How to get depth image in v2xset data set?

[deyang2000]

Hi, there! I'm using your brilliant work, but I'm having some problems.

When I used python opencood/tools/train.py -y opencood/hypes_yaml/v2xset/CameraOnly/camera_pyramid.yaml

Error occurred: FileNotFoundError: [Errno 2] No such file or directory: '/data/v2xset/train/2021_09_09_19_27_35/15009/001925_depth0.png'

I looked up the data format description of V2XSet:

V2XSet ├── train # data for training │ ├── 2021_08_22_21_41_24 # scenario folder │ ├── data_protocol.yaml # the simulation parameters used to collect the data in Carla │ └── -1 # The infra's id │ └── 00000.pcd - 00700.pcd # the point clouds data from timestamp 0 to 700 │ ├── 00000.yaml - 00700.yaml # corresponding metadata for each timestamp │ ├── 00000_camera0.png - 00700_camera0.png # frontal camera images │ ├── 00000_camera1.png - 00700_camera1.png # right rear camera images │ ├── 00000_camera2.png - 00700_camera2.png # left rear camera images │ └── 00000_camera3.png - 00700_camera3.png # back camera images | └── 112 # The connected vehicle id ├── validate
├── test

There is no depth picture in the v2xset data set I downloaded. How did you get such picture?

I would appreciate it very much if you could reply as soon as possible.

[yifanlu0227]

Hi, we do not generate V2XSet's depth data and it's a mistake in the config writing.

I've removed the depth items in opencood/hypes_yaml/v2xset/CameraOnly/camera_pyramid.yaml. Thanks for pointing it out!

[deyang2000]

Hello! I also found a mistake. The specific location is HEAL-main/opencood/hypes_yaml/v2xset/CameraOnly/camera_coalign.yaml lines 139 and 140. Should be changed to: Then I can run it successfully!

[yifanlu0227]

Thanks for your careful revision!