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license: apache-2.0
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---
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img_pointV2 is available 🎉🎉🎉🥳🥳😀😀
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license: apache-2.0
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tags:
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- vision
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- point cloud
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- NYU Depth V2
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- 3d
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- deep learning
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- computer vision
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- RAY-AUTRA-TECHNOLOGY
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language: en
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pretty_name: RAY-tech img_pointV2
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datasets:
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- jagennath-hari/nyuv2
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# img_pointV2 is available 🎉🎉🎉🥳🥳😀😀
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This dataset is a collection of 3D point clouds generated from the `jagennath-hari/nyuv2dataset`.
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**img_pointV2** is the second version of the `RAY-AUTRA-TECHNOLOGY/img_pointV` dataset. It is a spatialized version of the *NYU Depth V2* dataset, transforming classic indoor images into high-fidelity 3D point clouds (`.ply` files).
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The main objective is to provide clean, ready-to-use 3D scenes for training 3D vision models, eliminating the need for users to manually handle RGB-D to point cloud conversion.
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---
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### Dataset Highlights
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* **Point Clouds (.ply):** Complete 3D scenes featuring both geometry ($X, Y, Z$) and color ($R, G, B$).
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* **Metric Precision:** Every point is accurately positioned in meters, strictly following the real-world Kinect camera intrinsic parameters.
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* **Cleaned & Uniformed:** Clouds have been filtered to remove capture noise and voxelized with a 1 cm density (voxel size: $0.01$).
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* **Integrated Labels:** Metadata preserves all original semantic and instance segmentation information.
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---
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### File Structure
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| File/Folder | Description |
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| :--- | :--- |
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| `data/` | Directory containing the `.ply` files. |
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| `metadata.arrow` | Central index linking IDs, filenames, and point counts (Train/Val/Test splits). |
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| `camera_params.json` | Optical parameters (intrinsics) used for the 3D reconstruction. |
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| `class_names.json` | Dictionary of semantic classes (e.g., chair, wall, table). |
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| `config.yaml` | Dataset configuration (license, format, normalization). |
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---
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> **IMPORTANT:** These files are fully compatible with major 3D libraries such as **Open3D**, **PyTorch Geometric**, and **PointNet++**.
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RAY AUTRA TECHNOLOGY 2025
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