Each sequence dir contains images, raw depth data, and initial segmentations of objects to track and segment.

For example:

sequence06/1288573043.376525.jpg - image
sequence06/1288573043.376525.dat - binary depth data
sequence06/1288573043.376525_segmentation.dat - binary segmentation

Depth data files contain an int with the number of points, then the following for each point:

x y z x' y' z' intensity u v

where x, y, and z are the points in a global coordinate system, x', y', and z' are the points in the depth sensor coordinate system, intensity is the laser return intensity, and u v are the image coordinates of the point.  All of these are floats except for u and v, which are ints.


Segmentations are formatted as follows:

number of segmented objects (size_t)
object id (int)
number of points (int)
point (int)
point (int)
...
object id (int)
number of points (int)
point (int)
point (int)
...
...

and so on.  Each "point" above is an index into the depth data for the scene.