KEvOr dataset

The Kinect Evaluation in Orchard conditions (KEvOr) dataset is comprised of a set of RGB-D captures carried out with the Microsoft Kinect v2 to evaluate the performance of this sensor at different lighting conditions in agricultural orchards and from different distances to the measured target.
Three Microsoft Kinect v2 sensors (K2S1, K2S2 and K2S3) were used to scan Fuji apple trees along the afternoon and evening, from the higher sun illuminance (55000 lux) until achieving dark conditions (0.1 lux), obtaining a total of 252 captures: 28 lighting conditions * 3 sensors * 3 repetitions. The data provided for each capture is: the acquired point cloud, illuminance level at the center of the measured scene, and wind speed.
The sensors where placed as follows:
    K2S1: Oriented to the north, measuring the row of trees side under direct sunlight. This sensor was placed at 2.5 m from the measured target.
    K2S2: Oriented to the north, measuring the row of trees side under direct sunlight. This sensor was placed at 1.5 m from the measured target.
    K2S3 Oriented to the south, measuring the row of trees side under indirect sunlight. This sensor was placed at 2.5 m from the measured target.
The dataset also includes two additional registered captures measuring the same scene from 1.5 m and from 2.5 m.

果园场景Kinect评估（Kinect Evaluation in Orchard conditions, KEvOr）数据集包含一系列通过微软Kinect v2（Microsoft Kinect v2）采集的RGB-D数据，用于评估该传感器在农业果园不同光照条件下以及与被测目标不同距离处的性能表现。

本次数据采集共使用三台微软Kinect v2（Microsoft Kinect v2）传感器（编号K2S1、K2S2与K2S3），于午后至傍晚时段对富士苹果树林的果树行进行扫描，光照条件覆盖从最高太阳照度55000勒克斯（lux）至弱光环境0.1勒克斯（lux）的范围，最终共获得252组采集数据：即28种光照条件 × 3台传感器 × 3次重复采集。

每组采集数据包含以下内容：采集得到的点云、被测场景中心的照度值以及风速数据。

传感器的布置方案如下：
K2S1：朝向正北，正对直射阳光下的果树行侧方，布置于距离被测目标2.5米的位置。
K2S2：朝向正北，正对直射阳光下的果树行侧方，布置于距离被测目标1.5米的位置。
K2S3：朝向正南，正对散射阳光下的果树行侧方，布置于距离被测目标2.5米的位置。

该数据集还包含两组额外的配准采集数据，分别从1.5米与2.5米处对同一场景进行采集。