finish indoor load test unit

tests/data/sunrgbd/sunrgbd_trainval/calib/000001.txt

+0.97959 0.012593 0.20061 0.012593 0.99223 -0.12377 -0.20061 0.12377 0.97182
+529.5 0 0 0 529.5 0 365 265 1

tests/data/sunrgbd/sunrgbd_trainval/calib/000002.txt

+0.97944 0.011827 0.20136 0.011827 0.99319 -0.11586 -0.20136 0.11586 0.97264
+529.5 0 0 0 529.5 0 365 265 1

tests/data/sunrgbd/sunrgbd_trainval/calib/000003.txt

+0.9902 0.005576 0.13957 0.005576 0.99683 -0.079386 -0.13957 0.079386 0.98703
+529.5 0 0 0 529.5 0 365 265 1

tests/data/sunrgbd/sunrgbd_trainval/calib/000004.txt

+0.99999 0.000326 0.003104 0.000326 0.97816 -0.20783 -0.003104 0.20783 0.97816
+529.5 0 0 0 529.5 0 365 265 1

tests/data/sunrgbd/sunrgbd_trainval/label/000001.txt

+bed 328 152 346 320 1.047307 4.168696 -0.246859 0.943792 1.151035 0.984807 -0.124529 -0.992216
+night_stand 5.725418e+02 2.756355e+02 9.837793e+01 5.317726e+01 2.583086 4.811675 -0.786667 0.441588 0.292586 0.486667 -0.079116 -0.996865
+ottoman 3.323579e+02 3.181773e+02 3.164047e+02 2.091639e+02 0.822727 2.518182 -0.861364 0.795610 0.351884 0.338636 -0.103340 -0.994646
+dresser_mirror 1.577592e+02 1.063545e+01 1.568729e+02 3.624916e+02 -0.831818 3.845455 -0.179545 0.974308 0.301683 1.020455 0.994423 -0.105469
+dresser 1 1 221 529 -1.086364 1.904545 -0.147727 0.781567 0.356405 1.052273 0.994781 -0.102029
+lamp 6.141973e+02 2.003010e+02 5.494983e+01 9.394649e+01 2.566667 4.800000 0.118333 0.321404 0.216742 0.441667 -0.148340 -0.988936

tests/data/sunrgbd/sunrgbd_trainval/label/000002.txt

+bed 1 128 498 402 -0.536667 2.556667 -0.515386 1.067968 1.202169 0.793333 -0.241231 -0.970468
+night_stand 462 303 197 195 1.302765 3.050952 -0.862693 0.459078 0.340327 0.393974 -0.247833 -0.968803

tests/data/sunrgbd/sunrgbd_trainval/label/000003.txt

+bed 73 180 414 345 -0.186925 3.165501 -0.479232 0.825347 1.126537 0.703846 -0.048137 -0.998841
+night_stand 451 309 87 116 1.059577 4.011212 -0.952566 0.310939 0.240892 0.366667 -0.101514 -0.994834
+dresser_mirror 539 175 1.895898e+02 2.738558e+02 2.314918 3.899981 -0.336085 0.780131 0.262282 0.976994 -0.101328 -0.994853
+dresser 4.342809e+01 2.127090e+02 1.975719e+02 1.187625e+02 -1.596060 4.070833 -0.691989 0.595497 0.313663 0.431090 -0.043437 -0.999056
+lamp 4.839130e+02 2.313211e+02 5.508696e+01 9.167893e+01 1.118182 4.113636 -0.277273 0.218229 0.145526 0.336364 0.031235 -0.999512

tests/data/sunrgbd/sunrgbd_trainval/label/000004.txt

+bed 1.189013e+02 1.006547e+02 4.233679e+02 3.499615e+02 -0.248717 3.078656 -0.411026 0.906626 0.995895 0.788974 0.179270 -0.983800
+night_stand 4.957274e+01 1.997533e+02 1.295167e+02 1.109950e+02 -1.700247 3.645455 -0.707344 0.382063 0.203700 0.340909 0.138196 -0.990405
+lamp 80 86 6.978261e+01 1.240502e+02 -1.677273 3.627273 0.022727 0.234005 0.176469 0.409091 0.227884 -0.973688
+ottoman 1.469666e+02 3.312358e+02 486 199 0.127273 1.600000 -0.806818 0.734650 0.309392 0.393182 0.176299 -0.984337

tests/data/sunrgbd/sunrgbd_trainval/label_v1/000001.txt

+bed 328 152 346 320 1.047307 4.168696 -0.246859 0.943792 1.151035 0.984807 -0.124529 -0.992216
+night_stand 5.685384e+02 2.766194e+02 9.535192e+01 9.226649e+01 2.431818 4.840909 -0.750000 0.287264 0.273673 0.450000 -0.083045 -0.996546
+ottoman 324 319 325 211 0.822727 2.518182 -0.861364 0.795610 0.351884 0.338636 -0.103340 -0.994646
+dresser_mirror 154 17 151 368 -0.831818 3.845455 -0.179545 0.974308 0.301683 1.020455 0.994423 -0.105469
+dresser 1 1 221 529 -1.086364 1.904545 -0.147727 0.781567 0.356405 1.052273 0.994781 -0.102029

tests/data/sunrgbd/sunrgbd_trainval/label_v1/000002.txt

+bed 1 128 498 402 -0.536667 2.556667 -0.515386 1.067968 1.202169 0.793333 -0.241231 -0.970468
+night_stand 462 303 197 195 1.302765 3.050952 -0.862052 0.459078 0.340327 0.393333 -0.247833 -0.968803

tests/data/sunrgbd/sunrgbd_trainval/label_v1/000003.txt

+bed 73 180 414 345 -0.186925 3.165501 -0.479232 0.825347 1.126537 0.703846 -0.048137 -0.998841
+night_stand 451 309 87 116 1.059577 4.011212 -0.952566 0.310939 0.240892 0.366667 -0.101514 -0.994834
+dresser_mirror 539 175 155 274 2.314918 3.899981 -0.336085 0.780131 0.262282 0.976994 -0.101328 -0.994853
+dresser 61 218 180 106 -1.596060 4.070833 -0.691989 0.595497 0.313663 0.431090 -0.043437 -0.999056
+lamp 477 233 62 90 1.118182 4.113636 -0.277273 0.218229 0.145526 0.336364 0.031235 -0.999512