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# -*- coding: utf-8 -*-
# @Author : xuelun
import torch
from torch.utils.data import Dataset
class RGBDDataset(Dataset):
def __getitem__(self, idx):
data = {
# image 0
'image0': None,
'color0': None,
'imsize0': None,
'resize0': None,
# image 1
'image1': None,
'color1': None,
'imsize1': None,
'resize1': None,
'pseudo_labels': torch.zeros((100000, 4), dtype=torch.float),
'gt': True,
'zs': False,
# image transform
'T_0to1': None,
'T_1to0': None,
'K0': None,
'K1': None,
# pair information
'scale0': None,
'scale1': None,
'dataset_name': None,
'scene_id': None,
'pair_id': None,
'pair_names': None,
'covisible0': None,
'covisible1': None,
# ETH3D dataset
'K0_': torch.zeros(12, dtype=torch.float),
'K1_': torch.zeros(12, dtype=torch.float),
# Hq
'Hq_aug': torch.eye(3, dtype=torch.float),
'Hq_ori': torch.eye(3, dtype=torch.float),
}
return data
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