1080P example
— example_25, tree25
bundled example
This is the raw file listing. For a guided tour with every modality rendered
side by side, see the
example walkthrough.
Camera
- Camera model
- Stereolabs ZED Mini (simulated, HD1080)
- Resolution
- 1920×1080 px
- Baseline
- 63.0 mm
- Focal length
- 2.1 mm
- Sensor width
- 4.2 mm
- Field of view (H)
- 90.0°
Capture
- Camera distance
- 400.0 cm, fixed
- Orbit sweep
- 356.0°
- Depth range
- 0.1 – 15.0 m
- Planned captures
- 48
- Frames on disk
- 1
- Files / size
- 30 · 136.8 MB
- Scene instances
- 5124
Left RGB / left 1 file · 5.6 MB
Left-camera RGB renderings of the stereo pair.
All 1 file
Right RGB / right 1 file · 5.6 MB
Right-camera RGB renderings forming the stereo pair (63 mm baseline).
All 1 file
Left Depth / left_depth 4 files · 11.5 MB
Per-pixel metric depth. EXR/NPY and a 16-bit millimetre PNG for ground truth, *_vis.png for preview.
Right Depth / right_depth 4 files · 11.5 MB
Per-pixel metric depth for the right camera.
Left Disparity / left_disparity 3 files · 9.4 MB
Disparity in pixels (left frame), 16-bit PNG and float NPY.
Right Disparity / right_disparity 3 files · 9.4 MB
Disparity in pixels (right frame).
Left Surface Normals / left_normal 3 files · 38.0 MB
World-space surface normals. EXR/NPY for ground-truth, *_vis.png for preview.
Right Surface Normals / right_normal 3 files · 38.0 MB
World-space surface normals for the right view.
Left Instance Segmentation / left_seg 3 files · 280 KB
Per-instance segmentation: colourised PNG, integer ID PNG, target mask and overlay.
Right Instance Segmentation / right_seg 3 files · 281 KB
Per-instance segmentation for the right view.
Point Clouds / pointcloud 2 files · 7.2 MB
Dense point clouds (.ply), per frame and/or merged across the orbit, in raw and coloured variants.
Binary format — no browser-renderable preview. The files are listed below.
Scene tree instances
Showing the first 50 of 5124 instances present in the surrounding scene segmentation.
| ID | Label | Class | Colour | Centre (cm) | Extent (cm) |
|---|---|---|---|---|---|
| 25 | tree25 | tree |
189, 133, 67
|
-17461.1, -9774.4, 626.9 | 680.2, 676.4, 657.1 |
| 1 | tree1 | tree |
162, 210, 51
|
16604.1, -24290.5, 894.8 | 935.2, 968.5, 949.5 |
| 2 | tree2 | tree |
49, 23, 51
|
-1590.5, -23631.6, 852.4 | 710.9, 712.4, 881.0 |
| 3 | tree3 | tree |
239, 112, 179
|
2047.8, -22730.0, 785.2 | 860.1, 884.8, 823.8 |
| 4 | tree4 | tree |
124, 53, 179
|
18928.8, -22508.6, 1039.9 | 1099.1, 1080.9, 1068.4 |
| 5 | tree5 | tree |
134, 67, 115
|
15559.1, -21673.9, 1091.4 | 1145.8, 1169.5, 1180.9 |
| 6 | tree6 | tree |
21, 198, 243
|
-12249.2, -19474.6, 881.3 | 711.7, 697.6, 920.2 |
| 7 | tree7 | tree |
201, 129, 243
|
-9415.7, -19933.5, 878.1 | 954.2, 948.5, 911.8 |
| 8 | tree8 | tree |
91, 228, 19
|
5838.7, -19553.0, 935.6 | 931.7, 907.8, 987.6 |
| 9 | tree9 | tree |
176, 162, 147
|
-18254.7, -18479.1, 809.7 | 746.7, 730.1, 851.5 |
| 10 | tree10 | tree |
46, 223, 147
|
18539.9, -18575.6, 959.9 | 868.9, 821.7, 1020.0 |
| 11 | tree11 | tree |
253, 24, 83
|
-22329.2, -17849.9, 1002.1 | 1060.1, 1090.6, 1058.0 |
| 12 | tree12 | tree |
103, 125, 83
|
21680.8, -18006.4, 900.5 | 975.7, 977.7, 922.5 |
| 13 | tree13 | tree |
148, 59, 211
|
-8911.2, -16989.1, 948.4 | 789.6, 792.6, 1011.2 |
| 14 | tree14 | tree |
8, 78, 35
|
1560.7, -16086.0, 790.7 | 892.0, 859.4, 845.2 |
| 15 | tree15 | tree |
218, 9, 35
|
6220.1, -14971.8, 980.8 | 1080.8, 1120.8, 1048.7 |
| 16 | tree16 | tree |
65, 140, 163
|
23564.5, -14903.0, 843.4 | 976.2, 935.6, 915.7 |
| 17 | tree17 | tree |
175, 234, 99
|
-11495.4, -14010.8, 933.2 | 902.6, 931.6, 967.7 |
| 18 | tree18 | tree |
60, 175, 99
|
17336.8, -13767.7, 738.6 | 788.6, 758.5, 781.3 |
| 19 | tree19 | tree |
230, 214, 227
|
-22566.6, -13356.8, 922.7 | 1007.0, 977.9, 979.5 |
| 20 | tree20 | tree |
117, 17, 227
|
13154.9, -13093.6, 1064.3 | 1113.0, 1108.3, 1111.9 |
| 21 | tree21 | tree |
137, 116, 3
|
14021.6, -13224.9, 1022.9 | 897.0, 841.9, 1077.8 |
| 22 | tree22 | tree |
27, 50, 131
|
15547.2, -12860.6, 774.8 | 794.5, 841.4, 835.2 |
| 23 | tree23 | tree |
192, 71, 131
|
9401.0, -11768.3, 1055.6 | 1156.5, 1120.3, 1155.6 |
| 24 | tree24 | tree |
82, 0, 67
|
-24348.3, -11174.7, 860.4 | 856.1, 845.6, 925.0 |
| 26 | tree26 | tree |
39, 227, 195
|
-12225.8, -9992.7, 838.5 | 893.2, 904.5, 877.5 |
| 27 | tree27 | tree |
244, 166, 59
|
3895.6, -10446.6, 914.2 | 956.7, 1001.3, 986.7 |
| 28 | tree28 | tree |
104, 217, 59
|
24301.6, -10294.0, 1081.4 | 1234.0, 1183.4, 1162.3 |
| 29 | tree29 | tree |
154, 156, 187
|
-2567.0, -8858.4, 1077.6 | 989.7, 1007.8, 1142.3 |
| 30 | tree30 | tree |
1, 122, 123
|
8188.6, -9226.6, 924.7 | 781.2, 798.6, 969.8 |
| 31 | tree31 | tree |
211, 63, 123
|
12919.9, -9267.5, 837.8 | 829.6, 828.3, 865.9 |
| 32 | tree32 | tree |
76, 72, 251
|
20484.9, -9159.0, 701.7 | 601.7, 633.3, 734.0 |
| 33 | tree33 | tree |
166, 13, 251
|
-14733.3, -8522.8, 971.6 | 848.2, 823.1, 998.6 |
| 34 | tree34 | tree |
53, 139, 27
|
5312.2, -8400.5, 781.9 | 708.7, 704.3, 816.0 |
| 35 | tree35 | tree |
233, 238, 155
|
13576.5, -6089.5, 731.6 | 824.9, 821.8, 767.3 |
| 36 | tree36 | tree |
123, 169, 155
|
-7860.4, -5312.9, 954.3 | 894.6, 916.3, 1023.6 |
| 37 | tree37 | tree |
128, 208, 91
|
-2016.2, -5431.4, 898.0 | 1021.1, 1004.5, 954.0 |
| 38 | tree38 | tree |
18, 149, 91
|
1948.6, -5337.4, 689.1 | 764.2, 784.2, 730.9 |
| 39 | tree39 | tree |
205, 115, 219
|
9432.6, -5139.0, 838.8 | 925.0, 898.0, 883.5 |
| 40 | tree40 | tree |
95, 54, 43
|
15556.7, -5367.5, 915.7 | 822.6, 826.9, 945.7 |
| 41 | tree41 | tree |
180, 65, 43
|
-7498.5, -4838.3, 887.4 | 746.9, 770.4, 917.6 |
| 42 | tree42 | tree |
40, 4, 171
|
11993.1, -4043.7, 734.4 | 825.6, 796.2, 784.4 |
| 43 | tree43 | tree |
250, 98, 107
|
17740.4, -4119.6, 883.1 | 825.7, 844.3, 930.0 |
| 44 | tree44 | tree |
97, 231, 107
|
4928.4, -3673.1, 887.9 | 931.2, 937.4, 901.3 |
| 45 | tree45 | tree |
147, 160, 235
|
-18934.6, -2496.8, 940.6 | 1073.2, 1031.6, 1003.3 |
| 46 | tree46 | tree |
12, 221, 235
|
3211.3, -2255.0, 855.7 | 959.0, 941.2, 905.7 |
| 47 | tree47 | tree |
222, 155, 11
|
10700.4, -2598.3, 916.0 | 884.4, 890.1, 965.1 |
| 48 | tree48 | tree |
69, 126, 139
|
3069.5, -1101.2, 905.4 | 1012.7, 1031.4, 962.2 |
| 49 | tree49 | tree |
169, 57, 139
|
16548.3, -1483.9, 1009.2 | 1010.6, 1008.3, 1035.7 |
| 50 | tree50 | tree |
59, 76, 75
|
-21884.6, -681.3, 891.6 | 735.0, 747.5, 952.0 |