This codebase is a TensorFlow implementation of our ECCV-2018 paper:
Please contact Fengting Yang (email@example.com) if you have any question.
This codebase was developed and tested with python 2.7, Tensorflow 1.4.1, CUDA 8.0.61 and Ubuntu 16.04.
Preparing training data
Here we provide our training and testing data on SYNTHIA dataset. Once you download the training data, you can set the training data path as <SYNTHIA_DUMP_DIR> in training command and start to train the network.
If you wish to generate the training data by yourself, you may want to follow the following steps.
First, download the four-season sequences (Spring, Summer, Fall, Winter) of SEQS-02, SEQS-04, SEQS-05, and save them in one folder
<SYNTHIA_DIR>. Then run the following command to filter out the static frames and generate the training data
python data_pre_processing/SYNTHIA/SYNTHIA_frame_filter.py --dataset_dir=<SYNTHIA_DIR> --dump_root=<SYNTHIA_DUMP_Filtered_DIR> python data_pre_processing/SYNTHIA/SYNTHIA_pre_processing.py --filtered_dataset=<SYNTHIA_DUMP_Filter_DIR> --dump_root=<SYNTHIA_DUMP_DIR>
The code will generate two ".txt" files for training and testing, we recommend to replace the
tst_100.txt with the one in the
data_pre_processing/SYNTHIA folder for the availablity of the ground truth. The "train_8000.txt" in the some folder records the training data we used in our training. Please note the depth unit of SYNTHIA is centimeter, so we divide the depth map by 100.0 in data loading process.
Once the data is prepared, you should be able to train the model by running the following command
python train.py --dataset_dir=<SYNTHIA_DUMP_DIR> --log_dir=<CKPT_LOG_DIR>
if you want to continue to train or fine-tune from a pre-trained model, you can run
python train.py --dataset_dir=<SYNTHIA_DUMP_DIR> --log_dir=<CKPT_LOG_DIR> --init_checkpoint_file=<PATH_TO_THE_CKPT> --continue_train=True
You can then start a
tensorboard session by
tensorboard --logdir=<DIR_CONTAINS_THE_EVENT_FILE> --port=6006
and monitor the training progress by opening the 6006 port on your browser. If everything is set up properly, reasonable segmenation should be observed around 200k steps. The number of recovered planes will keep increase until it reaches the maximum number set in the code (default=5).
A pre-trained model has been included in the folder named "pre_trained_model", and the ground truth segmentation is in "eval/labels/".
We provide test code to generate: 1) plane segmentation (and its visualization) and 2) depth prediction (planar area only). The evaluation of the depth prediction accuracy will be presented right after the test process. Please run
python test_SYNTHIA.py --dataset=<SYNTHIA_DUMP_Filtered_DIR> --output_dir=<TEST_OUTPUT_DIR> --test_list=<Tst_100.txt in SYNTHIA_DUMP_DIR> --ckpt_file=<TRAINED_MODEL>
- We use the
filtered dataas input instead of the
pre-processedone (to preserve the resolution of the ground truth depth). If you do not want to do the pre-processing and already download our data, you can simply modify the path related to the dataset in
test_SYNTHIA.py. The final result may not be exactly the same as ours, but should be similar.
- We intentionally do not include seq.22 in our training to test the model performance in a video sequence. That is why this sequence is missing in the provided training/test data. The
filtered seq.22(without pre-processing) can be download here.
We also provide the MATLAB code for evaluation of plane segmentation accuracy:
(1) Open the
(2) Set the
pred_path as the path to the
plane_sgmts folder generated in test step and check if the
label_path is appropriately pointing to the
(3) Run the program, you should be able to see the evaluation result on the command window.
Our code is developed based on the training framework provided by SfMLearner