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Extreme-Two-View-Geometry-From-Object-Poses-with-Diffusion-Models

Paper

Introduction

Estimate relative camera pose of two images containing a co-visible object

Setup

python >=3.8

1. run:

git clone https://github.com/scy639/Extreme-Two-View-Geometry-From-Object-Poses-with-Diffusion-Models.git
cd Extreme-Two-View-Geometry-From-Object-Poses-with-Diffusion-Models
pip install -r requirements.txt
mkdir -p install
cd install
git clone https://github.com/CompVis/taming-transformers.git
pip install -e taming-transformers/
git clone https://github.com/openai/CLIP.git
pip install -e CLIP/
cd ..
mkdir -p weight
cd weight
mkdir weight_gen6d
wget https://cv.cs.columbia.edu/zero123/assets/105000.ckpt
wget https://huggingface.co/One-2-3-45/code/resolve/main/one2345_elev_est/tools/weights/indoor_ds_new.ckpt
cd ..

if you have trouble installing Pytorch3D in the above way, follow https://github.com/facebookresearch/pytorch3d/blob/main/INSTALL.md to install Pytorch3D

2. download gen6d weight
   • follow https://github.com/liuyuan-pal/Gen6D#Download to download gen6d_pretrain.tar.gz
   • tar -xvf gen6d_pretrain.tar.gz
   • now you should have a folder called 'data', move sub folders 'detector_pretrain', 'selector_pretrain' and 'refiner_pretrain' to weight/weight_gen6d/

Usage

Evaluate on testset

Modify evaluate_on_testset.py and run it. Before evaluating on GSO, you need to:

1. download gso-renderings.zip from https://drive.google.com/file/d/1fsMGFC3FdRFzWqClOT1jgbNRNqsE5sRv/view?usp=sharing and run 'unzip gso-renderings.zip'
2. configure src/path_configuration.py:

# the parent folder of GSO objects folders (GSO_alarm,GSO_backpack,...)
dataPath_gso='path/to/gso-renderings'

Before evaluating on NAVI, you need to:

1. follow https://github.com/google/navi/tree/49661e33598c4812584ef428a7b2019dbb318a3c to download navi_v1.tar.gz and extract
2. configure src/path_configuration.py:

# the parent folder of NAVI objects folders (3d_dollhouse_sink,bottle_vitamin_d_tablets,...)
dataPath_navi=''

Estimation on custom images

Modify infer_custom.py and run it.

Todo List

• Check setup
• Upload GSO testset to a cloud drive
• Remove unused code; better document and comment
• Remove unused package from requirement.txt
• Provide command line interface
• ...

Acknowledgements

In this repository, we have used codes from the following repositories. We thank all the authors for sharing great codes.

• Gen6D
• zero123
• One-2-3-45
• extrinsic2pyramid
• LoFTR

Citation

@misc{sun2024extreme,
      title={Extreme Two-View Geometry From Object Poses with Diffusion Models}, 
      author={Yujing Sun and Caiyi Sun and Yuan Liu and Yuexin Ma and Siu Ming Yiu},
      year={2024},
      eprint={2402.02800},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}