6865793625114515,
-0.05328371323818366... |
IndoorScan/matterport_demo1_building_under_construction | 11 | [
6,
8,
9,
12,
14,
20,
30,
40,
47,
50,
51
] | [
"006.ply",
"008.ply",
"009.ply",
"012.ply",
"014.ply",
"020.ply",
"030.ply",
"040.ply",
"047.ply",
"050.ply",
"051.ply"
] | {
"matrix": [
[
1,
0.583171206225681,
0.5,
0.5972762645914397,
0.5004863813229572,
0.2796692607003891,
0.3779182879377432,
0.22130350194552528,
0.05496108949416342,
0.03939688715953307,
0.1546692607003891
],
[
0.5563805104408353,
... | 0.04505 | 0.361396 | 0.522803 | 0.927273 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
0.5226854035859744,
-0.8525129015416335,
-0.004660641933483257,
13.975246276826985
],
[
0.8509869423442984,
0.5220625343684168,
-0.0572008231437924... |
IndoorScan/matterport_demo1_building_under_construction | 13 | [
1,
5,
6,
13,
18,
19,
32,
34,
36,
42,
43,
45,
47
] | [
"001.ply",
"005.ply",
"006.ply",
"013.ply",
"018.ply",
"019.ply",
"032.ply",
"034.ply",
"036.ply",
"042.ply",
"043.ply",
"045.ply",
"047.ply"
] | {
"matrix": [
[
1,
0.5703338806787083,
0.3097974822112753,
0.1921182266009852,
0.04926108374384237,
0.05035577449370553,
0.5703338806787083,
0.5675971538040504,
0.7164750957854407,
0.20634920634920634,
0.19430760810071154,
0.4756431308155446,... | 0.052422 | 0.354894 | 0.531615 | 0.923077 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.5375449813048424,
-0.8431914281265346,
0.008579545903591947,
0.6722383051242885
],
[
0.8394241936444868,
-0.5341216997077317,
0.1004043476430522... |
IndoorScan/matterport_demo1_building_under_construction | 13 | [
2,
5,
7,
10,
17,
24,
26,
38,
40,
44,
46,
50,
52
] | [
"002.ply",
"005.ply",
"007.ply",
"010.ply",
"017.ply",
"024.ply",
"026.ply",
"038.ply",
"040.ply",
"044.ply",
"046.ply",
"050.ply",
"052.ply"
] | {
"matrix": [
[
1,
0.6612021857923497,
0.5398907103825137,
0.3819672131147541,
0.20327868852459016,
0.13497267759562842,
0.23224043715846995,
0.3650273224043716,
0.3005464480874317,
0.2273224043715847,
0.23825136612021858,
0.17486338797814208... | 0.055738 | 0.366838 | 0.465106 | 0.961538 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
0.9984929288319306,
0.05315329999254042,
-0.01366007952159515,
2.4295944276787433
],
[
-0.053253688347135224,
0.9985558225760883,
-0.00709322753179... |
IndoorScan/matterport_demo1_building_under_construction | 14 | [
2,
7,
9,
10,
13,
15,
29,
32,
35,
37,
41,
43,
47,
49
] | [
"002.ply",
"007.ply",
"009.ply",
"010.ply",
"013.ply",
"015.ply",
"029.ply",
"032.ply",
"035.ply",
"037.ply",
"041.ply",
"043.ply",
"047.ply",
"049.ply"
] | {
"matrix": [
[
1,
0.5398907103825137,
0.507103825136612,
0.3819672131147541,
0.26612021857923496,
0.18360655737704917,
0.6715846994535519,
0.5989071038251366,
0.6595628415300546,
0.2912568306010929,
0.3038251366120219,
0.16393442622950818,
... | 0.018271 | 0.363813 | 0.531377 | 0.956044 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
0.4251815841950713,
0.9029228248476825,
-0.0628569234885934,
-3.3427451438566975
],
[
-0.9037106287938058,
0.4273577689090344,
0.02593138558188988,... |
IndoorScan/matterport_demo1_building_under_construction | 14 | [
6,
8,
12,
17,
19,
22,
23,
24,
27,
31,
36,
39,
42,
52
] | [
"006.ply",
"008.ply",
"012.ply",
"017.ply",
"019.ply",
"022.ply",
"023.ply",
"024.ply",
"027.ply",
"031.ply",
"036.ply",
"039.ply",
"042.ply",
"052.ply"
] | {
"matrix": [
[
1,
0.583171206225681,
0.5972762645914397,
0.4888132295719844,
0.31712062256809337,
0.3453307392996109,
0.26750972762645914,
0.35749027237354086,
0.44990272373540857,
0.303988326848249,
0.375,
0.20671206225680933,
0.15369... | 0.099145 | 0.444646 | 0.499339 | 0.989011 | [
{
"point_cloud_id": 6,
"point_cloud_file": "006.ply",
"transformation_matrix": [
[
-0.17854915011616776,
-0.9827253115791373,
-0.04869458875975263,
12.76983890682602
],
[
0.9838622106367149,
-0.17773272316376595,
-0.02064532871689... |
IndoorScan/matterport_demo1_building_under_construction | 15 | [
7,
9,
18,
19,
20,
25,
26,
30,
33,
37,
38,
39,
42,
44,
47
] | [
"007.ply",
"009.ply",
"018.ply",
"019.ply",
"020.ply",
"025.ply",
"026.ply",
"030.ply",
"033.ply",
"037.ply",
"038.ply",
"039.ply",
"042.ply",
"044.ply",
"047.ply"
] | {
"matrix": [
[
1,
0.6008251676121712,
0.1258380608561114,
0.1634863331614234,
0.1557503867973182,
0.15420319752449715,
0.32078390923156264,
0.556472408457968,
0.3811242908715833,
0.17225373904074265,
0.23671995874161939,
0.19752449716348633,... | 0.031092 | 0.386006 | 0.54161 | 0.990476 | [
{
"point_cloud_id": 7,
"point_cloud_file": "007.ply",
"transformation_matrix": [
[
0.5865933869419698,
0.8085864023498096,
0.04578458617198951,
-8.34965015543504
],
[
-0.8064864526110708,
0.5883711418184417,
-0.05830095393794481,
... |
IndoorScan/matterport_demo1_building_under_construction | 15 | [
1,
3,
6,
12,
14,
15,
16,
17,
20,
21,
28,
31,
32,
34,
41
] | [
"001.ply",
"003.ply",
"006.ply",
"012.ply",
"014.ply",
"015.ply",
"016.ply",
"017.ply",
"020.ply",
"021.ply",
"028.ply",
"031.ply",
"032.ply",
"034.ply",
"041.ply"
] | {
"matrix": [
[
1,
0.6305418719211823,
0.3097974822112753,
0.28790366721401206,
0.13026819923371646,
0.14012041598248495,
0.061850027367268745,
0.14942528735632185,
0.05090311986863711,
0.016967706622879036,
0.4849480021893815,
0.412151067323... | 0.022033 | 0.409088 | 0.490049 | 0.961905 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.9887170926400142,
-0.14430693910077372,
0.040174843482497516,
-2.5393824504416536
],
[
0.14082795851601101,
-0.9868765242721353,
-0.079007670138... |
IndoorScan/matterport_demo1_building_under_construction | 20 | [
2,
6,
7,
9,
10,
12,
15,
19,
21,
25,
26,
28,
30,
31,
32,
35,
39,
40,
41,
44
] | [
"002.ply",
"006.ply",
"007.ply",
"009.ply",
"010.ply",
"012.ply",
"015.ply",
"019.ply",
"021.ply",
"025.ply",
"026.ply",
"028.ply",
"030.ply",
"031.ply",
"032.ply",
"035.ply",
"039.ply",
"040.ply",
"041.ply",
"044.ply"
] | {
"matrix": [
[
1,
0.3945355191256831,
0.5398907103825137,
0.507103825136612,
0.3819672131147541,
0.3617486338797814,
0.18360655737704917,
0.06284153005464481,
0.015846994535519125,
0.0814207650273224,
0.23224043715846995,
0.5683060109289617,... | 0.020611 | 0.399232 | 0.564208 | 0.973684 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
0.9512768227340124,
-0.29873528089235335,
0.07635206925322359,
3.870592857896466
],
[
0.3028661070597982,
0.9517383932103083,
-0.04966036733556449,... |
IndoorScan/matterport_demo1_building_under_construction | 20 | [
1,
3,
6,
8,
13,
14,
18,
24,
26,
27,
29,
34,
36,
38,
44,
45,
46,
47,
48,
50
] | [
"001.ply",
"003.ply",
"006.ply",
"008.ply",
"013.ply",
"014.ply",
"018.ply",
"024.ply",
"026.ply",
"027.ply",
"029.ply",
"034.ply",
"036.ply",
"038.ply",
"044.ply",
"045.ply",
"046.ply",
"047.ply",
"048.ply",
"050.ply"
] | {
"matrix": [
[
1,
0.6305418719211823,
0.3097974822112753,
0.4422550629447181,
0.1921182266009852,
0.13026819923371646,
0.04926108374384237,
0.11658456486042693,
0.20306513409961685,
0.20032840722495895,
0.5758073344280241,
0.5675971538040504... | 0.037459 | 0.377077 | 0.531615 | 0.952632 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.5408888152252276,
0.8409864210917675,
0.013458421285938549,
-0.717059177863496
],
[
-0.836684193960421,
0.5363476261555339,
0.11086380606006746,
... |
IndoorScan/matterport_demo1_building_under_construction | 21 | [
0,
1,
2,
4,
6,
7,
8,
11,
14,
16,
18,
21,
23,
24,
35,
39,
43,
45,
46,
50,
51
] | [
"000.ply",
"001.ply",
"002.ply",
"004.ply",
"006.ply",
"007.ply",
"008.ply",
"011.ply",
"014.ply",
"016.ply",
"018.ply",
"021.ply",
"023.ply",
"024.ply",
"035.ply",
"039.ply",
"043.ply",
"045.ply",
"046.ply",
"050.ply",
"051.ply"
] | {
"matrix": [
[
1,
0.7021046950890448,
0.6583917970858068,
0.6578521316783594,
0.3378305450620615,
0.4970318402590394,
0.4824608742579601,
0.26551538046411227,
0.16891527253103075,
0.08256880733944955,
0.04910955207771182,
0.00917431192660550... | 0.012082 | 0.341035 | 0.570604 | 0.919048 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.27149611377452376,
0.9592670224832724,
0.07808098220058268,
-3.889885631244528
],
[
-0.9586132174442747,
-0.2767523684072372,
0.0668492776484571... |
IndoorScan/matterport_demo1_building_under_construction | 21 | [
1,
3,
4,
5,
6,
10,
12,
17,
19,
20,
22,
26,
28,
30,
34,
36,
37,
41,
46,
48,
52
] | [
"001.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"010.ply",
"012.ply",
"017.ply",
"019.ply",
"020.ply",
"022.ply",
"026.ply",
"028.ply",
"030.ply",
"034.ply",
"036.ply",
"037.ply",
"041.ply",
"046.ply",
"048.ply",
"052.ply"
] | {
"matrix": [
[
1,
0.6305418719211823,
0.6343732895457034,
0.5703338806787083,
0.3097974822112753,
0.29447181171319103,
0.28790366721401206,
0.14942528735632185,
0.05035577449370553,
0.05090311986863711,
0.07389162561576355,
0.203065134099616... | 0.037459 | 0.378935 | 0.531377 | 0.957143 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.5481706067556128,
-0.8362109803668848,
0.016130164383439092,
0.6030234150913935
],
[
0.8357683672164861,
-0.5469473925963414,
0.0483713354410699... |
IndoorScan/matterport_demo1_building_under_construction | 22 | [
2,
5,
6,
7,
8,
10,
12,
13,
18,
19,
23,
24,
25,
28,
31,
32,
35,
36,
45,
47,
48,
49
] | [
"002.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"010.ply",
"012.ply",
"013.ply",
"018.ply",
"019.ply",
"023.ply",
"024.ply",
"025.ply",
"028.ply",
"031.ply",
"032.ply",
"035.ply",
"036.ply",
"045.ply",
"047.ply",
"048.ply",
"049.ply"
] | {
"matrix": [
[
1,
0.6612021857923497,
0.3945355191256831,
0.5398907103825137,
0.5371584699453552,
0.3819672131147541,
0.3617486338797814,
0.26612021857923496,
0.05191256830601093,
0.06284153005464481,
0.13333333333333333,
0.13497267759562842... | 0.018271 | 0.372982 | 0.580549 | 0.917749 | [
{
"point_cloud_id": 2,
"point_cloud_file": "002.ply",
"transformation_matrix": [
[
-0.015643815685887703,
0.9995963294648593,
-0.023716010439501323,
-5.1239794993769605
],
[
-0.9967417942577922,
-0.017467399754917803,
-0.078744431... |
IndoorScan/matterport_demo1_building_under_construction | 22 | [
0,
1,
2,
4,
7,
9,
10,
11,
12,
15,
17,
19,
21,
22,
26,
29,
34,
37,
40,
42,
50,
52
] | [
"000.ply",
"001.ply",
"002.ply",
"004.ply",
"007.ply",
"009.ply",
"010.ply",
"011.ply",
"012.ply",
"015.ply",
"017.ply",
"019.ply",
"021.ply",
"022.ply",
"026.ply",
"029.ply",
"034.ply",
"037.ply",
"040.ply",
"042.ply",
"050.ply",
"052.ply"
] | {
"matrix": [
[
1,
0.7021046950890448,
0.6583917970858068,
0.6578521316783594,
0.4970318402590394,
0.45223961144090663,
0.3259579060982191,
0.26551538046411227,
0.32218024824608743,
0.15542363734484618,
0.1894225580140313,
0.05018888289260658... | 0.012082 | 0.370493 | 0.54243 | 0.939394 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.7812771546202653,
-0.6241031820506473,
0.010061104448256487,
-0.014619862833617315
],
[
0.6207805618736898,
-0.778596887196122,
-0.0917517370314... |
IndoorScan/matterport_demo1_building_under_construction | 23 | [
0,
3,
5,
7,
9,
13,
14,
16,
18,
20,
27,
29,
31,
32,
33,
37,
39,
40,
43,
46,
47,
48,
51
] | [
"000.ply",
"003.ply",
"005.ply",
"007.ply",
"009.ply",
"013.ply",
"014.ply",
"016.ply",
"018.ply",
"020.ply",
"027.ply",
"029.ply",
"031.ply",
"032.ply",
"033.ply",
"037.ply",
"039.ply",
"040.ply",
"043.ply",
"046.ply",
"047.ply",
"048.ply",
"051.ply"
] | {
"matrix": [
[
1,
0.694009713977334,
0.6011872638963842,
0.4970318402590394,
0.45223961144090663,
0.2271991365353481,
0.16891527253103075,
0.08256880733944955,
0.04910955207771182,
0.06152185644900162,
0.21370750134916353,
0.6260118726389639... | 0.031092 | 0.373376 | 0.582851 | 0.968379 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9894664877899559,
0.13568017674113517,
0.05046740710699531,
1.8904853471719343
],
[
-0.13483700702969142,
0.9906705771420614,
-0.0197683868914403... |
IndoorScan/matterport_demo1_building_under_construction | 23 | [
1,
2,
3,
6,
10,
12,
15,
16,
25,
26,
27,
28,
30,
35,
36,
37,
41,
42,
43,
44,
47,
49,
52
] | [
"001.ply",
"002.ply",
"003.ply",
"006.ply",
"010.ply",
"012.ply",
"015.ply",
"016.ply",
"025.ply",
"026.ply",
"027.ply",
"028.ply",
"030.ply",
"035.ply",
"036.ply",
"037.ply",
"041.ply",
"042.ply",
"043.ply",
"044.ply",
"047.ply",
"049.ply",
"052.ply"
] | {
"matrix": [
[
1,
0.6206896551724138,
0.6305418719211823,
0.3097974822112753,
0.29447181171319103,
0.28790366721401206,
0.14012041598248495,
0.061850027367268745,
0.06677613574165299,
0.20306513409961685,
0.20032840722495895,
0.4849480021893... | 0.033029 | 0.376369 | 0.541498 | 0.964427 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.1834789458966422,
-0.9789269872208758,
-0.08965171556259531,
3.3476609930718877
],
[
0.9793780915020381,
0.18988376241701435,
-0.0690123949460106... |
IndoorScan/matterport_demo1_building_under_construction | 24 | [
1,
2,
3,
4,
5,
8,
11,
12,
13,
16,
17,
20,
21,
26,
27,
28,
31,
32,
35,
39,
40,
41,
44,
48
] | [
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"005.ply",
"008.ply",
"011.ply",
"012.ply",
"013.ply",
"016.ply",
"017.ply",
"020.ply",
"021.ply",
"026.ply",
"027.ply",
"028.ply",
"031.ply",
"032.ply",
"035.ply",
"039.ply",
"040.ply",
"041.ply",
"044.ply",
"048.ply"
] | {
"matrix": [
[
1,
0.6206896551724138,
0.6305418719211823,
0.6343732895457034,
0.5703338806787083,
0.4422550629447181,
0.24028461959496442,
0.28790366721401206,
0.1921182266009852,
0.061850027367268745,
0.14942528735632185,
0.0509031198686371... | 0.020611 | 0.394259 | 0.584811 | 0.960145 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.035279095745903426,
0.997667628876498,
0.05843532917078409,
-2.8906559403783074
],
[
-0.9989186048325992,
-0.03697431410819944,
0.02818724916556... |
IndoorScan/matterport_demo2_mechanical_room | 3 | [
13,
14,
21
] | [
"013.ply",
"014.ply",
"021.ply"
] | {
"matrix": [
[
1,
0.5013908205841446,
0.1888038942976356
],
[
0.49174258293954304,
1,
0.24416622010035563
],
[
0.3198687200201969,
0.42177901203399815,
1
]
]
} | 0.319869 | 0.414346 | 0.421779 | 1 | [
{
"point_cloud_id": 13,
"point_cloud_file": "013.ply",
"transformation_matrix": [
[
0.8655166117654334,
0.48956209729314576,
-0.1058770402496244,
3.4858050438173085
],
[
-0.4955122629432926,
0.8677569233317171,
-0.0382821013358706... |
IndoorScan/matterport_demo2_mechanical_room | 5 | [
3,
5,
12,
15,
19
] | [
"003.ply",
"005.ply",
"012.ply",
"015.ply",
"019.ply"
] | {
"matrix": [
[
1,
0.43281763917651356,
0.2961383846997198,
0.14983554635156535,
0.0870995249116823
],
[
0.2284593621399177,
1,
0.4308127572016461,
0.26877572016460904,
0.21032664609053497
],
[
0.165972554106643,
0.45743155595... | 0.0871 | 0.342251 | 0.368881 | 0.9 | [
{
"point_cloud_id": 3,
"point_cloud_file": "003.ply",
"transformation_matrix": [
[
-0.2422358496869173,
0.9678081384326097,
-0.06833154696085776,
-0.9409219289753753
],
[
-0.9691613573211573,
-0.23808617676515248,
0.06357071581132... |
IndoorScan/matterport_demo2_mechanical_room | 6 | [
1,
6,
9,
15,
30,
31
] | [
"001.ply",
"006.ply",
"009.ply",
"015.ply",
"030.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.6467521487952657,
0.4154572354515993,
0.2613075947583486,
0.13547978018881218,
0.4798506411159645
],
[
0.6119592027198186,
1,
0.4296380241317245,
0.2651156589560696,
0.18578761415905606,
0.3927071528564762
],
... | 0.102752 | 0.370726 | 0.368509 | 1 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.5433171731708865,
0.8369734960541202,
0.06543558848624165,
-2.7409234908514923
],
[
-0.8395270395923137,
-0.5417469760754597,
-0.041286362233319... |
IndoorScan/matterport_demo2_mechanical_room | 9 | [
4,
6,
7,
8,
11,
13,
14,
18,
21
] | [
"004.ply",
"006.ply",
"007.ply",
"008.ply",
"011.ply",
"013.ply",
"014.ply",
"018.ply",
"021.ply"
] | {
"matrix": [
[
1,
0.6185394433982004,
0.4920136709213922,
0.43565599497802887,
0.26344423519564764,
0.33312408453651393,
0.19013740670991142,
0.07044709492920416,
0.13754620910929763
],
[
0.591160589294047,
1,
0.5041663889074062,
... | 0.108342 | 0.319969 | 0.383443 | 1 | [
{
"point_cloud_id": 4,
"point_cloud_file": "004.ply",
"transformation_matrix": [
[
-0.0682096820918631,
-0.9960887249721374,
-0.056166638250019336,
1.085506754347347
],
[
0.995289722020612,
-0.0640515590183874,
-0.0727720209108335... |
IndoorScan/matterport_demo2_mechanical_room | 13 | [
0,
3,
6,
7,
12,
13,
15,
18,
20,
21,
24,
29,
31
] | [
"000.ply",
"003.ply",
"006.ply",
"007.ply",
"012.ply",
"013.ply",
"015.ply",
"018.ply",
"020.ply",
"021.ply",
"024.ply",
"029.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.37071490094745907,
0.47898363479758826,
0.38845822566752797,
0.32868217054263565,
0.25150732127476316,
0.23316106804478898,
0.02652885443583118,
0.1,
0.060034453057708874,
0.25925925925925924,
0.0632213608957795,
0.... | 0.011984 | 0.305175 | 0.424412 | 0.833333 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.6302027535746192,
-0.7759649479568804,
0.026886593857233323,
2.451218888849705
],
[
0.7763798955417822,
0.6301794302956122,
-0.01039920337473023,... |
IndoorScan/matterport_demo2_mechanical_room | 13 | [
1,
6,
8,
9,
11,
16,
19,
20,
23,
25,
27,
28,
30
] | [
"001.ply",
"006.ply",
"008.ply",
"009.ply",
"011.ply",
"016.ply",
"019.ply",
"020.ply",
"023.ply",
"025.ply",
"027.ply",
"028.ply",
"030.ply"
] | {
"matrix": [
[
1,
0.6467521487952657,
0.38946033535296604,
0.4154572354515993,
0.23319712554600536,
0.09553332393969283,
0.2071297731435818,
0.1485839086938143,
0.19740735522051572,
0.44680851063829785,
0.27405946174439905,
0.229463153445117... | 0.096829 | 0.324681 | 0.352415 | 0.987179 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.7160994651776617,
-0.6977187819554528,
-0.01974986781895717,
3.027286782581265
],
[
0.6950860054305326,
0.7154081905091735,
-0.07103918641859468,... |
IndoorScan/matterport_demo2_mechanical_room | 16 | [
0,
1,
2,
5,
6,
7,
9,
11,
13,
14,
15,
16,
17,
19,
23,
25
] | [
"000.ply",
"001.ply",
"002.ply",
"005.ply",
"006.ply",
"007.ply",
"009.ply",
"011.ply",
"013.ply",
"014.ply",
"015.ply",
"016.ply",
"017.ply",
"019.ply",
"023.ply",
"025.ply"
] | {
"matrix": [
[
1,
0.560551248923342,
0.6766580534022395,
0.45030146425495265,
0.47898363479758826,
0.38845822566752797,
0.3840654608096469,
0.2474590869939707,
0.25150732127476316,
0.10508182601205857,
0.23316106804478898,
0.0857019810508182... | 0.064697 | 0.337006 | 0.424989 | 0.966667 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.1815045072207497,
0.9807431176565091,
0.07210444527172959,
-1.6793296226471763
],
[
-0.9828183741341836,
-0.18341061629006672,
0.020702398323333... |
IndoorScan/matterport_demo2_mechanical_room | 16 | [
5,
7,
8,
9,
10,
12,
14,
17,
18,
20,
21,
22,
24,
26,
27,
29
] | [
"005.ply",
"007.ply",
"008.ply",
"009.ply",
"010.ply",
"012.ply",
"014.ply",
"017.ply",
"018.ply",
"020.ply",
"021.ply",
"022.ply",
"024.ply",
"026.ply",
"027.ply",
"029.ply"
] | {
"matrix": [
[
1,
0.6464763374485597,
0.5239840534979424,
0.4819315843621399,
0.3429783950617284,
0.4308127572016461,
0.2332175925925926,
0.10217335390946503,
0.07008744855967078,
0.20949074074074073,
0.16010802469135801,
0.21804269547325103... | 0.045589 | 0.314455 | 0.36854 | 0.95 | [
{
"point_cloud_id": 5,
"point_cloud_file": "005.ply",
"transformation_matrix": [
[
-0.8166400446299249,
0.5748473348655975,
0.051474062446573855,
-3.5010004530242287
],
[
-0.5757163014888359,
-0.8176455223408986,
-0.00255734156790... |
IndoorScan/matterport_demo2_mechanical_room | 18 | [
1,
3,
6,
7,
11,
12,
13,
15,
16,
19,
20,
21,
23,
24,
25,
26,
30,
31
] | [
"001.ply",
"003.ply",
"006.ply",
"007.ply",
"011.ply",
"012.ply",
"013.ply",
"015.ply",
"016.ply",
"019.ply",
"020.ply",
"021.ply",
"023.ply",
"024.ply",
"025.ply",
"026.ply",
"030.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.27412991404818937,
0.6467521487952657,
0.4372974496266028,
0.23319712554600536,
0.3509229251796534,
0.28645906721149783,
0.2613075947583486,
0.09553332393969283,
0.2071297731435818,
0.1485839086938143,
0.11180780611525996... | 0.056645 | 0.301558 | 0.424989 | 0.934641 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.9276821113099806,
0.370459369800615,
-0.04653768024287245,
-3.172431554038643
],
[
-0.3676628017293196,
-0.9280874075124048,
-0.0589731145646086... |
IndoorScan/matterport_demo2_mechanical_room | 18 | [
0,
1,
2,
4,
5,
9,
10,
12,
14,
16,
17,
21,
22,
23,
24,
27,
28,
29
] | [
"000.ply",
"001.ply",
"002.ply",
"004.ply",
"005.ply",
"009.ply",
"010.ply",
"012.ply",
"014.ply",
"016.ply",
"017.ply",
"021.ply",
"022.ply",
"023.ply",
"024.ply",
"027.ply",
"028.ply",
"029.ply"
] | {
"matrix": [
[
1,
0.560551248923342,
0.6766580534022395,
0.5022394487510766,
0.45030146425495265,
0.3840654608096469,
0.3215331610680448,
0.32868217054263565,
0.10508182601205857,
0.08570198105081826,
0.060551248923341947,
0.0600344530577088... | 0.060034 | 0.300595 | 0.36854 | 0.915033 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.17876161680321087,
-0.983406807224325,
0.03090850793489152,
0.6255112009774162
],
[
0.982349132399264,
-0.1801519602790464,
-0.05035328471937142... |
IndoorScan/matterport_demo2_mechanical_room | 21 | [
1,
3,
4,
7,
8,
9,
10,
11,
13,
15,
17,
18,
21,
22,
23,
25,
26,
27,
28,
29,
30
] | [
"001.ply",
"003.ply",
"004.ply",
"007.ply",
"008.ply",
"009.ply",
"010.ply",
"011.ply",
"013.ply",
"015.ply",
"017.ply",
"018.ply",
"021.ply",
"022.ply",
"023.ply",
"025.ply",
"026.ply",
"027.ply",
"028.ply",
"029.ply",
"030.ply"
] | {
"matrix": [
[
1,
0.27412991404818937,
0.6901507679301113,
0.4372974496266028,
0.38946033535296604,
0.4154572354515993,
0.3202761730308581,
0.23319712554600536,
0.28645906721149783,
0.2613075947583486,
0.08461321685219107,
0.0544596308299281... | 0.011984 | 0.314407 | 0.424989 | 0.947619 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.9394981935338687,
-0.338507640895339,
0.05249496549260403,
3.1607779697280405
],
[
0.3377568689126679,
0.9409562641819578,
0.02283870397033924,
... |
IndoorScan/matterport_demo2_mechanical_room | 21 | [
0,
1,
3,
4,
5,
6,
8,
10,
12,
13,
14,
15,
16,
17,
19,
20,
21,
24,
27,
29,
31
] | [
"000.ply",
"001.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"008.ply",
"010.ply",
"012.ply",
"013.ply",
"014.ply",
"015.ply",
"016.ply",
"017.ply",
"019.ply",
"020.ply",
"021.ply",
"024.ply",
"027.ply",
"029.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.560551248923342,
0.37071490094745907,
0.5022394487510766,
0.45030146425495265,
0.47898363479758826,
0.3354866494401378,
0.3215331610680448,
0.32868217054263565,
0.25150732127476316,
0.10508182601205857,
0.2331610680447889... | 0.028871 | 0.319753 | 0.39897 | 0.914286 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.6388544131374475,
-0.7662439278597349,
0.06881338411161543,
-0.8440114115349608
],
[
0.7689245804329208,
-0.6388553450255444,
0.0248764494723275... |
IndoorScan/matterport_demo2_mechanical_room | 23 | [
1,
3,
4,
5,
7,
9,
10,
11,
12,
13,
15,
16,
17,
19,
20,
21,
23,
24,
25,
26,
27,
28,
31
] | [
"001.ply",
"003.ply",
"004.ply",
"005.ply",
"007.ply",
"009.ply",
"010.ply",
"011.ply",
"012.ply",
"013.ply",
"015.ply",
"016.ply",
"017.ply",
"019.ply",
"020.ply",
"021.ply",
"023.ply",
"024.ply",
"025.ply",
"026.ply",
"027.ply",
"028.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.27412991404818937,
0.6901507679301113,
0.5426940960969424,
0.4372974496266028,
0.4154572354515993,
0.3202761730308581,
0.23319712554600536,
0.3509229251796534,
0.28645906721149783,
0.2613075947583486,
0.09553332393969283,... | 0.040443 | 0.32145 | 0.424989 | 0.948617 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.9973481603982853,
0.0727779291608752,
-0.00014134076069602632,
2.902676860183941
],
[
-0.07274664604078507,
0.9968586355829915,
-0.03131750554295... |
IndoorScan/matterport_demo2_mechanical_room | 23 | [
0,
1,
2,
3,
4,
6,
8,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
22,
24,
27,
28,
29,
30
] | [
"000.ply",
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"006.ply",
"008.ply",
"011.ply",
"012.ply",
"013.ply",
"014.ply",
"015.ply",
"016.ply",
"017.ply",
"018.ply",
"019.ply",
"020.ply",
"022.ply",
"024.ply",
"027.ply",
"028.ply",
"029.ply",
"030.ply"
] | {
"matrix": [
[
1,
0.560551248923342,
0.6766580534022395,
0.37071490094745907,
0.5022394487510766,
0.47898363479758826,
0.3354866494401378,
0.2474590869939707,
0.32868217054263565,
0.25150732127476316,
0.10508182601205857,
0.23316106804478898... | 0.011984 | 0.323192 | 0.383443 | 0.913043 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9734242154698544,
-0.22529551679940094,
0.0410758669657674,
2.676088026348429
],
[
0.22151047142741673,
0.9718038230695729,
0.08081114103492143,
... |
IndoorScan/matterport_demo2_mechanical_room | 24 | [
1,
3,
4,
5,
6,
7,
8,
9,
11,
13,
14,
15,
17,
18,
19,
20,
21,
22,
23,
24,
25,
27,
28,
31
] | [
"001.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"009.ply",
"011.ply",
"013.ply",
"014.ply",
"015.ply",
"017.ply",
"018.ply",
"019.ply",
"020.ply",
"021.ply",
"022.ply",
"023.ply",
"024.ply",
"025.ply",
"027.ply",
"028.ply",
"031.ply"
] | {
"matrix": [
[
1,
0.27412991404818937,
0.6901507679301113,
0.5426940960969424,
0.6467521487952657,
0.4372974496266028,
0.38946033535296604,
0.4154572354515993,
0.23319712554600536,
0.28645906721149783,
0.15696773284486404,
0.2613075947583486... | 0.011984 | 0.322461 | 0.424989 | 0.931159 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
-0.8448975902763244,
-0.5325516858839,
-0.050366296344641216,
-1.8152872730018186
],
[
0.5347150359129658,
-0.8434662754431198,
-0.0514244354242893... |
IndoorScan/matterport_demo3_two_story_home | 2 | [
174,
177
] | [
"174.ply",
"177.ply"
] | {
"matrix": [
[
1,
0.8378378378378378
],
[
0.7045454545454546,
1
]
]
} | 0.837838 | 0.837838 | 0.837838 | 1 | [
{
"point_cloud_id": 174,
"point_cloud_file": "174.ply",
"transformation_matrix": [
[
-0.6797947586164359,
-0.7329629913708768,
0.025383842070843335,
-11.704627875276442
],
[
0.7328953854255067,
-0.6802045424497976,
-0.013643110080... |
IndoorScan/matterport_demo3_two_story_home | 3 | [
17,
21,
22
] | [
"017.ply",
"021.ply",
"022.ply"
] | {
"matrix": [
[
1,
0.5904669260700389,
0.5207522697795072
],
[
0.7030888030888031,
1,
0.7030888030888031
],
[
0.6931376780319378,
0.7859300820025895,
1
]
]
} | 0.693138 | 0.727386 | 0.703089 | 1 | [
{
"point_cloud_id": 17,
"point_cloud_file": "017.ply",
"transformation_matrix": [
[
-0.30452421622591114,
0.952049284389793,
-0.02944761153095093,
4.125757701693162
],
[
-0.951975296832373,
-0.3031789954216479,
0.04272623264501205... |
IndoorScan/matterport_demo3_two_story_home | 4 | [
10,
16,
20,
27
] | [
"010.ply",
"016.ply",
"020.ply",
"027.ply"
] | {
"matrix": [
[
1,
0.6444249341527656,
0.5013169446883231,
0.4424934152765584
],
[
0.23800259403372243,
1,
0.6520752269779507,
0.5136186770428015
],
[
0.19251517194875253,
0.6780175320296696,
1,
0.5360755225893459
],
[... | 0.442493 | 0.624444 | 0.644425 | 1 | [
{
"point_cloud_id": 10,
"point_cloud_file": "010.ply",
"transformation_matrix": [
[
-0.6327430065984766,
-0.771741654911396,
-0.06364829671986517,
-3.837712832338115
],
[
0.7740675918582115,
-0.6326281275142907,
-0.024515617728131... |
IndoorScan/matterport_demo3_two_story_home | 5 | [
12,
17,
20,
27,
28
] | [
"012.ply",
"017.ply",
"020.ply",
"027.ply",
"028.ply"
] | {
"matrix": [
[
1,
0.6198791134989926,
0.5540631296171927,
0.4855607790463398,
0.46608462055070515
],
[
0.29928664072632943,
1,
0.7188715953307393,
0.5145914396887159,
0.45492866407263294
],
[
0.27815239379635875,
0.7474713418... | 0.466085 | 0.65528 | 0.619879 | 1 | [
{
"point_cloud_id": 12,
"point_cloud_file": "012.ply",
"transformation_matrix": [
[
0.12019610312954371,
-0.9893652499764447,
-0.08191031028826068,
-0.9438582720520062
],
[
0.9926065079796489,
0.12117255364092555,
-0.0070379372392... |
IndoorScan/matterport_demo3_two_story_home | 6 | [
15,
24,
33,
133,
189,
196
] | [
"015.ply",
"024.ply",
"033.ply",
"133.ply",
"189.ply",
"196.ply"
] | {
"matrix": [
[
1,
0.5948089401586157,
0.2335976928622927,
0,
0,
0
],
[
0.2667313288069835,
1,
0.27869382476559973,
0.024894924021985128,
0.010992563853863564,
0.0025864856126737797
],
[
0.24923076923076923,
0.6630... | 0 | 0.375636 | 0.544643 | 0.733333 | [
{
"point_cloud_id": 15,
"point_cloud_file": "015.ply",
"transformation_matrix": [
[
0.7753542118615863,
0.6274220478090038,
-0.07188476939974565,
2.8737227185998546
],
[
-0.6257140878886949,
0.7786329041835153,
0.04703914051471721... |
IndoorScan/matterport_demo3_two_story_home | 7 | [
14,
21,
24,
33,
34,
38,
127
] | [
"014.ply",
"021.ply",
"024.ply",
"033.ply",
"034.ply",
"038.ply",
"127.ply"
] | {
"matrix": [
[
1,
0.4899193548387097,
0.546875,
0.24949596774193547,
0.12953629032258066,
0.014616935483870967,
0.43497983870967744
],
[
0.3752895752895753,
1,
0.6957528957528958,
0.3239382239382239,
0.1783783783783784,
0.01660... | 0.177778 | 0.55057 | 0.546875 | 1 | [
{
"point_cloud_id": 14,
"point_cloud_file": "014.ply",
"transformation_matrix": [
[
0.9965976766100874,
0.05921647396538626,
0.05732783081961434,
3.7968102775163266
],
[
-0.06009293538074263,
0.998098961696534,
0.01368582396593885... |
IndoorScan/matterport_demo3_two_story_home | 9 | [
28,
30,
133,
139,
146,
147,
148,
183,
186
] | [
"028.ply",
"030.ply",
"133.ply",
"139.ply",
"146.ply",
"147.ply",
"148.ply",
"183.ply",
"186.ply"
] | {
"matrix": [
[
1,
0.3302073050345508,
0.05577492596248766,
0.009378084896347482,
0.0009871668311944718,
0,
0,
0.0384995064165844,
0.005923000987166831
],
[
0.7295528898582334,
1,
0.062159214830970554,
0.015267175572519083,
... | 0 | 0.228742 | 0.475676 | 0.611111 | [
{
"point_cloud_id": 28,
"point_cloud_file": "028.ply",
"transformation_matrix": [
[
0.14838482028083042,
0.98889093887733,
0.008755347882193315,
9.589342891993327
],
[
-0.9858278371770299,
0.14861426699774452,
-0.07782849793990894... |
IndoorScan/matterport_demo3_two_story_home | 11 | [
17,
33,
71,
80,
131,
136,
139,
140,
182,
184,
187
] | [
"017.ply",
"033.ply",
"071.ply",
"080.ply",
"131.ply",
"136.ply",
"139.ply",
"140.ply",
"182.ply",
"184.ply",
"187.ply"
] | {
"matrix": [
[
1,
0.25745784695201035,
0.00648508430609598,
0,
0.023022049286640728,
0.02204928664072633,
0.005512321660181583,
0.0038910505836575876,
0,
0.01621271076523995,
0
],
[
0.6107692307692307,
1,
0.01384615384615... | 0 | 0.262591 | 0.477064 | 0.636364 | [
{
"point_cloud_id": 17,
"point_cloud_file": "017.ply",
"transformation_matrix": [
[
0.264210791414205,
-0.9638449094939876,
0.034578145450647885,
-4.429617313497408
],
[
0.9635522917530093,
0.2653504102344632,
0.0340020712005289,
... |
IndoorScan/matterport_demo3_two_story_home | 12 | [
29,
38,
123,
124,
134,
171,
177,
183,
187,
189,
191,
195
] | [
"029.ply",
"038.ply",
"123.ply",
"124.ply",
"134.ply",
"171.ply",
"177.ply",
"183.ply",
"187.ply",
"189.ply",
"191.ply",
"195.ply"
] | {
"matrix": [
[
1,
0.03171641791044776,
0.1449004975124378,
0.15982587064676618,
0.07711442786069651,
0.025497512437810944,
0.011194029850746268,
0.06467661691542288,
0.01927860696517413,
0.04788557213930348,
0.014925373134328358,
0.007462686... | 0 | 0.255931 | 0.477778 | 0.636364 | [
{
"point_cloud_id": 29,
"point_cloud_file": "029.ply",
"transformation_matrix": [
[
-0.2628849506025852,
0.9632202866083851,
0.05566131702301844,
7.323206534069426
],
[
-0.9625018453996796,
-0.2658175034045705,
0.05414104252757167... |
IndoorScan/matterport_demo3_two_story_home | 12 | [
13,
26,
35,
37,
42,
48,
98,
99,
105,
121,
122,
131
] | [
"013.ply",
"026.ply",
"035.ply",
"037.ply",
"042.ply",
"048.ply",
"098.ply",
"099.ply",
"105.ply",
"121.ply",
"122.ply",
"131.ply"
] | {
"matrix": [
[
1,
0.5134436401240952,
0.09100310237849017,
0.013960703205791106,
0,
0.0031023784901758012,
0,
0,
0,
0.055842812823164424,
0.060496380558428126,
0.00672182006204757
],
[
0.3972,
1,
0.0812,
0.015... | 0 | 0.222804 | 0.413043 | 0.621212 | [
{
"point_cloud_id": 13,
"point_cloud_file": "013.ply",
"transformation_matrix": [
[
0.0383490292016577,
-0.9983787082360859,
0.04206312993745021,
-1.367385072029285
],
[
0.9957282156256096,
0.03464127563304351,
-0.0855879818055944... |
IndoorScan/matterport_demo3_two_story_home | 18 | [
13,
27,
34,
45,
46,
53,
54,
60,
66,
67,
70,
71,
77,
78,
80,
98,
102,
134
] | [
"013.ply",
"027.ply",
"034.ply",
"045.ply",
"046.ply",
"053.ply",
"054.ply",
"060.ply",
"066.ply",
"067.ply",
"070.ply",
"071.ply",
"077.ply",
"078.ply",
"080.ply",
"098.ply",
"102.ply",
"134.ply"
] | {
"matrix": [
[
1,
0.5098241985522234,
0.18614270941054809,
0.009307135470527405,
0.005687693898655636,
0,
0,
0,
0,
0,
0,
0.002068252326783868,
0.001034126163391934,
0,
0,
0,
0.004653567735263702,
0.0118924... | 0 | 0.262839 | 0.472222 | 0.647059 | [
{
"point_cloud_id": 13,
"point_cloud_file": "013.ply",
"transformation_matrix": [
[
-0.9976188277163729,
0.050866988818717034,
0.046574929246607645,
-3.449471313242754
],
[
-0.05115777008302496,
-0.9986777045702669,
-0.00507197736... |
IndoorScan/matterport_demo3_two_story_home | 18 | [
3,
9,
19,
26,
31,
33,
39,
41,
47,
52,
58,
64,
99,
101,
103,
112,
125,
129
] | [
"003.ply",
"009.ply",
"019.ply",
"026.ply",
"031.ply",
"033.ply",
"039.ply",
"041.ply",
"047.ply",
"052.ply",
"058.ply",
"064.ply",
"099.ply",
"101.ply",
"103.ply",
"112.ply",
"125.ply",
"129.ply"
] | {
"matrix": [
[
1,
0.2583567635114027,
0.33552014995313967,
0.5376444860980943,
0.358950328022493,
0.23117775695095283,
0.011871290221805686,
0.006872852233676976,
0.00999687597625742,
0,
0,
0,
0,
0.0012496094970321774,
0.00... | 0 | 0.238128 | 0.422939 | 0.601307 | [
{
"point_cloud_id": 3,
"point_cloud_file": "003.ply",
"transformation_matrix": [
[
-0.8612868139931369,
0.5053441951844566,
0.05303082532759133,
-1.6392751725224053
],
[
-0.5031569898462972,
-0.8627682006603529,
0.0496394550545244... |
IndoorScan/redwood_iclnuim-livingroom1 | 2 | [
24,
27
] | [
"024.ply",
"027.ply"
] | {
"matrix": [
[
1,
0.6352195799340392
],
[
0.5136140350877193,
1
]
]
} | 0.63522 | 0.63522 | 0.63522 | 1 | [
{
"point_cloud_id": 24,
"point_cloud_file": "024.ply",
"transformation_matrix": [
[
-0.6397014390052856,
0.7634932654598101,
0.08865721928914116,
-0.07779573599754315
],
[
-0.7676204382713155,
-0.6404933334378629,
-0.0229598033486... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.