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  1. .gitattributes +255 -1
  2. train/FloorPlan_Train2_4/13/0.json +1736 -0
  3. train/FloorPlan_Train2_4/13/0_depth_npy.npy +3 -0
  4. train/FloorPlan_Train2_4/13/0_semantic_sensor_npy.npy +3 -0
  5. train/FloorPlan_Train2_4/13/1.json +1311 -0
  6. train/FloorPlan_Train2_4/13/1_depth_npy.npy +3 -0
  7. train/FloorPlan_Train2_4/13/1_semantic_sensor_npy.npy +3 -0
  8. train/FloorPlan_Train2_4/13/depth_0.png +0 -0
  9. train/FloorPlan_Train2_4/13/depth_1.png +0 -0
  10. train/FloorPlan_Train2_4/13/mask_questions.jsonl +1 -0
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  12. train/FloorPlan_Train2_4/13/rgb_1.png +3 -0
  13. train/FloorPlan_Train2_4/13/rgb_1_mask_GarbageCan|+01.37|-00.03|-04.63.png +3 -0
  14. train/FloorPlan_Train2_4/13/semantic_0.png +0 -0
  15. train/FloorPlan_Train2_4/13/semantic_1.png +0 -0
  16. train/FloorPlan_Train2_4/14/0.json +1199 -0
  17. train/FloorPlan_Train2_4/14/0_depth_npy.npy +3 -0
  18. train/FloorPlan_Train2_4/14/0_semantic_sensor_npy.npy +3 -0
  19. train/FloorPlan_Train2_4/14/1.json +0 -0
  20. train/FloorPlan_Train2_4/14/1_depth_npy.npy +3 -0
  21. train/FloorPlan_Train2_4/14/1_semantic_sensor_npy.npy +3 -0
  22. train/FloorPlan_Train2_4/14/depth_0.png +0 -0
  23. train/FloorPlan_Train2_4/14/depth_1.png +0 -0
  24. train/FloorPlan_Train2_4/14/mask_questions.jsonl +5 -0
  25. train/FloorPlan_Train2_4/14/rgb_0.png +3 -0
  26. train/FloorPlan_Train2_4/14/rgb_0_mask_Box|+07.75|+00.72|-01.37.png +3 -0
  27. train/FloorPlan_Train2_4/14/rgb_0_mask_Painting|+07.37|+01.42|-03.92.png +3 -0
  28. train/FloorPlan_Train2_4/14/rgb_0_mask_SideTable|+07.67|+00.00|-01.42.png +3 -0
  29. train/FloorPlan_Train2_4/14/rgb_1.png +3 -0
  30. train/FloorPlan_Train2_4/14/rgb_1_mask_Box|+07.75|+00.72|-01.37.png +3 -0
  31. train/FloorPlan_Train2_4/14/rgb_1_mask_Painting|+07.37|+01.42|-03.92.png +3 -0
  32. train/FloorPlan_Train2_4/14/semantic_0.png +0 -0
  33. train/FloorPlan_Train2_4/14/semantic_1.png +0 -0
  34. train/FloorPlan_Train2_4/15/0.json +2109 -0
  35. train/FloorPlan_Train2_4/15/0_depth_npy.npy +3 -0
  36. train/FloorPlan_Train2_4/15/0_semantic_sensor_npy.npy +3 -0
  37. train/FloorPlan_Train2_4/15/1.json +1253 -0
  38. train/FloorPlan_Train2_4/15/1_depth_npy.npy +3 -0
  39. train/FloorPlan_Train2_4/15/1_semantic_sensor_npy.npy +3 -0
  40. train/FloorPlan_Train2_4/15/depth_0.png +0 -0
  41. train/FloorPlan_Train2_4/15/depth_1.png +0 -0
  42. train/FloorPlan_Train2_4/15/mask_questions.jsonl +0 -0
  43. train/FloorPlan_Train2_4/15/rgb_0.png +3 -0
  44. train/FloorPlan_Train2_4/15/rgb_1.png +3 -0
  45. train/FloorPlan_Train2_4/15/semantic_0.png +0 -0
  46. train/FloorPlan_Train2_4/15/semantic_1.png +0 -0
  47. train/FloorPlan_Train2_4/16/0.json +1153 -0
  48. train/FloorPlan_Train2_4/16/0_depth_npy.npy +3 -0
  49. train/FloorPlan_Train2_4/16/0_semantic_sensor_npy.npy +3 -0
  50. train/FloorPlan_Train2_4/16/1.json +2531 -0
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