Dataset Open Access
ITOP Dataset
Haque, Albert;
Peng, Boya;
Luo, Zelun;
Alahi, Alexandre;
Yeung, Serena;
Fei-Fei, Li
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<subfield code="a"><p><strong>Summary</strong></p>
<p>The ITOP dataset (Invariant Top View) contains 100K depth images from side and top views of a person in a scene. For each image, the location of 15 human body parts are labeled with 3-dimensional (x,y,z) coordinates, relative to the sensor&#39;s position. Read the full paper for more context [<a href="https://arxiv.org/pdf/1603.07076.pdf">pdf</a>].</p>
<p><strong>Getting Started</strong></p>
<p>Download then decompress the h5.gz file.</p>
<pre><code class="language-bash">gunzip ITOP_side_test_depth_map.h5.gz</code></pre>
<p>Using Python and <a href="https://www.h5py.org/">h5py</a> (<em>pip install h5py</em> or <em>conda install h5py</em>), we can load the contents:</p>
<pre><code class="language-python">import h5py
import numpy as np
f = h5py.File('ITOP_side_test_depth_map.h5', 'r')
data, ids = f.get('data'), f.get('id')
data, ids = np.asarray(data), np.asarray(ids)
print(data.shape, ids.shape)
# (10501, 240, 320) (10501,)</code></pre>
<p><strong>Note:</strong> For any of the <em>*_images.h5.gz</em> files, the underlying file is a tar file and not a h5 file. Please rename the file extension from <em>h5.gz</em> to <em>tar.gz</em> before opening. The following commands will work:</p>
<pre><code class="language-bash">mv ITOP_side_test_images.h5.gz ITOP_side_test_images.tar.gz
tar xf ITOP_side_test_images.tar.gz</code></pre>
<p><strong>Metadata</strong></p>
<p>File sizes for images, depth maps, point clouds, and labels refer to the uncompressed size.</p>
<pre><code>+-------+--------+---------+---------+----------+------------+--------------+---------+
| View | Split | Frames | People | Images | Depth Map | Point Cloud | Labels |
+-------+--------+---------+---------+----------+------------+--------------+---------+
| Side | Train | 39,795 | 16 | 1.1 GiB | 5.7 GiB | 18 GiB | 2.9 GiB |
| Side | Test | 10,501 | 4 | 276 MiB | 1.6 GiB | 4.6 GiB | 771 MiB |
| Top | Train | 39,795 | 16 | 974 MiB | 5.7 GiB | 18 GiB | 2.9 GiB |
| Top | Test | 10,501 | 4 | 261 MiB | 1.6 GiB | 4.6 GiB | 771 MiB |
+-------+--------+---------+---------+----------+------------+--------------+---------+</code></pre>
<p><strong>Data Schema</strong></p>
<p>Each file contains several HDF5 datasets at the root level. Dimensions, attributes, and data types are listed below. The key refers to the (HDF5) dataset name. Let <span class="math-tex">\(n\)</span> denote the number of images.<br>
<br>
<strong>Transformation</strong></p>
<p>To convert from point clouds to a&nbsp;<span class="math-tex">\(240 \times 320\)</span> image, the following transformations were used. Let&nbsp;<span class="math-tex">\(x_{\textrm{img}}\)</span> and&nbsp;<span class="math-tex">\(y_{\textrm{img}}\)</span> denote the&nbsp;<span class="math-tex">\((x,y)\)</span> coordinate in the image plane. Using the raw point cloud&nbsp;<span class="math-tex">\((x,y,z)\)</span> real world coordinates, we compute the depth map as follows:&nbsp;<span class="math-tex">\(x_{\textrm{img}} = \frac{x}{Cz} + 160\)</span> and&nbsp;<span class="math-tex">\(y_{\textrm{img}} = -\frac{y}{Cz} + 120\)</span> where <span class="math-tex">\(C\approx 3.50×10^{−3} = 0.0035\)</span> is the intrinsic camera calibration parameter. This results in the depth map:&nbsp;<span class="math-tex">\((x_{\textrm{img}}, y_{\textrm{img}}, z)\)</span>.</p>
<p><strong>Joint ID (Index) Mapping</strong></p>
<pre><code>joint_id_to_name = {
0: 'Head', 8: 'Torso',
1: 'Neck', 9: 'R Hip',
2: 'R Shoulder', 10: 'L Hip',
3: 'L Shoulder', 11: 'R Knee',
4: 'R Elbow', 12: 'L Knee',
5: 'L Elbow', 13: 'R Foot',
6: 'R Hand', 14: 'L Foot',
7: 'L Hand',
}</code></pre>
<p><strong>Depth Maps</strong></p>
<ul>
<li><em>Key:</em> id
<ul>
<li><em>Dimensions:</em> <span class="math-tex">\((n,)\)</span></li>
<li><em>Data Type:</em> uint8</li>
<li><em>Description:</em> Frame identifier in the form XX_YYYYY where XX is the person&#39;s ID number and YYYYY is the frame number.</li>
</ul>
</li>
<li><em>Key: </em>data
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,240,320)\)</span></li>
<li><em>Data Type:</em> float16</li>
<li><em>Description:</em> Depth map (i.e. mesh) corresponding to a single frame. Depth values are in real world meters (m).</li>
</ul>
</li>
</ul>
<p><strong>Point Clouds</strong></p>
<ul>
<li><em>Key:</em> id
<ul>
<li><em>Dimensions:</em> <span class="math-tex">\((n,)\)</span></li>
<li><em>Data Type:</em> uint8</li>
<li><em>Description:</em> Frame identifier in the form XX_YYYYY where XX is the person&#39;s ID number and YYYYY is the frame number.</li>
</ul>
</li>
<li><em>Key: </em>data
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,76800,3)\)</span></li>
<li><em>Data Type: float16</em></li>
<li><em>Description:</em> Point cloud containing 76,800 points (240x320). Each point is represented by a 3D tuple measured in real world meters (m).</li>
</ul>
</li>
</ul>
<p><strong>Labels</strong></p>
<ul>
<li><em>Key: </em>id
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,)\)</span></li>
<li><em>Data Type: </em>uint8</li>
<li><em>Description:</em> Frame identifier in the form XX_YYYYY where XX is the person&#39;s ID number and YYYYY is the frame number.</li>
</ul>
</li>
<li><em>Key: </em>is_valid
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,)\)</span></li>
<li><em>Data Type: </em>uint8</li>
<li><em>Description:</em> Flag corresponding to the result of the human labeling effort. This is a boolean value (represented by an integer) where a one (1) denotes clean, human-approved data. A zero (0) denotes noisy human body part labels. If is_valid is equal to zero, you should not use any of the provided human joint locations for the particular frame.</li>
</ul>
</li>
<li><em>Key: </em>visible_joints
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,15)\)</span></li>
<li><em>Data Type: </em>int16</li>
<li><em>Description:</em> Binary mask indicating if each human joint is visible or occluded. This is denoted by&nbsp;<span class="math-tex">\(\alpha\)</span> in the paper. If&nbsp;<span class="math-tex">\(\alpha_j=1\)</span> then the&nbsp;<span class="math-tex">\(j^{th}\)</span> joint is visible (i.e. not occluded). Otherwise, if&nbsp;<span class="math-tex">\(\alpha_j = 0\)</span> then the <span class="math-tex">\(j^{th}\)</span> joint is occluded.</li>
</ul>
</li>
<li><em>Key: </em>image_coordinates
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,15,2)\)</span></li>
<li><em>Data Type: </em>int16</li>
<li><em>Description:</em> Two-dimensional&nbsp;<span class="math-tex">\((x,y)\)</span> points corresponding to the location of each joint in the depth image or depth map.</li>
</ul>
</li>
<li><em>Key: </em>real_world_coordinates
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,15,3)\)</span></li>
<li><em>Data Type: </em>float16</li>
<li><em>Description:</em> Three-dimensional&nbsp;<span class="math-tex">\((x,y,z)\)</span> points corresponding to the location of each joint in real world meters (m).</li>
</ul>
</li>
<li><em>Key: </em>segmentation
<ul>
<li><em>Dimensions: </em><span class="math-tex">\((n,240,320)\)</span></li>
<li><em>Data Type: </em><em>int8</em></li>
<li><em>Description:</em> Pixel-wise assignment of body part labels. The background class (i.e. no body part) is denoted by &minus;1.</li>
</ul>
</li>
</ul>
<p><strong>Citation</strong></p>
<p>If you would like to cite our work, please use the following.</p>
<p><strong>Haque A, Peng B, Luo Z, Alahi A, Yeung S, Fei-Fei L. (2016). Towards Viewpoint Invariant 3D Human Pose Estimation. European Conference on Computer Vision. Amsterdam, Netherlands. Springer.</strong></p>
<pre>@inproceedings{haque2016viewpoint,
title={Towards Viewpoint Invariant 3D Human Pose Estimation},
author={Haque, Albert and Peng, Boya and Luo, Zelun and Alahi, Alexandre and Yeung, Serena and Fei-Fei, Li},
booktitle = {European Conference on Computer Vision},
month = {October},
year = {2016}
}</pre>
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| All versions | This version | |
|---|---|---|
| Views | 373 | 373 |
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| Data volume | 17.0 TB | 17.0 TB |
| Unique views | 284 | 284 |
| Unique downloads | 588 | 588 |
Indexed in
- Publication date:
- October 8, 2016
- DOI:
-
- Keyword(s):
- depth sensor human pose estimation computer vision 3D vision
- Related identifiers:
- Cites
- arXiv:1603.07076 (Preprint)
- License (for files):
- Creative Commons Attribution 4.0 International