datasets/scannet_preprocess/meta_data/classes_SemVoxLabel-nyu40id.txt

1       wall
2       floor
3       cabinet
4       bed
5       chair
6       sofa
7       table
8       door
9       window
10      bookshelf
11      picture
12      counter
14      desk
16      curtain
24      refridgerator
28      shower curtain
33      toilet
34      sink
36      bathtub
39      otherfurniture