The MannequinChallenge data can be downloaded here: MannequinChallenge.tar (40MB)

The data consists of a set of .txt files, one for each video clip, specifying timestamps and poses for frames in that clip.

This data is licensed by Google LLC under a Creative Commons Attribution 4.0 International License.

The data is split into **train**, **validation** and **test**
subdirectories, each with a set of .txt files, one .txt file for each
video clip. The format of each .txt file is as follows:

<Video URL>

<frame1>

<frame2>

<...>

<frame1>

<frame2>

<...>

where each **frame line** has the following 19 columns:

1. **timestamp**

int: microseconds since start of video

2-7.**camera intrinsics**

float: focal_length_x, focal_length_y,

principal_point_x, principal_point_y,

two radial distortion coefficients (always 0.0)

8-19.**camera pose**

floats forming 3x4 matrix in row-major order

int: microseconds since start of video

2-7.

float: focal_length_x, focal_length_y,

principal_point_x, principal_point_y,

two radial distortion coefficients (always 0.0)

8-19.

floats forming 3x4 matrix in row-major order

The camera intrinsics can be organized into a 3x3 matrix **K** and
the camera pose parameters into a 3x4 matrix
**P** = [ **R** | **t** ],
such that the matrix **KP** maps a (homogeneous) 3D
point **p** in a world coordinate frame to a (homogeneous) 2D point
in the image.

The camera intrinsics are expressed in
resolution-independent **normalized image coordinates**, where the
top left corner of the image is (0,0), and the bottom right corner of
the image is (1,1). This allows for the intrinsic parameters to be
applied to frames at whatever resolution they are represented on disk
(or resized to prior to training), by scaling them according to the
image size in pixels. For an image of resolution *width*
x *height* pixels, the intrinsics matrix at the actual scale of the
image is

K =

width · focal_length_x | 0 | width · principal_point_x |

0 | height · focal_length_y | height · principal_point_y |

0 | 0 | 1 |