The ground truth velodyne depth of kitti.

[MRinel]

Hi, amazing work for depth prediction! I have a few questions on kitti ground truth and visualization.
The ground truth velodyne depth being very sparse, how to interpolate it for visualization?
like:(from kitti depth prediction/ annotated depth map dataset)

visualize :

I tried to complete the depth map, but it didn't work as well as above.
In addition, RMSE is calculated using the original sparse depth map, right?

[mdfirman]

If you are trying to densify the depth maps for visualisation there are a few options.

You could try out scipy's interp2d function (https://docs.scipy.org/doc/scipy/reference/generated/scipy.interpolate.interp2d.html).

There is also at least one option on this thread.

And yes, all the metrics are computed on the sparse depth map.

Thanks