A dataset consisting of 64 depth images and a K matrix. The dataset was collected on January 22th 2014 using a Microsoft Kinect device at Teknikringen 33, Stockholm, Sweden.
For easiest possible reading the images are stored, one frame per file, uncompressed.
Images consists of a fixed size header, 16 bytes long. The raw binary depth data follows as 16-bit unsigned integers.
| Offset | Type | Meaning |
|---|---|---|
| 0 | uint32 | width |
| 4 | uint32 | height |
| 8 | uint32 | stride |
| 12 | uint32 | one |
width- width of the image (640)height- height of the image (480)stride- byte count of each row (1280)one- Always set to 1.
After these 16 bytes, follows 614400 bytes of depth data. Each pixel is 16 bits (or two bytes) of unsigned depth data, in row major order.
The K-matrix is stored in the K.json json file, and looks like the following.
[
472, 0, 319.5,
0, 472, 239.5,
0, 0, 1
]Where fx=472, fy=472, cx=319.5, cy=239.5.
Samuel Carlsson