$\pi^3$ Evaluation

Overview

• Monocular Depth Estimation
• Video Depth Estimation
• Relative Camera Pose Estimation
• Multi-view Reconstruction (Point Map Estimation)

The root config file of all evaluations is configs/eval.yaml, however you don't need to edit it

• All main hyperparameters you need are in configs/evaluation/xxxxx.yaml
• Sometimes you may want to change the dataset config in configs/data/xxxxx.yaml, or the model config in configs/model/xxxxx.yaml

Dataset Preparation

Please put all evaluation datasets under data folder, or you can change the config in configs/data/xxxxx.yaml.

For data preprocessing:

• Depth Estimation: We follow MonST3R to prepare Sintel, Bonn, KITTI and NYU-v2.
• Camera Pose Estimation
  • Angular: We follow VGGT to prepare Co3Dv2, and we afford our script for RealEstate10k preprocessing.
  • Distance: We follow MonST3R to prepare Sintel, TUM-dynamics and ScanNetv2.
• Point Map Estimation: We follow Spann3R to prepare 7-Scenes, Neural-NRGBD and DTU. We afford our script for ETH3D preprocessing.

We provide reference-only preprocessing scripts under datasets/preprocess. Please ensure you have obtained the necessary licenses from the original dataset providers before proceeding.

1. Monocular Depth Estimation

See monodepth/README.md for more details.

python monodepth/infer.py
python monodepth/eval.py

2. Video Depth Estimation

configs in configs/evaluation/videodepth.yaml, see videodepth/README.md for more details.

python videodepth/infer.py
python videodepth/eval.py

3. Relative Camera Pose Estimation

configs in configs/evaluation/relpose-angular.yaml, see relpose/README.md for more details.

3.1 Angular Metrics

# python relpose/sampling.py  # to generate seq-id-maps under datasets/seq-id-maps, which is provided in this repo
python relpose/eval_angle.py

3.2 Distance Metrics

python relpose/eval_dist.py

4. Multi-view Reconstruction (Point Map Estimation)

See mv_recon/README.md for more details.

# python mv_recon/sampling.py  # to generate seq-id-maps under datasets/seq-id-maps, which is provided in this repo
python mv_recon/eval.py

Acknowledgement

Our work builds upon several fantastic open-source projects. We'd like to express our gratitude to the authors of:

• DUSt3R
• MonST3R
• Spann3R
• CUT3R
• MoGe
• VGGT

Citation

If you find our work useful, please consider citing:

@misc{wang2025pi3,
      title={$\pi^3$: Scalable Permutation-Equivariant Visual Geometry Learning}, 
      author={Yifan Wang and Jianjun Zhou and Haoyi Zhu and Wenzheng Chang and Yang Zhou and Zizun Li and Junyi Chen and Jiangmiao Pang and Chunhua Shen and Tong He},
      year={2025},
      eprint={2507.13347},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2507.13347}, 
}

License

For academic use, this project is licensed under the 2-clause BSD License. See the LICENSE file for details. For commercial use, please contact the authors.