Hello! Thank you for your interest in 3DFacilities
If you have not already, please go to the 3DFacilities website thomasczerniawski.com/3dfacilities and fill out the terms of use form.

3DFacilities is an annotated RGB-D dataset of building facilities. It currently contains over 25,000 individual frames and 110 scene reconstructions.

Directory Structure
3DFacilities_Complete	ROOT
|_ 101 [scan]
   |_ 2D_color				[2D color images]
      |_ 101_00001.png (Dimensions: 320 x 240, Bit depth: 24)
      |  .
      |  .
      |  .
      |_ 101_00152.png 
   |_ 2D_depth				[2D depth images range 1-10m]
      |_ 101_00001.png (Dimensions: 320 x 240, Bit depth: 8)
      |  .
      |  .
      |  .
      |_ 101_00152.png
   |_ 2D_labels_class		[semantically segmented 2D image - class]
      |_ 101_00001.png (Dimensions: 320 x 240, Bit depth: 8)
      |  .
      |  .
      |  .
      |_ 101_00152.png
   |_ 2D_labels_instance	[semantically segmented 2D image - instance]
      |_ 101_00001.png (Dimensions: 320 x 240, Bit depth: 24)
      |  .
      |  .
      |  .
      |_ 101_00152.png 
   |_ 2D_meta				[metadata for each 2D image]
      |_ 101_1.json 
         |_ latitude
         |_ longitude
         |_ heading
         |_ acceleration
         |_ magnetometer
         |_ cameraGLProjection
         |_ gyroscope
         |_ cameraViewPoint
         |_ time
      |  .
      |  .
      |  .
      |_ 101_152.json
   |_ 3D_labels_instance	[semantically segmented 3D mesh - instance]
      |_ 101.ply (segmented 3D mesh)
      |_ 101.xml (mapping color to semantic label)
      |_ snapshot00.png
      |_ trajectory.log (trajectory of range camera during scan, i.e. camera pose)
   |_ 3D_mesh				[textured 3D mesh]
      |_ Model.jpg
      |_ model.mtl
      |_ Model.obj (color 3D mesh)
|  .
|  .
|  (191 missing)
|  .
|  .
|_ 210


Classes in the dataset are as follows. RGB colors listed correspond with colors in semantically segmented 2D images - class.

unlabelled	0	0	0
furniture	0	51	0
door	0	51	102
wall	255	153	255
floor	102	0	102
window	0	0	102
ceiling	51	51	0
column	153	51	102
beam	102	0	204
stairs	255	153	0
railing	0	102	102
light fixture	255	255	204
elevator	51	102	255
plumbing	51	204	255
duct	0	255	0
diffuser	204	0	255
sprinkler	255	0	0
cable tray	255	255	0
conduit	255	153	102
background	128	128	128

In order to modify or create new 3D and 2D annotations, we refer you to https://github.com/scenenn/sese.