Toward A Better Understanding of Monocular Depth Evaluation

This repository contains the source code for our paper:

Toward A Better Understanding of Monocular Depth Evaluation
Siyang Wu, Jack Nugent, Willow Yang, Jia Deng

@article{wu2025evaluate,
  title={Toward A Better Understanding of Monocular Depth Evaluation},
  author={Wu, Siyang and Nugent, Jack and Yang, Willow and Deng, Jia},
  journal={arXiv preprint arXiv:2510.19814},
  year={2025}
}

Installation Instructions

Under EvalMDE, run:

conda create -n evalmde python=3.10 -y
conda activate evalmde

pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu126
pip install -e .
pip install bpy==4.0.0 --extra-index-url https://download.blender.org/pypi/

Data Format

Depth map file

This repository takes depth map file in *.npz format, with keys: depth, intr, valid.

• depth: (H,W)-shaped numpy array that stores depth value;
• intr: (4,)-shaped numpy array that stores camera intrinsics [fx, fy, cx, cy], where units are pixels;
• valid: (H,W)-shaped boolean numpy array that stores whether the depth value of a pixel is valid (e.g. a pixel of inf,nan or extreme depth value is invalid).

sample_data/gt_depth.npz, sample_data/curv_low_freq__0.200_10.0.npz, sample_data_2/gt_depth.npz, sample_data_2/depthpro_gt_focal.npz provide examples of depth map files.

Valid triangle (Required For Textureless Relighting Visualization)

In textureless relighting, we induce a textureless mesh from depth map and camera intrinsics. The mesh consists of triangle faces of vertices (i,j), (i+1,j), (i,j+1) and (i+1,j+1), (i+1,j), (i,j+1). Triangle faces across occlusion boundaries should be excluded.

valid_triangle.npz specifies which triangles are included (True) and which are not (False). It has keys: valid_triangle, which is a (H-1,W-1,2) shaped boolean numpy array, where valid_triangle[i,j,0/1] stands for whether (i,j), (i+1,j), (i,j+1) and (i+1,j+1), (i+1,j), (i,j+1) are included (True) or not included (False). sample_data/valid_triangle.npz provides an example.

Induce valid triangle from ground truth depth. Valid triangle can be induced from ground truth depth by inducing occlusion boundaries by some heuristic. In induce_valid_triangle_from_gt_depth.py, we provide an example script which detects occlusion boundaries by relative depth between neighboring pixels and set triangles across occlusion boundaries as invalid. Running python induce_valid_triangle_from_gt_depth.py generates sample_data_2/valid_triangle.npz.

Compute Metric

Please refer to compute_metrics_example.py

Visualization

Projected Contours

ROOT=sample_data  # Path to directory where rgb.png is located
# ROOT=sample_data_2
DEPTH_F=gt_depth.npz  # Path to depth map to draw visualization, relative to $ROOT 
# DEPTH_F=curv_low_freq__0.200_10.0.npz  # when ROOT=sample_data
# DEPTH_F=depthpro_gt_focal.npz  # when ROOT=sample_data_2
python evalmde/visualization/render_contour_line.py $ROOT --depth_f $DEPTH_F

Running the above command generates projected contours visualization under sample_data/contour_line or sample_data_2/contour_line. Projected contours of different densities along different axes are generated.

Textureless Relighting

ROOT=sample_data  # Path to directory where rgb.png is located
# ROOT=sample_data_2
DEPTH_F=gt_depth.npz  # Path to depth map to draw visualization, relative to $ROOT 
# DEPTH_F=curv_low_freq__0.200_10.0.npz  # when ROOT=sample_data
# DEPTH_F=depthpro_gt_focal.npz  # when ROOT=sample_data_2
LIGHT_L=0  # specifies light direction
LIGHT_R=5  # specifies light direction
python evalmde/visualization/render_textureless_relighting.py $ROOT --depth_f $DEPTH_F --light_l $LIGHT_L --light_r $LIGHT_R

Running the above command generates textureless relighting visualization under sample_data/visualization. By default, the script renders visualization using GPU. Add --cpu to run everything in cpu.

ROT_LIGHT_NUM_LIGHT,ROT_LIGHT_NUM_LOOP in evalmde/visualization/__init__.py specifies the light configuration. ROT_LIGHT_NUM_LIGHT locations of the source of directional light are equally spaced along the path that spirals up from (0,0,-1) to (0,0,1) along the surface of a unit sphere, rotating around z-axis for ROT_LIGHT_NUM_LOOP times. Textureless mesh under the i-th source of directional light (LIGHT_L<=i<LIGHT_R) are rendered in the above command.

Dataset

Dataset can be accessed here.

Acknowledgments

This repository uses open source projects. We specially thank authors of MoGe, Marigold, DepthPro.