Create README.md

README.md

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+# Modified SceneFun3D Dataset for Open Vocabulary Functional 3D Scene Graphs
+
+In evaluation of OpenFunGraph, we do not use the newest released version of SceneFun3D.
+Here we released the version we used and the annotations we added on this version.
+
+## Annotations
+```
+SceneFun3D.annotations.json: Object and interactive element segmentation annotations
+
+SceneFun3D.relations.json: Functional 3D scene graph annotations
+
+all_labels.json: all labels appeared in the dataset for evaluation
+
+all_labels_clip.embedding.npy: CLIP embeddings of all labels appeared in the dataset for evaluation
+
+all_edges.json: all relationship descriptions appeared in the dataset for edge evaluation
+
+all_edges_bert_embeddings.npy: BERT embeddings of all relationship descriptions appeared in the dataset for edge evaluation
+
+OpenFunGraph_split.txt: split used for OpenFunGraph evaluation
+```
+
+## Assets for each scene
+
+Here the assets and the usage are the same with SceneFun3D (https://scenefun3d.github.io/documentation/).
+We only use part of the dataset's assets for our work.
+
+```
+highres_depth: the ground-truth depth image projected from the mesh generated by Faro’s laser scanners (1920x1440 in landscape mode, 1440x1920 in portrait mode) - 10 FPS
+
+wide: high resolution RGB images of the wide camera (1920x1440 in landscape mode, 1440x1920 in portrait mode) - 10 FPS
+
+wide_intrinsics: camera intrinsics for the high resolution images
+
+lowres_wide.traj: contains the ARKit camera pose trajectory in the ARKit coordinate system
+
+metadata.csv: information about landscape or portrait for each scene
+
+xxx_refined_transform.npy: 4x4 transformation matrix that registers the Faro laser scan to the ARKit coordinate system
+
+xxx_laser_scan.ply: combined Faro laser scan with 5mm resolution
+```