# RGB-D Datasets

## RGB-D Datasets

|   Name  | Depth Image | Color Image | Ground Truth |
| :-----: | :---------: | :---------: | :----------: |
| 3DMatch |      X      |      X      |  camera pose |
|   TUM   |             |             |              |

### 3DMatch

* paper: 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions, CVPR 2017
* website: [https://3dmatch.cs.princeton.edu/](https://3dmatch.cs.princeton.edu/#rgbd-reconstruction-datasets)
* notes: deep learning

### UW

* paper: A Large-Scale Hierarchical Multi-View RGB-D Object Dataset, ICRA 2011
* website: <http://rgbd-dataset.cs.washington.edu/dataset.html>

### TUM

* website: <https://vision.in.tum.de/data/datasets/rgbd-dataset/download>

### OpenLORIS

* weblink: <https://shimo.im/docs/HhJj6XHYhdRQ6jjk/read>

### Stanford Bunny

* website: <http://graphics.stanford.edu/data/3Dscanrep/>

### Berkley Angle

* website: <http://graphics.berkeley.edu/resources/ScannedModels/index.html>

## RGB-D Reconstruction Datasets organized by [3DMatch](http://3dmatch.cs.princeton.edu/#rgbd-reconstruction-datasets)

|                                         Name                                         | Depth Image | Color Image | Ground Truth Pose | Calibration |
| :----------------------------------------------------------------------------------: | :---------: | :---------: | :---------------: | :---------: |
|                        [SUN3D](http://sun3d.cs.princeton.edu/)                       |      X      |      X      |         X         |     Yes     |
| [7-Scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) |      X      |      X      |         X         |      No     |
|   [RGB-D Scenes v2](http://rgbd-dataset.cs.washington.edu/dataset/rgbd-scenes-v2/)   |      X      |      X      |         X         |     Yes     |
|          [BundleFusion](http://graphics.stanford.edu/projects/bundlefusion/)         |      X      |      X      |         X         |      ?      |
|         [Analysis by Synthesis](http://graphics.stanford.edu/projects/reloc/)        |      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)