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)