Datasets:
Real4D data format
Paths
The first path component identifies the source subset (dynerf for N3DV or
meetroom), followed by a scene. Within each scene, modalities are grouped so
that large subsets can be downloaded independently.
For trajectory cam00_01 and zero-based frame index i, use file number
i + 1:
images/cam00_01/cam00_01_000001.jpg
depths/cam00_01/cam00_01_000001.jpg.geometric.png
depth_vis/cam00_01/cam00_01_000001.jpg
camera_params/cam00_01.json # entry 0
RGB
RGB frames are 8-bit three-channel JPEG files. N3DV-derived frames have size 1352 x 1014; MeetRoom-derived frames have size 1280 x 720.
Depth
Depth files are single-channel 16-bit PNG images. A stored value d represents
d / 1000 meters. Value zero is the invalid mask and indicates negligible
accumulated opacity. These values are rendered pseudo-labels derived from the
reconstructed dynamic scene, not measurements from a depth sensor.
from PIL import Image
import numpy as np
depth_mm = np.asarray(Image.open(depth_path), dtype=np.uint16)
valid = depth_mm > 0
depth_m = depth_mm.astype(np.float32) / 1000.0
depth_vis is only a colorized preview and must not be used as numeric depth.
Camera manifest
Each <trajectory>.json is a list of 300 dictionaries in temporal order. The
main fields are:
| Field | Meaning |
|---|---|
timestamp |
Scene time in seconds. |
w2c |
4 x 4 world-to-camera homogeneous transform. |
R |
3 x 3 rotation component used by the renderer. |
T |
3-vector translation component used by the renderer. |
fl_x, fl_y |
Focal lengths in pixels. |
cx, cy |
Principal point in pixels. |
FoVx, FoVy |
Horizontal and vertical field of view in radians. |
width, height |
Image dimensions in pixels. |
image_name |
Source reference-camera identifier; not an output filename. |
The camera matrix is analytically prescribed along the interpolation path. It
is exact with respect to that virtual trajectory; it is not an SfM/SLAM
estimate. Load the JSON record at list index i together with file number
i + 1.
Trajectories
cam{a}_{b} denotes the ordered interpolation from reference camera a to
reference camera b. Because the pair is ordered, cam00_01 and cam01_00
are distinct. cam00_00 is a static-viewpoint temporal sequence. Every
trajectory contains 300 frames spanning the scene's 10-second temporal extent.
Preview videos
video/<trajectory>_rgb.mp4 and video/<trajectory>_depth.mp4 are provided for
quick browsing at 30 fps. They are convenience derivatives; image sequences
and camera JSON are the authoritative data.