StereoLunar Dataset Description

The StereoLunar Dataset contains high-fidelity stereo image pairs of the lunar surface, rendered using physically-based ray tracing (SurRender).
It includes three distinct camera motion types, inspired by typical lunar descent profiles (see reference paper for details):

Nadir — Vertical downward view (simulated descent)

Oblique — Tilted views with lateral motion

Dynamic — Combined translation and rotation to mimic realistic onboard trajectories

For each trajectory type, the data are organized into several generation batches (folders).
Although these batches could be merged, they were kept separate for naming and traceability reasons.

Stereo Pair Structure

Each stereo pair is defined by two images with consecutive indices — an even and an odd one.
For example:
im_00000.jpg  ↔  im_00001.jpg

Each image is accompanied by:

a .npz file containing camera intrinsics and extrinsics (K, cam2world matrices),

a .exr file providing the depth map in meters.

Illumination Variations

For every stereo pair, three different illumination conditions are available sequentially within the same folder.
Each illumination set repeats the same geometry (camera poses, depth, intrinsics) but with a different Sun position and intensity.

Example:

im_00000.jpg  ↔  im_00001.jpg     → Illumination #1  
im_00002.jpg  ↔  im_00003.jpg     → Illumination #2  
im_00004.jpg  ↔  im_00005.jpg     → Illumination #3


Thus, the pair (im_00002, im_00003) corresponds to the same stereo configuration as (im_00000, im_00001), but rendered under a new lighting condition.

File Details
EXR files — Depth Maps

Each .exr file contains a single-channel floating-point depth map, where each pixel value represents the distance (in meters) from the camera center to the visible lunar surface along the line of sight.

Format: 32-bit float, single channel

Units: meters

Coordinate system: camera-centered (optical axis = +Z)

Invalid / infinite depth values (e.g. sky or missing rays) are set to inf

NPZ files — Camera Parameters

Each .npz file stores both intrinsic and extrinsic parameters in NumPy format, aligned with the conventions used in DUSt3R/MASt3R.

Contents:

intrinsics — 3×3 matrix K, with focal lengths (fx, fy) and principal point (cx, cy) in pixels

cam2world — 4×4 matrix transforming camera coordinates → world coordinates

width, height — image resolution (typically 512×512 or 1024×1024)

metadata — optional fields: sun direction, rendering parameters, altitude, trajectory type, etc.