CVC-02 Pedestrian Dataset
 -------------------------

  + Info
    ----

      This is the CVC-02 pedestrian dataset developed in the Computer Vision Center. The dataset is available 
      at www.cvc.uab.es/adas, and has been developed and annotated by David Gerónimo for his PhD Thesis, together
      with Dr. Angel D. Sappa, who provided invaluable help with the recording of the sequences.


  + Available data
    --------------

      This dataset contains data in different formats, depending on the information:

        - color       : the original rectified right color image of the stereo pair. (png format)
        - annotations : the annotated pedestrians in the range from 5 to 50 m in the color image. (txt format)
        - 3dpoints    : reconstructed 3D points of the image. (own format)
        - depth       : the image containing the depth value of each pixel (png format)


  + Annotations format 
    ------------------

      Each .txt (one per image) is a text file that contains the annotations of the image in the following
      format:

         x y w h
         x y w h
         ...
         x y w h

      where (x,y) is the center pixel and (w,h) is the width and height of each window.

      Here is a C example code to read the files:

        ----------------------------------------------------------------------------
       |                                                                           |\  
       |  void ReadAnnotations(char* filename)                                     | \
       |  {                                                                        |  \ 
       |     int x, y, w, h;                                                       |   \
       |                                                                            ----|
       |     FILE* fp = fopen(filename, "r");                                           |
       |                                                                                |
       |     while(fscanf(fp, "%d %d %d %d ", &x, &y, &w, &h) == 4)                     |
       |     {                                                                          |
       |        char a[100];                                                            |
       |        fscanf(fp, "%s\n", a);                                                  |
       |                                                                                |
       |        if (!strcmp(a, "PEDESTRIAN-OBLIGATORY"))                                |
       |        {                                                                       |
       |           // create new annotation in your own structure with x, y, w and h    |
       |           vAnnotations.push_back( new CAnnotation(x,y,w,h) );                  |
       |        }                                                                       |
       |     }                                                                          |
       |     fclose(fp);                                                                |
       |  }                                                                             |
       |                                                                                |
        --------------------------------------------------------------------------------


  + 3dpoints format
    ---------------

      Each .pts (one per image) is a binary file that contains the reconstructed 3D points data of the scene. 
      The format is the following:

          imgwidth imgheight    <- width and height of the image (in fact it is always 640 and 480)
          u v x y z r g b       <- \
          u v x y z r g b       <-  |
          ...                       | 2D image (u,v) and 3D scene (x,y,z) coordinates and color (r,g,b) of the points
          u v x y z r g b       <- /  

      where u,v are integers (4bytes), x,y,z are floats (4bytes) and r,g,b are unsigned chars (1 byte). 
      There are width*height rows of points.

      Here is a C example code to read the files:

        ----------------------------------------------------------------------------
       |                                                                           |\  
       |  void Read3DPoints(char* filename)                                        | \
       |  {                                                                        |  \ 
       |     int width, height;                                                    |   \
       |                                                                            ----|
       |     FILE*fp=fopen(filename, "rb");                                             |
       |                                                                                |
       |     fread(&width, sizeof(int), 1, fp);                                         |
       |     fread(&height, sizeof(int), 1, fp);                                        |
       |                                                                                |
       |     for (long i=0; i<width*height; i++)                                        |
       |     {                                                                          |
       |        int valid=1;                                                            |
       |        fread(&valid, sizeof(int), 1, fp);                                      |
       |        if (valid==1)                                                           |
       |        {                                                                       |
       |           int u, v;                                                            |
       |           float x, y, z;                                                       |
       |           unsigned char r, g, b;                                               |
       |                                                                                |
       |           fread(&u, sizeof(int), 1, fp);                                       |
       |           fread(&v, sizeof(int), 1, fp);                                       |
       |           fread(&x, sizeof(float), 1, fp);                                     |
       |           fread(&y, sizeof(float), 1, fp);                                     |
       |           fread(&z, sizeof(float), 1, fp);                                     |
       |           fread(&r, sizeof(unsigned char), 1, fp);                             |
       |           fread(&g, sizeof(unsigned char), 1, fp);                             |
       |           fread(&b, sizeof(unsigned char), 1, fp);                             |
       |                                                                                |
       |           // Create a 3D point with these image/3D coordinates                 |
       |           pPoint3D = new CPoint3D(x,y,z);                                      |
       |        }                                                                       |
       |     }                                                                          |
       |                                                                                |
        --------------------------------------------------------------------------------


  + References
    ----------

      References to this pedestrian dataset should be made to the following publication:

        D. Gerónimo, A.D. Sappa, D. Ponsa and A.M. López. "2D-3D based on-board pedestrian detection system". 
        In Computer Vision and Image Understanding (Special Issue on Intelligent Vision Systems) 
        Vol. 114, Num. 5, pp. 583-595. May 2010.


  + Disclaimer
    ----------

      The data is provided "as is" without express or implied warranty. The database is made freely 
      available to the scientific community under the Creative Commons Attribution-NonCommercial 4.0
      License, i.e., you are free to copy, distribute, transmit and adapt the work, and you must 
      attribute the work in the manner specified by the authors and not use this work for commercial 
      purposes. For more information: http://creativecommons.org/licenses/by-nc/4.0/


  + More info
    ---------

      dgeronimo@cvc.uab.es
      www.cvc.uab.es/adas
      www.cvc.uab.es/~dgeronimo