diff --git a/assets/3dmatch-sun3d-harvard/camera-intrinsics.txt b/assets/3dmatch-sun3d-harvard/camera-intrinsics.txt
new file mode 100644
index 0000000..de8eb85
--- /dev/null
+++ b/assets/3dmatch-sun3d-harvard/camera-intrinsics.txt
@@ -0,0 +1,3 @@
+ 5.70342205e+02	  0.00000000e+00	  3.20000000e+02	
+ 0.00000000e+00	  5.70342205e+02	  2.40000000e+02	
+ 0.00000000e+00	  0.00000000e+00	  1.00000000e+00	
diff --git a/assets/3dmatch-sun3d-harvard/frame-000000.color.png b/assets/3dmatch-sun3d-harvard/frame-000000.color.png
new file mode 100644
index 0000000..ff2589e
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diff --git a/assets/3dmatch-sun3d-harvard/frame-000000.depth.lighter.png b/assets/3dmatch-sun3d-harvard/frame-000000.depth.lighter.png
new file mode 100644
index 0000000..e41ccdc
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diff --git a/assets/3dmatch-sun3d-harvard/frame-000000.depth.png b/assets/3dmatch-sun3d-harvard/frame-000000.depth.png
new file mode 100644
index 0000000..8b6d497
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diff --git a/assets/3dmatch-sun3d-harvard/frame-000000.pose.txt b/assets/3dmatch-sun3d-harvard/frame-000000.pose.txt
new file mode 100644
index 0000000..5aaa4d2
--- /dev/null
+++ b/assets/3dmatch-sun3d-harvard/frame-000000.pose.txt
@@ -0,0 +1,4 @@
+ 7.57396000e-01	  2.17607000e-01	 -6.15629000e-01	  1.24883400e+00	
+-6.12240000e-02	 -9.15013000e-01	 -3.98753000e-01	  8.89882000e-01	
+-6.50081000e-01	  3.39704000e-01	 -6.79705000e-01	  1.26297900e+00	
+ 0.00000000e+00	  0.00000000e+00	  0.00000000e+00	  1.00000000e+00