Sangluisme / PSgradientSDF

High-Quality RGB-D Reconstruction via Multi-View Uncalibrated Photometric Stereo and Gradient-SDF

WACV 2023 paper

Enable detailed RGB-D data 3D reconstruction. Jointly estimate camera pose, geometry, albedo and environment lighting under natural light or point-light-source.

clone repository

git clone https://github.com/Sangluisme/PSgradientSDF.git

please use

git submodule update --init --recursive

to pull our dependency.

code structure

cpp (basic code folder)
|---include
|---third
|---voxel_ps
|     |---bin
|     |---src
|     |---CMakeLsits.txt
|---CMakeLists.txt

config (example config files)
|---config.json
|---...

data (demo data folder)
|---demo_data1
|---demo_data2

results (default results save path)
|---...

setup

please create a build folder under the cpp/ folder path then do

cd cuild
cmake ..
make

it will build a binary file under the path cpp/voxel_ps/bin/.

usage

cd ./cpp/voxel_ps/bin/
./voxelPS --config_file <your config file path>

config file

All the parameters you can control are listed in the example config files in the config folder. Here is some explanation of the parameters.

input: data folder path
output: results saving path
pose filename: ground true pose or pre-calculated pose file name under input path (optional)
datatype: support tum (TUM_RGBD sequence), synth, multiview differences explained in next section
first: start frame number
last: end frame number
voxel size: voxel size in m (choose a larger one if the algorithm is too slow)
sharpness threshold: criteria of selecting the keyframe
model type: SH1, SH2(not recommend), LED (1st, 2nd spherical harmonics, point-light-source)
reg albedo: regularizer for albedo (set to 0)
reg norm: Eikonal regularizer
reg laplacian: regularizer for distance laplacian (set to 0)
lambda: loss function parameters
--light: bool if update light
--albedo: bool if update albedo
--distance: bool if update SDF distance
--pose: bool if update pose

please note the bold parameters are required, others are optional.

data type

The main difference between each data type is the structure of the data folder The general requirement is:

contain depth and RGB images, together with intrinsics.txt in the same folder.
If the pose is unknown, the images should be like a video sequence that allow camera tracking, otherwise initial camera pose file should be provided.

tum -- TUM_RGBD (please refer to https://vision.in.tum.de/data/datasets/rgbd-dataset/download for detail)

should have a structure

data
|---depth (folder)
|     |---depth_timestamp1.png
|     |---depth_timestamp2.png
|     |---...
|
|---rgb (folder)
|     |---rgb_timestamp1.png
|     |---rgb_timestamp2.png
|     |---...
|
|---depth.txt
|---rgb.txt
|---associated.txt
|---intrinsics.txt

multiview -- intrinsic3d data should have the structure (some multi view data has too large baseline, thus initial poses are needed)

data
|---color0000001.png
|---color0000002.png
|---color0000003.png
|---...
|---depth0000001.png
|---depth0000001.png
|---depth0000001.png
|---...
|---intrinsics.txt
|---pose.txt

synth -- the synthetic data or point-light-source data which is recorded using the set-up mentioned in the paper

data
|---depth
|     |---001.png
|     |---002.png
|     |---003.png
|     |---...
|---rgb
|     |---001.png
|     |---003.png
|     |---003.png
|     |---...
|---intrinsics.txt

To use your own data, just convert your data to either one of the structures and specify the corresponding data type in the config.json file.

trouble shooting

compile error of Sophus: we use an older version of sophus, just commit back to the version shows in the git repository.
too slow/out of memory: disable upsampling in config.json or increase the voxel size.
reconstruction size: it is controlled by two factors, voxel size (per voxel, in meters) and voxel grid size, the default is 128x128x128. The actual reconstruction range will be voxel size times voxel grid size, e.g. 0.02*128 = 2.56 m (one edge). If you would like to use a bigger voxel grid size, change it here

PSgradientSDF/cpp/voxel_ps/src/main_ps.cpp

Line 123 in 1648692

size_t gridW = 128, gridH = 128, gridD = 128;

.
voxel size: changing voxel size will influence the reconstruction details since a smaller voxel size means each voxel only represents a smaller area. This will not affect the memory but a smaller voxel size means under the same voxel grid size, the reconstruction area will be small.
voxel grid size: currently is hard coded as 128x128x128. Please change here if you want

PSgradientSDF/cpp/voxel_ps/src/main_ps.cpp

Line 123 in 1648692

size_t gridW = 128, gridH = 128, gridD = 128;

. Larger voxel grid size will cause large memory consumptions, but also allows a larger reconstruction range.

citation

@inproceedings{sang2023high,
 author = {L Sang and B Haefner and X Zuo and D Cremers},
 title = {High-Quality RGB-D Reconstruction via Multi-View Uncalibrated Photometric Stereo and Gradient-SDF},
 booktitle = {IEEE Winter Conference on Applications of Computer Vision (WACV)},
 month = {January},
 address = {Hawaii, USA},
 year = {2023},
 eprint = {2210.12202},
 eprinttype = {arXiv},
 eprintclass = {cs.CV},
 copyright = {Creative Commons Attribution Non Commercial No Derivatives 4.0 International},
 keywords = {3d-reconstruction,rgb-d,photometry},
}