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360MonoDepth

Paper | Project Page

This is the code for 360MonoDepth: High-Resolution 360° Monocular Depth Estimation

Manuel Rey-Area*, Mingze Yuan*, Christian Richardt <br> University of Bath
*denotes equal contribution
CVPR 2022 <img src='imgs/pipeline.jpg'/>

Setup

Tested with Python >= 3.8

Dependencies for C++ code:

• Ceres 2.0.0
• Eigen 3.3.9
• Glog 0.5.0
• Gflags 2.2.2
• GTest 1.10.0
• OpenCV 4.2.0
• Boost 1.75.0
• pybind11 2.8.1

Dependencies for python are in code/python/requirements.txt

With Docker

We recommend Docker to run 360MonoDepth to avoid problems with dependencies.

docker build -t 360monodepth .
docker run -it --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=0 360monodepth sh -c "cd /monodepth/code/python/src; python3 main.py --expname test_experiment --blending_method all --grid_size 8x7"

Without Docker

1. We need to create a conda environment with python 3.8 and build the C++ targets

conda create -n 360monodepth python=3.8
conda activate 360monodepth
pip install -r code/python/requirements.txt

2. Build pybind11 in code/cpp/3rd_party first (or apt-get install python3-pybind11). Then, modify cmakeconfig and code/cpp/python/setup.py to add own paths to libraries/includes

cd code/cpp
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ../
make -j8

3. Copy all the dependent DLL/so files to code/cpp/python/[dll,so]. For example, in Linux code/cpp/python/so should contain the following dynamic libraries: libamd.so.2, libcholmod.so.3, libglog.so, libm.so.6, libsuitesparseconfig.so.5, libblas.so.3, libcolamd.so.2, libglog.so.0, libopencv_core.so.4.2, libtbb.so.2, libcamd.so.2, libcxsparse.so.3, libgomp.so.1, libopencv_imgproc.so.4.2, libccolamd.so.2, libgflags.so.2.2, liblapack.so.3, libquadmath.so.0, libceres.so.2, libgfortran.so.5, libmetis.so.5, libspqr.so.2

cd code/cpp/python
python setup.py build
python setup.py bdist_wheel
pip install code/cpp/python/dist/instaOmniDepth-0.1.0-cp38-cp38-linux_x86_64.whl

OPTIONAL: To add support for BoostingMonocularDepth

git submodule update --init

And download the required weights as indicated in their README.

Running code

Always execute this command per new instance of shell.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/path/to/conda/envs/360monodepth/lib/python3.8/site-packages/instaOmniDepth

Now, we can run the code!

cd code/python/src
python main.py --expname test_experiment --blending_method all --grid_size 8x7

Data

Data must be provided with the --data flag and must be a .txt file with the following structure:

/path/to/dataset/filename00_rgb.[png,jpg] /path/to/dataset/filename00_depth.dpt
/path/to/dataset/filename01_rgb.[png,jpg] /path/to/dataset/filename01_depth.dpt
		.				          .
		.				          .
		.				          .

An example can be found at data/erp_00_data.txt. In case of using data without GT, None should be written in the second column.

Citation

@inproceedings{reyarea2021360monodepth,
	title={{360MonoDepth}: High-Resolution 360{\deg} Monocular Depth Estimation},
	author={Manuel Rey-Area and Mingze Yuan and Christian Richardt},
	booktitle={CVPR},
	year={2022}}