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BENCHMARK_NVIDIA.md

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Benchmark: NVIDIA Dynamic Scenes

Table of Contents

1 Download Data

# this environment variable is used for demonstration
cd /path/to/this/repo
export PGDVS_ROOT=$PWD

For a fair comparison to scene-specific approaches, we evaluate our proposed pipeline on the DynIBaR's processed data:

# download processed data
conda activate pgdvs
gdown https://drive.google.com/drive/folders/1Gv6j_RvDG2WrpqEJWtx73u1tlCZKsPiM -O ${PGDVS_ROOT}/data/nvidia_long --folder

# unzip
ALL_SCENE_IDS=(Balloon1  Balloon2  Jumping  Playground  Skating  Truck  Umbrella  dynamicFace)
# rgb, poses
printf "%s\0" "${ALL_SCENE_IDS[@]}" | xargs -0 -n 1 -I {} -P 8 unzip ${PGDVS_ROOT}/data/nvidia_long/{}.zip -d ${PGDVS_ROOT}/data/nvidia_long/
# depth
printf "%s\0" "${ALL_SCENE_IDS[@]}" | xargs -0 -n 1 -I {} -P 8 unzip ${PGDVS_ROOT}/data/nvidia_long/Depths/{}_disp.zip -d ${PGDVS_ROOT}/data/nvidia_long/Depths/{}/

After running the above command, you should have a structure as the following:

.
+-- data
|  +-- nvidia_long
|  |  +-- Balloon1
|  |  +-- Balloon2
|  |  ...
|  |  +-- Depths
|  |  |  +-- Balloon1
|  |  |  |  +-- disp
|  |  |  +-- Balloon2
|  |  |  |  +-- disp
|  |  |  ...

2 Preprocess

2.1 Use Precomputed Flow and Mask

gdown 1wn9rgCRDWqOJHZmViFYP5vHUbGk81fVp -O ${PGDVS_ROOT}/data/
unzip ${PGDVS_ROOT}/data/nvidia_long_flow_mask.zip -d ${PGDVS_ROOT}/data

2.2 Reproduce Preprocessed Results

Our pseudo-generalized approach requires optical flow and mask for potentially dynamic content. For this, we need several third parties's repositories and checkpoints. NOTE: the CUDA_HOME must be set correctly for detectron2's installation and consequentially OneFormer's usage.

CUDA_HOME=/usr/local/cuda  # set to your own CUDA_HOME, where nvcc is installed
bash ${PGDVS_ROOT}/scripts/preprocess/preprocess.sh \
  ${CUDA_HOME} \
  ${PGDVS_ROOT} \
  ${PGDVS_ROOT}/data \
  prepare

After running the command, repositories and pretrained checkpoints will be saved to ${PGDVS_ROOT}/third_parties and ${PGDVS_ROOT}/ckpts respectively.

We then compute optical flow and mask with

CUDA_HOME=/usr/local/cuda  # set to your own CUDA_HOME
bash ${PGDVS_ROOT}/scripts/preprocess/preprocess.sh \
  ${CUDA_HOME} \
  ${PGDVS_ROOT} \
  ${PGDVS_ROOT}/data/nvidia_long \
  execute_on_nvidia \
  ${PGDVS_ROOT}/data/nvidia_long_flow_mask \
  Balloon1  # can be one of [Balloon1  Balloon2  Jumping  Playground  Skating  Truck  Umbrella  dynamicFace]

The computed optical flows and masks will be saved to ${PGDVS_ROOT}/data/nvidia_long_flow_mask

2.3 [Optional] Compute ZoeDepth

If you want to try using ZoeDepth, we provide a preprocessed data:

gdown 1EcOzg8TSIbQtS7hw9-2RNIvq6L59P4RR -O ${PGDVS_ROOT}/data/

Or you can compute them yourself. Note, the following command requires that the masks from either 2.1 Use Precomputed Flow and Mask or 2.2 Reproduce Preprocessed Results to align static area to mitigate scale and shift inconsistencies:

bash ${PGDVS_ROOT}/scripts/preprocess/preprocess.sh \
  /usr/local/cuda/ \
  ${PGDVS_ROOT} \
  ${PGDVS_ROOT}/data/nvidia_long \
  execute_on_nvidia_zoedepth \
  ${PGDVS_ROOT}/data/nvidia_long_zoedepth \
  Balloon1  # can be one of [Balloon1  Balloon2  Jumping  Playground  Skating  Truck  Umbrella  dynamicFace]

The computed depths will be saved to ${PGDVS_ROOT}/data/nvidia_long_zoedepth.

3 Run Benchmark

To obtain quantitative results, run the following command

benchmark_type=default
scene_id='[Balloon1]'  # or 'null' to evaluate on all scenes

bash ${PGDVS_ROOT}/scripts/benchmark.sh \
  ${PGDVS_ROOT} \
  ${PGDVS_ROOT}/ckpts \
  ${PGDVS_ROOT}/data \
  nvidia \
  ${scene_id} \
  ${benchmark_type}

You can choose benchmark_type from one of the following:

benchmark_type static rendering dynamic rendering
st_cvd_dy_cvd point renderer from consistent depth softsplat from consistent depth
st_cvd_dy_cvd_pcl_clean point renderer from consistent depth softsplat from consistent depth and outlier removal for point cloud
st_cvd_pcl_clean_dy_cvd_pcl_clean point renderer from consistent depth and outlier removal for point cloud softsplat from consistent depth and outlier removal for point cloud
st_gnt GNT with full input none
st_gnt_masked_attn GNT with full input and masked attention none
st_gnt_dy_cvd GNT with full input softsplat from consistent depth
st_gnt_dy_cvd_pcl_clean GNT with full input softsplat from consistent depth and outlier removal for point cloud
st_gnt_masked_input_dy_cvd GNT with masked input softsplat from consistent depth
st_gnt_masked_input_dy_cvd_pcl_clean GNT with masked input softsplat from consistent depth and outlier removal for point cloud
st_gnt_masked_input_attn_dy_cvd_pcl_clean GNT with masked input and masked attention softsplat from consistent depth and outlier removal for point cloud
st_gnt_masked_attn_dy_cvd_pcl_clean (default) GNT with full input and masked attention softsplat from consistent depth and outlier removal for point cloud
st_gnt_masked_attn_dy_cvd_pcl_clean_render_point GNT with full input and masked attention point renderer from consistent depth and outlier removal for point cloud
st_gnt_masked_attn_dy_cvd_pcl_clean_render_mesh GNT with full input and masked attention mesh renderer from consistent depth and outlier removal for point cloud
st_gnt_masked_attn_dy_zoed_pcl_clean GNT with full input and masked attention softsplat from ZoeDepth, outlier removal for point cloud
st_gnt_masked_attn_dy_cvd_pcl_clean_track_tapir GNT with full input and masked attention softsplat from consistent depth, outlier removal for point cloud, and tracking with TAPIR
st_gnt_masked_attn_dy_cvd_pcl_clean_track_cotracker GNT with full input and masked attention from consistent depth, outlier removal for point cloud, and tracking with CoTracker

All results will be saved to ${PGDVS_ROOT}/experiments, where subfolder infos contain image-wise quantitative results and subfolder vis stores image-wise renderings.

Regarding the number of GPUs benchmark.sh uses: it will first check whether environment variable CUDA_VISIBLE_DEVICES has been set. If yes, then it just uses the number of GPUs specified by CUDA_VISIBLE_DEVICES. Otherwise, it will uses all GPUs on the server.

With 8 A100 GPUs, for the evaluation on the whole dataset of 8 scenes (15840 images as the summation of the number of both training views and test views ) with the resolution about 288x550:

  • for each benchmark_type without tracking, the evaluation takes around 2 days
  • for benchmark_type with tracking, tracking with TAPIR needs around 5 days and tracking with CoTracker needs 10 days due to the costly dense tracking. Therefore, for evaluation on these types, we highly recommend parallelizing the evaluation as largely as possible, e.g., evaluating one scene with 8 GPUs.

4 Run Spatial Temporal Interpolation Visualizations

All results will be saved to ${PGDVS_ROOT}/experiments.

scene_id='[Balloon1]'

bash ${PGDVS_ROOT}/scripts/visualize.sh \
  ${PGDVS_ROOT} \
  ${PGDVS_ROOT}/ckpts \
  ${PGDVS_ROOT}/data \
  nvidia_vis \
  ${scene_id}