Download sample dataset (10 frames, ~150 MB) - Link
Download full dataset (440 frames, ~6.7 GB) - Link
The dataset can be visualized with NODAR viewer.
Cloud output: 440 frames (numbered 000000000 – 000000439), 3 subfolders.
| Folder | Format | Resolution | Type | Description |
|---|---|---|---|---|
disparity/ |
.tiff |
2880x1860 | 32-bit float (CV_32FC1) |
Ground-truth disparity, single channel grayscale |
left-rect/ |
.tiff |
2880x1860 | 8-bit RGB (CV_8UC3) |
Rectified left camera image |
details/ |
.yaml |
— | — | Per-frame metadata |
left_time, right_time — Capture timestampsexposure, gain — Sensor settingsfocal_length — Focal length in pixels (e.g. 5276.74)baseline — Stereo baseline in meters (e.g. 1.14)meters_above_ground — Camera heightprojection — 4x4 projection matrix (row-major)rotation_disparity_to_raw_cam — 3x3 rotation matrixrotation_world_to_raw_cam — 3x3 rotation matrixdaytime-highway-minimal-01/)