class_docstr: KITTI Raw Dataset.
  Parameters
  ----------
  data_path : string
      Path to KITTI RAW dataset folder. Default is '$(HOME)/.mxnet/datasets/kitti/kitti_data'
  
  Examples
  --------
  >>> from gluoncv.data.kitti.kitti_utils import dict_batchify_fn, readlines
  >>> train_filenames = os.path.join(
  >>>     os.path.expanduser("~"), '/.mxnet/datasets/kitti/splits/eigen_full/train_files.txt')
  >>> train_filenames = readlines(train_filenames)
  >>> # Create Dataset
  >>> trainset = gluoncv.data.KITTIRAWDataset(
  >>>         filenames=train_filenames, height=192, width=640,
  >>>         frame_idxs=[0], num_scales=4, is_train=True, img_ext='.png')
  >>> # Create Training Loader
  >>> train_data = gluon.data.DataLoader(
  >>>     trainset, batch_size=12, shuffle=True,
  >>>     batchify_fn=dict_batchify_fn, num_workers=12,
  >>>     pin_memory=True, last_batch='discard')
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code: def get_depth(self, folder, frame_index, side, do_flip):
      calib_path = os.path.join(self.data_path, folder.split("/")[0])
  
      velo_filename = os.path.join(
          self.data_path,
          folder,
          "velodyne_points/data/{:010d}.bin".format(int(frame_index)),
      )
  
      depth_gt = generate_depth_map(
          calib_path, velo_filename, self.side_map[side]
      )
      skimage = try_import_skimage()
      from skimage import transform
  
      depth_gt = skimage.transform.resize(
          depth_gt,
          self.full_res_shape[::-1],
          order=0,
          preserve_range=True,
          mode="constant",
      )
  
      if do_flip:
          depth_gt = np.fliplr(depth_gt)
  
      return depth_gt
  
imports: from __future__ import absolute_import, division, print_function
  import os
  import numpy
  import PIL.Image
  from ...utils.filesystem import try_import_skimage
  from .kitti_utils import generate_depth_map
  from .mono_dataset import MonoDataset
label_desc: Use image node_id 3 for calling the KITTIRAWDataset obj's underlying member method code with example usage: obj.get_depth(folder, frame_index, side, do_flip) and returns: depth_gt