def cityscapes_sequence_train(resize_height, resize_width, crop_height,
crop_width, batch_size, num_workers):
"""A loader that loads images for adaptation from the cityscapes_sequence training set.
This loader returns sequences from the left camera, as well as from the right camera.
"""
transforms_common = [
tf.RandomHorizontalFlip(),
tf.CreateScaledImage(),
tf.Resize((resize_height * 568 // 512, resize_width * 1092 // 1024),
image_types=('color', )),
# crop away the sides and bottom parts of the image
tf.SidesCrop((resize_height * 320 // 512, resize_width * 1024 // 1024),
(resize_height * 32 // 512, resize_width * 33 // 1024)),
tf.CreateColoraug(new_element=True),
tf.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0),
tf.RemoveOriginals(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'cityscapes_sequence_adaptation'),
tf.AddKeyValue('purposes', ('adaptation', )),
]
dataset_name = 'cityscapes_sequence'
cfg_common = {
'dataset': dataset_name,
'trainvaltest_split': 'train',
'video_mode': 'mono',
'stereo_mode': 'mono',
}
cfg_left = {'keys_to_load': ('color', ), 'keys_to_video': ('color', )}
cfg_right = {
'keys_to_load': ('color_right', ),
'keys_to_video': ('color_right', )
}
dataset_left = StandardDataset(data_transforms=transforms_common,
**cfg_left,
**cfg_common)
dataset_right = StandardDataset(data_transforms=[tf.ExchangeStereo()] +
transforms_common,
**cfg_right,
**cfg_common)
dataset = ConcatDataset((dataset_left, dataset_right))
loader = DataLoader(dataset,
batch_size,
True,
num_workers=num_workers,
pin_memory=True,
drop_last=True)
print(
f" - Can use {len(dataset)} images from the cityscapes_sequence train set for adaptation",
flush=True)
return loader
def kitti_zhou_train(resize_height, resize_width, crop_height, crop_width,
batch_size, num_workers):
"""A loader that loads image sequences for depth training from the
kitti training set.
This loader returns sequences from the left camera, as well as from the right camera.
"""
transforms_common = [
tf.RandomHorizontalFlip(),
tf.CreateScaledImage(),
tf.Resize((resize_height, resize_width),
image_types=('color', 'depth', 'camera_intrinsics', 'K')),
tf.ConvertDepth(),
tf.CreateColoraug(new_element=True),
tf.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0,
fraction=0.5),
tf.RemoveOriginals(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'kitti_zhou_train_depth'),
tf.AddKeyValue('purposes', ('depth', 'domain')),
]
dataset_name = 'kitti'
cfg_common = {
'dataset': dataset_name,
'trainvaltest_split': 'train',
'video_mode': 'video',
'stereo_mode': 'mono',
'split': 'zhou_split',
'video_frames': (0, -1, 1),
'disable_const_items': False
}
cfg_left = {'keys_to_load': ('color', ), 'keys_to_video': ('color', )}
cfg_right = {
'keys_to_load': ('color_right', ),
'keys_to_video': ('color_right', )
}
dataset_left = StandardDataset(data_transforms=transforms_common,
**cfg_left,
**cfg_common)
dataset_right = StandardDataset(data_transforms=[tf.ExchangeStereo()] +
transforms_common,
**cfg_right,
**cfg_common)
dataset = ConcatDataset((dataset_left, dataset_right))
loader = DataLoader(dataset,
batch_size,
True,
num_workers=num_workers,
pin_memory=True,
drop_last=True)
print(
f" - Can use {len(dataset)} images from the kitti (zhou_split) train split for depth training",
flush=True)
return loader
