jing222/InfraDepth

InfraDepth

InfraDepth is a multimodal dataset of rendered depth map patches for masonry bridges and tunnels.
It is designed to support research on image restoration, inpainting, sparse-to-dense depth reconstruction, and segmentation of civil infrastructure components.

The dataset combines 3D point clouds of masonry bridges and tunnels, projected through a virtual camera into patches, then stored as .npz files with depth maps, masks, and camera parameters.

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Paper: InfraDiffusion: zero-shot depth map restoration with diffusion models and prompted segmentation from sparse infrastructure point clouds Code: https://github.com/Jingyixiong/InfraDiffusion-official-implement

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📁 Dataset Structure

datasets/
│
├── masonry_bridges/
│   ├── begc/
│   │   ├── arch/
│   │   │   ├── 0/
│   │   │   │   └── rendered_0.8_0.8_0.5/
│   │   │   │       ├── patch_0.npz
│   │   │   │       ├── patch_0_cam_params.npz
│   │   │   │       └── ...
│   │   ├── pier/
│   │   └── spandrel_wall/
│   │
│   └── hertfordshire/
│       ├── arch/
│       ├── pier/
│       └── spandrel_wall/
│
└── tunnels/
    └── wheatly_tunnel/
        ├── S-15/
        │   ├── arch/
        │   └── pier/
        ├── S-20/
        │   ├── arch/
        │   └── pier/
        └── S-25/
            ├── arch/
            └── pier/

Each component folder (for example, arch/0/) contains a folder named rendered_0.8_0.8_0.5/ where the patches are stored.
The suffix 0.8_0.8_0.5 indicates the patch bounding box size in meters (x, y, z).

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🔹 File Formats

Inside each rendered_0.8_0.8_0.5/ folder:

| File name                  | Format | Description |
|-----------------------------|--------|-------------|
| patch_{idx}.npz            | NPZ    | Contains depth map and masks |
| patch_{idx}_cam_params.npz | NPZ    | Camera intrinsics and extrinsics for the patch |

Each `patch_{idx}.npz` file contains:

- `depth_map`: Rendered depth values(original depth map without image restoration)
- `mask_inpainting`: Mask region for inpainting  
- `mask_boundary`: Boundary mask of the patch  

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✨ Sample Usage

The InfraDepth dataset is designed to be used with the InfraDiffusion framework. Below are examples from the official GitHub repository on how to run InfraDiffusion restoration using the dataset:

(1) Masonry Tunnel Dataset

python main.py data=tunnels \
    image_restore.deg=inpainting \
    image_restore.sigma_y=0.16 \
    general.save_results=true

(2) Masonry Bridge Dataset

python main.py data=masonry_bridges \
    image_restore.deg=inpainting \
    image_restore.sigma_y=0.16 \
    general.save_results=true

(3) Selecting a Specific Infrastructure (infrastructure names can be found in configs/data) Example: To just get image restoration results on hertfordshire, override it:

python main.py \
    data=masonry_bridges \
    data.infra_name='begc' \
    image_restore.deg=inpainting \
    image_restore.sigma_y=0.16 \
    general.save_results=true

For more detailed usage instructions, including environment setup and SAM segmentation, please refer to the official GitHub repository.

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📚 Citation

If you use this dataset, please cite the associated paper:

@article{jing2025infradiffusion,
  title={InfraDiffusion: zero-shot depth map restoration with diffusion models and prompted segmentation from sparse infrastructure point clouds},
  author={Jing, Yixiong and Zhang, Cheng and Wu, Haibing and Wang, Guangming and Wysocki, Olaf and Sheil, Brian},
  year={2025},
  note={Preprint}
}