MultiScan Dataset

File System Structure

Each scan is named as scene_xxxxx_xx, the first 5 digits represent the scene ID, the last 2 digits represent the scan ID. In MultiScan, each scene is a unique indoor environment, scans records the multiple states of the scene at multiple time intervals. Take scene 00000 as an example, and it has 2 scans, the scan ID of these 2 scans are scene_00000_00 and scene_00000_01.

scene_xxxxx_xx/
    ├── scene_xxxxx_xx.annotations.json
    ├── scene_xxxxx_xx.align.json
    ├── scene_xxxxx_xx.ply
    ├── scene_xxxxx_xx.json
    ├── scene_xxxxx_xx.jsonl
    ├── scene_xxxxx_xx.mp4
    ├── scene_xxxxx_xx.depth.zlib
    ├── scene_xxxxx_xx.confidence.zlib
    └── textured_mesh/
        ├── scene_xxxxx_xx-tex0000.png
        ├── scene_xxxxx_xx-tex0001.png
        ├── ... more png atlas
        ├── scene_xxxxx_xx.mtl
        └── scene_xxxxx_xx.obj

Files

File Name	Group	Description
scene_xxxxx_xx.json	Acquired	Data collection metadata.
scene_xxxxx_xx.jsonl	Acquired	Acquired camera parameters for each frame: timestamp, quaternion, intrinsics, transform, euler_angles, exposure_duration.
scene_xxxxx_xx.mp4	Acquired	Acquired RGB frames encoded with H.264 codec.
scene_xxxxx_xx.depth.zlib	Acquired	Acquired depth stream with zlib compression, each depth frame has pixel size 16-bit float with depth values in meters.
scene_xxxxx_xx.confidence.zlib	Acquired	Acquired confidence stream with zlib compression, each confidence frame has pixel size 8-bit unsigned int.
scene_xxxxx_xx.obj	Output	Textured mesh in OBJ format, encodes the vertex coords, UV coords, vertex normals, faces.
scene_xxxxx_xx.mtl	Output	Textured mesh material in MTL format, defines the material and lighting properties.
scene_xxxxx_xx-tex00xx.png	Output	Texture atlas in PNG format, describes the suface texture of the mesh.
scene_xxxxx_xx.align.json	Output	1. Transformation matrix used to align the reconstructed mesh to common coordinate frame. 2. Transformation matrix align the current scan to the reference scan
scene_xxxxx_xx.annotations.json	Annotation	Semantic, obb, articulation annotation results.
scene_xxxxx_xx.ply	Annotation	Mesh in PLY format with vertex colors tranformed from the textured mesh and per face semantic annotations.

Details