SUCRe: Leveraging Scene Structure for Underwater Color Restoration

Paper • Project page

This repository implements SUCRe, a multi-view method that uses a dense scene reconstruction for underwater color restoration.

This implementation requires undistorted underwater images along with their corresponding depth maps and a COLMAP model of the scene.

Installation

SUCRe requires Python >=3.10 and PyTorch>=2.1.0. PyTorch should be installed independently for GPU compatibility. All other modules are listed in requirements.txt and can be installed using pip:

pip install -r requirements.txt

Input data

The sucre.py script takes as input three directories:

• A directory containing the undistorted underwater images.
• A directory containing the depth maps.
• A directory containing the COLMAP model of the scene.

Data format

The directory containing undistorted underwater images can be arbitrarily organized:

images
├─ image001.jpg
├─ image002.jpg
└─ ...

Depth maps should be encoded in 16-bits single channel PNG format. The depth information should be stored in millimeters. Depth maps should have the same name as their corresponding images preceded by depth_. For example, the depth map of image001.jpg should be named depth_image001.png:

depths
├─ depth_image001.png
├─ depth_image002.png
└─ ...

The COLMAP model consists of three files in either .bin or .txt format. Because underwater images are undistorted, all intrinsic parameters are expected to use a PINHOLE camera model:

sparse
├─ cameras.bin
├─ images.bin
└─ points3D.bin

Data processing pipeline

All the data required to run SUCRe can be retrieved from you own set of underwater images by following this pipeline:

1. Run COLMAP on your set of underwater images.
2. Run colmap image_undistorter to retrieve the undistorted images and COLMAP model.
3. Build a dense 3D mesh from the undistorted COLMAP model using OpenMVS.
4. Use Maxime Ferrera's script to compute depth maps from the undistorted COLMAP model and the 3D mesh.

Following these steps will ensure you have all the necessary information in the correct format.

Usage

To run SUCRe on your own set of images, simply run the sucre.py script with the following arguments:

python sucre.py
    --image-dir <path to the directory containing the undistorted underwater images>
    --depth-dir <path to the directory containing the depth maps>
    --model-dir <path to the directory containing the undistorted COLMAP model>
    --output-dir <path to output directory>
    (
        --image-name <name of image to restore>
        or
        --image-list <path to a .txt file with names of images to restore>
        or
        --image-ids <min image id> <max image id>
    )

The --image-list flag takes as input a .txt file with the following format:

image001.jpg
image012.jpg
...

Other options are available with documentation by running the script with the -h flag:

python sucre.py -h

BibTeX citation

Please consider citing our work if you use any code from this repository or ideas presented in the paper:

@inproceedings{boittiaux2024sucre,
    author={Boittiaux, Cl\'ementin and Marxer, Ricard and Dune, Claire and Arnaubec, Aur\'elien and Ferrera, Maxime and Hugel, Vincent},
    title={{SUCRe}: Leveraging Scene Structure for Underwater Color Restoration},
    booktitle={3DV},
    year={2024}
}