The image dataset is divided into three parts:

Apart from the HDR images, all images were captured with 600ms exposure. The robot capture path is the same for all datasets, but in some of them we stopped the capture beforehand, for time reasons.

- Calibration images (calibration_data.zip). 
    Contains various calibration data (camera, color and light).
    - intrinsic_calibration: 260 images (left and right) of a 12x13 checkerboard (each checker 10mm wide).
    - stereo_calibration: 194 images (left and right) of the same 12x13 checkerboard. In this dataset, the checkerboard is visible from both views, for stereo calibration purposes.
    - hdr_envmap: 39 images (left and right) of a 100mm diameter polished chrome sphere (with a dark cloth underneath). Each image is captured in HDR with exposure steps 4 to 2048 ms.
    - hdr_colorchecker: 17 images (left and right) of a X-Rite 2014 ColorChecker Classic. Each image is captured in HDR with exposure steps 4 to 2048 ms.

- Scene pictures (scene_data.zip)
    Contains images from the various scenes.
    - empty_scene: Empty scene without any object.
    - glass_bowl: Bowl only (bottom and lid)
    - glass_sphere: Sphere only
    - glass_teapot: Teapot only (bottom and lid)
    - glass_sphere_teapot (unused in our paper): Sphere and teapot 
    - glass_sphere_teapot_bowl (unused in our paper): Sphere, bowl and teapot

- Structured light scans (structured_light.zip)
    Each folder contains structured light scans in Gray code. For each scan, there are 39 camera poses. For each camera pose, we have a stereo pair with 22 Gray codes (IMG_GRAY_*), plus one fully lit image (LIGHT_21).
    - empty_scene_stl: Backdrop used for scenes glass_bowl and glass_teapot.
    - empty_scene_stl_holder: Backdrop used for scenes glass_sphere, glass_sphere_teapot, glass_sphere_teapot_bowl. Contains a holder underneath the cloth to support the sphere.

All images in the dataset are demosaiced from the original camera driver raw data.