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 11,000 individual frames and 50 scene reconstructions.

Directory Structure
[3DFacilities_50]				ROOT
	[scan]
		[2D_color]				2D color images
		[2D_depth]				2D depth images range 1-10m
		[2D_labels_class]		semantically segmented 2D image - class
		[2D_labels_instance]	semantically segmented 2D image - instance
		[2D_meta]				metadata for each 2D image (timestamp, Inertial Measurement Unit (IMU) data, and a heading)
		[3D_labels_instance]	semantically segmented 3D mesh - instance
			*.ply				3D mesh
			*.xml				3D segment metadata
			trajectory.log		3D camera pose 
		[3D_mesh]				color 3D mesh


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.