Stereo data sets of scenes containing planar regions. Each set contains 9 images (im0.ppm - im8.ppm) and ground truth disparity maps for images 2 and 6 (disp2.pgm and disp6.pgm). Each ground truth disparity map is scaled by a factor of 8. For example, a value of 100 in disp2.pgm means that the corresponding pixel in im6.ppm is 12.5 pixels to the left. (New sequences with larger disparity ranges and more complicated geometry are available on the new data page.)

Sawtooth	Venus	Bull	Poster	Barn 1	Barn 2

Only the sawtooth and venus images are used in our study, together with the following two sequences: Tsukuba (courtesy of the University of Tsukuba) and Map (courtesy of R. Szeliski and R. Zabih)

Map	Tsukuba

Animated gifs of the reprojected sequences based on ground truth:

Inverse warping (all images are warped to the reference frame viewpoint):

Half size:	Tsukuba(140K)	Sawtooth(400K)	Venus(370K)	Map(22K)
Full size:	Tsukuba(440K)	Sawtooth(1.3M)	Venus(1.2M)	Map(65K)

Forward warping (the reference frame is warped to all other viewpoints):

Half size:	Tsukuba(140)	Sawtooth(400)	Venus(370K)	Map(22K)
Full size:	Tsukuba(440K)	Sawtooth(1.3M)	Venus(1.2M)	Map(69K)

The four image sequences used in the evaluation, together with the parameter files used by our code:
imagedirs.zip (9.1 MB)

Additional test images (mostly without pixel-accurate disparity maps) are available from the Computer Vision Homepage.