Left RGB left
The reference view — a physically based rendering of the target tree, shot with the simulated ZED Mini left sensor.
- 015_horizontal_15.png — preview
Worked example
1080P example
— example_25, tree25
This is one complete frame from the benchmark, shown modality by modality. Everything below was rendered from the same instant of the same virtual stereo rig, so the depth, disparity, normals and segmentation are all pixel-aligned with the RGB above them.
The full release repeats this for 48 viewpoints per tree across a 356.0° orbit; 1 frame and 30 files (136.8 MB) are published here as a sample.
1920×1080
Resolution
63.0
Baseline (mm)
90.0°
Horizontal FOV
0.1–15.0
Depth range (m)
5124
Scene instances
30
Files in this capture
136.8 MB
The stereo pair
Two views of the same scene, 63.0 mm apart. The horizontal shift between them is exactly what the disparity map below encodes.
Modality by modality
Right RGB right
The matching right-sensor frame. Together with the left frame this forms the rectified stereo pair at a 63 mm baseline.
- 015_horizontal_15.png — preview
Depth left_depth
Per-pixel metric depth in metres. The preview is a colourised visualisation; the companion files carry the raw values.
- 015_horizontal_15_vis.png — preview
- 015_horizontal_15.exr — ground truth
- 015_horizontal_15_m.npy — ground truth
- 015_horizontal_15_mm.png — ground truth
Disparity left_disparity
Stereo disparity in pixels, supplied as a 16-bit PNG alongside this preview.
- 015_horizontal_15_vis.png — preview
- 015_horizontal_15_px.npy — ground truth
- 015_horizontal_15_px16.png — ground truth
Surface normals left_normal
World-space surface normals encoded as RGB. Useful for shape-from-shading and geometry-consistency losses.
- 015_horizontal_15_vis.png — preview
- 015_horizontal_15.exr — ground truth
- 015_horizontal_15_world.npy — ground truth
Instance segmentation left_seg
Per-instance masks that separate the target tree from the surrounding canopy, with an integer ID map beside them.
- 015_horizontal_15_color.png — preview
- 015_horizontal_15_id.png — ground truth
- 015_horizontal_15_instances.json — ground truth
Point clouds
Each view is also back-projected into a dense point cloud in PLY format — the left and right clouds share a coordinate frame, so they can be merged directly or used to validate a reconstruction.
Calibration & scene metadata
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
- 90.0°
- Camera distance
- 400.0 cm, fixed
- Orbit sweep
- 356.0°
Intrinsics
- fx
- 960.0
- fy
- 960.0
- cx
- 960.0
- cy
- 540.0
- Depth range
- 0.1 – 15.0 m
- Instance ID
- 25
Disparity d relates to depth Z by
Z = fx · B / d, with
fx = 960.0 px and
B = 63.0 mm.
Scene tree instances
Showing the first 50 of 5124 instances present in the surrounding scene segmentation. Instance #25 is the orbit target.
| ID | Label | Class | Colour | Centre (cm) | Extent (cm) |
|---|---|---|---|---|---|
| 25 | tree25 target | 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 |
The rest of the release
Every modality above repeats across the complete orbit for each published tree.