All 3D person datasets can be used with our framework CS::APEX which is available via GitHub.
Annotation Format
Annotation files are saved as .yaml files and contain an associative map. The format is as follows:
img_d_w: | [width] |
img_d_h: | [height] |
rois: | |
- | ts: 0 |
| img_id: [id] |
| x_d: [depth roi pos x] |
| y_d: [depth roi pos y] |
| w_d: [depth roi width] |
| h_d: [depth roi height] |
| x_rgb: [visual roi pos x] |
| y_rgb: [visual roi pos y] |
| w_rgb: [visual roi width] |
| h_rgb: [visual roi height] |
| vis: [visibility] |
- | ts: 0 |
| ... |
ts: |
The annotations always contain the time stamp / the id of the data quadruple. Regions of interest are provided for depth and intensity / color images. We formulate two different visibility levels or class with '1' for fully visible persons and '2' for only partially visible people. Implicitly, '0' is the code of 'non-human' or 'non-visible'. Theses are also the classification labels used by CS::APEX.
File System Structure
A dataset consists of two separate sequences, packed into separate folders within the archive. Each of these folders contains four directories:
- depth
the depth images - pointcloud
the rgb / intensity pointclouds - roi
the annotation files - visual
the color / intensity images
There are always four files, one from each folder, which belong together and have the same name, but different extensions. To order all files in to a continuous sequence, the file names are based on Unix time stamps in relation to the recording sessions.
Indoor
CS::APEX configuration files for 3D person detection on the indoor datasets can be found here.
Outdoor
If the download does not work, alternatively you can also get it from our nextcloud: https://u-173-c142.cs.uni-tuebingen.de/index.php/s/S6aBqfLpzQoK5JF
CS::APEX configuration files for 3D person detection on the outdoor datasets can be found here.
Excerpts from the different datasets