Armando Arturo Sánchez Alcázar
Giovanni Pintore
Matteo Sgrenzaroli
2022-03-18
<p><strong>Data Organization</strong><br>
Under the root directory for the whole acquisition, there is a <em>positions.csv</em> file and 3 subdirectories: <em>img</em>, <em>dense</em>, and <em>sparse</em>. The mobile mapping 3D dataset was generated walking around an indoor space and each <strong><positionID></strong> 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.</p>
<pre><code>root
├── img
│ ├── <positionID>.jpg
| └── ...
├── dense
│ ├── <positionID>.png
| └── ...
├── sparse
│ ├── <positionID>.png
| └── ...
└── positions.csv</code></pre>
<p><strong>positions.csv</strong></p>
<ul>
<li>File format: One ASCII file.</li>
<li>File structure Rows: Each image is one record.</li>
<li>File structure Columns: Comma separated headers, with exact order described below.
<ul>
<li>Filename, column 0: Panorama file name as on disk, without file extension.</li>
<li>Timestamps, column 1: Absolute time at which the panorama was captured, Decimal notation, without thousands separator (microseconds).</li>
<li>X,Y,Z, columns 2 through 4: Position of the panoramic camera in decimal notation, without thousands separator (meters).</li>
<li>w,x,y,z, columns 5 through 8: Rotation of the camera, quaternion.</li>
</ul>
</li>
</ul>
<p><strong>sparse</strong></p>
<ul>
<li>Set of equirectangular rendered depth images.</li>
<li>1920x960 resolution</li>
<li>16-bit grayscale PNG</li>
<li>White → 0 m</li>
<li>Black → ≥ 16 m or absent geometry</li>
<li>Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented. </li>
</ul>
<p><strong>dense</strong></p>
<ul>
<li>Set of equirectangular rendered depth images.</li>
<li>1920x960 resolution</li>
<li>16-bit grayscale PNG</li>
<li>White → 0 m</li>
<li>Black → ≥ 16 m or absent geometry</li>
<li>Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented.</li>
</ul>
<p><strong>img</strong><br>
A set of equirectangular panoramic images was taken with a 360° color camera in 1920x960 resolution. They follow the same trajectory.</p>
https://doi.org/10.5281/zenodo.6367381
oai:zenodo.org:6367381
eng
Zenodo
https://zenodo.org/communities/eu
https://zenodo.org/communities/evocation-itn
https://doi.org/10.5281/zenodo.6367380
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
point cloud
indoor
3D mapping
Indoor3Dmapping dataset
info:eu-repo/semantics/other