import os import json import torch import torchvision.transforms as transforms import os.path import numpy as np import cv2 from torch.utils.data import Dataset import random from .__base_dataset__ import BaseDataset class KITTIDataset(BaseDataset): def __init__(self, cfg, phase, **kwargs): super(KITTIDataset, self).__init__( cfg=cfg, phase=phase, **kwargs) self.metric_scale = cfg.metric_scale def get_data_for_trainval(self, idx: int): anno = self.annotations['files'][idx] meta_data = self.load_meta_data(anno) data_path = self.load_data_path(meta_data) data_batch = self.load_batch(meta_data, data_path) # if data_path['sem_path'] is not None: # print(self.data_name) curr_rgb, curr_depth, curr_normal, curr_sem, curr_cam_model = data_batch['curr_rgb'], data_batch['curr_depth'], data_batch['curr_normal'], data_batch['curr_sem'], data_batch['curr_cam_model'] #curr_stereo_depth = data_batch['curr_stereo_depth'] th = 352 # target size for bottom cropping, a common practice for kitti training tw = 1216 ch = curr_rgb.shape[0] cw = curr_rgb.shape[1] h_start = ch - th w_start = (cw - tw) // 2 w_end = w_start + tw curr_intrinsic = meta_data['cam_in'] curr_rgb = curr_rgb[h_start:, w_start:w_end, :] curr_depth = curr_depth[h_start:, w_start:w_end] curr_normal = curr_normal[h_start:, w_start:w_end, :] curr_sem = curr_sem[h_start:, w_start:w_end] curr_intrinsic[2] = curr_intrinsic[2] - w_start # cw curr_intrinsic[3] = curr_intrinsic[3] - h_start # ch # A patch for stereo depth dataloader (no need to modify specific datasets) if 'curr_stereo_depth' in data_batch.keys(): curr_stereo_depth = data_batch['curr_stereo_depth'] else: curr_stereo_depth = self.load_stereo_depth_label(None, H=curr_rgb.shape[0], W=curr_rgb.shape[1]) # data augmentation transform_paras = dict(random_crop_size = self.random_crop_size) # dict() assert curr_rgb.shape[:2] == curr_depth.shape == curr_normal.shape[:2] == curr_sem.shape rgbs, depths, intrinsics, cam_models, normals, other_labels, transform_paras = self.img_transforms( images=[curr_rgb, ], labels=[curr_depth, ], intrinsics=[curr_intrinsic,], cam_models=[curr_cam_model, ], normals = [curr_normal, ], other_labels=[curr_sem, curr_stereo_depth], transform_paras=transform_paras) # process sky masks sem_mask = other_labels[0].int() # clip depth map depth_out = self.normalize_depth(depths[0]) # set the depth of sky region to the invalid depth_out[sem_mask==142] = -1 # self.depth_normalize[1] - 1e-6 # get inverse depth inv_depth = self.depth2invdepth(depth_out, sem_mask==142) filename = os.path.basename(meta_data['rgb'])[:-4] + '.jpg' curr_intrinsic_mat = self.intrinsics_list2mat(intrinsics[0]) cam_models_stacks = [ torch.nn.functional.interpolate(cam_models[0][None, :, :, :], size=(cam_models[0].shape[1]//i, cam_models[0].shape[2]//i), mode='bilinear', align_corners=False).squeeze() for i in [2, 4, 8, 16, 32] ] # stereo_depth stereo_depth_pre_trans = other_labels[1] * (other_labels[1] > 0.3) * (other_labels[1] < 200) stereo_depth = stereo_depth_pre_trans * transform_paras['label_scale_factor'] stereo_depth = self.normalize_depth(stereo_depth) pad = transform_paras['pad'] if 'pad' in transform_paras else [0,0,0,0] data = dict(input=rgbs[0], target=depth_out, intrinsic=curr_intrinsic_mat, filename=filename, dataset=self.data_name, cam_model=cam_models_stacks, pad=torch.tensor(pad), data_type=[self.data_type, ], sem_mask=sem_mask.int(), stereo_depth= stereo_depth, normal=normals[0], inv_depth=inv_depth, scale=transform_paras['label_scale_factor']) return data def get_data_for_test(self, idx: int): anno = self.annotations['files'][idx] meta_data = self.load_meta_data(anno) curr_rgb_path = os.path.join(self.data_root, meta_data['rgb']) curr_depth_path = os.path.join(self.depth_root, meta_data['depth']) # load data ori_curr_intrinsic = meta_data['cam_in'] curr_rgb, curr_depth = self.load_rgb_depth(curr_rgb_path, curr_depth_path) # crop rgb/depth curr_rgb = curr_rgb[:, 43: 1197, :] curr_depth = curr_depth[:, 43: 1197] ori_h, ori_w, _ = curr_rgb.shape # create camera model curr_cam_model = self.create_cam_model(curr_rgb.shape[0], curr_rgb.shape[1], ori_curr_intrinsic) # load tmpl rgb info # tmpl_annos = self.load_tmpl_image_pose(curr_rgb, meta_data) # tmpl_rgbs = tmpl_annos['tmpl_rgb_list'] # list of reference rgbs # get crop size transform_paras = dict() rgbs, depths, intrinsics, cam_models, _, other_labels, transform_paras = self.img_transforms( images=[curr_rgb,], #+ tmpl_rgbs, labels=[curr_depth, ], intrinsics=[ori_curr_intrinsic, ], # * (len(tmpl_rgbs) + 1), cam_models=[curr_cam_model, ], transform_paras=transform_paras) # depth in original size and orignial metric*** depth_out = self.clip_depth(curr_depth) * self.depth_range[1] # self.clip_depth(depths[0]) # filename = os.path.basename(meta_data['rgb']) curr_intrinsic_mat = self.intrinsics_list2mat(intrinsics[0]) pad = transform_paras['pad'] if 'pad' in transform_paras else [0,0,0,0] scale_ratio = transform_paras['label_scale_factor'] if 'label_scale_factor' in transform_paras else 1.0 cam_models_stacks = [ torch.nn.functional.interpolate(cam_models[0][None, :, :, :], size=(cam_models[0].shape[1]//i, cam_models[0].shape[2]//i), mode='bilinear', align_corners=False).squeeze() for i in [2, 4, 8, 16, 32] ] raw_rgb = torch.from_numpy(curr_rgb) # rel_pose = torch.from_numpy(tmpl_annos['tmpl_pose_list'][0]) data = dict(input=rgbs[0], target=depth_out, intrinsic=curr_intrinsic_mat, filename=filename, dataset=self.data_name, cam_model=cam_models_stacks, # ref_input=rgbs[1:], # tmpl_flg=tmpl_annos['w_tmpl'], pad=pad, scale=scale_ratio, raw_rgb=raw_rgb, normal = np.zeros_like(curr_rgb.transpose((2,0,1))), # rel_pose=rel_pose, ) return data def process_depth(self, depth, rgb): new_depth = np.zeros_like(depth) H, W = depth.shape crop_h_up = int(0.3324324 * H) crop_h_down = int(0.91351351 * H) crop_w_left = int(0.0359477 * W) crop_w_right = int(0.96405229 * W) new_depth[crop_h_up:crop_h_down, crop_w_left: crop_w_right] = depth[crop_h_up:crop_h_down, crop_w_left: crop_w_right] new_depth[new_depth>65500] = 0 new_depth /= self.metric_scale #print('image size', new_depth.shape, crop_h_up, crop_h_down, crop_w_left, crop_w_right) #self.logger.info('image size, {new_depth.shape}, {crop_h_up}, {crop_h_down}, {crop_w_left}, {crop_w_right}') return new_depth if __name__ == '__main__': from mmcv.utils import Config cfg = Config.fromfile('mono/configs/Apolloscape_DDAD/convnext_base.cascade.1m.sgd.mae.py') dataset_i = KITTIDataset(cfg['Apolloscape'], 'train', **cfg.data_basic) print(dataset_i)