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Source code for torch_uncertainty.datasets.kitti

import json
import logging
import shutil
from collections.abc import Callable
from pathlib import Path
from typing import Literal

from PIL import Image
from torchvision import tv_tensors
from torchvision.datasets import VisionDataset
from torchvision.datasets.utils import (
    download_and_extract_archive,
    download_url,
)
from torchvision.transforms import functional as F
from tqdm import tqdm


[docs]class KITTIDepth(VisionDataset): root: Path depth_url = "https://s3.eu-central-1.amazonaws.com/avg-kitti/data_depth_annotated.zip" depth_md5 = "7d1ce32633dc2f43d9d1656a1f875e47" raw_url = "https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/" raw_filenames_url = "https://raw.githubusercontent.com/torch-uncertainty/dataset-metadata/main/download/kitti/raw_filenames.json" raw_filenames_md5 = "e5b7fad5ecd059488ef6c02dc9e444c1" _num_samples = { "train": 42949, "val": 3426, "test": ..., } def __init__( self, root: str | Path, split: Literal["train", "val"], min_depth: float = 0.0, max_depth: float = 80.0, transforms: Callable | None = None, download: bool = False, remove_unused: bool = False, ) -> None: logging.info( "KITTIDepth is copyrighted by the Karlsruhe Institute of Technology " "(KIT) and the Toyota Technological Institute at Chicago (TTIC). " "By using KITTIDepth, you agree to the terms and conditions of the " "Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License. " "This means that you must attribute the work in the manner specified " "by the authors, you may not use this work for commercial purposes " "and if you alter, transform, or build upon this work, you may " "distribute the resulting work only under the same license." ) super().__init__( root=Path(root) / "KITTIDepth", transforms=transforms, ) self.min_depth = min_depth self.max_depth = max_depth if split not in ["train", "val"]: raise ValueError(f"split must be one of ['train', 'val']. Got {split}.") self.split = split if not self.check_split_integrity("leftDepth"): if download: self._download_depth() else: raise FileNotFoundError( f"KITTI {split} split not found or incomplete. Set download=True to download it." ) if not self.check_split_integrity("leftImg8bit"): if download: self._download_raw(remove_unused) else: raise FileNotFoundError( f"KITTI {split} split not found or incomplete. Set download=True to download it." ) self._make_dataset() def check_split_integrity(self, folder: str) -> bool: split_path = self.root / self.split return ( split_path.is_dir() and len(list((split_path / folder).glob("*.png"))) == self._num_samples[self.split] ) def __getitem__(self, index: int) -> tuple[tv_tensors.Image, tv_tensors.Mask]: """Get the sample at the given index. Args: index (int): Index Returns: tuple: (image, target) where target is a depth map. """ image = tv_tensors.Image(Image.open(self.samples[index]).convert("RGB")) target = tv_tensors.Mask( F.pil_to_tensor(Image.open(self.targets[index])).squeeze(0) / 256.0 ) target[(target <= self.min_depth) | (target > self.max_depth)] = float("nan") if self.transforms is not None: image, target = self.transforms(image, target) return image, target def __len__(self) -> int: """The number of samples in the dataset.""" return self._num_samples[self.split] def _make_dataset(self) -> None: self.samples = sorted((self.root / self.split / "leftImg8bit").glob("*.png")) self.targets = sorted((self.root / self.split / "leftDepth").glob("*.png")) def _download_depth(self) -> None: """Download and extract the depth annotation dataset.""" if not (self.root / "tmp").exists(): download_and_extract_archive( self.depth_url, download_root=self.root, extract_root=self.root / "tmp", md5=self.depth_md5, ) logging.info("Re-structuring the depth annotations...") if (self.root / "train" / "leftDepth").exists(): shutil.rmtree(self.root / "train" / "leftDepth") (self.root / "train" / "leftDepth").mkdir(parents=True, exist_ok=False) depth_files = list((self.root).glob("**/tmp/train/**/image_02/*.png")) logging.info("Train files...") for file in tqdm(depth_files): exp_code = file.parents[3].name.split("_") filecode = "_".join([exp_code[0], exp_code[1], exp_code[2], exp_code[4], file.name]) shutil.copy(file, self.root / "train" / "leftDepth" / filecode) if (self.root / "val" / "leftDepth").exists(): shutil.rmtree(self.root / "val" / "leftDepth") (self.root / "val" / "leftDepth").mkdir(parents=True, exist_ok=False) depth_files = list((self.root).glob("**/tmp/val/**/image_02/*.png")) logging.info("Validation files...") for file in tqdm(depth_files): exp_code = file.parents[3].name.split("_") filecode = "_".join([exp_code[0], exp_code[1], exp_code[2], exp_code[4], file.name]) shutil.copy(file, self.root / "val" / "leftDepth" / filecode) shutil.rmtree(self.root / "tmp") def _download_raw(self, remove_unused: bool) -> None: """Download and extract the raw dataset.""" download_url( self.raw_filenames_url, self.root, "raw_filenames.json", self.raw_filenames_md5, ) with (self.root / "raw_filenames.json").open() as file: raw_filenames = json.load(file) for filename in tqdm(raw_filenames): logging.info("%s", self.raw_url + filename) download_and_extract_archive( self.raw_url + filename, download_root=self.root, extract_root=self.root / "raw", md5=None, ) logging.info("Re-structuring the raw data...") samples_to_keep = list((self.root / "train" / "leftDepth").glob("*.png")) if (self.root / "train" / "leftImg8bit").exists(): shutil.rmtree(self.root / "train" / "leftImg8bit") (self.root / "train" / "leftImg8bit").mkdir(parents=True, exist_ok=False) logging.info("Train files...") for sample in tqdm(samples_to_keep): filecode = sample.name.split("_") first_level = "_".join([filecode[0], filecode[1], filecode[2]]) second_level = "_".join( [ filecode[0], filecode[1], filecode[2], "drive", filecode[3], "sync", ] ) raw_path = ( self.root / "raw" / first_level / second_level / "image_02" / "data" / filecode[4] ) shutil.copy(raw_path, self.root / "train" / "leftImg8bit" / sample.name) samples_to_keep = list((self.root / "val" / "leftDepth").glob("*.png")) if (self.root / "val" / "leftImg8bit").exists(): shutil.rmtree(self.root / "val" / "leftImg8bit") (self.root / "val" / "leftImg8bit").mkdir(parents=True, exist_ok=False) logging.info("Validation files...") for sample in tqdm(samples_to_keep): filecode = sample.name.split("_") first_level = "_".join([filecode[0], filecode[1], filecode[2]]) second_level = "_".join( [ filecode[0], filecode[1], filecode[2], "drive", filecode[3], "sync", ] ) raw_path = ( self.root / "raw" / first_level / second_level / "image_02" / "data" / filecode[4] ) shutil.copy(raw_path, self.root / "val" / "leftImg8bit" / sample.name) if remove_unused: shutil.rmtree(self.root / "raw")