Ant Laboratory Environment Snapshot Dataset and 3D model

<br><b>Overview:</b><br>This dataset includes a set of panoramic images taken from a 3D reconstruction of an ant laboratory environment, and the 3D environment itself. In this dataset are 1485 points, evenly spaced between the explorable bounds of the arena in a grid. The coordinates where each image was taken were recorded. Since all the images are panoramic, you can rotate the images to get any direction view at any point in the grid. A look-up table is provided name "full_grid_views_meta_data.csv" which provides the names for all the image files with their corresponding coordinate. <br>The simulation software used was Isaac Sim, and we included the USD file containing the 3D model of the reconstructed laboratory environment where all the views were taken from. The lab that was reconstructed is the Ant Navigation behaviour lab at the University of Sussex.<br><b>Media and plots folder:</b><br>"top down grid view.png" Shows an image of the arena from the top down. It is useful to use as a base for plotting."top down grid view plot.png" Shows the grid plotted on top of an image of the arena from the top down. It is useful to use as a base for plotting.<br>"pan cam animation.mp4" Is a fly through video of the virtual arena."plotting_grid_script.py" Python file for making the grid plot shown in "top down grid view.png"<br><b>Meta data file explanation:</b>Measurements were taken in metres, as Isaac Sim uses. Image files are stored in the zipped folder.<br>0 degrees is "north" looking towards the white arena entrance on the platform where the images were taken from.Route name - Name of the data set.<br>img_name - name of the image file.<br>x_m - The x coordinate of the where the picture was taken in metres<br>y_m - The y coordinate of the where the picture was taken in metres<br>z_m - The z coordinate of the where the picture was taken in metres. (In this dataset is the same for all images)Headings - Heading perspective where the image is taken from. (In this dataset is the same for all images. Due to panoramas headings can be changed by rotating images).<br><br><b>USD scene files:</b>To use the 3D scene yourself, the "Collected_ant_view_scene\ant_view_scene.usd" contains the 3D model of the ant arena, with some virtual cameras for different simulated views of the scene. You can open and interact with the scene via Isaac Sim or other Nvidia Omniverse software. To collect your own sets of 3D views use and adapt the replicator script "full_arena_grid_infer_views.py" in the script editor. This script creates a set of coordinates and cycles through them taking an image at each point prescribed.<br><br>The 3D models alone without any Isaac Sim layers can be found at "Collected_ant_view_scene\old nucleus clone\photogram\3DModel.usd". This can be edited in a 3D software of your choice.