The dataset contains 1,272,273 labelled images of the the extrusion 3D printing process. A camera mounted next to the nozzle of the printer was used to capture images of material deposition for 192 different printed parts covering a range of geometries, material colours, and lighting conditions. Each image is labelled with: flow rate, lateral speed, Z offset, hotend temperature, hotend target temperature, bed temperature, timestamp, and nozzle tip x and y coordinates. To collect the data an automated pipeline was created to acquire and automatically label images from a fleet of 8 extrusion printers and to sample different combinations of printing parameters.

The dataset provides a CSV of 948,396 pre-filtered images where complete failures, parameter outliers, dark images, and images just after parameter changes are removed. A raw CSV is also included labelling all images in the dataset. This dataset can be used for numerous applications such as real-time error detection, closed-loop control, and parameter prediction.