We provide a new synthetic dataset called SYNTH3 specifically developed for machine learning based Stereo-ToF fusion applications. The dataset is split in two parts, a training set and a test set. The training set contains 40 scenes obtained by rendering 20 unique scenes from different viewpoints while the test set is composed by 15 unique scenes. The various scenes contain furnitures and objects of various shapes in different environments e.g., living rooms, kitchen rooms or offices. Furthermore, some outdoor locations with non-regular structure are also included in the dataset.They appear realistic and suitable for the simulation of Stereo-ToF acquisition systems