Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision

Project Page| Paper

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Installation

Docker Image

We use python3.10 and cuda 12.1 for our experiments. In case you want to set up a custom environment, you can use the following commands to create a new conda environment and install the required cuda version.

conda create -n cloth-splatting python=3.10
conda activate cloth-splatting
conda install cuda -c nvidia/label/cuda-12.1.0

For the torch dependencies we use torch 2.2.0.

pip install torch==2.2.0 torchvision --index-url https://download.pytorch.org/whl/cu121

For the installation of the torch_geometric dependencies, for more information refer to the official installation guide.

pip install torch_geometric
pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.2.0+cu121.html

For the remaining pip dependencies, you can install them using the requirements.txt file.

pip install -r requirements.txt

For the submodules, you can install them using the following commands.

git submodule update --init --recursive
pip install -e submodules/depth-diff-gaussian-rasterization
pip install -e submodules/simple-knn

Data

For synthetic scenes:
The dataset provided here can be used with MD-Splatting to enable novel view synthesis and dense tracking. After downloading the dataset, extract the files to the data folder. The folder structure should look like this:

├── data
│   | final_scenes 
│     ├── scene_1
│     ├── scene_2 
│     ├── ...

Training

To train models for all scenes from the paper, run the following script:

./run_scripts/run_all.sh

Rendering

Run the following script to render images for all scenes.

./run_scripts/render_all.sh

Run Scripts

There are some other useful scripts in the run_scripts directory. Some of it is messy and needs to be cleaned up, but they'll allow you to easily run ablations and log the results.

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Contributions

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Some source code of ours is borrowed from 3DGS, k-planes,HexPlane, TiNeuVox, 4DGS. We appreciate the excellent works of these authors.

Citation

@inproceedings{
  longhini2024clothsplatting,
  title={Cloth-Splatting: 3D State Estimation from {RGB} Supervision for Deformable Objects},
  author={Alberta Longhini and Marcel B{\"u}sching and Bardienus Pieter Duisterhof and Jens Lundell and Jeffrey Ichnowski and M{\r{a}}rten Bj{\"o}rkman and Danica Kragic},
  booktitle={8th Annual Conference on Robot Learning},
  year={2024},
  url={https://openreview.net/forum?id=WmWbswjTsi}
}