KITTI instructions partially missing or outdated

[eyildiz-ugoe]

Instructions for KITTI dataset is either missing, outdated or wrong.

you need to download the benchmark_cam consisting of camera intrinsic parameters of the benchmark test set.

And where would that "benchmark_test" set be at? Do you have link to that by any chance? Because on the KITTI website, there is no download link for "benchmark_test_ set per se. Without that, having downloaded benchmark_cam does not make any sense.

BTW, your link to "raw KITTI" dataset is misleading. It must be this one: https://www.cvlibs.net/datasets/kitti/raw_data.php

[zhyever]

Hi, the benchmark_test there is a google-drive sharing link to the file.

[eyildiz-ugoe]

Hi, the benchmark_test there is a google-drive sharing link to the file.

That's the one with .txt files only, I am asking for the one with the images, called benchmark_test.

├── benchmark_test (THIS IS MISSING)
│ │ │ ├── 0000000000.png
│ │ │ ├── 0000000001.png
│ │ │ ├── ...
│ │ │ ├── 0000000499.png
| | ├── benchmark_cam (THIS IS GIVEN IN GOOGLE DRIVE, OK)
│ │ │ ├── 0000000000.txt
│ │ │ ├── 0000000001.txt
│ │ │ ├── ...
│ │ │ ├── 0000000499.txt

[zhyever]

You should download the text image set from the offical webserver.
Please refer to https://www.cvlibs.net/datasets/kitti/eval_depth.php?benchmark=depth_prediction

[eyildiz-ugoe]

Those links download the following files:

data_depth_annotated/
data_depth_selection/
data_depth_velodyne/

which of these is benchmark_test, exactly?

[zhyever]

I cannot remember clearly. But there is a folder with all 500 images and you cannot find corresponding GT. That's the test set.

[eyildiz-ugoe]

there is a folder with all 500 images

It may be the case that KITTI updated the links and/or the folder structure, because there are no 500 images in any of those folders. All combined, there are 1530 directories, 193501 files in these three folders:

data_depth_annotated/
data_depth_selection/
data_depth_velodyne/

BTW It's not clear how to organize the raw data either. If you download it now, you'll not know which one goes into "input" and which one goes into "gt_depth". I have just downloaded everything and it's not possible to follow the instructions. I've tried cityscapes, and that works, but not KITTI. Just saying.