Every subfolder's name represents the scan number. 

Inside the subfolders: 

(1) The label database is saved as single_dbh_labels.txt. Every row in the txt file represents a tree, the tree index starts with 0, and the 5 colunms are x,y,z,dbh,difficulty respectively. 

(2) Folder "single" includes individual tree point clouds, the number after the "tree_" in every filename represents the index of the tree in the label database. 

(3) Folder "all" includes the instance segmentation results, where the non-zero labels are tree instance indices (i.e., points with the same label blong to one tree) and zero labels correspond to background points.

(4) Folder "all" also includes bad trees (inside a single pcd file named *_bad_trees.pcd).