Point clouds

1. Downloading

   Building Name (Building Code)	Floor # (Floor Code)	Download Link	Number of Scans	Area (ft^2)	% Correct
   Center (DUC)	Floor 1 (DUC1)	ZIP	50	~100,000	98%
   Center (DUC)	Floor 2 (DUC2)	ZIP	80	~100,000	100%
   Hall (CSE)	Floor 3 (CSE3)	ZIP	7	~8,000	85%
   Hall (CSE)	Floor 4 (CSE4)	ZIP	75	~19,000	93%
   Hall (CSE)	Floor 5 (CSE5)	ZIP	65	~20,000	66%

2. Usage

   Files are named as such: <Building Code>_scan_<Scan_ID>.ptx

   Information on the PTX format can be found here. We only utilize the rows and columns field and transformation matrices are in separate files however.

   The points in the PTX file constitute as column-major panorama with the number of rows and columns specified in the PTX header.

Transformation Matrices

1. Download

   Floor Code	Download Link
   DUC1	DUC1 Alignment
   DUC2	DUC2 Alignment
   CSE3	CSE3 Alignment
   CSE4	CSE4 Alignment
   CSE5	CSE5 Alignment

2. Decompress

   unzip alignment.zip

3. What you get

   Transformation matrices are provided in two places, in all_transformations.txt formated as such:

     Scan_ID
   
     Before general icp:
     Before GICP 4x4 Transformation Matrix
   
     After general icp:
     After GICP 4x4 Transformation Matrix
   

   The Before GICP 4x4 Transformation Matrix is the result of our algorithm. We have then used GICP to improve the fine alignment. Note that the "Before" and "After" GICP matrices may be the same in the case that GICP failed

   Scan_ID corresponds to the PTX filename.

   Transformation matrices are also in individual files in the transformations folder withe the naming scheme <Building Code>_trans_<Scan_ID>.txt

   The Scan_ID of known incorrectly placed scans are in known_incorrect.txt

4. Usage

   Transformation matrices can be used as such. Let p be a point from a PTX file, p' be the coordinate of that point in the aligned coordinate system, and T be the 4x4 transformation matrix for that scan.

   Using homogeneous coordinates

   p' equal-up-to-scale T * p
   

   Using Eigen

   p' = (T * p.homogeneous()).eval().hnormalized()
   

Floorplan and Scale

The scale for DUC1 and DUC2 has included in their respective alignment.zip's as scale.txt. The floorplans can be found here.

License

This Wustl Indoor RGBD dataset is made available under the Open Database License: http://opendatacommons.org/licenses/odbl/1.0/. Any rights in individual contents of the database are licensed under the Database Contents License: http://opendatacommons.org/licenses/dbcl/1.0/

If you use our data, please cite our paper:

@inproceedings{wijmans17rgbd,
  author = {Erik Wijmans and
            Yasutaka Furukawa},
  title = {Exploiting 2D Floorplan for Building-scale Panorama RGBD Alignment},
  booktitle = {Computer Vision and Pattern Recognition, {CVPR}},
  year = {2017},
  url = {http://cvpr17.wijmans.xyz/CVPR2017-0111.pdf}
}