diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0b232d0c7d4439fb7e19aaf21b713fe0cdbd1037
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4298fbea14e3d8b610703b8f7b872997cc54cb8b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3fe8d2607e0ab7d71814181e9f54fe8f420dadd3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..18de0a3b954d4c23a348168d06345a3bfb259a7d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/chair-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/plant-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/plant-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d11133d240028102e3a4c0841a5da889a6cdc82f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/plant-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/wall-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e995504fbeb5e003e12fccaed7220c54ec2d29f0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region0/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd88cea0092dd28aae3f96352d93c3b707596661
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/statue-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/statue-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8a597ad2a52354437abd43d7733cd851295634e0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/statue-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/table-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7cac69b53314e813c64b0087b93f7f0f5d26d42d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..728dc2e415498be4aca73817af347defc6c812f9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bc57d24adbb85e60a85aea9d6a9cee5fa7d8c1f5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-6.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..836a3dbad94d1119aefb3ceb435f20f40e574d3c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region1/wall-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/floor-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b3b6fc16cd70f7017e189dc3f1e855fb83bf87b1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b8f46a6528d44b25986c4ea261ab5af9368cab11
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region10/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/ceiling-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ff2a0aaaf98b8a9b22fd8983ebb433a19907fb74
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b381ceffb21439d3ea8faf877561bd366164bf13
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f28d7858568f8c149edf48049b045821ff33fdd5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ba2260713df19ebc747aad42c9cad44830271b39
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/chair-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/floor-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dfc585b37fc6c9ded143e758c4c2aa9a081d8d67
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/wall-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9c9cae69c6e5030d38c4958fdfc6a0ea6571f5a7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region11/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/railing-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/railing-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..af34ab2fa06009a6a80ddf99bd9c63edc8ded788
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/railing-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/sofa-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/sofa-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25062feb336d2688c6f78308cb253451ed6c120e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/sofa-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/table-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/table-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67064f10a4c71eabb48fa414b0d8fea5ada6c272
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region12/table-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/ceiling-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d2aefe77b1492d384794b21ab3e7ce2e94129389
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6eb38afbfee2a1263702e2c82e6cc7c63d22e657
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-9.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0c2fab9dd942d4bd92022c89f78f667d76a9395b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/chair-9.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/floor-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a315adeef45a3b884344d7ae549106b1ae9b0619
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1fa207f8ccbe844c8b87379dc7a3b8e077e1d271
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cadaaa2bb58a95ebcb51e3a4300f857c4e3fecd5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ef6a97fc2e9f48247cb3cac3936756d478d28cfe
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/lighting-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/pot-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/pot-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f5b3e5bfcdee05a050af3235dccdefffff665ac8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/pot-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7787d2887afd1a48eb5845c8362ecfcacaa012e1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2fc10fa842b4608bd5d54730dc12326221541549
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..23aceb60550a409ac816ce814b8e0fb8fe175b57
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region13/table-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..65627432ba05c630a63dde6df90e930edd71e35a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fa44cc5028949cf13f2a2da3dd1336944ce22f05
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/object-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1b72c4dde45559547b5308b1c21e59cb6efff911
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/shelving-6.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/shelving-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1a7101a265bf86fa08b1ccc738ceb3a2eea4c2af
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/shelving-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c8ee130839ef9bbdaa3a270e5749dde76fee2b7c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..768d8b18a50d09c3346d3b278d736c696b672551
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/sink-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/table-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9d2c3c5d62b8dd73b295562725a4f356649ba12e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region14/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/floor-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bb26ccd902e2b5949ee2dfb46704fbbb28c1c131
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/picture-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..50ce55a71457d7bb5352d4682022d91d9e4bc1aa
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/window-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/window-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1ce4f2b5bf3b99e68503b1d9d3255c841de0b364
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region15/window-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region16/object-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region16/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7c01ea19790f4405f7bb1dbb6734fa7f3286e41a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region16/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cup-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cup-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..949d35ae014aff6e8807837e7d6c898bb2381ef0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cup-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a5a169701fe16cb9ba93f14115690d3ec500704
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d679c847055a87da36a125e2a07709bb76141255
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/food-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/food-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3e60d20baf79c7cffb9675ba6354f644011e9f41
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/food-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/lighting-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..62a85407dbf6cc8a6bfa5f7703930ea04741d0b8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..929494c1431c7e40cee4fd651b7cb3abde4a060b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ab6d4ab1ab5e983c5142d4bfab430a2ebd1785ce
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/object-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e43ed5166987e01e0fcee48c8e01b488d27b98d5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..03f8ac37be06bb87e33daa34791e72aa400515bd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..46924df7b63b8f5ac8a15ac0abb223fafcb94d9d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region17/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/door-6.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/door-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1a0f876d92f09e546268418681dbe1a1ec29142f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/door-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..32edb47b2af1fda4345298a2b93556e7f49a93ac
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/picture-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f867b315d720f8c1d883ca5934d4c138e3b8ce1d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..54a7c86cd9f521d05a78d3d0efbdd0d194de5f97
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-12.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-12.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9abaf032dc6d3152c92e3a83a474ffe89706bcb8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region18/wall-12.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-12.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-12.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fea46a6c1892b0af4cef9eff466889fdd397461b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-12.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-15.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-15.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79cc8c15fbb919dec51972dd6ad32f973beef2d5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-15.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-17.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-17.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a03a6f5530d74e1b283a83e2d025484bddbd8819
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-17.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-7.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9191ccfcdf7a92a02cce096854afffc453d45479
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region19/wall-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a9d0e802c67c84f5e3deee21e1fc3447b91a130c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..47b5f0768759f476163568e948cd27be172d7be6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ffc2542049bc71fd7326f437bdecaece81747494
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..38aee73db371b03478a9c71bd7d1e72b7d466a87
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3533273793f4eda748bf640aa5eda2d50839c729
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-5.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f6398ff4fd348f0233fe598f254aac1038113cdf
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-6.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5a51bf47114000eb8c39e01244c0406e6c40eaf7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/picture-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/pot-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/pot-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1acba14fdd533ddb01793fcee15dccdf2d88cbe2
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/pot-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/table-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/table-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..83516772af27c5ac7fe7f8a6599ecdb1efc4b716
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region2/table-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/book-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/book-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f2a22caf02aed4f1884ca6efa68954abf8cb7fa
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/book-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/ceiling-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d3c8b8a4d61b30b46f3311d3e37b794681bd1ba1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b2a549663ed7e7e9e1c034991bee50b9f7cc35d7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe3e986a3c6f2a29f519511252f05557dfe74b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/chair-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..31252857100fe6a68505488105c5883d39376a82
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..35b1bfbc001a35ec8648c1e19d31c534f9b42eac
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bccba2642d1ff97264f21551a2fc565cc0275b4f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..329777da7e29c972012ca6c0c81a27e13bade275
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-4.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..37d2dac4394c8cc63f66cba6c5536caa4f44aaf9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/object-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/sofa-10.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/sofa-10.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c22b9fca457053e79bab16edd750a096c1490bb8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/sofa-10.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/wall-7.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/wall-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2409546bbdb366c8628a8f328157973be1bb4a56
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region21/wall-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/lighting-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..37fdbb53b3014f440761794776b80506fe90943f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/picture-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/picture-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..19d24293e441e354be86b89de69c26b8b2759253
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/picture-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/pot-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/pot-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7662fec276575eba2cd068569fcadc6aa9416975
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region25/pot-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/door-6.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/door-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9c71666dde6c880ed6a5a2cd80d85c1a694d1c15
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/door-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/floor-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0c82d3197c01be8927200bb594c5ce17ae98ffc6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8037579a5342406776ceaf61cc710c6a422224dd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region26/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3cd26c845a96d98cb627f23dac3c81fa826a223b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e8d263397f5ac2787fbfa3b888360f91d8fbf717
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-3.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d134648df3e7abe09b8770b4df1209f436f60a8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region27/lighting-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/floor-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e20d2bfd2f5f2c19531f1518ca5ea90443e602c2
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-1.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6b406d4565e3d7144acb6a25fe2c34bd173a221d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-2.ply b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b8149b2f8f6dfdcfe6c3d4bc093a3898a21253e9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/SN83YJsR3w2/region28/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region6/window-5.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region6/window-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5c409c40474f9bef0f0561240d629327d78a06ce
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region6/window-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/appliances-4.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/appliances-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..03854eed56f02aedc5469f38fbf51ad66b2406f1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/appliances-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/floor-2.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/floor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9a5631011e441ad93627dbbac9f53eee41d6a97f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/floor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/object-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c4dcb2e92fcb544777ea91b16713a6088db7c207
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region7/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-2.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..909056db8d7c9f819d48f822be43cefbd2dda6cf
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-4.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..47877000993c42a5c809c309b71c1ef42cfaee74
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-5.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..572744011d2b527846ac54cf38ba20a5e1fa063c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-6.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3890de0ba08a2e8498dfbda7ce7a8a6a789e13ef
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-7.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9a7b099f01942d006d05fe4ebc3358bbb23a8407
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-8.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c6b906d0886b73a3b77b40d00f1fba3629ced540
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-9.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..32734281293d37713a670d7ac1ea6c519aed910b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/ceiling-9.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/chair-8.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/chair-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..104813401b416c45e5c732f39edd40340f7b8939
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/chair-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/floor-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/floor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9670ee61b1081bc0b33422bf36420d4487a73f93
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/floor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d0f4da7773555c3128af8397e852e732392c434d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-3.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7931db6db93896161fb2def953107a4b1b2bd9de
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-4.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..13c0f70da97ca917b8a562d5478c83decf245cd5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/object-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/table vase soil-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/table vase soil-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f6a24bdf3eeeea1b1ec5b3da212291dcbb8b80f6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/table vase soil-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/wall detail-2.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/wall detail-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..78cec4a6a8b1c15b37a04282f5084b91d03bbc55
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region8/wall detail-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1894bed01507310f22452b7350c00fb2085eec41
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-2.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..af35d74083da75629965eb60974c0051faffae50
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-3.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7b20672fd3d56bc7fd44f84276f19fe4d37d8221
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/picture-1.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8820798b63d3dfc01b4e258b40ef4421fdcd16a7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/sofa-2.ply b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/sofa-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ab10a4ed8aa3cce139fda5100d9c9a5b38632146
Binary files /dev/null and b/scene_dataset/matterport3d/scene/TbHJrupSAjP/region9/sofa-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd3d42dda130bb72e8a2c743bd4609f8b9d1e306
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..113215adb3ce983424852d430239a19135cfd4ce
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region1/chest_of_drawers-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..583e4ea949b868626c0fde060fd980d045620112
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f6d84724c0517c926ca775c0de2aed8b3276c849
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/lighting-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/object-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e8d0cc946803d76347badcfb64f1d17620b5db71
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/trashcan-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/trashcan-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eef6d46c9c44861628ffdb1eba21f0ab4937bc78
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region10/trashcan-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1fcc52b52feb41a62a183fdba3fcda12a6288d38
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8891c5092d8357fcfd5843865bc5415283b75d0c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/lighting-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/object-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/object-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c1a282e49cf99eb5e5cbc67d08ca807f79cbfe94
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/object-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/wall-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/wall-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f19d51ffed15b7708439d249a8b3e1a8162348f7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region11/wall-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..75e74ebc388ed65b8bbd7befb7a42f9d9c6c095b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c0670ab32a3797650961fe73c68046a852348458
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-6.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1cbc81f941bd5463cfd6e63c761e5ae9d19973b3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/ceiling-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/lighting-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6da977f1062648691655040a3570b1309c0be74a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/object-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..867121502d3e713f9db30210c465c37adf4b07dc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/trashcan-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/trashcan-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..70c1e6ee892811ec79b6d205fd9124490da874c4
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region13/trashcan-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b1b74ceae8ddb7751cc42891bb17a6bfd0a08397
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bd6e2cc2d533e844704a46af3d9bbb7878f812dd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/wall-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/wall-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5a4acfeaa4fa6cec04cf0e27867281afcf8ea0e0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region15/wall-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/door-4.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/door-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..366b9e7549f39ef2b0d453965501609bd5f175e5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/door-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/frame-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/frame-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a0a6e50239714761b1d952d6bc7a41d607021d5b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/frame-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/wall-6.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/wall-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8260e0c1fccb647c2ec7c32b7f4f744b351c229b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/wall-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/window-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/window-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..259b32eb105ff2fc697b044e00dce1478f1edb7f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region19/window-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region2/towel-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region2/towel-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..70d4226a8693ccde591bb0c7cea529674643bdd8
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region2/towel-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/soap dispenser-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/soap dispenser-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e345f55bb2f6e3a1506034d018d29d75f9235532
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/soap dispenser-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/toilet paper dispenser-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/toilet paper dispenser-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4836fa2f05208861290673cf2888bdeb09053c87
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region3/toilet paper dispenser-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/lighting-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bfcd24bc8d944560c7cc5c6888456998f8f56d72
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/toilet paper-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/toilet paper-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..518266b75b686aff027de2a22a666c8a45b1454d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region5/toilet paper-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region6/picture-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region6/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f259fd9325cf09cafb3d90e9128c1a84e3b8e399
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region6/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/bottle-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/bottle-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2fc64b5bd7011d7560d9d3fd59cf3d0496e6872f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/bottle-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f7d8d42df544349827c52ad8c263a7ddfa5ea2b2
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25e2748212b5c646f4b0141fdc3611075e20718b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region7/object-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2b7a3aa014202aac9c20632b3b3787cc506e1ab3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-2.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3df53a5c6ff6198cca0a483c7e3d52892eb59730
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-3.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4531c73a4e9460be745223b68fd1770456d3544e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-4.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..410ccf6872592c026a2da03a2fdadc5356522836
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/lighting-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/picture-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/picture-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..59487a67df6dca92796bd92525d6b97f7c1aa373
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/picture-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/trashcan-1.ply b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/trashcan-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c79285007d1d097e03b6e300bc7212d551014226
Binary files /dev/null and b/scene_dataset/matterport3d/scene/sT4fr6TAbpF/region8/trashcan-1.ply differ