LiDAR-Net

File Structure

In each scenario, excluding the test scenarios, we provide several different rooms. It is noteworthy that rooms with the same prefix are segmented from the same area, and assembling these rooms together can result in a complete area. The point cloud files for each room are stored in the PLY format, using a binary, and contain eight columns of data: ‘x’, ‘y’, ‘z’, ‘red’, ‘green’, ‘blue’, ‘sem’, ‘ins’. The ‘xyz’ are 32-bit floating-point numbers, the range of ‘rgb’ data is 0-255, and ‘sem’ and ‘ins’ use uint16. ‘sem’ represents the semantic label number corresponding to the point, and ‘ins’ represents the instance label number corresponding to the point. It is important to note that for semantic labels of 0 (i.e., points that are not annotated), their ‘ins’ label should also be 0, whereas the ‘ins’ labels for all non-unannotated points are greater than or equal to 1. In other words, if there are no unannotated points in a scene, the instance numbers start from 1; otherwise, they start from 0.

The table below shows the correspondence between semantic names and semantic labels.

semantic name	semantic label
Unknown	0
Houseplant	3
Tree	4
Person	5
Floor	9
Stair	10
Ceiling	11
Pipe	12
Wall	13
Pillar	14
Window	15
Curtain	16
Door	17
Table	18
Chair	19
Sofa	20
Blackboard	21
Monitor	22
Bookshelf	23
Wardrobe	24
Bed	25
Reflection noise	26
Ghost	27
Light	29
Tabletop others	30