scenezoo 0.3.1

Documentation • Installation • Quick start • Examples • Datasets • API reference

SceneZoo reads popular 3D indoor-scene datasets (such as ScanNet, ScanNet++, ARKitScenes, and Matterport3D) through one Python API. Point it at a dataset you have downloaded, and get meshes, point clouds, segmentation labels, 3D boxes, and synchronized RGB-D frames with cameras as NumPy arrays and Open3D objects, without writing a new loader for every dataset.

Installation

SceneZoo supports Python 3.10 to 3.14.

pip install scenezoo

Quick start

Every dataset is read through the same calls. Each call returns NumPy arrays or Open3D objects, with the same conventions for every dataset.

from scenezoo import get_dataset

dataset = get_dataset("scannetppv2", "/path/to/scannetpp")
scene_id = dataset.get_ids("nvs_sem_val")[0]

mesh = dataset.get_mesh(scene_id)                  # Open3D TriangleMesh
labels = dataset.get_segmentation(scene_id)        # per-vertex labels
boxes, names = dataset.get_boxes(scene_id)         # 3D boxes and class names
frames = dataset.get_frames(
    scene_id,
    source="iphone",
    indices=[0, 60, 120],
    items=("rgb", "depth", "rgb_intrinsics", "world_to_camera"),
)
print(frames.rgb.shape, frames.world_to_camera.shape)

See the quick start and the user guide for splits, frames and camera conventions, checking a download, and more.

Built-in datasets

SceneZoo currently has built-in adapters for the datasets below. Other datasets can be registered locally and used through the same API; see Adding your own dataset.

Adding your own dataset

Subclass Dataset, register it under a name, and implement the operations your data supports:

from scenezoo import Dataset, get_dataset, register_dataset


@register_dataset("my-scenes")
class MyScenes(Dataset):
    def _load_splits(self):
        return {"train": ["scene-001"]}

    def get_mesh(self, sample_id, *, mesh_type=None):
        return load_my_mesh(self.root_dir / sample_id)


dataset = get_dataset("my-scenes", "/path/to/my_scenes")

The guide walks through a complete example.

Citation

Please cite SceneZoo if you use it in your research.

@misc{Zhang2026SceneZoo,
    author       = {Yiming Zhang},
    title        = {{SceneZoo}: A Unified {Python} Interface for {3D} Indoor-Scene Datasets},
    year         = {2026},
    howpublished = {\url{https://github.com/eamonn-zh/scenezoo}},
}