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New stereo data sets with ground truth
We have generated new high-resolution stereo sequences with complex
geometry and pixel-accurate ground-truth disparity data. The
ground-truth disparities are acquired using a novel technique that
employs structured lighting and does not require the calibration of
the light projectors. See our CVPR
2003 paper for more details.
Quarter-size (450 x 375) versions of our new data sets "Cones" and
"Teddy" are available for download below. Each data set contains 9
color images (im0..im8) and 2 disparity maps (disp2 and disp6). The 9
color images form a multi-baseline stereo sequence, i.e., they are
taken from equally-spaced viewpoints along the x-axis from left to
right. The images are rectified so that all image motion is purely
horizontal. To test a two-view stereo algorithm, the two reference
views im2 (left) and im6 (right) should be used. Ground-truth
disparites with quarter-pixel accuracy are provided for these two
views. Disparities are encoded using a scale factor 4 for gray levels
1 .. 255, while gray level 0 means "unknown disparity". Therefore,
the encoded disparity range is 0.25 .. 63.75 pixels.
- cones-png-2.zip (769 KB)
- contains im2.png, im6.png; disp2.png, disp6.png
- cones-ppm-2.zip (993 KB)
- contains im2.ppm, im6.ppm; disp2.pgm, disp6.pgm
- cones-ppm-9.zip (4.1 MB)
- contains im0.ppm, im1.ppm, ..., im8.ppm; disp2.pgm, disp6.pgm
- teddy-png-2.zip (723 KB)
- contains im2.png, im6.png; disp2.png, disp6.png
- teddy-ppm-2.zip (970 KB)
- contains im2.ppm, im6.ppm; disp2.pgm, disp6.pgm
- teddy-ppm-9.zip (4.0 MB)
- contains im0.ppm, im1.ppm, ..., im8.ppm; disp2.pgm, disp6.pgm
The half-size and full-size data sets are available
here.
F - full size: 1800 x 1500
H - half size: 900 x 750
Q - quarter size: 450 x 375 (same as above)
The occlusion, textureless, and discontinuity maps in png format are available
here.
The original (quarter-size) maps are in cones, teddy; the half-size maps are in cones2, teddy2.
The entire testing directory (containing all input and output images in pgm/ppm format, as well
as all scripts) is available
here.
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