Base images for 360 degrees panorama with camera poses

This dataset presents base images for 360 degrees image construction through stitching. The HD resolution base images are already undistorted. This dataset is meant for 360 degrees panorama generation and optimization techniques comparison.

Each dataset folder presents a "cameras.sfm" file that contains the camera pose for every acquired image, which is estimated from IMU and servo motor sensors. The file presents the total number of images in the first line. Considering the rotation matrix as 'R' (with dimensions 3x3) , translation vector as 't' (with dimensions 3x1), 'fx' and 'fy' as the focal lengths in both X and Y axis, and 'cx' and 'cy' as the principal point coordinates in the image, every following line is written as:

"image_name.png" R11 R12 R13 R21 R22 R23 R31 R32 R33 t11 t21 t31 fx fy cx cy

with the numbers representing the position in the matrix and vector. In this way, every image has an approximated first guess for it's pose.