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NVlabs / BundleSDF

[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
https://bundlesdf.github.io/
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depth image histogram #115

Closed monajalal closed 9 months ago

monajalal commented 10 months ago

Hi @wenbowen123

Thanks a lot for your help in the repo.

I finally was able to fix the repeating wave structure in my depth images by thresholding it.

However, now I notice my depth images do not have have a histogram like yours and the histogram is noticeably different. Is that something of concern? My depth image: Screenshot from 2023-11-07 13-19-04

$ identify -verbose 16993035089692230467.png
Image:
  Filename: 16993035089692230467.png
  Format: PNG (Portable Network Graphics)
  Mime type: image/png
  Class: DirectClass
  Geometry: 640x480+0+0
  Units: Undefined
  Colorspace: Gray
  Type: Grayscale
  Base type: Undefined
  Endianness: Undefined
  Depth: 16-bit
  Channel depth:
    gray: 16-bit
  Channel statistics:
    Pixels: 307200
    Gray:
      min: 0  (0)
      max: 58392 (0.891005)
      mean: 7436.43 (0.113473)
      standard deviation: 19466.1 (0.297033)
      kurtosis: 2.99806
      skewness: 2.23563
      entropy: 0.550135
  Colors: 2
  Histogram:
    268077: (0,0,0) #000000000000 gray(0)
    39123: (58392,58392,58392) #E418E418E418 gray(89.1005%)
  Rendering intent: Undefined
  Gamma: 0.454545
  Background color: gray(255)
  Border color: gray(223)
  Matte color: gray(189)
  Transparent color: gray(0)
  Interlace: None
  Intensity: Undefined
  Compose: Over
  Page geometry: 640x480+0+0
  Dispose: Undefined
  Iterations: 0
  Compression: Zip
  Orientation: Undefined
  Properties:
    date:create: 2023-11-07T16:14:43+00:00
    date:modify: 2023-11-07T16:14:43+00:00
    png:IHDR.bit-depth-orig: 16
    png:IHDR.bit_depth: 16
    png:IHDR.color-type-orig: 0
    png:IHDR.color_type: 0 (Grayscale)
    png:IHDR.interlace_method: 0 (Not interlaced)
    png:IHDR.width,height: 640, 480
    signature: 4a4427ed2d3f61579c04497677cd734e5f42800b78b85a5260f9580f94ba9bc1
  Artifacts:
    filename: 16993035089692230467.png
    verbose: true
  Tainted: False
  Filesize: 12203B
  Number pixels: 307200
  Pixels per second: 75.2198MB
  User time: 0.000u
  Elapsed time: 0:01.004
  Version: ImageMagick 6.9.11-60 Q16 x86_64 2021-01-25 https://imagemagick.org

Your depth image:

$ identify -verbose ~/BundleSDF/milk/2022-11-18-15-10-24_milk/depth/1668813025227678812.png
Image:
  Filename: /home/mona/BundleSDF/milk/2022-11-18-15-10-24_milk/depth/1668813025227678812.png
  Format: PNG (Portable Network Graphics)
  Mime type: image/png
  Class: DirectClass
  Geometry: 640x480+0+0
  Units: Undefined
  Colorspace: Gray
  Type: Grayscale
  Base type: Undefined
  Endianness: Undefined
  Depth: 16-bit
  Channel depth:
    gray: 16-bit
  Channel statistics:
    Pixels: 307200
    Gray:
      min: 0  (0)
      max: 916 (0.0139773)
      mean: 250.485 (0.00382216)
      standard deviation: 325.502 (0.00496684)
      kurtosis: -1.50343
      skewness: 0.599274
      entropy: 0.479311
  Colors: 423
  Histogram:
    190391: (0,0,0) #000000000000 gray(0)
    100: (477,477,477) #01DD01DD01DD gray(0.727855%)
    195: (478,478,478) #01DE01DE01DE gray(0.729381%)
    232: (479,479,479) #01DF01DF01DF gray(0.730907%)
    170: (480,480,480) #01E001E001E0 gray(0.732433%)
    179: (481,481,481) #01E101E101E1 gray(0.733959%)
    197: (482,482,482) #01E201E201E2 gray(0.735485%)
    150: (483,483,483) #01E301E301E3 gray(0.737011%)
    136: (484,484,484) #01E401E401E4 gray(0.738537%)
    142: (485,485,485) #01E501E501E5 gray(0.740063%)
    129: (486,486,486) #01E601E601E6 gray(0.741588%)
    151: (487,487,487) #01E701E701E7 gray(0.743114%)
    124: (488,488,488) #01E801E801E8 gray(0.74464%)
    143: (489,489,489) #01E901E901E9 gray(0.746166%)
    100: (490,490,490) #01EA01EA01EA gray(0.747692%)
    197: (491,491,491) #01EB01EB01EB gray(0.749218%)
    394: (492,492,492) #01EC01EC01EC gray(0.750744%)
    924: (493,493,493) #01ED01ED01ED gray(0.75227%)
    695: (494,494,494) #01EE01EE01EE gray(0.753796%)
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    491: (499,499,499) #01F301F301F3 gray(0.761425%)
    434: (500,500,500) #01F401F401F4 gray(0.762951%)
    404: (501,501,501) #01F501F501F5 gray(0.764477%)
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    317: (508,508,508) #01FC01FC01FC gray(0.775158%)
    343: (509,509,509) #01FD01FD01FD gray(0.776684%)
    299: (510,510,510) #01FE01FE01FE gray(0.77821%)
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    304: (512,512,512) #020002000200 gray(0.781262%)
    335: (513,513,513) #020102010201 gray(0.782788%)
    270: (514,514,514) #020202020202 gray(2)
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    210: (571,571,571) #023B023B023B gray(0.87129%)
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    421: (629,629,629) #027502750275 gray(0.959792%)
    464: (630,630,630) #027602760276 gray(0.961318%)
    504: (631,631,631) #027702770277 gray(0.962844%)
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    479: (633,633,633) #027902790279 gray(0.965896%)
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    480: (637,637,637) #027D027D027D gray(0.972%)
    509: (638,638,638) #027E027E027E gray(0.973526%)
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    584: (643,643,643) #028302830283 gray(0.981155%)
    559: (644,644,644) #028402840284 gray(0.982681%)
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    564: (651,651,651) #028B028B028B gray(0.993362%)
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    493: (657,657,657) #029102910291 gray(1.00252%)
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    516: (659,659,659) #029302930293 gray(1.00557%)
    550: (660,660,660) #029402940294 gray(1.0071%)
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crackwitz commented 10 months ago

here is context: https://stackoverflow.com/questions/77439308/fixing-the-repetitive-wave-structure-in-depth-map-when-writing-to-disk

wenbowen123 commented 10 months ago

Hi @monajalal, all your questions seems to have been caused by the depth format. To save your troubles, you can save the raw depth as pickle/npy files, then change the run_custom.py to load it instead of using PNG.