diff --git a/.gitignore b/.gitignore
index 6e1c83f276f877216362b71c94a841ed858929f6..7fc87a8a6a4c8b4084d83c0cd981de066118f689 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,4 @@
 get_the_metadata.py
 file_organize.py
-hospital_HHA_normal_rename.py
+hospital_rename.py
 hugging_face_git.txt
\ No newline at end of file
diff --git a/Hospital/instances/000_Hospital_equi_instance.npy b/Hospital/instances/000_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f718338f84897af9d5bcb97176d49a66626fe98
--- /dev/null
+++ b/Hospital/instances/000_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4816b97f538334665e42b5d3e69ab55e90620fe96552d4f4a6eefbd92f0ef328
+size 134189184
diff --git a/Hospital/instances/001_Hospital_equi_instance.npy b/Hospital/instances/001_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..81b7c7813aa6e0b1a1547dbdb42da6e5dde2705d
--- /dev/null
+++ b/Hospital/instances/001_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9160140a358de1b6594aeb375425a93b7187a5e552ac060dcb6ae9955b423d47
+size 134189184
diff --git a/Hospital/instances/002_Hospital_equi_instance.npy b/Hospital/instances/002_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..463cf84925e586cda0fe6bfd35fe64c34d9a680c
--- /dev/null
+++ b/Hospital/instances/002_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ccdf2c436c0c3eb7a6a5b8a26091aa74cfdab8b59a2bf2c4767db586cb9950
+size 134189184
diff --git a/Hospital/instances/003_Hospital_equi_instance.npy b/Hospital/instances/003_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d079f197d5721082ed51e6818bb266a3f5d20bbd
--- /dev/null
+++ b/Hospital/instances/003_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d5a425237ef50e22d5330292c0f865b833a3ca0e2aa025c3c36a52c891db22
+size 134189184
diff --git a/Hospital/instances/004_Hospital_equi_instance.npy b/Hospital/instances/004_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3668b2d0eca1ccf4525e3b25a28246c21e6bfeeb
--- /dev/null
+++ b/Hospital/instances/004_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615900e4e28fda3ea6a69f585d5eabc859066eb10f058529f3a799ff105b424d
+size 134189184
diff --git a/Hospital/instances/005_Hospital_equi_instance.npy b/Hospital/instances/005_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..237c1ed13c8d54b4186b83398637ff46fccf6288
--- /dev/null
+++ b/Hospital/instances/005_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58bea9ddf7abcf78ada84df359946935d2896e5d26d68308c87e57d9874e356
+size 134189184
diff --git a/Hospital/instances/006_Hospital_equi_instance.npy b/Hospital/instances/006_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0a37179d272a5554f44bf48aa1e705db4b64a0d4
--- /dev/null
+++ b/Hospital/instances/006_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb171a6fa270ee849fcc68d8f0a98a8e9081500c5619101ea4e8cd875b8bd19
+size 134189184
diff --git a/Hospital/instances/007_Hospital_equi_instance.npy b/Hospital/instances/007_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..80bd49f4c6858425631006c0623740b0b8ced092
--- /dev/null
+++ b/Hospital/instances/007_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712f017aea15fbe2a02c03c09313f07504948c4a58758c40536e85b800a53090
+size 134189184
diff --git a/Hospital/instances/008_Hospital_equi_instance.npy b/Hospital/instances/008_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61a9e63c402ebb848f76da8e694e3ccaa6aa3fcd
--- /dev/null
+++ b/Hospital/instances/008_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0441c114bf9409b3caba9cc514c2a556fc95380163872679e9d0d5d01d525656
+size 134189184
diff --git a/Hospital/instances/009_Hospital_equi_instance.npy b/Hospital/instances/009_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e67806e0ceaef3e0a5ea7d30ed2315ce2d8f6867
--- /dev/null
+++ b/Hospital/instances/009_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f38d0b812540583326f80c7c07d4280faa4d0a45bd2accc3f1c43f94716210
+size 134189184
diff --git a/Hospital/instances/010_Hospital_equi_instance.npy b/Hospital/instances/010_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6170a5b6e86d0f5f1305b06641d2decda9139cf9
--- /dev/null
+++ b/Hospital/instances/010_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ba903b961349d758b2de781709258c9cc20b495ee994ad20add042d6f74f65
+size 134189184
diff --git a/Hospital/instances/011_Hospital_equi_instance.npy b/Hospital/instances/011_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73c75dd7d303ffe81c4e056d83c16828213c0546
--- /dev/null
+++ b/Hospital/instances/011_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54ad777ce18190643f39dea8cb0ea16fba907771ce84b704c8a0bafe8d6ba8c
+size 134189184
diff --git a/Hospital/instances/012_Hospital_equi_instance.npy b/Hospital/instances/012_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f0ee6aa8bef41db65cb196c3e97ce0eda1b552a
--- /dev/null
+++ b/Hospital/instances/012_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2be4507481076c8aa7bc952a476185b843e71cdfd8647de980e356d5ba92ef
+size 134189184
diff --git a/Hospital/instances/013_Hospital_equi_instance.npy b/Hospital/instances/013_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..607f0977c76a8bad314ca3a7fa8722244f8cd975
--- /dev/null
+++ b/Hospital/instances/013_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2692f4ec157011b68d87910eda3b9e99252e631f3974d686c20314c90dcd025e
+size 134189184
diff --git a/Hospital/instances/014_Hospital_equi_instance.npy b/Hospital/instances/014_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3dd93cc6fd9f4f2e4d71084c3ad2028dcb14222
--- /dev/null
+++ b/Hospital/instances/014_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff050d6b8b86c58d3b2eb939396410732f805bf1a2e678675bcc531d5e7eaad
+size 134189184
diff --git a/Hospital/instances/015_Hospital_equi_instance.npy b/Hospital/instances/015_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..52dbfe88501e965a13b12178da955084a8da6bb2
--- /dev/null
+++ b/Hospital/instances/015_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7b76ad73908c623db6237226066f27b6ddbdcc9eda5be0140f08cd0ea6b6b3
+size 134189184
diff --git a/Hospital/instances/016_Hospital_equi_instance.npy b/Hospital/instances/016_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ce83f55caae2fcca097c3575c1e7877d76632
--- /dev/null
+++ b/Hospital/instances/016_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d64f3d1ec6ee067841fa1e1853911fc15e52727c6fce5d10455e7e9b7a79929
+size 134189184
diff --git a/Hospital/instances/017_Hospital_equi_instance.npy b/Hospital/instances/017_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c8fe8d860e92abc75a646e8be7e05b23a32f650f
--- /dev/null
+++ b/Hospital/instances/017_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8047b5a67fe272825277f02c82f9fed909afe80fdf8e2fd4cc727f3394c6ad
+size 134189184
diff --git a/Hospital/instances/018_Hospital_equi_instance.npy b/Hospital/instances/018_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1e0d3d5d889a64f40c4cff4494dc0627d9df457
--- /dev/null
+++ b/Hospital/instances/018_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f215756a47e18a2a8a1b0771046aa5c98b3e07f0e435696d3c2618ce3e6aab
+size 134189184
diff --git a/Hospital/instances/019_Hospital_equi_instance.npy b/Hospital/instances/019_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d40d06e8f20d653a4d491274396d048be7262cd1
--- /dev/null
+++ b/Hospital/instances/019_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f800322e162d0c8a80482865a24892d56cdcc25a3e07ded05d0e946cb5d97ac
+size 134189184
diff --git a/Hospital/instances/020_Hospital_equi_instance.npy b/Hospital/instances/020_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22ce548ec86532c7b53c084c264f14922e3da65b
--- /dev/null
+++ b/Hospital/instances/020_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f522c8ac2b2bb707554b032469609a02170c81438d06dc9da93db889a70422
+size 134189184
diff --git a/Hospital/instances/021_Hospital_equi_instance.npy b/Hospital/instances/021_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf9bb1ed38d476d4aa4722dc17dcb97a49a2204b
--- /dev/null
+++ b/Hospital/instances/021_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84222b9a2cab4aa2a79798d7d0dd0771841baef779a86c2eb5fc5dbf66226c8
+size 134189184
diff --git a/Hospital/instances/022_Hospital_equi_instance.npy b/Hospital/instances/022_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c9bb59c87f1f8a30354f8d12a195a4fe6e31e80
--- /dev/null
+++ b/Hospital/instances/022_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ade530b08e8eb1514dd923f9f5a9cf4fea2f7494a901f8e6ea144788998140a
+size 134189184
diff --git a/Hospital/instances/023_Hospital_equi_instance.npy b/Hospital/instances/023_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e5ab84fc6fccac49fbe8f8c0b6943981851cee2f
--- /dev/null
+++ b/Hospital/instances/023_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32f58014699b0ed6818290966f5502b15e385cc0942c509819e9d41f8540c75
+size 134189184
diff --git a/Hospital/instances/024_Hospital_equi_instance.npy b/Hospital/instances/024_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4b5b9c328bb016032fd27140b9b82719e38eafa0
--- /dev/null
+++ b/Hospital/instances/024_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63e0ff54036b382aa058538716f19a7a4ab94bdd230e5f26fe92da4a2a2aae5
+size 134189184
diff --git a/Hospital/instances/025_Hospital_equi_instance.npy b/Hospital/instances/025_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ca8c8b419c42587a09c60c3ebffa26625fda31e
--- /dev/null
+++ b/Hospital/instances/025_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5fb994c5e54d96c1cc6567ac89fdf84ba21253e77261ccb33a2f8d4b645c0b
+size 134189184
diff --git a/Hospital/instances/026_Hospital_equi_instance.npy b/Hospital/instances/026_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98e197e379ca7d57c9b028850bb3b3b838d0ecba
--- /dev/null
+++ b/Hospital/instances/026_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd93db2c1aaaa7d2315dc52f578109eb6f555d61b2cd0f400002900a3a60f63
+size 134189184
diff --git a/Hospital/instances/027_Hospital_equi_instance.npy b/Hospital/instances/027_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51b575506c6c3be4635d956a784362d1576c5253
--- /dev/null
+++ b/Hospital/instances/027_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86a624ee66e4e07326f4c29675170941ae742b7a07f9c0e2de90a21957c6730a
+size 134189184
diff --git a/Hospital/instances/028_Hospital_equi_instance.npy b/Hospital/instances/028_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1964390efbe085f7a1228b143c3dd45980cf9e3d
--- /dev/null
+++ b/Hospital/instances/028_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29db1e3280de967a086b24fc175791f294ce8de615b4bde6de2ec5e887e5b7f0
+size 134189184
diff --git a/Hospital/instances/029_Hospital_equi_instance.npy b/Hospital/instances/029_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7359304715bb8fb32e4fbe72e33b362e91f4037a
--- /dev/null
+++ b/Hospital/instances/029_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2ba12414142a8b569c8b1f650088b9352d9a77b4936437966cbd5675290657
+size 134189184
diff --git a/Hospital/instances/030_Hospital_equi_instance.npy b/Hospital/instances/030_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b832f55b0518a31e27b5ce3cc22b1fdf83fce15
--- /dev/null
+++ b/Hospital/instances/030_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be75fedd17b846b529e8a2a3c441897b5a39851aeb0b018493fe4c147cd3cf83
+size 134189184
diff --git a/Hospital/instances/031_Hospital_equi_instance.npy b/Hospital/instances/031_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0310ab88e81fe4cc71b7f6d38e53a8aaea21985a
--- /dev/null
+++ b/Hospital/instances/031_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4de6d29a0e959e0f7bf8ea70fb0207f67695a0398a1449ed3925277367dd63
+size 134189184
diff --git a/Hospital/instances/032_Hospital_equi_instance.npy b/Hospital/instances/032_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa0a6c0b2db0353c676f705dd86979dfe5090293
--- /dev/null
+++ b/Hospital/instances/032_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593a5facc4834bb4b0e0044714d4834efb0ebe26f3fe737378b8e765da6374af
+size 134189184
diff --git a/Hospital/instances/033_Hospital_equi_instance.npy b/Hospital/instances/033_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..18aa81274f8c7ebbf73d3f145ce02aaeb3136eac
--- /dev/null
+++ b/Hospital/instances/033_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e62a8f9a1c103a4fbd74f4f49d3c9750c9a9c489e515ee67ce590639fdc49f4a
+size 134189184
diff --git a/Hospital/instances/034_Hospital_equi_instance.npy b/Hospital/instances/034_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51c8849f45e5a3579dae1ec966a199dc53423ce8
--- /dev/null
+++ b/Hospital/instances/034_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9917bc333e026fe9a552daa4c5a67f57c8ef13c7521935175b152e3678dfc1d2
+size 134189184
diff --git a/Hospital/instances/035_Hospital_equi_instance.npy b/Hospital/instances/035_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68888de2a6496c109905778ae4d77c66d9ecfa14
--- /dev/null
+++ b/Hospital/instances/035_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a1c43722fa3c9cef26720d0c856a30da7f08f38b803f1fb7199455dda59449
+size 134189184
diff --git a/Hospital/instances/036_Hospital_equi_instance.npy b/Hospital/instances/036_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0206560e2fde2f75ed7e10c2d0248367e07385ef
--- /dev/null
+++ b/Hospital/instances/036_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a970641f93a87875b853d5535d3adc93fc899ef06608d5041bef8396aa1967af
+size 134189184
diff --git a/Hospital/instances/037_Hospital_equi_instance.npy b/Hospital/instances/037_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..016beb58dc2059930bef25833827800e78b10850
--- /dev/null
+++ b/Hospital/instances/037_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e72d721934eec61f3067961ebd884a8bf63c9d13574004df4dcff2d4e9edba
+size 134189184
diff --git a/Hospital/instances/038_Hospital_equi_instance.npy b/Hospital/instances/038_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ffac9f6c4cb1c10c1be9c047a70298f4717cd69c
--- /dev/null
+++ b/Hospital/instances/038_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dee5891d57be05d13183be2860931d92b15916e9f2b55ffc23297b3b26dcfb9
+size 134189184
diff --git a/Hospital/instances/039_Hospital_equi_instance.npy b/Hospital/instances/039_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c7769019348d42f8731c6b6dbd882a789d5c44e
--- /dev/null
+++ b/Hospital/instances/039_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d9874ffe5ee21ca0f485f1fb57fb2858c17a4011906379bf0130f528033aa5
+size 134189184
diff --git a/Hospital/instances/040_Hospital_equi_instance.npy b/Hospital/instances/040_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6be52145f5a1f5f41e9b47d5808f5f5b9539d209
--- /dev/null
+++ b/Hospital/instances/040_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a7b0e7da8a17eb67557e86a38578591b9df0655780c0e8216713aad1b38255
+size 134189184
diff --git a/Hospital/instances/041_Hospital_equi_instance.npy b/Hospital/instances/041_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e988e905db0512fe40c69f26f866c4e14aa8a72
--- /dev/null
+++ b/Hospital/instances/041_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635689614b68efbc0e0e417c536d76a7f2d89e20016a58f00228b320b8a83beb
+size 134189184
diff --git a/Hospital/instances/042_Hospital_equi_instance.npy b/Hospital/instances/042_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e03c3380685cce765cfed59cae912dcbeb4f4216
--- /dev/null
+++ b/Hospital/instances/042_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f7dc8c566f58fbf7f88e76f2be5b34718e84740fcab0447dfb444d09621ef3
+size 134189184
diff --git a/Hospital/instances/043_Hospital_equi_instance.npy b/Hospital/instances/043_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0fee3e5a4542bd682a3968092c143dc072384b8
--- /dev/null
+++ b/Hospital/instances/043_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ffcac437bacea61b9a152d14e60afde100be1922994c0e3e7d5b420844918c
+size 134189184
diff --git a/Hospital/instances/044_Hospital_equi_instance.npy b/Hospital/instances/044_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b4a37a760eebd40da0805c93c4f4d36b00aa0521
--- /dev/null
+++ b/Hospital/instances/044_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd828821cb4dad6cd032b25e646a703c81c5713b1aae5a5375cf14d2a7cd6bf
+size 134189184
diff --git a/Hospital/instances/045_Hospital_equi_instance.npy b/Hospital/instances/045_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93176e54493be48705f64b5043e4503c7d2f6805
--- /dev/null
+++ b/Hospital/instances/045_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8304e8ed8cd9880a7977ead58912348cb347cad0e875d823d97a3400f1e453e6
+size 134189184
diff --git a/Hospital/instances/046_Hospital_equi_instance.npy b/Hospital/instances/046_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5769e14b4538453ea327087c7eb92241a9dd385a
--- /dev/null
+++ b/Hospital/instances/046_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5abc2a73514b2821107050d70d65f23733ce150cbf9604f0cb5c9cb41614b77
+size 134189184
diff --git a/Hospital/instances/047_Hospital_equi_instance.npy b/Hospital/instances/047_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea1cf24e9121cdfdfe96c01731f9b099e0d9ca5d
--- /dev/null
+++ b/Hospital/instances/047_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ecfcbdf3cbe9bbc12f47ab60e194a2366b14eaaef9705cfb98979637a9ecf7
+size 134189184
diff --git a/Hospital/instances/048_Hospital_equi_instance.npy b/Hospital/instances/048_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac88bdb7d0ebd7f0c5d0af2ba2a1fbc80f657d1a
--- /dev/null
+++ b/Hospital/instances/048_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12532ac765100665e6736172797aa0e937b0c2d58ab03dda0f77b5e4cae3153e
+size 134189184
diff --git a/Hospital/instances/049_Hospital_equi_instance.npy b/Hospital/instances/049_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6a0b5824de0d5b8109c82a59cee60f95241a206
--- /dev/null
+++ b/Hospital/instances/049_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b8496155037aa19de558addec99d69b7604f9aa61e1268e249f25a673d4d6f
+size 134189184
diff --git a/Hospital/instances/050_Hospital_equi_instance.npy b/Hospital/instances/050_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3697f0951b52234395d0bacd042530437a48ad98
--- /dev/null
+++ b/Hospital/instances/050_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bcbb64da47ff685b8e453ddd5846aa70f557377d6c94b6e84a492820aae4178
+size 134189184
diff --git a/Hospital/instances/051_Hospital_equi_instance.npy b/Hospital/instances/051_Hospital_equi_instance.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94007d464d4f4c627bea009d61daca81daeed9df
--- /dev/null
+++ b/Hospital/instances/051_Hospital_equi_instance.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58962d7d3d1b94bc3917807d2a631ea033addcd23bae34e49445b4bbd52d822d
+size 134189184
diff --git a/Hospital/semantics/000_Hospital_equi_semantic.npy b/Hospital/semantics/000_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..093fe7d78cd3dc7b2bc76b3831a210d4ea2ab660
--- /dev/null
+++ b/Hospital/semantics/000_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f63267584cf36b7ed26a0cbaa6ec07c545654c0a38a2aa70ceacffe9d0b7974b
+size 16773760
diff --git a/Hospital/semantics/001_Hospital_equi_semantic.npy b/Hospital/semantics/001_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d8788444eb50ab74f6ab3d3c1cef07910ada4d5
--- /dev/null
+++ b/Hospital/semantics/001_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d208ca3c94aaaeb200ccc0777e66c4e26b3ea60acaad439a9e3336518abe5246
+size 16773760
diff --git a/Hospital/semantics/002_Hospital_equi_semantic.npy b/Hospital/semantics/002_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8675a9a196d4ba7a000fb271455d18f83d9474b
--- /dev/null
+++ b/Hospital/semantics/002_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd4e3fb6db34acd12a7fe42ac83d2bdba5ad58ceb2bb56b542dcb7047db7395d
+size 16773760
diff --git a/Hospital/semantics/003_Hospital_equi_semantic.npy b/Hospital/semantics/003_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..06abd8ee139ce5a92dd78eb77ea6678a2483dd65
--- /dev/null
+++ b/Hospital/semantics/003_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9874e4a8a2b80448c01d33592d5b7d5832b40e8f6f10917fcab648477df741c5
+size 16773760
diff --git a/Hospital/semantics/004_Hospital_equi_semantic.npy b/Hospital/semantics/004_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4995ea2c903d301761638271277225d6dd855545
--- /dev/null
+++ b/Hospital/semantics/004_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66777bdaf2c47d82c16d17a2407128100d026040852772b54d975cd80d58760c
+size 16773760
diff --git a/Hospital/semantics/005_Hospital_equi_semantic.npy b/Hospital/semantics/005_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..23b061d3d38604c74833decd8458690b26aeba21
--- /dev/null
+++ b/Hospital/semantics/005_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428012e63bf9835437607a60a31861314a159de7e26d338a6804e172114998a6
+size 16773760
diff --git a/Hospital/semantics/006_Hospital_equi_semantic.npy b/Hospital/semantics/006_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..370a9726acb8f329c8930667a7628be533510d7b
--- /dev/null
+++ b/Hospital/semantics/006_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19fa420b430c94d7abe829aeb19de1125fd07260a12ddc5faaacfa1b41983107
+size 16773760
diff --git a/Hospital/semantics/007_Hospital_equi_semantic.npy b/Hospital/semantics/007_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0099a37748357123b2ff3aae7480ce1ed93cdc2e
--- /dev/null
+++ b/Hospital/semantics/007_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81941460611cd2c468ce6f79c59ff21dd6183e98df20394e50930a41c0ffba21
+size 16773760
diff --git a/Hospital/semantics/008_Hospital_equi_semantic.npy b/Hospital/semantics/008_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b98f179fad0bf81c30d0dbf46cf88d1bfada9324
--- /dev/null
+++ b/Hospital/semantics/008_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445b06ec00aa7a8402bc63c9960916e5f49493a0694fcef327dc49845048afe8
+size 16773760
diff --git a/Hospital/semantics/009_Hospital_equi_semantic.npy b/Hospital/semantics/009_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb152ecf7eef8cbffb3dc24146ed400788e4f475
--- /dev/null
+++ b/Hospital/semantics/009_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d423416053d5b6d89bcdf5e04bab5dbe48603cdb294784d964cc82ff799e41
+size 16773760
diff --git a/Hospital/semantics/010_Hospital_equi_semantic.npy b/Hospital/semantics/010_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f32b6ac52f7f8c6dc7ae5bf358f33412aaa831a8
--- /dev/null
+++ b/Hospital/semantics/010_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b943ce186230bf34c09e855b7cd66264e118fdd1a98687b77cd60ba4db6b7a71
+size 16773760
diff --git a/Hospital/semantics/011_Hospital_equi_semantic.npy b/Hospital/semantics/011_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a9c6b1be7fed4898f2a6ec1042304b5e8742911
--- /dev/null
+++ b/Hospital/semantics/011_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf08c5968c2f01224b49ec4ed7f832f7cd6d8a349f97730f8edac77ccebec984
+size 16773760
diff --git a/Hospital/semantics/012_Hospital_equi_semantic.npy b/Hospital/semantics/012_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01c678161487313a89f1a27c09c55e2bfa452b03
--- /dev/null
+++ b/Hospital/semantics/012_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dbc9326ee518a152b790ffbfa5b57168d4433db2e481ce2aa2d86c156fe118
+size 16773760
diff --git a/Hospital/semantics/013_Hospital_equi_semantic.npy b/Hospital/semantics/013_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b1f3e173fafeab24000bbe25260f5faae6d4dda
--- /dev/null
+++ b/Hospital/semantics/013_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83559bfb4918daec7daa468952e50e7653e62de9b66f9511204974e46e5348a4
+size 16773760
diff --git a/Hospital/semantics/014_Hospital_equi_semantic.npy b/Hospital/semantics/014_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a042d18da52fe753ad9eb5ea2c594d1fb66277f5
--- /dev/null
+++ b/Hospital/semantics/014_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b35fce2eb8275933f341b907d1d6dac67959d9c99d08fdf36f78281cbab643
+size 16773760
diff --git a/Hospital/semantics/015_Hospital_equi_semantic.npy b/Hospital/semantics/015_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cb70d64a42feb22891ccab2d567f74a3cd0a0f9c
--- /dev/null
+++ b/Hospital/semantics/015_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c69603b5a66b30cb831fbb9bfe56dc80a08bfdde176501f9f0e3d1fbf7546023
+size 16773760
diff --git a/Hospital/semantics/016_Hospital_equi_semantic.npy b/Hospital/semantics/016_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a54e64cec251a622836534f23d589794fc3cd9a
--- /dev/null
+++ b/Hospital/semantics/016_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519777fa732a6fe7dff918c4332f57470059774a19d2c3a8107fc443f9f984f1
+size 16773760
diff --git a/Hospital/semantics/017_Hospital_equi_semantic.npy b/Hospital/semantics/017_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c0c75bbec2ad6e6e1c069d1167576f122bf9f80
--- /dev/null
+++ b/Hospital/semantics/017_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01770f1f38d83abb313939363371dbe1112d6dfb139b3c50def2c197fcbe1f69
+size 16773760
diff --git a/Hospital/semantics/018_Hospital_equi_semantic.npy b/Hospital/semantics/018_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1889e1ddb3a280207fd0011d26748269b237f982
--- /dev/null
+++ b/Hospital/semantics/018_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faf081ebfc5041a83c1650a2346c1ee32dc940fd38926a9427a519d4ea0b67ec
+size 16773760
diff --git a/Hospital/semantics/019_Hospital_equi_semantic.npy b/Hospital/semantics/019_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c0ddcf58ea6c427a0a9141c05dcabdfd98f9248
--- /dev/null
+++ b/Hospital/semantics/019_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b178eb4a736dcfb91e1a62657ef437caa20e76acb79fa866b455dcb514f21ca0
+size 16773760
diff --git a/Hospital/semantics/020_Hospital_equi_semantic.npy b/Hospital/semantics/020_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d586bbec9b3c219c168c2a6940bd0c661133c36
--- /dev/null
+++ b/Hospital/semantics/020_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8684dca0b71ae947c66e434724c17102a46b83a88155098a9f8e1fe98c4c08
+size 16773760
diff --git a/Hospital/semantics/021_Hospital_equi_semantic.npy b/Hospital/semantics/021_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..155f02e30e755d2456d1b8bce6aa14c4a2f526a1
--- /dev/null
+++ b/Hospital/semantics/021_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86d7f53b0d3abe0b601d67f36680ba2698555d744a8437e5f5b3ab38abaf5d4
+size 16773760
diff --git a/Hospital/semantics/022_Hospital_equi_semantic.npy b/Hospital/semantics/022_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a0cb58d6f5e0b3569843cb39469267907b24771
--- /dev/null
+++ b/Hospital/semantics/022_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c1f32e397fbaa820bedda6dd715f2420fc20ad9e089aaf1013d05cdd16ed78
+size 16773760
diff --git a/Hospital/semantics/023_Hospital_equi_semantic.npy b/Hospital/semantics/023_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d92ae4aa0d3538e0c99af8c0a10ec75ee2db44a5
--- /dev/null
+++ b/Hospital/semantics/023_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ebaf16afb450426776ff2ce4adce1bed353c9057551514a5fa90726ad12fc0
+size 16773760
diff --git a/Hospital/semantics/024_Hospital_equi_semantic.npy b/Hospital/semantics/024_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f433cdedf48133cbd9885d35fd533eb574fb8407
--- /dev/null
+++ b/Hospital/semantics/024_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6390ddcc19f1c521d1edfc78c1f18bda1a33c866657045f18ef488f73625c14
+size 16773760
diff --git a/Hospital/semantics/025_Hospital_equi_semantic.npy b/Hospital/semantics/025_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1c77e919f3be46e414ce1a50204db522ec33a7d
--- /dev/null
+++ b/Hospital/semantics/025_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2206314ea9941139a14f118ab60c1cd6a1dda6be604778575d775d3b2a6212fa
+size 16773760
diff --git a/Hospital/semantics/026_Hospital_equi_semantic.npy b/Hospital/semantics/026_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d72f1794748c07d42dbc4a0b71431178e726513d
--- /dev/null
+++ b/Hospital/semantics/026_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6ab69e70e5e61849adf972cee3ea65ed734b643aa5962a38175e390a45c231
+size 16773760
diff --git a/Hospital/semantics/027_Hospital_equi_semantic.npy b/Hospital/semantics/027_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..991dfdef71eea96ac3cdbd8813df102bd46a7e77
--- /dev/null
+++ b/Hospital/semantics/027_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c326126d6a7e37d8ec2e81e4328e64d2ef65973e2bdde0792bb789fbacbf04
+size 16773760
diff --git a/Hospital/semantics/028_Hospital_equi_semantic.npy b/Hospital/semantics/028_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6cc6ce54e62d10ceef623b95fe8554020e36303
--- /dev/null
+++ b/Hospital/semantics/028_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a304b234caffd36721ac7797c307618ba5b6f75d7f9adbd5e531bd3f98f3a7
+size 16773760
diff --git a/Hospital/semantics/029_Hospital_equi_semantic.npy b/Hospital/semantics/029_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61ef71a82a455b40debc4209f5e8ec485b9c65ef
--- /dev/null
+++ b/Hospital/semantics/029_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eccfdec596707e6466751fcc781a6cfd222e2cbb1409e72775f0d7831825a375
+size 16773760
diff --git a/Hospital/semantics/030_Hospital_equi_semantic.npy b/Hospital/semantics/030_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b955332e13df8d230a206079686ce1e15ecc3fdb
--- /dev/null
+++ b/Hospital/semantics/030_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1f487afb6d6f1386cf79a1333d6d71f2d08a373e6fcb3a22f9421d9620380b
+size 16773760
diff --git a/Hospital/semantics/031_Hospital_equi_semantic.npy b/Hospital/semantics/031_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aacc92e872c65e476f721421105448b7e69ec486
--- /dev/null
+++ b/Hospital/semantics/031_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8632b5f714a8ac2c4d8c7bb08539a740345786e65599a20f30d17bb7295cefd
+size 16773760
diff --git a/Hospital/semantics/032_Hospital_equi_semantic.npy b/Hospital/semantics/032_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68ee8435520eaff84a3471e13e1bf85ce3e843bd
--- /dev/null
+++ b/Hospital/semantics/032_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21801950cadecdd2331ac41699bfd3febfe606cdd136f7cb739487686e3a5c5c
+size 16773760
diff --git a/Hospital/semantics/033_Hospital_equi_semantic.npy b/Hospital/semantics/033_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf658bc0b538061b542c438acf3328df2baf0588
--- /dev/null
+++ b/Hospital/semantics/033_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7de8f5634409b703e3163ab65e5e2ec762a009dd9d649ad3f22c4af1b6239d
+size 16773760
diff --git a/Hospital/semantics/034_Hospital_equi_semantic.npy b/Hospital/semantics/034_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b8b4b06bb25e58912cdaa225f0439a0e3b5e609
--- /dev/null
+++ b/Hospital/semantics/034_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8a29c2e1a8fa58de65eed739e7a30977170a49d7bd9731134c6be8b902e1d1
+size 16773760
diff --git a/Hospital/semantics/035_Hospital_equi_semantic.npy b/Hospital/semantics/035_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f880241c3e8c286267d4c01cfadde2d9afae717
--- /dev/null
+++ b/Hospital/semantics/035_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba902b91accfcca96c729003ad30120bc3eee158ab248a15be86fec68592670e
+size 16773760
diff --git a/Hospital/semantics/036_Hospital_equi_semantic.npy b/Hospital/semantics/036_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95866afdd7dc81a2d30683bc78592c7a6f573b74
--- /dev/null
+++ b/Hospital/semantics/036_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eacbd8194358fee7f116f62dd135fd52057c54e2b1ed43f350eeeac457c661b
+size 16773760
diff --git a/Hospital/semantics/037_Hospital_equi_semantic.npy b/Hospital/semantics/037_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02fe03786b50db70c617d362b1c68a84677d4751
--- /dev/null
+++ b/Hospital/semantics/037_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52bad804e77b4d5e9e22ab90e5fff5ea67b5b54f162863250c9df7ff3a977440
+size 16773760
diff --git a/Hospital/semantics/038_Hospital_equi_semantic.npy b/Hospital/semantics/038_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c3bef4957672e6bfa90cfc444ec5f33c375512d
--- /dev/null
+++ b/Hospital/semantics/038_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999af4f003c63d067a1c21b4d4ee33987a4bf5c8ff3c5fbb446935b52fb07906
+size 16773760
diff --git a/Hospital/semantics/039_Hospital_equi_semantic.npy b/Hospital/semantics/039_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eacce145b2d7ee72c3ea595e2ed711b6e227731a
--- /dev/null
+++ b/Hospital/semantics/039_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd26dd926433dd277d42fec856c3ad0072e360f5448a6baf39735f5bbacec14
+size 16773760
diff --git a/Hospital/semantics/040_Hospital_equi_semantic.npy b/Hospital/semantics/040_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f943f399b7c9398e1cc589cba17e85381c18042e
--- /dev/null
+++ b/Hospital/semantics/040_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952a4bf35f435d752b0005f9364886cf48b4311deeebe0bbbb65f68ff6db7732
+size 16773760
diff --git a/Hospital/semantics/041_Hospital_equi_semantic.npy b/Hospital/semantics/041_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..846041cfb9f67d03877e92b37850b67ae0bebad3
--- /dev/null
+++ b/Hospital/semantics/041_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caaf96bb96e29be030a83833d7f7b908a9c3e08c9417c46c0c21be49501214d8
+size 16773760
diff --git a/Hospital/semantics/042_Hospital_equi_semantic.npy b/Hospital/semantics/042_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d4fd5335467c1f1cd5cfa5f6a2c2cbc0f7ad0e40
--- /dev/null
+++ b/Hospital/semantics/042_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198c27029bd83e87c4a903675478a65b102d7e986c996d29a2130272c591cb36
+size 16773760
diff --git a/Hospital/semantics/043_Hospital_equi_semantic.npy b/Hospital/semantics/043_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e913fdd3cd2a0563e8227b43701e84faf1ec35f
--- /dev/null
+++ b/Hospital/semantics/043_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b465fdf7589674e4bcd422933a8797ea1df7f53b46349e11e3ed98890777cc46
+size 16773760
diff --git a/Hospital/semantics/044_Hospital_equi_semantic.npy b/Hospital/semantics/044_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..594937724fea2cdc3daf9b70126c11acf4c9778a
--- /dev/null
+++ b/Hospital/semantics/044_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57d8bb07fd6801b6d21ac734d3ca941c3f83055d8be0833c2ae5a7f2fd82979
+size 16773760
diff --git a/Hospital/semantics/045_Hospital_equi_semantic.npy b/Hospital/semantics/045_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e5d4cf34cd91a1975a2ec24ae33b88898c4a8126
--- /dev/null
+++ b/Hospital/semantics/045_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929e7019d398f67e8e884425028ead1f764ff4490e7e6951e5f09ea6d59781cf
+size 16773760
diff --git a/Hospital/semantics/046_Hospital_equi_semantic.npy b/Hospital/semantics/046_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..47609da9fbad7011dffdff534b4c0fd2600d0fec
--- /dev/null
+++ b/Hospital/semantics/046_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4443cabcd5d3b7e739c655256e63a5916e10b394e71a69b635231c5cc2a79312
+size 16773760
diff --git a/Hospital/semantics/047_Hospital_equi_semantic.npy b/Hospital/semantics/047_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c84be5c20e859648b8ffe620a740203a5d2c6aca
--- /dev/null
+++ b/Hospital/semantics/047_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c540df9d14d6658240a571a0dbb9ad2e6153b82d7cc4ea81806313ec6b796c
+size 16773760
diff --git a/Hospital/semantics/048_Hospital_equi_semantic.npy b/Hospital/semantics/048_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..23f068f630ffb20972e3c80e544911747356b0f8
--- /dev/null
+++ b/Hospital/semantics/048_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4f7c3dd92ef34bbbca26c1e541ae1459bf77a5575bae71175ed05941b44f7c
+size 16773760
diff --git a/Hospital/semantics/049_Hospital_equi_semantic.npy b/Hospital/semantics/049_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..65dc41d4c55a117520d139d04f66e06c98eb9f5f
--- /dev/null
+++ b/Hospital/semantics/049_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc4f88830165210bf2c094033468b859a6ea18ce053bfbd80f62fae090ecf6a
+size 16773760
diff --git a/Hospital/semantics/050_Hospital_equi_semantic.npy b/Hospital/semantics/050_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8e83922875c50f77dcd449b175d56750cd4deb7
--- /dev/null
+++ b/Hospital/semantics/050_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1999bbd8b3fff0d852e43dd7cf7c73dddf20ef0e898fbabb13c8f30beedd84
+size 16773760
diff --git a/Hospital/semantics/051_Hospital_equi_semantic.npy b/Hospital/semantics/051_Hospital_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e4e7a06827772722517fe3457c65ce71c18c5f0
--- /dev/null
+++ b/Hospital/semantics/051_Hospital_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3b576edb49842c8f940c683c9a342d694c947097060184adfaf23b64f9da39
+size 16773760
diff --git a/Office_Room_1/semantics/000_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/000_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c45ae3f5fd6e0f56c5c374cf3145540b76099c9a
--- /dev/null
+++ b/Office_Room_1/semantics/000_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b23e9f2e6abdbd3532a1f71ab5767eb7159ea8be085ca7cf3d3c38b619e2f60
+size 16773760
diff --git a/Office_Room_1/semantics/001_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/001_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ba5478981d68bc7ec33f4ea0921fbc853438e8e
--- /dev/null
+++ b/Office_Room_1/semantics/001_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a55ff4dd1efcd81216ca4ad7cc78a772a1abf38f1904564161b738b220e1a4
+size 16773760
diff --git a/Office_Room_1/semantics/002_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/002_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02a00701bc3a32d22272ee1d421c998436028328
--- /dev/null
+++ b/Office_Room_1/semantics/002_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b461999ba9e587b428dac9077a65e5da517db6393f51603a86bd725453e97983
+size 16773760
diff --git a/Office_Room_1/semantics/003_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/003_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39beeb8e7fec004ae9c1de3d7c495e53835c9210
--- /dev/null
+++ b/Office_Room_1/semantics/003_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c17f6beb578521c9ac81a2af4549ec96bc82944cfdcaec5cde9b762ba7283f9
+size 16773760
diff --git a/Office_Room_1/semantics/004_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/004_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..945daebf95ce07d55b06ea4dd80c2a9dae83719d
--- /dev/null
+++ b/Office_Room_1/semantics/004_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2b884df58b8b91b11119dd9d8e4cf6a34aae3e4236ca2d3758f4ce02239daf
+size 16773760
diff --git a/Office_Room_1/semantics/005_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/005_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05979eba475ad3dd9c3f571b19097aaee78d9e49
--- /dev/null
+++ b/Office_Room_1/semantics/005_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdea82e37c6d67fa2635ec2c220a7d1caf83f144aa01053843799ae4c3e5aea
+size 16773760
diff --git a/Office_Room_1/semantics/006_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/006_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a2a68b7f017da3b06ba451ebfe8f92b1a4b06c8
--- /dev/null
+++ b/Office_Room_1/semantics/006_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e5d2a32daa1a79c7f749ef4d4ce600b2a82089e97ad95b00ee9185f8f4b48e8
+size 16773760
diff --git a/Office_Room_1/semantics/007_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/007_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bfd20aadc35d6479aa940c65073e2cdacd962b7d
--- /dev/null
+++ b/Office_Room_1/semantics/007_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6d5558c5de6723f2626fd124d3112d617807739b1ec26f6f6c247156f4a250c
+size 16773760
diff --git a/Office_Room_1/semantics/008_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/008_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8e7cdbf9caa44b6b756c6fb7bfc35abb2f7f160
--- /dev/null
+++ b/Office_Room_1/semantics/008_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181463e140b930630c33974fa9f34d2c61479c0b2f81c5356fb9c679ce96270e
+size 16773760
diff --git a/Office_Room_1/semantics/009_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/009_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ea8c248ace184f67b0fa3ad3d45cf6bce8b79c9
--- /dev/null
+++ b/Office_Room_1/semantics/009_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868e5e5bfa6e2203cd23e7ebc5cd4054187e9d2118a623cfe12b5dc8fb3fe5f6
+size 16773760
diff --git a/Office_Room_1/semantics/010_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/010_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef9f895886746f9d6fc36779de2be82a08bd345b
--- /dev/null
+++ b/Office_Room_1/semantics/010_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5deda51179a5bd9fcad6d8acb81755c4bf6c5b4031d41eabde8a17a9f2a70dec
+size 16773760
diff --git a/Office_Room_1/semantics/011_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/011_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b0459770cc0fa2c37962e6f836dfd0f304349df
--- /dev/null
+++ b/Office_Room_1/semantics/011_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c3ece48b7a37094ecc5f15a122f14c8636080a1e62556f1a31239e9e6ef975
+size 16773760
diff --git a/Office_Room_1/semantics/012_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/012_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..145b084305d8a3f8bb1934ced6e9a1126b1b9080
--- /dev/null
+++ b/Office_Room_1/semantics/012_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237aabfc44b879b98f9726e18dfaf2a9fb4ab1096f62ef7d17e11f3784a2349a
+size 16773760
diff --git a/Office_Room_1/semantics/013_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/013_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c2df2139a0fe787530f481a1ad2db13f1a63f23
--- /dev/null
+++ b/Office_Room_1/semantics/013_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b729a7f5843dbf026ba740b0de936295a1452fae84b2ebc5d551ca098f8a9f2c
+size 16773760
diff --git a/Office_Room_1/semantics/014_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/014_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39e19f6595d0bbbc6ef04b1a84ea60d938a1c189
--- /dev/null
+++ b/Office_Room_1/semantics/014_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741927568d69c2c124a59594a246c320772a24a57c6cbed965faa3eb892e0fd5
+size 16773760
diff --git a/Office_Room_1/semantics/015_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/015_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93375b1680fdbf0f37b6002d0769f267595a228f
--- /dev/null
+++ b/Office_Room_1/semantics/015_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064c23715394ea42b6680a8277952a49e67e39076c74b4b8107c582987e57e82
+size 16773760
diff --git a/Office_Room_1/semantics/016_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/016_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..581bf23ab0bae031721628a7955bbef27520c899
--- /dev/null
+++ b/Office_Room_1/semantics/016_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fe7f5f2bef3f9733a9df6d53f4763094b5c022ad9fb366680761b88fbc3b57
+size 16773760
diff --git a/Office_Room_1/semantics/017_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/017_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..13d294e6867eb18cf1034ed862c1fe509d9cc9e3
--- /dev/null
+++ b/Office_Room_1/semantics/017_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2275a3ccc41e34c51621e729dfec221e667dc7dfa3f3d4824771611890324d91
+size 16773760
diff --git a/Office_Room_1/semantics/018_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/018_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30f1e4e88bc5ad71388d0f17d63b048c524fffe4
--- /dev/null
+++ b/Office_Room_1/semantics/018_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e10b66205efa44648ebcc5ce30743a4748295abcb65c11f11322bbbd206a3feb
+size 16773760
diff --git a/Office_Room_1/semantics/019_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/019_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..243097888a413af7c8d20f44877f96bb138ad84e
--- /dev/null
+++ b/Office_Room_1/semantics/019_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed97bb0f2f0566e191d6253262e5b7b9530c1a3671dacdc698f0c39d7e3a5bde
+size 16773760
diff --git a/Office_Room_1/semantics/020_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/020_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3c6b734d0a440cd7303e6ec2daab8202dfb1373
--- /dev/null
+++ b/Office_Room_1/semantics/020_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ed690076c97cd87e4209499279dc2b06d9b85ce64ff960e0158128d32e3459f
+size 16773760
diff --git a/Office_Room_1/semantics/021_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/021_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4822812cee3a7f8958e074e8f7a259f687183e73
--- /dev/null
+++ b/Office_Room_1/semantics/021_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a025815834ed7e8dd94f2344881128798f7f8d948359cb8b3d74e528edefcd2a
+size 16773760
diff --git a/Office_Room_1/semantics/022_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/022_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf61061511d27825274c89c12928ba00e06adb05
--- /dev/null
+++ b/Office_Room_1/semantics/022_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81a0f47534fbc40ba375cb0e58dffbc8cef3f972b125b0e568b0d1313e5002c
+size 16773760
diff --git a/Office_Room_1/semantics/023_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/023_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0e56a8df8cff13d66b443aee7597e51a3053aa0d
--- /dev/null
+++ b/Office_Room_1/semantics/023_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbaa99d0a55f6f7898d6cbd97043bded6dfa23e4626d028c2c9fd8e1869391d0
+size 16773760
diff --git a/Office_Room_1/semantics/024_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/024_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48182f1d083356420e108c319a2ac099b9aa5be2
--- /dev/null
+++ b/Office_Room_1/semantics/024_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5720b89ac5366016530bc898bf0453b284493950bf618f8d5981fdf1ee9c085b
+size 16773760
diff --git a/Office_Room_1/semantics/025_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/025_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea198bf427c15cd7d61be7272af189e840b553a9
--- /dev/null
+++ b/Office_Room_1/semantics/025_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf07c5ac7405352f3f3a79f14ff945f6863285ccc7ab2159ff384faf4cf72223
+size 16773760
diff --git a/Office_Room_1/semantics/026_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/026_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1fcef92befec87a8dc945f1e80d0edd978c09457
--- /dev/null
+++ b/Office_Room_1/semantics/026_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89209314219b6a0154d516170523341846162515366a6115afbb4d55a39a7808
+size 16773760
diff --git a/Office_Room_1/semantics/027_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/027_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3aba26161abddb500ff0839f99a7231bd71ed400
--- /dev/null
+++ b/Office_Room_1/semantics/027_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38b0e3c971aebb157465b8146d58cd69595b3f0f4b21d2b041f388b45d19b3d9
+size 16773760
diff --git a/Office_Room_1/semantics/028_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/028_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0235624d3f4a4791171e6622795028a86dbe89e8
--- /dev/null
+++ b/Office_Room_1/semantics/028_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ccea0a3bcb1d812e1c68ea97aa07ec5acb4f60d412ee9431402c9523673f88f
+size 16773760
diff --git a/Office_Room_1/semantics/029_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/029_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..580c4b33f805cbd370bff734b088e150eaaf2537
--- /dev/null
+++ b/Office_Room_1/semantics/029_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6652810ca206b90915606622cf2aa5991a586c55bd35875db90f06c9d9e971
+size 16773760
diff --git a/Office_Room_1/semantics/030_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/030_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f02843ca39ef74dc086d2abaf042cc857915bef
--- /dev/null
+++ b/Office_Room_1/semantics/030_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ec0ecf00c805c596627d66b42970183792c0815a5b9bd52972c949231e611a
+size 16773760
diff --git a/Office_Room_1/semantics/031_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/031_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7c71925ce38d8ba3c9204f0073f9435aeb74c7e
--- /dev/null
+++ b/Office_Room_1/semantics/031_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e369db00dc275188bc2511bd194f1720626960d293740989b683547b4f972d7
+size 16773760
diff --git a/Office_Room_1/semantics/032_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/032_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fcaf59995f8ee3cb7dc46fc359066be4d03ce7b2
--- /dev/null
+++ b/Office_Room_1/semantics/032_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0801347b14a01e70c41bc2095d36be2ff2258efc6b35d68f078fe538c53d0d5f
+size 16773760
diff --git a/Office_Room_1/semantics/033_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/033_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..577f13d8e425637e4cf8735b7ec1ada6960347bf
--- /dev/null
+++ b/Office_Room_1/semantics/033_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f78727db925ed873ebc61beb72f06c5f589466f3479f5cf03a6132280f67d333
+size 16773760
diff --git a/Office_Room_1/semantics/034_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/034_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b676e3416a687da0d7fd8d558441a5097f4cb494
--- /dev/null
+++ b/Office_Room_1/semantics/034_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5facafcaefa2fdbb41647776ca18244aa46a12bdba92593cc7cbca849b4adb26
+size 16773760
diff --git a/Office_Room_1/semantics/035_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/035_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b526909fac2ceb658c9dba928d9e20b93b7b02f7
--- /dev/null
+++ b/Office_Room_1/semantics/035_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8203e70a810e0eab44661a88fd6c4f508518d45aa5f9a617a928aa4929481d90
+size 16773760
diff --git a/Office_Room_1/semantics/036_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/036_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eac8083a1755786c3e62fea0a72d1ff88a83d4fe
--- /dev/null
+++ b/Office_Room_1/semantics/036_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88698383350eac913a5f1a181d66336326fc069d1a019f352e7700c70f63c135
+size 16773760
diff --git a/Office_Room_1/semantics/037_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/037_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7698f911e7bd6afffa0269bf4282cf85eb1f84e1
--- /dev/null
+++ b/Office_Room_1/semantics/037_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abdf0ac05a9feebaa649deb0feda7717eeb5a7ad7fe18bb47ad5ef0144445cff
+size 16773760
diff --git a/Office_Room_1/semantics/038_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/038_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d915e8002c53a1104bd140d0c29f73c4f4f816c0
--- /dev/null
+++ b/Office_Room_1/semantics/038_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc75af2771d6e9badaca01dde941f61c5c974a121786b48886d32827a998f53
+size 16773760
diff --git a/Office_Room_1/semantics/039_Office_Room_1_equi_semantic.npy b/Office_Room_1/semantics/039_Office_Room_1_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b9a2eae5d227e2371e692ad8423649c355f8638
--- /dev/null
+++ b/Office_Room_1/semantics/039_Office_Room_1_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d52476102270aa5a8696eda350c2cde43db4271f0761945679ecd500adf865
+size 16773760
diff --git a/Office_Room_2/semantics/000_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/000_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b873321758fdcd5c306181b1447387cbe55bbe2a
--- /dev/null
+++ b/Office_Room_2/semantics/000_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04413541b05c077cd210a9ec26e9796cdc9547f8c8e80486f03933db7dfc171f
+size 16773760
diff --git a/Office_Room_2/semantics/001_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/001_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14e021f1a460a79482d70b5a5de797f74ee8b02b
--- /dev/null
+++ b/Office_Room_2/semantics/001_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b83d837e49e302446bf2104c2728cdc882efeaa28515d9f4769f8078b488e1
+size 16773760
diff --git a/Office_Room_2/semantics/002_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/002_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a19d2d6ca8674f8aaaa4143b4f5da82cfd1f77b
--- /dev/null
+++ b/Office_Room_2/semantics/002_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4873e172b596000019bfbe18b8a45fa85e4f7243b45f5159da45c57e38bf6585
+size 16773760
diff --git a/Office_Room_2/semantics/003_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/003_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..17d02c6319b900ce6c55d974e4e5c79dbcc4b6bf
--- /dev/null
+++ b/Office_Room_2/semantics/003_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2cdf8b8c765910b65e7374bff781c25d763c6102caef7b1a7db06bc5306b10
+size 16773760
diff --git a/Office_Room_2/semantics/004_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/004_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e178233f0c5ac7a07b4260fa37dfe812c3cf3c7
--- /dev/null
+++ b/Office_Room_2/semantics/004_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d25796e4007d91d3dcdd7b77abec32c77b4bb7c976da8a813b3c731219a25d
+size 16773760
diff --git a/Office_Room_2/semantics/005_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/005_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78bcd57c3cc69c1411d26c08728461863b634466
--- /dev/null
+++ b/Office_Room_2/semantics/005_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1987ab0775bc6c3e973d4f03ce4ed2b5433667e42d3b360cf6f5bed4f214ea46
+size 16773760
diff --git a/Office_Room_2/semantics/006_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/006_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e774277ebd6420d116526a1dba5afa11a5629ece
--- /dev/null
+++ b/Office_Room_2/semantics/006_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbbe90e9171156abab8a0547e31113746901dfc1bce34273f663123e677b729c
+size 16773760
diff --git a/Office_Room_2/semantics/007_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/007_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ea778aad13e29e75bd66e27ee7e1002d230c675
--- /dev/null
+++ b/Office_Room_2/semantics/007_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3a8c4d28bdf72f7ed494bcb43fb9a18cc6bc75d5d59b69b08e72718091ad90
+size 16773760
diff --git a/Office_Room_2/semantics/008_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/008_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8144220bfbe74bffda83d85646b6ba3ee2a5ae11
--- /dev/null
+++ b/Office_Room_2/semantics/008_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a724705f6c03b2ed67035aed958f3fd7e6310e10731cd809506db5920607ae91
+size 16773760
diff --git a/Office_Room_2/semantics/009_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/009_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b5b3fda2658b8783ead6bfeb890d7106cdf133d
--- /dev/null
+++ b/Office_Room_2/semantics/009_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194f383d20bd78d973b695b52d8019bf985f5e14433d9e4d074568dbc2094de5
+size 16773760
diff --git a/Office_Room_2/semantics/010_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/010_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..243bfa291ef83c7e53e01d3855d77984e5274fb9
--- /dev/null
+++ b/Office_Room_2/semantics/010_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56dfc60a12968c9de9daeea552f9d3c328fc447c8dd281dbabe975b45fa009c9
+size 16773760
diff --git a/Office_Room_2/semantics/011_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/011_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4de7e7571f7acde75ae61b7c8dc0bed0d19dc42c
--- /dev/null
+++ b/Office_Room_2/semantics/011_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ca39cb3a26965e5c37a669cc8e4488448c18f46de3ab9f5ab54e7975b746564
+size 16773760
diff --git a/Office_Room_2/semantics/012_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/012_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a93a32388028305f6e5208b0d0ce188fdd57951
--- /dev/null
+++ b/Office_Room_2/semantics/012_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11c8bafdaa5161db1cfb51947fecb02785f91dfc2120d89e95c179886b7f7680
+size 16773760
diff --git a/Office_Room_2/semantics/013_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/013_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a679e0cc787872cd31f6435bce15dc0251de1a4e
--- /dev/null
+++ b/Office_Room_2/semantics/013_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de12161793249ce8e7e239ae6a4b7c4405bbf856a9d0d5849cbbe363d401fc9d
+size 16773760
diff --git a/Office_Room_2/semantics/014_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/014_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b8a8b3396d665732371f946b22f74cc5f7adebf
--- /dev/null
+++ b/Office_Room_2/semantics/014_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575854edb3955e586f83f1cf271ce4dbc523dc6ec2c2f19a676caf612f6c0514
+size 16773760
diff --git a/Office_Room_2/semantics/015_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/015_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad884c7be9725f087772b9334b5d7b999c930221
--- /dev/null
+++ b/Office_Room_2/semantics/015_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441dfad49a3b91ad974f8de0b6d1dfa26bf705aaa9a74fcedf50670b84ca7c26
+size 16773760
diff --git a/Office_Room_2/semantics/016_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/016_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2139c8c3134b853f50c6f652a9514a64618c0ce5
--- /dev/null
+++ b/Office_Room_2/semantics/016_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:084edfdefad952e92a0482df9db508c1f0f73052a6a61fe90e84242070669042
+size 16773760
diff --git a/Office_Room_2/semantics/017_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/017_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0d41c8a350a87e67de259769d921b724ada79ab4
--- /dev/null
+++ b/Office_Room_2/semantics/017_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f83049870d5ef593db9064388b2c85815ded4d2adbf1daf203ccf5866cc830
+size 16773760
diff --git a/Office_Room_2/semantics/018_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/018_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46c8a4710f1984e6ed2bb42ed6efadcdf1a0916c
--- /dev/null
+++ b/Office_Room_2/semantics/018_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322272bfd62a37ba881ac9eb92903ed0da6be2f74bde0c408e23d1f866c3f404
+size 16773760
diff --git a/Office_Room_2/semantics/019_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/019_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0abd01188df21178bfaca6ee5ff79c996cacc860
--- /dev/null
+++ b/Office_Room_2/semantics/019_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c2aca1fb1b2d13b6b17170bd45f9c2469d8b93e6409cc5414448c2b5437ba6
+size 16773760
diff --git a/Office_Room_2/semantics/020_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/020_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2946450394f53a6a114f200a5c48052f179d5496
--- /dev/null
+++ b/Office_Room_2/semantics/020_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76012d03454dbe54f5df7d6b36efbb9863490b4f349127ee750a5cea94d44779
+size 16773760
diff --git a/Office_Room_2/semantics/021_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/021_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..771d550b9d5835c4ea3148f3e6f078810d661e4c
--- /dev/null
+++ b/Office_Room_2/semantics/021_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fa0f26ee3b1252a22a44fa8727974907118268ea55627be52f8edc85e2cfc3c
+size 16773760
diff --git a/Office_Room_2/semantics/022_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/022_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4162fcb611e117425edfeefdb78184872abd7c9f
--- /dev/null
+++ b/Office_Room_2/semantics/022_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5d23ea50e11a5460922bd8d232c17a9c171c76d3a74e801e50d93bd21f9727
+size 16773760
diff --git a/Office_Room_2/semantics/023_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/023_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..85f25e75242d34a45f9eb567e336e1e0329d9965
--- /dev/null
+++ b/Office_Room_2/semantics/023_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f76101a80d72621161c42c8ca08a65d4268bc2a71ddb740dc0473b642d589c4
+size 16773760
diff --git a/Office_Room_2/semantics/024_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/024_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1679e3fd4ce5f1e205b1673492233bed5053e980
--- /dev/null
+++ b/Office_Room_2/semantics/024_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79f4e24b2b697bc6d325be7f7fc60949a31e29ccf8c07099f3dac707483deea
+size 16773760
diff --git a/Office_Room_2/semantics/025_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/025_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ee00b4fae1a06d5971ba2efffb18303fd83e0ce
--- /dev/null
+++ b/Office_Room_2/semantics/025_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5e33660373d257e4a7bc94ccecafec71f7fd5622c0986e59f3ce0998f2bc465
+size 16773760
diff --git a/Office_Room_2/semantics/026_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/026_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dc3914e943d83bacfce1010e407b2dc766883a11
--- /dev/null
+++ b/Office_Room_2/semantics/026_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffa9fcb58246151e1a64bfaadff0791d900630dfa8ea2d45a8db0f24821c83a
+size 16773760
diff --git a/Office_Room_2/semantics/027_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/027_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62f00474ead18e93822f2e40a2b434b912940d55
--- /dev/null
+++ b/Office_Room_2/semantics/027_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09c224a2147a084b1c3e58542f3cb82750c7c45b432887b0cfcc0620a4ad129
+size 16773760
diff --git a/Office_Room_2/semantics/028_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/028_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f9029d5232ea2097ded6a4f216579b6e214826f7
--- /dev/null
+++ b/Office_Room_2/semantics/028_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9001b4d7434813788808227458c40468e5433ec8f70403d075fe3be40e6c5c
+size 16773760
diff --git a/Office_Room_2/semantics/029_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/029_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b1b6118ed461359d15be4ffed5b64555b72783bd
--- /dev/null
+++ b/Office_Room_2/semantics/029_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339d31771a28e937ebd3f7fdd4c0ff7e83600d0f1db35b5a2d5bb0fe70abb2f4
+size 16773760
diff --git a/Office_Room_2/semantics/030_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/030_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c8af975bea28082637147ade550d250be3078f46
--- /dev/null
+++ b/Office_Room_2/semantics/030_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6abc5848d4946401f98cdb968eb4240c876250df773befcd6e74f3ebcc3f55
+size 16773760
diff --git a/Office_Room_2/semantics/031_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/031_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90fa1f3e68b8fdace3b1d878dbe0eb340375de51
--- /dev/null
+++ b/Office_Room_2/semantics/031_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4d6b419f664e074661f85a5fb0f1ac03a11d48a1141dbf78138ce4c3049539
+size 16773760
diff --git a/Office_Room_2/semantics/032_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/032_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f3356dc328d0a12cc26e52d857079785c1e54bf
--- /dev/null
+++ b/Office_Room_2/semantics/032_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612bcd9e22601b5d0cbe2b52d8027e7c2e9666d4da1b54d91a778dc4d0c6320c
+size 16773760
diff --git a/Office_Room_2/semantics/033_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/033_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d3dcd246ea3290671563a2ecb9496ad1352b852
--- /dev/null
+++ b/Office_Room_2/semantics/033_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7286c42cbb5d58cbe3edaa161eff6d7dcd1acd62030dcdb0e15bcca88c9427ae
+size 16773760
diff --git a/Office_Room_2/semantics/034_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/034_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b88975045d9ff3827e77e148694e73fdb2e34408
--- /dev/null
+++ b/Office_Room_2/semantics/034_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5558bae2bf6c3a218db9f23517a41c3f3fae1f494b5d5ea72fc324c2e4b09eda
+size 16773760
diff --git a/Office_Room_2/semantics/035_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/035_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9071df7fd2950282d359a34e61d4490e769b1542
--- /dev/null
+++ b/Office_Room_2/semantics/035_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fe7750cd7e880a0958790fbba829aeed46d72a1f0c6c86ca454863bba37e50
+size 16773760
diff --git a/Office_Room_2/semantics/036_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/036_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ca317de30de684f5ca9bd1e1288d911532a3a43
--- /dev/null
+++ b/Office_Room_2/semantics/036_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b4ff36e2082846737dcdb09b2790b65014a050d2185dbe6be94a930b541709
+size 16773760
diff --git a/Office_Room_2/semantics/037_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/037_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d781afe67f4431d32c171da23d75b516f79eb93d
--- /dev/null
+++ b/Office_Room_2/semantics/037_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276ddcca51b524bf2952258aa16b316a90a57087ad003013129a98d17385fcf3
+size 16773760
diff --git a/Office_Room_2/semantics/038_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/038_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de67a9a634f780e09952ece19571a4d32e9f06c7
--- /dev/null
+++ b/Office_Room_2/semantics/038_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760a0d423c8640c2aae2d82214e02cc4500f8f3c07c93a7ab7e3815e3a173c83
+size 16773760
diff --git a/Office_Room_2/semantics/039_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/039_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0054671658b5b9cd9dd2c1a36a03566285e1fe26
--- /dev/null
+++ b/Office_Room_2/semantics/039_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5e5e636199ef1aba37db4d4bf0f68d1cac33486f6737e615cadf65bd7e76ba
+size 16773760
diff --git a/Office_Room_2/semantics/040_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/040_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f60c07990f7a8a0bf8a23271330ee72f8f802474
--- /dev/null
+++ b/Office_Room_2/semantics/040_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9f50abb026ec6c6ec6903dcf0cb64696d3beaf5c48ec41a3981377cdea4978
+size 16773760
diff --git a/Office_Room_2/semantics/041_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/041_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f830dab553ea8061bf0cfc74b26956014c2c4241
--- /dev/null
+++ b/Office_Room_2/semantics/041_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:806a23f184d8496534f90274347e8dfab35309ba75fd5b433aadd32ccf04a3cb
+size 16773760
diff --git a/Office_Room_2/semantics/042_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/042_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..706ec8a6689c277dc51ae2151d44a95074d59c9b
--- /dev/null
+++ b/Office_Room_2/semantics/042_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f617abcf0654cd519f1987f470cd8db41b5560212a480d9cd5ce9e9f60844393
+size 16773760
diff --git a/Office_Room_2/semantics/043_Office_Room_2_equi_semantic.npy b/Office_Room_2/semantics/043_Office_Room_2_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..032273c7724253b2b7a2d15c063988d45e568b51
--- /dev/null
+++ b/Office_Room_2/semantics/043_Office_Room_2_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53bf5380031c72cb1e20193877681eee065da31fb58dbe349791dfdc6e6bc938
+size 16773760
diff --git a/Parking_Lot/semantics/000_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/000_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f6cb8df0614c0f3c22d311e616cf6c1ca42c57e
--- /dev/null
+++ b/Parking_Lot/semantics/000_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85f1246c0d42fe5787425fcfb1bd22d94a1d3c7da6e98f6c062b65306b1cf43
+size 16773760
diff --git a/Parking_Lot/semantics/001_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/001_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a77ea7bb0a6de583bc422b04220cf717b9cac24b
--- /dev/null
+++ b/Parking_Lot/semantics/001_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f0c2026cb8414c95093a27cdc090607ed59befdf300ffa7bc73ceb7ddaceb8d
+size 16773760
diff --git a/Parking_Lot/semantics/002_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/002_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8c338098fc2894b98ef1a3c2643b8399bbe91990
--- /dev/null
+++ b/Parking_Lot/semantics/002_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75440a06ada5dc5f83d1b65d1e22185822be94ee6e1fe22afb993371597654be
+size 16773760
diff --git a/Parking_Lot/semantics/003_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/003_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8a58e6f132a59e8b71eb7fd8a440bbfd5a7265d
--- /dev/null
+++ b/Parking_Lot/semantics/003_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8087d90987ad100448f87071031fea43e2670c8bee5b4a7f8c55a3e19d7d44
+size 16773760
diff --git a/Parking_Lot/semantics/004_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/004_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf5cddd02e135e2ada927dcd40a022ae3d3826f7
--- /dev/null
+++ b/Parking_Lot/semantics/004_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51221d3e9b1ebd73363b2541169e5fd30c113494d9103f05f3529e1ee2104d14
+size 16773760
diff --git a/Parking_Lot/semantics/005_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/005_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12e63a098708b5b61fc9d580affb8a401077540d
--- /dev/null
+++ b/Parking_Lot/semantics/005_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:959e3d72a366a48cf008a5c3e8034bcae78d4757f62302fc009084b46d99b810
+size 16773760
diff --git a/Parking_Lot/semantics/006_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/006_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0f1b85a41d4158252ca8eedab2bba2d4f7b21fa
--- /dev/null
+++ b/Parking_Lot/semantics/006_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba8044e4c60b81971076d85779516db7b617620bef503bbc29b23f195e51940
+size 16773760
diff --git a/Parking_Lot/semantics/007_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/007_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c03db69d3b648f14229718d80108d9fabde60a2c
--- /dev/null
+++ b/Parking_Lot/semantics/007_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ae03c6b47cd10aca6fcbe70c1badc40fad6bb03f49ef207f330df30d36467c3
+size 16773760
diff --git a/Parking_Lot/semantics/008_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/008_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..441d6baba064ce2ba59d5713a339280394b38937
--- /dev/null
+++ b/Parking_Lot/semantics/008_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b16e1e2ddb0383965406c91c22831431de5f3b494ed5460a7671f9dc825b49
+size 16773760
diff --git a/Parking_Lot/semantics/009_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/009_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3814fb7258a3a185c9addbaebe446a11ca5698a6
--- /dev/null
+++ b/Parking_Lot/semantics/009_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50048a59515d08dd472e7c6a967a4e2b2590bcc891b887c46b777009d0942868
+size 16773760
diff --git a/Parking_Lot/semantics/010_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/010_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e157de9896c8dc9bb4ba221933c31e14fd26251
--- /dev/null
+++ b/Parking_Lot/semantics/010_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18df7302b4617b521ab50c20d889b696ddb10db7572ef82cead9f03fe4533f6f
+size 16773760
diff --git a/Parking_Lot/semantics/011_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/011_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..edbf4700d3a645825e002c9ee96abd55a26aaa06
--- /dev/null
+++ b/Parking_Lot/semantics/011_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5adf988932a62aca73b4a6c297f902a1e77269682df117b706c8a5fcb94ed877
+size 16773760
diff --git a/Parking_Lot/semantics/012_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/012_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7dbef042b42cb4f86ea31ab95e27b0ab87d6efff
--- /dev/null
+++ b/Parking_Lot/semantics/012_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea397fed3da6d158d8503e1289b1788874f77d1e6b0f65a8f2a1777b71eb4c0f
+size 16773760
diff --git a/Parking_Lot/semantics/013_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/013_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..42f642c03b46f403ba385effae9f21ddfb4d5a38
--- /dev/null
+++ b/Parking_Lot/semantics/013_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1230b71b1658d2edfcda75a564a2fb3ddb7a50a5994ba8f62ab3540336912917
+size 16773760
diff --git a/Parking_Lot/semantics/014_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/014_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..199e6c1324abd298ebe791d7909a72db695b2c17
--- /dev/null
+++ b/Parking_Lot/semantics/014_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7131cfaba142d71dd6dac552cd4516cd475f1d4bacc2e27fa39d9c64619505ce
+size 16773760
diff --git a/Parking_Lot/semantics/015_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/015_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2bc51749e8f69fa1fdfa8228c052920bede6647
--- /dev/null
+++ b/Parking_Lot/semantics/015_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d38640fca131372b17266a12386b347948847d12c5739c1b7543f6ed8577564
+size 16773760
diff --git a/Parking_Lot/semantics/016_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/016_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24fdf022dc66f405ed79617ec2095c508e16bb84
--- /dev/null
+++ b/Parking_Lot/semantics/016_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa50ec5ca4856e2c5a22a6474fca55cb144e5d09de673fe1d4e6e40b9330438
+size 16773760
diff --git a/Parking_Lot/semantics/017_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/017_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea39dbbb4e885f3f60641d6024bc60e82e6ba0da
--- /dev/null
+++ b/Parking_Lot/semantics/017_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f386e6852b6ff2d2cd63e1a2b1e203b632c131d297436d8d1c0cd5381865298
+size 16773760
diff --git a/Parking_Lot/semantics/018_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/018_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8be1e599745babf1779bb4276b174f6b57284b38
--- /dev/null
+++ b/Parking_Lot/semantics/018_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89f404a168ff64a69ed5046d3c2b9201b566ce7b97afc4aab0cb3746d49c8f4
+size 16773760
diff --git a/Parking_Lot/semantics/019_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/019_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35f2a3108bd287bc4ed1448876b1be23418bae8b
--- /dev/null
+++ b/Parking_Lot/semantics/019_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fab4f59a9edbb23d98e1b65114b8ba44dfa4ff8a505323cd5001f299781f608
+size 16773760
diff --git a/Parking_Lot/semantics/020_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/020_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e24b452c48d57a733e4bc71b8a13ad0c1b879f2
--- /dev/null
+++ b/Parking_Lot/semantics/020_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42475720052560e28bba8d695f6333070842dc50c7ebe43978dd9f026f5b82b
+size 16773760
diff --git a/Parking_Lot/semantics/021_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/021_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..53742910232bf45b9a3e0fa89b559c8b5ca19622
--- /dev/null
+++ b/Parking_Lot/semantics/021_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a069109f58211da3e26101493b838fdfd5206ca1ea5310741d5cedfbbd71d4b4
+size 16773760
diff --git a/Parking_Lot/semantics/022_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/022_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..347bdae606f136d4a03c737817fb357069383c60
--- /dev/null
+++ b/Parking_Lot/semantics/022_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d57e953f6e0b6e43ca5decca05e3e044b0dffe897088ec4929f143d5c20985
+size 16773760
diff --git a/Parking_Lot/semantics/023_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/023_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b985f05f82111ae7c40021827bd058c50d0d4
--- /dev/null
+++ b/Parking_Lot/semantics/023_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d637d71c2d07bce91a41f219fde7f788b375240d76da89cc3b612dcc283133e
+size 16773760
diff --git a/Parking_Lot/semantics/024_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/024_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6acde41e4f6951c1d8ca726c965550402557173b
--- /dev/null
+++ b/Parking_Lot/semantics/024_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2749a69d342f54e9d86f6cadf2578436e3c9f2af0b821ab8621124e4f91f6944
+size 16773760
diff --git a/Parking_Lot/semantics/025_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/025_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6586a118955cdd236ad64e313877d13ec2bc75f0
--- /dev/null
+++ b/Parking_Lot/semantics/025_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d78d9b660c2beb0cf1ffd304ec95f2cce0ad96943d512497532787ff4b8a046
+size 16773760
diff --git a/Parking_Lot/semantics/026_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/026_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f629b76915836f78e669e1f601b5f926f03fe349
--- /dev/null
+++ b/Parking_Lot/semantics/026_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f17ebcdefe5e2c2f19a9568b551f47631a43f5baea9454b6213f75ff783feb
+size 16773760
diff --git a/Parking_Lot/semantics/027_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/027_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a41f00ebc1e3bdcc274ed73be6fa1366b2ff819
--- /dev/null
+++ b/Parking_Lot/semantics/027_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11dd6921aee95a924f05f64431efff64dcd83026917ba6a717b2888c7cdde9fd
+size 16773760
diff --git a/Parking_Lot/semantics/028_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/028_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..08bb594a19e29ba213d3756b9e227a1b2628baad
--- /dev/null
+++ b/Parking_Lot/semantics/028_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b871ca91faee2ee675db2533e8b534386a0c23b79c45595be3ee0882b2147e
+size 16773760
diff --git a/Parking_Lot/semantics/029_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/029_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bea0c303a7e865a686ae0c26bc7968371e7a66d4
--- /dev/null
+++ b/Parking_Lot/semantics/029_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3deadca582221315ca30fb897a8341d0f86affbe10b85a5920ff8d2b1ae94119
+size 16773760
diff --git a/Parking_Lot/semantics/030_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/030_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2f3f8664b1811c44ce87e36827e7ed77afa07ee9
--- /dev/null
+++ b/Parking_Lot/semantics/030_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65c1feb1a52278eb0027555beafc9b7e5534a638e63ac40b260b983599abc4b
+size 16773760
diff --git a/Parking_Lot/semantics/031_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/031_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d78bb40fb2d3f4fcb059c41de92da46d8a799f95
--- /dev/null
+++ b/Parking_Lot/semantics/031_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a09a3ffa56c3d3a51a6d63f15f27a646de86c8f4fce270f81848d8223686511
+size 16773760
diff --git a/Parking_Lot/semantics/032_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/032_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b6e03582494daf2cd37ef077c622b6d46b59e068
--- /dev/null
+++ b/Parking_Lot/semantics/032_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e407d12ea91ee3b163d0f5d3b53ef08f36e649ca2d1f6e4f532a3e19688d96
+size 16773760
diff --git a/Parking_Lot/semantics/033_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/033_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9dd956f4a681c4ac2b234bb9340817a14dfd6d5c
--- /dev/null
+++ b/Parking_Lot/semantics/033_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfbd5c74d4e6a713ad08d9b034c89bb47f8f8d7c553fbdb39e673ee799ddf70
+size 16773760
diff --git a/Parking_Lot/semantics/034_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/034_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a7f3c6903155c99f8a7918bda2a8bd42d7dd70d
--- /dev/null
+++ b/Parking_Lot/semantics/034_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a2c38e55fe4ab4c7084fc1042331e5c4edfbbc5ffe002b37f4ae34a36727a50
+size 16773760
diff --git a/Parking_Lot/semantics/035_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/035_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..77c799d7f876da51c8aa859ac6dfeb7731a33c3e
--- /dev/null
+++ b/Parking_Lot/semantics/035_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d486a4e27b47b46c3f2a694326d7acb37af6205575e7224b69ca552bf029e8b
+size 16773760
diff --git a/Parking_Lot/semantics/036_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/036_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de0d76452afd29cb38f75fdfb6701d8cdd022f81
--- /dev/null
+++ b/Parking_Lot/semantics/036_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f53335769ac79b3db279cee4c10b420eb4cb12f2d9ecfc826f1d9b8e6a626bf
+size 16773760
diff --git a/Parking_Lot/semantics/037_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/037_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc48c75ff70db8316088e213bf4b7ff8e129747c
--- /dev/null
+++ b/Parking_Lot/semantics/037_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea5e4b440e71173b4c0215668da6b089115d439a1a91d31070a5a40f66401b5
+size 16773760
diff --git a/Parking_Lot/semantics/038_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/038_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd26f0cd6aa32d0b806c406d21d59f6910ed3d55
--- /dev/null
+++ b/Parking_Lot/semantics/038_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6cd49b9a2027495a62f4daaa5fdee2ddd0271684532983013702c947f38cc1
+size 16773760
diff --git a/Parking_Lot/semantics/039_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/039_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..caf14d2962e41d8863cddb3f1e470b8b6298153f
--- /dev/null
+++ b/Parking_Lot/semantics/039_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5dec6a5a7ecde7b4f8d509f3559bad011545b7f0e8a2bba85ac5100b0828ac5
+size 16773760
diff --git a/Parking_Lot/semantics/040_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/040_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10bb0505272821fbaa2da387e961cbef083db68c
--- /dev/null
+++ b/Parking_Lot/semantics/040_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3f42b432fda17d47c345e63c906357716557e1ac8f69919ef985b2ffcd2ad4
+size 16773760
diff --git a/Parking_Lot/semantics/041_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/041_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a949ef8736423627347917167fa771538c24c49
--- /dev/null
+++ b/Parking_Lot/semantics/041_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:900a167cefcbe9ae7575407acc847be831f9e1af68143c00b5e12d35984f6eb4
+size 16773760
diff --git a/Parking_Lot/semantics/042_Parking_Lot_equi_semantic.npy b/Parking_Lot/semantics/042_Parking_Lot_equi_semantic.npy
new file mode 100644
index 0000000000000000000000000000000000000000..29d07bac2d3d161d1560b3e4cd505b35f40c8e95
--- /dev/null
+++ b/Parking_Lot/semantics/042_Parking_Lot_equi_semantic.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667920df00c37901fb6db3ffb42d348177a6e28f816d79908b5d4260f8afedef
+size 16773760
diff --git a/README.md b/README.md
index faa37523aa384eb124c2152ac1a9563cf48b70f0..b106ba04a2a1b7dae5cf8492dfb7e7830a96c420 100644
--- a/README.md
+++ b/README.md
@@ -7,47 +7,42 @@ license: cc-by-nc-sa-4.0
 ![Figure showing multiple modalities](assets/figure/figure_1.png?raw=true)
 
 ## Overview  
-The ToF-360 dataset consists of spherical RGB-D images with instance-level semantic and room ayout annotations, which include 4 unique scenes. It contains 179 equirectangular RGB images along with the corresponding depths, surface normals, XYZ images, and HHA images, labeled with building-defining object categories and image based layout boundaries (ceiling-wall, wall-floor). The dataset enables development of scene understanding tasks based on single-shot reconstruction without the need for global alignment in indoor spaces.
-
+The ToF-360 dataset consists of spherical RGB-D images with instance-level semantic and room layout annotations, which include 4 unique scenes. It contains 179 equirectangular RGB images along with the corresponding depths, surface normals, XYZ images, and HHA images, labeled with building-defining object categories and image based layout boundaries (ceiling-wall, wall-floor). The dataset enables development of scene understanding tasks based on single-shot reconstruction without the need for global alignment in indoor spaces.
 
 ## Dataset Modalities  
-Each scenes in the dataset has its own folder in the dataset. All the modalities and metadata for each area are contained in that folder as `<scene>/<modality>`.
-
-**HHA images:**  
-We followed [[Depth2HHA-python]](https://github.com/charlesCXK/Depth2HHA-python) to create it.
+Each scenes in the dataset has its own folder in the dataset. All the modalities for each area are contained in that folder as `<scene>/<modality>`.
 
 **RGB images:**  
-RGB images contain equirectangular 24-bit color images converted from raw dual fisheye image. 
+RGB images contain equirectangular 24-bit color and it is converted from raw dual fisheye image taken by a sensor.
 
 **Manhattan aligned RGB images:**  
-We followed [[LGT-Net]](https://github.com/zhigangjiang/LGT-Net) to create Manhattan aligned RGB images.
-
-**XYZ images:**  
-XYZ images are saved as `.npy` binary file format in NumPy. It contains pixel-aligned set of data points in space with a sensitivity of mm. It must be the size of (Height, Width, 3[xyz]).
-
-**Annotation:**  
+We followed the preprocessing code proposed by [[LGT-Net]](https://github.com/zhigangjiang/LGT-Net) to create Manhattan aligned RGB images. Sample code for our dataset is in `assets/preprocessing/align_manhattan.py`.
 
 **depth:**  
-Depth images are stored as 16-bit PNGs having a maximum depth of 128m and a sensitivity of 1/512m. Missing values are encoded with the value 0. Note that while depth is defined as the distance from the point-center of the camera in the panoramics. 
+Depth images are stored as 16-bit grayscale PNGs having a maximum depth of 128m and a sensitivity of 1/512m. Missing values are encoded with the value 0. Note that while depth is defined as the distance from the point-center of the camera in the panoramics. 
 
-**Room layout annotation:**  
-Room layout annotations are stored as same json format as [PanoAnnotator](https://github.com/SunDaDenny/PanoAnnotator). Please refer to this repo for more details.
+**XYZ images:**  
+XYZ images are saved as `.npy` binary file format in [NumPy](https://numpy.org/). It contains pixel-aligned set of data points in space with a sensitivity of mm. It must be the size of (Height, Width, 3[xyz]).
 
 **Normal images:**  
-Normals are 127.5-centered per-channel surface normal images. The normal vector is saved as 24-bit RGB PNGs where Red is the horizontal value (more red to the right), Green is vertical (more green downwards), and Blue is towards the camera. It is computed by [normal estimation function](https://www.open3d.org/docs/0.7.0/python_api/open3d.geometry.estimate_normals.html) in [Open3D](https://github.com/isl-org/Open3D). The tool for creating normal images from 3D is located in the `assets/compute_normal.py`
-
-## Tools  
-This repository provides some basic tools for interacting with the dataset and how to get preprocessed data. The tools are located in the `assets/preprocessing` folder.
-
-## Evaluation  
-**Semantic segmentation (image-based):**  
+Normals are 127.5-centered per-channel surface normal images. The normal vector is saved as 24-bit RGB PNGs where Red is the horizontal value (more red to the right), Green is vertical (more green downwards), and Blue is towards the camera. It is computed by [normal estimation function](https://www.open3d.org/docs/0.7.0/python_api/open3d.geometry.estimate_normals.html) in [Open3D](https://github.com/isl-org/Open3D). The tool for creating normal images from 3D is located in the `assets/preprocessing/depth2normal.py`.
 
+**HHA images:**  
+HHA images contains horizontal disparity, height above ground and angle with gravity, respectively.
+We followed [Depth2HHA-python](https://github.com/charlesCXK/Depth2HHA-python) to create it. Code is located in `assets/preprocessing/getHHA.py`.
 
-**Semantic segmentation (pointcloud-based):**  
+**Annotation:**  
+We used the [COCO Annotator](https://github.com/jsbroks/coco-annotator) for labelling the RGB data. We follow [ontology-based annotation guidelines](https://www.dfki.de/fileadmin/user_upload/import/13246_EC3_2023_Ontology_based_annotation_of_RGB_D_images_and_point_clouds_for_a_domain_adapted_dataset.pdf) developed for both RGB-D and point cloud data.  
+`<scenes>/annotation` contains json format files, `<scenes>/semantics` and `<scenes>/instances>` have image-like labeled data stored as `.npy` binary file.
 
+**Room layout annotation:**  
+Room layout annotations are stored as same json format as [PanoAnnotator](https://github.com/SunDaDenny/PanoAnnotator). Please refer to this repo for more details.
 
-**Layout estimation:**  
+## Tools  
+This repository provides some basic tools for getting preprocessed data and evaluating dataset. The tools are located in the `assets/` folder.
 
+## Croissant metadata
+You can use [this instruction](https://huggingface.co/docs/datasets-server/croissant) provided by HuggingFace. `croissant_metadata.json` is also available.
 
 ## Citations  
 Coming soon...
\ No newline at end of file
diff --git a/assets/layout_eval/README.md b/assets/layout_eval/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..9f06f09ebfea9438f8b7875a80627a0ff4fabe00
--- /dev/null
+++ b/assets/layout_eval/README.md
@@ -0,0 +1,58 @@
+# Evaluation with LGT-Net  
+This is instruction for evaluating our dataset with "[LGT-Net: Indoor Panoramic Room Layout Estimation with Geometry-Aware Transformer Network](https://arxiv.org/abs/2203.01824)".
+
+# Downloading Pre-trained Weights
+Pre-trained weights are provided by authors on individual datasets at [here](https://drive.google.com/drive/folders/1bOZyXeuNnwFEC9nw7EgJUwMiI685obdT?usp=sharing).  
+These models are used in our dataset paper below.  
+- [mp3d/best.pkl](https://drive.google.com/file/d/1o97oAmd-yEP5bQrM0eAWFPLq27FjUDbh/view?usp=sharing): Training on MatterportLayout dataset
+- [pano/best.pkl](https://drive.google.com/file/d/1JoeqcPbm_XBPOi6O9GjjWi3_rtyPZS8m/view?usp=sharing): Training on PanoContext(train)+Stanford2D-3D(whole) dataset
+- [s2d3d/best.pkl](https://drive.google.com/file/d/1PfJzcxzUsbwwMal7yTkBClIFgn8IdEzI/view?usp=sharing): Training on Stanford2D-3D(train)+PanoContext(whole) dataset
+
+Make sure the pre-trained weight files are stored as follows:
+```
+checkpoints
+|-- SWG_Transformer_LGT_Net
+|   |-- mp3d
+|   |   |-- best.pkl
+|   |-- pano
+|   |   |-- best.pkl
+|   |-- s2d3d
+|   |   |-- best.pkl
+```
+
+# Preparing Dataset  
+You can use `assets/layout_eval/convert4LGTNet.py` to get proper data structure for evaluation.
+
+### Evaluation with MatterportLayout  
+Make sure the dataset files are stored as follows:
+```
+src/dataset/mp3d
+|-- image
+|   |-- 000_<scene>_equi_rgb.png
+|-- label
+|   |-- 000_<scene>_equi_layout.json
+|-- split
+    |-- test.txt # it needs to contain all of files.
+```
+
+### Evaluation with PanoContext 
+Make sure the dataset files are stored as follows:
+```
+src/dataset/pano_s2d3d
+|-- test
+|   |-- img
+|   |   |-- pano_000_<scene>_equi_rgb.png
+|   |-- label_cor
+|       |-- pano_000_<scene>_equi_layout.txt
+```
+
+### Evaluation with Stanford 2D-3D  
+Make sure the dataset files are stored as follows:
+```
+src/dataset/pano_s2d3d
+|-- test
+|   |-- img
+|   |   |-- camera_000_<scene>_equi_rgb.png
+|   |-- label_cor
+|       |-- camera_000_<scene>_equi_layout.txt
+```
\ No newline at end of file
diff --git a/assets/layout_eval/config/eval_mp3d.yaml b/assets/layout_eval/config/eval_mp3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cc03283aa34245011449fe70d296649e197fc47b
--- /dev/null
+++ b/assets/layout_eval/config/eval_mp3d.yaml
@@ -0,0 +1,43 @@
+COMMENT: 'Training on MatterportLayout'
+TAG: 'mp3d'
+SEED: 123
+MODEL:
+  NAME: 'LGT_Net'
+  ARGS: [ {
+    'decoder_name': 'SWG_Transformer',
+    'win_size': 16,
+    'rpe': 'lr_parameter_mirror',
+    'dropout': 0.0,
+    'depth': 8,
+    'output_name': 'LGT'
+  } ]
+TRAIN:
+  DEVICE: 'cuda:0'
+  SCRATCH: False
+  DETERMINISTIC: True
+  CRITERION:
+    DEPTH:
+      WEIGHT: 0.9
+    RATIO:
+      WEIGHT: 0.1
+    GRAD:
+      WEIGHT: 0.1
+      WEIGHTS: [ 1.0, 1.0 ]
+  BASE_LR:
+    1e-4
+  RESUME_LAST: False
+  OPTIMIZER:
+    NAME: 'adam'
+  EPOCHS: 1000
+DATA:
+  DATASET: 'mp3d'
+  DIR: 'src/dataset/mp3d'
+  BATCH_SIZE: 6
+  NUM_WORKERS: 6
+  FOR_TEST_INDEX: None
+  AUG:
+    FLIP: True
+    STRETCH: True
+    ROTATE: True
+    GAMMA: True
+AMP_OPT_LEVEL: 'O0'
diff --git a/assets/layout_eval/config/eval_pano.yaml b/assets/layout_eval/config/eval_pano.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..230fbf61316b6388d6ef234193c0d00eb3b90823
--- /dev/null
+++ b/assets/layout_eval/config/eval_pano.yaml
@@ -0,0 +1,44 @@
+COMMENT: 'Training on PanoContext(train)+Stanford2D-3D(whole)'
+TAG: 'pano'
+SEED: 123
+MODEL:
+  NAME: 'LGT_Net'
+  ARGS: [ {
+    'decoder_name': 'SWG_Transformer',
+    'win_size': 16,
+    'rpe': 'lr_parameter_mirror',
+    'dropout': 0.0,
+    'depth': 6,
+    'output_name': 'LGT'
+  } ]
+TRAIN:
+  DEVICE: 'cuda:0'
+  SCRATCH: False
+  DETERMINISTIC: True
+  CRITERION:
+    DEPTH:
+      WEIGHT: 0.9
+    RATIO:
+      WEIGHT: 0.1
+    GRAD:
+      WEIGHT: 0.1
+      WEIGHTS: [ 1.0, 1.0 ]
+  BASE_LR:
+    1e-4
+  RESUME_LAST: False
+  OPTIMIZER:
+    NAME: 'adam'
+  EPOCHS: 1000
+DATA:
+  DATASET: 'pano_s2d3d_mix'
+  DIR: 'src/dataset/pano'
+  SUBSET: 'pano'
+  BATCH_SIZE: 6
+  NUM_WORKERS: 6
+  FOR_TEST_INDEX: None
+  AUG:
+    FLIP: True
+    STRETCH: True
+    ROTATE: True
+    GAMMA: True
+AMP_OPT_LEVEL: 'O0'
diff --git a/assets/layout_eval/config/eval_s2d3d.yaml b/assets/layout_eval/config/eval_s2d3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..60c8eb64292e5c431eb707025fa6ba1aa585c971
--- /dev/null
+++ b/assets/layout_eval/config/eval_s2d3d.yaml
@@ -0,0 +1,44 @@
+COMMENT: 'Training on Stanford2D-3D(train)+PanoContext(whole)'
+TAG: 's2d3d'
+SEED: 123
+MODEL:
+  NAME: 'LGT_Net'
+  ARGS: [ {
+    'decoder_name': 'SWG_Transformer',
+    'win_size': 16,
+    'rpe': 'lr_parameter_mirror',
+    'dropout': 0.0,
+    'depth': 6,
+    'output_name': 'LGT'
+  } ]
+TRAIN:
+  DEVICE: 'cuda:0'
+  SCRATCH: False
+  DETERMINISTIC: True
+  CRITERION:
+    DEPTH:
+      WEIGHT: 0.9
+    RATIO:
+      WEIGHT: 0.1
+    GRAD:
+      WEIGHT: 0.1
+      WEIGHTS: [ 1.0, 1.0 ]
+  BASE_LR:
+    1e-4
+  RESUME_LAST: False
+  OPTIMIZER:
+    NAME: 'adam'
+  EPOCHS: 1000
+DATA:
+  DATASET: 'pano_s2d3d_mix'
+  DIR: 'src/dataset/s2d3d'
+  SUBSET: 's2d3d'
+  BATCH_SIZE: 6
+  NUM_WORKERS: 6
+  FOR_TEST_INDEX: None
+  AUG:
+    FLIP: True
+    STRETCH: True
+    ROTATE: True
+    GAMMA: True
+AMP_OPT_LEVEL: 'O0'
diff --git a/assets/layout_eval/convert4LGTNet.py b/assets/layout_eval/convert4LGTNet.py
new file mode 100644
index 0000000000000000000000000000000000000000..9bec4a752eefc46f126afd8d157451fa5ac817ef
--- /dev/null
+++ b/assets/layout_eval/convert4LGTNet.py
@@ -0,0 +1,106 @@
+import os
+import shutil
+import glob
+from tqdm import tqdm
+import cv2
+from natsort import natsorted
+import json
+import math
+
+def config_setup():
+    config = {}
+    config["img_width_for_resize"] = 1024
+    config["input_scenes"] = ["Hospital", "Office_Room_1", "Office_Room_2", "Parking_Lot"]
+    config["output_folders"] = ["src/dataset/mp3d/", "src/dataset/pano/", "src/dataset/s2d3d/"]
+    config["output_RGB_rules"] = ["image/", "test/img/pano_", "test/img/camera_"]
+    config["output_json_rules"] = ["label/", "test/label_cor/pano_", "test/label_cor/camera_"]
+
+    # remove un-Manhattan aligned images
+    config["except_list"] = ["017_Hospital",
+                             "044_Hospital", 
+                             "049_Hospital",
+                             "012_Office_Room_2", 
+                             "034_Office_Room_2", 
+                             "008_Office_Room_1", 
+                             "010_Office_Room_1", 
+                             "014_Office_Room_1", 
+                             "017_Office_Room_1", 
+                             "025_Office_Room_1", 
+                             "037_Office_Room_1"
+                             ]
+    return config
+
+def xyz2uv(xyz):
+
+    normXZ = math.sqrt( math.pow(xyz[0], 2) + math.pow(xyz[2], 2) )
+    if normXZ < 0.000001:
+        normXZ = 0.000001
+
+    normXYZ = math.sqrt(math.pow(xyz[0], 2) + 
+                        math.pow(xyz[1], 2) + 
+                        math.pow(xyz[2], 2) )
+
+    v = math.asin(xyz[1] / normXYZ)
+    u = math.asin(xyz[0] / normXZ)
+
+    if xyz[2] > 0 and u > 0:
+        u = math.pi - u
+    elif xyz[2] > 0 and u < 0:
+        u = -math.pi - u 
+
+    uv = (u, v)
+
+    return uv
+
+def uv2coords(uv):
+
+    coordsX = uv[0] / (2 * math.pi) + 0.5
+    coordsY = -uv[1] / math.pi + 0.5
+
+    coords = (coordsX, coordsY)
+
+    return coords
+
+def write_json2txt(input_json, output_txt, img_width):
+    output_list = []
+    with open(input_json) as f:
+        dict_json = json.load(f)
+
+    for point in dict_json["layoutPoints"]["points"]:
+        layout_up = uv2coords(xyz2uv([point["xyz"][0], point["xyz"][1] + dict_json["layoutHeight"] - dict_json["cameraHeight"], point["xyz"][2]]))
+        layout_down = uv2coords(xyz2uv([point["xyz"][0], point["xyz"][1] - dict_json["cameraHeight"], point["xyz"][2]]))
+        output_list.append(" ".join([str(int(layout_up[0]*img_width)), str(int(layout_up[1]*img_width/2))]) + "\n")
+        output_list.append(" ".join([str(int(layout_down[0]*img_width)), str(int(layout_down[1]*img_width/2))]) + "\n")
+
+    with open(output_txt, "a") as t:
+        t.writelines(output_list)
+    return 0
+
+def main():
+    config = config_setup()
+    
+    for input_scene in config["input_scenes"]:
+        img_files = natsorted(glob.glob(input_scene+"/RGB_mh_aligned/*_equi_rgb_aligned.png"))
+        json_files = natsorted(glob.glob(input_scene+"/layout/*_equi_layout.json"))
+
+        for img_file, json_file in zip(img_files, json_files):
+            idx = img_file.split(".")[0].split("/")[-1].split(input_scene)[0]
+
+            if idx + "_" + input_scene in config["except_list"]:
+                continue
+            
+            else:
+                for output_folder, output_RGB_rule, output_json_rule in zip(config["output_folders"], config["output_RGB_rules"], config["output_json_rules"]):
+                    os.makedirs(output_folder+output_RGB_rule.split("/")[:-1], exist_ok=True)
+                    os.makedirs(output_folder+output_json_rule.split("/")[:-1], exist_ok=True)
+                    output_file = output_folder+output_RGB_rule+idx+"_"+input_scene+"_equi_rgb_aligned.png"
+                    output_txt = output_folder+output_json_rule+idx+"_"+input_scene+"_equi_layout.txt"
+                
+                img = cv2.resize(cv2.imread(img_file), (config["img_width_for_resize"], int(config["img_width_for_resize"]/2)))
+                cv2.imwrite(output_file, img)
+
+                img_width = img.shape[1]
+                write_json2txt(json_file, output_txt, img_width)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/assets/pointcloud_eval/README.md b/assets/pointcloud_eval/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..8ee332c8d1059825c23b8708f03e4e9051563bb1
--- /dev/null
+++ b/assets/pointcloud_eval/README.md
@@ -0,0 +1,5 @@
+### Point Cloud Evaluation
+
+Point cloud evaluation uses PointTransformerV3 from the original repository [Pointcept](https://github.com/Pointcept/Pointcept). The preprocessing script prepares the data in the S3DIS format used by Pointcept and the config file is a modified version of the config file for S3DIS.
+
+The training and evaluation follow the same setup described by the state of the art method.
\ No newline at end of file
diff --git a/assets/pointcloud_eval/preprocess_tof_360.py b/assets/pointcloud_eval/preprocess_tof_360.py
new file mode 100644
index 0000000000000000000000000000000000000000..1712b535a92ea4ba1df17173b35b0f7a6d3a338c
--- /dev/null
+++ b/assets/pointcloud_eval/preprocess_tof_360.py
@@ -0,0 +1,139 @@
+"""
+Preprocessing Script for ToF-360
+
+Author: Mahdi Chamseddine (mahdi.chamseddine@dfki.de)
+Please cite our work if the code is helpful to you.
+"""
+from pathlib import Path
+
+import cv2
+import numpy as np
+import open3d as o3d
+
+
+def map_label(label: int) -> int:
+
+    match label:
+        case 0 | 33 | 34:  # <UNK>
+            return -1
+        case 2 | 20 | 42:  # ceiling
+            return 0
+        case 3 | 18:  # floor
+            return 1
+        case 1 | 40:  # wall
+            return 2
+        # case 17:  # beam
+        #     return 3
+        case 14:  # column
+            return 4
+        case 8:  # window
+            return 5
+        case 7:  # door
+            return 6
+        case 12:  # table
+            return 7
+        case 5:  # chair
+            return 8
+        case 4:  # sofa
+            return 9
+        case 31:  # bookcase
+            return 10
+        # case 26:  # board
+        #     return 11
+        case _:  # clutter
+            return 12
+
+
+def downsample(xyz: np.ndarray, voxel_size: float = 0.01) -> np.ndarray:
+    min_vals = np.min(xyz, axis=0)
+    max_vals = np.max(xyz, axis=0)
+    point_cloud = o3d.geometry.PointCloud()
+    point_cloud.points = o3d.utility.Vector3dVector(xyz)
+    _, _, indices = point_cloud.voxel_down_sample_and_trace(
+        voxel_size, min_vals, max_vals
+    )
+    indices = [np.random.choice(idx) for idx in indices]
+    return np.asarray(indices)
+
+
+def preprocess_scans(area_path: Path) -> None:
+    xyz_dir = area_path / "XYZ"
+    for scan_path in xyz_dir.glob("*.npy*"):
+        scan_name = scan_path.stem[: -len("_xxx")]
+        parse_scan(scan_name, area_path)
+
+
+def parse_scan(scan_name: str, area_path: Path, debug: bool = False):
+    output_name = area_path.stem + "_" + scan_name
+    print(f"Parsing scan: {output_name}", flush=True)
+    processed_path = (
+        area_path.parent.parent / "preprocessed" / area_path.parent.stem / output_name
+    )
+    # if processed_path.exists():
+    #     return
+    processed_path.mkdir(parents=True, exist_ok=True)
+
+    print(f"--- [{output_name}] reading point cloud", flush=True)
+    xyz_path = Path(area_path / "XYZ", scan_name + "_XYZ.npy")
+    temp = np.load(xyz_path)
+
+    temp = temp.reshape(-1, 3) / 1000  # mm to m
+    coord = temp.copy()
+    coord[:, 1] = temp[:, 2]
+    coord[:, 2] = -temp[:, 1]
+    png_path = Path(area_path / "RGB", scan_name + "_rgb.png")
+    color = cv2.imread(png_path.resolve())
+    color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB).reshape(-1, 3) / 255
+
+    print(f"--- [{output_name}] loading labels", flush=True)
+    semantic_path = Path(area_path / "semantics", scan_name + "_semantic.npy")
+    segment = np.load(semantic_path).reshape(-1)
+    segment = np.vectorize(map_label)(segment)
+
+    normal_path = Path(area_path / "normal", scan_name + "_normal.png")
+    temp = cv2.imread(normal_path.resolve())
+    temp = cv2.cvtColor(temp, cv2.COLOR_BGR2RGB).reshape(-1, 3) * 2 / 255
+    temp = temp - 1
+    normal = temp.copy()
+    normal[:, 1] = temp[:, 2]
+    normal[:, 2] = -temp[:, 1]
+
+    print(f"--- [{output_name}] down sampling", flush=True)
+    idx = downsample(coord)
+
+    print(f"--- [{output_name}] saving", flush=True)
+    coord = np.ascontiguousarray(coord[idx, :], dtype=np.float32)
+    np.save(Path(processed_path, "coord.npy"), coord)
+    color = np.ascontiguousarray(color[idx, :], dtype=np.float32)
+    np.save(Path(processed_path, "color.npy"), color)
+    normal = np.ascontiguousarray(normal[idx, :], dtype=np.float32)
+    np.save(Path(processed_path, "normal.npy"), normal)
+    segment = np.ascontiguousarray(segment[idx], dtype=np.int32)
+    np.save(Path(processed_path, "segment.npy"), segment)
+
+
+def main():
+    # splits = ["test", "train", "val"]
+    # splits = ["train"]
+    splits = [""]
+    dataset_directory = "path/to/ToF-360/"
+
+    areas = ["Hospital", "Office_Room_1", "Office_Room_2", "Parking_Lot"]
+
+    for split in splits:
+        split_directory = dataset_directory + split
+        split_path = Path(split_directory)
+        # Check if the parent directory exists
+        if not split_path.is_dir():
+            print(
+                f"Error: '{split_path.resolve()}' is not a valid directory.",
+                flush=True,
+            )
+            return
+        for area_path in split_path.iterdir():
+            if area_path.is_dir() and area_path.stem in areas:
+                preprocess_scans(area_path)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/assets/pointcloud_eval/semseg-pt-v3m1-2-ppt-extreme_tof_360_eval.py b/assets/pointcloud_eval/semseg-pt-v3m1-2-ppt-extreme_tof_360_eval.py
new file mode 100644
index 0000000000000000000000000000000000000000..ebe8274e8a0d8bf9464bf42c2e4093964041a712
--- /dev/null
+++ b/assets/pointcloud_eval/semseg-pt-v3m1-2-ppt-extreme_tof_360_eval.py
@@ -0,0 +1,489 @@
+"""
+PTv3 + PPT
+Pre-trained on ScanNet + Structured3D
+(S3DIS is commented by default as a long data time issue of S3DIS: https://github.com/Pointcept/Pointcept/issues/103)
+In the original PPT paper, 3 datasets are jointly trained and validated on the three datasets jointly with
+one shared weight model. In PTv3, we trained on multi-dataset but only validated on one single dataset to
+achieve extreme performance on one single dataset.
+
+To enable joint training on three datasets, uncomment config for the S3DIS dataset and change the "loop" of
+ Structured3D and ScanNet to 4 and 2 respectively.
+ 
+Modified to test on ToF-360 dataset
+"""
+
+_base_ = ["../_base_/default_runtime.py"]
+
+# misc custom setting
+batch_size = 24  # bs: total bs in all gpus
+num_worker = 48
+mix_prob = 0.8
+empty_cache = False
+enable_amp = True
+find_unused_parameters = True
+
+# trainer
+train = dict(
+    type="MultiDatasetTrainer",
+)
+
+# model settings
+model = dict(
+    type="PPT-v1m1",
+    backbone=dict(
+        type="PT-v3m1",
+        in_channels=6,
+        order=("z", "z-trans", "hilbert", "hilbert-trans"),
+        stride=(2, 2, 2, 2),
+        enc_depths=(2, 2, 2, 6, 2),
+        enc_channels=(32, 64, 128, 256, 512),
+        enc_num_head=(2, 4, 8, 16, 32),
+        enc_patch_size=(1024, 1024, 1024, 1024, 1024),
+        dec_depths=(2, 2, 2, 2),
+        dec_channels=(64, 64, 128, 256),
+        dec_num_head=(4, 4, 8, 16),
+        dec_patch_size=(1024, 1024, 1024, 1024),
+        mlp_ratio=4,
+        qkv_bias=True,
+        qk_scale=None,
+        attn_drop=0.0,
+        proj_drop=0.0,
+        drop_path=0.3,
+        shuffle_orders=True,
+        pre_norm=True,
+        enable_rpe=False,
+        enable_flash=True,
+        upcast_attention=False,
+        upcast_softmax=False,
+        cls_mode=False,
+        pdnorm_bn=True,
+        pdnorm_ln=True,
+        pdnorm_decouple=True,
+        pdnorm_adaptive=False,
+        pdnorm_affine=True,
+        pdnorm_conditions=("ScanNet", "S3DIS", "Structured3D"),
+    ),
+    criteria=[
+        dict(type="CrossEntropyLoss", loss_weight=1.0, ignore_index=-1),
+        dict(type="LovaszLoss", mode="multiclass", loss_weight=1.0, ignore_index=-1),
+    ],
+    backbone_out_channels=64,
+    context_channels=256,
+    conditions=("Structured3D", "ScanNet", "S3DIS"),
+    template="[x]",
+    clip_model="ViT-B/16",
+    # fmt: off
+    class_name=(
+        "wall", "floor", "cabinet", "bed", "chair", "sofa", "table", "door",
+        "window", "bookshelf", "bookcase", "picture", "counter", "desk", "shelves", "curtain",
+        "dresser", "pillow", "mirror", "ceiling", "refrigerator", "television", "shower curtain", "nightstand",
+        "toilet", "sink", "lamp", "bathtub", "garbagebin", "board", "beam", "column",
+        "clutter", "otherstructure", "otherfurniture", "otherprop",
+    ),
+    valid_index=(
+        (0, 1, 2, 3, 4, 5, 6, 7, 8, 11, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 25, 26, 33, 34, 35),
+        (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13, 15, 20, 22, 24, 25, 27, 34),
+        (0, 1, 4, 5, 6, 7, 8, 10, 19, 29, 30, 31, 32),
+    ),
+    # fmt: on
+    backbone_mode=False,
+)
+
+# scheduler settings
+epoch = 100
+optimizer = dict(type="AdamW", lr=0.005, weight_decay=0.05)
+scheduler = dict(
+    type="OneCycleLR",
+    max_lr=[0.005, 0.0005],
+    pct_start=0.05,
+    anneal_strategy="cos",
+    div_factor=10.0,
+    final_div_factor=1000.0,
+)
+param_dicts = [dict(keyword="block", lr=0.0005)]
+
+# dataset settings
+data = dict(
+    num_classes=13,
+    ignore_index=-1,
+    names=[
+        "ceiling",
+        "floor",
+        "wall",
+        "beam",
+        "column",
+        "window",
+        "door",
+        "table",
+        "chair",
+        "sofa",
+        "bookcase",
+        "board",
+        "clutter",
+    ],
+    train=dict(
+        type="ConcatDataset",
+        datasets=[
+            # Structured3D
+            dict(
+                type="Structured3DDataset",
+                split=["train", "val", "test"],
+                data_root="data/structured3d",
+                transform=[
+                    dict(type="CenterShift", apply_z=True),
+                    dict(
+                        type="RandomDropout",
+                        dropout_ratio=0.2,
+                        dropout_application_ratio=0.2,
+                    ),
+                    # dict(type="RandomRotateTargetAngle", angle=(1/2, 1, 3/2), center=[0, 0, 0], axis="z", p=0.75),
+                    dict(
+                        type="RandomRotate",
+                        angle=[-1, 1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=0.5,
+                    ),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="x", p=0.5),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="y", p=0.5),
+                    dict(type="RandomScale", scale=[0.9, 1.1]),
+                    # dict(type="RandomShift", shift=[0.2, 0.2, 0.2]),
+                    dict(type="RandomFlip", p=0.5),
+                    dict(type="RandomJitter", sigma=0.005, clip=0.02),
+                    # dict(
+                    #     type="ElasticDistortion",
+                    #     distortion_params=[[0.2, 0.4], [0.8, 1.6]],
+                    # ),
+                    dict(type="ChromaticAutoContrast", p=0.2, blend_factor=None),
+                    dict(type="ChromaticTranslation", p=0.95, ratio=0.05),
+                    dict(type="ChromaticJitter", p=0.95, std=0.05),
+                    # dict(type="HueSaturationTranslation", hue_max=0.2, saturation_max=0.2),
+                    # dict(type="RandomColorDrop", p=0.2, color_augment=0.0),
+                    dict(
+                        type="GridSample",
+                        grid_size=0.02,
+                        hash_type="fnv",
+                        mode="train",
+                        return_grid_coord=True,
+                    ),
+                    dict(type="SphereCrop", sample_rate=0.8, mode="random"),
+                    dict(type="SphereCrop", point_max=204800, mode="random"),
+                    dict(type="CenterShift", apply_z=False),
+                    dict(type="NormalizeColor"),
+                    # dict(type="ShufflePoint"),
+                    dict(type="Add", keys_dict={"condition": "Structured3D"}),
+                    dict(type="ToTensor"),
+                    dict(
+                        type="Collect",
+                        keys=("coord", "grid_coord", "segment", "condition"),
+                        feat_keys=("color", "normal"),
+                    ),
+                ],
+                test_mode=False,
+                loop=4,  # sampling weight
+            ),
+            # ScanNet
+            dict(
+                type="ScanNetDataset",
+                split="train",
+                data_root="data/scannet",
+                transform=[
+                    dict(type="CenterShift", apply_z=True),
+                    dict(
+                        type="RandomDropout",
+                        dropout_ratio=0.2,
+                        dropout_application_ratio=0.2,
+                    ),
+                    # dict(type="RandomRotateTargetAngle", angle=(1/2, 1, 3/2), center=[0, 0, 0], axis="z", p=0.75),
+                    dict(
+                        type="RandomRotate",
+                        angle=[-1, 1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=0.5,
+                    ),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="x", p=0.5),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="y", p=0.5),
+                    dict(type="RandomScale", scale=[0.9, 1.1]),
+                    # dict(type="RandomShift", shift=[0.2, 0.2, 0.2]),
+                    dict(type="RandomFlip", p=0.5),
+                    dict(type="RandomJitter", sigma=0.005, clip=0.02),
+                    # dict(
+                    #     type="ElasticDistortion",
+                    #     distortion_params=[[0.2, 0.4], [0.8, 1.6]],
+                    # ),
+                    dict(type="ChromaticAutoContrast", p=0.2, blend_factor=None),
+                    dict(type="ChromaticTranslation", p=0.95, ratio=0.05),
+                    dict(type="ChromaticJitter", p=0.95, std=0.05),
+                    # dict(type="HueSaturationTranslation", hue_max=0.2, saturation_max=0.2),
+                    # dict(type="RandomColorDrop", p=0.2, color_augment=0.0),
+                    dict(
+                        type="GridSample",
+                        grid_size=0.02,
+                        hash_type="fnv",
+                        mode="train",
+                        return_grid_coord=True,
+                    ),
+                    dict(type="SphereCrop", point_max=102400, mode="random"),
+                    dict(type="CenterShift", apply_z=False),
+                    dict(type="NormalizeColor"),
+                    # dict(type="ShufflePoint"),
+                    dict(type="Add", keys_dict={"condition": "ScanNet"}),
+                    dict(type="ToTensor"),
+                    dict(
+                        type="Collect",
+                        keys=("coord", "grid_coord", "segment", "condition"),
+                        feat_keys=("color", "normal"),
+                    ),
+                ],
+                test_mode=False,
+                loop=2,  # sampling weight
+            ),
+            # S3DIS
+            dict(
+                type="S3DISDataset",
+                split=("Area_1", "Area_2", "Area_3", "Area_4", "Area_6"),
+                data_root="data/s3dis",
+                transform=[
+                    dict(type="CenterShift", apply_z=True),
+                    dict(
+                        type="RandomDropout",
+                        dropout_ratio=0.2,
+                        dropout_application_ratio=0.2,
+                    ),
+                    # dict(type="RandomRotateTargetAngle", angle=(1/2, 1, 3/2), center=[0, 0, 0], axis="z", p=0.75),
+                    dict(
+                        type="RandomRotate",
+                        angle=[-1, 1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=0.5,
+                    ),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="x", p=0.5),
+                    dict(type="RandomRotate", angle=[-1 / 64, 1 / 64], axis="y", p=0.5),
+                    dict(type="RandomScale", scale=[0.9, 1.1]),
+                    # dict(type="RandomShift", shift=[0.2, 0.2, 0.2]),
+                    dict(type="RandomFlip", p=0.5),
+                    dict(type="RandomJitter", sigma=0.005, clip=0.02),
+                    # dict(
+                    #     type="ElasticDistortion",
+                    #     distortion_params=[[0.2, 0.4], [0.8, 1.6]],
+                    # ),
+                    dict(type="ChromaticAutoContrast", p=0.2, blend_factor=None),
+                    dict(type="ChromaticTranslation", p=0.95, ratio=0.05),
+                    dict(type="ChromaticJitter", p=0.95, std=0.05),
+                    # dict(type="HueSaturationTranslation", hue_max=0.2, saturation_max=0.2),
+                    # dict(type="RandomColorDrop", p=0.2, color_augment=0.0),
+                    dict(
+                        type="GridSample",
+                        grid_size=0.02,
+                        hash_type="fnv",
+                        mode="train",
+                        return_grid_coord=True,
+                    ),
+                    dict(type="SphereCrop", sample_rate=0.6, mode="random"),
+                    dict(type="SphereCrop", point_max=204800, mode="random"),
+                    dict(type="CenterShift", apply_z=False),
+                    dict(type="NormalizeColor"),
+                    # dict(type="ShufflePoint"),
+                    dict(type="Add", keys_dict={"condition": "S3DIS"}),
+                    dict(type="ToTensor"),
+                    dict(
+                        type="Collect",
+                        keys=("coord", "grid_coord", "segment", "condition"),
+                        feat_keys=("color", "normal"),
+                    ),
+                ],
+                test_mode=False,
+                loop=1,  # sampling weight
+            ),
+        ],
+    ),
+    val=dict(
+        type="S3DISDataset",
+        split="Area_5",
+        data_root="data/s3dis",
+        transform=[
+            dict(type="CenterShift", apply_z=True),
+            dict(
+                type="Copy",
+                keys_dict={"coord": "origin_coord", "segment": "origin_segment"},
+            ),
+            dict(
+                type="GridSample",
+                grid_size=0.02,
+                hash_type="fnv",
+                mode="train",
+                return_grid_coord=True,
+            ),
+            dict(type="CenterShift", apply_z=False),
+            dict(type="NormalizeColor"),
+            dict(type="ToTensor"),
+            dict(type="Add", keys_dict={"condition": "S3DIS"}),
+            dict(
+                type="Collect",
+                keys=(
+                    "coord",
+                    "grid_coord",
+                    "origin_coord",
+                    "segment",
+                    "origin_segment",
+                    "condition",
+                ),
+                offset_keys_dict=dict(offset="coord", origin_offset="origin_coord"),
+                feat_keys=("color", "normal"),
+            ),
+        ],
+        test_mode=False,
+    ),
+    test=dict(
+        type="S3DISDataset",
+        split=["Hospital", "Office_Room_1", "Office_Room_2", "Parking_Lot"],
+        data_root="data/tof-360/preprocessed",
+        transform=[
+            dict(type="CenterShift", apply_z=True),
+            dict(type="NormalizeColor"),
+        ],
+        test_mode=True,
+        test_cfg=dict(
+            voxelize=dict(
+                type="GridSample",
+                grid_size=0.02,
+                hash_type="fnv",
+                mode="test",
+                keys=("coord", "color", "normal"),
+                return_grid_coord=True,
+            ),
+            crop=None,
+            post_transform=[
+                dict(type="CenterShift", apply_z=False),
+                dict(type="Add", keys_dict={"condition": "S3DIS"}),
+                dict(type="ToTensor"),
+                dict(
+                    type="Collect",
+                    keys=("coord", "grid_coord", "index", "condition"),
+                    feat_keys=("color", "normal"),
+                ),
+            ],
+            aug_transform=[
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[0],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    )
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    )
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    )
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[3 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    )
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[0],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[0.95, 0.95]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[0.95, 0.95]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[0.95, 0.95]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[3 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[0.95, 0.95]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[0],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[1.05, 1.05]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[1.05, 1.05]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[1],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[1.05, 1.05]),
+                ],
+                [
+                    dict(
+                        type="RandomRotateTargetAngle",
+                        angle=[3 / 2],
+                        axis="z",
+                        center=[0, 0, 0],
+                        p=1,
+                    ),
+                    dict(type="RandomScale", scale=[1.05, 1.05]),
+                ],
+                [dict(type="RandomFlip", p=1)],
+            ],
+        ),
+    ),
+)
diff --git a/assets/preprocessing/align_manhattan.py b/assets/preprocessing/align_manhattan.py
new file mode 100644
index 0000000000000000000000000000000000000000..71f540aeb59a74fdb9b9227fae79188decf1320a
--- /dev/null
+++ b/assets/preprocessing/align_manhattan.py
@@ -0,0 +1,53 @@
+from .utils_from_LGT_Net import *
+import sys
+import numpy as np
+import cv2
+import os
+from PIL import Image
+import glob
+import json
+from natsort import natsorted
+from tqdm import tqdm
+
+def config_setup():
+	config = {}
+	config["home_param"] = "<scene>/"
+	return config
+
+def main():
+    config = config_setup()
+    print(f"Now Processing: {config["home_param"]}...")
+    input_folder = f"{config["home_param"]}/RGB"
+    output_folder = f"{config["home_param"]}/RGB_mh_aligned"
+    os.makedirs(output_folder, exist_ok=True)
+
+    input_files = natsorted(glob.glob(f"{input_folder}/*_rgb.png"))
+    mat_dict = {}
+    mat_dict["data"] = []
+
+    for input_file in tqdm(input_files):
+
+        # disable OpenCV3's non thread safe OpenCL option
+        cv2.ocl.setUseOpenCL(False)
+
+        # Read image
+        img_ori = np.array(Image.open(input_file))
+
+        olines, vp, views, edges, panoEdge, score, angle = panoEdgeDetection(img_ori,
+                                                                                qError=0.7,
+                                                                                refineIter=3)
+
+        img, R = rotatePanorama(img_ori / 255.0, vp[2::-1])
+        
+        file_name = input_file.split("/")[-1].split(".")[0]
+        file_path = f"{output_folder}/{file_name}_aligned.png"
+        Image.fromarray((img * 255).astype(np.uint8)).save(file_path)
+
+        each_dict = {"input_file": input_file, "output_file": file_path, "rotation_matrix": R.tolist()}
+        mat_dict["data"].append(each_dict)
+
+    with open(f'{output_folder}/rotation_matrix.json', 'w') as f:
+        json.dump(mat_dict, f, indent=2)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/assets/preprocessing/depth2normal.py b/assets/preprocessing/depth2normal.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff0baff404cf35ee4441df8e6e3a160d02f66a30
--- /dev/null
+++ b/assets/preprocessing/depth2normal.py
@@ -0,0 +1,131 @@
+# common
+import numpy as np
+import open3d as o3d
+import os
+import glob
+import argparse
+import yaml
+import cv2
+from tqdm import tqdm
+
+
+def config_setup():
+	config = {}
+	config["home_param"] = "<scene>/"
+	config["depth_max"] = 10
+	config["depth_min"] = 0.5
+	return config
+
+def load_depth(depth_path, config):
+	# depth follows stanford-2D-3D-S (URL: http://buildingparser.stanford.edu/images/2D-3D-S_2017.pdf)
+	# one unit of change in pixel intensity (e.g. a value from 45 to 46) corresponds to a 1/512 m change in depth (16 bit)
+	depth_img = cv2.imread(depth_path, cv2.IMREAD_ANYDEPTH) / 512
+
+	# depth is defined from depth_min to depth_max
+	depth_img[depth_img > config["depth_max"]] = config["depth_max"]
+	depth_img[depth_img < config["depth_min"]] = 0
+	return depth_img
+
+def equi2pcd(depth):
+	# -----------------------------------------
+	# image: [h,w,c], range:[0-255]
+	# depth: [h,w], unit:meter
+	# -----------------------------------------
+
+	H,W = depth.shape
+
+	# intrinsic parameter
+	int_mtx = np.array([[max(H, W), 0, W/2], [0, max(H, W), H/2], [0, 0, 1]])
+	if int_mtx.max() > 1:
+		int_mtx[0, :] = int_mtx[0, :] / float(W)
+		int_mtx[1, :] = int_mtx[1, :] / float(H)
+	int_mtx_pix = int_mtx * np.array([[W], [H], [1.]])
+	int_mtx_pix = int_mtx * np.array([[W], [H], [1.]])
+	cam_param_pix_inv = np.linalg.inv(int_mtx_pix)
+	k_00, k_02, k_11, k_12 = cam_param_pix_inv[0, 0], cam_param_pix_inv[0, 2], \
+								cam_param_pix_inv[1, 1], cam_param_pix_inv[1, 2]
+
+	# Convert from meshgrid of depth images to xyz 3D coordinates
+	xyz = np.zeros((H*W,3))
+	sx = np.arange(H).repeat(W)
+	sy = np.arange(W)[None,:].repeat(H,axis=0).reshape(-1)
+	sd = depth.reshape(-1)
+	yaw = 2 * np.pi * ((sy+0.5) * k_00 + k_02)   # yaw:-π~πの範囲に変換
+	pitch = 2 * np.pi * ((sx+0.5) * k_11 + k_12) # pitch:-π/2~π/2の範囲に変換
+	xyz[:,0] = np.cos(pitch) * np.sin(yaw) * abs(sd)
+	xyz[:,1] = np.sin(pitch) * abs(sd)
+	xyz[:,2] = np.cos(pitch) * np.cos(yaw) * abs(sd)
+
+	# Stored as Open3d pointcloud
+	pcd = o3d.geometry.PointCloud()
+	pcd.points = o3d.utility.Vector3dVector(xyz)
+
+	return pcd
+
+def pcd2normalimg(pcd, depth):
+	# --------------------------------
+	# Normals are calculated on pointcloud
+	# --------------------------------
+	H, W = depth.shape
+	pcd.estimate_normals()
+	normal = np.asarray(pcd.normals)
+	normal = normal_align(normal, pcd)
+
+	# stanford-2D-3D-S adapts left-handed system but open3d follows right-handed system
+	normal[:,2] *= -1
+
+	return normal
+	
+def normal_align(normal, pcd):
+	# --------------------------------
+	# All of the vector are aligned with the direction to the camera
+	# --------------------------------
+	points = np.asarray(pcd.points)
+	vec2cam = np.array([0,0,0])[None,:].repeat(points.shape[0], axis=0) - points
+	direction = np.sum(np.multiply(vec2cam, normal),axis=1) < 0
+	normal[direction, :] *= -1
+	return normal
+
+def main():
+	config = config_setup()
+	print("home_path:", config["home_param"])
+
+	save_folder_path = config["home_param"] + "normal/"
+	if not os.path.exists(save_folder_path):
+		os.mkdir(save_folder_path)
+
+	# Search depth images defined as png
+	depth_paths = sorted(glob.glob(config["home_param"] + "depth/*.png"))
+
+	for idx, depth_path in tqdm(enumerate(depth_paths)):
+		print("\n")
+		print("depth file:", depth_path.split("/")[-1])
+		depth = load_depth(depth_path, config)
+
+		# To reduce the calculation costs
+		H, W = (int(depth.shape[0]/4), int(depth.shape[1]/4)) 
+		depth_img = cv2.resize(depth, (W, H), interpolation=cv2.INTER_NEAREST)
+		
+		pcd = equi2pcd(depth_img, config)
+		normal = pcd2normalimg(pcd, depth_img)
+
+		# To visualize the normal as colored pointcloud (It contains normal information itself)
+		pcd.normals = o3d.utility.Vector3dVector(normal)
+		pcd.colors = o3d.utility.Vector3dVector((normal+1)/2)
+		# o3d.io.write_point_cloud(save_folder_path + f"{idx:03d}_"  + "equi_normal.ply", pcd)
+		
+
+		save_path = save_folder_path + f"{idx:03d}_"  + "equi_normal.png"
+		print("output image:", save_path.split("/")[-1])
+
+		# 8 bit value centered at 127.5 (-1~1 >> 0~255)
+		normal_img = 127.5*(normal.reshape(H,W,3)+1.)
+		
+		# outlier, blank
+		normal_img[depth_img<config["depth_min"], :] = [128,128,128]
+		
+		img_color = cv2.resize(cv2.cvtColor(normal_img.astype(np.uint8), cv2.COLOR_RGB2BGR), (depth.shape[1], depth.shape[0]), interpolation=cv2.INTER_NEAREST)
+		cv2.imwrite(save_path, img_color)
+
+if __name__ == "__main__":
+	main()
diff --git a/assets/preprocessing/getHHA.py b/assets/preprocessing/getHHA.py
new file mode 100644
index 0000000000000000000000000000000000000000..154b34b379fefd8c581376a70c851b8cdba3eaa8
--- /dev/null
+++ b/assets/preprocessing/getHHA.py
@@ -0,0 +1,111 @@
+# --*-- coding:utf-8 --*--
+import math
+import cv2
+import os
+import math
+import glob
+
+from utils_from_Depth2HHA_python.rgbd_util import *
+from utils_from_Depth2HHA_python.getCameraParam import *
+
+def config_setup():
+	config = {}
+	config["home_param"] = "<scene>/"
+	return config
+
+'''
+must use 'COLOR_BGR2GRAY' here, or you will get a different gray-value with what MATLAB gets.
+'''
+def getImage(root='demo'):
+    D = cv2.imread(os.path.join(root, '0.png'), cv2.COLOR_BGR2GRAY)/10000
+    RD = cv2.imread(os.path.join(root, '0_raw.png'), cv2.COLOR_BGR2GRAY)/10000
+    return D, RD
+
+
+'''
+C: Camera matrix
+D: Depth image, the unit of each element in it is "meter"
+RD: Raw depth image, the unit of each element in it is "meter"
+'''
+def getHHA(C, D, RD):
+    missingMask = (RD == 0);
+    pc, N, yDir, h, pcRot, NRot = processDepthImage(D * 100, missingMask, C)
+
+    tmp = np.multiply(N, yDir)
+    acosValue = np.minimum(1,np.maximum(-1,np.sum(tmp, axis=2)))
+    angle = np.array([math.degrees(math.acos(x)) for x in acosValue.flatten()])
+    angle = np.reshape(angle, h.shape)
+
+    '''
+    Must convert nan to 180 as the MATLAB program actually does. 
+    Or we will get a HHA image whose border region is different
+    with that of MATLAB program's output.
+    '''
+    angle[np.isnan(angle)] = 180        
+
+
+    pc[:,:,2] = np.maximum(pc[:,:,2], 100)
+    I = np.zeros(pc.shape)
+
+    # opencv-python save the picture in BGR order.
+    I[:,:,2] = 31000/pc[:,:,2]
+    I[:,:,1] = h
+    I[:,:,0] = (angle + 128-90)
+
+    # print(np.isnan(angle))
+
+    '''
+    np.uint8 seems to use 'floor', but in matlab, it seems to use 'round'.
+    So I convert it to integer myself.
+    '''
+    I = np.rint(I)
+
+    # np.uint8: 256->1, but in MATLAB, uint8: 256->255
+    I[I>255] = 255
+    HHA = I.astype(np.uint8)
+    return HHA
+
+def main():
+    # D, RD = getImage()
+    # camera_matrix = getCameraParam('color')
+    # print('max gray value: ', np.max(D))        # make sure that the image is in 'meter'
+    # hha = getHHA(camera_matrix, D, RD)
+    # hha_complete = getHHA(camera_matrix, D, D)
+    # cv2.imwrite('demo/hha.png', hha)
+    # cv2.imwrite('demo/hha_complete.png', hha_complete)
+    config = config_setup()
+    
+    depth_paths = sorted(glob.glob(config["scene_path"] + "depth/*.png"))
+
+    for i, depth_path in enumerate(depth_paths):
+        depth = cv2.imread(depth_path, -1)
+        ## make HHA
+        depth = depth / 1000
+        H_ori, W_ori = (depth.shape[0], depth.shape[1])
+        camera_matrix = np.array([[max(H_ori, W_ori), 0, W_ori/2], [0, max(H_ori, W_ori), H_ori/2], [0, 0, 1]])
+        H, W = (int(depth.shape[0]/4), int(depth.shape[1]/4)) 
+        depth_resize = cv2.resize(depth, (W, H), interpolation=cv2.INTER_NEAREST)
+        hha = getHHA(camera_matrix, depth_resize, depth_resize)
+        cv2.imwrite(config["scene_path"]+f'HHA/{i:03d}_equi_hha.png', cv2.resize(hha, (W_ori, H_ori), interpolation=cv2.INTER_NEAREST))
+
+
+if __name__ == "__main__":
+    main()
+    
+    ''' multi-peocessing example '''
+    '''
+    from multiprocessing import Pool
+    
+    def generate_hha(i):
+        # generate hha for the i-th image
+        return
+    
+    processNum = 16
+    pool = Pool(processNum)
+
+    for i in range(img_num):
+        print(i)
+        pool.apply_async(generate_hha, args=(i,))
+        pool.close()
+        pool.join()
+    ''' 
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/getCameraParam.cpython-38.pyc b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/getCameraParam.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..16acebb3ee8df0beb6c569554ea4e44920861813
Binary files /dev/null and b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/getCameraParam.cpython-38.pyc differ
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/rgbd_util.cpython-38.pyc b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/rgbd_util.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..9cc9b4be3ff4f042e7a60e74b7599b3c349081b9
Binary files /dev/null and b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/rgbd_util.cpython-38.pyc differ
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/util.cpython-38.pyc b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/util.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..1d839c322e532f77cf258f9d827007e9673123a8
Binary files /dev/null and b/assets/preprocessing/utils_from_Depth2HHA_python/__pycache__/util.cpython-38.pyc differ
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/getCameraParam.py b/assets/preprocessing/utils_from_Depth2HHA_python/getCameraParam.py
new file mode 100644
index 0000000000000000000000000000000000000000..edf66b587448dff00fd60435a6818b9e59e212d0
--- /dev/null
+++ b/assets/preprocessing/utils_from_Depth2HHA_python/getCameraParam.py
@@ -0,0 +1,21 @@
+# --*-- coding:utf-8 --*--
+import numpy as np
+
+'''
+getCameraParam: get the camera matrix
+colOrZ: color or depth
+'''
+def getCameraParam(colorOrZ='color'):
+    if colorOrZ == 'color':
+        fx_rgb = 5.1885790117450188e+02
+        fy_rgb = 5.1946961112127485e+02
+        cx_rgb = 3.2558244941119034e+02
+        cy_rgb = 2.5373616633400465e+02
+        C = np.array([[fx_rgb, 0, cx_rgb], [0, fy_rgb, cy_rgb], [0, 0, 1]])
+    else:
+        fx_d = 5.8262448167737955e+02
+        fy_d = 5.8269103270988637e+02
+        cx_d = 3.1304475870804731e+02
+        cy_d = 2.3844389626620386e+02
+        C = np.array([[fx_d, 0, cx_d], [0, fy_d, cy_d], [0, 0, 1]])
+    return C
\ No newline at end of file
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/principle.png b/assets/preprocessing/utils_from_Depth2HHA_python/principle.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4ac38c22aa24ed51a551716f977eb1ee22ae4ed
--- /dev/null
+++ b/assets/preprocessing/utils_from_Depth2HHA_python/principle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d9897422aff392b7614d85ea297a2a3bce1ab303729a77ebfca5e9b0bb9e33
+size 276546
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/rgbd_util.py b/assets/preprocessing/utils_from_Depth2HHA_python/rgbd_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..38b455906d74feea26927d198675a2cb4aea01f9
--- /dev/null
+++ b/assets/preprocessing/utils_from_Depth2HHA_python/rgbd_util.py
@@ -0,0 +1,150 @@
+# --*-- coding:utf-8 --*--
+import numpy as np
+from utils.util import *
+np.seterr(divide='ignore', invalid='ignore')
+
+'''
+z: depth image in 'centimetres'
+missingMask: a mask
+C: camera matrix
+'''
+def processDepthImage(z, missingMask, C):
+    yDirParam_angleThresh = np.array([45, 15]) # threshold to estimate the direction of the gravity
+    yDirParam_iter = np.array([5, 5])
+    yDirParam_y0 = np.array([0, 1, 0])
+
+    normalParam_patchSize = np.array([3, 10])
+
+    X, Y, Z = getPointCloudFromZ(z, C, 1)
+
+    # with open('pd.txt', 'w', encoding='utf-8') as f:
+    #     for i in range(X.shape[0]):
+    #         for j in range(X.shape[1]):
+    #             f.write('{} {} {}\n'.format(str(X[i,j]), str(Y[i,j]), str(Z[i,j])))
+
+    # restore x-y-z position
+    pc = np.zeros([z.shape[0], z.shape[1], 3])
+    pc[:,:,0] = X
+    pc[:,:,1] = Y
+    pc[:,:,2] = Z
+
+    N1, b1 = computeNormalsSquareSupport(z/100, missingMask, normalParam_patchSize[0],
+    1, C, np.ones(z.shape))
+    N2, b2 = computeNormalsSquareSupport(z/100, missingMask, normalParam_patchSize[1],
+    1, C, np.ones(z.shape))
+
+    N = N1
+
+    # Compute the direction of gravity
+    yDir = getYDir(N2, yDirParam_angleThresh, yDirParam_iter, yDirParam_y0)
+    y0 = np.array([[0, 1, 0]]).T
+    R = getRMatrix(y0, yDir)
+
+    # rotate the pc and N
+    NRot = rotatePC(N, R.T)
+
+    pcRot = rotatePC(pc, R.T)
+    h = -pcRot[:,:,1]
+    yMin = np.percentile(h, 0)
+    if (yMin > -90):
+        yMin = -130
+    h = h - yMin
+
+    return pc, N, yDir, h,  pcRot, NRot
+
+'''
+getPointCloudFromZ: use depth image and camera matrix to get pointcloud
+Z is in 'centimetres'
+C: camera matrix
+s: is the factor by which Z has been upsampled
+'''
+def getPointCloudFromZ(Z, C, s=1):
+    h, w= Z.shape
+    xx, yy = np.meshgrid(np.array(range(w))+1, np.array(range(h))+1)
+    # color camera parameters
+    cc_rgb = C[0:2,2] * s       # the first two lines of colomn-3, x0 and the y0
+    fc_rgb = np.diag(C[0:2,0:2]) * s    # number on the diagonal line
+    x3 = np.multiply((xx - cc_rgb[0]), Z) / fc_rgb[0]
+    y3 = np.multiply((yy - cc_rgb[1]), Z) / fc_rgb[1]
+    z3 = Z
+    return x3, y3, z3
+
+'''
+  Clip out a 2R+1 x 2R+1 window at each point and estimate 
+  the normal from points within this window. In case the window 
+  straddles more than a single superpixel, only take points in the 
+  same superpixel as the centre pixel. 
+  
+Input:
+    depthImage: in meters
+    missingMask:  boolean mask of what data was missing
+    R: radius of clipping
+    sc: to upsample or not
+    superpixels:  superpixel map to define bounadaries that should
+                    not be straddled
+'''
+def computeNormalsSquareSupport(depthImage, missingMask, R, sc, cameraMatrix, superpixels):
+    depthImage = depthImage*100     # convert to centi metres
+    X, Y, Z = getPointCloudFromZ(depthImage, cameraMatrix, sc)
+    Xf = X
+    Yf = Y
+    Zf = Z
+    pc = np.zeros([depthImage.shape[0], depthImage.shape[1], 3])
+    pc[:,:,0] = Xf
+    pc[:,:,1] = Yf
+    pc[:,:,2] = Zf
+    XYZf = np.copy(pc)
+
+    # find missing value
+    ind = np.where(missingMask == 1)
+    X[ind] = np.nan
+    Y[ind] = np.nan
+    Z[ind] = np.nan
+
+    one_Z = np.expand_dims(1 / Z, axis=2)
+    X_Z = np.divide(X, Z)
+    Y_Z = np.divide(Y, Z)
+    one = np.copy(Z)
+    one[np.invert(np.isnan(one[:, :]))] = 1
+    ZZ = np.multiply(Z, Z)
+    X_ZZ = np.expand_dims(np.divide(X, ZZ), axis=2)
+    Y_ZZ = np.expand_dims(np.divide(Y, ZZ), axis=2)
+
+    X_Z_2 = np.expand_dims(np.multiply(X_Z, X_Z), axis=2)
+    XY_Z = np.expand_dims(np.multiply(X_Z, Y_Z), axis=2)
+    Y_Z_2 = np.expand_dims(np.multiply(Y_Z, Y_Z), axis=2)
+
+    AtARaw = np.concatenate((X_Z_2, XY_Z, np.expand_dims(X_Z, axis=2), Y_Z_2,
+                             np.expand_dims(Y_Z, axis=2), np.expand_dims(one, axis=2)), axis=2)
+
+    AtbRaw = np.concatenate((X_ZZ, Y_ZZ, one_Z), axis=2)
+
+    # with clipping
+    AtA = filterItChopOff(np.concatenate((AtARaw, AtbRaw), axis=2), R, superpixels)
+    Atb = AtA[:, :, AtARaw.shape[2]:]
+    AtA = AtA[:, :, :AtARaw.shape[2]]
+
+    AtA_1, detAtA = invertIt(AtA)
+    N = mutiplyIt(AtA_1, Atb)
+
+    divide_fac = np.sqrt(np.sum(np.multiply(N, N), axis=2))
+    # with np.errstate(divide='ignore'):
+    b = np.divide(-detAtA, divide_fac)
+    for i in range(3):
+        N[:, :, i] = np.divide(N[:, :, i], divide_fac)
+
+    # Reorient the normals to point out from the scene.
+    # with np.errstate(invalid='ignore'):
+    SN = np.sign(N[:, :, 2])
+    SN[SN == 0] = 1
+    extend_SN = np.expand_dims(SN, axis=2)
+    extend_SN = np.concatenate((extend_SN, extend_SN, extend_SN), axis=2)
+    N = np.multiply(N, extend_SN)
+    b = np.multiply(b, SN)
+    sn = np.sign(np.sum(np.multiply(N, XYZf), axis=2))
+    sn[np.isnan(sn)] = 1
+    sn[sn == 0] = 1
+    extend_sn = np.expand_dims(sn, axis=2)
+    N = np.multiply(extend_sn, N)
+    b = np.multiply(b, sn)
+    return N, b
\ No newline at end of file
diff --git a/assets/preprocessing/utils_from_Depth2HHA_python/util.py b/assets/preprocessing/utils_from_Depth2HHA_python/util.py
new file mode 100644
index 0000000000000000000000000000000000000000..4f247a862fea40703dccb5944a90c67da202287d
--- /dev/null
+++ b/assets/preprocessing/utils_from_Depth2HHA_python/util.py
@@ -0,0 +1,200 @@
+# --*-- coding:utf-8 --*--
+import numpy as np
+import cv2
+from scipy import signal
+
+'''
+helper function
+'''
+def filterItChopOff(f, r, sp):
+    f[np.isnan(f)] = 0
+    H, W, d = f.shape
+    B = np.ones([2 * r + 1, 2 * r + 1])     # 2r+1 * 2r+1 neighbourhood
+
+    minSP = cv2.erode(sp, B, iterations=1)
+    maxSP = cv2.dilate(sp, B, iterations=1)
+
+    ind = np.where(np.logical_or(minSP != sp, maxSP != sp))
+
+    spInd = np.reshape(range(np.size(sp)), sp.shape,'F')
+
+    delta = np.zeros(f.shape)
+    delta = np.reshape(delta, (H * W, d), 'F')
+    f = np.reshape(f, (H * W, d),'F')
+
+    # calculate delta
+
+    I, J = np.unravel_index(ind, [H, W], 'C')
+    for i in range(np.size(ind)):
+        x = I[i]
+        y = J[i]
+        clipInd = spInd[max(0, x - r):min(H-1, x + r), max(0, y - r):min(W-1, y + r)]
+        diffInd = clipInd[sp[clipInd] != sp[x, y]]
+        delta[ind[i], :] = np.sum(f[diffInd, :], 1)
+    delta = np.reshape(delta, (H, W, d), 'F')
+    f = np.reshape(f, (H, W, d), 'F')
+    fFilt = np.zeros([H, W, d])
+
+    for i in range(f.shape[2]):
+        #  fFilt(:,:,i) = filter2(B, f(:,:,i));
+        tmp = cv2.filter2D(np.rot90(f[:, :, i], 2), -1, np.rot90(np.rot90(B, 2), 2))
+        tmp = signal.convolve2d(np.rot90(f[:, :, i], 2), np.rot90(np.rot90(B, 2), 2), mode="same")
+        fFilt[:, :, i] = np.rot90(tmp, 2)
+    fFilt = fFilt - delta
+    return fFilt
+
+'''
+helper function
+'''
+def mutiplyIt(AtA_1, Atb):
+    result = np.zeros([Atb.shape[0], Atb.shape[1], 3])
+    result[:, :, 0] = np.multiply(AtA_1[:, :, 0], Atb[:, :, 0]) + np.multiply(AtA_1[:, :, 1],
+                                                                              Atb[:, :, 1]) + np.multiply(
+        AtA_1[:, :, 2], Atb[:, :, 2])
+    result[:, :, 1] = np.multiply(AtA_1[:, :, 1], Atb[:, :, 0]) + np.multiply(AtA_1[:, :, 3],
+                                                                              Atb[:, :, 1]) + np.multiply(
+        AtA_1[:, :, 4], Atb[:, :, 2])
+    result[:, :, 2] = np.multiply(AtA_1[:, :, 2], Atb[:, :, 0]) + np.multiply(AtA_1[:, :, 4],
+                                                                              Atb[:, :, 1]) + np.multiply(
+        AtA_1[:, :, 5], Atb[:, :, 2])
+    return result
+
+'''
+helper function
+'''
+def invertIt(AtA):
+    AtA_1 = np.zeros([AtA.shape[0], AtA.shape[1], 6])
+    AtA_1[:, :, 0] = np.multiply(AtA[:, :, 3], AtA[:, :, 5]) - np.multiply(AtA[:, :, 4], AtA[:, :, 4])
+    AtA_1[:, :, 1] = -np.multiply(AtA[:, :, 1], AtA[:, :, 5]) + np.multiply(AtA[:, :, 2], AtA[:, :, 4])
+    AtA_1[:, :, 2] = np.multiply(AtA[:, :, 1], AtA[:, :, 4]) - np.multiply(AtA[:, :, 2], AtA[:, :, 3])
+    AtA_1[:, :, 3] = np.multiply(AtA[:, :, 0], AtA[:, :, 5]) - np.multiply(AtA[:, :, 2], AtA[:, :, 2])
+    AtA_1[:, :, 4] = -np.multiply(AtA[:, :, 0], AtA[:, :, 4]) + np.multiply(AtA[:, :, 1], AtA[:, :, 2])
+    AtA_1[:, :, 5] = np.multiply(AtA[:, :, 0], AtA[:, :, 3]) - np.multiply(AtA[:, :, 1], AtA[:, :, 1])
+
+    x1 = np.multiply(AtA[:, :, 0], AtA_1[:, :, 0])
+    x2 = np.multiply(AtA[:, :, 1], AtA_1[:, :, 1])
+    x3 = np.multiply(AtA[:, :, 2], AtA_1[:, :, 2])
+
+    detAta = x1 + x2 + x3
+    return AtA_1, detAta
+
+'''
+Compute the direction of gravity
+N: normal field
+iter: number of 'big' iterations
+'''
+def getYDir(N, angleThresh, iter, y0):
+    y = y0
+    for i in range(len(angleThresh)):
+        thresh = np.pi * angleThresh[i] / 180   # convert it to radian measure
+        y = getYDirHelper(N, y, thresh, iter[i])
+    return y
+
+'''
+N: HxWx3 matrix with normal at each pixel.
+y0: the initial gravity direction
+thresh: in degrees the threshold for mapping to parallel to gravity and perpendicular to gravity
+iter: number of iterations to perform
+'''
+def getYDirHelper(N, y0, thresh, num_iter):
+    dim = N.shape[0] * N.shape[1]
+
+    # change the third dimension to the first-order. (480, 680, 3) => (3, 480, 680)
+    nn = np.swapaxes(np.swapaxes(N,0,2),1,2)
+    nn = np.reshape(nn, (3, dim), 'F')
+
+    # remove these whose number is NAN
+    idx = np.where(np.invert(np.isnan(nn[0,:])))[0]
+    nn = nn[:,idx]
+
+    # Set it up as a optimization problem
+    yDir = y0;
+    for i in range(num_iter):
+        sim0 = np.dot(yDir.T, nn)
+        indF = abs(sim0) > np.cos(thresh)       # calculate 'floor' set.    |sin(theta)| < sin(thresh) ==> |cos(theta)| > cos(thresh)
+        indW = abs(sim0) < np.sin(thresh)       # calculate 'wall' set.
+        if(len(indF.shape) == 2):
+            NF = nn[:, indF[0,:]]
+            NW = nn[:, indW[0,:]]
+        else:
+            NF = nn[:, indF]
+            NW = nn[:, indW]
+        A = np.dot(NW, NW.T) - np.dot(NF, NF.T)
+        b = np.zeros([3,1])
+        c = NF.shape[1]
+        w,v = np.linalg.eig(A)      # w:eigenvalues; v:eigenvectors
+        min_ind = np.argmin(w)      # min index
+        newYDir = v[:,min_ind]
+        yDir = newYDir * np.sign(np.dot(yDir.T, newYDir))
+    return yDir
+
+'''
+getRMatrix: Generate a rotation matrix that
+            if yf is a scalar, rotates about axis yi by yf degrees
+            if yf is an axis, rotates yi to yf in the direction given by yi x yf
+Input: yi is an axis 3x1 vector
+       yf could be a scalar of axis
+
+'''
+# def getRMatrix(yi, yf):
+#     if (np.isscalar(yf)):
+#         ax = yi / np.linalg.norm(yi)        # norm(A) = max(svd(A))
+#         phi = yf
+#     else:
+#         yi = yi / np.linalg.norm(yi)
+#         yf = yf / np.linalg.norm(yf)
+#         ax = np.cross(yi.T, yf.T).T
+#         ax = ax / np.linalg.norm(ax)
+#         # find angle of rotation
+#         phi = np.degrees(np.arccos(np.dot(yi.T, yf)))
+
+#     if (abs(phi) > 0.1):
+#         phi = phi * (np.pi / 180)
+
+#         s_hat = np.array([[0, -ax[2], ax[1]],
+#                           [ax[2], 0, -ax[0]],
+#                           [-ax[1], ax[0], 0]])
+#         R = np.eye(3) + np.sin(phi) * s_hat + (1 - np.cos(phi)) * np.dot(s_hat, s_hat)      # dot???
+#     else:
+#         R = np.eye(3)
+#     return R
+
+def getRMatrix(yi, yf):
+    if (np.isscalar(yf)):
+        ax = yi / np.linalg.norm(yi)  # norm(A) = max(svd(A))
+        phi = yf
+    else:
+        yi = yi / np.linalg.norm(yi)
+        yf = yf / np.linalg.norm(yf)
+        ax = np.cross(yi.T, yf.T).T
+        ax = ax / np.linalg.norm(ax)
+        # find angle of rotation
+        phi = np.degrees(np.arccos(np.dot(yi.T, yf)))
+    ax = np.squeeze(ax, axis=-1)
+
+    if (abs(phi) > 0.1):
+        phi = phi * (np.pi / 180)
+
+        s_hat = np.array([[0, -ax[2], ax[1]],
+                          [ax[2], 0, -ax[0]],
+                          [-ax[1], ax[0], 0]], dtype=np.float64)
+        R = np.eye(3) + np.sin(phi) * s_hat + (1 - np.cos(phi)) * np.dot(s_hat, s_hat)  # dot???
+    else:
+        R = np.eye(3)
+    return R
+
+'''
+Calibration of gravity direction 
+'''
+def rotatePC(pc, R):
+    if(np.array_equal(R, np.eye(3))):
+        return pc
+    else:
+        R = R.astype(np.float64)
+        dim = pc.shape[0] * pc.shape[1]
+        pc = np.swapaxes(np.swapaxes(pc, 0, 2), 1, 2)
+        res = np.reshape(pc, (3, dim), 'F')
+        res = np.dot(R, res)
+        res = np.reshape(res, pc.shape, 'F')
+        res = np.swapaxes(np.swapaxes(res, 0, 1), 1, 2)
+        return res
\ No newline at end of file
diff --git a/assets/preprocessing/utils_from_LGT_Net/__init__.py b/assets/preprocessing/utils_from_LGT_Net/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..11899be3b477996772cd1ae754815056f22ca205
--- /dev/null
+++ b/assets/preprocessing/utils_from_LGT_Net/__init__.py
@@ -0,0 +1,4 @@
+"""
+@date: 2021/7/5
+@description:
+"""
diff --git a/assets/preprocessing/utils_from_LGT_Net/filter.py b/assets/preprocessing/utils_from_LGT_Net/filter.py
new file mode 100644
index 0000000000000000000000000000000000000000..6e95ec7c48be2ab545cbd7bab5b33c93ada38022
--- /dev/null
+++ b/assets/preprocessing/utils_from_LGT_Net/filter.py
@@ -0,0 +1,90 @@
+"""
+@date: 2021/7/5
+@description:
+"""
+import json
+import math
+import shutil
+
+import numpy as np
+from utils.boundary import *
+import dataset
+import os
+from tqdm import tqdm
+from PIL import Image
+from visualization.boundary import *
+from visualization.floorplan import *
+from shapely.geometry import Polygon, Point
+
+
+def filter_center(ceil_corners):
+    xyz = uv2xyz(ceil_corners, plan_y=1.6)
+    xz = xyz[:, ::2]
+    poly = Polygon(xz).buffer(-0.01)
+    return poly.contains(Point(0, 0))
+
+
+def filter_boundary(corners):
+    if is_ceil_boundary(corners):
+        return True
+    elif is_floor_boundary(corners):
+        return True
+    else:
+        # An intersection occurs and an exception is considered
+        return False
+
+
+def filter_self_intersection(corners):
+    xz = uv2xyz(corners)[:, ::2]
+    poly = Polygon(xz)
+    return poly.is_valid
+
+
+def filter_dataset(dataset, show=False, output_dir=None):
+    if output_dir is None:
+        output_dir = os.path.join(dataset.root_dir, dataset.mode)
+        output_img_dir = os.path.join(output_dir, 'img_align')
+        output_label_dir = os.path.join(output_dir, 'label_cor_align')
+    else:
+        output_dir = os.path.join(output_dir, dataset.mode)
+        output_img_dir = os.path.join(output_dir, 'img')
+        output_label_dir = os.path.join(output_dir, 'label_cor')
+
+    if not os.path.exists(output_img_dir):
+        os.makedirs(output_img_dir)
+
+    if not os.path.exists(output_label_dir):
+        os.makedirs(output_label_dir)
+
+    bar = tqdm(dataset, total=len(dataset))
+    for data in bar:
+        name = data['name']
+        bar.set_description(f"Processing {name}")
+        img = data['img']
+        corners = data['corners']
+
+        if not filter_center(corners[1::2]):
+            if show:
+                draw_boundaries(img, corners_list=[corners[0::2], corners[1::2]], show=True)
+            if not os.path.exists(data['img_path']):
+                print("already remove")
+            else:
+                print(f"move {name}")
+                shutil.move(data['img_path'], os.path.join(output_img_dir, os.path.basename(data['img_path'])))
+                shutil.move(data['label_path'], os.path.join(output_label_dir, os.path.basename(data['label_path'])))
+
+
+def execute_filter_dataset(root_dir, dataset_name="PanoS2D3DDataset", modes=None, output_dir=None):
+    if modes is None:
+        modes = ["train", "test", "valid"]
+
+    for mode in modes:
+        print("mode: {}".format(mode))
+
+        filter_dataset(getattr(dataset, dataset_name)(root_dir, mode), show=False, output_dir=output_dir)
+
+
+if __name__ == '__main__':
+    execute_filter_dataset(root_dir='/root/data/hd/hnet_dataset',
+                           dataset_name="PanoS2D3DDataset", modes=['train', "test", "valid"],
+                           output_dir='/root/data/hd/hnet_dataset_close')
diff --git a/assets/preprocessing/utils_from_LGT_Net/pano_lsd_align.py b/assets/preprocessing/utils_from_LGT_Net/pano_lsd_align.py
new file mode 100644
index 0000000000000000000000000000000000000000..2df4285d7ce61726f0b5582d9e0ac8da0702999c
--- /dev/null
+++ b/assets/preprocessing/utils_from_LGT_Net/pano_lsd_align.py
@@ -0,0 +1,911 @@
+'''
+This script is helper function for preprocessing.
+Most of the code are converted from LayoutNet official's matlab code.
+All functions, naming rule and data flow follow official for easier
+converting and comparing.
+Code is not optimized for python or numpy yet.
+'''
+
+import sys
+import numpy as np
+from scipy.ndimage import map_coordinates
+import cv2
+from pylsd.lsd import lsd
+
+
+def computeUVN(n, in_, planeID):
+    '''
+    compute v given u and normal.
+    '''
+    if planeID == 2:
+        n = np.array([n[1], n[2], n[0]])
+    elif planeID == 3:
+        n = np.array([n[2], n[0], n[1]])
+    bc = n[0] * np.sin(in_) + n[1] * np.cos(in_)
+    bs = n[2]
+    out = np.arctan(-bc / (bs + 1e-9))
+    return out
+
+
+def computeUVN_vec(n, in_, planeID):
+    '''
+    vectorization version of computeUVN
+    @n         N x 3
+    @in_      MN x 1
+    @planeID   N
+    '''
+    n = n.copy()
+    if (planeID == 2).sum():
+        n[planeID == 2] = np.roll(n[planeID == 2], 2, axis=1)
+    if (planeID == 3).sum():
+        n[planeID == 3] = np.roll(n[planeID == 3], 1, axis=1)
+    n = np.repeat(n, in_.shape[0] // n.shape[0], axis=0)
+    assert n.shape[0] == in_.shape[0]
+    bc = n[:, [0]] * np.sin(in_) + n[:, [1]] * np.cos(in_)
+    bs = n[:, [2]]
+    out = np.arctan(-bc / (bs + 1e-9))
+    return out
+
+
+def xyz2uvN(xyz, planeID=1):
+    ID1 = (int(planeID) - 1 + 0) % 3
+    ID2 = (int(planeID) - 1 + 1) % 3
+    ID3 = (int(planeID) - 1 + 2) % 3
+    normXY = np.sqrt(xyz[:, [ID1]] ** 2 + xyz[:, [ID2]] ** 2)
+    normXY[normXY < 0.000001] = 0.000001
+    normXYZ = np.sqrt(xyz[:, [ID1]] ** 2 + xyz[:, [ID2]] ** 2 + xyz[:, [ID3]] ** 2)
+    v = np.arcsin(xyz[:, [ID3]] / normXYZ)
+    u = np.arcsin(xyz[:, [ID1]] / normXY)
+    valid = (xyz[:, [ID2]] < 0) & (u >= 0)
+    u[valid] = np.pi - u[valid]
+    valid = (xyz[:, [ID2]] < 0) & (u <= 0)
+    u[valid] = -np.pi - u[valid]
+    uv = np.hstack([u, v])
+    uv[np.isnan(uv[:, 0]), 0] = 0
+    return uv
+
+
+def uv2xyzN(uv, planeID=1):
+    ID1 = (int(planeID) - 1 + 0) % 3
+    ID2 = (int(planeID) - 1 + 1) % 3
+    ID3 = (int(planeID) - 1 + 2) % 3
+    xyz = np.zeros((uv.shape[0], 3))
+    xyz[:, ID1] = np.cos(uv[:, 1]) * np.sin(uv[:, 0])
+    xyz[:, ID2] = np.cos(uv[:, 1]) * np.cos(uv[:, 0])
+    xyz[:, ID3] = np.sin(uv[:, 1])
+    return xyz
+
+
+def uv2xyzN_vec(uv, planeID):
+    '''
+    vectorization version of uv2xyzN
+    @uv       N x 2
+    @planeID  N
+    '''
+    assert (planeID.astype(int) != planeID).sum() == 0
+    planeID = planeID.astype(int)
+    ID1 = (planeID - 1 + 0) % 3
+    ID2 = (planeID - 1 + 1) % 3
+    ID3 = (planeID - 1 + 2) % 3
+    ID = np.arange(len(uv))
+    xyz = np.zeros((len(uv), 3))
+    xyz[ID, ID1] = np.cos(uv[:, 1]) * np.sin(uv[:, 0])
+    xyz[ID, ID2] = np.cos(uv[:, 1]) * np.cos(uv[:, 0])
+    xyz[ID, ID3] = np.sin(uv[:, 1])
+    return xyz
+
+
+def warpImageFast(im, XXdense, YYdense):
+    minX = max(1., np.floor(XXdense.min()) - 1)
+    minY = max(1., np.floor(YYdense.min()) - 1)
+
+    maxX = min(im.shape[1], np.ceil(XXdense.max()) + 1)
+    maxY = min(im.shape[0], np.ceil(YYdense.max()) + 1)
+
+    im = im[int(round(minY-1)):int(round(maxY)),
+            int(round(minX-1)):int(round(maxX))]
+
+    assert XXdense.shape == YYdense.shape
+    out_shape = XXdense.shape
+    coordinates = [
+        (YYdense - minY).reshape(-1),
+        (XXdense - minX).reshape(-1),
+    ]
+    im_warp = np.stack([
+        map_coordinates(im[..., c], coordinates, order=1).reshape(out_shape)
+        for c in range(im.shape[-1])],
+        axis=-1)
+
+    return im_warp
+
+
+def rotatePanorama(img, vp=None, R=None):
+    '''
+    Rotate panorama
+        if R is given, vp (vanishing point) will be overlooked
+        otherwise R is computed from vp
+    '''
+    sphereH, sphereW, C = img.shape
+
+    # new uv coordinates
+    TX, TY = np.meshgrid(range(1, sphereW + 1), range(1, sphereH + 1))
+    TX = TX.reshape(-1, 1, order='F')
+    TY = TY.reshape(-1, 1, order='F')
+    ANGx = (TX - sphereW/2 - 0.5) / sphereW * np.pi * 2
+    ANGy = -(TY - sphereH/2 - 0.5) / sphereH * np.pi
+    uvNew = np.hstack([ANGx, ANGy])
+    xyzNew = uv2xyzN(uvNew, 1)
+
+    # rotation matrix
+    if R is None:
+        R = np.linalg.inv(vp.T)
+
+    xyzOld = np.linalg.solve(R, xyzNew.T).T
+    uvOld = xyz2uvN(xyzOld, 1)
+
+    Px = (uvOld[:, 0] + np.pi) / (2*np.pi) * sphereW + 0.5
+    Py = (-uvOld[:, 1] + np.pi/2) / np.pi * sphereH + 0.5
+
+    Px = Px.reshape(sphereH, sphereW, order='F')
+    Py = Py.reshape(sphereH, sphereW, order='F')
+
+    # boundary
+    imgNew = np.zeros((sphereH+2, sphereW+2, C), np.float64)
+    imgNew[1:-1, 1:-1, :] = img
+    imgNew[1:-1, 0, :] = img[:, -1, :]
+    imgNew[1:-1, -1, :] = img[:, 0, :]
+    imgNew[0, 1:sphereW//2+1, :] = img[0, sphereW-1:sphereW//2-1:-1, :]
+    imgNew[0, sphereW//2+1:-1, :] = img[0, sphereW//2-1::-1, :]
+    imgNew[-1, 1:sphereW//2+1, :] = img[-1, sphereW-1:sphereW//2-1:-1, :]
+    imgNew[-1, sphereW//2+1:-1, :] = img[0, sphereW//2-1::-1, :]
+    imgNew[0, 0, :] = img[0, 0, :]
+    imgNew[-1, -1, :] = img[-1, -1, :]
+    imgNew[0, -1, :] = img[0, -1, :]
+    imgNew[-1, 0, :] = img[-1, 0, :]
+
+    rotImg = warpImageFast(imgNew, Px+1, Py+1)
+
+    return rotImg, R
+
+
+def imgLookAt(im, CENTERx, CENTERy, new_imgH, fov):
+    sphereH = im.shape[0]
+    sphereW = im.shape[1]
+    warped_im = np.zeros((new_imgH, new_imgH, 3))
+    TX, TY = np.meshgrid(range(1, new_imgH + 1), range(1, new_imgH + 1))
+    TX = TX.reshape(-1, 1, order='F')
+    TY = TY.reshape(-1, 1, order='F')
+    TX = TX - 0.5 - new_imgH/2
+    TY = TY - 0.5 - new_imgH/2
+    r = new_imgH / 2 / np.tan(fov/2)
+
+    # convert to 3D
+    R = np.sqrt(TY ** 2 + r ** 2)
+    ANGy = np.arctan(- TY / r)
+    ANGy = ANGy + CENTERy
+
+    X = np.sin(ANGy) * R
+    Y = -np.cos(ANGy) * R
+    Z = TX
+
+    INDn = np.nonzero(np.abs(ANGy) > np.pi/2)
+
+    # project back to sphere
+    ANGx = np.arctan(Z / -Y)
+    RZY = np.sqrt(Z ** 2 + Y ** 2)
+    ANGy = np.arctan(X / RZY)
+
+    ANGx[INDn] = ANGx[INDn] + np.pi
+    ANGx = ANGx + CENTERx
+
+    INDy = np.nonzero(ANGy < -np.pi/2)
+    ANGy[INDy] = -np.pi - ANGy[INDy]
+    ANGx[INDy] = ANGx[INDy] + np.pi
+
+    INDx = np.nonzero(ANGx <= -np.pi);   ANGx[INDx] = ANGx[INDx] + 2 * np.pi
+    INDx = np.nonzero(ANGx >   np.pi);   ANGx[INDx] = ANGx[INDx] - 2 * np.pi
+    INDx = np.nonzero(ANGx >   np.pi);   ANGx[INDx] = ANGx[INDx] - 2 * np.pi
+    INDx = np.nonzero(ANGx >   np.pi);   ANGx[INDx] = ANGx[INDx] - 2 * np.pi
+
+    Px = (ANGx + np.pi) / (2*np.pi) * sphereW + 0.5
+    Py = ((-ANGy) + np.pi/2) / np.pi * sphereH + 0.5
+
+    INDxx = np.nonzero(Px < 1)
+    Px[INDxx] = Px[INDxx] + sphereW
+    im = np.concatenate([im, im[:, :2]], 1)
+
+    Px = Px.reshape(new_imgH, new_imgH, order='F')
+    Py = Py.reshape(new_imgH, new_imgH, order='F')
+
+    warped_im = warpImageFast(im, Px, Py)
+
+    return warped_im
+
+
+def separatePano(panoImg, fov, x, y, imgSize=320):
+    '''cut a panorama image into several separate views'''
+    assert x.shape == y.shape
+    if not isinstance(fov, np.ndarray):
+        fov = fov * np.ones_like(x)
+
+    sepScene = [
+        {
+            'img': imgLookAt(panoImg.copy(), xi, yi, imgSize, fovi),
+            'vx': xi,
+            'vy': yi,
+            'fov': fovi,
+            'sz': imgSize,
+        }
+        for xi, yi, fovi in zip(x, y, fov)
+    ]
+
+    return sepScene
+
+
+def lsdWrap(img):
+    '''
+    Opencv implementation of
+    Rafael Grompone von Gioi, Jérémie Jakubowicz, Jean-Michel Morel, and Gregory Randall,
+    LSD: a Line Segment Detector, Image Processing On Line, vol. 2012.
+    [Rafael12] http://www.ipol.im/pub/art/2012/gjmr-lsd/?utm_source=doi
+    @img
+        input image
+    '''
+    if len(img.shape) == 3:
+        img = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
+
+    lines = lsd(img, quant=0.7)
+    if lines is None:
+        return np.zeros_like(img), np.array([])
+    edgeMap = np.zeros_like(img)
+    for i in range(lines.shape[0]):
+        pt1 = (int(lines[i, 0]), int(lines[i, 1]))
+        pt2 = (int(lines[i, 2]), int(lines[i, 3]))
+        width = lines[i, 4]
+        cv2.line(edgeMap, pt1, pt2, 255, int(np.ceil(width / 2)))
+    edgeList = np.concatenate([lines, np.ones_like(lines[:, :2])], 1)
+    return edgeMap, edgeList
+
+
+def edgeFromImg2Pano(edge):
+    edgeList = edge['edgeLst']
+    if len(edgeList) == 0:
+        return np.array([])
+
+    vx = edge['vx']
+    vy = edge['vy']
+    fov = edge['fov']
+    imH, imW = edge['img'].shape
+
+    R = (imW/2) / np.tan(fov/2)
+
+    # im is the tangent plane, contacting with ball at [x0 y0 z0]
+    x0 = R * np.cos(vy) * np.sin(vx)
+    y0 = R * np.cos(vy) * np.cos(vx)
+    z0 = R * np.sin(vy)
+    vecposX = np.array([np.cos(vx), -np.sin(vx), 0])
+    vecposY = np.cross(np.array([x0, y0, z0]), vecposX)
+    vecposY = vecposY / np.sqrt(vecposY @ vecposY.T)
+    vecposX = vecposX.reshape(1, -1)
+    vecposY = vecposY.reshape(1, -1)
+    Xc = (0 + imW-1) / 2
+    Yc = (0 + imH-1) / 2
+
+    vecx1 = edgeList[:, [0]] - Xc
+    vecy1 = edgeList[:, [1]] - Yc
+    vecx2 = edgeList[:, [2]] - Xc
+    vecy2 = edgeList[:, [3]] - Yc
+
+    vec1 = np.tile(vecx1, [1, 3]) * vecposX + np.tile(vecy1, [1, 3]) * vecposY
+    vec2 = np.tile(vecx2, [1, 3]) * vecposX + np.tile(vecy2, [1, 3]) * vecposY
+    coord1 = [[x0, y0, z0]] + vec1
+    coord2 = [[x0, y0, z0]] + vec2
+
+    normal = np.cross(coord1, coord2, axis=1)
+    normal = normal / np.linalg.norm(normal, axis=1, keepdims=True)
+
+    panoList = np.hstack([normal, coord1, coord2, edgeList[:, [-1]]])
+
+    return panoList
+
+
+def _intersection(range1, range2):
+    if range1[1] < range1[0]:
+        range11 = [range1[0], 1]
+        range12 = [0, range1[1]]
+    else:
+        range11 = range1
+        range12 = [0, 0]
+
+    if range2[1] < range2[0]:
+        range21 = [range2[0], 1]
+        range22 = [0, range2[1]]
+    else:
+        range21 = range2
+        range22 = [0, 0]
+
+    b = max(range11[0], range21[0]) < min(range11[1], range21[1])
+    if b:
+        return b
+    b2 = max(range12[0], range22[0]) < min(range12[1], range22[1])
+    b = b or b2
+    return b
+
+
+def _insideRange(pt, range):
+    if range[1] > range[0]:
+        b = pt >= range[0] and pt <= range[1]
+    else:
+        b1 = pt >= range[0] and pt <= 1
+        b2 = pt >= 0 and pt <= range[1]
+        b = b1 or b2
+    return b
+
+
+def combineEdgesN(edges):
+    '''
+    Combine some small line segments, should be very conservative
+    OUTPUT
+        lines: combined line segments
+        ori_lines: original line segments
+        line format [nx ny nz projectPlaneID umin umax LSfov score]
+    '''
+    arcList = []
+    for edge in edges:
+        panoLst = edge['panoLst']
+        if len(panoLst) == 0:
+            continue
+        arcList.append(panoLst)
+    arcList = np.vstack(arcList)
+
+    # ori lines
+    numLine = len(arcList)
+    ori_lines = np.zeros((numLine, 8))
+    areaXY = np.abs(arcList[:, 2])
+    areaYZ = np.abs(arcList[:, 0])
+    areaZX = np.abs(arcList[:, 1])
+    planeIDs = np.argmax(np.stack([areaXY, areaYZ, areaZX], -1), 1) + 1  # XY YZ ZX
+
+    for i in range(numLine):
+        ori_lines[i, :3] = arcList[i, :3]
+        ori_lines[i, 3] = planeIDs[i]
+        coord1 = arcList[i, 3:6]
+        coord2 = arcList[i, 6:9]
+        uv = xyz2uvN(np.stack([coord1, coord2]), planeIDs[i])
+        umax = uv[:, 0].max() + np.pi
+        umin = uv[:, 0].min() + np.pi
+        if umax - umin > np.pi:
+            ori_lines[i, 4:6] = np.array([umax, umin]) / 2 / np.pi
+        else:
+            ori_lines[i, 4:6] = np.array([umin, umax]) / 2 / np.pi
+        ori_lines[i, 6] = np.arccos((
+            np.dot(coord1, coord2) / (np.linalg.norm(coord1) * np.linalg.norm(coord2))
+            ).clip(-1, 1))
+        ori_lines[i, 7] = arcList[i, 9]
+
+    # additive combination
+    lines = ori_lines.copy()
+    for _ in range(3):
+        numLine = len(lines)
+        valid_line = np.ones(numLine, bool)
+        for i in range(numLine):
+            if not valid_line[i]:
+                continue
+            dotProd = (lines[:, :3] * lines[[i], :3]).sum(1)
+            valid_curr = np.logical_and((np.abs(dotProd) > np.cos(np.pi / 180)), valid_line)
+            valid_curr[i] = False
+            for j in np.nonzero(valid_curr)[0]:
+                range1 = lines[i, 4:6]
+                range2 = lines[j, 4:6]
+                valid_rag = _intersection(range1, range2)
+                if not valid_rag:
+                    continue
+
+                # combine
+                I = np.argmax(np.abs(lines[i, :3]))
+                if lines[i, I] * lines[j, I] > 0:
+                    nc = lines[i, :3] * lines[i, 6] + lines[j, :3] * lines[j, 6]
+                else:
+                    nc = lines[i, :3] * lines[i, 6] - lines[j, :3] * lines[j, 6]
+                nc = nc / np.linalg.norm(nc)
+
+                if _insideRange(range1[0], range2):
+                    nrmin = range2[0]
+                else:
+                    nrmin = range1[0]
+
+                if _insideRange(range1[1], range2):
+                    nrmax = range2[1]
+                else:
+                    nrmax = range1[1]
+
+                u = np.array([[nrmin], [nrmax]]) * 2 * np.pi - np.pi
+                v = computeUVN(nc, u, lines[i, 3])
+                xyz = uv2xyzN(np.hstack([u, v]), lines[i, 3])
+                l = np.arccos(np.dot(xyz[0, :], xyz[1, :]).clip(-1, 1))
+                scr = (lines[i,6]*lines[i,7] + lines[j,6]*lines[j,7]) / (lines[i,6]+lines[j,6])
+
+                lines[i] = [*nc, lines[i, 3], nrmin, nrmax, l, scr]
+                valid_line[j] = False
+
+        lines = lines[valid_line]
+
+    return lines, ori_lines
+
+
+def icosahedron2sphere(level):
+    # this function use a icosahedron to sample uniformly on a sphere
+    a = 2 / (1 + np.sqrt(5))
+    M = np.array([
+        0, a, -1, a, 1, 0, -a, 1, 0,
+        0, a, 1, -a, 1, 0, a, 1, 0,
+        0, a, 1, 0, -a, 1, -1, 0, a,
+        0, a, 1, 1, 0, a, 0, -a, 1,
+        0, a, -1, 0, -a, -1, 1, 0, -a,
+        0, a, -1, -1, 0, -a, 0, -a, -1,
+        0, -a, 1, a, -1, 0, -a, -1, 0,
+        0, -a, -1, -a, -1, 0, a, -1, 0,
+        -a, 1, 0, -1, 0, a, -1, 0, -a,
+        -a, -1, 0, -1, 0, -a, -1, 0, a,
+        a, 1, 0, 1, 0, -a, 1, 0, a,
+        a, -1, 0, 1, 0, a, 1, 0, -a,
+        0, a, 1, -1, 0, a, -a, 1, 0,
+        0, a, 1, a, 1, 0, 1, 0, a,
+        0, a, -1, -a, 1, 0, -1, 0, -a,
+        0, a, -1, 1, 0, -a, a, 1, 0,
+        0, -a, -1, -1, 0, -a, -a, -1, 0,
+        0, -a, -1, a, -1, 0, 1, 0, -a,
+        0, -a, 1, -a, -1, 0, -1, 0, a,
+        0, -a, 1, 1, 0, a, a, -1, 0])
+
+    coor = M.T.reshape(3, 60, order='F').T
+    coor, idx = np.unique(coor, return_inverse=True, axis=0)
+    tri = idx.reshape(3, 20, order='F').T
+
+    # extrude
+    coor = list(coor / np.tile(np.linalg.norm(coor, axis=1, keepdims=True), (1, 3)))
+
+    for _ in range(level):
+        triN = []
+        for t in range(len(tri)):
+            n = len(coor)
+            coor.append((coor[tri[t, 0]] + coor[tri[t, 1]]) / 2)
+            coor.append((coor[tri[t, 1]] + coor[tri[t, 2]]) / 2)
+            coor.append((coor[tri[t, 2]] + coor[tri[t, 0]]) / 2)
+
+            triN.append([n, tri[t, 0], n+2])
+            triN.append([n, tri[t, 1], n+1])
+            triN.append([n+1, tri[t, 2], n+2])
+            triN.append([n, n+1, n+2])
+        tri = np.array(triN)
+
+        # uniquefy
+        coor, idx = np.unique(coor, return_inverse=True, axis=0)
+        tri = idx[tri]
+
+        # extrude
+        coor = list(coor / np.tile(np.sqrt(np.sum(coor * coor, 1, keepdims=True)), (1, 3)))
+
+    return np.array(coor), np.array(tri)
+
+
+def curveFitting(inputXYZ, weight):
+    '''
+    @inputXYZ: N x 3
+    @weight  : N x 1
+    '''
+    l = np.linalg.norm(inputXYZ, axis=1, keepdims=True)
+    inputXYZ = inputXYZ / l
+    weightXYZ = inputXYZ * weight
+    XX = np.sum(weightXYZ[:, 0] ** 2)
+    YY = np.sum(weightXYZ[:, 1] ** 2)
+    ZZ = np.sum(weightXYZ[:, 2] ** 2)
+    XY = np.sum(weightXYZ[:, 0] * weightXYZ[:, 1])
+    YZ = np.sum(weightXYZ[:, 1] * weightXYZ[:, 2])
+    ZX = np.sum(weightXYZ[:, 2] * weightXYZ[:, 0])
+
+    A = np.array([
+        [XX, XY, ZX],
+        [XY, YY, YZ],
+        [ZX, YZ, ZZ]])
+    U, S, Vh = np.linalg.svd(A)
+    outputNM = Vh[-1, :]
+    outputNM = outputNM / np.linalg.norm(outputNM)
+
+    return outputNM
+
+
+def sphereHoughVote(segNormal, segLength, segScores, binRadius, orthTolerance, candiSet, force_unempty=True):
+    # initial guess
+    numLinesg = len(segNormal)
+
+    voteBinPoints = candiSet.copy()
+    voteBinPoints = voteBinPoints[~(voteBinPoints[:,2] < 0)]
+    reversValid = (segNormal[:, 2] < 0).reshape(-1)
+    segNormal[reversValid] = -segNormal[reversValid]
+
+    voteBinUV = xyz2uvN(voteBinPoints)
+    numVoteBin = len(voteBinPoints)
+    voteBinValues = np.zeros(numVoteBin)
+    for i in range(numLinesg):
+        tempNorm = segNormal[[i]]
+        tempDots = (voteBinPoints * tempNorm).sum(1)
+
+        valid = np.abs(tempDots) < np.cos((90 - binRadius) * np.pi / 180)
+
+        voteBinValues[valid] = voteBinValues[valid] + segScores[i] * segLength[i]
+
+    checkIDs1 = np.nonzero(voteBinUV[:, [1]] > np.pi / 3)[0]
+    voteMax = 0
+    checkID1Max = 0
+    checkID2Max = 0
+    checkID3Max = 0
+
+    for j in range(len(checkIDs1)):
+        checkID1 = checkIDs1[j]
+        vote1 = voteBinValues[checkID1]
+        if voteBinValues[checkID1] == 0 and force_unempty:
+            continue
+        checkNormal = voteBinPoints[[checkID1]]
+        dotProduct = (voteBinPoints * checkNormal).sum(1)
+        checkIDs2 = np.nonzero(np.abs(dotProduct) < np.cos((90 - orthTolerance) * np.pi / 180))[0]
+
+        for i in range(len(checkIDs2)):
+            checkID2 = checkIDs2[i]
+            if voteBinValues[checkID2] == 0 and force_unempty:
+                continue
+            vote2 = vote1 + voteBinValues[checkID2]
+            cpv = np.cross(voteBinPoints[checkID1], voteBinPoints[checkID2]).reshape(1, 3)
+            cpn = np.linalg.norm(cpv)
+            dotProduct = (voteBinPoints * cpv).sum(1) / cpn
+            checkIDs3 = np.nonzero(np.abs(dotProduct) > np.cos(orthTolerance * np.pi / 180))[0]
+
+            for k in range(len(checkIDs3)):
+                checkID3 = checkIDs3[k]
+                if voteBinValues[checkID3] == 0 and force_unempty:
+                    continue
+                vote3 = vote2 + voteBinValues[checkID3]
+                if vote3 > voteMax:
+                    lastStepCost = vote3 - voteMax
+                    if voteMax != 0:
+                        tmp = (voteBinPoints[[checkID1Max, checkID2Max, checkID3Max]] * \
+                               voteBinPoints[[checkID1, checkID2, checkID3]]).sum(1)
+                        lastStepAngle = np.arccos(tmp.clip(-1, 1))
+                    else:
+                        lastStepAngle = np.zeros(3)
+
+                    checkID1Max = checkID1
+                    checkID2Max = checkID2
+                    checkID3Max = checkID3
+
+                    voteMax = vote3
+
+    if checkID1Max == 0:
+        print('[WARN] sphereHoughVote: no orthogonal voting exist', file=sys.stderr)
+        return None, 0, 0
+    initXYZ = voteBinPoints[[checkID1Max, checkID2Max, checkID3Max]]
+
+    # refine
+    refiXYZ = np.zeros((3, 3))
+    dotprod = (segNormal * initXYZ[[0]]).sum(1)
+    valid = np.abs(dotprod) < np.cos((90 - binRadius) * np.pi / 180)
+    validNm = segNormal[valid]
+    validWt = segLength[valid] * segScores[valid]
+    validWt = validWt / validWt.max()
+    refiNM = curveFitting(validNm, validWt)
+    refiXYZ[0] = refiNM.copy()
+
+    dotprod = (segNormal * initXYZ[[1]]).sum(1)
+    valid = np.abs(dotprod) < np.cos((90 - binRadius) * np.pi / 180)
+    validNm = segNormal[valid]
+    validWt = segLength[valid] * segScores[valid]
+    validWt = validWt / validWt.max()
+    validNm = np.vstack([validNm, refiXYZ[[0]]])
+    validWt = np.vstack([validWt, validWt.sum(0, keepdims=1) * 0.1])
+    refiNM = curveFitting(validNm, validWt)
+    refiXYZ[1] = refiNM.copy()
+
+    refiNM = np.cross(refiXYZ[0], refiXYZ[1])
+    refiXYZ[2] = refiNM / np.linalg.norm(refiNM)
+
+    return refiXYZ, lastStepCost, lastStepAngle
+
+
+def findMainDirectionEMA(lines):
+    '''compute vp from set of lines'''
+
+    # initial guess
+    segNormal = lines[:, :3]
+    segLength = lines[:, [6]]
+    segScores = np.ones((len(lines), 1))
+
+    shortSegValid = (segLength < 5 * np.pi / 180).reshape(-1)
+    segNormal = segNormal[~shortSegValid, :]
+    segLength = segLength[~shortSegValid]
+    segScores = segScores[~shortSegValid]
+
+    numLinesg = len(segNormal)
+    candiSet, tri = icosahedron2sphere(3)
+    ang = np.arccos((candiSet[tri[0,0]] * candiSet[tri[0,1]]).sum().clip(-1, 1)) / np.pi * 180
+    binRadius = ang / 2
+    initXYZ, score, angle = sphereHoughVote(segNormal, segLength, segScores, 2*binRadius, 2, candiSet)
+
+    if initXYZ is None:
+        print('[WARN] findMainDirectionEMA: initial failed', file=sys.stderr)
+        return None, score, angle
+
+    # iterative refine
+    iter_max = 3
+    candiSet, tri = icosahedron2sphere(5)
+    numCandi = len(candiSet)
+    angD = np.arccos((candiSet[tri[0, 0]] * candiSet[tri[0, 1]]).sum().clip(-1, 1)) / np.pi * 180
+    binRadiusD = angD / 2
+    curXYZ = initXYZ.copy()
+    tol = np.linspace(4*binRadius, 4*binRadiusD, iter_max)  # shrink down ls and candi
+    for it in range(iter_max):
+        dot1 = np.abs((segNormal * curXYZ[[0]]).sum(1))
+        dot2 = np.abs((segNormal * curXYZ[[1]]).sum(1))
+        dot3 = np.abs((segNormal * curXYZ[[2]]).sum(1))
+        valid1 = dot1 < np.cos((90 - tol[it]) * np.pi / 180)
+        valid2 = dot2 < np.cos((90 - tol[it]) * np.pi / 180)
+        valid3 = dot3 < np.cos((90 - tol[it]) * np.pi / 180)
+        valid = valid1 | valid2 | valid3
+
+        if np.sum(valid) == 0:
+            print('[WARN] findMainDirectionEMA: zero line segments for voting', file=sys.stderr)
+            break
+
+        subSegNormal = segNormal[valid]
+        subSegLength = segLength[valid]
+        subSegScores = segScores[valid]
+
+        dot1 = np.abs((candiSet * curXYZ[[0]]).sum(1))
+        dot2 = np.abs((candiSet * curXYZ[[1]]).sum(1))
+        dot3 = np.abs((candiSet * curXYZ[[2]]).sum(1))
+        valid1 = dot1 > np.cos(tol[it] * np.pi / 180)
+        valid2 = dot2 > np.cos(tol[it] * np.pi / 180)
+        valid3 = dot3 > np.cos(tol[it] * np.pi / 180)
+        valid = valid1 | valid2 | valid3
+
+        if np.sum(valid) == 0:
+            print('[WARN] findMainDirectionEMA: zero line segments for voting', file=sys.stderr)
+            break
+
+        subCandiSet = candiSet[valid]
+
+        tcurXYZ, _, _ = sphereHoughVote(subSegNormal, subSegLength, subSegScores, 2*binRadiusD, 2, subCandiSet)
+
+        if tcurXYZ is None:
+            print('[WARN] findMainDirectionEMA: no answer found', file=sys.stderr)
+            break
+        curXYZ = tcurXYZ.copy()
+
+    mainDirect = curXYZ.copy()
+    mainDirect[0] = mainDirect[0] * np.sign(mainDirect[0,2])
+    mainDirect[1] = mainDirect[1] * np.sign(mainDirect[1,2])
+    mainDirect[2] = mainDirect[2] * np.sign(mainDirect[2,2])
+
+    uv = xyz2uvN(mainDirect)
+    I1 = np.argmax(uv[:,1])
+    J = np.setdiff1d(np.arange(3), I1)
+    I2 = np.argmin(np.abs(np.sin(uv[J,0])))
+    I2 = J[I2]
+    I3 = np.setdiff1d(np.arange(3), np.hstack([I1, I2]))
+    mainDirect = np.vstack([mainDirect[I1], mainDirect[I2], mainDirect[I3]])
+
+    mainDirect[0] = mainDirect[0] * np.sign(mainDirect[0,2])
+    mainDirect[1] = mainDirect[1] * np.sign(mainDirect[1,1])
+    mainDirect[2] = mainDirect[2] * np.sign(mainDirect[2,0])
+
+    mainDirect = np.vstack([mainDirect, -mainDirect])
+
+    return mainDirect, score, angle
+
+
+def multi_linspace(start, stop, num):
+    div = (num - 1)
+    y = np.arange(0, num, dtype=np.float64)
+    steps = (stop - start) / div
+    return steps.reshape(-1, 1) * y + start.reshape(-1, 1)
+
+
+def assignVanishingType(lines, vp, tol, area=10):
+    numLine = len(lines)
+    numVP = len(vp)
+    typeCost = np.zeros((numLine, numVP))
+    # perpendicular
+    for vid in range(numVP):
+        cosint = (lines[:, :3] * vp[[vid]]).sum(1)
+        typeCost[:, vid] = np.arcsin(np.abs(cosint).clip(-1, 1))
+
+    # infinity
+    u = np.stack([lines[:, 4], lines[:, 5]], -1)
+    u = u.reshape(-1, 1) * 2 * np.pi - np.pi
+    v = computeUVN_vec(lines[:, :3], u, lines[:, 3])
+    xyz = uv2xyzN_vec(np.hstack([u, v]), np.repeat(lines[:, 3], 2))
+    xyz = multi_linspace(xyz[0::2].reshape(-1), xyz[1::2].reshape(-1), 100)
+    xyz = np.vstack([blk.T for blk in np.split(xyz, numLine)])
+    xyz = xyz / np.linalg.norm(xyz, axis=1, keepdims=True)
+    for vid in range(numVP):
+        ang = np.arccos(np.abs((xyz * vp[[vid]]).sum(1)).clip(-1, 1))
+        notok = (ang < area * np.pi / 180).reshape(numLine, 100).sum(1) != 0
+        typeCost[notok, vid] = 100
+
+    I = typeCost.min(1)
+    tp = typeCost.argmin(1)
+    tp[I > tol] = numVP + 1
+
+    return tp, typeCost
+
+
+def refitLineSegmentB(lines, vp, vpweight=0.1):
+    '''
+    Refit direction of line segments
+    INPUT:
+        lines: original line segments
+        vp: vannishing point
+        vpweight: if set to 0, lines will not change; if set to inf, lines will
+                  be forced to pass vp
+    '''
+    numSample = 100
+    numLine = len(lines)
+    xyz = np.zeros((numSample+1, 3))
+    wei = np.ones((numSample+1, 1))
+    wei[numSample] = vpweight * numSample
+    lines_ali = lines.copy()
+    for i in range(numLine):
+        n = lines[i, :3]
+        sid = lines[i, 4] * 2 * np.pi
+        eid = lines[i, 5] * 2 * np.pi
+        if eid < sid:
+            x = np.linspace(sid, eid + 2 * np.pi, numSample) % (2 * np.pi)
+        else:
+            x = np.linspace(sid, eid, numSample)
+        u = -np.pi + x.reshape(-1, 1)
+        v = computeUVN(n, u, lines[i, 3])
+        xyz[:numSample] = uv2xyzN(np.hstack([u, v]), lines[i, 3])
+        xyz[numSample] = vp
+        outputNM = curveFitting(xyz, wei)
+        lines_ali[i, :3] = outputNM
+
+    return lines_ali
+
+
+def paintParameterLine(parameterLine, width, height):
+    lines = parameterLine.copy()
+    panoEdgeC = np.zeros((height, width))
+
+    num_sample = max(height, width)
+    for i in range(len(lines)):
+        n = lines[i, :3]
+        sid = lines[i, 4] * 2 * np.pi
+        eid = lines[i, 5] * 2 * np.pi
+        if eid < sid:
+            x = np.linspace(sid, eid + 2 * np.pi, num_sample)
+            x = x % (2 * np.pi)
+        else:
+            x = np.linspace(sid, eid, num_sample)
+        u = -np.pi + x.reshape(-1, 1)
+        v = computeUVN(n, u, lines[i, 3])
+        xyz = uv2xyzN(np.hstack([u, v]), lines[i, 3])
+        uv = xyz2uvN(xyz, 1)
+        m = np.minimum(np.floor((uv[:,0] + np.pi) / (2 * np.pi) * width) + 1,
+            width).astype(np.int32)
+        n = np.minimum(np.floor(((np.pi / 2) - uv[:, 1]) / np.pi * height) + 1,
+            height).astype(np.int32)
+        panoEdgeC[n-1, m-1] = i
+
+    return panoEdgeC
+
+
+def panoEdgeDetection(img, viewSize=320, qError=0.7, refineIter=3):
+    '''
+    line detection on panorama
+       INPUT:
+           img: image waiting for detection, double type, range 0~1
+           viewSize: image size of croped views
+           qError: set smaller if more line segment wanted
+       OUTPUT:
+           oLines: detected line segments
+           vp: vanishing point
+           views: separate views of panorama
+           edges: original detection of line segments in separate views
+           panoEdge: image for visualize line segments
+    '''
+    cutSize = viewSize
+    fov = np.pi / 3
+    xh = np.arange(-np.pi, np.pi*5/6, np.pi/6)
+    yh = np.zeros(xh.shape[0])
+    xp = np.array([-3/3, -2/3, -1/3, 0/3,  1/3, 2/3, -3/3, -2/3, -1/3,  0/3,  1/3,  2/3]) * np.pi
+    yp = np.array([ 1/4,  1/4,  1/4, 1/4,  1/4, 1/4, -1/4, -1/4, -1/4, -1/4, -1/4, -1/4]) * np.pi
+    x = np.concatenate([xh, xp, [0, 0]])
+    y = np.concatenate([yh, yp, [np.pi/2., -np.pi/2]])
+
+    sepScene = separatePano(img.copy(), fov, x, y, cutSize)
+    edge = []
+    for i, scene in enumerate(sepScene):
+        edgeMap, edgeList = lsdWrap(scene['img'])
+        edge.append({
+            'img': edgeMap,
+            'edgeLst': edgeList,
+            'vx': scene['vx'],
+            'vy': scene['vy'],
+            'fov': scene['fov'],
+        })
+        edge[-1]['panoLst'] = edgeFromImg2Pano(edge[-1])
+    lines, olines = combineEdgesN(edge)
+
+    clines = lines.copy()
+    for _ in range(refineIter):
+        mainDirect, score, angle = findMainDirectionEMA(clines)
+
+        tp, typeCost = assignVanishingType(lines, mainDirect[:3], 0.1, 10)
+        lines1 = lines[tp==0]
+        lines2 = lines[tp==1]
+        lines3 = lines[tp==2]
+
+        lines1rB = refitLineSegmentB(lines1, mainDirect[0], 0)
+        lines2rB = refitLineSegmentB(lines2, mainDirect[1], 0)
+        lines3rB = refitLineSegmentB(lines3, mainDirect[2], 0)
+
+        clines = np.vstack([lines1rB, lines2rB, lines3rB])
+
+    panoEdge1r = paintParameterLine(lines1rB, img.shape[1], img.shape[0])
+    panoEdge2r = paintParameterLine(lines2rB, img.shape[1], img.shape[0])
+    panoEdge3r = paintParameterLine(lines3rB, img.shape[1], img.shape[0])
+    panoEdger = np.stack([panoEdge1r, panoEdge2r, panoEdge3r], -1)
+
+    # output
+    olines = clines
+    vp = mainDirect
+    views = sepScene
+    edges = edge
+    panoEdge = panoEdger
+
+    return olines, vp, views, edges, panoEdge, score, angle
+
+
+if __name__ == '__main__':
+
+    # disable OpenCV3's non thread safe OpenCL option
+    cv2.ocl.setUseOpenCL(False)
+
+    import os
+    import argparse
+    import PIL
+    from PIL import Image
+    import time
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--i', required=True)
+    parser.add_argument('--o_prefix', required=True)
+    parser.add_argument('--qError', default=0.7, type=float)
+    parser.add_argument('--refineIter', default=3, type=int)
+    args = parser.parse_args()
+
+    # Read image
+    img_ori = np.array(Image.open(args.i).resize((1024, 512)))
+
+    # Vanishing point estimation & Line segments detection
+    s_time = time.time()
+    olines, vp, views, edges, panoEdge, score, angle = panoEdgeDetection(img_ori,
+                                                                         qError=args.qError,
+                                                                         refineIter=args.refineIter)
+    print('Elapsed time: %.2f' % (time.time() - s_time))
+    panoEdge = (panoEdge > 0)
+
+    print('Vanishing point:')
+    for v in vp[2::-1]:
+        print('%.6f %.6f %.6f' % tuple(v))
+
+    # Visualization
+    edg = rotatePanorama(panoEdge.astype(np.float64), vp[2::-1])
+    img = rotatePanorama(img_ori / 255.0, vp[2::-1])
+    one = img.copy() * 0.5
+    one[(edg > 0.5).sum(-1) > 0] = 0
+    one[edg[..., 0] > 0.5, 0] = 1
+    one[edg[..., 1] > 0.5, 1] = 1
+    one[edg[..., 2] > 0.5, 2] = 1
+    Image.fromarray((edg * 255).astype(np.uint8)).save('%s_edg.png' % args.o_prefix)
+    Image.fromarray((img * 255).astype(np.uint8)).save('%s_img.png' % args.o_prefix)
+    Image.fromarray((one * 255).astype(np.uint8)).save('%s_one.png' % args.o_prefix)