---
license: apache-2.0
task_categories:
- depth-estimation
tags:
- depth
- depth-anything-3
- dl3dv
- metric-depth
- reconstruction
- generation
size_categories:
- 1M<n<10M
---

# DL3DV-Depth-DA3-Aligned

Per-frame depth annotations for the DL3DV dataset, produced by
**Depth-Anything-3 (DA3)** and then **aligned** to each scene's sparse depth
from the original DL3DV reconstruction. We use this refined dataset for 3D world generation and reconstruction in our [**Puffin-World**](https://github.com/KangLiao929/Puffin).

## Sample Videos

Each clip is a 1×3 comparison — **RGB | Original Depth | Our Aligned Depth** —
with depth rendered by *vision banana* representation. It shows
how the DA3-aligned depth (right) densifies and cleans up the original sparse
depth (middle).

<table>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_00.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_01.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_02.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_03.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_04.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_05.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_06.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_07.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_08.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_09.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_10.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_11.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_12.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_13.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
<tr><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_14.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td><td width="50%"><video src="https://huggingface.co/datasets/KangLiao/DL3DV-Depth-DA3-Aligned/resolve/main/samples/sample_15.mp4" controls muted loop playsinline preload="metadata" width="100%"></video></td></tr>
</table>

## Directory structure

The archive mirrors the source DL3DV layout — one `.zip` per
scene, grouped into bucket folders `1K`–`7K` (`<bucket>/<scene_hash>.zip`).
The scene hashes match DL3DV and [DL3DV-Absolute-Camera](https://huggingface.co/datasets/KangLiao/DL3DV-Absolute-Camera), so
depth pairs 1:1 with the source frames / absolute camera annotations.

Each `<scene_hash>.zip` unpacks to:

```
dense/
└── depth_da3/
    ├── frame_00001.npy
    ├── frame_00002.npy
    ├── frame_00003.npy
    └── ...
```

Each `frame_NNNNN.npy` is a float32 depth map — `np.load(...)` returns an
array of shape `(H, W)` (e.g. `(536, 954)`), one per source frame, indices
matching the DL3DV frames.

## How the depth was produced

- **Predicted** with Depth-Anything-3 (DA3).
- **Aligned** to the sparse depth of the original DL3DV dataset (per-scene
  alignment against the sparse reconstruction), so each scene's DA3 depth is
  brought into a consistent, scale-aligned space.

## Usage

```python
import numpy as np
depth = np.load("dense/depth_da3/frame_00001.npy")  # (H, W) float32
```

## Notes

- ~6,377 scenes; each `.npy` frame ≈ 2 MB (float32), stored losslessly.
- Companion camera annotations: [DL3DV-Absolute-Camera](https://huggingface.co/datasets/KangLiao/DL3DV-Absolute-Camera).

## Caption Pipeline

Beyond the aligned dataset, we also release **a complete captioning pipeline** for annotating the dense depth map for arbitrary datasets, aligning with the sparse depth, and visualizing the corresponding depth maps. The pipeline is available in our [GitHub repository](https://github.com/KangLiao929/Puffin).