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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
- ADE20K
- Generation
---
# ADE20K-Camera
Per-image camera parameter annotations for the **ADE20K** dataset
(a scene-parsing benchmark; 27,574 images = 25,574 train + 2,000 val), captioned by the [**Puffin-World**](https://github.com/KangLiao929/Puffin) model. More captioned datasets are provided in our [**Puffin-16M**](https://kangliao929.github.io/projects/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 (`ade20k_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:
```json
{"roll": 0.0123, "pitch": -0.0871, "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 (27,564) | 0.0° / 0.0° / 1.9° | −1.3° / −1.0° / 8.0° | 32.7° / 31.2° / 11.5° |
- **Roll** is extremely tightly peaked at 0° (σ ≈ 1.9°; images shot level).
- **Pitch** is centered near 0° with a mild negative tendency.
- **FoV** spans a broad range (σ ≈ 11.5°, median ≈ 31°) — consistent with the
diverse indoor/outdoor scenes of a scene-parsing dataset.
If you'd like a dataset with a more diverse and uniform distribution of camera parameters, please refer to our [Puffin-4M](https://huggingface.co/datasets/KangLiao/Puffin-4M) and [Puffin-16M](https://huggingface.co/datasets/KangLiao/Puffin-16M) datasets.
### Dataset Download
You can download the entire dataset using the following command:
```bash
hf download KangLiao/ADE20K-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](https://github.com/KangLiao929/Puffin).
### Citation
If you find the captioned dataset useful for your research or applications, please cite our paper using the following BibTeX:
```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}
}
```
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