About dataset source or preprocessing of NYUv2

[LeeKeyu]

Hi, thanks for your contribution! I am wondering about the source of the NYUv2 dataset.
After reading a set of related papers, e.g., MonoScene, SSCNet, I am still confused about how to generate the annotated voxel GT from the original NYUv2 dataset.
Since you only provided the download link to your processed NYU data, could you please tell more about the source of the data and the preprocessing steps? BTW, are the depth images in your provided dataset rendered from NYUCAD models or the raw depth images from NYUv2? Thanks a lot in advance.