n1n1n1q/DuMPlinGS-replica

DuMPlinGS – Replica (private)

8 Replica scenes (office0-4, room0-2) from the NICE-SLAM rendering, 100 uniformly sampled views each, in COLMAP format with ground-truth poses. Not for redistribution — Replica research-only terms apply.

Per scene replica/<scene>/:

• images/frame_XXXXXX.jpg — 1200x680 RGB
• depth/frame_XXXXXX.png — uint16 depth in millimeters
• sparse/0/{cameras,images,points3D}.txt — PINHOLE fx=fy=600, cx=599.5, cy=339.5; GT poses (OpenCV/COLMAP world-to-camera); 200k points back-projected from depth
• gt_mesh.ply — ground-truth mesh, same world frame as the poses