Depth maps & visualization
The depth maps contain the ground truth depth value (in meter) at each pixel. Additionally, we include a visualization showing the inverse depth.
We provide the camera matrices (intrinsic and extrinsic) for the camera.
The SDK includes example scripts to read/write the depth and camera data, and documentation on the data format.
The test images contain 12 test sequences with withheld ground truth, for both clean and final passes.
.zip-file containing the following structure:
/ /clean/ /clean/ambush_1/ /clean/ambush_1/frame_0001.png /clean/ambush_1/... /clean/ambush_1/frame_0023.png /clean/... /final/ /final/ambush_1/ /final/ambush_1/frame_0001.png /final/ambush_1/... /final/ambush_1/frame_0023.png /final/...
SILog, the scale invariant logarithmic error, given in
sqErrorRel, the relative squared error in percent
absErrorRel, the relative absolute error in percent
iRMSE, the RMSE of the inverse error, given in
Note that, due to the PNG format limiting the maximum range, pixels with a ground truth depth larger than 256 meters are not included in the evaluation.
The depth values are returned from Blender in an additional Z-buffer pass, similar to the optical flow.
The extrinsic camera matrix is given by Blender, as the world matrix of the camera object.
The intrinsic camera matrix is computed using the focal length as given by Blender, the hard-coded pixel dimensions of 32 px / mm, zero pixel skew, and the principal point at x = 511.5 and y = 217.5.
If you have any questions or problems regarding this dataset, please do not hesitate to contact us.