mindspore.dataset.KITTIDataset

class mindspore.dataset.KITTIDataset(dataset_dir, usage=None, num_samples=None, num_parallel_workers=None, shuffle=None, decode=False, sampler=None, num_shards=None, shard_id=None, cache=None)[source]

KITTI dataset.

When usage is "train", the generated dataset has multiple columns: [image, label, truncated, occluded, alpha, bbox, dimensions, location, rotation_y] ; When usage is “test”, the generated dataset has only one column: [image] . The tensor of column image is of the uint8 type. The tensor of column label is of the uint32 type. The tensor of column truncated is of the float32 type. The tensor of column occluded is of the uint32 type. The tensor of column alpha is of the float32 type. The tensor of column bbox is of the float32 type. The tensor of column dimensions is of the float32 type. The tensor of column location is of the float32 type. The tensor of column rotation_y is of the float32 type.

Parameters

dataset_dir (str) – Path to the root directory that contains the dataset.
usage (str, optional) – Usage of this dataset, can be "train" or "test" . "train" will read 7481 train samples, "test" will read from 7518 test samples without label. Default: None , will use "train" .
num_samples (int, optional) – The number of images to be included in the dataset. Default: None , will include all images.
num_parallel_workers (int, optional) – Number of worker threads to read the data. Default: None , will use global default workers(8), it can be set by mindspore.dataset.config.set_num_parallel_workers() .
shuffle (bool, optional) – Whether to perform shuffle on the dataset. Default: None , expected order behavior shown in the table below.
decode (bool, optional) – Decode the images after reading. Default: False.
sampler (Sampler, optional) – Object used to choose samples from the dataset. Default: None , expected order behavior shown in the table below.
num_shards (int, optional) – Number of shards that the dataset will be divided into. Default: None . When this argument is specified, num_samples reflects the max sample number of per shard.
shard_id (int, optional) – The shard ID within num_shards. Default: None . This argument can only be specified when num_shards is also specified.
cache (DatasetCache, optional) – Use tensor caching service to speed up dataset processing. More details: Single-Node Data Cache . Default: None , which means no cache is used.

Raises

RuntimeError – If sampler and shuffle are specified at the same time.
RuntimeError – If sampler and num_shards/shard_id are specified at the same time.
RuntimeError – If num_shards is specified but shard_id is None.
RuntimeError – If shard_id is specified but num_shards is None.
ValueError – If dataset_dir is not exist.
ValueError – If shard_id is not in range of [0, num_shards ).

Tutorial Examples:

Load & Process Data With Dataset Pipeline

Note

The parameters num_samples , shuffle , num_shards , shard_id can be used to control the sampler used in the dataset, and their effects when combined with parameter sampler are as follows.

Sampler obtained by different combinations of parameters sampler and num_samples , shuffle , num_shards , shard_id
Parameter sampler	Parameter num_shards / shard_id	Parameter shuffle	Parameter num_samples	Sampler Used
mindspore.dataset.Sampler type	None	None	None	sampler
numpy.ndarray,list,tuple,int type	/	/	num_samples	SubsetSampler(indices = sampler , num_samples = num_samples )
iterable type	/	/	num_samples	IterSampler(sampler = sampler , num_samples = num_samples )
None	num_shards / shard_id	None / True	num_samples	DistributedSampler(num_shards = num_shards , shard_id = shard_id , shuffle = True , num_samples = num_samples )
None	num_shards / shard_id	False	num_samples	DistributedSampler(num_shards = num_shards , shard_id = shard_id , shuffle = False , num_samples = num_samples )
None	None	None / True	None	RandomSampler(num_samples = num_samples )
None	None	None / True	num_samples	RandomSampler(replacement = True , num_samples = num_samples )
None	None	False	num_samples	SequentialSampler(num_samples = num_samples )

Examples

>>> import mindspore.dataset as ds
>>> kitti_dataset_dir = "/path/to/kitti_dataset_directory"
>>>
>>> # 1) Read all KITTI train dataset samples in kitti_dataset_dir in sequence
>>> dataset = ds.KITTIDataset(dataset_dir=kitti_dataset_dir, usage="train")
>>>
>>> # 2) Read then decode all KITTI test dataset samples in kitti_dataset_dir in sequence
>>> dataset = ds.KITTIDataset(dataset_dir=kitti_dataset_dir, usage="test",
...                           decode=True, shuffle=False)

About KITTI dataset:

KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving. It consists of hours of traffic scenarios recorded with a variety of sensor modalities, including high-resolution RGB, grayscale stereo cameras, and a 3D laser scanner. Despite its popularity, the dataset itself does not contain ground truth for semantic segmentation. However, various researchers have manually annotated parts of the dataset to fit their necessities. Álvarez et al. generated ground truth for 323 images from the road detection challenge with three classes: road, vehicles and sky. Zhang et al. annotated 252 (140 for training and 112 for testing) acquisitions – RGB and Velodyne scans – from the tracking challenge for ten object categories: building, sky, road, vegetation, sidewalk, car, pedestrian, cyclist, sign/pole, and fence.

You can unzip the original KITTI dataset files into this directory structure and read by MindSpore’s API.

.
└── kitti_dataset_directory
    ├── data_object_image_2
    │    ├──training
    │    │    ├──image_2
    │    │    │    ├── 000000000001.jpg
    │    │    │    ├── 000000000002.jpg
    │    │    │    ├── ...
    │    ├──testing
    │    │    ├── image_2
    │    │    │    ├── 000000000001.jpg
    │    │    │    ├── 000000000002.jpg
    │    │    │    ├── ...
    ├── data_object_label_2
    │    ├──training
    │    │    ├──label_2
    │    │    │    ├── 000000000001.jpg
    │    │    │    ├── 000000000002.jpg
    │    │    │    ├── ...

Citation:

@INPROCEEDINGS{Geiger2012CVPR,
author={Andreas Geiger and Philip Lenz and Raquel Urtasun},
title={Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite},
booktitle={Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2012}
}

Pre-processing Operation

`mindspore.dataset.Dataset.apply`	Apply a function in this dataset.
`mindspore.dataset.Dataset.concat`	Concatenate the dataset objects in the input list.
`mindspore.dataset.Dataset.filter`	Filter dataset by prediction.
`mindspore.dataset.Dataset.flat_map`	Map func to each row in dataset and flatten the result.
`mindspore.dataset.Dataset.map`	Apply each operation in operations to this dataset.
`mindspore.dataset.Dataset.project`	The specified columns will be selected from the dataset and passed into the pipeline with the order specified.
`mindspore.dataset.Dataset.rename`	Rename the columns in input datasets.
`mindspore.dataset.Dataset.repeat`	Repeat this dataset count times.
`mindspore.dataset.Dataset.reset`	Reset the dataset for next epoch.
`mindspore.dataset.Dataset.save`	Save the dynamic data processed by the dataset pipeline in common dataset format.
`mindspore.dataset.Dataset.shuffle`	Shuffle the dataset by creating a cache with the size of buffer_size .
`mindspore.dataset.Dataset.skip`	Skip the first N elements of this dataset.
`mindspore.dataset.Dataset.split`	Split the dataset into smaller, non-overlapping datasets.
`mindspore.dataset.Dataset.take`	Take the first specified number of samples from the dataset.
`mindspore.dataset.Dataset.zip`	Zip the datasets in the sense of input tuple of datasets.

Batch

`mindspore.dataset.Dataset.batch`	Combine batch_size number of consecutive rows into batch which apply per_batch_map to the samples first.
`mindspore.dataset.Dataset.bucket_batch_by_length`	Bucket elements according to their lengths.
`mindspore.dataset.Dataset.padded_batch`	Combine batch_size number of consecutive rows into batch which apply pad_info to the samples first.

Iterator

`mindspore.dataset.Dataset.create_dict_iterator`	Create an iterator over the dataset.
`mindspore.dataset.Dataset.create_tuple_iterator`	Create an iterator over the dataset.

Attribute

`mindspore.dataset.Dataset.get_batch_size`	Return the size of batch.
`mindspore.dataset.Dataset.get_class_indexing`	Get the mapping dictionary from category names to category indexes.
`mindspore.dataset.Dataset.get_col_names`	Return the names of the columns in dataset.
`mindspore.dataset.Dataset.get_dataset_size`	Return the number of batches in an epoch.
`mindspore.dataset.Dataset.get_repeat_count`	Get the replication times in RepeatDataset.
`mindspore.dataset.Dataset.input_indexs`	Get the column index, which represents the corresponding relationship between the data column order and the network when using the sink mode.
`mindspore.dataset.Dataset.num_classes`	Get the number of classes in a dataset.
`mindspore.dataset.Dataset.output_shapes`	Get the shapes of output data.
`mindspore.dataset.Dataset.output_types`	Get the types of output data.

Apply Sampler

`mindspore.dataset.MappableDataset.add_sampler`	Add a child sampler for the current dataset.
`mindspore.dataset.MappableDataset.use_sampler`	Replace the last child sampler of the current dataset, remaining the parent sampler unchanged.

Others

`mindspore.dataset.Dataset.sync_update`	Release a blocking condition and trigger callback with given data.
`mindspore.dataset.Dataset.sync_wait`	Add a blocking condition to the input Dataset and a synchronize action will be applied.
`mindspore.dataset.Dataset.to_json`	Serialize a pipeline into JSON string and dump into file if filename is provided.