| import pandas as pd | |
| import numpy as np | |
| category_mapping = pd.read_csv("category_mapping.tsv", sep='\t', header=0) | |
| RAW_TO_NYU = np.concatenate([[0], category_mapping[['nyuId']].to_numpy().flatten()]) | |
| MATTERPORT_VALID_IDS = [21, 28, 4, 11, 64, 59, 5, 119, 144, 3, 89, 19, 82, 122, 135, 24, 42, 83, 157, 158, 124, 94, 453, | |
| 215, 150, 78, 172, 16, 36, 26, 356, 7, 204, 12, 372, 141, 136, 1, 25, 9, 508, 139, 74, 497, 294, | |
| 169, 130, 359, 2, 17, 88, 772, 41, 49, 50, 174, 140, 301, 181, 609, 39, 342, 238, 56, 242, 278, | |
| 123, 338, 307, 344, 13, 80, 22, 138, 233, 291, 149, 111, 161, 427, 137, 146, 54, 524, 208, 79, | |
| 10, 582, 143, 66, 32, 312, 758, 650, 133, 47, 110, 236, 456, 113, 559, 612, 8, 35, 48, 850, 193, | |
| 86, 298, 408, 560, 60, 457, 211, 148, 62, 639, 55, 37, 458, 300, 540, 647, 51, 179, 151, 383, 515, | |
| 324, 502, 509, 267, 678, 177, 14, 859, 530, 630, 99, 145, 45, 380, 605, 389, 163, 638, 154, 548, | |
| 46, 652, 15, 90, 400, 851, 589, 783, 844, 702, 331, 525] |