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https://github.com/cleinc/bts

From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation
https://github.com/cleinc/bts

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From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation

Host: GitHub
URL: https://github.com/cleinc/bts
Owner: cleinc
License: gpl-3.0
Created: 2019-08-21T10:01:20.000Z (over 5 years ago)
Default Branch: master
Last Pushed: 2024-01-25T19:09:44.000Z (11 months ago)
Last Synced: 2024-08-01T00:42:26.853Z (5 months ago)
Language: Python
Size: 640 KB
Stars: 627
Watchers: 20
Forks: 177
Open Issues: 86
Metadata Files:
- Readme: README.md
- License: COPYING

Awesome Lists containing this project

awesome-monocular-3D-reconstruction - [pytorch+tensorflow

README

        # BTS

From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation   

[arXiv](https://arxiv.org/abs/1907.10326)  

[Supplementary material](https://arxiv.org/src/1907.10326v4/anc/bts_sm.pdf) 

## Video Demo 1

[![Screenshot](https://img.youtube.com/vi/2fPdZYzx9Cg/maxresdefault.jpg)](https://www.youtube.com/watch?v=2fPdZYzx9Cg)

## Video Demo 2

[![Screenshot](https://img.youtube.com/vi/1J-GSb0fROw/maxresdefault.jpg)](https://www.youtube.com/watch?v=1J-GSb0fROw)

## Note

This repository contains TensorFlow and PyTorch implementations of BTS.

## Preparation for all implementations

```shell

$ cd ~

$ mkdir workspace

$ cd workspace

### Make a folder for datasets

$ mkdir dataset

### Clone this repo

$ git clone https://github.com/cleinc/bts

```

## Prepare [NYU Depth V2](https://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html) test set

```shell

$ cd ~/workspace/bts/utils

### Get official NYU Depth V2 split file

$ wget http://horatio.cs.nyu.edu/mit/silberman/nyu_depth_v2/nyu_depth_v2_labeled.mat

### Convert mat file to image files

$ python extract_official_train_test_set_from_mat.py nyu_depth_v2_labeled.mat splits.mat ../../dataset/nyu_depth_v2/official_splits/

```

## Prepare [KITTI](http://www.cvlibs.net/download.php?file=data_depth_annotated.zip) official ground truth depth maps

Download the ground truth depthmaps from this link [KITTI](http://www.cvlibs.net/download.php?file=data_depth_annotated.zip).\

Then,

```

$ cd ~/workspace/dataset

$ mkdir kitti_dataset && cd kitti_dataset

$ mv ~/Downloads/data_depth_annotated.zip .

$ unzip data_depth_annotated.zip

```

Follow instructions from one of the below implementations with your choice.

## TensorFlow Implementation

[[./tensorflow/]](./tensorflow/)

## PyTorch Implementation

[[./pytorch/]](./pytorch/)

## Model Zoo

### KITTI Eigen Split

| Base Network |  cap  |   d1  |   d2  |   d3  | AbsRel | SqRel |  RMSE | RMSElog | SILog | log10 | #Params |          Model Download          |

|:------------:|:-----:|:-----:|:-----:|:-----:|:------:|:-----:|:-----:|:-------:|:-----:|:-----:|:-------:|:--------------------------------:|

| ResNet50     | 0-80m | 0.954 | 0.992 | 0.998 |  0.061 | 0.250 | 2.803 |   0.098 | 9.030 | 0.027 |   49.5M | [bts_eigen_v2_pytorch_resnet50](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_resnet50.zip)  |

| ResNet101    | 0-80m | 0.954 | 0.992 | 0.998 |  0.061 | 0.261 | 2.834 |   0.099 | 9.075 | 0.027 |   68.5M | [bts_eigen_v2_pytorch_resnet101](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_resnet101.zip) |

| ResNext50    | 0-80m | 0.954 | 0.993 | 0.998 |  0.061 | 0.245 | 2.774 |   0.098 | 9.014 | 0.027 |   49.0M | [bts_eigen_v2_pytorch_resnext50](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_resnext50.zip)  |

| ResNext101   | 0-80m | 0.956 | 0.993 | 0.998 |  0.059 | 0.241 | 2.756 |   0.096 | 8.781 | 0.026 |  112.8M | [bts_eigen_v2_pytorch_resnext101](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_resnext101.zip)  |

| DenseNet121  | 0-80m | 0.951 | 0.993 | 0.998 |  0.063 | 0.256 | 2.850 |   0.100 | 9.221 | 0.028 |   21.2M | [bts_eigen_v2_pytorch_densenet121](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_densenet121.zip) |

| DenseNet161  | 0-80m | 0.955 | 0.993 | 0.998 |  0.060 | 0.249 | 2.798 |   0.096 | 8.933 | 0.027 |   47.0M | [bts_eigen_v2_pytorch_densenet161](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_eigen_v2_pytorch_densenet161.zip) |

### NYU Depth V2

| Base Network |   d1  |   d2  |   d3  | AbsRel | SqRel |  RMSE | RMSElog |  SILog | log10 | #Params |         Model Download         |

|:------------:|:-----:|:-----:|:-----:|:------:|:-----:|:-----:|:-------:|:------:|:-----:|:-------:|:------------------------------:|

| ResNet50     | 0.865 | 0.975 | 0.993 |  0.119 | 0.075 | 0.419 |   0.152 | 12.368 | 0.051 |   49.5M | [bts_nyu_v2_pytorch_resnet50](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_resnet50.zip) |

| ResNet101    | 0.871 | 0.977 | 0.995 |  0.113 | 0.068 | 0.407 |   0.148 | 11.886 | 0.049 |   68.5M | [bts_nyu_v2_pytorch_resnet101](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_resnet101.zip) |

| ResNext50    | 0.867 | 0.977 | 0.995 |  0.116 | 0.070 | 0.414 |   0.150 | 12.186 | 0.050 |   49.0M | [bts_nyu_v2_pytorch_resnext50](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_resnext50.zip)  |

| ResNext101   | 0.880 | 0.977 | 0.994 |  0.111 | 0.069 | 0.399 |   0.145 | 11.680 | 0.048 |  112.8M | [bts_nyu_v2_pytorch_resnext101](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_resnext101.zip)  |

| DenseNet121  | 0.871 | 0.977 | 0.993 |  0.118 | 0.072 | 0.410 |   0.149 | 12.028 | 0.050 |   21.2M | [bts_nyu_v2_pytorch_densenet121](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_densenet121.zip) |

| DenseNet161  | 0.885 | 0.978 | 0.994 |  0.110 | 0.066 | 0.392 |   0.142 | 11.533 | 0.047 |   47.0M | [bts_nyu_v2_pytorch_densenet161](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_densenet161.zip) |

| MobileNetV2  |  TBA  |  TBA  |  TBA  |   TBA  |  TBA  |  TBA  |   TBA  |  TBA   | TBA |   16.3M | [bts_nyu_v2_pytorch_mobilenetv2](https://cogaplex-bts.s3.ap-northeast-2.amazonaws.com/bts_nyu_v2_pytorch_mobilenetv2.zip) |

Note: Modify arguments '--encoder', '--model_name', '--checkpoint_path' and '--pred_path' accordingly.

## Live Demo

Finally, we attach live 3d demo implementations for both of TensorFlow and Pytorch. \

For best performance, get correct intrinsic values for your webcam and put them in bts_live_3d.py. \

Sample usage for PyTorch:

```

$ cd ~/workspace/bts/pytorch

$ python bts_live_3d.py --model_name bts_nyu_v2_pytorch_densenet161 \

--encoder densenet161_bts \

--checkpoint_path ./models/bts_nyu_v2_pytorch_densenet161/model \

--max_depth 10 \

--input_height 480 \

--input_width 640

```

## Citation

If you find this work useful for your research, please consider citing our paper:

```

@article{lee2019big,

  title={From big to small: Multi-scale local planar guidance for monocular depth estimation},

  author={Lee, Jin Han and Han, Myung-Kyu and Ko, Dong Wook and Suh, Il Hong},

  journal={arXiv preprint arXiv:1907.10326},

  year={2019}

}

```

## License

Copyright (C) 2019 Jin Han Lee, Myung-Kyu Han, Dong Wook Ko and Il Hong Suh \

This Software is licensed under GPL-3.0-or-later.