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dataset_prepare.md

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Dataset Prepare

Training (KITTI Dataset & Extended Data)

The preparation of the KITTI dataset follows Monodepth2.

Download

You can download the entire raw KITTI dataset by running:

wget -i splits/kitti_archives_to_download.txt -P your_kitti_dataset_save_path/

Then unzip with

cd your_kitti_dataset_save_path
unzip "*.zip"

Warning: it weighs about 175GB, so make sure you have enough space to unzip!

For ease of use, we recommend using symbolic links to prepare the dataset, e.g.

ln -s your_kitti_dataset_save_path ./data/kitti

Splits

The train/test/validation splits are defined in the splits/ folder. By default, the code will train a depth model using Zhou's subset of the standard Eigen split of KITTI, which is designed for monocular training. You can also train a model using the new benchmark split or the odometry split by setting the --split flag.

Extended Data

Note that we extend the KITTI dataset with random conruption types and severities. Executing the following command will create different extended data each time:

python create_aug_pairs.py

Evalation (KITTI-C Dataset)

The preparation of the KITTI-C dataset follows RoboDepth.

Download

The corrupted KITTI test sets under Eigen split can be downloaded from Google Drive with this link.

Alternatively, you can directly download them to the server by running:

mkdir your_kitti_c_dataset_save_path
cd your_kitti_c_dataset_save_path
wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1Ohyh8CN0ZS7gc_9l4cIwX4j97rIRwADa' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1Ohyh8CN0ZS7gc_9l4cIwX4j97rIRwADa" -O kitti_c.zip && rm -rf /tmp/cookies.txt

Then unzip with:

unzip kitti_c.zip

Warning: This dataset weighs about 12GB, make sure you have enough space to unzip too!

For ease of use, we recommend using symbolic links to prepare the dataset, e.g.

ln -s your_kitti_c_dataset_save_path/kitti_c ./data/kitti_c

Splits

The KITTI-C dataset shares the same split files with the KITTI dataset.

For eigen splits, please follow the download_gt.md to download depth gt data.