mcx / contactpose

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

ContactPose

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

Code for the ContactPose dataset released in the following 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,

ECCV 2020.

• 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

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: done. NOTE: If you downloaded data for participants 31-35 before 12 Jan 2021, please re-download it.
• 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