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Official implementation for HybridDepth Model [WACV 2025, ISMAR 2024]

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cake-lab/HybridDepth

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📢 We released an improved version of HybridDepth, now available with new features and optimized performance!

This work presents HybridDepth. HybridDepth is a practical depth estimation solution based on focal stack images captured from a camera. This approach outperforms state-of-the-art models across several well-known datasets, including NYU V2, DDFF12, and ARKitScenes.

teaser

📢 News

  • 2024-10-30: Releasedversion 2 of HybridDepth with improved performance and pre-trained weights.
  • 2024-10-30: Integrated support for TorchHub for easy model loading and inference.
  • 2024-07-25: Initial release of pre-trained models.
  • 2024-07-23: GitHub repository and HybridDepth model went live.

🚀 Usage

Colab Notebook Starter File

Quickly get started with HybridDepth using theColab notebook.

Using TorchHub

You can select a pre-trained model directly with TorchHub.

Available Pre-trained Models:

  • HybridDepth_NYU5: Pre-trained on the NYU Depth V2 dataset using a 5-focal stack input, with both the DFF branch and refinement layer trained.
  • HybridDepth_NYU10: Pre-trained on the NYU Depth V2 dataset using a 10-focal stack input, with both the DFF branch and refinement layer trained.
  • HybridDepth_DDFF5: Pre-trained on the DDFF dataset using a 5-focal stack input.
  • HybridDepth_NYU_PretrainedDFV5: Pre-trained only on the refinement layer with NYU Depth V2 dataset using a 5-focal stack, following pre-training with DFV.
model_name='HybridDepth_NYU_PretrainedDFV5'#change thismodel=torch.hub.load('cake-lab/HybridDepth',model_name ,pretrained=True)model.eval()

Local Installation

  1. Clone the repository and install the dependencies:
git clone https://github.com/cake-lab/HybridDepth.gitcd HybridDepthconda env create -f environment.ymlconda activate hybriddepth
  1. Download Pre-Trained Weights:

Download the weights for the model from the links below and place them in thecheckpoints directory:

  1. Prediction

For inference, you can run the following code:

# Load the model checkpointmodel_path='checkpoints/NYUBest5.ckpt'model=DepthNetModule.load_from_checkpoint(model_path)model.eval()model=model.to('cuda')

After loading the model, use the following code to process the input images and get the depth map:

Note: Currently, theprepare_input_image function only supports.jpg images. Modify the function if you need support for other image formats.

fromutils.ioimportprepare_input_imagedata_dir='focal stack images directory'# Path to the focal stack images in a folder# Load the focal stack imagesfocal_stack,rgb_img,focus_dist=prepare_input_image(data_dir)# Run inferencewithtorch.no_grad():out=model(rgb_img,focal_stack,focus_dist)metric_depth=out[0].squeeze().cpu().numpy()# The metric depth

🧪 Evaluation

Please first Download the weights for the model from the links below and place them in thecheckpoints directory:

Dataset Preparation

  1. NYU Depth V2: Download the dataset following the instructions providedhere.
  2. DDFF12: Download the dataset following the instructions providedhere.
  3. ARKitScenes: Download the dataset following the instructions providedhere.

Set up the configuration fileconfig.yaml in theconfigs directory. Pre-configured files for each dataset are available in theconfigs directory, where you can specify paths, model settings, and other hyperparameters. Here’s an example configuration:

data:class_path:dataloader.dataset.NYUDataModule# Path to your dataloader module in dataset.pyinit_args:nyuv2_data_root:"path/to/NYUv2"# Path to the specific datasetimg_size:[480, 640]# Adjust based on your DataModule requirementsremove_white_border:Truenum_workers:0# Set to 0 if using synthetic datause_labels:Truemodel:invert_depth:True# Set to True if the model outputs inverted depthckpt_path:checkpoints/checkpoint.ckpt

Specify the configuration file in thetest.sh script:

python cli_run.pytest --config configs/config_file_name.yaml

Then, execute the evaluation with:

cd scriptssh evaluate.sh

🏋️ Training

Install Synthetic CUDA Package

Install the required CUDA-based package for image synthesis:

cd ./utils/synthetic/gauss_psf/ python setup.py install

This installs the package necessary for synthesizing images.

Configuration for Training

Set up the configuration fileconfig.yaml in theconfigs directory, specifying the dataset path, batch size, and other training parameters. Below is a sample configuration for training with the NYUv2 dataset:

model:invert_depth:True# learning ratelr:3e-4# Adjust as needed# weight decaywd:0.001# Adjust as neededdata:class_path:dataloader.dataset.NYUDataModule# Path to your dataloader module in dataset.pyinit_args:nyuv2_data_root:"path/to/NYUv2"# Dataset pathimg_size:[480, 640]# Adjust for NYUDataModuleremove_white_border:Truebatch_size:24# Adjust based on available memorynum_workers:0# Set to 0 if using synthetic datause_labels:Trueckpt_path:null

Specify the configuration file in thetrain.sh script:

python cli_run.py train --config configs/config_file_name.yaml

Execute the training command:

cd scriptssh train.sh

📖 Citation

If our work assists you in your research, please cite it as follows:

@InProceedings{Ganj_2025_WACV,author    ={Ganj, Ashkan and Su, Hang and Guo, Tian},title     ={HybridDepth: Robust Metric Depth Fusion by Leveraging Depth from Focus and Single-Image Priors},booktitle ={Proceedings of the Winter Conference on Applications of Computer Vision (WACV)},month     ={February},year      ={2025},pages     ={973-982}}@INPROCEEDINGS{10765280,author={Ganj, Ashkan and Su, Hang and Guo, Tian},booktitle={2024 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct)},title={Toward Robust Depth Fusion for Mobile AR With Depth from Focus and Single-Image Priors},year={2024},volume={},number={},pages={517-520},keywords={Analytical models;Accuracy;Source coding;Computational modeling;Pipelines;Estimation;Cameras;Mobile handsets;Hardware;Augmented reality;Metric Depth Estimation;Augmented Reality;Depth From Focus;Depth Estimation},doi={10.1109/ISMAR-Adjunct64951.2024.00149}}

Developer's Note

This code has been developed by Ashkan Ganj. If you have any questions, suggestions, or feedback, please don’t hesitate to reach out.(AshkanGanj@gmail.com,aganj@wpi.edu).

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