diff --git a/testdata/cv/rgbd/normals_check/depth.yaml.gz b/testdata/cv/rgbd/normals_check/depth.yaml.gz
new file mode 100644
index 000000000..de9c13e14
Binary files /dev/null and b/testdata/cv/rgbd/normals_check/depth.yaml.gz differ
diff --git a/testdata/cv/rgbd/normals_check/normals0.yaml.gz b/testdata/cv/rgbd/normals_check/normals0.yaml.gz
new file mode 100644
index 000000000..813c804cf
Binary files /dev/null and b/testdata/cv/rgbd/normals_check/normals0.yaml.gz differ
diff --git a/testdata/cv/rgbd/normals_check/normals1.yaml.gz b/testdata/cv/rgbd/normals_check/normals1.yaml.gz
new file mode 100644
index 000000000..58a422b38
Binary files /dev/null and b/testdata/cv/rgbd/normals_check/normals1.yaml.gz differ
diff --git a/testdata/cv/rgbd/normals_check/normals2.yaml.gz b/testdata/cv/rgbd/normals_check/normals2.yaml.gz
new file mode 100644
index 000000000..d01a89d1b
Binary files /dev/null and b/testdata/cv/rgbd/normals_check/normals2.yaml.gz differ
diff --git a/testdata/cv/rgbd/normals_check/normals_scene.tar.gz b/testdata/cv/rgbd/normals_check/normals_scene.tar.gz
new file mode 100644
index 000000000..9711160d1
Binary files /dev/null and b/testdata/cv/rgbd/normals_check/normals_scene.tar.gz differ