Floored.inc Panorama RGB-D datasets: This datasets contain the RGB-D point cloud that were captured and calibrated by Floored.inc (http://www.floored.com/) The format is as follow: 000.ply: 3-d point cloud information from the panorma ply format ascii 1.0 comment created by MATLAB plywrite element vertex 309156 property int height property int width property float x property float y property float z property uchar red property uchar green property uchar blue property float nx property float ny property float nz property uchar intensity end_header 0 0 0 0 0 0 0 0 0 0 0 0 [The camera position (XYZ in the global coordinate system)] 1 1 -22.3002 6.98361 1148.76 0 0 0 -0.0305268 0.09118 -0.995366 135 [1x2 u-v pixel index on the panorama] [1x3 3-d coordinate] [1x3 RGB color] [1x1 sensir intensity] 2 1 -20.0256 2.51624 1148.82 0 0 0 0.0422516 -0.0506529 -0.997822 135 [same as above] 3 1 -17.7198 -1.94781 1146.86 0 0 0 0.0557792 -0.0773581 -0.995442 136 4 1 -15.4755 -6.41863 1148.88 0 0 0 0.0735129 -0.112192 -0.990964 137 ..... thumbnail_000.jpg: panorama RGB image generated from 000.ply (just for reference) When use this dataset, please refer following paper: Satoshi Ikehata, Hang Yan, Yasutaka Furukawa, Structured Indoor Modeling, ICCV2015. If any questions, please contact me! Satoshi Ikehata(sikehata@seas.wustl.edu)