diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/soap-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/soap-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dbb2448cd43d8910dec955f7b66f8a43aa5f8044
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/soap-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/toilet paper-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/toilet paper-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4737f94f12def564b801e90a51feff06934c3054
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region0/toilet paper-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/calendar-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/calendar-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..318c1121a456063afb398e05d97075a211e18bd0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/calendar-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/cross-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/cross-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a8eb127236c766cca1cd4572aae44818afcd154
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/cross-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/keyboard-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/keyboard-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5417e2c0665e71bea1a8f12aac5f551f67f8b842
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/keyboard-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mirror-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mirror-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..29afa1ffc916845e74c2f2e45353a92aac1c7e9c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mirror-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mouse-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mouse-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bf2b98fa88a01b8892f1ceae2f2905d72c671d87
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/mouse-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e391d7cd568cd37c41760c0a12438b0ef681d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-2.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..77f7a5cf13d0751daed535e4e73a8d84274fb12c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-3.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..062d4bb6e82f1a402d5d2ad82ae3aca2f01e668d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-4.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..27902a349e3dea3dc4a3221774a87206d51268c0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-5.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6355c69c1fa68df71ec25533bea2f7c2552dbb2b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-6.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c207731ae7d5f8d2b57a9e335881cfbbb3bbf17e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-7.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..581e22d1b49ef15b21937389b028adaa052c8235
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-8.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..03ba02624892f71c30cb416c381f2a361aaa4df6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-9.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9aa5f7829d6e8c9b00947154d806dd826f54c4c6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/picture-9.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9137f36b143d9ec60612837b6321a355eb8becff
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-2.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dc0049fa56639434a7f0c297ea6ea4ee47c6a5a5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region1/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/clock-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/clock-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..aa0f124c24453fd1880d831a3236ad40436c3a83
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/clock-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-3.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ccaa16133721a9bcc06f7d14cc815d6e2188c9f0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-4.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c267378cd6e38426b314d87ff766588d74055d9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/object-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..533a8146ac2cabae210b9a9f1dca2cd5fe6b9c39
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/pot-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/pot-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..33b6ad6ca453ca490457d4ff0ab1578e063aa491
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region2/pot-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1(1).ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1(1).ply
new file mode 100644
index 0000000000000000000000000000000000000000..e57119775c0fe597eac65b887e9ff7834a5e713f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1(1).ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e57119775c0fe597eac65b887e9ff7834a5e713f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-4.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..65d340b360335696d9764efa0be42d7865373e72
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-5.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a37a9326a00d8cba9bbcb6de2ad7d15e0314f9a6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-7.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d582b573e14514ab0556767de42f55db916da23
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region3/picture-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/clock-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/clock-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..38765b78f9c4f746ef1e459a8e3857f9a1c5242f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/clock-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bf2ff159807d26764a4fe2cf5c67bb86433c5634
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/star-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/star-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a6b401fb05c5e0a62459cc92726dad79e5e24ab4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/star-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/statue-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/statue-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..730dc34d36f649389b9d724495a6bebf257ecf7f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region4/statue-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a8dac23375b0f78f238b3d816169bce89a514d01
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-2.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..167b89d1d7bcd386d9266d8064780040ec02652c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-3.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..db73ebb4273afe4d5f5ffeb191f187d624325c59
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/plant-4.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/plant-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..187fae4306424b81e7e6ea5d28a925b4816be83e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/plant-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/stool-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/stool-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..98656c9564a876a2f269ceb7a9790272f90e8066
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region5/stool-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/picture-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6dab3cf63eabe6b0b1e46e31e04213d737125f79
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/tv_monitor-1.ply b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/tv_monitor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..47c862cc525635180dccfdb6eb1989140b2fde74
Binary files /dev/null and b/scene_dataset/matterport3d/scene/RPmz2sHmrrY/region7/tv_monitor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region0/bin-1.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region0/bin-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8a252411401300f0097d978df8f878243bad8022
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region0/bin-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/door-1.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..957081c93c2045f87e0b36b61dea9743033294b5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/towel-1.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/towel-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f6bde10a9270262282fd3ba4cb0a6371ee85fa0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region1/towel-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/air conditioner-1.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/air conditioner-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2178786326a44d2cdea30b6402c5121cd940990
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/air conditioner-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-1.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..012e4a367312bc62d10823154fafc56fed673c21
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-2.ply b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ecc4bc73b3b8f1d8d0f56a68110aeaf9e37269fc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/r47D5H71a5s/region12/bin-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/ceiling-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/ceiling-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6b6a79cdf5af7db9ae3a845e5063c84e1809930e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/ceiling-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0b66a0c510766fceee22a547228a2a556a1f8e59
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f1946b183c4ae9678037b1d6dd5a7f6e59ac5c9a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..39a3775b8df8f57d3a50e297c4eefc6f71f3ae92
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ece7326923e380e43aff6da713967d189eace3cc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b6fb53dbdc0be94a76df8260bbf7e75f541a051f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-6.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..80e57728f938ab2c4994193ef9c47ee05e5d82a9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/cushion-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f1ac89bc342b8dac9f29e821be1795708d3e2638
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b84d250a14909baa2e3899509b97ad44771715f6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6fd37c9c375560edd54a418dab737a676115c306
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/wall-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..493fbd8f9d8da3124543406bcef25d90ad01e161
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region0/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..28d9bec306e7bb3ae79230495c0a5fd63b3c57e4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-6.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3fb8221d8cd80fb5b9a9a8b675a689f584baa285
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region1/wall-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2537df17a1363e9c1e1f367b52c0d1c812f30fdd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..601b2aaa8d6fa7de5531bc0f093d5d1131bfebd3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fe39fc7f2ccfa78b0117d3b37b9fefca2d3cf78d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3c4b872f3bb32076913d1bcde46b87946aaab37e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/floor-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..39533ace9259c15ba41ee87f8f769f725a978a3d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eb5a6f6740d8924b8e4102d49345862f8dfaf543
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/stool-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/wall-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/wall-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c4f8dc82a0eb05e0bf3de5e263a66f17721e0b7c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region10/wall-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e9ac1092e7b538132143c8e883252856dd26d246
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67179f63ab43bd41ac719d9dda7c61cb6a45719b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/sofa-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/sofa-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ff6c597a7821191ea6d9554f0aa0c874be939b64
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/sofa-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/toilet-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/toilet-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cc923bac5c7005217910e9ba511060359fa293fe
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region11/toilet-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/ceiling-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..690d076fb89973e4b10128e741250ba866a491b6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/chair-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/chair-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cbc66428a9a6fed7dfefdc5c414f6d0b029a20e0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/chair-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/column-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/column-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9456c1dad988ad200061a2135a14eac32396c4e5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/column-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/picture-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..89ba68d0270dd5011cbe6bcfde25c85fc9b13b2c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/table-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7ae4205293ff4f90b615f8a7fc782b64ad3f94c0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region12/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6e0b7a1a78ef08b39e6b24bb771c50e0eca624ee
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6783757f08192254b70f7772d3bf51aea4eb3ba7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region13/sink-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region14/floor-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region14/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e44e95e02301e0619adbebd437969d696a58747d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region14/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f79d377c51edefbbbd4ea388e8229fab82e9d6d0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8aa47f69133f7d25f987e3debd5a50ed56c0e704
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/fan-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/floor-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..62dd56f4d759701014731ab2efbb6feda33e0eae
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a0eb06e1f7576f1f3466c6ce47b85a564b99c499
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..197cf1451c5f3c83b1ed2dd615bfde8327a77a8e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/picture-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8304e667a6ce256a5f015708ff015ec68642235d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region15/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region16/sink-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region16/sink-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4cb601c6e0dd4cc66b980e40c39e0050e592081f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region16/sink-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region17/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region17/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5c403636aeeff7c01ef29f76f10dd1b4074c6c31
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region17/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/chest_of_drawers-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/chest_of_drawers-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b747a857bfd7442456e020e31b51aea2431b0bed
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/chest_of_drawers-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/cushion-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd7a2c998ab6a6af2bef4e688991d9e1f9536711
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bd2dc4ca1e74c1df1e4c75a383d003bb77f89410
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..11180a533eab4e83368718fc5071aacaac5bdd3a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67bcb9a3dd4200eecb5f8333bf32be945b5b56ed
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4a79ec9993f7dee40ef627780beb9eae41cc25b4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bec49ea95d07eab967c1c6e4acf14555f11438ca
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..229520231ccb1870b7387304f575c49a38d6e06f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region18/picture-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/book-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/book-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..41b9726420fe5b6a755443f93432057c6acfaecf
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/book-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e943ca9912551087361a078d46751eefd0c3b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..48d7e481c659785033332115845d8723158495f4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cc168a12ebdb9c79d00dcc46239c4ab245ca6db7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9f710ee0cb8f91f6fd6f7a77ec2ce29877abfd85
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/wall-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/wall-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ef81f6d40ebc1e3d700ea8cb2a72297d76e54ca8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region19/wall-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/door-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1e67bd2026f2b071ab0a7cff20c497fc500d216d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..21f8ef839b05116373024f26eb7da0297822bdd7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..45901575a6e50e6e0dc28bc6f26a832ce6133d82
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/floor-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/wall-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ecd24f3f9f2be7aed3e3ecefef36a70c148d1944
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region2/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..917400630663ab084ae0e2ba23d1c579a99bd841
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8b0248e89bf0c21ed104e21af1ae7762977d7e0a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/ceiling-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/door-12.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/door-12.ply
new file mode 100644
index 0000000000000000000000000000000000000000..27e8fce82dbde90c35831e62b9e213ad0774ff2e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/door-12.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..11eec1909ace277d6576c6bd518c536ef3bc0e91
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..176b7e7cd3345c78a338db86092db61915a1867d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f45fdf2b38281b8be2123f50ab33aca2f9a5bb7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f121bf0d351a388b99a019cd2c0c89e33245b91e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..00ff65983a604f5156351c1e49fff945b1575b09
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..50dee3ff0e876a4b03b8251c3c9cf36f23287cda
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region20/wall-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region21/window-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region21/window-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c6254ac89c0c7237b04997cfba8b6c361260d5fc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region21/window-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region24/ceiling-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region24/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..369101dd7177ec3e520bce01271dc0bbcd4b33a4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region24/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/ceiling-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/ceiling-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3a91c89dfdf72950e88c3f2d08e3b2999a3dde04
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/ceiling-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0dff1a23fa733620bc5b42efe5298d9fabfd6af3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region26/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6130b6ef553c1841801abae9dfcbd7a0c992f3fd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..11ab0f430690c4b3f76beb8a19207f8489936277
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b625bae1e016bc0fa3ab7332e931c3ad584abc34
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..333cf4555b5071bd5ca504367c8d0000ab30a764
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9a2daf1752ab8abb4f4a4cbc19e1d5878eed57fd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/cushion-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a18fb2fac673e866bfb99663040bf13568d33669
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..666825d13bd89d708b750f96e27bc114253794bf
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/seating-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1eba5db152dbdc2944be43649174507507b955f0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e0ea4257b6e93bd8155364ae2513f1756ad55c9a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region3/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region4/picture-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region4/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..757b770f3018da4e88b9b4e2440719849eecf8fd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region4/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/bottle-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/bottle-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4cf8f389778d113e6dd7a1764e0ce2592ac77754
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/bottle-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/glass-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/glass-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f187ca1b7260a97a9af3206476f21d82ee8470e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/glass-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/light switch-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/light switch-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6c0a9a5e7795be95e983f9c427f70519d901bc5c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/light switch-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/lighting-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0cd65b60707213550af4185d642a9cac6db2b2de
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/plate-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/plate-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2991e8108e2117c7c61d359f5034239755534cef
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/plate-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/shower knob-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/shower knob-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e69cfedaf9b6e3f1587101dce6eac18a18809173
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/shower knob-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b446432d5eff12173b4ebe4c876aa0039dee8922
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bcfe0db7c02bdbf09e43f1323cb3c14745061af7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/soap-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper dispenser-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper dispenser-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4534812ffbdeca1f6bfb86098143ce0813c54286
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper dispenser-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a948255da806393fdac76f80b73b07bbdf8780d1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/toilet paper-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0d7523ad5688fa91412766ba2efa84ce71bd2ff7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-4.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..29cd3140746fe17f6ed0c56b2f3b1738f6b1ef74
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-5.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2a1d687eb0f7c4dcb4508d35903927a5cdaaa40c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/towel-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/vent-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/vent-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2ea728d13633bf8281b9bff61aa046370f4d3109
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region5/vent-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region6/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region6/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4fa34c5c7617c4375bb88c20519d5c9b184ed390
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region6/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a30c47005e8cc1208e29c8fdc94874bcfb98b4f1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-2.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c9cd29faba99597b8c134977ceb8ce24a7df81e3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region7/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/ceiling-1.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/ceiling-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a0be1e4469b062da86a93493d6741d62848c5bc7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/ceiling-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/railing-3.ply b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/railing-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3026662c272e1f85f31cb92b9d430454d6bfeffb
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rPc6DW4iMge/region8/railing-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region21/wall-2.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region21/wall-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..88865d91aefa5a7fe3d4c93841f6c0cf8433adba
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region21/wall-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/floor-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6635005b9f9d19e8a4e8aea19aaeb7341c41768d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/wall-4.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/wall-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8c6f6f0f73c592e750c897a217669685173be5dc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region22/wall-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/door-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a5c85f8009e4f1872ec52433a2ccdc65bd0c01be
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/frame-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/frame-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2ef5912666fb40e2a81cbc06fde853117d889c4f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region25/frame-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region3/clothes-6.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region3/clothes-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..339f0493efcad6b339105c51c7bffeaf63176319
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region3/clothes-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region5/toilet-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region5/toilet-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d6bb5e9e237a6218541cf8fd57bc711ff39356a1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region5/toilet-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region6/picture-2.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region6/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f5a6efe4ce2610f032c87a2f4c2b9f0897355b0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region6/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/ceiling-3.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/ceiling-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..059644d600da2576f4cfb8b021c11b466f8bd6f7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/ceiling-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/column-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/column-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1a0501d9ea0daf69700471cc4aee7273a96960be
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/column-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/door-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a95f8ba8b240fbb35a6c9eff1b39519631e812ba
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/wall-2.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/wall-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..999d1f7956c5cc1609020690cbb649d0bd07465d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region8/wall-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/chair-2.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/chair-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..68857a81c0c65755aa7eba2c4da6c718ba97e5e1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/chair-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/slab-1.ply b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/slab-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e455d256b0269e3a32945a2c3db959f0d820adef
Binary files /dev/null and b/scene_dataset/matterport3d/scene/rqfALeAoiTq/region9/slab-1.ply differ