Seafloor images and raw context data along AUV track SO242/1_113-1_AUV15 (Abyss_201) during SONNE cruise SO242/1

The raw images (available on request) have been captured using a Canon 8-15mm fisheye lens and therefore they have a wide field of view, which results in a dark image boundary as the lights did not illuminate the outer sectors well. The images in this dataset have then been undistorted to virtual images that an ideal perspective camera with only 90 degrees horizontal field of view would have seen from the same position. To achieve this, the color of each pixel in the ideal image is obtained by - computing the ray in space associated with this virtual pixel (using rectilinear un-projection) - projecting this ray into the original fisheye image (using equidistant projection), yielding a sub-pixel position - interpolating the colors of the neighboring pixels Technically, the undistortion has been performed using the tool https://svn.geomar.de/dsm-general/trunk/src/BIAS/Tools/biasproject.cpp (at revision 418, and earlier, compatible revisions). Manual image annotation is available here: https://annotate.geomar.de/volumes/265本数据集的原始图像（可按需获取）采用佳能（Canon）8-15mm鱼眼镜头（fisheye lens）拍摄，因此具备宽广视场（field of view）。由于灯光无法充分照亮画面边缘区域，图像会出现暗边现象。 本数据集内的图像已完成畸变校正，转换为仅具备90°水平视场的理想透视相机从同一位置拍摄所得的虚拟图像。 为实现该畸变校正流程，理想虚拟图像中每个像素的色彩通过以下步骤获取： - 通过直线反投影（rectilinear un-projection）计算该虚拟像素对应的空间光线； - 利用等距投影（equidistant projection）将该光线投影至原始鱼眼图像中，得到亚像素位置； - 对邻域像素的色彩进行插值计算。 技术层面上，本次畸变校正使用工具 https://svn.geomar.de/dsm-general/trunk/src/BIAS/Tools/biasproject.cpp（版本418及更早的兼容版本）完成。 手动图像标注数据可通过以下链接获取：https://annotate.geomar.de/volumes/265