This dataset has been taken using the Photonic Mixer Device (PMD) Selene Module. To capture the image, we have constructed a demonstrator setup consisting of five materials (i.e., foam board (location: center), crepe paper (location: top), polystyrene (location: right), bubble wrap (location: left), wax (location: bottom)). Each image has been taken at 5 different distances (uniformly distributed between 82 cm to 47 cm) and at 3 different orientations (uniformly distributed between -10 degree to 10 degree) for each material. To avoid noise, each image has been taken in dark environment.