KITTI Numbers

[anupamsobti]

The KITTI set reported in the paper is said to have 161 images.
(from Supplementary Material Section C,

"For KITTI we used the intersection of the official validation set for depth estimation (with improved ground-truth depth [69]) and the Eigen test split [60] (161 images)".)

I assume that is a mix of Depth Benchmark Val and Eigen Test. These seem to have only 145 common images. Could you please point me to the exact datasets that were used?

Here's the code I wrote to find the intersection

#!/usr/bin/python
import re

benchmark_val_file = "splits/benchmark/val_files.txt"
eigen_test_file = "splits/eigen/test_files.txt"

zfill=True

with open(benchmark_val_file, 'r') as f:
    val_set= set()
    for line in f.readlines():
        dir_name, img_num = line.split()[:2]
        if zfill:
            val_set.add((dir_name, img_num.zfill(10)))
        else:
            val_set.add((dir_name, img_num))

with open(eigen_test_file, 'r') as f:
    eigen_set = set() 
    for line in f.readlines():
        dir_name, img_num = line.split()[:2]
        eigen_set.add((dir_name, img_num))

print(len(val_set.intersection(eigen_set)))

[lasinger]

It seems that there are some files missing in the list Depth Benchmark Val.
That list has only 6060 entries, but in the official test validation set from the Kitti website (Download annotated depth maps data set (14 GB)) there are 6852 images.
Intersecting those 6852 images with the Eigen test split results in 161 images.

[anupamsobti]

Thank you for pointing that out.