Closed DeepDeep123 closed 5 years ago
The official depth provided by RAW KITTI is in point cloud format, which cannot be directly used for training. The code from Monodepth projects the point cloud into a depth map to the left camera view. My code follows Monodepth and also projects the point cloud into a depth map in the left camera view. The only difference is that Monodepth utilizes LiDAR depth values, while I use the depth values in the camera view. You can check this file for the depth map generation.
Hi, Guo,
Thanks for your reply! I just find that KITTI now indeeds provide ground truth depth map data_depth_annotated.zip, where ground truth maps are saved as 16bit PNG files.
By the way, you use depth values in the camera view, does it mean that vel_depth is set to be False?
Thanks!
I think the data_depth_annotated.zip is from the new KITTI Depth Prediction benchmark, while my paper is based on KITTI RAW data and the Eigen split.
It is the same when you set vel_depth to False.
Hi, Guo,
I am wondering which ground truth depth map you use for supervised fine-tuning and evaluation on KITTI dataset. Is the offical depth provided by KITTI or from monodepth. I am confused, which one shall we use?
Thanks!