The data acquisition process and evaluation of this dataset can be found in:
Patino Mejia, I., and Zell, 3D Reconstructions with KinFu Using Different RGBD Sensors. 3rd IEEE International Conference on Image Processing, Applications and Systems (IPAS 2018). 2018.
File Structure
The reconstructions are categorized according to the sensor used to record their input point clouds. The file structure is as follows
Sensor folder (e.g., Microsoft_Kinect_near_mode):
- camera_info: camera parameters obtained from the topic published by ROS.
- KinFu_Output_1revolution_inputPointClouds: containes the reconstructions generated with all the point clouds obtained in approximately 1 revolution.
- KinFu_Output_Pmatrix_8fps: containes the reconstructions generated at 8 fps.
- KinFu_Output_Pmatrix_30fps: containes the reconstructions generated at 30 fps.
- KinFu_Output_800_inputPointClouds: containes the reconstructions generated with 800 point clouds distribuited on 1 revolution.
- KinFu_Output_Pmatrix_8fps: containes the reconstructions generated at 8 fps.
- KinFu_Output_Pmatrix_30fps: containes the reconstructions generated at 30 fps.
The ground truth meshes obtained with the Artec EVA scanner are also provide as .ply and .bin (CloudCompare file) files. Additionally, point clouds after outliers removal are also supplied, they are identified as objectXX_X_cloud2.ply. In case you require the .bag files, please get in contact with Isabel Patiño.
