## ScanNet200 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`. ScanNet200 data folder should have the following structure ``` ./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 └── ... ```