def list_eval_keys(prefix='kitti'):
  """List the keys of the dictionary returned by the evaluate function."""
  return [
      prefix + '-EPE(occ)',
      prefix + '-EPE(noc)',
      prefix + '-ER(occ)',
      prefix + '-ER(noc)',
      prefix + '-inf-time(ms)',
      prefix + '-eval-time(s)',
      prefix + '-occl-f-max',
      prefix + '-best-occl-thresh',
  ]