depth-anything/camera-depth-model-zed2i-neural

This repository contains the Camera Depth Model (CDM) of the paper Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots.

The Camera Depth Models (CDMs) are proposed as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. This enables accurate geometry perception in robots by effectively bridging the sim-to-real gap for manipulation tasks.

Project page: https://manipulation-as-in-simulation.github.io/ Code: https://github.com/ByteDance-Seed/manip-as-in-sim-suite

Sample Usage

To run depth inference on RGB-D camera data, use the infer.py script provided in the cdm directory of the main repository.

cd cdm
python infer.py \
    --encoder vitl \
    --model-path /path/to/model.pth \
    --rgb-image /path/to/rgb.jpg \
    --depth-image /path/to/depth.png \
    --output result.png