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Pointcept2 processed point cloud datasets
Indoor scene datasets processed for Pointcept2: one .safetensors
file per scene, a dataset.json card per dataset (fields, dtypes, roles, units, classes,
provenance) and an index.json manifest (splits, point counts, byte sizes, sha256 of every file).
Pointcept2 reads them directly; any safetensors reader can too.
| folder | source | scenes | content | notes |
|---|---|---|---|---|
scannet/ |
ScanNet v2 | 1,613 (train 1,201 / val 312 / test 100) | coord (m, f32), color (u8), normal (f32), segment20, segment200 (i16, -1 ignore), instance (i32) | Pointcept's preprocessing ported bit-identically (same labels and order) |
structured3d-full/ |
Structured3D | 21,821 rooms (all splits) | coord, color, normal, segment, instance | derived version: Pointcept's rooms pre-sampled to one point per 1.5 cm cell |
s3dis/ |
S3DIS (Stanford 2D-3D-S) | 272 rooms (Area_1 to Area_6) | coord, color, normal, segment (13 classes), instance | Pointcept's processed rooms (aligned, with normals), stored as-is |
arkitscenes/ |
ARKitScenes (3DOD meshes) | 5,047 scenes (Training / Validation) | coord, color, normal | Pointcept's processed scenes, stored as-is; no labels |
hm3d/ |
HM3D v0.2 | 11,493 rooms (train / val) | coord, color, normal; segment, instance where HM3D-Sem has them | Pointcept's processed rooms, stored as-is |
scannetpp/ |
ScanNet++ v2 | 956 scenes (train 856 / val 50 / test 50) | coord, color, normal, segment, instance | Pointcept's processed meshes, full resolution |
scannetpp-g0.01/ |
ScanNet++ v2 | 956 scenes | as scannetpp/ |
derived version: one point per 1 cm cell, for training |
structured3d-full/ and hm3d/ are not complete yet: their train folders hold more files than the
hub allows in one directory (10,000), and their layout here is still being decided. A folder is
complete when its index.json is present. Each folder's dataset.json records the exact source,
its hashes and the processing.
Terms of use
The data remain under the terms of their original datasets; this repository grants no additional rights. Read and accept them before use:
- ScanNet: https://kaldir.vc.in.tum.de/scannet/ScanNet_TOS.pdf
- Structured3D: https://structured3d-dataset.org/ (terms of use on the download form)
- S3DIS / 2D-3D-S: http://buildingparser.stanford.edu/dataset.html
- ARKitScenes: https://github.com/apple/ARKitScenes/blob/main/LICENSE
- HM3D: https://matterport.com/habitat-matterport-3d-research-dataset (Matterport's terms)
- ScanNet++: https://kaldir.vc.in.tum.de/scannetpp/
Reading a sample
from safetensors.numpy import load_file
scene = load_file("scannet/train/scene0000_00.safetensors")
coord, color = scene["coord"], scene["color"] # (N, 3) float32 metres, (N, 3) uint8
Citation
Cite the original datasets (ScanNet, Structured3D, ...) and Pointcept.
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