scene stringclasses 264
values | view_count int64 2 24 | point_cloud_ids listlengths 2 24 | point_cloud_files listlengths 2 24 | overlap_subgraph dict | min_overlap_ratio float64 0 1 | avg_overlap_ratio float64 0.11 1 | bottleneck_overlap_ratio float64 0.1 1 | edge_density float64 0.3 1 | inputs listlengths 2 24 |
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IndoorScan/RESSO_indoor_6b | 2 | [
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IndoorScan/RESSO_indoor_6f | 10 | [
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IndoorScan/RESSO_indoor_6f | 11 | [
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IndoorScan/RESSO_indoor_6g | 2 | [
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IndoorScan/RESSO_indoor_6g | 3 | [
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IndoorScan/bonn_rgbd_crowd | 2 | [
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IndoorScan/bonn_rgbd_crowd | 3 | [
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IndoorScan/bonn_rgbd_crowd | 10 | [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
] | [
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"009.ply",
"010.ply"
] | {
"matrix": [
[
1,
0.1449060157183731,
0.1767411538879432,
0.20814168266270688,
0.4651407047915686,
0.23722429466516967,
0.04672050994168991,
0.10430625475354026,
0.19260439679837746,
0.1225598493354098
],
[
0.1451215088864708,
1,
... | 0.029047 | 0.193426 | 0.194388 | 0.755556 | [
{
"point_cloud_id": 1,
"point_cloud_file": "001.ply",
"transformation_matrix": [
[
0.9266665286446478,
0.3705143183494108,
0.06331101474269403,
-0.06493517707728583
],
[
-0.3663210289231349,
0.9279395710255903,
-0.0688262761853298... |
IndoorScan/bonn_rgbd_crowd | 11 | [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
] | [
"000.ply",
"001.ply",
"002.ply",
"003.ply",
"004.ply",
"005.ply",
"006.ply",
"007.ply",
"008.ply",
"009.ply",
"010.ply"
] | {
"matrix": [
[
1,
0.2626126343179299,
0.10851443164843637,
0.4275044571869127,
0.5710017828747651,
0.17963667903435648,
0.14065436322459404,
0.25210812894521273,
0.29595721100563777,
0.4849419361056233,
0.04327085240688093
],
[
0.197... | 0.029047 | 0.211462 | 0.194388 | 0.781818 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
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-0.5806631418648718
],
[
-0.03560177860075245,
0.9959679586318729,
-0.08234281231001... |
IndoorScan/ccd_kl_00 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.05347665306278861
],
[
0.2865208910789447,
1
]
]
} | 0.286521 | 0.286521 | 0.286521 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9877605227028189,
-0.15553034804802976,
0.011809344855356818,
-0.6094097132541902
],
[
0.15573701796946152,
-0.9876108070854273,
0.0192581141872... |
IndoorScan/ccd_kl_01 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.042362975833201706
],
[
0.2738411272207474,
1
]
]
} | 0.273841 | 0.273841 | 0.273841 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.5826914116821714,
0.8086397144702342,
-0.08107114735426149,
2.4588795999207584
],
[
-0.811735973421544,
-0.5839428210014946,
0.00977196265827517... |
IndoorScan/ccd_kl_03 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.018351790593988206
],
[
0.18508848273861328,
1
]
]
} | 0.185088 | 0.185088 | 0.185088 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9736279207190459,
0.22722558544561253,
-0.02042560440246231,
-1.0221274320940452
],
[
-0.22813136170418377,
-0.9705292711430403,
0.0776467363226... |
IndoorScan/ccd_kl_05 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.011091753774680604
],
[
0.1677891654465593,
1
]
]
} | 0.167789 | 0.167789 | 0.167789 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.7172664337559962,
0.6931867507870911,
-0.07085895525754209,
-2.4273185731623115
],
[
-0.6915829790271955,
-0.7206261629834667,
-0.04910108291673... |
IndoorScan/ccd_ks_computercluster1 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.10741352142267577
],
[
0.2653382761816497,
1
]
]
} | 0.265338 | 0.265338 | 0.265338 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.08989106720497826,
0.9957462240916611,
-0.020225064745246966,
0.14577718371881881
],
[
-0.995376542905075,
0.09051062626680582,
0.032145985241267... |
IndoorScan/ccd_ks_corner2 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.06789182796188051
],
[
0.19483062463285686,
1
]
]
} | 0.194831 | 0.194831 | 0.194831 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.5216360848934309,
0.8484419127367169,
0.08967784368903257,
-2.6657438364651234
],
[
-0.8511073979128767,
0.5247946705442187,
-0.01437883814351126... |
IndoorScan/ccd_ks_desk5 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.2840224392270933
],
[
0.09332650622973204,
1
]
]
} | 0.284022 | 0.284022 | 0.284022 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.36810083751990036,
0.9293826624287564,
-0.0273795579581543,
0.02984614349563014
],
[
-0.9259100698611754,
0.363721514764414,
-0.10196667213925045... |
IndoorScan/ccd_ks_fourchair | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.1121463152232383
],
[
0.15657764292366388,
1
]
]
} | 0.156578 | 0.156578 | 0.156578 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.4532185071400468,
-0.8877507752351345,
-0.08057013004311926,
-2.3687285696282214
],
[
0.8898997985773339,
0.45584478603386214,
-0.016848725107939... |
IndoorScan/ccd_ks_lab1 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.1761006289308176
],
[
0.07233349847830703,
1
]
]
} | 0.176101 | 0.176101 | 0.176101 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9896306664110044,
0.1366180852482212,
-0.044346847486841465,
1.3062854716720298
],
[
-0.1342754793572148,
-0.9895734539444768,
-0.05210062275816... |
IndoorScan/ccd_ks_lab2 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.3527049873203719
],
[
0.3049515804860223,
1
]
]
} | 0.352705 | 0.352705 | 0.352705 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
-0.9490714306880284,
0.3119336341161181,
-0.04428123032268524,
0.6923236170027438
],
[
-0.30643244756162036,
-0.9465843130060116,
-0.10038572334914... |
IndoorScan/ccd_ks_lab3 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.22265252999809537
],
[
0.0814010166422951,
1
]
]
} | 0.222653 | 0.222653 | 0.222653 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.46718818181163296,
-0.879450149165457,
0.09111881204447221,
-2.558657345726426
],
[
0.8810589899879581,
0.47169275653169895,
0.035227824186665965... |
IndoorScan/ccd_ks_lab4 | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.038552954920839544
],
[
0.11726504104889107,
1
]
]
} | 0.117265 | 0.117265 | 0.117265 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.6080363634129404,
-0.7871327917688525,
-0.1035072407599534,
-5.114767930675877
],
[
0.7910938004743687,
0.6116788080823516,
-0.004431093992852663... |
IndoorScan/ccd_ks_labcorner | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.15046779374868102
],
[
0.09201978920197892,
1
]
]
} | 0.150468 | 0.150468 | 0.150468 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9225771597841298,
-0.3857834192386239,
-0.004747387197653424,
-1.5063378024597236
],
[
0.3857535278086378,
0.9225813686586416,
-0.006150933842772... |
IndoorScan/ccd_ks_sofalong | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.12766410912190965
],
[
0.13798663902326652,
1
]
]
} | 0.137987 | 0.137987 | 0.137987 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.5414560826197639,
0.8404765424764901,
0.02060320705191769,
-0.4203747834191067
],
[
-0.8382776400446582,
0.5415852277807403,
-0.06305584232124849... |
IndoorScan/ccd_ks_sofapart | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.2612554610255231
],
[
0.38078959715798644,
1
]
]
} | 0.38079 | 0.38079 | 0.38079 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.7204935242348304,
-0.6919492119734209,
0.04577520709986744,
-2.0247472648872935
],
[
0.6912417222155595,
0.7218982438677595,
0.03236984660315964,... |
IndoorScan/ccd_ks_sofawhole | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.24749010759017626
],
[
0.3746163746163746,
1
]
]
} | 0.374616 | 0.374616 | 0.374616 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9235336157666058,
-0.3752977576479157,
0.07897628538685512,
-2.883003304777768
],
[
0.3771928035952394,
0.9260801268163595,
-0.010059206318529615... |
IndoorScan/ccd_ks_threechair | 2 | [
0,
1
] | [
"000.ply",
"001.ply"
] | {
"matrix": [
[
1,
0.4419027169873648
],
[
0.45398755656108597,
1
]
]
} | 0.453988 | 0.453988 | 0.453988 | 1 | [
{
"point_cloud_id": 0,
"point_cloud_file": "000.ply",
"transformation_matrix": [
[
0.9365104828516333,
0.34875806570791085,
0.0362757096784806,
0.4854789276818786
],
[
-0.3478028611741814,
0.9370824864946957,
-0.030159298134596838... |
IndoorScan/eth3d_einstein1 | 2 | [
10,
13
] | [
"010.ply",
"013.ply"
] | {
"matrix": [
[
1,
0.7865344467640919
],
[
0.5653723504033015,
1
]
]
} | 0.786534 | 0.786534 | 0.786534 | 1 | [
{
"point_cloud_id": 10,
"point_cloud_file": "010.ply",
"transformation_matrix": [
[
-0.6397014390052856,
0.7634932654598101,
0.08865721928914116,
-0.6225005331553206
],
[
-0.7676204382713155,
-0.6404933334378629,
-0.02295980334863... |
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