0
5
10
15
1000
2
5
10k
2
5
100k
2
5
1M
2
5
10M
2
5
100M
0
50
100
150
1000
2
5
10k
2
5
100k
2
5
1M
2
5
10M
2
5
100M
ScanNet
ScanNet200
Category IDs
Point Frequencies