/kitti_completion

Primary LanguagePython

kitti_completion

Code for Revisiting Sparsity Invariant Convolution: A Network for Image Guided Depth Completion.

KITTI training data

You need download the entire raw KITTI dataset to train.

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

Our default settings expect that you have converted the png images to jpeg.

Generate KITTI Submission

python dump_test.py --weight_path ./pretrained_weights.pth --data_path /path/to/dir/has/test_depth_completion_anonymous --dump

If you want to view results, please remove --dump option.

Training

python train.py --data_path /path/to/kitti --split full

The path containing KITTI datasets should be organized like this:

/path/to/kitti
    raw/
        2011_09_26/
            2011_09_26_drive_0001_sync/
                image_02/
                image_03/
    test_depth_completion_anonymous/
        image/
        velodyne_raw/
    val_selection_cropped/
        image/
        velodyne_raw/
        groundtruth_depth/