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The dataset contains five scenes.
Each scene is composed of:

  • 16-bit high-resolution left/right images (.tif)
  • 32-bit left/right depth maps (.dpt) - matlab code
  • Visual depth maps (.png)

City

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Sample frames.

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This scene contains 129 frames.

Sitting

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Sample frames.

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This scene contains 149 frames.

Wu Manchu

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Sample frames.

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This scene contains 58 frames.

WallSlam

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Sample frames.

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This scene contains 121 frames.

Headbutt

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Sample frames.

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This scene contains 68 frames.

Code

  • This link contains matlab functions to read and write depth map and disparity files. The .dpt file format is the same one that have been used in the Sintel Dataset.
  • Use the 'Depth2Disparity.m' script to create 'Disparity', 'Occlusions' and 'OutOfFrame' files.
Download matlab code
Older version:
The older version of the dataset (RGB-D - left only) is available here:
Old version dataset.