The zip files have the following structure:

\real_dataset 
	contains the depth, amplitude and intensity maps (".mat" files) captured with the ToF camera at 20, 50 and 60 MHz on 8 scenes.
	The depth and the amplitude maps have been calibrated to correct the wiggling error by using a method inspired from [1] on raw ToF data.
	
	\ground_truth
		contains the radial depth ground truth of the scenes estimated with an active stereo system and projected on the ToF sensor

\synthetic_dataset
	contains the scenes simulated with Sony ToF Explorer emulating the ToF camera acquisitions.
	The data are divided in training (\training_set) and test data (\test_set), respectively 40 and 14 scenes.
	
	\training_set  and \test_set contain the depth, amplitude and intensity maps for the syntehtic scenes at 20, 50 and 60 MHz. These are stored both on disjoint ".mat" files. 
	The depth maps contained in the ".mat" files are phase unwrapped using the ToF acquisitions at 20, 50 and 60 MHz.

		\ground_truth
			contains the radial depth ground truth of the scenes extracted with Blender and stored both in ".mat" format.

[1] Lindner, Marvin, and Andreas Kolb, Lateral and depth calibration of PMD-distance sensors. International Symposium on Visual Computing. Springer, Berlin, Heidelberg, 2006.