rio.py

# Copyright (c) 2025 Robert Bosch GmbH
# SPDX-License-Identifier: AGPL-3.0

scenes = [
    "scene01",
    "scene02",
    "scene03",
    "scene04",
    "scene05",
    "scene06",
    "scene07",
    "scene08",
    "scene09",
    "scene10",
    ]

rio_3dssg_mapping = {
    'scene01': 'c92fb592-f771-2064-8446-c2605c0202e9',
    'scene02': '50e7c0b1-0730-2a5f-8471-b240fa51b1d7',
    'scene03': '4acaebbe-6c10-2a2a-866a-f0e58185caf7',
    'scene04': 'c2d9933f-1947-2fbf-807f-c44bc1aed269',
    'scene05': '4238491e-60a7-271e-9fe8-eb04b4209883',
    'scene06': 'c92fb570-f771-2064-8700-e44ec1355c49',
    'scene07': '752cc597-920c-26f5-8c1b-a8a5c90a21d7',
    'scene08': '75c25989-9ca2-2844-97b4-31b81f7554b8',
    'scene09': '422885d9-192d-25fc-85de-b954f526b2ac',
    'scene10': '531cff10-0021-28f6-8f94-80db8fdbbbee',
}

valid_class_ids = [3, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23,
                   26, 29, 31, 34, 35, 37, 40, 44, 47, 52, 54, 56, 59, 60, 61,
                   62, 63, 64, 65, 70, 71, 76, 78, 79, 80, 82, 83, 87, 88, 91,
                   92, 93, 95, 97, 98]

class_popularity = [47, 18, 22, 13,  5, 37, 40, 50, 49, 24, 21, 30,  2, 43, 11,
                    29,  4, 44, 17,  3, 46,  1, 38, 28, 23, 19, 16, 26, 36, 45,
                    32,  0, 33, 25, 31, 27, 20, 48,  6,  8, 14, 35, 42, 10, 41,
                    34,  7, 12,  9, 15, 39]
num_classes = len(valid_class_ids)  # 51

map_to_reduced = {
93:	0,
31:	1,
40:	2,
20:	3,
12:	4,
76:	5,
80:	6,
98:	7,
97:	8,
47:	9,
37:	10,
61:	11,
8:	12,
87:	13,
18:	14,
60:	15,
11:	16,
88:	17,
29:	18,
10:	19,
92:	20,
7:	21,
78:	22,
59:	23,
44:	24,
34:	25,
26:	26,
54:	27,
71:	28,
91:	29,
63:	30,
3:	31,
64:	32,
52:	33,
62:	34,
56:	35,
35:	36,
95:	37,
13:	38,
15:	39,
22:	40,
70:	41,
83:	42,
17:	43,
82:	44,
65:	45,
14:	46,
19:	47,
16:	48,
23:	49,
79:	50,
-1: 51,
-2: 51,
256:51,
}

class_names_reduced = [
    'armchair',
    'backpack',
    'bag',
    'ball',
    'bar',
    'basin',
    'basket',
    'bath cabinet',
    'bathtub',
    'bed',
    'bedside table',
    'bench',
    'bidet',
    'bin',
    'blanket',
    'blinds',
    'board',
    'book',
    'books',
    'bookshelf',
    'bottle',
    'box',
    'bread',
    'bucket',
    'cabinet',
    'carpet',
    'ceiling',
    'chair',
    'cleanser',
    'clock',
    'closet',
    'clothes',
    'clothes dryer',
    'clutter',
    'coffee machine',
    'coffee table',
    'commode',
    'computer desk',
    'couch',
    'couch table',
    'counter',
    'cup',
    'cupboard',
    'curtain',
    'cushion',
    'cutting board',
    'decoration',
    'desk',
    'dining chair',
    'dining table',
    'door',
    'doorframe',
    'drawer',
    'drum',
    'drying machine',
    'extractor fan',
    'fireplace',
    'floor',
    'flower',
    'flowers',
    'folder',
    'food',
    'footstool',
    'frame',
    'fruit plate',
    'garbage',
    'garbage bin',
    'grass',
    'hand dryer',
    'heater',
    'item',
    'jacket',
    'jar',
    'kettle',
    'kitchen appliance',
    'kitchen cabinet',
    'kitchen counter',
    'kitchen hood',
    'ladder',
    'lamp',
    'laptop',
    'laundry basket',
    'light',
    'machine',
    'magazine rack',
    'menu',
    'microwave',
    'mirror',
    'monitor',
    'napkins',
    'nightstand',
    'object',
    'objects',
    'organizer',
    'ottoman',
    'oven',
    'pack',
    'pan',
    'paper towel',
    'papers',
    'pc',
    'picture',
    'pile of books',
    'pile of papers',
    'pillow',
    'pipe',
    'plant',
    'plate',
    'player',
    'pot',
    'printer',
    'rack',
    'radiator',
    'recycle bin',
    'refrigerator',
    'rocking chair',
    'scale',
    'screen',
    'shelf',
    'shoe',
    'shoe rack',
    'shoes',
    'showcase',
    'shower',
    'shower curtain',
    'shower floor',
    'shower wall',
    'side table',
    'sink',
    'soap dish',
    'socket',
    'sofa',
    'sofa chair',
    'stair',
    'stand',
    'stool',
    'stove',
    'stuffed animal',
    'suitcase',
    'table',
    'table lamp',
    'telephone',
    'toaster',
    'toilet',
    'toilet brush',
    'toilet paper',
    'toilet paper dispenser',
    'towel',
    'trash can',
    'trashcan',
    'tube',
    'tv',
    'tv stand',
    'vase',
    'wall',
    'wardrobe',
    'washing machine',
    'washing powder',
    'window',
    'windowsill',
    'none',
    ]


class_names = {
    0: 'armchair',
    1: 'backpack',
    2: 'bag',
    3: 'ball',
    4: 'bar',
    5: 'basin',
    6: 'basket',
    7: 'bath cabinet',
    8: 'bathtub',
    9: 'bed',
    10: 'bedside table',
    11: 'bench',
    12: 'bidet',
    13: 'bin',
    14: 'blanket',
    15: 'blinds',
    16: 'board',
    17: 'book',
    18: 'books',
    19: 'bookshelf',
    20: 'bottle',
    21: 'box',
    22: 'bread',
    23: 'bucket',
    24: 'cabinet',
    25: 'carpet',
    26: 'ceiling',
    27: 'chair',
    28: 'cleanser',
    29: 'clock',
    30: 'closet',
    31: 'clothes',
    32: 'clothes dryer',
    33: 'clutter',
    34: 'coffee machine',
    35: 'coffee table',
    36: 'commode',
    37: 'computer desk',
    38: 'couch',
    39: 'couch table',
    40: 'counter',
    41: 'cup',
    42: 'cupboard',
    43: 'curtain',
    44: 'cushion',
    45: 'cutting board',
    46: 'decoration',
    47: 'desk',
    48: 'dining chair',
    49: 'dining table',
    50: 'door',
    51: 'doorframe',
    52: 'drawer',
    53: 'drum',
    54: 'drying machine',
    55: 'extractor fan',
    56: 'fireplace',
    57: 'floor',
    58: 'flower',
    59: 'flowers',
    60: 'folder',
    61: 'food',
    62: 'footstool',
    63: 'frame',
    64: 'fruit plate',
    65: 'garbage',
    66: 'garbage bin',
    67: 'grass',
    68: 'hand dryer',
    69: 'heater',
    70: 'item',
    71: 'jacket',
    72: 'jar',
    73: 'kettle',
    74: 'kitchen appliance',
    75: 'kitchen cabinet',
    76: 'kitchen counter',
    77: 'kitchen hood',
    78: 'ladder',
    79: 'lamp',
    80: 'laptop',
    81: 'laundry basket',
    82: 'light',
    83: 'machine',
    84: 'magazine rack',
    85: 'menu',
    86: 'microwave',
    87: 'mirror',
    88: 'monitor',
    89: 'napkins',
    90: 'nightstand',
    91: 'object',
    92: 'objects',
    93: 'organizer',
    94: 'ottoman',
    95: 'oven',
    96: 'pack',
    97: 'pan',
    98: 'paper towel',
    99: 'papers',
    100: 'pc',
    101: 'picture',
    102: 'pile of books',
    103: 'pile of papers',
    104: 'pillow',
    105: 'pipe',
    106: 'plant',
    107: 'plate',
    108: 'player',
    109: 'pot',
    110: 'printer',
    111: 'rack',
    112: 'radiator',
    113: 'recycle bin',
    114: 'refrigerator',
    115: 'rocking chair',
    116: 'scale',
    117: 'screen',
    118: 'shelf',
    119: 'shoe',
    120: 'shoe rack',
    121: 'shoes',
    122: 'showcase',
    123: 'shower',
    124: 'shower curtain',
    125: 'shower floor',
    126: 'shower wall',
    127: 'side table',
    128: 'sink',
    129: 'soap dish',
    130: 'socket',
    131: 'sofa',
    132: 'sofa chair',
    133: 'stair',
    134: 'stand',
    135: 'stool',
    136: 'stove',
    137: 'stuffed animal',
    138: 'suitcase',
    139: 'table',
    140: 'table lamp',
    141: 'telephone',
    142: 'toaster',
    143: 'toilet',
    144: 'toilet brush',
    145: 'toilet paper',
    146: 'toilet paper dispenser',
    147: 'towel',
    148: 'trash can',
    149: 'trashcan',
    150: 'tube',
    151: 'tv',
    152: 'tv stand',
    153: 'vase',
    154: 'wall',
    155: 'wardrobe',
    156: 'washing machine',
    157: 'washing powder',
    158: 'window',
    159: 'windowsill',
    160: 'none',
    
}

SCANNET_COLOR_MAP_200 = {
0: (196., 51., 182.),   # 0
1: (174., 199., 232.),  # 1
2: (188., 189., 34.),   # 2
3: (152., 223., 138.),  # 3
4: (255., 152., 150.),  # 4
5: (214., 39., 40.),    # 5
6: (91., 135., 229.),   # 6
7: (31., 119., 180.),   # 7
8: (229., 91., 104.),   # 8
9: (247., 182., 210.),  # 9
10: (91., 229., 110.),  # 10
11: (255., 187., 120.), # 11
13: (141., 91., 229.),  # 12
14: (112., 128., 144.), # 13
15: (196., 156., 148.), # 14
16: (197., 176., 213.), # 15
17: (44., 160., 44.),   # 16
18: (148., 103., 189.), # 17
19: (229., 91., 223.),  # 18
21: (219., 219., 141.), # 19
22: (192., 229., 91.),  # 20
23: (88., 218., 137.),  # 21
24: (58., 98., 137.),   # 22
26: (177., 82., 239.),  # 23
27: (255., 127., 14.),  # 24
28: (237., 204., 37.),  # 25
29: (41., 206., 32.),   # 26
31: (62., 143., 148.),  # 27
32: (34., 14., 130.),   # 28
33: (143., 45., 115.),  # 29
34: (137., 63., 14.),   # 30
35: (23., 190., 207.),  # 31
36: (16., 212., 139.),  # 32
38: (90., 119., 201.),  # 33
39: (125., 30., 141.),  # 34
40: (150., 53., 56.),   # 35
41: (186., 197., 62.),  # 36
42: (227., 119., 194.), # 37
44: (38., 100., 128.),  # 38
45: (120., 31., 243.),  # 39
46: (154., 59., 103.),  # 40
47: (169., 137., 78.),  # 41
48: (143., 245., 111.), # 42
49: (37., 230., 205.),  # 43
50: (14., 16., 155.),   # 44
51: (208., 49., 84.),   # 45
52: (237., 80., 38.),   # 46
54: (138., 175., 62.),  # 47
55: (158., 218., 229.), # 48
56: (38., 96., 167.),   # 49
57: (190., 77., 246.),  # 50
58: (64., 160., 250.),       # 51
59: (208., 193., 72.),
62: (55., 220., 57.),
63: (10., 125., 140.),
64: (76., 38., 202.),
65: (191., 28., 135.),
66: (211., 120., 42.),
67: (118., 174., 76.),
68: (17., 242., 171.),
69: (20., 65., 247.),
70: (208., 61., 222.),
71: (162., 62., 60.),
72: (210., 235., 62.),
73: (45., 152., 72.),
74: (35., 107., 149.),
75: (160., 89., 237.),
76: (227., 56., 125.),
77: (169., 143., 81.),
78: (42., 143., 20.),
79: (25., 160., 151.),
80: (82., 75., 227.),
82: (253., 59., 222.),
84: (240., 130., 89.),
86: (123., 172., 47.),
87: (71., 194., 133.),
88: (24., 94., 205.),
89: (134., 16., 179.),
90: (159., 32., 52.),
93: (213., 208., 88.),
95: (64., 158., 70.),
96: (18., 163., 194.),
97: (65., 29., 153.),
98: (177., 10., 109.),
99: (152., 83., 7.),
100: (83., 175., 30.),
101: (18., 199., 153.),
102: (61., 81., 208.),
103: (213., 85., 216.),
104: (170., 53., 42.),
105: (161., 192., 38.),
106: (23., 241., 91.),
107: (12., 103., 170.),
110: (151., 41., 245.),
112: (133., 51., 80.),
115: (184., 162., 91.),
116: (50., 138., 38.),
118: (31., 237., 236.),
120: (39., 19., 208.),
121: (223., 27., 180.),
122: (254., 141., 85.),
125: (97., 144., 39.),
128: (106., 231., 176.),
130: (12., 61., 162.),
131: (124., 66., 140.),
132: (137., 66., 73.),
134: (250., 253., 26.),
136: (55., 191., 73.),
138: (60., 126., 146.),
139: (153., 108., 234.),
140: (184., 58., 125.),
141: (135., 84., 14.),
145: (139., 248., 91.),
148: (53., 200., 172.),
154: (63., 69., 134.),
155: (190., 75., 186.),
156: (127., 63., 52.),
157: (141., 182., 25.),
159: (56., 144., 89.),
161: (0., 0., 0.),
163: (182., 86., 245.),
165: (139., 18., 53.),
166: (134., 120., 54.),
168: (49., 165., 42.),
169: (51., 128., 133.),
170: (44., 21., 163.),
177: (232., 93., 193.),
180: (176., 102., 54.),
185: (116., 217., 17.),
188: (54., 209., 150.),
191: (60., 99., 204.),
193: (129., 43., 144.),
195: (252., 100., 106.),
202: (187., 196., 73.),
208: (13., 158., 40.),
213: (52., 122., 152.),
214: (128., 76., 202.),
221: (187., 50., 115.),
229: (180., 141., 71.),
230: (77., 208., 35.),
232: (72., 183., 168.),
233: (97., 99., 203.),
242: (172., 22., 158.),
250: (155., 64., 40.),
261: (118., 159., 30.),
264: (69., 252., 148.),
276: (45., 103., 173.),
283: (111., 38., 149.),
286: (184., 9., 49.),
300: (188., 174., 67.),
304: (53., 206., 53.),
312: (97., 235., 252.),
323: (66., 32., 182.),
325: (236., 114., 195.),
331: (241., 154., 83.),
342: (133., 240., 52.),
356: (16., 205., 144.),
370: (75., 101., 198.),
392: (237., 95., 251.),
395: (191., 52., 49.),
399: (227., 254., 54.),
408: (49., 206., 87.),
417: (48., 113., 150.),
488: (125., 73., 182.),
540: (229., 32., 114.),
562: (158., 119., 28.),
570: (60., 205., 27.),
572: (18., 215., 201.),
581: (79., 76., 153.),
609: (134., 13., 116.),
748: (192., 97., 63.),
776: (108., 163., 18.),
1156: (95., 220., 156.),
1163: (98., 141., 208.),
1164: (144., 19., 193.),
1165: (166., 36., 57.),
1166: (212., 202., 34.),
1167: (23., 206., 34.),
1168: (91., 211., 236.),
1169: (79., 55., 137.),
1170: (182., 19., 117.),
1171: (134., 76., 14.),
1172: (87., 185., 28.),
1173: (82., 224., 187.),
1174: (92., 110., 214.),
1175: (168., 80., 171.),
1176: (197., 63., 51.),
1178: (175., 199., 77.),
1179: (62., 180., 98.),
1180: (8., 91., 150.),
1181: (77., 15., 130.),
1182: (154., 65., 96.),
1183: (197., 152., 11.),
1184: (59., 155., 45.),
1185: (12., 147., 145.),
1186: (54., 35., 219.),
1187: (210., 73., 181.),
1188: (221., 124., 77.),
1189: (149., 214., 66.),
1190: (72., 185., 134.),
1191: (42., 94., 198.),
}