RGB-D Datasets

RGB-D Datasets

Name

Depth Image

Color Image

Ground Truth

3DMatch

X

X

camera pose

TUM

3DMatch

UW

TUM

OpenLORIS

Stanford Bunny

Berkley Angle

RGB-D Reconstruction Datasets organized by 3DMatch

Name

Depth Image

Color Image

Ground Truth Pose

Calibration

X

X

X

Yes

X

X

X

No

X

X

X

Yes

X

X

X

?

X

X

?

Dataset Format

Each scene is a folder containing one or more RGB-D video sequences. The folder contents are as follows:

  • camera-intrinsics.txt - a text file with depth camera intrinsics (3x3 matrix in homogeneous coordinates)

  • seq-XX

    • frame-XXXXXX.color.png - a 24-bit PNG RGB color image

    • frame-XXXXXX.depth.png - a 16-bit PNG depth image, aligned to its corresponding color image. Depth is saved in millimeters (mm). Invalid depth is set to 0.

    • frame-XXXXXX.pose.txt - a text file with the camera pose of the frame (camera-to-world, 4x4 matrix in homogeneous coordinates and in meters)

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