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

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)

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

• D4LCN

Pytorch

ONNX opset=11

d4lcn.onnx.prototxt