Normal与depth互相计算

Compute normal vector from depth

代码地址ComputeNormal

matlab code

代码参考Data-driven 3d primitives for single image understanding

使用matlab库函数surfnorm

算法

input: D Depth map，K Camera intrinsic
output: N Surface normal map
def GenerateSurfaceNormal(D, K)
    P (X, Y, Z) <-- f(D, K)
    for i in D:
        S = [p_i]
        for j in i neighborings:
            S <-- P_j
		# 最小二乘fitting
        N_i <-- least_squares_fitting(S)
	# 双边滤波
    bilateralFilter(N, sigma_s=24, sigma_I=0.2)
    
    return N

运行

matlab -nodesktop -nosplash -r generate_normal_gt_demon
or
bash run.sh

pytorch code

理论参考GeoNet，自己采用pytorch实现。

Note: pytorch>=1.3.1 for torch.det()

运行

python ComputeNormal.py

Compute depth from normal

理论参考GeoNet，自己采用pytorch实现。

Note: pytorch>=1.3.1 for torch.det()

运行

python Normal2Depth.py

[init_depth, normal] -> refined depth