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DDRNet: Depth Map Denoising and Refinement for Consumer Depth Cameras Using Cascaded CNNs

The major contributers of this repository include Shi Yan and Lizhen Wang.

Introduction

DDRNet is a cascaded Depth Denoising and Refinement Network, which achieves superior performance over the state-of-the-art techniques.

DDRNet is described in ECCV 2018 paper. It is worth noticing that:

DDRNet leverages the multi-frame fused geometry and the accompanying high quality color image through a joint training strategy.
Each sub-network focuses on lifting the quality in different frequency domains.
It combines supervised and unsupervised learning to solve the issue of lacking ground truth training data.

Requirements: Software

Python > 2.7
TensorFlow >= 1.3.0
numpy, scipy, scikit-image

Requirements: Hardware

Any NVIDIA GPUs with 5GB memory suffices. For training, we recommend 4xGPU with 12G memory.

Before Start

Clone the repository.

git clone https://github.com/neycyanshi/DDRNet.git

Preparation

Download dataset or prepare your own data. In the dataset folder:

dataset
├── 20170907
│   ├── group1
│   │   ├── depth_map
│   │   ├── high_quality_depth (depth_ref)
│   │   ├── depth_filled
│   │   ├── color_map
│   │   ├── mask
│   │   └── albedo
│   ├── group2
│   └── ... 
├── 20170910
└── ...

color_map and depth_map are captured and aligned raw data.
high_quality_depth (depth_ref, D_ref) is generated using fusion method, paired with depth_map.
depth_filled, mask and albedo are generated by preprocess(optional).

Please prepare index files for training or testing. train.csv has at least 3 columns, pre-computed mask and albedo is optional, and can be added to the 4,5th column. test.csv is similar, and depth_ref path is not necessary.
(Optional) Preproccess
- depth_filled and mask: fill small holes in depth map and get salient mask using the following command.
```
python data_utils/dilate_erode.py dataset/20170907
```
- albedo: get offline albedo using methods like Retinex algorithm or Reflectance Filtering.

Testing

Please download our pre-trained model from Google Drive or Baidu Pan, and put them under folder log/cscd/noBN_L1_sd100_B16/, and we call this checkpoint directory as $CKPT_DIR. Make sure it looks like this:

log/cscd/noBN_L1_sd100_B16/checkpoint
log/cscd/noBN_L1_sd100_B16/graph.pbtxt
log/cscd/noBN_L1_sd100_B16/noBN_L1_sd100_B16-6000.meta
log/cscd/noBN_L1_sd100_B16/noBN_L1_sd100_B16-6000.index
log/cscd/noBN_L1_sd100_B16/noBN_L1_sd100_B16-6000.data-00000-of-00001

Edit eval.sh by modifing checkpoint_dir and csv_path to yours.
Run test script and save results to $RESULT_DIR directory. Denoised depth map (D_dn) dn_frame_%6d.png and refined depth map (D_dt) dt_frame_%6d.png will be saved.
```
sh eval.sh $RESULT_DIR/  # RESULT_DIR=sample
```

Training

train.sh is an example of how to train this network, please edit index_file and dataset_dir to yours.
Run train script and save checkpoints to specified directory. Here $LOG_DIR is the parent directory of $EXPM_DIR. Log, network graph and model parameters (checkpoints) are saved in $EXPM_DIR. $GPU_ID is the selected gpu id. If GPU_ID=0, training is done on the first GPU.
```
sh train.sh $LOG_DIR/$EXPM_DIR/ $GPU_ID  # LOG_DIR=cscd EXPM_DIR=noBN_L1_sd100_B16
tensorboard --logdir=log/$LOG_DIR/$EXPM_DIR --port=6006  # visualizing training.
```

Citing DDRNet

If you find DDRNet useful in your research, please consider citing:

@inproceedings{yan2018DDRNet,  
  author = {Shi Yan, Chenglei Wu, Lizhen Wang, Feng Xu, Liang An, Kaiwen Guo, and Yebin Liu},  
  title = {DDRNet: Depth Map Denoising and Refinement for Consumer Depth Cameras Using Cascaded CNNs},  
  booktitle = {ECCV},  
  year = {2018}  
}

Misc.

Code has been tested under:

Ubuntu 16.04 with 3 Maxwell Titan X GPU and Intel i7-6900K CPU @ 3.20GHz
Ubuntu 14.04 with a GTX 1070 GPU and Intel Xeon CPU E3-1231 v3 @ 3.40GHz