March 18, 2022 Dataset Open Access

Armando Arturo Sánchez Alcázar; Giovanni Pintore; Matteo Sgrenzaroli

MARC21 XML Export

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    <subfield code="a">Armando Arturo Sánchez Alcázar</subfield>
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    <subfield code="a">&lt;p&gt;&lt;strong&gt;Data Organization&lt;/strong&gt;&lt;br&gt;
Under the root directory for the whole acquisition, there is a &lt;em&gt;positions.csv&lt;/em&gt;&amp;nbsp;file and 3 subdirectories: &lt;em&gt;img&lt;/em&gt;, &lt;em&gt;dense&lt;/em&gt;, and &lt;em&gt;sparse&lt;/em&gt;. The mobile mapping 3D dataset was generated walking around an indoor space and each&amp;nbsp;&lt;strong&gt;&amp;lt;positionID&amp;gt;&lt;/strong&gt; 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.&lt;/p&gt;

&lt;pre&gt;&lt;code&gt;root
├── img
│  ├── &amp;lt;positionID&amp;gt;.jpg
|  └── ...
├── dense
│  ├── &amp;lt;positionID&amp;gt;.png
|  └── ...
├── sparse
│  ├── &amp;lt;positionID&amp;gt;.png
|  └── ...
└── positions.csv&lt;/code&gt;&lt;/pre&gt;

&lt;p&gt;&lt;strong&gt;positions.csv&lt;/strong&gt;&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;File format: One ASCII file.&lt;/li&gt;
	&lt;li&gt;File structure Rows: Each image is one record.&lt;/li&gt;
	&lt;li&gt;File structure Columns: Comma separated headers, with exact order described below.
	&lt;ul&gt;
		&lt;li&gt;Filename, column 0: Panorama file name as on disk, without file extension.&lt;/li&gt;
		&lt;li&gt;Timestamps, column 1: Absolute time at which the panorama was captured, Decimal notation, without thousands separator (microseconds).&lt;/li&gt;
		&lt;li&gt;X,Y,Z, columns 2 through 4: Position of the panoramic camera in decimal notation, without thousands separator (meters).&lt;/li&gt;
		&lt;li&gt;w,x,y,z, columns 5 through 8: Rotation of the camera, quaternion.&lt;/li&gt;
	&lt;/ul&gt;
	&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;&lt;strong&gt;sparse&lt;/strong&gt;&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;Set of equirectangular rendered depth images.&lt;/li&gt;
	&lt;li&gt;1920x960 resolution&lt;/li&gt;
	&lt;li&gt;16-bit grayscale PNG&lt;/li&gt;
	&lt;li&gt;White &amp;rarr; 0 m&lt;/li&gt;
	&lt;li&gt;Black &amp;rarr; &amp;ge; 16 m or absent geometry&lt;/li&gt;
	&lt;li&gt;Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented.&amp;nbsp;&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;&lt;strong&gt;dense&lt;/strong&gt;&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;Set of equirectangular rendered depth images.&lt;/li&gt;
	&lt;li&gt;1920x960 resolution&lt;/li&gt;
	&lt;li&gt;16-bit grayscale PNG&lt;/li&gt;
	&lt;li&gt;White &amp;rarr; 0 m&lt;/li&gt;
	&lt;li&gt;Black &amp;rarr; &amp;ge; 16 m or absent geometry&lt;/li&gt;
	&lt;li&gt;Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented.&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;&lt;strong&gt;img&lt;/strong&gt;&lt;br&gt;
A set of equirectangular panoramic images was taken with a 360&amp;deg; color camera in 1920x960 resolution. They follow the same trajectory.&lt;/p&gt;</subfield>
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