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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)
- 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)