# 3D dataset for testing SFM algorithms

This synthetic dataset consists of 32 image sets in total. D1~D19 consists of 100 images with a circular track. D20~D32 consists of 200 images with a circular track plus up and down motions of a camera. The camera captures two different kinds of background spaces, where target objects are positioned in the middle of the space. This dataset has been created with Blender software.

Each set has the corresponding ground truth camera pose file and the camera intrinsic parameter. The ground truth camera pose obeys Open GL convention. The camera intrisic file is a 3x3 matrix which has the format below: $$\begin{bmatrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \\ \end{bmatrix}$$

where $f_x$, $f_y$, ($c_x$, $c_y$) refer to the camera x focal length, y focal length, and the camera principal point, respectively.

The models used in this dataset have been downloaded from Blend Swap under the licenses CC Zero and CC-BY. We want to thank the artists dana (Headmaster's office), matpompili (Laptop model), KirkJames (Vickers-Armstrong Spitfire), Jay-Artist (Kitchen), DennisH2010 (Clock), eastwind (Door) and b2przemo (Kitchen herbs) for their work.

If you have any question of using this dataset, please contact Antonio J. Rueda () or Kyungmin Han ().

 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 D26 D27 D28 D29 D30 D31 D32