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d4lcn

README.md

D4LCN

Input

Input

(Image from http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d)

Output

Output

Data Preparation

You need to download KITTI dataset here. Download left images, calibration files. You can download the depth maps extracted by DORN here.
Data folder should look like this:

d4lcn
├── calib
  ├── xxx.txt (Camera parameters for image xxx: provided from data_object_calib.zip)
├── depth
  ├── xxx.png (depth maps for image xxx: provided from depth_2.zip)

Usage

Automatically downloads the onnx and prototxt files on the first run. It is necessary to be connected to the Internet while downloading.

For the sample image,

$ python3 d4lcn.py

If you want to specify the input image, put the image path after the --input option.
You can use --savepath option to change the name of the output file to save.

$ python3 d4lcn.py --input IMAGE_PATH --savepath SAVE_IMAGE_PATH

The depth file and calib file are automatically found in the predetermined path.
If you want to specify directory or directly file path, put the path after the --calib_path option.

$ python3 d4lcn.py --calib_path CALIB_PATH

You can specify directory or directly file path with the --depth_path option for find depth file.

$ python3 d4lcn.py --depth_path DEPTH_PATH

Reference

Framework

Pytorch

Model Format

ONNX opset=11

Netron

d4lcn.onnx.prototxt