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.本数据集提供用于通过图像拼接构建360度图像的基础图像。该高清分辨率基础图像均已完成畸变校正。本数据集适用于360度全景生成及优化技术的对比研究。 每个数据集文件夹中均包含一个名为"cameras.sfm"的文件，该文件存储了每张采集图像的相机位姿，其通过惯性测量单元（IMU）与伺服电机传感器估算得到。文件首行标注该数据集的图像总数量。将旋转矩阵记为R（维度为3×3）、平移向量记为t（维度为3×1），X轴与Y轴方向的焦距分别记为fx与fy，图像主点坐标记为cx与cy，则后续每一行的格式为： "image_name.png" R11 R12 R13 R21 R22 R23 R31 R32 R33 t11 t21 t31 fx fy cx cy 其中各数值分别对应旋转矩阵与平移向量中的元素。据此，每张图像均对应其位姿的近似初始估计值。