---
license: apache-2.0
tags:
- vision
- point cloud
- NYU Depth V2
- 3d
- deep learning
- computer vision
- RAY-AUTRA-TECHNOLOGY
language: en
pretty_name: RAY-tech img_pointV2
datasets:
- jagennath-hari/nyuv2
---

![CLOUD_POINTS _dAtAsEt_ (1)](https://cdn-uploads.huggingface.co/production/uploads/66de3482fd7d68a29319ecd9/3_vh0mRu_K-tdwrB6SmSU.png)

# img_pointV2 is available 🎉🎉🎉🥳🥳😀😀

This dataset is a collection of 3D point clouds generated from the `jagennath-hari/nyuv2dataset`.

**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).

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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### Dataset Highlights

* **Point Clouds (.ply):** Complete 3D scenes featuring both geometry ($X, Y, Z$) and color ($R, G, B$).
* **Metric Precision:** Every point is accurately positioned in meters, strictly following the real-world Kinect camera intrinsic parameters.
* **Cleaned & Uniformed:** Clouds have been filtered to remove capture noise and voxelized with a 1 cm density (voxel size: $0.01$).
* **Integrated Labels:** Metadata preserves all original semantic and instance segmentation information.

---

### File Structure

| File/Folder | Description |
| :--- | :--- |
| `data/` | Directory containing the `.ply` files. |
| `metadata.arrow` | Central index linking IDs, filenames, and point counts (Train/Val/Test splits). |
| `camera_params.json` | Optical parameters (intrinsics) used for the 3D reconstruction. |
| `class_names.json` | Dictionary of semantic classes (e.g., chair, wall, table). |
| `config.yaml` | Dataset configuration (license, format, normalization). |

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> **IMPORTANT:** These files are fully compatible with major 3D libraries such as **Open3D**, **PyTorch Geometric**, and **PointNet++**.

RAY AUTRA TECHNOLOGY 2025