metadata

license: mit

TAC depth encoder

This model is used for encoding a depth image into a dense feature.

Caution, the model does not contain the last FC layer. So, the output features are not aligned with RGB.

Model Details

Model Description

The model is pre-trained with RGB-D contrastive objectives, named TAC. Different from InfoNCE-based loss fuctions, TAC leverages the similarity between videos frames and estimate a similarity matrix as soft labels. The backbone of this version is ViT-B/32. The pre-training is conducted on a new unified RGB-D database, UniRGBD.

Model Sources

Repository: TAC
Paper: Learning Depth Representation from RGB-D Videos by Time-Aware Contrastive Pre-training

Uses

Direct Uses

from transformers import CLIPImageProcessor, CLIPVisionModel, CLIPVisionConfig
import numpy as np
tac_depth_model = CLIPVisionModel.from_pretrained("RavenK/TAC-ViT-base")
tac_depth_processor = CLIPImageProcessor.from_pretrained("RavenK/TAC-ViT-base")

# Assume test.png is a depth image with a scale factor 1000
MIN_DEPTH = 0.0
MAX_DEPTH = 10.0
DEPTH_SCALE = 1000

depth_path = "test.png"
depth = Image.open(depth_path)
depth = np.array(depth).astype("float32") / DEPTH_SCALE  # to meters
depth = np.clip(depth, MIN_DEPTH, MAX_DEPTH) # clip to [MIN_DEPTH, MAX_DEPTH]
depth = (depth - MIN_DEPTH) / (MAX_DEPTH - MIN_DEPTH) # normalize to [0,1]
depth = np.expand_dims(depth, axis=2).repeat(3, axis=2) # extend to 3 channels
depth = tac_depth_processor(depth, do_rescale=False, return_tensors="pt").pixel_values # preprocess (resize, normalize and to tensor)

outputs = tac_depth_model(pixel_values=depth)
outputs = outputs["last_hidden_state"][:, 0, :] # get embedding without FC. may be used for other downstream fine-tuning

Other Uses

Please refer to the demo in our code repository.

Citation

@ARTICLE{10288539,
  author={He, Zongtao and Wang, Liuyi and Dang, Ronghao and Li, Shu and Yan, Qingqing and Liu, Chengju and Chen, Qijun},
  journal={IEEE Transactions on Circuits and Systems for Video Technology}, 
  title={Learning Depth Representation From RGB-D Videos by Time-Aware Contrastive Pre-Training}, 
  year={2024},
  volume={34},
  number={6},
  pages={4143-4158},
  doi={10.1109/TCSVT.2023.3326373}}