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SG-FRONT

SG-FRONT provides semantic scene graphs for 3D-FRONT (refined version). A semantic scene graph is defined by a set of tuples between nodes and edges where nodes represent specific 3D object instances. Nodes are defined by its semantics, a hierarchy of classes. The edges in our graphs are the semantic relationships (predicates) between the nodes, including standing on or same material as, following 3DSSG.

Data Organization

Assume you have downloaded 3D-FRONT and preprocess the data following ATISS.

Download link: SG-FRONT and additional bboxes. Download and unzip them to path/to/3D-FRONT. The data in the provided files is organized as follows:

SG-FRONT.zip
|-- relationships_{type}_trainval.json
    List of all triplets consisting of semantic classes (nodes) and semantic relationships (edges) in the trainval split.
|-- relationships_{type}_test.json
    List of all triplets consisting of semantic classes (nodes) and semantic relationships (edges) in the test split.
|-- classes_{type}.txt
    List of the semantic classes in the current room type.
|-- relationships.txt
    List of all relationship types.

bbox.zip
|-- obj_boxes_{type}_trainval.json
    Oriented bounding boxes in each scene in the trainval split.
|-- obj_boxes_{type}_test.json
    Oriented bounding boxes in each scene in the test split.
|-- boxes_centered_stats_{}_trainval.txt
	Box normalization parameters in the trainval split.
|-- boxes_centered_stats_{}_test.txt
	Box normalization parameters in the test split.
|-- cat_jid_*.json (not necessary for commonscenes)
	Object instance id with the bounding box size.

Data Formats

SG-FRONT is for the general purpose of scene graph research:

Object relationships (edges) (relationships_*.json):

{
  "scans": [
    {
      "scan": "MasterBedroom-33296",
      "objects": {"1": "dressing_table", "2": "nightstand", "3": "stool", "4": "double_bed", "5": "cabinet", "6": "pendant_lamp", "7": "wardrobe", "8": "floor"},
      "relationships": [
        [
          6,  // subject instance id in the current scene
          5,  // object instance id in the current scene
          1, // relationships id (order aligned with relationships.txt)
          "left" // textual semantic relationship (from relationships.txt)
        ],
        [ 5, 2, 14, "same super category as" ],
        [ 4, 1, 10, "taller than" ],
        [ 7, 2, 15, "same material as" ], 
        ...
      ],
      
    }, { 
      ... 
    }
  ]
}

Bbox information is for additional usages:

Object bboxes (obj_boxes_*.json):

{
  "MasterBedroom-33296": { // room id from preprocessed 3D-FRONT
      "1": {"param7": [1.0406779999999998, 1.098808, 0.4491219999999996, -5.370314764104733, 0.0, -4.066067038275899, 0], // bbox size and pose (x,y,z,angle), with positive y-axis up.
          	"8points": [[-5.890653764104733, 0.0, -4.290628038275899], [-5.890653764104733, 0.0, -3.841506038275899], [-5.890653764104733, 1.098808, -4.290628038275899], [-5.890653764104733, 1.098808, -3.841506038275899], [-4.849975764104733, 0.0, -4.290628038275899], [-4.849975764104733, 0.0, -3.841506038275899], [-4.849975764104733, 1.098808, -4.290628038275899], [-4.849975764104733, 1.098808, -3.841506038275899]], // bbox vertices
            "scale": [1, 1, 1], // always 1
            "model_path": "/media/ymxlzgy/Data/Dataset/3D-FRONT/3D-FUTURE-model/1791e0c9-15fc-4fa9-80df-e73332ed6ce0/raw_model.obj"}, // the object model in 3D-FUTURE. The head path needs to be changed.
      "2": {"param7": [0.48633499999999996, 0.607177, 0.4845579999999998, -2.560559506120386, 0.0, -4.061041670654544, 0],
         	"8points": [[-2.803745506120386, 0.0, -4.303502670654543], [-2.803745506120386, 0.0, -3.8189446706545436], [-2.803745506120386, 0.607177, -4.303502670654543], [-2.803745506120386, 0.607177, -3.8189446706545436], [-2.3174105061203862, 0.0, -4.303502670654543], [-2.3174105061203862, 0.0, -3.8189446706545436], [-2.3174105061203862, 0.607177, -4.303502670654543], [-2.3174105061203862, 0.607177, -3.8189446706545436]],
            "scale": [1, 1, 1], 
            "model_path": "/media/ymxlzgy/Data/Dataset/3D-FRONT/3D-FUTURE-model/62319141-32fa-4353-b2ff-ec31ca232e3e/raw_model.obj"}, 
      ...,
      "scene_center": [-2.9265, 0.0, -2.7]}, // the average center of the current room
  
  "MasterBedroom-9404": {
      ...,
      "scene_center": [2.96192, 0.0, 0.32996000000000003]}
  
  ...
}

Notes:

  • Our automatic labeling setup can be downloaded here for the reference and the potential adjustment. This can ONLY be run after preprocessing 3D-FRONT following Diffuscene or ATISS.