waldjohannau / 3rscan Goto Github PK

3RScan Toolkit

License: MIT License

CMake 5.46% C++ 93.84% GLSL 0.18% Shell 0.53%

3rscan's Introduction

3RScan

3RScan is a large scale, real-world dataset which features 1482 3D reconstructions / snapshots of 478 naturally changing indoor environments, designed for benchmarking emerging tasks such as long-term SLAM, scene change detection and object instance re-localization

Each sequence comes with aligned semantically annotated 3D data and corresponding 2D frames, containing in detail:

calibrated RGB-D sequences.
textured 3D meshes.
6DoF camera poses and camera calibration parameters K.
global alignment among scans from the same scene as a global transformation T.
dense instance-level semantic segmentation where each instance has a fixed ID that is kept consistent across different sequences of the same environment.
object alignment, i.e. a ground truth transformation for each changed object together with its symmetry property.

Paper

If you find the data useful please consider citing our paper:

@inproceedings{Wald2019RIO,
    title={RIO: 3D Object Instance Re-Localization in Changing Indoor Environments},
    author={Johanna Wald, Armen Avetisyan, Nassir Navab, Federico Tombari, Matthias Niessner},
    booktitle={Proceedings IEEE International Conference on Computer Vision (ICCV)},
    year = {2019}
}

Data Organization and Format

The data in 3RScan is organized by RGB-D sequence. Each sequence has a unique hash value to identify the scan. The RGB-sequences and 3D reconstructions are all stored together in a separate folder. The directory has the following structure:

<scanId>
|-- mesh.refined.v2.obj
    Reconstructed mesh
|-- mesh.refined.mtl
    Corresponding material file 
|-- mesh.refined_0.png
    Corresponding mesh texture
|-- sequence.zip
    Calibrated RGB-D sensor stream with color and depth frames, camera poses
|-- labels.instances.annotated.v2.ply
    Visualization of semantic segmentation
|-- mesh.refined.0.010000.segs.v2.json
    Over-segmentation of annotation mesh
|-- semseg.v2.json
    Instance segmentation of the mesh (contains the labels)

Data Formats

The following are overviews of the data formats used in 3RScan:

Reconstructed surface mesh file (*.obj): OBJ format mesh with +Z axis in upright orientation.

RGB-D sensor data (*.zip): ZIP-archive with per-frame color, depth, camera pose and camera intrinsics.

Instance segmentation of the mesh (semseg.v2.json):

{
  "scan_id": "8eabc405-5af7-2f32-86d2-d757fa7b019d",
  ...
  "segGroups": [
    {
      "id": 15,
      "objectId": 15,
      "label": "window",
      "segments": [ 21, 175, ... ],
      "obb": {
        "centroid": [ 2.15, 2.17, -1.18 ],
        "axesLengths": [ 4.57, 0.62, 4.14 ],
        ...
      }, 
      ...
    }, {
      "objectId": 29,
      "label": "plant",
      ...
    }, {
      "id": 14,
      "objectId": 14,
      "label": "windowsill",
      ...
    }

meta data file (3RScan.json):

[
  {
    "reference": "531cff08-0021-28f6-8e08-ba2eeb945e09", // id of the initial scan
    "type": "train"    
    "ambiguity": [
      [
        { "instance_source": 34, 
          "instance_target": 35,
          "transform": [ ... ]  // transformation of instance 34 to instance 35 (to resolve instance ambiguity)
        }, {...}
      ]
    ],
    "scans": [ // rescans
      {
        "reference": "531cff10-0021-28f6-8f94-80db8fdbbbee", // id of rescan
        "transform": [ ... ]  // transformation to align rescan with reference
        "nonrigid": [ ... ],  // list of instances with nonrigid changes
        "removed": [], // removed instances
        "rigid": [ // rigid changes
          {
            "instance_reference": 35, // instance ID in reference
            "instance_rescan": 35, // instance ID in rescan
            "symmetry": 0, // symmetry (0 = none)
            "transform": [ ... ] // transformation to align instance in the reference to the instance in the rescan
          }, {
            ...
          }         
        ],
        
      },
      // metadata of other rescans
      {
        "reference": "19eda6f4-55aa-29a0-8893-8eac3a4d8193", ... 
      }, { ... }
    ]
  }
]

3RScan Library and Examples

For examples on how to read these files or how to use 3RScan in general see our code samples and documentation. You have a question? Check out our FAQ.

Notes

Training Data: You can find the train, test and validation splits here: [train, val, test]
Segmentation format (surface mesh segmentation and aggregated semantic annotation) is similar to ScanNet
Please see our project page for more information.

3rscan's People

Contributors

Stargazers

Watchers

Forkers

hyzcn sanwan superchong1987 shunchengwu lazy-poe wf-hahaha kumuji lukashoel sjingwen duyooho xiaodongww mozy-ying chaoyivision egeozsoy niucy sayands thearkamitra paymal

3rscan's Issues

Inconsistent & unaligned annotations

Hi Johanna,

Thanks for providing the dataset, which looks stunning. During my studies, I noticed some inconsistent annotated scenes, such as "20c993b9-698f-29c5-87f1-4514b70070c3". It seems the .obj files not only contain different #points than the .ply annotations files, but also miss almost half part of the scene. Moreover, these two files seem not aligned appropriately, producing a weird overlapping appearance. (Please see attached visualizations of .obj file, .ply file, and their overlapping below)

Could you please provide me with some suggestions on this kind of scenes? I am trying to obtain the 3D point cloud with corresponding vertex colour & vertex label (ObjId and CateId). Thanks!

renderer.cc:(.text+0xc9e): undefined reference to `__glewBindFramebuffer'

Hello, thank you for this nice work and the 3RScan dataset.
I tried to build rio_render package to prepare data for 3DSSG and Scenegraphfusion.
I installed OpenGL, GLFW3, GLEW, Assimp and glm following instructions. libOpenGL.so, libGLEW.so, libglfw.so, and libassimp.so is in /usr/lib/x86_64-linux-gnu. I succesfully build rio_lib,
but error "undefined_reference to __gl ~" occured when I tried to build rio_render via make.

Complete error messages like below:
(scene_graph) ✘ taekbum@taekbum-System-Product-Name  ~/3RScan/c++/rio_renderer/build   master  make
[ 8%] Linking CXX executable rio_renderer_render_all
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function RIO::Renderer::ReadRGB(cv::Mat&)': renderer.cc:(.text+0xc9e): undefined reference to __glewBindFramebuffer'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function RIO::Renderer::Render(Model&, Shader&)': renderer.cc:(.text+0x1cba): undefined reference to __glewUseProgram'
/usr/bin/ld: renderer.cc:(.text+0x1d03): undefined reference to __glewUniformMatrix4fv' /usr/bin/ld: renderer.cc:(.text+0x1dfc): undefined reference to __glewGetUniformLocation'
/usr/bin/ld: renderer.cc:(.text+0x1f17): undefined reference to __glewUniform1i' /usr/bin/ld: renderer.cc:(.text+0x1f35): undefined reference to __glewGetUniformLocation'
/usr/bin/ld: renderer.cc:(.text+0x2133): undefined reference to __glewActiveTexture' /usr/bin/ld: renderer.cc:(.text+0x2442): undefined reference to __glewBindVertexArray'
/usr/bin/ld: renderer.cc:(.text+0x2467): undefined reference to __glewBindVertexArray' /usr/bin/ld: renderer.cc:(.text+0x2482): undefined reference to __glewActiveTexture'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function RIO::Renderer::ReadLabels(cv::Mat&, cv::Mat&)': renderer.cc:(.text+0x4395): undefined reference to __glewBindFramebuffer'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function RIO::Renderer::Render(bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)': renderer.cc:(.text+0x5a78): undefined reference to __glewBindFramebuffer'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function RIO::Renderer::Init()': renderer.cc:(.text+0x77da): undefined reference to glewExperimental'
/usr/bin/ld: renderer.cc:(.text+0x77e0): undefined reference to glewInit' /usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function Shader::Shader(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)':
renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0x9a0): undefined reference to __glewCreateShader' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0x9b7): undefined reference to __glewShaderSource'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0x9c0): undefined reference to __glewCompileShader' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0x9d6): undefined reference to __glewGetShaderiv'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0x9fd): undefined reference to __glewGetShaderInfoLog' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xab2): undefined reference to __glewCreateShader'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xac9): undefined reference to __glewShaderSource' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xad2): undefined reference to __glewCompileShader'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xae3): undefined reference to __glewGetShaderiv' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xb0a): undefined reference to __glewGetShaderInfoLog'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xbbb): undefined reference to __glewCreateProgram' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xbcf): undefined reference to __glewAttachShader'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xbdc): undefined reference to __glewAttachShader' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xbe6): undefined reference to __glewLinkProgram'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xbfb): undefined reference to __glewGetProgramiv' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xc22): undefined reference to __glewGetProgramInfoLog'
/usr/bin/ld: renderer.cc:(.text.ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7[ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7]+0xcd5): undefined reference to __glewDeleteShader' /usr/bin/ld: renderer.cc:(.text._ZN6ShaderC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_[_ZN6ShaderC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_]+0xcde): undefined reference to __glewDeleteShader'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function Model::loadMaterialTextures(aiMaterial*, aiTextureType, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)': renderer.cc:(.text._ZN5Model20loadMaterialTexturesEP10aiMaterial13aiTextureTypeNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE[_ZN5Model20loadMaterialTexturesEP10aiMaterial13aiTextureTypeNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE]+0x544): undefined reference to __glewGenerateMipmap'
/usr/bin/ld: CMakeFiles/rio_renderer_render_all.dir/src/renderer.cc.o: in function Model::processMesh(aiMesh*, aiScene const*)': renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xb77): undefined reference to __glewGenVertexArrays'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xb86): undefined reference to __glewGenBuffers' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xb95): undefined reference to __glewGenBuffers'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xb9f): undefined reference to __glewBindVertexArray' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xbae): undefined reference to __glewBindBuffer'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xbc8): undefined reference to __glewBufferData' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xbd7): undefined reference to __glewBindBuffer'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xbf2): undefined reference to __glewBufferData' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xbfa): undefined reference to __glewEnableVertexAttribArray'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc17): undefined reference to __glewVertexAttribPointer' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc22): undefined reference to __glewEnableVertexAttribArray'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc45): undefined reference to __glewVertexAttribPointer' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc50): undefined reference to __glewEnableVertexAttribArray'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc73): undefined reference to __glewVertexAttribPointer' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xc7e): undefined reference to __glewEnableVertexAttribArray'
/usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xca1): undefined reference to __glewVertexAttribPointer' /usr/bin/ld: renderer.cc:(.text._ZN5Model11processMeshEP6aiMeshPK7aiScene[_ZN5Model11processMeshEP6aiMeshPK7aiScene]+0xca9): undefined reference to __glewBindVertexArray'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rio_renderer_render_all.dir/build.make:195: rio_renderer_render_all] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/rio_renderer_render_all.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

Would you give me some idea to solve this problem? Thank you.

How to load texture file mtl into python?

Hi, thanks for your great job.

In my work, I want to extract the vertex coordinates and vertex color of the reconstructed mesh using python. However, I find it is not convenient to extract the vertex color. I have tried Open3D and it does not work.

I tried to load the *.obj using Open3D as follows:

import numpy as np
import open3d as o3d
import cv2

mesh = o3d.io.read_triangle_mesh('mesh.refined.obj', True)
img = cv2.imread('mesh.refined_0.png')
mesh.textures = [o3d.geometry.Image(img)]

vertex_colors = np.asarray(mesh.vertex_colors)  # what we want
o3d.visualization.draw_geometries([mesh])  # check if texture loaded correctly

The texture is not correctly loaded. The result seems messy.
It should looks like this

However, the actual visualization is as follows:

What tool do you use to generate the mesh.refined.mtl and mesh.refined_0.png? Do you have any idea how to extract vertex colors using python?

Any suggestion will be helpful. Thanks a lot.

Question on using 3RScan dataset

Hi, thank you so much for your great work and the 3RScan dataset! Recently, I've encountered some errors when I tried to render all camera poses at once for one scan in 3RScan. I've compiled the rio_render project under guidance on Github, but there is no output in terminal, and no rendered results, showed as following pictures.

I tried with the example data and succeed, as follows, there are files named xxx.rendered.xxx.

I wonder whether the version of 3RScan dataset is the reason. I tried with 3RScan-v1, instead of v2, because the download link of 3RScan-v2 leads to 404 page.
One of scenes I tried contains the following files.

Could you please help me figure out what's wrong and how to solve the problem?
Thank you for your time and looking forward to your reply!

Enquires about room labels

Hi，does 3Rscan provide the room type labels and the quality of the scanning? like full scan, room type annotation.

Pose Matrix per frame

Hi @WaldJohannaU. This is a great job, thanks for sharing with us.

It is written that camera poses are inside the sequence folder but I couldn't see that giving pose/extrinsics per frame there. I just found only one _info.txt and it is just giving identity matrices for calibration and depth about extrinsics? So how can I get the extrinsics per frame and intrinsics per sequence correctly.

Edit: In addition to this, I wonder the object classes. Under 3RScan/data/ there are two text files one is mapping.txt and the other one is mapping_7classes.txt. So, which object classes are there in your dataset and I couldn't get what are these two text files showing?

Thanks again. I am waiting to hearing from you.

What are segments?

Hi @WaldJohannaU thanks for sharing this great dataset with us.

I just want know what are the "segments": [1,4,3] what you gave in *semseg.json files?

Thanks for your time and I am waiting to hearing from you.

How can I get the dataset?

Hi, i want to download your dataset, can you give me a link?

Find the reference_id of a large scene previewed in the paper

Hi Johanna

I intend to use a larger room scene from the dataset. One of them is the left third scene below, which I read from Fig. 18 of your paper,

Since I haven't found any method to preview the scene with reference id. Do you have any recommended method to find its corresponding reference_id?

Thanks

Missing data

Hi, I downloaded the whole dataset but some scenes have no 'labels.instances.annotated.v2.ply' and 'semseg.v2.json'.
Is there something wrong? If not, how can I get them?

Another question is about 'mesh.refined.0.010000.segs.v2.json'. What means Over-segmentation exactly?

Is your data from Scannet?

I noticed that your scenes are very similar to Scannet. Is your data modified from Scannet or collected totally by yourself?

Reading OBB info from semseg files

Is there a tool to read the 3D bounding box information from the semseg.v2.json files?

I see there are 'centroid' and 'axesLengths' entries which I understand. But there is also 'normalizedAxes' which I can seem to be able to parse into making a 3D bounding box.

Any help on how to parse these would be useful.

Thanks for the super cool project and data!

I cannot access the script downloading webpage...

I filled in the form and was automatically directed to a webpage "3RScan: Request for Access", where I was given a link to download the script. However, when I click into the link, I received "404 Not Found" "nginx/1.18.0 (Ubuntu)" instead of the script. I have tried to access 3RScan.json and scans.txt by the corresponding link and got the same feedback. Using wget doesn't work as well.
Is there anything wrong? Does anyone encounter the same problem with me? How can I get the download script?

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