Added ETH3D stereo dataset (#6349)

* Added ETH3D stereo dataset

* Small doc-reformating

* Removed assertions with no use, changed np conversion

* Added ETH3D stereo dataset

* Removed assertions with no use, changed np conversion

* rebased on main

* Revert "Removed assertions with no use, changed np conversion"

This reverts commit 1478a8c056bbed59b6f4a67f78a5cfac84cc9fda.

* Update to np.bool instead of np.bool_

* lint and mypy nit fix

* test nit

docs/source/datasets.rst

@@ -115,6 +115,7 @@ Stereo Matching
     SceneFlowStereo
     SintelStereo
     InStereo2k
+    ETH3DStereo
 
 Image pairs
 ~~~~~~~~~~~

test/test_datasets.py

@@ -2872,15 +2872,26 @@ class FallingThingsStereoTestCase(datasets_utils.ImageDatasetTestCase):
         os.makedirs(fallingthings_dir, exist_ok=True)
 
         num_examples = {"single": 2, "mixed": 3, "both": 4}.get(config["variant"], 0)
+
         variants = {
             "single": ["single"],
             "mixed": ["mixed"],
             "both": ["single", "mixed"],
         }.get(config["variant"], [])
 
+        variant_dir_prefixes = {
+            "single": 1,
+            "mixed": 0,
+        }
+
         for variant_name in variants:
             variant_dir = pathlib.Path(fallingthings_dir) / variant_name
             os.makedirs(variant_dir, exist_ok=True)
+
+            for i in range(variant_dir_prefixes[variant_name]):
+                variant_dir = variant_dir / f"{i:02d}"
+                os.makedirs(variant_dir, exist_ok=True)
+
             for i in range(num_examples):
                 self._make_scene_folder(
                     root=variant_dir,
@@ -3109,5 +3120,72 @@ class SintelStereoTestCase(datasets_utils.ImageDatasetTestCase):
                 pass
 
 
+class ETH3DStereoestCase(datasets_utils.ImageDatasetTestCase):
+    DATASET_CLASS = datasets.ETH3DStereo
+    ADDITIONAL_CONFIGS = datasets_utils.combinations_grid(split=("train", "test"))
+    FEATURE_TYPES = (PIL.Image.Image, PIL.Image.Image, (np.ndarray, type(None)), (np.ndarray, type(None)))
+
+    @staticmethod
+    def _create_scene_folder(num_examples: int, root_dir: str):
+        # make the root_dir if it does not exits
+        root_dir = pathlib.Path(root_dir)
+        os.makedirs(root_dir, exist_ok=True)
+
+        for i in range(num_examples):
+            scene_dir = root_dir / f"scene_{i}"
+            os.makedirs(scene_dir, exist_ok=True)
+            # populate with left right images
+            datasets_utils.create_image_file(root=scene_dir, name="im0.png", size=(100, 100))
+            datasets_utils.create_image_file(root=scene_dir, name="im1.png", size=(100, 100))
+
+    @staticmethod
+    def _create_annotation_folder(num_examples: int, root_dir: str):
+        # make the root_dir if it does not exits
+        root_dir = pathlib.Path(root_dir)
+        os.makedirs(root_dir, exist_ok=True)
+
+        # create scene directories
+        for i in range(num_examples):
+            scene_dir = root_dir / f"scene_{i}"
+            os.makedirs(scene_dir, exist_ok=True)
+            # populate with a random png file for occlusion mask, and a pfm file for disparity
+            datasets_utils.create_image_file(root=scene_dir, name="mask0nocc.png", size=(1, 100, 100))
+
+            pfm_path = scene_dir / "disp0GT.pfm"
+            datasets_utils.make_fake_pfm_file(h=100, w=100, file_name=pfm_path)
+
+    def inject_fake_data(self, tmpdir, config):
+        eth3d_dir = pathlib.Path(tmpdir) / "ETH3D"
+
+        num_examples = 2 if config["split"] == "train" else 3
+
+        split_name = "two_view_training" if config["split"] == "train" else "two_view_test"
+        split_dir = eth3d_dir / split_name
+        self._create_scene_folder(num_examples, split_dir)
+
+        if config["split"] == "train":
+            annot_dir = eth3d_dir / "two_view_training_gt"
+            self._create_annotation_folder(num_examples, annot_dir)
+
+        return num_examples
+
+    def test_training_splits(self):
+        with self.create_dataset(split="train") as (dataset, _):
+            for left, right, disparity, valid_mask in dataset:
+                datasets_utils.shape_test_for_stereo(left, right, disparity, valid_mask)
+
+    def test_testing_splits(self):
+        with self.create_dataset(split="test") as (dataset, _):
+            assert all(d == (None, None) for d in dataset._disparities)
+            for left, right, disparity, valid_mask in dataset:
+                assert valid_mask is None
+                datasets_utils.shape_test_for_stereo(left, right, disparity)
+
+    def test_bad_input(self):
+        with pytest.raises(ValueError, match="Unknown value 'bad' for argument split"):
+            with self.create_dataset(split="bad"):
+                pass
+
+
 if __name__ == "__main__":
     unittest.main()

torchvision/datasets/__init__.py

 from ._optical_flow import FlyingChairs, FlyingThings3D, HD1K, KittiFlow, Sintel
 from ._stereo_matching import (
     CarlaStereo,
+    ETH3DStereo,
     FallingThingsStereo,
     InStereo2k,
     Kitti2012Stereo,
@@ -121,4 +122,5 @@ __all__ = (
     "SceneFlowStereo",
     "SintelStereo",
     "InStereo2k",
+    "ETH3DStereo",
 )

torchvision/datasets/_stereo_matching.py

@@ -371,19 +371,20 @@ class FallingThingsStereo(StereoMatchingDataset):
         root
             FallingThings
                 single
-                    scene1
-                        _object_settings.json
-                        _camera_settings.json
-                        image1.left.depth.png
-                        image1.right.depth.png
-                        image1.left.jpg
-                        image1.right.jpg
-                        image2.left.depth.png
-                        image2.right.depth.png
-                        image2.left.jpg
-                        image2.right
-                        ...
-                    scene2
+                    dir1
+                        scene1
+                            _object_settings.json
+                            _camera_settings.json
+                            image1.left.depth.png
+                            image1.right.depth.png
+                            image1.left.jpg
+                            image1.right.jpg
+                            image2.left.depth.png
+                            image2.right.depth.png
+                            image2.left.jpg
+                            image2.right
+                            ...
+                        scene2
                     ...
                 mixed
                     scene1
@@ -420,13 +421,18 @@ class FallingThingsStereo(StereoMatchingDataset):
             "both": ["single", "mixed"],
         }[variant]
 
+        split_prefix = {
+            "single": Path("*") / "*",
+            "mixed": Path("*"),
+        }
+
         for s in variants:
-            left_img_pattern = str(root / s / "*" / "*.left.jpg")
-            right_img_pattern = str(root / s / "*" / "*.right.jpg")
+            left_img_pattern = str(root / s / split_prefix[s] / "*.left.jpg")
+            right_img_pattern = str(root / s / split_prefix[s] / "*.right.jpg")
             self._images += self._scan_pairs(left_img_pattern, right_img_pattern)
 
-            left_disparity_pattern = str(root / s / "*" / "*.left.depth.png")
-            right_disparity_pattern = str(root / s / "*" / "*.right.depth.png")
+            left_disparity_pattern = str(root / s / split_prefix[s] / "*.left.depth.png")
+            right_disparity_pattern = str(root / s / split_prefix[s] / "*.right.depth.png")
             self._disparities += self._scan_pairs(left_disparity_pattern, right_disparity_pattern)
 
     def _read_disparity(self, file_path: str) -> Tuple:
@@ -762,3 +768,103 @@ class InStereo2k(StereoMatchingDataset):
             a 4-tuple with ``(img_left, img_right, disparity, valid_mask)`` is returned.
         """
         return super().__getitem__(index)
+
+
+class ETH3DStereo(StereoMatchingDataset):
+    """ETH3D `Low-Res Two-View <https://www.eth3d.net/datasets>`_ dataset.
+
+    The dataset is expected to have the following structure: ::
+
+        root
+            ETH3D
+                two_view_training
+                    scene1
+                        im1.png
+                        im0.png
+                        images.txt
+                        cameras.txt
+                        calib.txt
+                    scene2
+                        im1.png
+                        im0.png
+                        images.txt
+                        cameras.txt
+                        calib.txt
+                    ...
+                two_view_training_gt
+                    scene1
+                        disp0GT.pfm
+                        mask0nocc.png
+                    scene2
+                        disp0GT.pfm
+                        mask0nocc.png
+                    ...
+                two_view_testing
+                    scene1
+                        im1.png
+                        im0.png
+                        images.txt
+                        cameras.txt
+                        calib.txt
+                    scene2
+                        im1.png
+                        im0.png
+                        images.txt
+                        cameras.txt
+                        calib.txt
+                    ...
+
+    Args:
+        root (string): Root directory of the ETH3D Dataset.
+        split (string, optional): The dataset split of scenes, either "train" (default) or "test".
+        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.
+    """
+
+    _has_built_in_disparity_mask = True
+
+    def __init__(self, root: str, split: str = "train", transforms: Optional[Callable] = None):
+        super().__init__(root, transforms)
+
+        verify_str_arg(split, "split", valid_values=("train", "test"))
+
+        root = Path(root) / "ETH3D"
+
+        img_dir = "two_view_training" if split == "train" else "two_view_test"
+        anot_dir = "two_view_training_gt"
+
+        left_img_pattern = str(root / img_dir / "*" / "im0.png")
+        right_img_pattern = str(root / img_dir / "*" / "im1.png")
+        self._images = self._scan_pairs(left_img_pattern, right_img_pattern)
+
+        if split == "test":
+            self._disparities = list((None, None) for _ in self._images)
+        else:
+            disparity_pattern = str(root / anot_dir / "*" / "disp0GT.pfm")
+            self._disparities = self._scan_pairs(disparity_pattern, None)
+
+    def _read_disparity(self, file_path: str) -> Tuple:
+        # test split has no disparity maps
+        if file_path is None:
+            return None, None
+
+        disparity_map = _read_pfm_file(file_path)
+        disparity_map = np.abs(disparity_map)  # ensure that the disparity is positive
+        mask_path = Path(file_path).parent / "mask0nocc.png"
+        valid_mask = Image.open(mask_path)
+        valid_mask = np.asarray(valid_mask).astype(bool)
+        return disparity_map, valid_mask
+
+    def __getitem__(self, index: int) -> Tuple:
+        """Return example at given index.
+
+        Args:
+            index(int): The index of the example to retrieve
+
+        Returns:
+            tuple: A 4-tuple with ``(img_left, img_right, disparity, valid_mask)``.
+            The disparity is a numpy array of shape (1, H, W) and the images are PIL images.
+            ``valid_mask`` is implicitly ``None`` if the ``transforms`` parameter does not
+            generate a valid mask.
+            Both ``disparity`` and ``valid_mask`` are ``None`` if the dataset split is test.
+        """
+        return super().__getitem__(index)