Datasets:

KangLiao
/

SKU110k-Camera

task_categories:
  - text-to-3d
  - image-to-3d
  - image-text-to-image
  - any-to-any
tags:
  - Camera
  - 3D Vision
  - Spatial AI
  - Physical AI
  - World Model
  - Camera Parameter
  - SKU110K
  - Generation

SKU110k-Camera

Per-image camera parameter annotations for the SKU110K dataset (densely-packed retail-shelf images; 19,127 images), captioned by the Puffin-World model. More captioned datasets are provided in our Puffin-16M website.

The collage above visualizes the camera maps on sample images — each pair shows the up field (green arrows: the projected gravity-up direction) and the latitude field (colored contours: angle above/below the horizon).

Format

One .tar per shard (sku110k_0000.tar … ), each containing one .json per image whose name matches the source image stem.

Each JSON holds the predicted monocular camera parameters:

Field	Meaning	Unit
`roll`	camera roll	radians
`pitch`	camera pitch	radians
`vfov`	vertical field-of-view	radians
`k1`	radial distortion coefficient	–
`parse_ok`	whether the model output parsed within valid ranges	bool

Example:

{"roll": 0.0123, "pitch": -0.2431, "vfov": 1.0123, "k1": 0.0000, "parse_ok": true}

Camera Parameter Distributions

Histograms of the predicted roll / pitch / vertical-FoV over the whole dataset (proportion of valid samples per 10° bin; parse_ok=False excluded).

split	roll μ / med / σ	pitch μ / med / σ	FoV μ / med / σ
all (19,110)	−0.1° / 0.0° / 1.9°	−13.9° / −14.1° / 6.6°	49.6° / 51.9° / 12.5°

Roll is extremely tightly peaked at 0° (σ ≈ 1.9°; shelf photos shot level).
Pitch is centered negative (median ≈ −14°) — cameras tilt down to frame the shelves in front of the shopper.
FoV is notably wide (median ≈ 52°) — close-range, wide-angle shots that capture whole shelf sections.

If you'd like a dataset with a more diverse and uniform distribution of camera parameters, please refer to our Puffin-4M and Puffin-16M datasets.

Dataset Download

You can download the entire dataset using the following command:

hf download KangLiao/SKU110k-Camera --repo-type dataset

Caption Pipeline

Beyond this captioned dataset, we also release a complete captioning pipeline for annotating camera parameters for arbitrary datasets, analyzing camera parameter distributions, and visualizing the corresponding camera maps. The pipeline is available in our GitHub repository.

Citation

If you find the captioned dataset useful for your research or applications, please cite our paper using the following BibTeX:

  @article{liao2025puffin,
    title={Thinking with Camera: A Unified Multimodal Model for Camera-Centric Understanding and Generation},
    author={Liao, Kang and Wu, Size and Wu, Zhonghua and Jin, Linyi and Wang, Chao and Wang, Yikai and Wang, Fei and Li, Wei and Loy, Chen Change},
    journal={arXiv preprint arXiv:2510.08673},
    year={2025}
  }