Initial commit
This commit is contained in:
Lihe Yang
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metric_depth/dataset/hypersim.py
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metric_depth/dataset/hypersim.py
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import cv2
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import h5py
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import numpy as np
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import torch
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from torch.utils.data import Dataset
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from torchvision.transforms import Compose
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from dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop
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def hypersim_distance_to_depth(npyDistance):
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intWidth, intHeight, fltFocal = 1024, 768, 886.81
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npyImageplaneX = np.linspace((-0.5 * intWidth) + 0.5, (0.5 * intWidth) - 0.5, intWidth).reshape(
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1, intWidth).repeat(intHeight, 0).astype(np.float32)[:, :, None]
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npyImageplaneY = np.linspace((-0.5 * intHeight) + 0.5, (0.5 * intHeight) - 0.5,
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intHeight).reshape(intHeight, 1).repeat(intWidth, 1).astype(np.float32)[:, :, None]
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npyImageplaneZ = np.full([intHeight, intWidth, 1], fltFocal, np.float32)
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npyImageplane = np.concatenate(
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[npyImageplaneX, npyImageplaneY, npyImageplaneZ], 2)
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npyDepth = npyDistance / np.linalg.norm(npyImageplane, 2, 2) * fltFocal
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return npyDepth
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class Hypersim(Dataset):
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def __init__(self, filelist_path, mode, size=(518, 518)):
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self.mode = mode
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self.size = size
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with open(filelist_path, 'r') as f:
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self.filelist = f.read().splitlines()
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net_w, net_h = size
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self.transform = Compose([
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Resize(
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width=net_w,
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height=net_h,
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resize_target=True if mode == 'train' else False,
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keep_aspect_ratio=True,
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ensure_multiple_of=14,
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resize_method='lower_bound',
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image_interpolation_method=cv2.INTER_CUBIC,
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),
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NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
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PrepareForNet(),
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] + ([Crop(size[0])] if self.mode == 'train' else []))
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def __getitem__(self, item):
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img_path = self.filelist[item].split(' ')[0]
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depth_path = self.filelist[item].split(' ')[1]
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image = cv2.imread(img_path)
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image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0
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depth_fd = h5py.File(depth_path, "r")
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distance_meters = np.array(depth_fd['dataset'])
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depth = hypersim_distance_to_depth(distance_meters)
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sample = self.transform({'image': image, 'depth': depth})
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sample['image'] = torch.from_numpy(sample['image'])
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sample['depth'] = torch.from_numpy(sample['depth'])
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sample['valid_mask'] = (torch.isnan(sample['depth']) == 0)
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sample['depth'][sample['valid_mask'] == 0] = 0
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sample['image_path'] = self.filelist[item].split(' ')[0]
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return sample
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def __len__(self):
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return len(self.filelist)
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57
metric_depth/dataset/kitti.py
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metric_depth/dataset/kitti.py
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import cv2
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import torch
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from torch.utils.data import Dataset
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from torchvision.transforms import Compose
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from dataset.transform import Resize, NormalizeImage, PrepareForNet
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class KITTI(Dataset):
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def __init__(self, filelist_path, mode, size=(518, 518)):
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if mode != 'val':
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raise NotImplementedError
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self.mode = mode
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self.size = size
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with open(filelist_path, 'r') as f:
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self.filelist = f.read().splitlines()
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net_w, net_h = size
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self.transform = Compose([
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Resize(
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width=net_w,
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height=net_h,
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resize_target=True if mode == 'train' else False,
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keep_aspect_ratio=True,
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ensure_multiple_of=14,
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resize_method='lower_bound',
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image_interpolation_method=cv2.INTER_CUBIC,
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),
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NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
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PrepareForNet(),
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])
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def __getitem__(self, item):
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img_path = self.filelist[item].split(' ')[0]
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depth_path = self.filelist[item].split(' ')[1]
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image = cv2.imread(img_path)
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image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0
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depth = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED).astype('float32')
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sample = self.transform({'image': image, 'depth': depth})
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sample['image'] = torch.from_numpy(sample['image'])
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sample['depth'] = torch.from_numpy(sample['depth'])
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sample['depth'] = sample['depth'] / 256.0 # convert in meters
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sample['valid_mask'] = sample['depth'] > 0
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sample['image_path'] = self.filelist[item].split(' ')[0]
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return sample
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def __len__(self):
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return len(self.filelist)
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59543
metric_depth/dataset/splits/hypersim/train.txt
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metric_depth/dataset/splits/hypersim/train.txt
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metric_depth/dataset/splits/hypersim/val.txt
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metric_depth/dataset/splits/hypersim/val.txt
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metric_depth/dataset/splits/kitti/val.txt
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metric_depth/dataset/splits/kitti/val.txt
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000069.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000069.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000054.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000054.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000042.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000042.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000057.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000057.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000030.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000030.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000027.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000027.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000012.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000012.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000036.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000036.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000033.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000033.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000015.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000015.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000039.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000039.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000009.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000009.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000051.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000051.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000060.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000060.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000021.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000021.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000024.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000024.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000045.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000045.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000018.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000018.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000048.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000048.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000006.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000006.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000063.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000063.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000016.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000016.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000032.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000032.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000048.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000048.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000064.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000064.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000080.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000080.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000096.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000096.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000112.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000112.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000128.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000128.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000144.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000144.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000160.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000160.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000176.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000176.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000196.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000196.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000212.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000212.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000228.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000228.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000244.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000244.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000260.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000260.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000276.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000276.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000292.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000292.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000308.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000308.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000324.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000324.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000340.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000340.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000356.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000356.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000372.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000372.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000388.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_26_drive_0009_sync/proj_depth/groundtruth/image_02/0000000388.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000090.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000090.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000050.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000050.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000110.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000110.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000115.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000115.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000060.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000060.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000105.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000105.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000125.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000125.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000020.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_09_26_drive_0013_sync/proj_depth/groundtruth/image_02/0000000020.png
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/mnt/bn/liheyang/Kitti/raw_data/2011_09_30/2011_09_30_drive_0027_sync/image_02/data/0000000753.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_30_drive_0027_sync/proj_depth/groundtruth/image_02/0000000753.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_09_30/2011_09_30_drive_0027_sync/image_02/data/0000000574.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_30_drive_0027_sync/proj_depth/groundtruth/image_02/0000000574.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_09_30/2011_09_30_drive_0027_sync/image_02/data/0000001081.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_30_drive_0027_sync/proj_depth/groundtruth/image_02/0000001081.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_09_30/2011_09_30_drive_0027_sync/image_02/data/0000000041.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_30_drive_0027_sync/proj_depth/groundtruth/image_02/0000000041.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_09_30/2011_09_30_drive_0027_sync/image_02/data/0000000246.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_09_30_drive_0027_sync/proj_depth/groundtruth/image_02/0000000246.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000002906.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000002906.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000002544.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000002544.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000000362.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000000362.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000004535.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000004535.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000000734.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000000734.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000001096.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000001096.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000004173.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000004173.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000000543.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000000543.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000001277.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000001277.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000004354.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000004354.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000001458.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000001458.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000001820.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000001820.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003449.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003449.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003268.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003268.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000000915.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000000915.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000002363.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000002363.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000002725.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000002725.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000000181.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000000181.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000001639.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000001639.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003992.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003992.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003087.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003087.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000002001.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000002001.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003811.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003811.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0027_sync/image_02/data/0000003630.png /mnt/bn/liheyang/Kitti/data_depth_annotated/train/2011_10_03_drive_0027_sync/proj_depth/groundtruth/image_02/0000003630.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000096.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000096.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000800.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000800.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000320.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000320.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000576.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000576.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000480.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000480.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000640.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000640.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000032.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000032.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000384.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000384.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000160.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000160.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000704.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000704.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000736.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000736.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000672.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000672.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000064.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000064.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000288.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000288.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000352.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000352.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000512.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000512.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000544.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000544.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000608.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000608.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000128.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000128.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000224.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000224.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000416.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000416.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000192.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000192.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000448.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000448.png
|
||||
/mnt/bn/liheyang/Kitti/raw_data/2011_10_03/2011_10_03_drive_0047_sync/image_02/data/0000000768.png /mnt/bn/liheyang/Kitti/data_depth_annotated/val/2011_10_03_drive_0047_sync/proj_depth/groundtruth/image_02/0000000768.png
|
||||
19559
metric_depth/dataset/splits/vkitti2/train.txt
Normal file
19559
metric_depth/dataset/splits/vkitti2/train.txt
Normal file
File diff suppressed because it is too large
Load Diff
277
metric_depth/dataset/transform.py
Normal file
277
metric_depth/dataset/transform.py
Normal file
@@ -0,0 +1,277 @@
|
||||
import cv2
|
||||
import math
|
||||
import numpy as np
|
||||
import torch
|
||||
import torch.nn.functional as F
|
||||
|
||||
|
||||
def apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA):
|
||||
"""Rezise the sample to ensure the given size. Keeps aspect ratio.
|
||||
|
||||
Args:
|
||||
sample (dict): sample
|
||||
size (tuple): image size
|
||||
|
||||
Returns:
|
||||
tuple: new size
|
||||
"""
|
||||
shape = list(sample["disparity"].shape)
|
||||
|
||||
if shape[0] >= size[0] and shape[1] >= size[1]:
|
||||
return sample
|
||||
|
||||
scale = [0, 0]
|
||||
scale[0] = size[0] / shape[0]
|
||||
scale[1] = size[1] / shape[1]
|
||||
|
||||
scale = max(scale)
|
||||
|
||||
shape[0] = math.ceil(scale * shape[0])
|
||||
shape[1] = math.ceil(scale * shape[1])
|
||||
|
||||
# resize
|
||||
sample["image"] = cv2.resize(
|
||||
sample["image"], tuple(shape[::-1]), interpolation=image_interpolation_method
|
||||
)
|
||||
|
||||
sample["disparity"] = cv2.resize(
|
||||
sample["disparity"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST
|
||||
)
|
||||
sample["mask"] = cv2.resize(
|
||||
sample["mask"].astype(np.float32),
|
||||
tuple(shape[::-1]),
|
||||
interpolation=cv2.INTER_NEAREST,
|
||||
)
|
||||
sample["mask"] = sample["mask"].astype(bool)
|
||||
|
||||
return tuple(shape)
|
||||
|
||||
|
||||
class Resize(object):
|
||||
"""Resize sample to given size (width, height).
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
width,
|
||||
height,
|
||||
resize_target=True,
|
||||
keep_aspect_ratio=False,
|
||||
ensure_multiple_of=1,
|
||||
resize_method="lower_bound",
|
||||
image_interpolation_method=cv2.INTER_AREA,
|
||||
):
|
||||
"""Init.
|
||||
|
||||
Args:
|
||||
width (int): desired output width
|
||||
height (int): desired output height
|
||||
resize_target (bool, optional):
|
||||
True: Resize the full sample (image, mask, target).
|
||||
False: Resize image only.
|
||||
Defaults to True.
|
||||
keep_aspect_ratio (bool, optional):
|
||||
True: Keep the aspect ratio of the input sample.
|
||||
Output sample might not have the given width and height, and
|
||||
resize behaviour depends on the parameter 'resize_method'.
|
||||
Defaults to False.
|
||||
ensure_multiple_of (int, optional):
|
||||
Output width and height is constrained to be multiple of this parameter.
|
||||
Defaults to 1.
|
||||
resize_method (str, optional):
|
||||
"lower_bound": Output will be at least as large as the given size.
|
||||
"upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.)
|
||||
"minimal": Scale as least as possible. (Output size might be smaller than given size.)
|
||||
Defaults to "lower_bound".
|
||||
"""
|
||||
self.__width = width
|
||||
self.__height = height
|
||||
|
||||
self.__resize_target = resize_target
|
||||
self.__keep_aspect_ratio = keep_aspect_ratio
|
||||
self.__multiple_of = ensure_multiple_of
|
||||
self.__resize_method = resize_method
|
||||
self.__image_interpolation_method = image_interpolation_method
|
||||
|
||||
def constrain_to_multiple_of(self, x, min_val=0, max_val=None):
|
||||
y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int)
|
||||
|
||||
if max_val is not None and y > max_val:
|
||||
y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int)
|
||||
|
||||
if y < min_val:
|
||||
y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int)
|
||||
|
||||
return y
|
||||
|
||||
def get_size(self, width, height):
|
||||
# determine new height and width
|
||||
scale_height = self.__height / height
|
||||
scale_width = self.__width / width
|
||||
|
||||
if self.__keep_aspect_ratio:
|
||||
if self.__resize_method == "lower_bound":
|
||||
# scale such that output size is lower bound
|
||||
if scale_width > scale_height:
|
||||
# fit width
|
||||
scale_height = scale_width
|
||||
else:
|
||||
# fit height
|
||||
scale_width = scale_height
|
||||
elif self.__resize_method == "upper_bound":
|
||||
# scale such that output size is upper bound
|
||||
if scale_width < scale_height:
|
||||
# fit width
|
||||
scale_height = scale_width
|
||||
else:
|
||||
# fit height
|
||||
scale_width = scale_height
|
||||
elif self.__resize_method == "minimal":
|
||||
# scale as least as possbile
|
||||
if abs(1 - scale_width) < abs(1 - scale_height):
|
||||
# fit width
|
||||
scale_height = scale_width
|
||||
else:
|
||||
# fit height
|
||||
scale_width = scale_height
|
||||
else:
|
||||
raise ValueError(
|
||||
f"resize_method {self.__resize_method} not implemented"
|
||||
)
|
||||
|
||||
if self.__resize_method == "lower_bound":
|
||||
new_height = self.constrain_to_multiple_of(
|
||||
scale_height * height, min_val=self.__height
|
||||
)
|
||||
new_width = self.constrain_to_multiple_of(
|
||||
scale_width * width, min_val=self.__width
|
||||
)
|
||||
elif self.__resize_method == "upper_bound":
|
||||
new_height = self.constrain_to_multiple_of(
|
||||
scale_height * height, max_val=self.__height
|
||||
)
|
||||
new_width = self.constrain_to_multiple_of(
|
||||
scale_width * width, max_val=self.__width
|
||||
)
|
||||
elif self.__resize_method == "minimal":
|
||||
new_height = self.constrain_to_multiple_of(scale_height * height)
|
||||
new_width = self.constrain_to_multiple_of(scale_width * width)
|
||||
else:
|
||||
raise ValueError(f"resize_method {self.__resize_method} not implemented")
|
||||
|
||||
return (new_width, new_height)
|
||||
|
||||
def __call__(self, sample):
|
||||
width, height = self.get_size(
|
||||
sample["image"].shape[1], sample["image"].shape[0]
|
||||
)
|
||||
|
||||
# resize sample
|
||||
sample["image"] = cv2.resize(
|
||||
sample["image"],
|
||||
(width, height),
|
||||
interpolation=self.__image_interpolation_method,
|
||||
)
|
||||
|
||||
if self.__resize_target:
|
||||
if "disparity" in sample:
|
||||
sample["disparity"] = cv2.resize(
|
||||
sample["disparity"],
|
||||
(width, height),
|
||||
interpolation=cv2.INTER_NEAREST,
|
||||
)
|
||||
|
||||
if "depth" in sample:
|
||||
sample["depth"] = cv2.resize(
|
||||
sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST
|
||||
)
|
||||
|
||||
if "semseg_mask" in sample:
|
||||
# sample["semseg_mask"] = cv2.resize(
|
||||
# sample["semseg_mask"], (width, height), interpolation=cv2.INTER_NEAREST
|
||||
# )
|
||||
sample["semseg_mask"] = F.interpolate(torch.from_numpy(sample["semseg_mask"]).float()[None, None, ...], (height, width), mode='nearest').numpy()[0, 0]
|
||||
|
||||
if "mask" in sample:
|
||||
sample["mask"] = cv2.resize(
|
||||
sample["mask"].astype(np.float32),
|
||||
(width, height),
|
||||
interpolation=cv2.INTER_NEAREST,
|
||||
)
|
||||
# sample["mask"] = sample["mask"].astype(bool)
|
||||
|
||||
# print(sample['image'].shape, sample['depth'].shape)
|
||||
return sample
|
||||
|
||||
|
||||
class NormalizeImage(object):
|
||||
"""Normlize image by given mean and std.
|
||||
"""
|
||||
|
||||
def __init__(self, mean, std):
|
||||
self.__mean = mean
|
||||
self.__std = std
|
||||
|
||||
def __call__(self, sample):
|
||||
sample["image"] = (sample["image"] - self.__mean) / self.__std
|
||||
|
||||
return sample
|
||||
|
||||
|
||||
class PrepareForNet(object):
|
||||
"""Prepare sample for usage as network input.
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
def __call__(self, sample):
|
||||
image = np.transpose(sample["image"], (2, 0, 1))
|
||||
sample["image"] = np.ascontiguousarray(image).astype(np.float32)
|
||||
|
||||
if "mask" in sample:
|
||||
sample["mask"] = sample["mask"].astype(np.float32)
|
||||
sample["mask"] = np.ascontiguousarray(sample["mask"])
|
||||
|
||||
if "depth" in sample:
|
||||
depth = sample["depth"].astype(np.float32)
|
||||
sample["depth"] = np.ascontiguousarray(depth)
|
||||
|
||||
if "semseg_mask" in sample:
|
||||
sample["semseg_mask"] = sample["semseg_mask"].astype(np.float32)
|
||||
sample["semseg_mask"] = np.ascontiguousarray(sample["semseg_mask"])
|
||||
|
||||
return sample
|
||||
|
||||
|
||||
class Crop(object):
|
||||
"""Crop sample for batch-wise training. Image is of shape CxHxW
|
||||
"""
|
||||
|
||||
def __init__(self, size):
|
||||
if isinstance(size, int):
|
||||
self.size = (size, size)
|
||||
else:
|
||||
self.size = size
|
||||
|
||||
def __call__(self, sample):
|
||||
h, w = sample['image'].shape[-2:]
|
||||
assert h >= self.size[0] and w >= self.size[1], 'Wrong size'
|
||||
|
||||
h_start = np.random.randint(0, h - self.size[0] + 1)
|
||||
w_start = np.random.randint(0, w - self.size[1] + 1)
|
||||
h_end = h_start + self.size[0]
|
||||
w_end = w_start + self.size[1]
|
||||
|
||||
sample['image'] = sample['image'][:, h_start: h_end, w_start: w_end]
|
||||
|
||||
if "depth" in sample:
|
||||
sample["depth"] = sample["depth"][h_start: h_end, w_start: w_end]
|
||||
|
||||
if "mask" in sample:
|
||||
sample["mask"] = sample["mask"][h_start: h_end, w_start: w_end]
|
||||
|
||||
if "semseg_mask" in sample:
|
||||
sample["semseg_mask"] = sample["semseg_mask"][h_start: h_end, w_start: w_end]
|
||||
|
||||
return sample
|
||||
54
metric_depth/dataset/vkitti2.py
Normal file
54
metric_depth/dataset/vkitti2.py
Normal file
@@ -0,0 +1,54 @@
|
||||
import cv2
|
||||
import torch
|
||||
from torch.utils.data import Dataset
|
||||
from torchvision.transforms import Compose
|
||||
|
||||
from dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop
|
||||
|
||||
|
||||
class VKITTI2(Dataset):
|
||||
def __init__(self, filelist_path, mode, size=(518, 518)):
|
||||
|
||||
self.mode = mode
|
||||
self.size = size
|
||||
|
||||
with open(filelist_path, 'r') as f:
|
||||
self.filelist = f.read().splitlines()
|
||||
|
||||
net_w, net_h = size
|
||||
self.transform = Compose([
|
||||
Resize(
|
||||
width=net_w,
|
||||
height=net_h,
|
||||
resize_target=True if mode == 'train' else False,
|
||||
keep_aspect_ratio=True,
|
||||
ensure_multiple_of=14,
|
||||
resize_method='lower_bound',
|
||||
image_interpolation_method=cv2.INTER_CUBIC,
|
||||
),
|
||||
NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
|
||||
PrepareForNet(),
|
||||
] + ([Crop(size[0])] if self.mode == 'train' else []))
|
||||
|
||||
def __getitem__(self, item):
|
||||
img_path = self.filelist[item].split(' ')[0]
|
||||
depth_path = self.filelist[item].split(' ')[1]
|
||||
|
||||
image = cv2.imread(img_path)
|
||||
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0
|
||||
|
||||
depth = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) / 100.0 # cm to m
|
||||
|
||||
sample = self.transform({'image': image, 'depth': depth})
|
||||
|
||||
sample['image'] = torch.from_numpy(sample['image'])
|
||||
sample['depth'] = torch.from_numpy(sample['depth'])
|
||||
|
||||
sample['valid_mask'] = (sample['depth'] <= 80)
|
||||
|
||||
sample['image_path'] = self.filelist[item].split(' ')[0]
|
||||
|
||||
return sample
|
||||
|
||||
def __len__(self):
|
||||
return len(self.filelist)
|
||||
Reference in New Issue
Block a user