id
stringlengths 12
12
| pcd
stringlengths 20
20
| layout
stringlengths 23
23
|
|---|---|---|
scene0000_00 | pcd/scene0000_00.ply | layout/scene0000_00.txt |
scene0001_00 | pcd/scene0001_00.ply | layout/scene0001_00.txt |
scene0001_01 | pcd/scene0001_01.ply | layout/scene0001_01.txt |
scene0002_00 | pcd/scene0002_00.ply | layout/scene0002_00.txt |
scene0003_00 | pcd/scene0003_00.ply | layout/scene0003_00.txt |
scene0004_00 | pcd/scene0004_00.ply | layout/scene0004_00.txt |
scene0004_01 | pcd/scene0004_01.ply | layout/scene0004_01.txt |
scene0005_00 | pcd/scene0005_00.ply | layout/scene0005_00.txt |
scene0005_01 | pcd/scene0005_01.ply | layout/scene0005_01.txt |
scene0006_00 | pcd/scene0006_00.ply | layout/scene0006_00.txt |
scene0007_00 | pcd/scene0007_00.ply | layout/scene0007_00.txt |
scene0007_01 | pcd/scene0007_01.ply | layout/scene0007_01.txt |
scene0007_02 | pcd/scene0007_02.ply | layout/scene0007_02.txt |
scene0008_00 | pcd/scene0008_00.ply | layout/scene0008_00.txt |
scene0009_00 | pcd/scene0009_00.ply | layout/scene0009_00.txt |
scene0009_01 | pcd/scene0009_01.ply | layout/scene0009_01.txt |
scene0009_02 | pcd/scene0009_02.ply | layout/scene0009_02.txt |
scene0010_00 | pcd/scene0010_00.ply | layout/scene0010_00.txt |
scene0010_01 | pcd/scene0010_01.ply | layout/scene0010_01.txt |
scene0011_00 | pcd/scene0011_00.ply | layout/scene0011_00.txt |
scene0012_00 | pcd/scene0012_00.ply | layout/scene0012_00.txt |
scene0012_01 | pcd/scene0012_01.ply | layout/scene0012_01.txt |
scene0012_02 | pcd/scene0012_02.ply | layout/scene0012_02.txt |
scene0013_00 | pcd/scene0013_00.ply | layout/scene0013_00.txt |
scene0014_00 | pcd/scene0014_00.ply | layout/scene0014_00.txt |
scene0014_01 | pcd/scene0014_01.ply | layout/scene0014_01.txt |
scene0015_00 | pcd/scene0015_00.ply | layout/scene0015_00.txt |
scene0016_00 | pcd/scene0016_00.ply | layout/scene0016_00.txt |
scene0017_00 | pcd/scene0017_00.ply | layout/scene0017_00.txt |
scene0018_00 | pcd/scene0018_00.ply | layout/scene0018_00.txt |
scene0018_01 | pcd/scene0018_01.ply | layout/scene0018_01.txt |
scene0019_00 | pcd/scene0019_00.ply | layout/scene0019_00.txt |
scene0020_00 | pcd/scene0020_00.ply | layout/scene0020_00.txt |
scene0021_00 | pcd/scene0021_00.ply | layout/scene0021_00.txt |
scene0022_00 | pcd/scene0022_00.ply | layout/scene0022_00.txt |
scene0022_01 | pcd/scene0022_01.ply | layout/scene0022_01.txt |
scene0023_00 | pcd/scene0023_00.ply | layout/scene0023_00.txt |
scene0023_01 | pcd/scene0023_01.ply | layout/scene0023_01.txt |
scene0024_00 | pcd/scene0024_00.ply | layout/scene0024_00.txt |
scene0024_01 | pcd/scene0024_01.ply | layout/scene0024_01.txt |
scene0024_02 | pcd/scene0024_02.ply | layout/scene0024_02.txt |
scene0025_00 | pcd/scene0025_00.ply | layout/scene0025_00.txt |
scene0026_00 | pcd/scene0026_00.ply | layout/scene0026_00.txt |
scene0027_00 | pcd/scene0027_00.ply | layout/scene0027_00.txt |
scene0027_01 | pcd/scene0027_01.ply | layout/scene0027_01.txt |
scene0027_02 | pcd/scene0027_02.ply | layout/scene0027_02.txt |
scene0027_03 | pcd/scene0027_03.ply | layout/scene0027_03.txt |
scene0028_00 | pcd/scene0028_00.ply | layout/scene0028_00.txt |
scene0028_01 | pcd/scene0028_01.ply | layout/scene0028_01.txt |
scene0028_02 | pcd/scene0028_02.ply | layout/scene0028_02.txt |
scene0028_03 | pcd/scene0028_03.ply | layout/scene0028_03.txt |
scene0029_00 | pcd/scene0029_00.ply | layout/scene0029_00.txt |
scene0030_00 | pcd/scene0030_00.ply | layout/scene0030_00.txt |
scene0030_01 | pcd/scene0030_01.ply | layout/scene0030_01.txt |
scene0031_00 | pcd/scene0031_00.ply | layout/scene0031_00.txt |
scene0032_00 | pcd/scene0032_00.ply | layout/scene0032_00.txt |
scene0032_01 | pcd/scene0032_01.ply | layout/scene0032_01.txt |
scene0032_02 | pcd/scene0032_02.ply | layout/scene0032_02.txt |
scene0033_00 | pcd/scene0033_00.ply | layout/scene0033_00.txt |
scene0034_00 | pcd/scene0034_00.ply | layout/scene0034_00.txt |
scene0034_01 | pcd/scene0034_01.ply | layout/scene0034_01.txt |
scene0035_00 | pcd/scene0035_00.ply | layout/scene0035_00.txt |
scene0036_00 | pcd/scene0036_00.ply | layout/scene0036_00.txt |
scene0037_00 | pcd/scene0037_00.ply | layout/scene0037_00.txt |
scene0038_00 | pcd/scene0038_00.ply | layout/scene0038_00.txt |
scene0039_00 | pcd/scene0039_00.ply | layout/scene0039_00.txt |
scene0039_01 | pcd/scene0039_01.ply | layout/scene0039_01.txt |
scene0040_00 | pcd/scene0040_00.ply | layout/scene0040_00.txt |
scene0041_00 | pcd/scene0041_00.ply | layout/scene0041_00.txt |
scene0042_00 | pcd/scene0042_00.ply | layout/scene0042_00.txt |
scene0043_00 | pcd/scene0043_00.ply | layout/scene0043_00.txt |
scene0044_00 | pcd/scene0044_00.ply | layout/scene0044_00.txt |
scene0044_01 | pcd/scene0044_01.ply | layout/scene0044_01.txt |
scene0045_00 | pcd/scene0045_00.ply | layout/scene0045_00.txt |
scene0045_01 | pcd/scene0045_01.ply | layout/scene0045_01.txt |
scene0045_02 | pcd/scene0045_02.ply | layout/scene0045_02.txt |
scene0046_00 | pcd/scene0046_00.ply | layout/scene0046_00.txt |
scene0046_01 | pcd/scene0046_01.ply | layout/scene0046_01.txt |
scene0047_00 | pcd/scene0047_00.ply | layout/scene0047_00.txt |
scene0048_00 | pcd/scene0048_00.ply | layout/scene0048_00.txt |
scene0048_01 | pcd/scene0048_01.ply | layout/scene0048_01.txt |
scene0048_02 | pcd/scene0048_02.ply | layout/scene0048_02.txt |
scene0048_03 | pcd/scene0048_03.ply | layout/scene0048_03.txt |
scene0049_00 | pcd/scene0049_00.ply | layout/scene0049_00.txt |
scene0049_01 | pcd/scene0049_01.ply | layout/scene0049_01.txt |
scene0050_00 | pcd/scene0050_00.ply | layout/scene0050_00.txt |
scene0050_01 | pcd/scene0050_01.ply | layout/scene0050_01.txt |
scene0051_00 | pcd/scene0051_00.ply | layout/scene0051_00.txt |
scene0051_01 | pcd/scene0051_01.ply | layout/scene0051_01.txt |
scene0051_02 | pcd/scene0051_02.ply | layout/scene0051_02.txt |
scene0052_00 | pcd/scene0052_00.ply | layout/scene0052_00.txt |
scene0053_00 | pcd/scene0053_00.ply | layout/scene0053_00.txt |
scene0054_00 | pcd/scene0054_00.ply | layout/scene0054_00.txt |
scene0055_00 | pcd/scene0055_00.ply | layout/scene0055_00.txt |
scene0056_00 | pcd/scene0056_00.ply | layout/scene0056_00.txt |
scene0056_01 | pcd/scene0056_01.ply | layout/scene0056_01.txt |
scene0057_00 | pcd/scene0057_00.ply | layout/scene0057_00.txt |
scene0057_01 | pcd/scene0057_01.ply | layout/scene0057_01.txt |
scene0058_00 | pcd/scene0058_00.ply | layout/scene0058_00.txt |
scene0058_01 | pcd/scene0058_01.ply | layout/scene0058_01.txt |
End of preview. Expand
in Data Studio
SpatialLM Testset
We provide a test set of 107 preprocessed point clouds and their corresponding GT layouts, point clouds are reconstructed from RGB videos using MASt3R-SLAM. SpatialLM-Testset is quite challenging compared to prior clean RGBD scan datasets due to the noises and occlusions in the point clouds reconstructed from monocular RGB videos.
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Folder Structure
Outlines of the dataset files:
project-root/
├── pcd/*.ply # Reconstructed point cloud PLY files
├── layout/*.txt # GT FloorPlan Layout
├── benchmark_categories.tsv # Category mappings for evaluation
└── test.csv # Metadata CSV file with columns id, pcd, layout
Usage
Use the SpatialLM code base for reading the point cloud and layout data.
from spatiallm import Layout
from spatiallm.pcd import load_o3d_pcd
# Load Point Cloud
point_cloud = load_o3d_pcd(args.point_cloud)
# Load Layout
with open(args.layout, "r") as f:
layout_content = f.read()
layout = Layout(layout_content)
Visualization
Use rerun to visualize the point cloud and the predicted structured 3D layout output:
python visualize.py --point_cloud pcd/scene0000_00.ply --layout layout/scene0000_00.txt --save scene0000_00.rrd
rerun scene0000_00.rrd
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