data_formats.md

Data Formats

The data formats described below are currently supported.

icl

/data
├── scene_0.depth — depth in ICL format
├── scene_0.png — image
├── scene_0.txt — camera parameters
├── scene_1.depth
├── scene_1.png
├── scene_1.txt
...
├── scene_N.depth
├── scene_N.png
└── scene_N.txt

File names may differ from those shown above. Additional information can be found here.

tum

/data
├── /rgb — depth in ICL format
    ├── image_0.png
    ...
    └── image_N.png
├── /depth
    ├── depth_0.png
    ...
    └── depth_M.png
└── groundtruth.txt — gt poses in TUM format

Additional information can be found here.

icl_tum

ICL data presented in tum format.