Data Organization Under the root directory for the whole acquisition, there is a positions.csv file and 3 subdirectories: img, dense, and sparse. The mobile mapping 3D dataset was generated walking around an indoor space and each <positionID> corresponds to a unique pose along the trajectory of this motion. This version of the dataset contains a total of 99 unique poses. There is a separation of 1 meter between each adjacent pose. root ├── img │ ├── <positionID>.jpg | └── ... ├── dense │ ├── <positionID>.png | └── ... ├── sparse │ ├── <positionID>.png | └── ... └── positions.csv positions.csv File format: One ASCII file. File structure Rows: Each image is one record. File structure Columns: Comma separated headers, with exact order described below. Filename, column 0: Panorama file name as on disk, without file extension. Timestamps, column 1: Absolute time at which the panorama was captured, Decimal notation, without thousands separator (microseconds). X,Y,Z, columns 2 through 4: Position of the panoramic camera in decimal notation, without thousands separator (meters). w,x,y,z, columns 5 through 8: Rotation of the camera, quaternion. sparse Set of equirectangular rendered depth images. 1920x960 resolution 16-bit grayscale PNG White → 0 m Black → ≥ 16 m or absent geometry Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented. dense Set of equirectangular rendered depth images. 1920x960 resolution 16-bit grayscale PNG White → 0 m Black → ≥ 16 m or absent geometry Occlusions: If a pixel was hit by several rays, only the value of the closest one is represented. img A set of equirectangular panoramic images was taken with a 360° color camera in 1920x960 resolution. They follow the same trajectory.