Published March 18, 2022
| Version 0.1.0
Dataset
Open
Indoor3Dmapping dataset
- 1. GEXCEL, Italy
- 2. Visual and Data-Intensive Computing, CRS4, Italy
Description
Data Organization
Under the root directory for the whole acquisition, there is a positions.csv file and 3 subdirectories: img, dense, and sparse. The mobile mapping 3D dataset was generated walking around an indoor space and each <positionID> corresponds to a unique pose along the trajectory of this motion. This version of the dataset contains a total of 99 unique poses. There is a separation of 1 meter between each adjacent pose.
root
├── img
│ ├── <positionID>.jpg
| └── ...
├── dense
│ ├── <positionID>.png
| └── ...
├── sparse
│ ├── <positionID>.png
| └── ...
└── positions.csv
positions.csv
- File format: One ASCII file.
- File structure Rows: Each image is one record.
- File structure Columns: Comma separated headers, with exact order described below.
- Filename, column 0: Panorama file name as on disk, without file extension.
- Timestamps, column 1: Absolute time at which the panorama was captured, Decimal notation, without thousands separator (microseconds).
- X,Y,Z, columns 2 through 4: Position of the panoramic camera in decimal notation, without thousands separator (meters).
- w,x,y,z, columns 5 through 8: Rotation of the camera, quaternion.
sparse
- Set of equirectangular rendered depth images.
- 1920x960 resolution
- 16-bit grayscale PNG
- White → 0 m
- Black → ≥ 16 m or absent geometry
- Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented.
dense
- Set of equirectangular rendered depth images.
- 1920x960 resolution
- 16-bit grayscale PNG
- White → 0 m
- Black → ≥ 16 m or absent geometry
- Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented.
img
A set of equirectangular panoramic images was taken with a 360° color camera in 1920x960 resolution. They follow the same trajectory.
Files
Indoor3Dmapping.zip
Files
(123.6 MB)
Name | Size | Download all |
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md5:9d9e21f5031b408dbeaffd457ec36965
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