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mzzcdf / Thermal3DGS

ECCV2024
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Thermal3D-GS: Physics-induced 3D Gaussians for Thermal Infrared Novel-view Synthesis

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Running

To run the optimizer, simply use

python train.py -s <path to COLMAP or NeRF Synthetic dataset>
Command Line Arguments for train.py #### --source_path / -s Path to the source directory containing a COLMAP or Synthetic NeRF data set. #### --model_path / -m Path where the trained model should be stored (```output/``` by default). #### --images / -i Alternative subdirectory for COLMAP images (```images``` by default). #### --eval Add this flag to use a MipNeRF360-style training/test split for evaluation. #### --resolution / -r Specifies resolution of the loaded images before training. If provided ```1, 2, 4``` or ```8```, uses original, 1/2, 1/4 or 1/8 resolution, respectively. For all other values, rescales the width to the given number while maintaining image aspect. **If not set and input image width exceeds 1.6K pixels, inputs are automatically rescaled to this target.** #### --data_device Specifies where to put the source image data, ```cuda``` by default, recommended to use ```cpu``` if training on large/high-resolution dataset, will reduce VRAM consumption, but slightly slow down training. Thanks to [HrsPythonix](https://github.com/HrsPythonix). #### --white_background / -w Add this flag to use white background instead of black (default), e.g., for evaluation of NeRF Synthetic dataset. #### --sh_degree Order of spherical harmonics to be used (no larger than 3). ```3``` by default. #### --convert_SHs_python Flag to make pipeline compute forward and backward of SHs with PyTorch instead of ours. #### --convert_cov3D_python Flag to make pipeline compute forward and backward of the 3D covariance with PyTorch instead of ours. #### --debug Enables debug mode if you experience erros. If the rasterizer fails, a ```dump``` file is created that you may forward to us in an issue so we can take a look. #### --debug_from Debugging is **slow**. You may specify an iteration (starting from 0) after which the above debugging becomes active. #### --iterations Number of total iterations to train for, ```30_000``` by default. #### --ip IP to start GUI server on, ```127.0.0.1``` by default. #### --port Port to use for GUI server, ```6009``` by default. #### --test_iterations Space-separated iterations at which the training script computes L1 and PSNR over test set, ```7000 30000``` by default. #### --save_iterations Space-separated iterations at which the training script saves the Gaussian model, ```7000 30000 ``` by default. #### --checkpoint_iterations Space-separated iterations at which to store a checkpoint for continuing later, saved in the model directory. #### --start_checkpoint Path to a saved checkpoint to continue training from. #### --quiet Flag to omit any text written to standard out pipe. #### --feature_lr Spherical harmonics features learning rate, ```0.0025``` by default. #### --opacity_lr Opacity learning rate, ```0.05``` by default. #### --scaling_lr Scaling learning rate, ```0.005``` by default. #### --rotation_lr Rotation learning rate, ```0.001``` by default. #### --position_lr_max_steps Number of steps (from 0) where position learning rate goes from ```initial``` to ```final```. ```30_000``` by default. #### --position_lr_init Initial 3D position learning rate, ```0.00016``` by default. #### --position_lr_final Final 3D position learning rate, ```0.0000016``` by default. #### --position_lr_delay_mult Position learning rate multiplier (cf. Plenoxels), ```0.01``` by default. #### --densify_from_iter Iteration where densification starts, ```500``` by default. #### --densify_until_iter Iteration where densification stops, ```15_000``` by default. #### --densify_grad_threshold Limit that decides if points should be densified based on 2D position gradient, ```0.0002``` by default. #### --densification_interval How frequently to densify, ```100``` (every 100 iterations) by default. #### --opacity_reset_interval How frequently to reset opacity, ```3_000``` by default. #### --lambda_dssim Influence of SSIM on total loss from 0 to 1, ```0.2``` by default. #### --percent_dense Percentage of scene extent (0--1) a point must exceed to be forcibly densified, ```0.01``` by default.


Note that similar to MipNeRF360, we target images at resolutions in the 1-1.6K pixel range. For convenience, arbitrary-size inputs can be passed and will be automatically resized if their width exceeds 1600 pixels. We recommend to keep this behavior, but you may force training to use your higher-resolution images by setting -r 1.

The MipNeRF360 scenes are hosted by the paper authors here. You can find our SfM data sets for Tanks&Temples and Deep Blending here. If you do not provide an output model directory (-m), trained models are written to folders with randomized unique names inside the output directory. At this point, the trained models may be viewed with the real-time viewer (see further below).

Evaluation

By default, the trained models use all available images in the dataset. To train them while withholding a test set for evaluation, use the --eval flag. This way, you can render training/test sets and produce error metrics as follows:

python train.py -s <path to COLMAP or NeRF Synthetic dataset> --eval # Train with train/test split
python render.py -m <path to trained model> # Generate renderings
python metrics.py -m <path to trained model> # Compute error metrics on renderings

If you want to evaluate our pre-trained models, you will have to download the corresponding source data sets and indicate their location to render.py with an additional --source_path/-s flag. Note: The pre-trained models were created with the release codebase. This code base has been cleaned up and includes bugfixes, hence the metrics you get from evaluating them will differ from those in the paper.

python render.py -m <path to pre-trained model> -s <path to COLMAP dataset>
python metrics.py -m <path to pre-trained model>
Command Line Arguments for render.py #### --model_path / -m Path to the trained model directory you want to create renderings for. #### --skip_train Flag to skip rendering the training set. #### --skip_test Flag to skip rendering the test set. #### --quiet Flag to omit any text written to standard out pipe. **The below parameters will be read automatically from the model path, based on what was used for training. However, you may override them by providing them explicitly on the command line.** #### --source_path / -s Path to the source directory containing a COLMAP or Synthetic NeRF data set. #### --images / -i Alternative subdirectory for COLMAP images (```images``` by default). #### --eval Add this flag to use a MipNeRF360-style training/test split for evaluation. #### --resolution / -r Changes the resolution of the loaded images before training. If provided ```1, 2, 4``` or ```8```, uses original, 1/2, 1/4 or 1/8 resolution, respectively. For all other values, rescales the width to the given number while maintaining image aspect. ```1``` by default. #### --white_background / -w Add this flag to use white background instead of black (default), e.g., for evaluation of NeRF Synthetic dataset. #### --convert_SHs_python Flag to make pipeline render with computed SHs from PyTorch instead of ours. #### --convert_cov3D_python Flag to make pipeline render with computed 3D covariance from PyTorch instead of ours.
Command Line Arguments for metrics.py #### --model_paths / -m Space-separated list of model paths for which metrics should be computed.


We further provide the full_eval.py script. This script specifies the routine used in our evaluation and demonstrates the use of some additional parameters, e.g., --images (-i) to define alternative image directories within COLMAP data sets. If you have downloaded and extracted all the training data, you can run it like this:

python full_eval.py -m360 <mipnerf360 folder> -tat <tanks and temples folder> -db <deep blending folder>

In the current version, this process takes about 7h on our reference machine containing an A6000. If you want to do the full evaluation on our pre-trained models, you can specify their download location and skip training. 

python full_eval.py -o <directory with pretrained models> --skip_training -m360 <mipnerf360 folder> -tat <tanks and temples folder> -db <deep blending folder>

If you want to compute the metrics on our paper's evaluation images, you can also skip rendering. In this case it is not necessary to provide the source datasets. You can compute metrics for multiple image sets at a time. 

python full_eval.py -m <directory with evaluation images>/garden ... --skip_training --skip_rendering
Command Line Arguments for full_eval.py #### --skip_training Flag to skip training stage. #### --skip_rendering Flag to skip rendering stage. #### --skip_metrics Flag to skip metrics calculation stage. #### --output_path Directory to put renderings and results in, ```./eval``` by default, set to pre-trained model location if evaluating them. #### --mipnerf360 / -m360 Path to MipNeRF360 source datasets, required if training or rendering. #### --tanksandtemples / -tat Path to Tanks&Temples source datasets, required if training or rendering. #### --deepblending / -db Path to Deep Blending source datasets, required if training or rendering.


Processing Scenes

Our COLMAP loaders expect the following dataset structure in the source path location:

<location>
|---images
|   |---<image 0>
|   |---<image 1>
|   |---...
|---sparse
    |---0
        |---cameras.bin
        |---images.bin
        |---points3D.bin

For rasterization, the camera models must be either a SIMPLE_PINHOLE or PINHOLE camera. We provide a converter script convert.py, to extract undistorted images and SfM information from input images. Optionally, you can use ImageMagick to resize the undistorted images. This rescaling is similar to MipNeRF360, i.e., it creates images with 1/2, 1/4 and 1/8 the original resolution in corresponding folders. To use them, please first install a recent version of COLMAP (ideally CUDA-powered) and ImageMagick. Put the images you want to use in a directory <location>/input.

<location>
|---input
    |---<image 0>
    |---<image 1>
    |---...

If you have COLMAP and ImageMagick on your system path, you can simply run 

python convert.py -s <location> [--resize] #If not resizing, ImageMagick is not needed

Alternatively, you can use the optional parameters --colmap_executable and --magick_executable to point to the respective paths. Please note that on Windows, the executable should point to the COLMAP .bat file that takes care of setting the execution environment. Once done, <location> will contain the expected COLMAP data set structure with undistorted, resized input images, in addition to your original images and some temporary (distorted) data in the directory distorted.

If you have your own COLMAP dataset without undistortion (e.g., using OPENCV camera), you can try to just run the last part of the script: Put the images in input and the COLMAP info in a subdirectory distorted:

<location>
|---input
|   |---<image 0>
|   |---<image 1>
|   |---...
|---distorted
    |---database.db
    |---sparse
        |---0
            |---...

Then run 

python convert.py -s <location> --skip_matching [--resize] #If not resizing, ImageMagick is not needed
Command Line Arguments for convert.py #### --no_gpu Flag to avoid using GPU in COLMAP. #### --skip_matching Flag to indicate that COLMAP info is available for images. #### --source_path / -s Location of the inputs. #### --camera Which camera model to use for the early matching steps, ```OPENCV``` by default. #### --resize Flag for creating resized versions of input images. #### --colmap_executable Path to the COLMAP executable (```.bat``` on Windows). #### --magick_executable Path to the ImageMagick executable.


Visual Comparisons for ThermoScenes Dataset

Visual Comparisons for ThermoScenes Dataset Between 3D-GS and Our Method. BS., BW., EB., HWK., MIC. and DR. respectively represent Building (Spring), Building (Winter), Exhibition Building, Heated Water Kettle, Melting Ice_Cup and Double Robot. From top to bottom are the results of 3D-GS, ours, and ground truth.

Visual Comparisons for ThermoScenes Dataset Between 3D-GS and Our Method. BS., BW., EB., HWK., MIC. and DR. respectively represent Building (Spring), Building (Winter), Exhibition Building, Heated Water Kettle, Melting Ice_Cup and Double Robot.

Comparison Videos Between 3D-GS(Left) and Our Method(Right)

Scene UAV1

UAV1

Scene UAV2

UAV2

Scene UAV4

UAV4

Model Weights

To facilitate evaluation and reproducibility, the training weights based on the ThermoScenes dataset have been made publicly available at the following URL. This includes the results of 7k and 30k iterations for both 3D-GS and the proposed method.

Model Weights Link: https://drive.google.com/drive/folders/1pYHK8Ye2NJyggrAslcI1e-i7YIYuqtzi?usp=drive_link

Data Available

6 scenes in TI-NSD has been presented in following URL, including 2 indoor scenes(Heated and Wall), 2 outdoor scenes(Tall_Building and Basketball_Court) and 2 UAV scenes(UAV1 and UAV2)!!

Dataset Link: https://drive.google.com/drive/folders/1scp7-dB0BVE84ra8KkgQ7z9zLk5yCPFH?usp=drive_link

Citation

@inproceedings{chen2024thermal3dgs,
  title={Thermal3D-GS: Physics-induced 3D Gaussians for
Thermal Infrared Novel-view Synthesis},
  author={Chen, Qian and Shu, shihao and Bai, Xiangzhi},
  booktitle={European Conference on Computer Vision},
  year={2024}
}