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Relative Depth

Download KITTI

Download the following files and unzip under the kitti_depth folder:

data_depth_annotated, data_depth_velodyne, data_depth_selection

Finally, download kitti raw images by:

cd datasets/kitti_depth
wget https://github.com/youmi-zym/CompletionFormer/files/12575038/kitti_archives_to_download.txt
wget -i kitti_archives_to_download.txt -P kitti_raw/
cd kitti_raw
unzip "*.zip"

The overall data directory is structured as follows:

kitti_depth
    ├──data_depth_annotated
    |     ├── train
    |     └── val
    ├── data_depth_velodyne
    |     ├── train
    |     └── val
    ├── data_depth_selection
    |     ├── test_depth_completion_anonymous
    |     |── test_depth_prediction_anonymous
    |     └── val_selection_cropped
    └── kitti_raw
          ├── 2011_09_26
          ├── 2011_09_28
          ├── 2011_09_29
          ├── 2011_09_30
          └── 2011_10_03

Generate Images with Marks

Go to benchmark_data_generator/relative_depth. Run render_kitti_image.py or render_kitti_flipud.py (remember to replace the PATH_TO_KITTI variable to the directory you downloaded the KITTI dataset into).