jiaxiangshang / contactpose

Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.

ContactPose

Download and pre-processing utilities + Python dataloader for the ContactPose dataset. The dataset was introduced in the following ECCV 2020 paper: ContactPose: A Dataset of Grasps with Object Contact and Hand Pose -

Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays

Example ContactPose data: Contact Maps, 3D hand pose, and RGB-D grasp images for functional grasps.

Companion Repositories/Websites:

• Explore the dataset
• hand-object contact ML code
• ROS code used for recording the dataset

Citation

@InProceedings{Brahmbhatt_2020_ECCV,
author = {Brahmbhatt, Samarth and Tang, Chengcheng and Twigg, Christopher D. and Kemp, Charles C. and Hays, James},
title = {{ContactPose}: A Dataset of Grasps with Object Contact and Hand Pose},
booktitle = {The European Conference on Computer Vision (ECCV)},
month = {August},
year = {2020}
}

Documentation Link

Data Changelog

We have made some data and annotation corrections. The link above mentions the correction date and the exact data that was corrected. If you got that data before the correction date, please re-download it.

Licensing

• Code: MIT License
• 3D models: each model has its own license, see README.txt and licenses.json in the downloads
• All other data: MIT License

Updates

• ✔️ Fix annotation errors in data from participants 31-35.
• 🔲 Use rclone for Dropbox downloads
• 🔲 Make depth images optional in cropping script
• ✔️ Robust networking utilities for data download with exponential backoff in case of connection failure
• ✔️ Speed up dataset download by organizing images into videos
• ✔️ Release object 3D models
• ✔️ Code for cropping images around hand-object
• ✔️ Release contact modeling ML code
• 🔲 Release more data analysis code
• ✔️ Release MANO fitting code | demo at end of notebook
• ✔️ RGB-D image background randomization support
• ✔️ new Release ROS code used for recording the dataset
• ✔️ MANO and object mesh rendering
• 🔲 Documentation using Read the Docs