stereodemo

Small Python utility to compare and visualize the output of various stereo depth estimation algorithms:

• Make it easy to get a qualitative evaluation of several state-of-the-art models in the wild
• Feed it left/right images or capture live from an OAK-D camera
• Interactive colored point-cloud view since nice-looking disparity images can be misleading
• Try different parameters on the same image

Included methods (implementation/pre-trained models taken from their respective authors):

• OpenCV stereo block matching and Semi-global block matching baselines, with all their parameters

• CREStereo: "Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlation" (CVPR 2022)

• RAFT-Stereo: "Multilevel Recurrent Field Transforms for Stereo Matching" (3DV 2021)

• Hitnet: "Hierarchical Iterative Tile Refinement Network for Real-time Stereo Matching" (CVPR 2021)

• STereo TRansformers: "Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformers" (ICCV 2021)

• Chang et al. RealtimeStereo: "Attention-Aware Feature Aggregation for Real-time Stereo Matching on Edge Devices" (ACCV 2020)

• DistDepth: "Toward Practical Monocular Indoor Depth Estimation" (CVPR 2022). This one is actually a monocular method, only using the left image.

See below for more details / credits to get each of these working, and check this blog post for more results, including performance numbers.

stereodemo-intro.mp4

Getting started

Installation

python3 -m pip install stereodemo

Running it

With an OAK-D camera

To capture data directly from an OAK-D camera, use:

stereodemo --oak

Then click on Next Image to capture a new one.

With image files

If you installed stereodemo from pip, then just launch stereodemo and it will show some embedded sample images captured with an OAK-D camera.

A tiny subset of some popular datasets is also included in this repository. Just provide a folder to stereodemo and it'll look for left/right pairs (either im0/im1 or left/right in the names):

# To evaluate on the oak-d images
stereodemo datasets/oak-d 

# To cycle through all images
stereodemo datasets

Then click on Next Image to cycle through the images.

Sample images included in this repository:

• drivingstereo: outdoor driving.
• middlebury_2014: high-res objects.
• eth3d: outdoor and indoor scenes.
• sceneflow: synthetic rendering of objects.
• oak-d: indoor images I captured with my OAK-D lite camera.
• kitti2015: outdoor driving (only one image).

Dependencies

pip will install the dependencies automatically. Here is the list:

• Open3D. For the point cloud visualization and the GUI.
• OpenCV. For image loading and the traditional block matching baselines.
• onnxruntime. To run pretrained models in the ONNX format.
• pytorch. To run pretrained models exported as torch script.
• depthai. Optional, to grab images from a Luxonis OAK camera.

Credits for each method

I did not implement any of these myself, but just collected pre-trained models or converted them to torch script / ONNX.

• CREStereo

  • Official implementation and pre-trained models: https://github.com/megvii-research/CREStereo
  • Model Zoo for the ONNX models: https://github.com/PINTO0309/PINTO_model_zoo/tree/main/284_CREStereo
  • Port to ONNX + sample loading code: https://github.com/ibaiGorordo/ONNX-CREStereo-Depth-Estimation

• RAFT-Stereo

  • Official implementation and pre-trained models: https://github.com/princeton-vl/RAFT-Stereo
  • I exported the pytorch implementation to torch script via tracing, with minor modifications of the source code.
  • Their fastest implementation was not imported.

• Hitnet

  • Official implementation and pre-trained models: https://github.com/google-research/google-research/tree/master/hitnet
  • Model Zoo for the ONNX models: https://github.com/PINTO0309/PINTO_model_zoo/tree/main/142_HITNET
  • Port to ONNX + sample loading code: https://github.com/ibaiGorordo/ONNX-HITNET-Stereo-Depth-estimation

• Stereo Transformers

  • Official implementation and pre-trained models: https://github.com/mli0603/stereo-transformer
  • Made some small changes to allow torch script export via tracing.
  • The exported model currently fails with GPU inference, so only CPU inference is enabled.

• Chang et al. RealtimeStereo

  • Official implementation and pre-trained models: https://github.com/JiaRenChang/RealtimeStereo
  • I exported the pytorch implementation to torch script via tracing with some minor changes to the code JiaRenChang/RealtimeStereo#15 . See chang_realtimestereo_to_torchscript_onnx.py.

• DistDepth

  • Official implementation and pre-trained models https://github.com/facebookresearch/DistDepth
  • I exported the pytorch implementaton to torch script via tracing, see the changes.

License

The code of stereodemo is MIT licensed, but the pre-trained models are subject to the license of their respective implementation.

The sample images have the license of their respective source, except for datasets/oak-d which is licenced under Creative Commons Attribution 4.0 International License.