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Hi4D Dataset Structure

After unzip the downloaded files, please rearrange the dataset structure as follows:

DATASET_PATH
├──pair00
├──pair01
├──...
├──pairXX

For each sequence, you will find a meta.npz file and six folders: cameras, frames, frames_vis, images, seg, smpl.

DATASET_PATH
├──pairXX
│   ├── actionXX
│       ├── meta.npz
│       ├── cameras
│       ├── frames
│       ├── frames_vis
│       ├── images
│       ├── seg
│       ├── smpl

The detailed information to each folder is summarized below.

meta.npz

This file contains the basic information of the sequence. It contains the following keys:

Key Description
start the start frame id of the sequence
end the end frame id of the sequence
num_persons number of subjects in the sequence (2)
genders genders of the subjects
betas SMPL body shape parameters of the subjects
contact_ids list of frame ids with phsical contact
mono_cam the selected camera view for vision tasks in monocular setting

cameras

This folder contains the file rgb_cameras.npz, which contains the calibration parameters of the released 8 cameras. rgb_cameras.npz contains the following keys:

Key Description
ids ids of the selected 8 cameras
intirnsics 8x3x3 camera intrinsic matrix
extrinsics 8x3x4 camera extrinsic matrix
dist_coeffs 8x5 camera distortion parameters

frames

This folder contains the textured raw scans of the sequence.

DATASET_PATH
├──pairXX
│   ├──actionXX
│       ├──frames
|           ├──Atlas-F00XXX.png         # mesh texture
|           ├──MatLib-F00XXX.mtl        # mesh material property
|           ├──mesh-f00XXX.obj          # reconstructed 3D scan of the object

frames_vis

This folder contains the textured raw scans of the sequence with low-resolution texture for visualization efficiency.

DATASET_PATH
├──pairXX
│   ├──actionXX
│       ├──frames
|           ├──atlas-f00XXX.pkl         # low-res mesh texture (1024, 1024, 3)
|           ├──mesh-f00XXX.pkl          # mesh vertices, faces, normals and uvs

images

This folder contains the RGB images of the sequence.

DATASET_PATH
├──pairXX
│   ├──actionXX
│       ├──images
|           ├──XX                       # camera id [4, 16, 28, 40, 52, 64, 76, 88]
|               ├──000XXX.jpg           # RGB image

seg

This folder contains instance meshes and the segmentation masks in 2D and 3D of the sequence.

DATASET_PATH
├──pairXX
│   ├──actionXX
│       ├──seg
|           ├──img_seg_mask             # 2D segmentation masks
|               ├──XX                   # camera id [4, 16, 28, 40, 52, 64, 76, 88]
|                   ├──0                # subject id 0
|                       ├──000XXX.png 
|                   ├──1                # subject id 1
|                       ├──000XXX.png
|                   ├──all              # combined segmentation mask of all subjects
|                       ├──000XXX.png
|           ├──mesh_seg_mask            # 3D segmentation masks
|               ├──mesh-f00XXX.npz      # vertices mask, faces mask, and the source of the instance mesh of each subject
|           ├──instance                 # instance mesh of each subject
|               ├──0                    # subject id 0
|                   ├──mesh-f00XXX.npz  # instance mesh vertices and faces
|               ├──1                    # subject id 1
|                   ├──mesh-f00XXX.npz

smpl

This folder contains the SMPL parameters of the sequence.

DATASET_PATH
├──pairXX
│   ├──actionXX
│       ├──smpl
|           ├──000XXX.npz               # SMPL parameters

SMPL parameters 000XXX.npz file contains the following keys:

Key Description
betas 2x10 SMPL body shape parameters
body_pose 2x69 SMPL body pose parameters
global_orient 2x3 SMPL global orientation parameters
transl 2x3 translation parameters
joints_3d 2x24x3 SMPL 3D joint locations
verts 2x6890X3 SMPL vertices
contact 2x6890 contact correspondences