[ { "path": "DA-2K.md", "content": "# DA-2K Evaluation Benchmark\n\n## Introduction\n\n![DA-2K](assets/DA-2K.png)\n\nDA-2K is proposed in [Depth Anything V2](https://depth-anything-v2.github.io) to evaluate the relative depth estimation capability. It encompasses eight representative scenarios of `indoor`, `outdoor`, `non_real`, `transparent_reflective`, `adverse_style`, `aerial`, `underwater`, and `object`. It consists of 1K diverse high-quality images and 2K precise pair-wise relative depth annotations.\n\nPlease refer to our [paper](https://arxiv.org/abs/2406.09414) for details in constructing this benchmark.\n\n\n## Usage\n\nPlease first [download the benchmark](https://huggingface.co/datasets/depth-anything/DA-2K/tree/main).\n\nAll annotations are stored in `annotations.json`. The annotation file is a JSON object where each key is the path to an image file, and the value is a list of annotations associated with that image. Each annotation describes two points and identifies which point is closer to the camera. The structure is detailed below:\n\n```\n{\n \"image_path\": [\n {\n \"point1\": [h1, w1], # (vertical position, horizontal position)\n \"point2\": [h2, w2], # (vertical position, horizontal position)\n \"closer_point\": \"point1\" # we always set \"point1\" as the closer one\n },\n ...\n ],\n ...\n}\n```\n\nTo visualize the annotations:\n```bash\npython visualize.py [--scene-type ]\n```\n\n**Options**\n- `--scene-type ` (optional): Specify the scene type (`indoor`, `outdoor`, `non_real`, `transparent_reflective`, `adverse_style`, `aerial`, `underwater`, and `object`). Skip this argument or set as `\"\"` to include all scene types.\n\n## Citation\n\nIf you find this benchmark useful, please consider citing:\n\n```bibtex\n@article{depth_anything_v2,\n title={Depth Anything V2},\n author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},\n journal={arXiv:2406.09414},\n year={2024}\n}\n```" }, { "path": "LICENSE", "content": " Apache License\n Version 2.0, January 2004\n http://www.apache.org/licenses/\n\n TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n 1. 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\n

Depth Anything V2

\n\n[**Lihe Yang**](https://liheyoung.github.io/)1 · [**Bingyi Kang**](https://bingykang.github.io/)2† · [**Zilong Huang**](http://speedinghzl.github.io/)2\n
\n[**Zhen Zhao**](http://zhaozhen.me/) · [**Xiaogang Xu**](https://xiaogang00.github.io/) · [**Jiashi Feng**](https://sites.google.com/site/jshfeng/)2 · [**Hengshuang Zhao**](https://hszhao.github.io/)1*\n\n1HKU   2TikTok\n
\n†project lead *corresponding author\n\nPaper PDF\nProject Page\n\nBenchmark\n
\n\nThis work presents Depth Anything V2. It significantly outperforms [V1](https://github.com/LiheYoung/Depth-Anything) in fine-grained details and robustness. Compared with SD-based models, it enjoys faster inference speed, fewer parameters, and higher depth accuracy.\n\n![teaser](assets/teaser.png)\n\n\n## News\n- **2025-01-22:** [Video Depth Anything](https://videodepthanything.github.io) has been released. It generates consistent depth maps for super-long videos (e.g., over 5 minutes).\n- **2024-12-22:** [Prompt Depth Anything](https://promptda.github.io/) has been released. It supports 4K resolution metric depth estimation when low-res LiDAR is used to prompt the DA models.\n- **2024-07-06:** Depth Anything V2 is supported in [Transformers](https://github.com/huggingface/transformers/). See the [instructions](https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything_v2) for convenient usage.\n- **2024-06-25:** Depth Anything is integrated into [Apple Core ML Models](https://developer.apple.com/machine-learning/models/). See the instructions ([V1](https://huggingface.co/apple/coreml-depth-anything-small), [V2](https://huggingface.co/apple/coreml-depth-anything-v2-small)) for usage.\n- **2024-06-22:** We release [smaller metric depth models](https://github.com/DepthAnything/Depth-Anything-V2/tree/main/metric_depth#pre-trained-models) based on Depth-Anything-V2-Small and Base.\n- **2024-06-20:** Our repository and project page are flagged by GitHub and removed from the public for 6 days. Sorry for the inconvenience.\n- **2024-06-14:** Paper, project page, code, models, demo, and benchmark are all released.\n\n\n## Pre-trained Models\n\nWe provide **four models** of varying scales for robust relative depth estimation:\n\n| Model | Params | Checkpoint |\n|:-|-:|:-:|\n| Depth-Anything-V2-Small | 24.8M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Small/resolve/main/depth_anything_v2_vits.pth?download=true) |\n| Depth-Anything-V2-Base | 97.5M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Base/resolve/main/depth_anything_v2_vitb.pth?download=true) |\n| Depth-Anything-V2-Large | 335.3M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Large/resolve/main/depth_anything_v2_vitl.pth?download=true) |\n| Depth-Anything-V2-Giant | 1.3B | Coming soon |\n\n\n## Usage\n\n### Prepraration\n\n```bash\ngit clone https://github.com/DepthAnything/Depth-Anything-V2\ncd Depth-Anything-V2\npip install -r requirements.txt\n```\n\nDownload the checkpoints listed [here](#pre-trained-models) and put them under the `checkpoints` directory.\n\n### Use our models\n```python\nimport cv2\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\nDEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n\nmodel_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n}\n\nencoder = 'vitl' # or 'vits', 'vitb', 'vitg'\n\nmodel = DepthAnythingV2(**model_configs[encoder])\nmodel.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{encoder}.pth', map_location='cpu'))\nmodel = model.to(DEVICE).eval()\n\nraw_img = cv2.imread('your/image/path')\ndepth = model.infer_image(raw_img) # HxW raw depth map in numpy\n```\n\nIf you do not want to clone this repository, you can also load our models through [Transformers](https://github.com/huggingface/transformers/). Below is a simple code snippet. Please refer to the [official page](https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything_v2) for more details.\n\n- Note 1: Make sure you can connect to Hugging Face and have installed the latest Transformers.\n- Note 2: Due to the [upsampling difference](https://github.com/huggingface/transformers/pull/31522#issuecomment-2184123463) between OpenCV (we used) and Pillow (HF used), predictions may differ slightly. So you are more recommended to use our models through the way introduced above.\n```python\nfrom transformers import pipeline\nfrom PIL import Image\n\npipe = pipeline(task=\"depth-estimation\", model=\"depth-anything/Depth-Anything-V2-Small-hf\")\nimage = Image.open('your/image/path')\ndepth = pipe(image)[\"depth\"]\n```\n\n### Running script on *images*\n\n```bash\npython run.py \\\n --encoder \\\n --img-path --outdir \\\n [--input-size ] [--pred-only] [--grayscale]\n```\nOptions:\n- `--img-path`: You can either 1) point it to an image directory storing all interested images, 2) point it to a single image, or 3) point it to a text file storing all image paths.\n- `--input-size` (optional): By default, we use input size `518` for model inference. ***You can increase the size for even more fine-grained results.***\n- `--pred-only` (optional): Only save the predicted depth map, without raw image.\n- `--grayscale` (optional): Save the grayscale depth map, without applying color palette.\n\nFor example:\n```bash\npython run.py --encoder vitl --img-path assets/examples --outdir depth_vis\n```\n\n### Running script on *videos*\n\n```bash\npython run_video.py \\\n --encoder \\\n --video-path assets/examples_video --outdir video_depth_vis \\\n [--input-size ] [--pred-only] [--grayscale]\n```\n\n***Our larger model has better temporal consistency on videos.***\n\n### Gradio demo\n\nTo use our gradio demo locally:\n\n```bash\npython app.py\n```\n\nYou can also try our [online demo](https://huggingface.co/spaces/Depth-Anything/Depth-Anything-V2).\n\n***Note: Compared to V1, we have made a minor modification to the DINOv2-DPT architecture (originating from this [issue](https://github.com/LiheYoung/Depth-Anything/issues/81)).*** In V1, we *unintentionally* used features from the last four layers of DINOv2 for decoding. In V2, we use [intermediate features](https://github.com/DepthAnything/Depth-Anything-V2/blob/2cbc36a8ce2cec41d38ee51153f112e87c8e42d8/depth_anything_v2/dpt.py#L164-L169) instead. Although this modification did not improve details or accuracy, we decided to follow this common practice.\n\n\n## Fine-tuned to Metric Depth Estimation\n\nPlease refer to [metric depth estimation](./metric_depth).\n\n\n## DA-2K Evaluation Benchmark\n\nPlease refer to [DA-2K benchmark](./DA-2K.md).\n\n\n## Community Support\n\n**We sincerely appreciate all the community support for our Depth Anything series. Thank you a lot!**\n\n- Apple Core ML:\n - https://developer.apple.com/machine-learning/models\n - https://huggingface.co/apple/coreml-depth-anything-v2-small\n - https://huggingface.co/apple/coreml-depth-anything-small\n- Transformers:\n - https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything_v2\n - https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything\n- TensorRT:\n - https://github.com/spacewalk01/depth-anything-tensorrt\n - https://github.com/zhujiajian98/Depth-Anythingv2-TensorRT-python\n- ONNX: https://github.com/fabio-sim/Depth-Anything-ONNX\n- ComfyUI: https://github.com/kijai/ComfyUI-DepthAnythingV2\n- Transformers.js (real-time depth in web): https://huggingface.co/spaces/Xenova/webgpu-realtime-depth-estimation\n- Android:\n - https://github.com/shubham0204/Depth-Anything-Android\n - https://github.com/FeiGeChuanShu/ncnn-android-depth_anything\n\n\n## Acknowledgement\n\nWe are sincerely grateful to the awesome Hugging Face team ([@Pedro Cuenca](https://huggingface.co/pcuenq), [@Niels Rogge](https://huggingface.co/nielsr), [@Merve Noyan](https://huggingface.co/merve), [@Amy Roberts](https://huggingface.co/amyeroberts), et al.) for their huge efforts in supporting our models in Transformers and Apple Core ML.\n\nWe also thank the [DINOv2](https://github.com/facebookresearch/dinov2) team for contributing such impressive models to our community.\n\n\n## LICENSE\n\nDepth-Anything-V2-Small model is under the Apache-2.0 license. Depth-Anything-V2-Base/Large/Giant models are under the CC-BY-NC-4.0 license.\n\n\n## Citation\n\nIf you find this project useful, please consider citing:\n\n```bibtex\n@article{depth_anything_v2,\n title={Depth Anything V2},\n author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},\n journal={arXiv:2406.09414},\n year={2024}\n}\n\n@inproceedings{depth_anything_v1,\n title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, \n author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},\n booktitle={CVPR},\n year={2024}\n}\n```\n" }, { "path": "app.py", "content": "import glob\nimport gradio as gr\nimport matplotlib\nimport numpy as np\nfrom PIL import Image\nimport torch\nimport tempfile\nfrom gradio_imageslider import ImageSlider\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\ncss = \"\"\"\n#img-display-container {\n max-height: 100vh;\n}\n#img-display-input {\n max-height: 80vh;\n}\n#img-display-output {\n max-height: 80vh;\n}\n#download {\n height: 62px;\n}\n\"\"\"\nDEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\nmodel_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n}\nencoder = 'vitl'\nmodel = DepthAnythingV2(**model_configs[encoder])\nstate_dict = torch.load(f'checkpoints/depth_anything_v2_{encoder}.pth', map_location=\"cpu\")\nmodel.load_state_dict(state_dict)\nmodel = model.to(DEVICE).eval()\n\ntitle = \"# Depth Anything V2\"\ndescription = \"\"\"Official demo for **Depth Anything V2**.\nPlease refer to our [paper](https://arxiv.org/abs/2406.09414), [project page](https://depth-anything-v2.github.io), or [github](https://github.com/DepthAnything/Depth-Anything-V2) for more details.\"\"\"\n\ndef predict_depth(image):\n return model.infer_image(image)\n\nwith gr.Blocks(css=css) as demo:\n gr.Markdown(title)\n gr.Markdown(description)\n gr.Markdown(\"### Depth Prediction demo\")\n\n with gr.Row():\n input_image = gr.Image(label=\"Input Image\", type='numpy', elem_id='img-display-input')\n depth_image_slider = ImageSlider(label=\"Depth Map with Slider View\", elem_id='img-display-output', position=0.5)\n submit = gr.Button(value=\"Compute Depth\")\n gray_depth_file = gr.File(label=\"Grayscale depth map\", elem_id=\"download\",)\n raw_file = gr.File(label=\"16-bit raw output (can be considered as disparity)\", elem_id=\"download\",)\n\n cmap = matplotlib.colormaps.get_cmap('Spectral_r')\n\n def on_submit(image):\n original_image = image.copy()\n\n h, w = image.shape[:2]\n\n depth = predict_depth(image[:, :, ::-1])\n\n raw_depth = Image.fromarray(depth.astype('uint16'))\n tmp_raw_depth = tempfile.NamedTemporaryFile(suffix='.png', delete=False)\n raw_depth.save(tmp_raw_depth.name)\n\n depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0\n depth = depth.astype(np.uint8)\n colored_depth = (cmap(depth)[:, :, :3] * 255).astype(np.uint8)\n\n gray_depth = Image.fromarray(depth)\n tmp_gray_depth = tempfile.NamedTemporaryFile(suffix='.png', delete=False)\n gray_depth.save(tmp_gray_depth.name)\n\n return [(original_image, colored_depth), tmp_gray_depth.name, tmp_raw_depth.name]\n\n submit.click(on_submit, inputs=[input_image], outputs=[depth_image_slider, gray_depth_file, raw_file])\n\n example_files = glob.glob('assets/examples/*')\n examples = gr.Examples(examples=example_files, inputs=[input_image], outputs=[depth_image_slider, gray_depth_file, raw_file], fn=on_submit)\n\n\nif __name__ == '__main__':\n demo.queue().launch()" }, { "path": "depth_anything_v2/dinov2.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n#\n# This source code is licensed under the Apache License, Version 2.0\n# found in the LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py\n\nfrom functools import partial\nimport math\nimport logging\nfrom typing import Sequence, Tuple, Union, Callable\n\nimport torch\nimport torch.nn as nn\nimport torch.utils.checkpoint\nfrom torch.nn.init import trunc_normal_\n\nfrom .dinov2_layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ndef named_apply(fn: Callable, module: nn.Module, name=\"\", depth_first=True, include_root=False) -> nn.Module:\n if not depth_first and include_root:\n fn(module=module, name=name)\n for child_name, child_module in module.named_children():\n child_name = \".\".join((name, child_name)) if name else child_name\n named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True)\n if depth_first and include_root:\n fn(module=module, name=name)\n return module\n\n\nclass BlockChunk(nn.ModuleList):\n def forward(self, x):\n for b in self:\n x = b(x)\n return x\n\n\nclass DinoVisionTransformer(nn.Module):\n def __init__(\n self,\n img_size=224,\n patch_size=16,\n in_chans=3,\n embed_dim=768,\n depth=12,\n num_heads=12,\n mlp_ratio=4.0,\n qkv_bias=True,\n ffn_bias=True,\n proj_bias=True,\n drop_path_rate=0.0,\n drop_path_uniform=False,\n init_values=None, # for layerscale: None or 0 => no layerscale\n embed_layer=PatchEmbed,\n act_layer=nn.GELU,\n block_fn=Block,\n ffn_layer=\"mlp\",\n block_chunks=1,\n num_register_tokens=0,\n interpolate_antialias=False,\n interpolate_offset=0.1,\n ):\n \"\"\"\n Args:\n img_size (int, tuple): input image size\n patch_size (int, tuple): patch size\n in_chans (int): number of input channels\n embed_dim (int): embedding dimension\n depth (int): depth of transformer\n num_heads (int): number of attention heads\n mlp_ratio (int): ratio of mlp hidden dim to embedding dim\n qkv_bias (bool): enable bias for qkv if True\n proj_bias (bool): enable bias for proj in attn if True\n ffn_bias (bool): enable bias for ffn if True\n drop_path_rate (float): stochastic depth rate\n drop_path_uniform (bool): apply uniform drop rate across blocks\n weight_init (str): weight init scheme\n init_values (float): layer-scale init values\n embed_layer (nn.Module): patch embedding layer\n act_layer (nn.Module): MLP activation layer\n block_fn (nn.Module): transformer block class\n ffn_layer (str): \"mlp\", \"swiglu\", \"swiglufused\" or \"identity\"\n block_chunks: (int) split block sequence into block_chunks units for FSDP wrap\n num_register_tokens: (int) number of extra cls tokens (so-called \"registers\")\n interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings\n interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings\n \"\"\"\n super().__init__()\n norm_layer = partial(nn.LayerNorm, eps=1e-6)\n\n self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models\n self.num_tokens = 1\n self.n_blocks = depth\n self.num_heads = num_heads\n self.patch_size = patch_size\n self.num_register_tokens = num_register_tokens\n self.interpolate_antialias = interpolate_antialias\n self.interpolate_offset = interpolate_offset\n\n self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim)\n num_patches = self.patch_embed.num_patches\n\n self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim))\n self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim))\n assert num_register_tokens >= 0\n self.register_tokens = (\n nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None\n )\n\n if drop_path_uniform is True:\n dpr = [drop_path_rate] * depth\n else:\n dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule\n\n if ffn_layer == \"mlp\":\n logger.info(\"using MLP layer as FFN\")\n ffn_layer = Mlp\n elif ffn_layer == \"swiglufused\" or ffn_layer == \"swiglu\":\n logger.info(\"using SwiGLU layer as FFN\")\n ffn_layer = SwiGLUFFNFused\n elif ffn_layer == \"identity\":\n logger.info(\"using Identity layer as FFN\")\n\n def f(*args, **kwargs):\n return nn.Identity()\n\n ffn_layer = f\n else:\n raise NotImplementedError\n\n blocks_list = [\n block_fn(\n dim=embed_dim,\n num_heads=num_heads,\n mlp_ratio=mlp_ratio,\n qkv_bias=qkv_bias,\n proj_bias=proj_bias,\n ffn_bias=ffn_bias,\n drop_path=dpr[i],\n norm_layer=norm_layer,\n act_layer=act_layer,\n ffn_layer=ffn_layer,\n init_values=init_values,\n )\n for i in range(depth)\n ]\n if block_chunks > 0:\n self.chunked_blocks = True\n chunked_blocks = []\n chunksize = depth // block_chunks\n for i in range(0, depth, chunksize):\n # this is to keep the block index consistent if we chunk the block list\n chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize])\n self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks])\n else:\n self.chunked_blocks = False\n self.blocks = nn.ModuleList(blocks_list)\n\n self.norm = norm_layer(embed_dim)\n self.head = nn.Identity()\n\n self.mask_token = nn.Parameter(torch.zeros(1, embed_dim))\n\n self.init_weights()\n\n def init_weights(self):\n trunc_normal_(self.pos_embed, std=0.02)\n nn.init.normal_(self.cls_token, std=1e-6)\n if self.register_tokens is not None:\n nn.init.normal_(self.register_tokens, std=1e-6)\n named_apply(init_weights_vit_timm, self)\n\n def interpolate_pos_encoding(self, x, w, h):\n previous_dtype = x.dtype\n npatch = x.shape[1] - 1\n N = self.pos_embed.shape[1] - 1\n if npatch == N and w == h:\n return self.pos_embed\n pos_embed = self.pos_embed.float()\n class_pos_embed = pos_embed[:, 0]\n patch_pos_embed = pos_embed[:, 1:]\n dim = x.shape[-1]\n w0 = w // self.patch_size\n h0 = h // self.patch_size\n # we add a small number to avoid floating point error in the interpolation\n # see discussion at https://github.com/facebookresearch/dino/issues/8\n # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0\n w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset\n # w0, h0 = w0 + 0.1, h0 + 0.1\n \n sqrt_N = math.sqrt(N)\n sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N\n patch_pos_embed = nn.functional.interpolate(\n patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2),\n scale_factor=(sx, sy),\n # (int(w0), int(h0)), # to solve the upsampling shape issue\n mode=\"bicubic\",\n antialias=self.interpolate_antialias\n )\n \n assert int(w0) == patch_pos_embed.shape[-2]\n assert int(h0) == patch_pos_embed.shape[-1]\n patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim)\n return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype)\n\n def prepare_tokens_with_masks(self, x, masks=None):\n B, nc, w, h = x.shape\n x = self.patch_embed(x)\n if masks is not None:\n x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x)\n\n x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1)\n x = x + self.interpolate_pos_encoding(x, w, h)\n\n if self.register_tokens is not None:\n x = torch.cat(\n (\n x[:, :1],\n self.register_tokens.expand(x.shape[0], -1, -1),\n x[:, 1:],\n ),\n dim=1,\n )\n\n return x\n\n def forward_features_list(self, x_list, masks_list):\n x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)]\n for blk in self.blocks:\n x = blk(x)\n\n all_x = x\n output = []\n for x, masks in zip(all_x, masks_list):\n x_norm = self.norm(x)\n output.append(\n {\n \"x_norm_clstoken\": x_norm[:, 0],\n \"x_norm_regtokens\": x_norm[:, 1 : self.num_register_tokens + 1],\n \"x_norm_patchtokens\": x_norm[:, self.num_register_tokens + 1 :],\n \"x_prenorm\": x,\n \"masks\": masks,\n }\n )\n return output\n\n def forward_features(self, x, masks=None):\n if isinstance(x, list):\n return self.forward_features_list(x, masks)\n\n x = self.prepare_tokens_with_masks(x, masks)\n\n for blk in self.blocks:\n x = blk(x)\n\n x_norm = self.norm(x)\n return {\n \"x_norm_clstoken\": x_norm[:, 0],\n \"x_norm_regtokens\": x_norm[:, 1 : self.num_register_tokens + 1],\n \"x_norm_patchtokens\": x_norm[:, self.num_register_tokens + 1 :],\n \"x_prenorm\": x,\n \"masks\": masks,\n }\n\n def _get_intermediate_layers_not_chunked(self, x, n=1):\n x = self.prepare_tokens_with_masks(x)\n # If n is an int, take the n last blocks. If it's a list, take them\n output, total_block_len = [], len(self.blocks)\n blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n\n for i, blk in enumerate(self.blocks):\n x = blk(x)\n if i in blocks_to_take:\n output.append(x)\n assert len(output) == len(blocks_to_take), f\"only {len(output)} / {len(blocks_to_take)} blocks found\"\n return output\n\n def _get_intermediate_layers_chunked(self, x, n=1):\n x = self.prepare_tokens_with_masks(x)\n output, i, total_block_len = [], 0, len(self.blocks[-1])\n # If n is an int, take the n last blocks. If it's a list, take them\n blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n\n for block_chunk in self.blocks:\n for blk in block_chunk[i:]: # Passing the nn.Identity()\n x = blk(x)\n if i in blocks_to_take:\n output.append(x)\n i += 1\n assert len(output) == len(blocks_to_take), f\"only {len(output)} / {len(blocks_to_take)} blocks found\"\n return output\n\n def get_intermediate_layers(\n self,\n x: torch.Tensor,\n n: Union[int, Sequence] = 1, # Layers or n last layers to take\n reshape: bool = False,\n return_class_token: bool = False,\n norm=True\n ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]:\n if self.chunked_blocks:\n outputs = self._get_intermediate_layers_chunked(x, n)\n else:\n outputs = self._get_intermediate_layers_not_chunked(x, n)\n if norm:\n outputs = [self.norm(out) for out in outputs]\n class_tokens = [out[:, 0] for out in outputs]\n outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs]\n if reshape:\n B, _, w, h = x.shape\n outputs = [\n out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous()\n for out in outputs\n ]\n if return_class_token:\n return tuple(zip(outputs, class_tokens))\n return tuple(outputs)\n\n def forward(self, *args, is_training=False, **kwargs):\n ret = self.forward_features(*args, **kwargs)\n if is_training:\n return ret\n else:\n return self.head(ret[\"x_norm_clstoken\"])\n\n\ndef init_weights_vit_timm(module: nn.Module, name: str = \"\"):\n \"\"\"ViT weight initialization, original timm impl (for reproducibility)\"\"\"\n if isinstance(module, nn.Linear):\n trunc_normal_(module.weight, std=0.02)\n if module.bias is not None:\n nn.init.zeros_(module.bias)\n\n\ndef vit_small(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=384,\n depth=12,\n num_heads=6,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_base(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=768,\n depth=12,\n num_heads=12,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_large(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=1024,\n depth=24,\n num_heads=16,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_giant2(patch_size=16, num_register_tokens=0, **kwargs):\n \"\"\"\n Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64\n \"\"\"\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=1536,\n depth=40,\n num_heads=24,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef DINOv2(model_name):\n model_zoo = {\n \"vits\": vit_small, \n \"vitb\": vit_base, \n \"vitl\": vit_large, \n \"vitg\": vit_giant2\n }\n \n return model_zoo[model_name](\n img_size=518,\n patch_size=14,\n init_values=1.0,\n ffn_layer=\"mlp\" if model_name != \"vitg\" else \"swiglufused\",\n block_chunks=0,\n num_register_tokens=0,\n interpolate_antialias=False,\n interpolate_offset=0.1\n )\n" }, { "path": "depth_anything_v2/dinov2_layers/__init__.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\nfrom .mlp import Mlp\nfrom .patch_embed import PatchEmbed\nfrom .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused\nfrom .block import NestedTensorBlock\nfrom .attention import MemEffAttention\n" }, { "path": "depth_anything_v2/dinov2_layers/attention.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py\n\nimport logging\n\nfrom torch import Tensor\nfrom torch import nn\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ntry:\n from xformers.ops import memory_efficient_attention, unbind, fmha\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n logger.warning(\"xFormers not available\")\n XFORMERS_AVAILABLE = False\n\n\nclass Attention(nn.Module):\n def __init__(\n self,\n dim: int,\n num_heads: int = 8,\n qkv_bias: bool = False,\n proj_bias: bool = True,\n attn_drop: float = 0.0,\n proj_drop: float = 0.0,\n ) -> None:\n super().__init__()\n self.num_heads = num_heads\n head_dim = dim // num_heads\n self.scale = head_dim**-0.5\n\n self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias)\n self.attn_drop = nn.Dropout(attn_drop)\n self.proj = nn.Linear(dim, dim, bias=proj_bias)\n self.proj_drop = nn.Dropout(proj_drop)\n\n def forward(self, x: Tensor) -> Tensor:\n B, N, C = x.shape\n qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4)\n\n q, k, v = qkv[0] * self.scale, qkv[1], qkv[2]\n attn = q @ k.transpose(-2, -1)\n\n attn = attn.softmax(dim=-1)\n attn = self.attn_drop(attn)\n\n x = (attn @ v).transpose(1, 2).reshape(B, N, C)\n x = self.proj(x)\n x = self.proj_drop(x)\n return x\n\n\nclass MemEffAttention(Attention):\n def forward(self, x: Tensor, attn_bias=None) -> Tensor:\n if not XFORMERS_AVAILABLE:\n assert attn_bias is None, \"xFormers is required for nested tensors usage\"\n return super().forward(x)\n\n B, N, C = x.shape\n qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads)\n\n q, k, v = unbind(qkv, 2)\n\n x = memory_efficient_attention(q, k, v, attn_bias=attn_bias)\n x = x.reshape([B, N, C])\n\n x = self.proj(x)\n x = self.proj_drop(x)\n return x\n\n " }, { "path": "depth_anything_v2/dinov2_layers/block.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py\n\nimport logging\nfrom typing import Callable, List, Any, Tuple, Dict\n\nimport torch\nfrom torch import nn, Tensor\n\nfrom .attention import Attention, MemEffAttention\nfrom .drop_path import DropPath\nfrom .layer_scale import LayerScale\nfrom .mlp import Mlp\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ntry:\n from xformers.ops import fmha\n from xformers.ops import scaled_index_add, index_select_cat\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n logger.warning(\"xFormers not available\")\n XFORMERS_AVAILABLE = False\n\n\nclass Block(nn.Module):\n def __init__(\n self,\n dim: int,\n num_heads: int,\n mlp_ratio: float = 4.0,\n qkv_bias: bool = False,\n proj_bias: bool = True,\n ffn_bias: bool = True,\n drop: float = 0.0,\n attn_drop: float = 0.0,\n init_values=None,\n drop_path: float = 0.0,\n act_layer: Callable[..., nn.Module] = nn.GELU,\n norm_layer: Callable[..., nn.Module] = nn.LayerNorm,\n attn_class: Callable[..., nn.Module] = Attention,\n ffn_layer: Callable[..., nn.Module] = Mlp,\n ) -> None:\n super().__init__()\n # print(f\"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}\")\n self.norm1 = norm_layer(dim)\n self.attn = attn_class(\n dim,\n num_heads=num_heads,\n qkv_bias=qkv_bias,\n proj_bias=proj_bias,\n attn_drop=attn_drop,\n proj_drop=drop,\n )\n self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()\n self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity()\n\n self.norm2 = norm_layer(dim)\n mlp_hidden_dim = int(dim * mlp_ratio)\n self.mlp = ffn_layer(\n in_features=dim,\n hidden_features=mlp_hidden_dim,\n act_layer=act_layer,\n drop=drop,\n bias=ffn_bias,\n )\n self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()\n self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity()\n\n self.sample_drop_ratio = drop_path\n\n def forward(self, x: Tensor) -> Tensor:\n def attn_residual_func(x: Tensor) -> Tensor:\n return self.ls1(self.attn(self.norm1(x)))\n\n def ffn_residual_func(x: Tensor) -> Tensor:\n return self.ls2(self.mlp(self.norm2(x)))\n\n if self.training and self.sample_drop_ratio > 0.1:\n # the overhead is compensated only for a drop path rate larger than 0.1\n x = drop_add_residual_stochastic_depth(\n x,\n residual_func=attn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n )\n x = drop_add_residual_stochastic_depth(\n x,\n residual_func=ffn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n )\n elif self.training and self.sample_drop_ratio > 0.0:\n x = x + self.drop_path1(attn_residual_func(x))\n x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2\n else:\n x = x + attn_residual_func(x)\n x = x + ffn_residual_func(x)\n return x\n\n\ndef drop_add_residual_stochastic_depth(\n x: Tensor,\n residual_func: Callable[[Tensor], Tensor],\n sample_drop_ratio: float = 0.0,\n) -> Tensor:\n # 1) extract subset using permutation\n b, n, d = x.shape\n sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1)\n brange = (torch.randperm(b, device=x.device))[:sample_subset_size]\n x_subset = x[brange]\n\n # 2) apply residual_func to get residual\n residual = residual_func(x_subset)\n\n x_flat = x.flatten(1)\n residual = residual.flatten(1)\n\n residual_scale_factor = b / sample_subset_size\n\n # 3) add the residual\n x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor)\n return x_plus_residual.view_as(x)\n\n\ndef get_branges_scales(x, sample_drop_ratio=0.0):\n b, n, d = x.shape\n sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1)\n brange = (torch.randperm(b, device=x.device))[:sample_subset_size]\n residual_scale_factor = b / sample_subset_size\n return brange, residual_scale_factor\n\n\ndef add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None):\n if scaling_vector is None:\n x_flat = x.flatten(1)\n residual = residual.flatten(1)\n x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor)\n else:\n x_plus_residual = scaled_index_add(\n x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor\n )\n return x_plus_residual\n\n\nattn_bias_cache: Dict[Tuple, Any] = {}\n\n\ndef get_attn_bias_and_cat(x_list, branges=None):\n \"\"\"\n this will perform the index select, cat the tensors, and provide the attn_bias from cache\n \"\"\"\n batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list]\n all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list))\n if all_shapes not in attn_bias_cache.keys():\n seqlens = []\n for b, x in zip(batch_sizes, x_list):\n for _ in range(b):\n seqlens.append(x.shape[1])\n attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens)\n attn_bias._batch_sizes = batch_sizes\n attn_bias_cache[all_shapes] = attn_bias\n\n if branges is not None:\n cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1])\n else:\n tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list)\n cat_tensors = torch.cat(tensors_bs1, dim=1)\n\n return attn_bias_cache[all_shapes], cat_tensors\n\n\ndef drop_add_residual_stochastic_depth_list(\n x_list: List[Tensor],\n residual_func: Callable[[Tensor, Any], Tensor],\n sample_drop_ratio: float = 0.0,\n scaling_vector=None,\n) -> Tensor:\n # 1) generate random set of indices for dropping samples in the batch\n branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list]\n branges = [s[0] for s in branges_scales]\n residual_scale_factors = [s[1] for s in branges_scales]\n\n # 2) get attention bias and index+concat the tensors\n attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges)\n\n # 3) apply residual_func to get residual, and split the result\n residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore\n\n outputs = []\n for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors):\n outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x))\n return outputs\n\n\nclass NestedTensorBlock(Block):\n def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]:\n \"\"\"\n x_list contains a list of tensors to nest together and run\n \"\"\"\n assert isinstance(self.attn, MemEffAttention)\n\n if self.training and self.sample_drop_ratio > 0.0:\n\n def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.attn(self.norm1(x), attn_bias=attn_bias)\n\n def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.mlp(self.norm2(x))\n\n x_list = drop_add_residual_stochastic_depth_list(\n x_list,\n residual_func=attn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None,\n )\n x_list = drop_add_residual_stochastic_depth_list(\n x_list,\n residual_func=ffn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None,\n )\n return x_list\n else:\n\n def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias))\n\n def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.ls2(self.mlp(self.norm2(x)))\n\n attn_bias, x = get_attn_bias_and_cat(x_list)\n x = x + attn_residual_func(x, attn_bias=attn_bias)\n x = x + ffn_residual_func(x)\n return attn_bias.split(x)\n\n def forward(self, x_or_x_list):\n if isinstance(x_or_x_list, Tensor):\n return super().forward(x_or_x_list)\n elif isinstance(x_or_x_list, list):\n assert XFORMERS_AVAILABLE, \"Please install xFormers for nested tensors usage\"\n return self.forward_nested(x_or_x_list)\n else:\n raise AssertionError\n" }, { "path": "depth_anything_v2/dinov2_layers/drop_path.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py\n\n\nfrom torch import nn\n\n\ndef drop_path(x, drop_prob: float = 0.0, training: bool = False):\n if drop_prob == 0.0 or not training:\n return x\n keep_prob = 1 - drop_prob\n shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets\n random_tensor = x.new_empty(shape).bernoulli_(keep_prob)\n if keep_prob > 0.0:\n random_tensor.div_(keep_prob)\n output = x * random_tensor\n return output\n\n\nclass DropPath(nn.Module):\n \"\"\"Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).\"\"\"\n\n def __init__(self, drop_prob=None):\n super(DropPath, self).__init__()\n self.drop_prob = drop_prob\n\n def forward(self, x):\n return drop_path(x, self.drop_prob, self.training)\n" }, { "path": "depth_anything_v2/dinov2_layers/layer_scale.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110\n\nfrom typing import Union\n\nimport torch\nfrom torch import Tensor\nfrom torch import nn\n\n\nclass LayerScale(nn.Module):\n def __init__(\n self,\n dim: int,\n init_values: Union[float, Tensor] = 1e-5,\n inplace: bool = False,\n ) -> None:\n super().__init__()\n self.inplace = inplace\n self.gamma = nn.Parameter(init_values * torch.ones(dim))\n\n def forward(self, x: Tensor) -> Tensor:\n return x.mul_(self.gamma) if self.inplace else x * self.gamma\n" }, { "path": "depth_anything_v2/dinov2_layers/mlp.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py\n\n\nfrom typing import Callable, Optional\n\nfrom torch import Tensor, nn\n\n\nclass Mlp(nn.Module):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = nn.GELU,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n super().__init__()\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n self.fc1 = nn.Linear(in_features, hidden_features, bias=bias)\n self.act = act_layer()\n self.fc2 = nn.Linear(hidden_features, out_features, bias=bias)\n self.drop = nn.Dropout(drop)\n\n def forward(self, x: Tensor) -> Tensor:\n x = self.fc1(x)\n x = self.act(x)\n x = self.drop(x)\n x = self.fc2(x)\n x = self.drop(x)\n return x\n" }, { "path": "depth_anything_v2/dinov2_layers/patch_embed.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py\n\nfrom typing import Callable, Optional, Tuple, Union\n\nfrom torch import Tensor\nimport torch.nn as nn\n\n\ndef make_2tuple(x):\n if isinstance(x, tuple):\n assert len(x) == 2\n return x\n\n assert isinstance(x, int)\n return (x, x)\n\n\nclass PatchEmbed(nn.Module):\n \"\"\"\n 2D image to patch embedding: (B,C,H,W) -> (B,N,D)\n\n Args:\n img_size: Image size.\n patch_size: Patch token size.\n in_chans: Number of input image channels.\n embed_dim: Number of linear projection output channels.\n norm_layer: Normalization layer.\n \"\"\"\n\n def __init__(\n self,\n img_size: Union[int, Tuple[int, int]] = 224,\n patch_size: Union[int, Tuple[int, int]] = 16,\n in_chans: int = 3,\n embed_dim: int = 768,\n norm_layer: Optional[Callable] = None,\n flatten_embedding: bool = True,\n ) -> None:\n super().__init__()\n\n image_HW = make_2tuple(img_size)\n patch_HW = make_2tuple(patch_size)\n patch_grid_size = (\n image_HW[0] // patch_HW[0],\n image_HW[1] // patch_HW[1],\n )\n\n self.img_size = image_HW\n self.patch_size = patch_HW\n self.patches_resolution = patch_grid_size\n self.num_patches = patch_grid_size[0] * patch_grid_size[1]\n\n self.in_chans = in_chans\n self.embed_dim = embed_dim\n\n self.flatten_embedding = flatten_embedding\n\n self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW)\n self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity()\n\n def forward(self, x: Tensor) -> Tensor:\n _, _, H, W = x.shape\n patch_H, patch_W = self.patch_size\n\n assert H % patch_H == 0, f\"Input image height {H} is not a multiple of patch height {patch_H}\"\n assert W % patch_W == 0, f\"Input image width {W} is not a multiple of patch width: {patch_W}\"\n\n x = self.proj(x) # B C H W\n H, W = x.size(2), x.size(3)\n x = x.flatten(2).transpose(1, 2) # B HW C\n x = self.norm(x)\n if not self.flatten_embedding:\n x = x.reshape(-1, H, W, self.embed_dim) # B H W C\n return x\n\n def flops(self) -> float:\n Ho, Wo = self.patches_resolution\n flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1])\n if self.norm is not None:\n flops += Ho * Wo * self.embed_dim\n return flops\n" }, { "path": "depth_anything_v2/dinov2_layers/swiglu_ffn.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\nfrom typing import Callable, Optional\n\nfrom torch import Tensor, nn\nimport torch.nn.functional as F\n\n\nclass SwiGLUFFN(nn.Module):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = None,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n super().__init__()\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias)\n self.w3 = nn.Linear(hidden_features, out_features, bias=bias)\n\n def forward(self, x: Tensor) -> Tensor:\n x12 = self.w12(x)\n x1, x2 = x12.chunk(2, dim=-1)\n hidden = F.silu(x1) * x2\n return self.w3(hidden)\n\n\ntry:\n from xformers.ops import SwiGLU\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n SwiGLU = SwiGLUFFN\n XFORMERS_AVAILABLE = False\n\n\nclass SwiGLUFFNFused(SwiGLU):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = None,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8\n super().__init__(\n in_features=in_features,\n hidden_features=hidden_features,\n out_features=out_features,\n bias=bias,\n )\n" }, { "path": "depth_anything_v2/dpt.py", "content": "import cv2\nimport torch\nimport torch.nn as nn\nimport torch.nn.functional as F\nfrom torchvision.transforms import Compose\n\nfrom .dinov2 import DINOv2\nfrom .util.blocks import FeatureFusionBlock, _make_scratch\nfrom .util.transform import Resize, NormalizeImage, PrepareForNet\n\n\ndef _make_fusion_block(features, use_bn, size=None):\n return FeatureFusionBlock(\n features,\n nn.ReLU(False),\n deconv=False,\n bn=use_bn,\n expand=False,\n align_corners=True,\n size=size,\n )\n\n\nclass ConvBlock(nn.Module):\n def __init__(self, in_feature, out_feature):\n super().__init__()\n \n self.conv_block = nn.Sequential(\n nn.Conv2d(in_feature, out_feature, kernel_size=3, stride=1, padding=1),\n nn.BatchNorm2d(out_feature),\n nn.ReLU(True)\n )\n \n def forward(self, x):\n return self.conv_block(x)\n\n\nclass DPTHead(nn.Module):\n def __init__(\n self, \n in_channels, \n features=256, \n use_bn=False, \n out_channels=[256, 512, 1024, 1024], \n use_clstoken=False\n ):\n super(DPTHead, self).__init__()\n \n self.use_clstoken = use_clstoken\n \n self.projects = nn.ModuleList([\n nn.Conv2d(\n in_channels=in_channels,\n out_channels=out_channel,\n kernel_size=1,\n stride=1,\n padding=0,\n ) for out_channel in out_channels\n ])\n \n self.resize_layers = nn.ModuleList([\n nn.ConvTranspose2d(\n in_channels=out_channels[0],\n out_channels=out_channels[0],\n kernel_size=4,\n stride=4,\n padding=0),\n nn.ConvTranspose2d(\n in_channels=out_channels[1],\n out_channels=out_channels[1],\n kernel_size=2,\n stride=2,\n padding=0),\n nn.Identity(),\n nn.Conv2d(\n in_channels=out_channels[3],\n out_channels=out_channels[3],\n kernel_size=3,\n stride=2,\n padding=1)\n ])\n \n if use_clstoken:\n self.readout_projects = nn.ModuleList()\n for _ in range(len(self.projects)):\n self.readout_projects.append(\n nn.Sequential(\n nn.Linear(2 * in_channels, in_channels),\n nn.GELU()))\n \n self.scratch = _make_scratch(\n out_channels,\n features,\n groups=1,\n expand=False,\n )\n \n self.scratch.stem_transpose = None\n \n self.scratch.refinenet1 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet2 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet3 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet4 = _make_fusion_block(features, use_bn)\n \n head_features_1 = features\n head_features_2 = 32\n \n self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1)\n self.scratch.output_conv2 = nn.Sequential(\n nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1),\n nn.ReLU(True),\n nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0),\n nn.ReLU(True),\n nn.Identity(),\n )\n \n def forward(self, out_features, patch_h, patch_w):\n out = []\n for i, x in enumerate(out_features):\n if self.use_clstoken:\n x, cls_token = x[0], x[1]\n readout = cls_token.unsqueeze(1).expand_as(x)\n x = self.readout_projects[i](torch.cat((x, readout), -1))\n else:\n x = x[0]\n \n x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w))\n \n x = self.projects[i](x)\n x = self.resize_layers[i](x)\n \n out.append(x)\n \n layer_1, layer_2, layer_3, layer_4 = out\n \n layer_1_rn = self.scratch.layer1_rn(layer_1)\n layer_2_rn = self.scratch.layer2_rn(layer_2)\n layer_3_rn = self.scratch.layer3_rn(layer_3)\n layer_4_rn = self.scratch.layer4_rn(layer_4)\n \n path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) \n path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:])\n path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:])\n path_1 = self.scratch.refinenet1(path_2, layer_1_rn)\n \n out = self.scratch.output_conv1(path_1)\n out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode=\"bilinear\", align_corners=True)\n out = self.scratch.output_conv2(out)\n \n return out\n\n\nclass DepthAnythingV2(nn.Module):\n def __init__(\n self, \n encoder='vitl', \n features=256, \n out_channels=[256, 512, 1024, 1024], \n use_bn=False, \n use_clstoken=False\n ):\n super(DepthAnythingV2, self).__init__()\n \n self.intermediate_layer_idx = {\n 'vits': [2, 5, 8, 11],\n 'vitb': [2, 5, 8, 11], \n 'vitl': [4, 11, 17, 23], \n 'vitg': [9, 19, 29, 39]\n }\n \n self.encoder = encoder\n self.pretrained = DINOv2(model_name=encoder)\n \n self.depth_head = DPTHead(self.pretrained.embed_dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken)\n \n def forward(self, x):\n patch_h, patch_w = x.shape[-2] // 14, x.shape[-1] // 14\n \n features = self.pretrained.get_intermediate_layers(x, self.intermediate_layer_idx[self.encoder], return_class_token=True)\n \n depth = self.depth_head(features, patch_h, patch_w)\n depth = F.relu(depth)\n \n return depth.squeeze(1)\n \n @torch.no_grad()\n def infer_image(self, raw_image, input_size=518):\n image, (h, w) = self.image2tensor(raw_image, input_size)\n \n depth = self.forward(image)\n \n depth = F.interpolate(depth[:, None], (h, w), mode=\"bilinear\", align_corners=True)[0, 0]\n \n return depth.cpu().numpy()\n \n def image2tensor(self, raw_image, input_size=518): \n transform = Compose([\n Resize(\n width=input_size,\n height=input_size,\n resize_target=False,\n keep_aspect_ratio=True,\n ensure_multiple_of=14,\n resize_method='lower_bound',\n image_interpolation_method=cv2.INTER_CUBIC,\n ),\n NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),\n PrepareForNet(),\n ])\n \n h, w = raw_image.shape[:2]\n \n image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0\n \n image = transform({'image': image})['image']\n image = torch.from_numpy(image).unsqueeze(0)\n \n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n image = image.to(DEVICE)\n \n return image, (h, w)\n" }, { "path": "depth_anything_v2/util/blocks.py", "content": "import torch.nn as nn\n\n\ndef _make_scratch(in_shape, out_shape, groups=1, expand=False):\n scratch = nn.Module()\n\n out_shape1 = out_shape\n out_shape2 = out_shape\n out_shape3 = out_shape\n if len(in_shape) >= 4:\n out_shape4 = out_shape\n\n if expand:\n out_shape1 = out_shape\n out_shape2 = out_shape * 2\n out_shape3 = out_shape * 4\n if len(in_shape) >= 4:\n out_shape4 = out_shape * 8\n\n scratch.layer1_rn = nn.Conv2d(in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n scratch.layer2_rn = nn.Conv2d(in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n scratch.layer3_rn = nn.Conv2d(in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n if len(in_shape) >= 4:\n scratch.layer4_rn = nn.Conv2d(in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n\n return scratch\n\n\nclass ResidualConvUnit(nn.Module):\n \"\"\"Residual convolution module.\n \"\"\"\n\n def __init__(self, features, activation, bn):\n \"\"\"Init.\n\n Args:\n features (int): number of features\n \"\"\"\n super().__init__()\n\n self.bn = bn\n\n self.groups=1\n\n self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)\n \n self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)\n\n if self.bn == True:\n self.bn1 = nn.BatchNorm2d(features)\n self.bn2 = nn.BatchNorm2d(features)\n\n self.activation = activation\n\n self.skip_add = nn.quantized.FloatFunctional()\n\n def forward(self, x):\n \"\"\"Forward pass.\n\n Args:\n x (tensor): input\n\n Returns:\n tensor: output\n \"\"\"\n \n out = self.activation(x)\n out = self.conv1(out)\n if self.bn == True:\n out = self.bn1(out)\n \n out = self.activation(out)\n out = self.conv2(out)\n if self.bn == True:\n out = self.bn2(out)\n\n if self.groups > 1:\n out = self.conv_merge(out)\n\n return self.skip_add.add(out, x)\n\n\nclass FeatureFusionBlock(nn.Module):\n \"\"\"Feature fusion block.\n \"\"\"\n\n def __init__(\n self, \n features, \n activation, \n deconv=False, \n bn=False, \n expand=False, \n align_corners=True,\n size=None\n ):\n \"\"\"Init.\n \n Args:\n features (int): number of features\n \"\"\"\n super(FeatureFusionBlock, self).__init__()\n\n self.deconv = deconv\n self.align_corners = align_corners\n\n self.groups=1\n\n self.expand = expand\n out_features = features\n if self.expand == True:\n out_features = features // 2\n \n self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1)\n\n self.resConfUnit1 = ResidualConvUnit(features, activation, bn)\n self.resConfUnit2 = ResidualConvUnit(features, activation, bn)\n \n self.skip_add = nn.quantized.FloatFunctional()\n\n self.size=size\n\n def forward(self, *xs, size=None):\n \"\"\"Forward pass.\n\n Returns:\n tensor: output\n \"\"\"\n output = xs[0]\n\n if len(xs) == 2:\n res = self.resConfUnit1(xs[1])\n output = self.skip_add.add(output, res)\n\n output = self.resConfUnit2(output)\n\n if (size is None) and (self.size is None):\n modifier = {\"scale_factor\": 2}\n elif size is None:\n modifier = {\"size\": self.size}\n else:\n modifier = {\"size\": size}\n\n output = nn.functional.interpolate(output, **modifier, mode=\"bilinear\", align_corners=self.align_corners)\n \n output = self.out_conv(output)\n\n return output\n" }, { "path": "depth_anything_v2/util/transform.py", "content": "import numpy as np\nimport cv2\n\n\nclass Resize(object):\n \"\"\"Resize sample to given size (width, height).\n \"\"\"\n\n def __init__(\n self,\n width,\n height,\n resize_target=True,\n keep_aspect_ratio=False,\n ensure_multiple_of=1,\n resize_method=\"lower_bound\",\n image_interpolation_method=cv2.INTER_AREA,\n ):\n \"\"\"Init.\n\n Args:\n width (int): desired output width\n height (int): desired output height\n resize_target (bool, optional):\n True: Resize the full sample (image, mask, target).\n False: Resize image only.\n Defaults to True.\n keep_aspect_ratio (bool, optional):\n True: Keep the aspect ratio of the input sample.\n Output sample might not have the given width and height, and\n resize behaviour depends on the parameter 'resize_method'.\n Defaults to False.\n ensure_multiple_of (int, optional):\n Output width and height is constrained to be multiple of this parameter.\n Defaults to 1.\n resize_method (str, optional):\n \"lower_bound\": Output will be at least as large as the given size.\n \"upper_bound\": Output will be at max as large as the given size. (Output size might be smaller than given size.)\n \"minimal\": Scale as least as possible. (Output size might be smaller than given size.)\n Defaults to \"lower_bound\".\n \"\"\"\n self.__width = width\n self.__height = height\n\n self.__resize_target = resize_target\n self.__keep_aspect_ratio = keep_aspect_ratio\n self.__multiple_of = ensure_multiple_of\n self.__resize_method = resize_method\n self.__image_interpolation_method = image_interpolation_method\n\n def constrain_to_multiple_of(self, x, min_val=0, max_val=None):\n y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if max_val is not None and y > max_val:\n y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if y < min_val:\n y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n return y\n\n def get_size(self, width, height):\n # determine new height and width\n scale_height = self.__height / height\n scale_width = self.__width / width\n\n if self.__keep_aspect_ratio:\n if self.__resize_method == \"lower_bound\":\n # scale such that output size is lower bound\n if scale_width > scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"upper_bound\":\n # scale such that output size is upper bound\n if scale_width < scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"minimal\":\n # scale as least as possbile\n if abs(1 - scale_width) < abs(1 - scale_height):\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n else:\n raise ValueError(f\"resize_method {self.__resize_method} not implemented\")\n\n if self.__resize_method == \"lower_bound\":\n new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height)\n new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width)\n elif self.__resize_method == \"upper_bound\":\n new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height)\n new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width)\n elif self.__resize_method == \"minimal\":\n new_height = self.constrain_to_multiple_of(scale_height * height)\n new_width = self.constrain_to_multiple_of(scale_width * width)\n else:\n raise ValueError(f\"resize_method {self.__resize_method} not implemented\")\n\n return (new_width, new_height)\n\n def __call__(self, sample):\n width, height = self.get_size(sample[\"image\"].shape[1], sample[\"image\"].shape[0])\n \n # resize sample\n sample[\"image\"] = cv2.resize(sample[\"image\"], (width, height), interpolation=self.__image_interpolation_method)\n\n if self.__resize_target:\n if \"depth\" in sample:\n sample[\"depth\"] = cv2.resize(sample[\"depth\"], (width, height), interpolation=cv2.INTER_NEAREST)\n \n if \"mask\" in sample:\n sample[\"mask\"] = cv2.resize(sample[\"mask\"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST)\n \n return sample\n\n\nclass NormalizeImage(object):\n \"\"\"Normlize image by given mean and std.\n \"\"\"\n\n def __init__(self, mean, std):\n self.__mean = mean\n self.__std = std\n\n def __call__(self, sample):\n sample[\"image\"] = (sample[\"image\"] - self.__mean) / self.__std\n\n return sample\n\n\nclass PrepareForNet(object):\n \"\"\"Prepare sample for usage as network input.\n \"\"\"\n\n def __init__(self):\n pass\n\n def __call__(self, sample):\n image = np.transpose(sample[\"image\"], (2, 0, 1))\n sample[\"image\"] = np.ascontiguousarray(image).astype(np.float32)\n\n if \"depth\" in sample:\n depth = sample[\"depth\"].astype(np.float32)\n sample[\"depth\"] = np.ascontiguousarray(depth)\n \n if \"mask\" in sample:\n sample[\"mask\"] = sample[\"mask\"].astype(np.float32)\n sample[\"mask\"] = np.ascontiguousarray(sample[\"mask\"])\n \n return sample" }, { "path": "metric_depth/README.md", "content": "# Depth Anything V2 for Metric Depth Estimation\n\n![teaser](./assets/compare_zoedepth.png)\n\nWe here provide a simple codebase to fine-tune our Depth Anything V2 pre-trained encoder for metric depth estimation. Built on our powerful encoder, we use a simple DPT head to regress the depth. We fine-tune our pre-trained encoder on synthetic Hypersim / Virtual KITTI datasets for indoor / outdoor metric depth estimation, respectively.\n\n\n# Pre-trained Models\n\nWe provide **six metric depth models** of three scales for indoor and outdoor scenes, respectively.\n\n| Base Model | Params | Indoor (Hypersim) | Outdoor (Virtual KITTI 2) |\n|:-|-:|:-:|:-:|\n| Depth-Anything-V2-Small | 24.8M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-Hypersim-Small/resolve/main/depth_anything_v2_metric_hypersim_vits.pth?download=true) | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-VKITTI-Small/resolve/main/depth_anything_v2_metric_vkitti_vits.pth?download=true) |\n| Depth-Anything-V2-Base | 97.5M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-Hypersim-Base/resolve/main/depth_anything_v2_metric_hypersim_vitb.pth?download=true) | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-VKITTI-Base/resolve/main/depth_anything_v2_metric_vkitti_vitb.pth?download=true) |\n| Depth-Anything-V2-Large | 335.3M | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-Hypersim-Large/resolve/main/depth_anything_v2_metric_hypersim_vitl.pth?download=true) | [Download](https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-VKITTI-Large/resolve/main/depth_anything_v2_metric_vkitti_vitl.pth?download=true) |\n\n*We recommend to first try our larger models (if computational cost is affordable) and the indoor version.*\n\n## Usage\n\n### Prepraration\n\n```bash\ngit clone https://github.com/DepthAnything/Depth-Anything-V2\ncd Depth-Anything-V2/metric_depth\npip install -r requirements.txt\n```\n\nDownload the checkpoints listed [here](#pre-trained-models) and put them under the `checkpoints` directory.\n\n### Use our models\n```python\nimport cv2\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\nmodel_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}\n}\n\nencoder = 'vitl' # or 'vits', 'vitb'\ndataset = 'hypersim' # 'hypersim' for indoor model, 'vkitti' for outdoor model\nmax_depth = 20 # 20 for indoor model, 80 for outdoor model\n\nmodel = DepthAnythingV2(**{**model_configs[encoder], 'max_depth': max_depth})\nmodel.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_metric_{dataset}_{encoder}.pth', map_location='cpu'))\nmodel.eval()\n\nraw_img = cv2.imread('your/image/path')\ndepth = model.infer_image(raw_img) # HxW depth map in meters in numpy\n```\n\n### Running script on images\n\nHere, we take the `vitl` encoder as an example. You can also use `vitb` or `vits` encoders.\n\n```bash\n# indoor scenes\npython run.py \\\n --encoder vitl \\\n --load-from checkpoints/depth_anything_v2_metric_hypersim_vitl.pth \\\n --max-depth 20 \\\n --img-path --outdir [--input-size ] [--save-numpy]\n\n# outdoor scenes\npython run.py \\\n --encoder vitl \\\n --load-from checkpoints/depth_anything_v2_metric_vkitti_vitl.pth \\\n --max-depth 80 \\\n --img-path --outdir [--input-size ] [--save-numpy]\n```\n\n### Project 2D images to point clouds:\n\n```bash\npython depth_to_pointcloud.py \\\n --encoder vitl \\\n --load-from checkpoints/depth_anything_v2_metric_hypersim_vitl.pth \\\n --max-depth 20 \\\n --img-path --outdir \n```\n\n### Reproduce training\n\nPlease first prepare the [Hypersim](https://github.com/apple/ml-hypersim) and [Virtual KITTI 2](https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/) datasets. Then:\n\n```bash\nbash dist_train.sh\n```\n\n\n## Citation\n\nIf you find this project useful, please consider citing:\n\n```bibtex\n@article{depth_anything_v2,\n title={Depth Anything V2},\n author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},\n journal={arXiv:2406.09414},\n year={2024}\n}\n\n@inproceedings{depth_anything_v1,\n title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, \n author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},\n booktitle={CVPR},\n year={2024}\n}\n```\n" }, { "path": "metric_depth/dataset/hypersim.py", "content": "import cv2\nimport h5py\nimport numpy as np\nimport torch\nfrom torch.utils.data import Dataset\nfrom torchvision.transforms import Compose\n\nfrom dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop\n\n\ndef hypersim_distance_to_depth(npyDistance):\n intWidth, intHeight, fltFocal = 1024, 768, 886.81\n\n npyImageplaneX = np.linspace((-0.5 * intWidth) + 0.5, (0.5 * intWidth) - 0.5, intWidth).reshape(\n 1, intWidth).repeat(intHeight, 0).astype(np.float32)[:, :, None]\n npyImageplaneY = np.linspace((-0.5 * intHeight) + 0.5, (0.5 * intHeight) - 0.5,\n intHeight).reshape(intHeight, 1).repeat(intWidth, 1).astype(np.float32)[:, :, None]\n npyImageplaneZ = np.full([intHeight, intWidth, 1], fltFocal, np.float32)\n npyImageplane = np.concatenate(\n [npyImageplaneX, npyImageplaneY, npyImageplaneZ], 2)\n\n npyDepth = npyDistance / np.linalg.norm(npyImageplane, 2, 2) * fltFocal\n return npyDepth\n\n\nclass Hypersim(Dataset):\n def __init__(self, filelist_path, mode, size=(518, 518)):\n \n self.mode = mode\n self.size = size\n \n with open(filelist_path, 'r') as f:\n self.filelist = f.read().splitlines()\n \n net_w, net_h = size\n self.transform = Compose([\n Resize(\n width=net_w,\n height=net_h,\n resize_target=True if mode == 'train' else False,\n keep_aspect_ratio=True,\n ensure_multiple_of=14,\n resize_method='lower_bound',\n image_interpolation_method=cv2.INTER_CUBIC,\n ),\n NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),\n PrepareForNet(),\n ] + ([Crop(size[0])] if self.mode == 'train' else []))\n \n def __getitem__(self, item):\n img_path = self.filelist[item].split(' ')[0]\n depth_path = self.filelist[item].split(' ')[1]\n \n image = cv2.imread(img_path)\n image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0\n \n depth_fd = h5py.File(depth_path, \"r\")\n distance_meters = np.array(depth_fd['dataset'])\n depth = hypersim_distance_to_depth(distance_meters)\n \n sample = self.transform({'image': image, 'depth': depth})\n\n sample['image'] = torch.from_numpy(sample['image'])\n sample['depth'] = torch.from_numpy(sample['depth'])\n \n sample['valid_mask'] = (torch.isnan(sample['depth']) == 0)\n sample['depth'][sample['valid_mask'] == 0] = 0\n \n sample['image_path'] = self.filelist[item].split(' ')[0]\n \n return sample\n\n def __len__(self):\n return len(self.filelist)" }, { "path": "metric_depth/dataset/kitti.py", "content": "import cv2\nimport torch\nfrom torch.utils.data import Dataset\nfrom torchvision.transforms import Compose\n\nfrom dataset.transform import Resize, NormalizeImage, PrepareForNet\n\n\nclass KITTI(Dataset):\n def __init__(self, filelist_path, mode, size=(518, 518)):\n if mode != 'val':\n raise NotImplementedError\n \n self.mode = mode\n self.size = size\n \n with open(filelist_path, 'r') as f:\n self.filelist = f.read().splitlines()\n \n net_w, net_h = size\n self.transform = Compose([\n Resize(\n width=net_w,\n height=net_h,\n resize_target=True if mode == 'train' else False,\n keep_aspect_ratio=True,\n ensure_multiple_of=14,\n resize_method='lower_bound',\n image_interpolation_method=cv2.INTER_CUBIC,\n ),\n NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),\n PrepareForNet(),\n ])\n \n def __getitem__(self, item):\n img_path = self.filelist[item].split(' ')[0]\n depth_path = self.filelist[item].split(' ')[1]\n \n image = cv2.imread(img_path)\n image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0\n \n depth = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED).astype('float32')\n \n sample = self.transform({'image': image, 'depth': depth})\n \n sample['image'] = torch.from_numpy(sample['image'])\n sample['depth'] = torch.from_numpy(sample['depth'])\n sample['depth'] = sample['depth'] / 256.0 # convert in meters\n \n sample['valid_mask'] = sample['depth'] > 0\n \n sample['image_path'] = self.filelist[item].split(' ')[0]\n \n return sample\n\n def __len__(self):\n return len(self.filelist)" }, { "path": "metric_depth/dataset/splits/hypersim/val.txt", "content": "/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0000.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0000.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0001.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0001.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0002.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0002.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0003.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0003.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0004.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0004.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0005.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0005.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0006.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0006.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0007.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0007.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0008.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0008.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0009.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0009.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0010.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0010.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0011.tonemap.jpg /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_geometry_hdf5/frame.0011.depth_meters.hdf5\n/mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0013.tonemap.jpg 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/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/fog/frames/depth/Camera_0/depth_00141.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene02/15-deg-left/frames/rgb/Camera_0/rgb_00164.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene02/15-deg-left/frames/depth/Camera_0/depth_00164.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene02/30-deg-right/frames/rgb/Camera_0/rgb_00101.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene02/30-deg-right/frames/depth/Camera_0/depth_00101.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/15-deg-left/frames/rgb/Camera_0/rgb_00104.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/15-deg-left/frames/depth/Camera_0/depth_00104.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/15-deg-left/frames/rgb/Camera_0/rgb_00240.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/15-deg-left/frames/depth/Camera_0/depth_00240.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/overcast/frames/rgb/Camera_0/rgb_00272.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/overcast/frames/depth/Camera_0/depth_00272.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/rain/frames/rgb/Camera_0/rgb_00078.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/rain/frames/depth/Camera_0/depth_00078.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/morning/frames/rgb/Camera_0/rgb_00371.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/morning/frames/depth/Camera_0/depth_00371.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/morning/frames/rgb/Camera_0/rgb_00171.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/morning/frames/depth/Camera_0/depth_00171.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/rain/frames/rgb/Camera_0/rgb_00197.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/rain/frames/depth/Camera_0/depth_00197.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/30-deg-left/frames/rgb/Camera_0/rgb_00158.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/30-deg-left/frames/depth/Camera_0/depth_00158.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/sunset/frames/rgb/Camera_0/rgb_00786.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/sunset/frames/depth/Camera_0/depth_00786.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/overcast/frames/rgb/Camera_0/rgb_00302.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/overcast/frames/depth/Camera_0/depth_00302.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/clone/frames/rgb/Camera_0/rgb_00391.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/clone/frames/depth/Camera_0/depth_00391.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/rgb/Camera_0/rgb_00605.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/depth/Camera_0/depth_00605.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/15-deg-left/frames/rgb/Camera_0/rgb_00210.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/15-deg-left/frames/depth/Camera_0/depth_00210.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene06/morning/frames/rgb/Camera_0/rgb_00212.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene06/morning/frames/depth/Camera_0/depth_00212.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene06/30-deg-left/frames/rgb/Camera_0/rgb_00168.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene06/30-deg-left/frames/depth/Camera_0/depth_00168.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/30-deg-right/frames/rgb/Camera_0/rgb_00204.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/30-deg-right/frames/depth/Camera_0/depth_00204.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/rgb/Camera_0/rgb_00424.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/depth/Camera_0/depth_00424.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/clone/frames/rgb/Camera_0/rgb_00250.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/clone/frames/depth/Camera_0/depth_00250.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/morning/frames/rgb/Camera_0/rgb_00290.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/morning/frames/depth/Camera_0/depth_00290.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/30-deg-right/frames/rgb/Camera_0/rgb_00195.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/30-deg-right/frames/depth/Camera_0/depth_00195.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/clone/frames/rgb/Camera_0/rgb_00684.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/clone/frames/depth/Camera_0/depth_00684.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/15-deg-right/frames/rgb/Camera_0/rgb_00156.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/15-deg-right/frames/depth/Camera_0/depth_00156.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/30-deg-right/frames/rgb/Camera_0/rgb_00265.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/30-deg-right/frames/depth/Camera_0/depth_00265.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/sunset/frames/rgb/Camera_0/rgb_00133.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/sunset/frames/depth/Camera_0/depth_00133.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/morning/frames/rgb/Camera_0/rgb_00097.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/morning/frames/depth/Camera_0/depth_00097.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/15-deg-right/frames/rgb/Camera_0/rgb_00277.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/15-deg-right/frames/depth/Camera_0/depth_00277.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/sunset/frames/rgb/Camera_0/rgb_00089.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/sunset/frames/depth/Camera_0/depth_00089.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/rgb/Camera_0/rgb_00151.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/overcast/frames/depth/Camera_0/depth_00151.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/sunset/frames/rgb/Camera_0/rgb_00317.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/sunset/frames/depth/Camera_0/depth_00317.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/15-deg-left/frames/rgb/Camera_0/rgb_00646.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/15-deg-left/frames/depth/Camera_0/depth_00646.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/sunset/frames/rgb/Camera_0/rgb_00283.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene01/sunset/frames/depth/Camera_0/depth_00283.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/rain/frames/rgb/Camera_0/rgb_00272.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene20/rain/frames/depth/Camera_0/depth_00272.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/clone/frames/rgb/Camera_0/rgb_00301.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/clone/frames/depth/Camera_0/depth_00301.png\n/mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/clone/frames/rgb/Camera_0/rgb_00186.jpg /mnt/bn/liheyang/DepthDatasets/vKitti2/Scene18/clone/frames/depth/Camera_0/depth_00186.png\n" }, { "path": "metric_depth/dataset/transform.py", "content": "import cv2\nimport math\nimport numpy as np\nimport torch\nimport torch.nn.functional as F\n\n\ndef apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA):\n \"\"\"Rezise the sample to ensure the given size. Keeps aspect ratio.\n\n Args:\n sample (dict): sample\n size (tuple): image size\n\n Returns:\n tuple: new size\n \"\"\"\n shape = list(sample[\"disparity\"].shape)\n\n if shape[0] >= size[0] and shape[1] >= size[1]:\n return sample\n\n scale = [0, 0]\n scale[0] = size[0] / shape[0]\n scale[1] = size[1] / shape[1]\n\n scale = max(scale)\n\n shape[0] = math.ceil(scale * shape[0])\n shape[1] = math.ceil(scale * shape[1])\n\n # resize\n sample[\"image\"] = cv2.resize(\n sample[\"image\"], tuple(shape[::-1]), interpolation=image_interpolation_method\n )\n\n sample[\"disparity\"] = cv2.resize(\n sample[\"disparity\"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST\n )\n sample[\"mask\"] = cv2.resize(\n sample[\"mask\"].astype(np.float32),\n tuple(shape[::-1]),\n interpolation=cv2.INTER_NEAREST,\n )\n sample[\"mask\"] = sample[\"mask\"].astype(bool)\n\n return tuple(shape)\n\n\nclass Resize(object):\n \"\"\"Resize sample to given size (width, height).\n \"\"\"\n\n def __init__(\n self,\n width,\n height,\n resize_target=True,\n keep_aspect_ratio=False,\n ensure_multiple_of=1,\n resize_method=\"lower_bound\",\n image_interpolation_method=cv2.INTER_AREA,\n ):\n \"\"\"Init.\n\n Args:\n width (int): desired output width\n height (int): desired output height\n resize_target (bool, optional):\n True: Resize the full sample (image, mask, target).\n False: Resize image only.\n Defaults to True.\n keep_aspect_ratio (bool, optional):\n True: Keep the aspect ratio of the input sample.\n Output sample might not have the given width and height, and\n resize behaviour depends on the parameter 'resize_method'.\n Defaults to False.\n ensure_multiple_of (int, optional):\n Output width and height is constrained to be multiple of this parameter.\n Defaults to 1.\n resize_method (str, optional):\n \"lower_bound\": Output will be at least as large as the given size.\n \"upper_bound\": Output will be at max as large as the given size. (Output size might be smaller than given size.)\n \"minimal\": Scale as least as possible. (Output size might be smaller than given size.)\n Defaults to \"lower_bound\".\n \"\"\"\n self.__width = width\n self.__height = height\n\n self.__resize_target = resize_target\n self.__keep_aspect_ratio = keep_aspect_ratio\n self.__multiple_of = ensure_multiple_of\n self.__resize_method = resize_method\n self.__image_interpolation_method = image_interpolation_method\n\n def constrain_to_multiple_of(self, x, min_val=0, max_val=None):\n y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if max_val is not None and y > max_val:\n y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if y < min_val:\n y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n return y\n\n def get_size(self, width, height):\n # determine new height and width\n scale_height = self.__height / height\n scale_width = self.__width / width\n\n if self.__keep_aspect_ratio:\n if self.__resize_method == \"lower_bound\":\n # scale such that output size is lower bound\n if scale_width > scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"upper_bound\":\n # scale such that output size is upper bound\n if scale_width < scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"minimal\":\n # scale as least as possbile\n if abs(1 - scale_width) < abs(1 - scale_height):\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n else:\n raise ValueError(\n f\"resize_method {self.__resize_method} not implemented\"\n )\n\n if self.__resize_method == \"lower_bound\":\n new_height = self.constrain_to_multiple_of(\n scale_height * height, min_val=self.__height\n )\n new_width = self.constrain_to_multiple_of(\n scale_width * width, min_val=self.__width\n )\n elif self.__resize_method == \"upper_bound\":\n new_height = self.constrain_to_multiple_of(\n scale_height * height, max_val=self.__height\n )\n new_width = self.constrain_to_multiple_of(\n scale_width * width, max_val=self.__width\n )\n elif self.__resize_method == \"minimal\":\n new_height = self.constrain_to_multiple_of(scale_height * height)\n new_width = self.constrain_to_multiple_of(scale_width * width)\n else:\n raise ValueError(f\"resize_method {self.__resize_method} not implemented\")\n\n return (new_width, new_height)\n\n def __call__(self, sample):\n width, height = self.get_size(\n sample[\"image\"].shape[1], sample[\"image\"].shape[0]\n )\n\n # resize sample\n sample[\"image\"] = cv2.resize(\n sample[\"image\"],\n (width, height),\n interpolation=self.__image_interpolation_method,\n )\n\n if self.__resize_target:\n if \"disparity\" in sample:\n sample[\"disparity\"] = cv2.resize(\n sample[\"disparity\"],\n (width, height),\n interpolation=cv2.INTER_NEAREST,\n )\n\n if \"depth\" in sample:\n sample[\"depth\"] = cv2.resize(\n sample[\"depth\"], (width, height), interpolation=cv2.INTER_NEAREST\n )\n\n if \"semseg_mask\" in sample:\n # sample[\"semseg_mask\"] = cv2.resize(\n # sample[\"semseg_mask\"], (width, height), interpolation=cv2.INTER_NEAREST\n # )\n sample[\"semseg_mask\"] = F.interpolate(torch.from_numpy(sample[\"semseg_mask\"]).float()[None, None, ...], (height, width), mode='nearest').numpy()[0, 0]\n \n if \"mask\" in sample:\n sample[\"mask\"] = cv2.resize(\n sample[\"mask\"].astype(np.float32),\n (width, height),\n interpolation=cv2.INTER_NEAREST,\n )\n # sample[\"mask\"] = sample[\"mask\"].astype(bool)\n\n # print(sample['image'].shape, sample['depth'].shape)\n return sample\n\n\nclass NormalizeImage(object):\n \"\"\"Normlize image by given mean and std.\n \"\"\"\n\n def __init__(self, mean, std):\n self.__mean = mean\n self.__std = std\n\n def __call__(self, sample):\n sample[\"image\"] = (sample[\"image\"] - self.__mean) / self.__std\n\n return sample\n\n\nclass PrepareForNet(object):\n \"\"\"Prepare sample for usage as network input.\n \"\"\"\n\n def __init__(self):\n pass\n\n def __call__(self, sample):\n image = np.transpose(sample[\"image\"], (2, 0, 1))\n sample[\"image\"] = np.ascontiguousarray(image).astype(np.float32)\n\n if \"mask\" in sample:\n sample[\"mask\"] = sample[\"mask\"].astype(np.float32)\n sample[\"mask\"] = np.ascontiguousarray(sample[\"mask\"])\n \n if \"depth\" in sample:\n depth = sample[\"depth\"].astype(np.float32)\n sample[\"depth\"] = np.ascontiguousarray(depth)\n \n if \"semseg_mask\" in sample:\n sample[\"semseg_mask\"] = sample[\"semseg_mask\"].astype(np.float32)\n sample[\"semseg_mask\"] = np.ascontiguousarray(sample[\"semseg_mask\"])\n\n return sample\n\n\nclass Crop(object):\n \"\"\"Crop sample for batch-wise training. Image is of shape CxHxW\n \"\"\"\n\n def __init__(self, size):\n if isinstance(size, int):\n self.size = (size, size)\n else:\n self.size = size\n\n def __call__(self, sample):\n h, w = sample['image'].shape[-2:]\n assert h >= self.size[0] and w >= self.size[1], 'Wrong size'\n \n h_start = np.random.randint(0, h - self.size[0] + 1)\n w_start = np.random.randint(0, w - self.size[1] + 1)\n h_end = h_start + self.size[0]\n w_end = w_start + self.size[1]\n \n sample['image'] = sample['image'][:, h_start: h_end, w_start: w_end]\n \n if \"depth\" in sample:\n sample[\"depth\"] = sample[\"depth\"][h_start: h_end, w_start: w_end]\n \n if \"mask\" in sample:\n sample[\"mask\"] = sample[\"mask\"][h_start: h_end, w_start: w_end]\n \n if \"semseg_mask\" in sample:\n sample[\"semseg_mask\"] = sample[\"semseg_mask\"][h_start: h_end, w_start: w_end]\n \n return sample" }, { "path": "metric_depth/dataset/vkitti2.py", "content": "import cv2\nimport torch\nfrom torch.utils.data import Dataset\nfrom torchvision.transforms import Compose\n\nfrom dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop\n\n\nclass VKITTI2(Dataset):\n def __init__(self, filelist_path, mode, size=(518, 518)):\n \n self.mode = mode\n self.size = size\n \n with open(filelist_path, 'r') as f:\n self.filelist = f.read().splitlines()\n \n net_w, net_h = size\n self.transform = Compose([\n Resize(\n width=net_w,\n height=net_h,\n resize_target=True if mode == 'train' else False,\n keep_aspect_ratio=True,\n ensure_multiple_of=14,\n resize_method='lower_bound',\n image_interpolation_method=cv2.INTER_CUBIC,\n ),\n NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),\n PrepareForNet(),\n ] + ([Crop(size[0])] if self.mode == 'train' else []))\n \n def __getitem__(self, item):\n img_path = self.filelist[item].split(' ')[0]\n depth_path = self.filelist[item].split(' ')[1]\n \n image = cv2.imread(img_path)\n image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0\n \n depth = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) / 100.0 # cm to m\n \n sample = self.transform({'image': image, 'depth': depth})\n\n sample['image'] = torch.from_numpy(sample['image'])\n sample['depth'] = torch.from_numpy(sample['depth'])\n \n sample['valid_mask'] = (sample['depth'] <= 80)\n \n sample['image_path'] = self.filelist[item].split(' ')[0]\n \n return sample\n\n def __len__(self):\n return len(self.filelist)" }, { "path": "metric_depth/depth_anything_v2/dinov2.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n#\n# This source code is licensed under the Apache License, Version 2.0\n# found in the LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py\n\nfrom functools import partial\nimport math\nimport logging\nfrom typing import Sequence, Tuple, Union, Callable\n\nimport torch\nimport torch.nn as nn\nimport torch.utils.checkpoint\nfrom torch.nn.init import trunc_normal_\n\nfrom .dinov2_layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ndef named_apply(fn: Callable, module: nn.Module, name=\"\", depth_first=True, include_root=False) -> nn.Module:\n if not depth_first and include_root:\n fn(module=module, name=name)\n for child_name, child_module in module.named_children():\n child_name = \".\".join((name, child_name)) if name else child_name\n named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True)\n if depth_first and include_root:\n fn(module=module, name=name)\n return module\n\n\nclass BlockChunk(nn.ModuleList):\n def forward(self, x):\n for b in self:\n x = b(x)\n return x\n\n\nclass DinoVisionTransformer(nn.Module):\n def __init__(\n self,\n img_size=224,\n patch_size=16,\n in_chans=3,\n embed_dim=768,\n depth=12,\n num_heads=12,\n mlp_ratio=4.0,\n qkv_bias=True,\n ffn_bias=True,\n proj_bias=True,\n drop_path_rate=0.0,\n drop_path_uniform=False,\n init_values=None, # for layerscale: None or 0 => no layerscale\n embed_layer=PatchEmbed,\n act_layer=nn.GELU,\n block_fn=Block,\n ffn_layer=\"mlp\",\n block_chunks=1,\n num_register_tokens=0,\n interpolate_antialias=False,\n interpolate_offset=0.1,\n ):\n \"\"\"\n Args:\n img_size (int, tuple): input image size\n patch_size (int, tuple): patch size\n in_chans (int): number of input channels\n embed_dim (int): embedding dimension\n depth (int): depth of transformer\n num_heads (int): number of attention heads\n mlp_ratio (int): ratio of mlp hidden dim to embedding dim\n qkv_bias (bool): enable bias for qkv if True\n proj_bias (bool): enable bias for proj in attn if True\n ffn_bias (bool): enable bias for ffn if True\n drop_path_rate (float): stochastic depth rate\n drop_path_uniform (bool): apply uniform drop rate across blocks\n weight_init (str): weight init scheme\n init_values (float): layer-scale init values\n embed_layer (nn.Module): patch embedding layer\n act_layer (nn.Module): MLP activation layer\n block_fn (nn.Module): transformer block class\n ffn_layer (str): \"mlp\", \"swiglu\", \"swiglufused\" or \"identity\"\n block_chunks: (int) split block sequence into block_chunks units for FSDP wrap\n num_register_tokens: (int) number of extra cls tokens (so-called \"registers\")\n interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings\n interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings\n \"\"\"\n super().__init__()\n norm_layer = partial(nn.LayerNorm, eps=1e-6)\n\n self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models\n self.num_tokens = 1\n self.n_blocks = depth\n self.num_heads = num_heads\n self.patch_size = patch_size\n self.num_register_tokens = num_register_tokens\n self.interpolate_antialias = interpolate_antialias\n self.interpolate_offset = interpolate_offset\n\n self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim)\n num_patches = self.patch_embed.num_patches\n\n self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim))\n self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim))\n assert num_register_tokens >= 0\n self.register_tokens = (\n nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None\n )\n\n if drop_path_uniform is True:\n dpr = [drop_path_rate] * depth\n else:\n dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule\n\n if ffn_layer == \"mlp\":\n logger.info(\"using MLP layer as FFN\")\n ffn_layer = Mlp\n elif ffn_layer == \"swiglufused\" or ffn_layer == \"swiglu\":\n logger.info(\"using SwiGLU layer as FFN\")\n ffn_layer = SwiGLUFFNFused\n elif ffn_layer == \"identity\":\n logger.info(\"using Identity layer as FFN\")\n\n def f(*args, **kwargs):\n return nn.Identity()\n\n ffn_layer = f\n else:\n raise NotImplementedError\n\n blocks_list = [\n block_fn(\n dim=embed_dim,\n num_heads=num_heads,\n mlp_ratio=mlp_ratio,\n qkv_bias=qkv_bias,\n proj_bias=proj_bias,\n ffn_bias=ffn_bias,\n drop_path=dpr[i],\n norm_layer=norm_layer,\n act_layer=act_layer,\n ffn_layer=ffn_layer,\n init_values=init_values,\n )\n for i in range(depth)\n ]\n if block_chunks > 0:\n self.chunked_blocks = True\n chunked_blocks = []\n chunksize = depth // block_chunks\n for i in range(0, depth, chunksize):\n # this is to keep the block index consistent if we chunk the block list\n chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize])\n self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks])\n else:\n self.chunked_blocks = False\n self.blocks = nn.ModuleList(blocks_list)\n\n self.norm = norm_layer(embed_dim)\n self.head = nn.Identity()\n\n self.mask_token = nn.Parameter(torch.zeros(1, embed_dim))\n\n self.init_weights()\n\n def init_weights(self):\n trunc_normal_(self.pos_embed, std=0.02)\n nn.init.normal_(self.cls_token, std=1e-6)\n if self.register_tokens is not None:\n nn.init.normal_(self.register_tokens, std=1e-6)\n named_apply(init_weights_vit_timm, self)\n\n def interpolate_pos_encoding(self, x, w, h):\n previous_dtype = x.dtype\n npatch = x.shape[1] - 1\n N = self.pos_embed.shape[1] - 1\n if npatch == N and w == h:\n return self.pos_embed\n pos_embed = self.pos_embed.float()\n class_pos_embed = pos_embed[:, 0]\n patch_pos_embed = pos_embed[:, 1:]\n dim = x.shape[-1]\n w0 = w // self.patch_size\n h0 = h // self.patch_size\n # we add a small number to avoid floating point error in the interpolation\n # see discussion at https://github.com/facebookresearch/dino/issues/8\n # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0\n w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset\n # w0, h0 = w0 + 0.1, h0 + 0.1\n \n sqrt_N = math.sqrt(N)\n sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N\n patch_pos_embed = nn.functional.interpolate(\n patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2),\n scale_factor=(sx, sy),\n # (int(w0), int(h0)), # to solve the upsampling shape issue\n mode=\"bicubic\",\n antialias=self.interpolate_antialias\n )\n \n assert int(w0) == patch_pos_embed.shape[-2]\n assert int(h0) == patch_pos_embed.shape[-1]\n patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim)\n return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype)\n\n def prepare_tokens_with_masks(self, x, masks=None):\n B, nc, w, h = x.shape\n x = self.patch_embed(x)\n if masks is not None:\n x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x)\n\n x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1)\n x = x + self.interpolate_pos_encoding(x, w, h)\n\n if self.register_tokens is not None:\n x = torch.cat(\n (\n x[:, :1],\n self.register_tokens.expand(x.shape[0], -1, -1),\n x[:, 1:],\n ),\n dim=1,\n )\n\n return x\n\n def forward_features_list(self, x_list, masks_list):\n x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)]\n for blk in self.blocks:\n x = blk(x)\n\n all_x = x\n output = []\n for x, masks in zip(all_x, masks_list):\n x_norm = self.norm(x)\n output.append(\n {\n \"x_norm_clstoken\": x_norm[:, 0],\n \"x_norm_regtokens\": x_norm[:, 1 : self.num_register_tokens + 1],\n \"x_norm_patchtokens\": x_norm[:, self.num_register_tokens + 1 :],\n \"x_prenorm\": x,\n \"masks\": masks,\n }\n )\n return output\n\n def forward_features(self, x, masks=None):\n if isinstance(x, list):\n return self.forward_features_list(x, masks)\n\n x = self.prepare_tokens_with_masks(x, masks)\n\n for blk in self.blocks:\n x = blk(x)\n\n x_norm = self.norm(x)\n return {\n \"x_norm_clstoken\": x_norm[:, 0],\n \"x_norm_regtokens\": x_norm[:, 1 : self.num_register_tokens + 1],\n \"x_norm_patchtokens\": x_norm[:, self.num_register_tokens + 1 :],\n \"x_prenorm\": x,\n \"masks\": masks,\n }\n\n def _get_intermediate_layers_not_chunked(self, x, n=1):\n x = self.prepare_tokens_with_masks(x)\n # If n is an int, take the n last blocks. If it's a list, take them\n output, total_block_len = [], len(self.blocks)\n blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n\n for i, blk in enumerate(self.blocks):\n x = blk(x)\n if i in blocks_to_take:\n output.append(x)\n assert len(output) == len(blocks_to_take), f\"only {len(output)} / {len(blocks_to_take)} blocks found\"\n return output\n\n def _get_intermediate_layers_chunked(self, x, n=1):\n x = self.prepare_tokens_with_masks(x)\n output, i, total_block_len = [], 0, len(self.blocks[-1])\n # If n is an int, take the n last blocks. If it's a list, take them\n blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n\n for block_chunk in self.blocks:\n for blk in block_chunk[i:]: # Passing the nn.Identity()\n x = blk(x)\n if i in blocks_to_take:\n output.append(x)\n i += 1\n assert len(output) == len(blocks_to_take), f\"only {len(output)} / {len(blocks_to_take)} blocks found\"\n return output\n\n def get_intermediate_layers(\n self,\n x: torch.Tensor,\n n: Union[int, Sequence] = 1, # Layers or n last layers to take\n reshape: bool = False,\n return_class_token: bool = False,\n norm=True\n ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]:\n if self.chunked_blocks:\n outputs = self._get_intermediate_layers_chunked(x, n)\n else:\n outputs = self._get_intermediate_layers_not_chunked(x, n)\n if norm:\n outputs = [self.norm(out) for out in outputs]\n class_tokens = [out[:, 0] for out in outputs]\n outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs]\n if reshape:\n B, _, w, h = x.shape\n outputs = [\n out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous()\n for out in outputs\n ]\n if return_class_token:\n return tuple(zip(outputs, class_tokens))\n return tuple(outputs)\n\n def forward(self, *args, is_training=False, **kwargs):\n ret = self.forward_features(*args, **kwargs)\n if is_training:\n return ret\n else:\n return self.head(ret[\"x_norm_clstoken\"])\n\n\ndef init_weights_vit_timm(module: nn.Module, name: str = \"\"):\n \"\"\"ViT weight initialization, original timm impl (for reproducibility)\"\"\"\n if isinstance(module, nn.Linear):\n trunc_normal_(module.weight, std=0.02)\n if module.bias is not None:\n nn.init.zeros_(module.bias)\n\n\ndef vit_small(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=384,\n depth=12,\n num_heads=6,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_base(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=768,\n depth=12,\n num_heads=12,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_large(patch_size=16, num_register_tokens=0, **kwargs):\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=1024,\n depth=24,\n num_heads=16,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef vit_giant2(patch_size=16, num_register_tokens=0, **kwargs):\n \"\"\"\n Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64\n \"\"\"\n model = DinoVisionTransformer(\n patch_size=patch_size,\n embed_dim=1536,\n depth=40,\n num_heads=24,\n mlp_ratio=4,\n block_fn=partial(Block, attn_class=MemEffAttention),\n num_register_tokens=num_register_tokens,\n **kwargs,\n )\n return model\n\n\ndef DINOv2(model_name):\n model_zoo = {\n \"vits\": vit_small, \n \"vitb\": vit_base, \n \"vitl\": vit_large, \n \"vitg\": vit_giant2\n }\n \n return model_zoo[model_name](\n img_size=518,\n patch_size=14,\n init_values=1.0,\n ffn_layer=\"mlp\" if model_name != \"vitg\" else \"swiglufused\",\n block_chunks=0,\n num_register_tokens=0,\n interpolate_antialias=False,\n interpolate_offset=0.1\n )" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/__init__.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\nfrom .mlp import Mlp\nfrom .patch_embed import PatchEmbed\nfrom .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused\nfrom .block import NestedTensorBlock\nfrom .attention import MemEffAttention\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/attention.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py\n\nimport logging\n\nfrom torch import Tensor\nfrom torch import nn\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ntry:\n from xformers.ops import memory_efficient_attention, unbind, fmha\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n logger.warning(\"xFormers not available\")\n XFORMERS_AVAILABLE = False\n\n\nclass Attention(nn.Module):\n def __init__(\n self,\n dim: int,\n num_heads: int = 8,\n qkv_bias: bool = False,\n proj_bias: bool = True,\n attn_drop: float = 0.0,\n proj_drop: float = 0.0,\n ) -> None:\n super().__init__()\n self.num_heads = num_heads\n head_dim = dim // num_heads\n self.scale = head_dim**-0.5\n\n self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias)\n self.attn_drop = nn.Dropout(attn_drop)\n self.proj = nn.Linear(dim, dim, bias=proj_bias)\n self.proj_drop = nn.Dropout(proj_drop)\n\n def forward(self, x: Tensor) -> Tensor:\n B, N, C = x.shape\n qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4)\n\n q, k, v = qkv[0] * self.scale, qkv[1], qkv[2]\n attn = q @ k.transpose(-2, -1)\n\n attn = attn.softmax(dim=-1)\n attn = self.attn_drop(attn)\n\n x = (attn @ v).transpose(1, 2).reshape(B, N, C)\n x = self.proj(x)\n x = self.proj_drop(x)\n return x\n\n\nclass MemEffAttention(Attention):\n def forward(self, x: Tensor, attn_bias=None) -> Tensor:\n if not XFORMERS_AVAILABLE:\n assert attn_bias is None, \"xFormers is required for nested tensors usage\"\n return super().forward(x)\n\n B, N, C = x.shape\n qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads)\n\n q, k, v = unbind(qkv, 2)\n\n x = memory_efficient_attention(q, k, v, attn_bias=attn_bias)\n x = x.reshape([B, N, C])\n\n x = self.proj(x)\n x = self.proj_drop(x)\n return x\n\n " }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/block.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py\n\nimport logging\nfrom typing import Callable, List, Any, Tuple, Dict\n\nimport torch\nfrom torch import nn, Tensor\n\nfrom .attention import Attention, MemEffAttention\nfrom .drop_path import DropPath\nfrom .layer_scale import LayerScale\nfrom .mlp import Mlp\n\n\nlogger = logging.getLogger(\"dinov2\")\n\n\ntry:\n from xformers.ops import fmha\n from xformers.ops import scaled_index_add, index_select_cat\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n logger.warning(\"xFormers not available\")\n XFORMERS_AVAILABLE = False\n\n\nclass Block(nn.Module):\n def __init__(\n self,\n dim: int,\n num_heads: int,\n mlp_ratio: float = 4.0,\n qkv_bias: bool = False,\n proj_bias: bool = True,\n ffn_bias: bool = True,\n drop: float = 0.0,\n attn_drop: float = 0.0,\n init_values=None,\n drop_path: float = 0.0,\n act_layer: Callable[..., nn.Module] = nn.GELU,\n norm_layer: Callable[..., nn.Module] = nn.LayerNorm,\n attn_class: Callable[..., nn.Module] = Attention,\n ffn_layer: Callable[..., nn.Module] = Mlp,\n ) -> None:\n super().__init__()\n # print(f\"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}\")\n self.norm1 = norm_layer(dim)\n self.attn = attn_class(\n dim,\n num_heads=num_heads,\n qkv_bias=qkv_bias,\n proj_bias=proj_bias,\n attn_drop=attn_drop,\n proj_drop=drop,\n )\n self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()\n self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity()\n\n self.norm2 = norm_layer(dim)\n mlp_hidden_dim = int(dim * mlp_ratio)\n self.mlp = ffn_layer(\n in_features=dim,\n hidden_features=mlp_hidden_dim,\n act_layer=act_layer,\n drop=drop,\n bias=ffn_bias,\n )\n self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()\n self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity()\n\n self.sample_drop_ratio = drop_path\n\n def forward(self, x: Tensor) -> Tensor:\n def attn_residual_func(x: Tensor) -> Tensor:\n return self.ls1(self.attn(self.norm1(x)))\n\n def ffn_residual_func(x: Tensor) -> Tensor:\n return self.ls2(self.mlp(self.norm2(x)))\n\n if self.training and self.sample_drop_ratio > 0.1:\n # the overhead is compensated only for a drop path rate larger than 0.1\n x = drop_add_residual_stochastic_depth(\n x,\n residual_func=attn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n )\n x = drop_add_residual_stochastic_depth(\n x,\n residual_func=ffn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n )\n elif self.training and self.sample_drop_ratio > 0.0:\n x = x + self.drop_path1(attn_residual_func(x))\n x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2\n else:\n x = x + attn_residual_func(x)\n x = x + ffn_residual_func(x)\n return x\n\n\ndef drop_add_residual_stochastic_depth(\n x: Tensor,\n residual_func: Callable[[Tensor], Tensor],\n sample_drop_ratio: float = 0.0,\n) -> Tensor:\n # 1) extract subset using permutation\n b, n, d = x.shape\n sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1)\n brange = (torch.randperm(b, device=x.device))[:sample_subset_size]\n x_subset = x[brange]\n\n # 2) apply residual_func to get residual\n residual = residual_func(x_subset)\n\n x_flat = x.flatten(1)\n residual = residual.flatten(1)\n\n residual_scale_factor = b / sample_subset_size\n\n # 3) add the residual\n x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor)\n return x_plus_residual.view_as(x)\n\n\ndef get_branges_scales(x, sample_drop_ratio=0.0):\n b, n, d = x.shape\n sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1)\n brange = (torch.randperm(b, device=x.device))[:sample_subset_size]\n residual_scale_factor = b / sample_subset_size\n return brange, residual_scale_factor\n\n\ndef add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None):\n if scaling_vector is None:\n x_flat = x.flatten(1)\n residual = residual.flatten(1)\n x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor)\n else:\n x_plus_residual = scaled_index_add(\n x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor\n )\n return x_plus_residual\n\n\nattn_bias_cache: Dict[Tuple, Any] = {}\n\n\ndef get_attn_bias_and_cat(x_list, branges=None):\n \"\"\"\n this will perform the index select, cat the tensors, and provide the attn_bias from cache\n \"\"\"\n batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list]\n all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list))\n if all_shapes not in attn_bias_cache.keys():\n seqlens = []\n for b, x in zip(batch_sizes, x_list):\n for _ in range(b):\n seqlens.append(x.shape[1])\n attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens)\n attn_bias._batch_sizes = batch_sizes\n attn_bias_cache[all_shapes] = attn_bias\n\n if branges is not None:\n cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1])\n else:\n tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list)\n cat_tensors = torch.cat(tensors_bs1, dim=1)\n\n return attn_bias_cache[all_shapes], cat_tensors\n\n\ndef drop_add_residual_stochastic_depth_list(\n x_list: List[Tensor],\n residual_func: Callable[[Tensor, Any], Tensor],\n sample_drop_ratio: float = 0.0,\n scaling_vector=None,\n) -> Tensor:\n # 1) generate random set of indices for dropping samples in the batch\n branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list]\n branges = [s[0] for s in branges_scales]\n residual_scale_factors = [s[1] for s in branges_scales]\n\n # 2) get attention bias and index+concat the tensors\n attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges)\n\n # 3) apply residual_func to get residual, and split the result\n residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore\n\n outputs = []\n for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors):\n outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x))\n return outputs\n\n\nclass NestedTensorBlock(Block):\n def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]:\n \"\"\"\n x_list contains a list of tensors to nest together and run\n \"\"\"\n assert isinstance(self.attn, MemEffAttention)\n\n if self.training and self.sample_drop_ratio > 0.0:\n\n def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.attn(self.norm1(x), attn_bias=attn_bias)\n\n def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.mlp(self.norm2(x))\n\n x_list = drop_add_residual_stochastic_depth_list(\n x_list,\n residual_func=attn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None,\n )\n x_list = drop_add_residual_stochastic_depth_list(\n x_list,\n residual_func=ffn_residual_func,\n sample_drop_ratio=self.sample_drop_ratio,\n scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None,\n )\n return x_list\n else:\n\n def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias))\n\n def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor:\n return self.ls2(self.mlp(self.norm2(x)))\n\n attn_bias, x = get_attn_bias_and_cat(x_list)\n x = x + attn_residual_func(x, attn_bias=attn_bias)\n x = x + ffn_residual_func(x)\n return attn_bias.split(x)\n\n def forward(self, x_or_x_list):\n if isinstance(x_or_x_list, Tensor):\n return super().forward(x_or_x_list)\n elif isinstance(x_or_x_list, list):\n assert XFORMERS_AVAILABLE, \"Please install xFormers for nested tensors usage\"\n return self.forward_nested(x_or_x_list)\n else:\n raise AssertionError\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/drop_path.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py\n\n\nfrom torch import nn\n\n\ndef drop_path(x, drop_prob: float = 0.0, training: bool = False):\n if drop_prob == 0.0 or not training:\n return x\n keep_prob = 1 - drop_prob\n shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets\n random_tensor = x.new_empty(shape).bernoulli_(keep_prob)\n if keep_prob > 0.0:\n random_tensor.div_(keep_prob)\n output = x * random_tensor\n return output\n\n\nclass DropPath(nn.Module):\n \"\"\"Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).\"\"\"\n\n def __init__(self, drop_prob=None):\n super(DropPath, self).__init__()\n self.drop_prob = drop_prob\n\n def forward(self, x):\n return drop_path(x, self.drop_prob, self.training)\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/layer_scale.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110\n\nfrom typing import Union\n\nimport torch\nfrom torch import Tensor\nfrom torch import nn\n\n\nclass LayerScale(nn.Module):\n def __init__(\n self,\n dim: int,\n init_values: Union[float, Tensor] = 1e-5,\n inplace: bool = False,\n ) -> None:\n super().__init__()\n self.inplace = inplace\n self.gamma = nn.Parameter(init_values * torch.ones(dim))\n\n def forward(self, x: Tensor) -> Tensor:\n return x.mul_(self.gamma) if self.inplace else x * self.gamma\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/mlp.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py\n\n\nfrom typing import Callable, Optional\n\nfrom torch import Tensor, nn\n\n\nclass Mlp(nn.Module):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = nn.GELU,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n super().__init__()\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n self.fc1 = nn.Linear(in_features, hidden_features, bias=bias)\n self.act = act_layer()\n self.fc2 = nn.Linear(hidden_features, out_features, bias=bias)\n self.drop = nn.Dropout(drop)\n\n def forward(self, x: Tensor) -> Tensor:\n x = self.fc1(x)\n x = self.act(x)\n x = self.drop(x)\n x = self.fc2(x)\n x = self.drop(x)\n return x\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/patch_embed.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\n# References:\n# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py\n# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py\n\nfrom typing import Callable, Optional, Tuple, Union\n\nfrom torch import Tensor\nimport torch.nn as nn\n\n\ndef make_2tuple(x):\n if isinstance(x, tuple):\n assert len(x) == 2\n return x\n\n assert isinstance(x, int)\n return (x, x)\n\n\nclass PatchEmbed(nn.Module):\n \"\"\"\n 2D image to patch embedding: (B,C,H,W) -> (B,N,D)\n\n Args:\n img_size: Image size.\n patch_size: Patch token size.\n in_chans: Number of input image channels.\n embed_dim: Number of linear projection output channels.\n norm_layer: Normalization layer.\n \"\"\"\n\n def __init__(\n self,\n img_size: Union[int, Tuple[int, int]] = 224,\n patch_size: Union[int, Tuple[int, int]] = 16,\n in_chans: int = 3,\n embed_dim: int = 768,\n norm_layer: Optional[Callable] = None,\n flatten_embedding: bool = True,\n ) -> None:\n super().__init__()\n\n image_HW = make_2tuple(img_size)\n patch_HW = make_2tuple(patch_size)\n patch_grid_size = (\n image_HW[0] // patch_HW[0],\n image_HW[1] // patch_HW[1],\n )\n\n self.img_size = image_HW\n self.patch_size = patch_HW\n self.patches_resolution = patch_grid_size\n self.num_patches = patch_grid_size[0] * patch_grid_size[1]\n\n self.in_chans = in_chans\n self.embed_dim = embed_dim\n\n self.flatten_embedding = flatten_embedding\n\n self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW)\n self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity()\n\n def forward(self, x: Tensor) -> Tensor:\n _, _, H, W = x.shape\n patch_H, patch_W = self.patch_size\n\n assert H % patch_H == 0, f\"Input image height {H} is not a multiple of patch height {patch_H}\"\n assert W % patch_W == 0, f\"Input image width {W} is not a multiple of patch width: {patch_W}\"\n\n x = self.proj(x) # B C H W\n H, W = x.size(2), x.size(3)\n x = x.flatten(2).transpose(1, 2) # B HW C\n x = self.norm(x)\n if not self.flatten_embedding:\n x = x.reshape(-1, H, W, self.embed_dim) # B H W C\n return x\n\n def flops(self) -> float:\n Ho, Wo = self.patches_resolution\n flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1])\n if self.norm is not None:\n flops += Ho * Wo * self.embed_dim\n return flops\n" }, { "path": "metric_depth/depth_anything_v2/dinov2_layers/swiglu_ffn.py", "content": "# Copyright (c) Meta Platforms, Inc. and affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the license found in the\n# LICENSE file in the root directory of this source tree.\n\nfrom typing import Callable, Optional\n\nfrom torch import Tensor, nn\nimport torch.nn.functional as F\n\n\nclass SwiGLUFFN(nn.Module):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = None,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n super().__init__()\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias)\n self.w3 = nn.Linear(hidden_features, out_features, bias=bias)\n\n def forward(self, x: Tensor) -> Tensor:\n x12 = self.w12(x)\n x1, x2 = x12.chunk(2, dim=-1)\n hidden = F.silu(x1) * x2\n return self.w3(hidden)\n\n\ntry:\n from xformers.ops import SwiGLU\n\n XFORMERS_AVAILABLE = True\nexcept ImportError:\n SwiGLU = SwiGLUFFN\n XFORMERS_AVAILABLE = False\n\n\nclass SwiGLUFFNFused(SwiGLU):\n def __init__(\n self,\n in_features: int,\n hidden_features: Optional[int] = None,\n out_features: Optional[int] = None,\n act_layer: Callable[..., nn.Module] = None,\n drop: float = 0.0,\n bias: bool = True,\n ) -> None:\n out_features = out_features or in_features\n hidden_features = hidden_features or in_features\n hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8\n super().__init__(\n in_features=in_features,\n hidden_features=hidden_features,\n out_features=out_features,\n bias=bias,\n )\n" }, { "path": "metric_depth/depth_anything_v2/dpt.py", "content": "import cv2\nimport torch\nimport torch.nn as nn\nimport torch.nn.functional as F\nfrom torchvision.transforms import Compose\n\nfrom .dinov2 import DINOv2\nfrom .util.blocks import FeatureFusionBlock, _make_scratch\nfrom .util.transform import Resize, NormalizeImage, PrepareForNet\n\n\ndef _make_fusion_block(features, use_bn, size=None):\n return FeatureFusionBlock(\n features,\n nn.ReLU(False),\n deconv=False,\n bn=use_bn,\n expand=False,\n align_corners=True,\n size=size,\n )\n\n\nclass ConvBlock(nn.Module):\n def __init__(self, in_feature, out_feature):\n super().__init__()\n \n self.conv_block = nn.Sequential(\n nn.Conv2d(in_feature, out_feature, kernel_size=3, stride=1, padding=1),\n nn.BatchNorm2d(out_feature),\n nn.ReLU(True)\n )\n \n def forward(self, x):\n return self.conv_block(x)\n\n\nclass DPTHead(nn.Module):\n def __init__(\n self, \n in_channels, \n features=256, \n use_bn=False, \n out_channels=[256, 512, 1024, 1024], \n use_clstoken=False\n ):\n super(DPTHead, self).__init__()\n \n self.use_clstoken = use_clstoken\n \n self.projects = nn.ModuleList([\n nn.Conv2d(\n in_channels=in_channels,\n out_channels=out_channel,\n kernel_size=1,\n stride=1,\n padding=0,\n ) for out_channel in out_channels\n ])\n \n self.resize_layers = nn.ModuleList([\n nn.ConvTranspose2d(\n in_channels=out_channels[0],\n out_channels=out_channels[0],\n kernel_size=4,\n stride=4,\n padding=0),\n nn.ConvTranspose2d(\n in_channels=out_channels[1],\n out_channels=out_channels[1],\n kernel_size=2,\n stride=2,\n padding=0),\n nn.Identity(),\n nn.Conv2d(\n in_channels=out_channels[3],\n out_channels=out_channels[3],\n kernel_size=3,\n stride=2,\n padding=1)\n ])\n \n if use_clstoken:\n self.readout_projects = nn.ModuleList()\n for _ in range(len(self.projects)):\n self.readout_projects.append(\n nn.Sequential(\n nn.Linear(2 * in_channels, in_channels),\n nn.GELU()))\n \n self.scratch = _make_scratch(\n out_channels,\n features,\n groups=1,\n expand=False,\n )\n \n self.scratch.stem_transpose = None\n \n self.scratch.refinenet1 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet2 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet3 = _make_fusion_block(features, use_bn)\n self.scratch.refinenet4 = _make_fusion_block(features, use_bn)\n \n head_features_1 = features\n head_features_2 = 32\n \n self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1)\n self.scratch.output_conv2 = nn.Sequential(\n nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1),\n nn.ReLU(True),\n nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0),\n nn.Sigmoid()\n )\n \n def forward(self, out_features, patch_h, patch_w):\n out = []\n for i, x in enumerate(out_features):\n if self.use_clstoken:\n x, cls_token = x[0], x[1]\n readout = cls_token.unsqueeze(1).expand_as(x)\n x = self.readout_projects[i](torch.cat((x, readout), -1))\n else:\n x = x[0]\n \n x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w))\n \n x = self.projects[i](x)\n x = self.resize_layers[i](x)\n \n out.append(x)\n \n layer_1, layer_2, layer_3, layer_4 = out\n \n layer_1_rn = self.scratch.layer1_rn(layer_1)\n layer_2_rn = self.scratch.layer2_rn(layer_2)\n layer_3_rn = self.scratch.layer3_rn(layer_3)\n layer_4_rn = self.scratch.layer4_rn(layer_4)\n \n path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) \n path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:])\n path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:])\n path_1 = self.scratch.refinenet1(path_2, layer_1_rn)\n \n out = self.scratch.output_conv1(path_1)\n out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode=\"bilinear\", align_corners=True)\n out = self.scratch.output_conv2(out)\n \n return out\n\n\nclass DepthAnythingV2(nn.Module):\n def __init__(\n self, \n encoder='vitl', \n features=256, \n out_channels=[256, 512, 1024, 1024], \n use_bn=False, \n use_clstoken=False,\n max_depth=20.0\n ):\n super(DepthAnythingV2, self).__init__()\n \n self.intermediate_layer_idx = {\n 'vits': [2, 5, 8, 11],\n 'vitb': [2, 5, 8, 11], \n 'vitl': [4, 11, 17, 23], \n 'vitg': [9, 19, 29, 39]\n }\n \n self.max_depth = max_depth\n \n self.encoder = encoder\n self.pretrained = DINOv2(model_name=encoder)\n \n self.depth_head = DPTHead(self.pretrained.embed_dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken)\n \n def forward(self, x):\n patch_h, patch_w = x.shape[-2] // 14, x.shape[-1] // 14\n \n features = self.pretrained.get_intermediate_layers(x, self.intermediate_layer_idx[self.encoder], return_class_token=True)\n \n depth = self.depth_head(features, patch_h, patch_w) * self.max_depth\n \n return depth.squeeze(1)\n \n @torch.no_grad()\n def infer_image(self, raw_image, input_size=518):\n image, (h, w) = self.image2tensor(raw_image, input_size)\n \n depth = self.forward(image)\n \n depth = F.interpolate(depth[:, None], (h, w), mode=\"bilinear\", align_corners=True)[0, 0]\n \n return depth.cpu().numpy()\n \n def image2tensor(self, raw_image, input_size=518): \n transform = Compose([\n Resize(\n width=input_size,\n height=input_size,\n resize_target=False,\n keep_aspect_ratio=True,\n ensure_multiple_of=14,\n resize_method='lower_bound',\n image_interpolation_method=cv2.INTER_CUBIC,\n ),\n NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),\n PrepareForNet(),\n ])\n \n h, w = raw_image.shape[:2]\n \n image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0\n \n image = transform({'image': image})['image']\n image = torch.from_numpy(image).unsqueeze(0)\n \n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n image = image.to(DEVICE)\n \n return image, (h, w)\n" }, { "path": "metric_depth/depth_anything_v2/util/blocks.py", "content": "import torch.nn as nn\n\n\ndef _make_scratch(in_shape, out_shape, groups=1, expand=False):\n scratch = nn.Module()\n\n out_shape1 = out_shape\n out_shape2 = out_shape\n out_shape3 = out_shape\n if len(in_shape) >= 4:\n out_shape4 = out_shape\n\n if expand:\n out_shape1 = out_shape\n out_shape2 = out_shape * 2\n out_shape3 = out_shape * 4\n if len(in_shape) >= 4:\n out_shape4 = out_shape * 8\n\n scratch.layer1_rn = nn.Conv2d(in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n scratch.layer2_rn = nn.Conv2d(in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n scratch.layer3_rn = nn.Conv2d(in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n if len(in_shape) >= 4:\n scratch.layer4_rn = nn.Conv2d(in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups)\n\n return scratch\n\n\nclass ResidualConvUnit(nn.Module):\n \"\"\"Residual convolution module.\n \"\"\"\n\n def __init__(self, features, activation, bn):\n \"\"\"Init.\n\n Args:\n features (int): number of features\n \"\"\"\n super().__init__()\n\n self.bn = bn\n\n self.groups=1\n\n self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)\n \n self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)\n\n if self.bn == True:\n self.bn1 = nn.BatchNorm2d(features)\n self.bn2 = nn.BatchNorm2d(features)\n\n self.activation = activation\n\n self.skip_add = nn.quantized.FloatFunctional()\n\n def forward(self, x):\n \"\"\"Forward pass.\n\n Args:\n x (tensor): input\n\n Returns:\n tensor: output\n \"\"\"\n \n out = self.activation(x)\n out = self.conv1(out)\n if self.bn == True:\n out = self.bn1(out)\n \n out = self.activation(out)\n out = self.conv2(out)\n if self.bn == True:\n out = self.bn2(out)\n\n if self.groups > 1:\n out = self.conv_merge(out)\n\n return self.skip_add.add(out, x)\n\n\nclass FeatureFusionBlock(nn.Module):\n \"\"\"Feature fusion block.\n \"\"\"\n\n def __init__(\n self, \n features, \n activation, \n deconv=False, \n bn=False, \n expand=False, \n align_corners=True,\n size=None\n ):\n \"\"\"Init.\n \n Args:\n features (int): number of features\n \"\"\"\n super(FeatureFusionBlock, self).__init__()\n\n self.deconv = deconv\n self.align_corners = align_corners\n\n self.groups=1\n\n self.expand = expand\n out_features = features\n if self.expand == True:\n out_features = features // 2\n \n self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1)\n\n self.resConfUnit1 = ResidualConvUnit(features, activation, bn)\n self.resConfUnit2 = ResidualConvUnit(features, activation, bn)\n \n self.skip_add = nn.quantized.FloatFunctional()\n\n self.size=size\n\n def forward(self, *xs, size=None):\n \"\"\"Forward pass.\n\n Returns:\n tensor: output\n \"\"\"\n output = xs[0]\n\n if len(xs) == 2:\n res = self.resConfUnit1(xs[1])\n output = self.skip_add.add(output, res)\n\n output = self.resConfUnit2(output)\n\n if (size is None) and (self.size is None):\n modifier = {\"scale_factor\": 2}\n elif size is None:\n modifier = {\"size\": self.size}\n else:\n modifier = {\"size\": size}\n\n output = nn.functional.interpolate(output, **modifier, mode=\"bilinear\", align_corners=self.align_corners)\n \n output = self.out_conv(output)\n\n return output\n" }, { "path": "metric_depth/depth_anything_v2/util/transform.py", "content": "import numpy as np\nimport cv2\n\n\nclass Resize(object):\n \"\"\"Resize sample to given size (width, height).\n \"\"\"\n\n def __init__(\n self,\n width,\n height,\n resize_target=True,\n keep_aspect_ratio=False,\n ensure_multiple_of=1,\n resize_method=\"lower_bound\",\n image_interpolation_method=cv2.INTER_AREA,\n ):\n \"\"\"Init.\n\n Args:\n width (int): desired output width\n height (int): desired output height\n resize_target (bool, optional):\n True: Resize the full sample (image, mask, target).\n False: Resize image only.\n Defaults to True.\n keep_aspect_ratio (bool, optional):\n True: Keep the aspect ratio of the input sample.\n Output sample might not have the given width and height, and\n resize behaviour depends on the parameter 'resize_method'.\n Defaults to False.\n ensure_multiple_of (int, optional):\n Output width and height is constrained to be multiple of this parameter.\n Defaults to 1.\n resize_method (str, optional):\n \"lower_bound\": Output will be at least as large as the given size.\n \"upper_bound\": Output will be at max as large as the given size. (Output size might be smaller than given size.)\n \"minimal\": Scale as least as possible. (Output size might be smaller than given size.)\n Defaults to \"lower_bound\".\n \"\"\"\n self.__width = width\n self.__height = height\n\n self.__resize_target = resize_target\n self.__keep_aspect_ratio = keep_aspect_ratio\n self.__multiple_of = ensure_multiple_of\n self.__resize_method = resize_method\n self.__image_interpolation_method = image_interpolation_method\n\n def constrain_to_multiple_of(self, x, min_val=0, max_val=None):\n y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if max_val is not None and y > max_val:\n y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n if y < min_val:\n y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int)\n\n return y\n\n def get_size(self, width, height):\n # determine new height and width\n scale_height = self.__height / height\n scale_width = self.__width / width\n\n if self.__keep_aspect_ratio:\n if self.__resize_method == \"lower_bound\":\n # scale such that output size is lower bound\n if scale_width > scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"upper_bound\":\n # scale such that output size is upper bound\n if scale_width < scale_height:\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n elif self.__resize_method == \"minimal\":\n # scale as least as possbile\n if abs(1 - scale_width) < abs(1 - scale_height):\n # fit width\n scale_height = scale_width\n else:\n # fit height\n scale_width = scale_height\n else:\n raise ValueError(f\"resize_method {self.__resize_method} not implemented\")\n\n if self.__resize_method == \"lower_bound\":\n new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height)\n new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width)\n elif self.__resize_method == \"upper_bound\":\n new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height)\n new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width)\n elif self.__resize_method == \"minimal\":\n new_height = self.constrain_to_multiple_of(scale_height * height)\n new_width = self.constrain_to_multiple_of(scale_width * width)\n else:\n raise ValueError(f\"resize_method {self.__resize_method} not implemented\")\n\n return (new_width, new_height)\n\n def __call__(self, sample):\n width, height = self.get_size(sample[\"image\"].shape[1], sample[\"image\"].shape[0])\n \n # resize sample\n sample[\"image\"] = cv2.resize(sample[\"image\"], (width, height), interpolation=self.__image_interpolation_method)\n\n if self.__resize_target:\n if \"depth\" in sample:\n sample[\"depth\"] = cv2.resize(sample[\"depth\"], (width, height), interpolation=cv2.INTER_NEAREST)\n \n if \"mask\" in sample:\n sample[\"mask\"] = cv2.resize(sample[\"mask\"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST)\n \n return sample\n\n\nclass NormalizeImage(object):\n \"\"\"Normlize image by given mean and std.\n \"\"\"\n\n def __init__(self, mean, std):\n self.__mean = mean\n self.__std = std\n\n def __call__(self, sample):\n sample[\"image\"] = (sample[\"image\"] - self.__mean) / self.__std\n\n return sample\n\n\nclass PrepareForNet(object):\n \"\"\"Prepare sample for usage as network input.\n \"\"\"\n\n def __init__(self):\n pass\n\n def __call__(self, sample):\n image = np.transpose(sample[\"image\"], (2, 0, 1))\n sample[\"image\"] = np.ascontiguousarray(image).astype(np.float32)\n\n if \"depth\" in sample:\n depth = sample[\"depth\"].astype(np.float32)\n sample[\"depth\"] = np.ascontiguousarray(depth)\n \n if \"mask\" in sample:\n sample[\"mask\"] = sample[\"mask\"].astype(np.float32)\n sample[\"mask\"] = np.ascontiguousarray(sample[\"mask\"])\n \n return sample" }, { "path": "metric_depth/depth_to_pointcloud.py", "content": "\"\"\"\nBorn out of Depth Anything V1 Issue 36\nMake sure you have the necessary libraries installed.\nCode by @1ssb\n\nThis script processes a set of images to generate depth maps and corresponding point clouds.\nThe resulting point clouds are saved in the specified output directory.\n\nUsage:\n python script.py --encoder vitl --load-from path_to_model --max-depth 20 --img-path path_to_images --outdir output_directory --focal-length-x 470.4 --focal-length-y 470.4\n\nArguments:\n --encoder: Model encoder to use. Choices are ['vits', 'vitb', 'vitl', 'vitg'].\n --load-from: Path to the pre-trained model weights.\n --max-depth: Maximum depth value for the depth map.\n --img-path: Path to the input image or directory containing images.\n --outdir: Directory to save the output point clouds.\n --focal-length-x: Focal length along the x-axis.\n --focal-length-y: Focal length along the y-axis.\n\"\"\"\n\nimport argparse\nimport cv2\nimport glob\nimport numpy as np\nimport open3d as o3d\nimport os\nfrom PIL import Image\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\n\ndef main():\n # Parse command-line arguments\n parser = argparse.ArgumentParser(description='Generate depth maps and point clouds from images.')\n parser.add_argument('--encoder', default='vitl', type=str, choices=['vits', 'vitb', 'vitl', 'vitg'],\n help='Model encoder to use.')\n parser.add_argument('--load-from', default='', type=str, required=True,\n help='Path to the pre-trained model weights.')\n parser.add_argument('--max-depth', default=20, type=float,\n help='Maximum depth value for the depth map.')\n parser.add_argument('--img-path', type=str, required=True,\n help='Path to the input image or directory containing images.')\n parser.add_argument('--outdir', type=str, default='./vis_pointcloud',\n help='Directory to save the output point clouds.')\n parser.add_argument('--focal-length-x', default=470.4, type=float,\n help='Focal length along the x-axis.')\n parser.add_argument('--focal-length-y', default=470.4, type=float,\n help='Focal length along the y-axis.')\n\n args = parser.parse_args()\n\n # Determine the device to use (CUDA, MPS, or CPU)\n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n\n # Model configuration based on the chosen encoder\n model_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n }\n\n # Initialize the DepthAnythingV2 model with the specified configuration\n depth_anything = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth})\n depth_anything.load_state_dict(torch.load(args.load_from, map_location='cpu'))\n depth_anything = depth_anything.to(DEVICE).eval()\n\n # Get the list of image files to process\n if os.path.isfile(args.img_path):\n if args.img_path.endswith('txt'):\n with open(args.img_path, 'r') as f:\n filenames = f.read().splitlines()\n else:\n filenames = [args.img_path]\n else:\n filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True)\n\n # Create the output directory if it doesn't exist\n os.makedirs(args.outdir, exist_ok=True)\n\n # Process each image file\n for k, filename in enumerate(filenames):\n print(f'Processing {k+1}/{len(filenames)}: {filename}')\n\n # Load the image\n color_image = Image.open(filename).convert('RGB')\n width, height = color_image.size\n\n # Read the image using OpenCV\n image = cv2.imread(filename)\n pred = depth_anything.infer_image(image, height)\n\n # Resize depth prediction to match the original image size\n resized_pred = Image.fromarray(pred).resize((width, height), Image.NEAREST)\n\n # Generate mesh grid and calculate point cloud coordinates\n x, y = np.meshgrid(np.arange(width), np.arange(height))\n x = (x - width / 2) / args.focal_length_x\n y = (y - height / 2) / args.focal_length_y\n z = np.array(resized_pred)\n points = np.stack((np.multiply(x, z), np.multiply(y, z), z), axis=-1).reshape(-1, 3)\n colors = np.array(color_image).reshape(-1, 3) / 255.0\n\n # Create the point cloud and save it to the output directory\n pcd = o3d.geometry.PointCloud()\n pcd.points = o3d.utility.Vector3dVector(points)\n pcd.colors = o3d.utility.Vector3dVector(colors)\n o3d.io.write_point_cloud(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + \".ply\"), pcd)\n\n\nif __name__ == '__main__':\n main()\n" }, { "path": "metric_depth/dist_train.sh", "content": "#!/bin/bash\nnow=$(date +\"%Y%m%d_%H%M%S\")\n\nepoch=120\nbs=4\ngpus=8\nlr=0.000005\nencoder=vitl\ndataset=hypersim # vkitti\nimg_size=518\nmin_depth=0.001\nmax_depth=20 # 80 for virtual kitti\npretrained_from=../checkpoints/depth_anything_v2_${encoder}.pth\nsave_path=exp/hypersim # exp/vkitti\n\nmkdir -p $save_path\n\npython3 -m torch.distributed.launch \\\n --nproc_per_node=$gpus \\\n --nnodes 1 \\\n --node_rank=0 \\\n --master_addr=localhost \\\n --master_port=20596 \\\n train.py --epoch $epoch --encoder $encoder --bs $bs --lr $lr --save-path $save_path --dataset $dataset \\\n --img-size $img_size --min-depth $min_depth --max-depth $max_depth --pretrained-from $pretrained_from \\\n --port 20596 2>&1 | tee -a $save_path/$now.log\n" }, { "path": "metric_depth/requirements.txt", "content": "matplotlib\nopencv-python\nopen3d\ntorch\ntorchvision\n" }, { "path": "metric_depth/run.py", "content": "import argparse\nimport cv2\nimport glob\nimport matplotlib\nimport numpy as np\nimport os\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\n\nif __name__ == '__main__':\n parser = argparse.ArgumentParser(description='Depth Anything V2 Metric Depth Estimation')\n \n parser.add_argument('--img-path', type=str)\n parser.add_argument('--input-size', type=int, default=518)\n parser.add_argument('--outdir', type=str, default='./vis_depth')\n \n parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg'])\n parser.add_argument('--load-from', type=str, default='checkpoints/depth_anything_v2_metric_hypersim_vitl.pth')\n parser.add_argument('--max-depth', type=float, default=20)\n \n parser.add_argument('--save-numpy', dest='save_numpy', action='store_true', help='save the model raw output')\n parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction')\n parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette')\n \n args = parser.parse_args()\n \n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n \n model_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n }\n \n depth_anything = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth})\n depth_anything.load_state_dict(torch.load(args.load_from, map_location='cpu'))\n depth_anything = depth_anything.to(DEVICE).eval()\n \n if os.path.isfile(args.img_path):\n if args.img_path.endswith('txt'):\n with open(args.img_path, 'r') as f:\n filenames = f.read().splitlines()\n else:\n filenames = [args.img_path]\n else:\n filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True)\n \n os.makedirs(args.outdir, exist_ok=True)\n \n cmap = matplotlib.colormaps.get_cmap('Spectral')\n \n for k, filename in enumerate(filenames):\n print(f'Progress {k+1}/{len(filenames)}: {filename}')\n \n raw_image = cv2.imread(filename)\n \n depth = depth_anything.infer_image(raw_image, args.input_size)\n \n if args.save_numpy:\n output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '_raw_depth_meter.npy')\n np.save(output_path, depth)\n \n depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0\n depth = depth.astype(np.uint8)\n \n if args.grayscale:\n depth = np.repeat(depth[..., np.newaxis], 3, axis=-1)\n else:\n depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8)\n \n output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png')\n if args.pred_only:\n cv2.imwrite(output_path, depth)\n else:\n split_region = np.ones((raw_image.shape[0], 50, 3), dtype=np.uint8) * 255\n combined_result = cv2.hconcat([raw_image, split_region, depth])\n \n cv2.imwrite(output_path, combined_result)" }, { "path": "metric_depth/train.py", "content": "import argparse\nimport logging\nimport os\nimport pprint\nimport random\n\nimport warnings\nimport numpy as np\nimport torch\nimport torch.backends.cudnn as cudnn\nimport torch.distributed as dist\nfrom torch.utils.data import DataLoader\nfrom torch.optim import AdamW\nimport torch.nn.functional as F\nfrom torch.utils.tensorboard import SummaryWriter\n\nfrom dataset.hypersim import Hypersim\nfrom dataset.kitti import KITTI\nfrom dataset.vkitti2 import VKITTI2\nfrom depth_anything_v2.dpt import DepthAnythingV2\nfrom util.dist_helper import setup_distributed\nfrom util.loss import SiLogLoss\nfrom util.metric import eval_depth\nfrom util.utils import init_log\n\n\nparser = argparse.ArgumentParser(description='Depth Anything V2 for Metric Depth Estimation')\n\nparser.add_argument('--encoder', default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg'])\nparser.add_argument('--dataset', default='hypersim', choices=['hypersim', 'vkitti'])\nparser.add_argument('--img-size', default=518, type=int)\nparser.add_argument('--min-depth', default=0.001, type=float)\nparser.add_argument('--max-depth', default=20, type=float)\nparser.add_argument('--epochs', default=40, type=int)\nparser.add_argument('--bs', default=2, type=int)\nparser.add_argument('--lr', default=0.000005, type=float)\nparser.add_argument('--pretrained-from', type=str)\nparser.add_argument('--save-path', type=str, required=True)\nparser.add_argument('--local-rank', default=0, type=int)\nparser.add_argument('--port', default=None, type=int)\n\n\ndef main():\n args = parser.parse_args()\n \n warnings.simplefilter('ignore', np.RankWarning)\n \n logger = init_log('global', logging.INFO)\n logger.propagate = 0\n \n rank, world_size = setup_distributed(port=args.port)\n \n if rank == 0:\n all_args = {**vars(args), 'ngpus': world_size}\n logger.info('{}\\n'.format(pprint.pformat(all_args)))\n writer = SummaryWriter(args.save_path)\n \n cudnn.enabled = True\n cudnn.benchmark = True\n \n size = (args.img_size, args.img_size)\n if args.dataset == 'hypersim':\n trainset = Hypersim('dataset/splits/hypersim/train.txt', 'train', size=size)\n elif args.dataset == 'vkitti':\n trainset = VKITTI2('dataset/splits/vkitti2/train.txt', 'train', size=size)\n else:\n raise NotImplementedError\n trainsampler = torch.utils.data.distributed.DistributedSampler(trainset)\n trainloader = DataLoader(trainset, batch_size=args.bs, pin_memory=True, num_workers=4, drop_last=True, sampler=trainsampler)\n \n if args.dataset == 'hypersim':\n valset = Hypersim('dataset/splits/hypersim/val.txt', 'val', size=size)\n elif args.dataset == 'vkitti':\n valset = KITTI('dataset/splits/kitti/val.txt', 'val', size=size)\n else:\n raise NotImplementedError\n valsampler = torch.utils.data.distributed.DistributedSampler(valset)\n valloader = DataLoader(valset, batch_size=1, pin_memory=True, num_workers=4, drop_last=True, sampler=valsampler)\n \n local_rank = int(os.environ[\"LOCAL_RANK\"])\n \n model_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n }\n model = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth})\n \n if args.pretrained_from:\n model.load_state_dict({k: v for k, v in torch.load(args.pretrained_from, map_location='cpu').items() if 'pretrained' in k}, strict=False)\n \n model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model)\n model.cuda(local_rank)\n model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[local_rank], broadcast_buffers=False,\n output_device=local_rank, find_unused_parameters=True)\n \n criterion = SiLogLoss().cuda(local_rank)\n \n optimizer = AdamW([{'params': [param for name, param in model.named_parameters() if 'pretrained' in name], 'lr': args.lr},\n {'params': [param for name, param in model.named_parameters() if 'pretrained' not in name], 'lr': args.lr * 10.0}],\n lr=args.lr, betas=(0.9, 0.999), weight_decay=0.01)\n \n total_iters = args.epochs * len(trainloader)\n \n previous_best = {'d1': 0, 'd2': 0, 'd3': 0, 'abs_rel': 100, 'sq_rel': 100, 'rmse': 100, 'rmse_log': 100, 'log10': 100, 'silog': 100}\n \n for epoch in range(args.epochs):\n if rank == 0:\n logger.info('===========> Epoch: {:}/{:}, d1: {:.3f}, d2: {:.3f}, d3: {:.3f}'.format(epoch, args.epochs, previous_best['d1'], previous_best['d2'], previous_best['d3']))\n logger.info('===========> Epoch: {:}/{:}, abs_rel: {:.3f}, sq_rel: {:.3f}, rmse: {:.3f}, rmse_log: {:.3f}, '\n 'log10: {:.3f}, silog: {:.3f}'.format(\n epoch, args.epochs, previous_best['abs_rel'], previous_best['sq_rel'], previous_best['rmse'], \n previous_best['rmse_log'], previous_best['log10'], previous_best['silog']))\n \n trainloader.sampler.set_epoch(epoch + 1)\n \n model.train()\n total_loss = 0\n \n for i, sample in enumerate(trainloader):\n optimizer.zero_grad()\n \n img, depth, valid_mask = sample['image'].cuda(), sample['depth'].cuda(), sample['valid_mask'].cuda()\n \n if random.random() < 0.5:\n img = img.flip(-1)\n depth = depth.flip(-1)\n valid_mask = valid_mask.flip(-1)\n \n pred = model(img)\n \n loss = criterion(pred, depth, (valid_mask == 1) & (depth >= args.min_depth) & (depth <= args.max_depth))\n \n loss.backward()\n optimizer.step()\n \n total_loss += loss.item()\n \n iters = epoch * len(trainloader) + i\n \n lr = args.lr * (1 - iters / total_iters) ** 0.9\n \n optimizer.param_groups[0][\"lr\"] = lr\n optimizer.param_groups[1][\"lr\"] = lr * 10.0\n \n if rank == 0:\n writer.add_scalar('train/loss', loss.item(), iters)\n \n if rank == 0 and i % 100 == 0:\n logger.info('Iter: {}/{}, LR: {:.7f}, Loss: {:.3f}'.format(i, len(trainloader), optimizer.param_groups[0]['lr'], loss.item()))\n \n model.eval()\n \n results = {'d1': torch.tensor([0.0]).cuda(), 'd2': torch.tensor([0.0]).cuda(), 'd3': torch.tensor([0.0]).cuda(), \n 'abs_rel': torch.tensor([0.0]).cuda(), 'sq_rel': torch.tensor([0.0]).cuda(), 'rmse': torch.tensor([0.0]).cuda(), \n 'rmse_log': torch.tensor([0.0]).cuda(), 'log10': torch.tensor([0.0]).cuda(), 'silog': torch.tensor([0.0]).cuda()}\n nsamples = torch.tensor([0.0]).cuda()\n \n for i, sample in enumerate(valloader):\n \n img, depth, valid_mask = sample['image'].cuda().float(), sample['depth'].cuda()[0], sample['valid_mask'].cuda()[0]\n \n with torch.no_grad():\n pred = model(img)\n pred = F.interpolate(pred[:, None], depth.shape[-2:], mode='bilinear', align_corners=True)[0, 0]\n \n valid_mask = (valid_mask == 1) & (depth >= args.min_depth) & (depth <= args.max_depth)\n \n if valid_mask.sum() < 10:\n continue\n \n cur_results = eval_depth(pred[valid_mask], depth[valid_mask])\n \n for k in results.keys():\n results[k] += cur_results[k]\n nsamples += 1\n \n torch.distributed.barrier()\n \n for k in results.keys():\n dist.reduce(results[k], dst=0)\n dist.reduce(nsamples, dst=0)\n \n if rank == 0:\n logger.info('==========================================================================================')\n logger.info('{:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}'.format(*tuple(results.keys())))\n logger.info('{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}'.format(*tuple([(v / nsamples).item() for v in results.values()])))\n logger.info('==========================================================================================')\n print()\n \n for name, metric in results.items():\n writer.add_scalar(f'eval/{name}', (metric / nsamples).item(), epoch)\n \n for k in results.keys():\n if k in ['d1', 'd2', 'd3']:\n previous_best[k] = max(previous_best[k], (results[k] / nsamples).item())\n else:\n previous_best[k] = min(previous_best[k], (results[k] / nsamples).item())\n \n if rank == 0:\n checkpoint = {\n 'model': model.state_dict(),\n 'optimizer': optimizer.state_dict(),\n 'epoch': epoch,\n 'previous_best': previous_best,\n }\n torch.save(checkpoint, os.path.join(args.save_path, 'latest.pth'))\n\n\nif __name__ == '__main__':\n main()" }, { "path": "metric_depth/util/dist_helper.py", "content": "import os\nimport subprocess\n\nimport torch\nimport torch.distributed as dist\n\n\ndef setup_distributed(backend=\"nccl\", port=None):\n \"\"\"AdaHessian Optimizer\n Lifted from https://github.com/BIGBALLON/distribuuuu/blob/master/distribuuuu/utils.py\n Originally licensed MIT, Copyright (c) 2020 Wei Li\n \"\"\"\n num_gpus = torch.cuda.device_count()\n\n if \"SLURM_JOB_ID\" in os.environ:\n rank = int(os.environ[\"SLURM_PROCID\"])\n world_size = int(os.environ[\"SLURM_NTASKS\"])\n node_list = os.environ[\"SLURM_NODELIST\"]\n addr = subprocess.getoutput(f\"scontrol show hostname {node_list} | head -n1\")\n # specify master port\n if port is not None:\n os.environ[\"MASTER_PORT\"] = str(port)\n elif \"MASTER_PORT\" not in os.environ:\n os.environ[\"MASTER_PORT\"] = \"10685\"\n if \"MASTER_ADDR\" not in os.environ:\n os.environ[\"MASTER_ADDR\"] = addr\n os.environ[\"WORLD_SIZE\"] = str(world_size)\n os.environ[\"LOCAL_RANK\"] = str(rank % num_gpus)\n os.environ[\"RANK\"] = str(rank)\n else:\n rank = int(os.environ[\"RANK\"])\n world_size = int(os.environ[\"WORLD_SIZE\"])\n\n torch.cuda.set_device(rank % num_gpus)\n\n dist.init_process_group(\n backend=backend,\n world_size=world_size,\n rank=rank,\n )\n return rank, world_size\n" }, { "path": "metric_depth/util/loss.py", "content": "import torch\nfrom torch import nn\n\n\nclass SiLogLoss(nn.Module):\n def __init__(self, lambd=0.5):\n super().__init__()\n self.lambd = lambd\n\n def forward(self, pred, target, valid_mask):\n valid_mask = valid_mask.detach()\n diff_log = torch.log(target[valid_mask]) - torch.log(pred[valid_mask])\n loss = torch.sqrt(torch.pow(diff_log, 2).mean() -\n self.lambd * torch.pow(diff_log.mean(), 2))\n\n return loss\n" }, { "path": "metric_depth/util/metric.py", "content": "import torch\n\n\ndef eval_depth(pred, target):\n assert pred.shape == target.shape\n\n thresh = torch.max((target / pred), (pred / target))\n\n d1 = torch.sum(thresh < 1.25).float() / len(thresh)\n d2 = torch.sum(thresh < 1.25 ** 2).float() / len(thresh)\n d3 = torch.sum(thresh < 1.25 ** 3).float() / len(thresh)\n\n diff = pred - target\n diff_log = torch.log(pred) - torch.log(target)\n\n abs_rel = torch.mean(torch.abs(diff) / target)\n sq_rel = torch.mean(torch.pow(diff, 2) / target)\n\n rmse = torch.sqrt(torch.mean(torch.pow(diff, 2)))\n rmse_log = torch.sqrt(torch.mean(torch.pow(diff_log , 2)))\n\n log10 = torch.mean(torch.abs(torch.log10(pred) - torch.log10(target)))\n silog = torch.sqrt(torch.pow(diff_log, 2).mean() - 0.5 * torch.pow(diff_log.mean(), 2))\n\n return {'d1': d1.item(), 'd2': d2.item(), 'd3': d3.item(), 'abs_rel': abs_rel.item(), 'sq_rel': sq_rel.item(), \n 'rmse': rmse.item(), 'rmse_log': rmse_log.item(), 'log10':log10.item(), 'silog':silog.item()}" }, { "path": "metric_depth/util/utils.py", "content": "import os\nimport re\nimport numpy as np\nimport logging\n\nlogs = set()\n\n\ndef init_log(name, level=logging.INFO):\n if (name, level) in logs:\n return\n logs.add((name, level))\n logger = logging.getLogger(name)\n logger.setLevel(level)\n ch = logging.StreamHandler()\n ch.setLevel(level)\n if \"SLURM_PROCID\" in os.environ:\n rank = int(os.environ[\"SLURM_PROCID\"])\n logger.addFilter(lambda record: rank == 0)\n else:\n rank = 0\n format_str = \"[%(asctime)s][%(levelname)8s] %(message)s\"\n formatter = logging.Formatter(format_str)\n ch.setFormatter(formatter)\n logger.addHandler(ch)\n return logger\n" }, { "path": "requirements.txt", "content": "gradio_imageslider\ngradio==4.29.0\nmatplotlib\nopencv-python\ntorch\ntorchvision\n" }, { "path": "run.py", "content": "import argparse\nimport cv2\nimport glob\nimport matplotlib\nimport numpy as np\nimport os\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\n\nif __name__ == '__main__':\n parser = argparse.ArgumentParser(description='Depth Anything V2')\n \n parser.add_argument('--img-path', type=str)\n parser.add_argument('--input-size', type=int, default=518)\n parser.add_argument('--outdir', type=str, default='./vis_depth')\n \n parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg'])\n \n parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction')\n parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette')\n \n args = parser.parse_args()\n \n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n \n model_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n }\n \n depth_anything = DepthAnythingV2(**model_configs[args.encoder])\n depth_anything.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{args.encoder}.pth', map_location='cpu'))\n depth_anything = depth_anything.to(DEVICE).eval()\n \n if os.path.isfile(args.img_path):\n if args.img_path.endswith('txt'):\n with open(args.img_path, 'r') as f:\n filenames = f.read().splitlines()\n else:\n filenames = [args.img_path]\n else:\n filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True)\n \n os.makedirs(args.outdir, exist_ok=True)\n \n cmap = matplotlib.colormaps.get_cmap('Spectral_r')\n \n for k, filename in enumerate(filenames):\n print(f'Progress {k+1}/{len(filenames)}: {filename}')\n \n raw_image = cv2.imread(filename)\n \n depth = depth_anything.infer_image(raw_image, args.input_size)\n \n depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0\n depth = depth.astype(np.uint8)\n \n if args.grayscale:\n depth = np.repeat(depth[..., np.newaxis], 3, axis=-1)\n else:\n depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8)\n \n if args.pred_only:\n cv2.imwrite(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png'), depth)\n else:\n split_region = np.ones((raw_image.shape[0], 50, 3), dtype=np.uint8) * 255\n combined_result = cv2.hconcat([raw_image, split_region, depth])\n \n cv2.imwrite(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png'), combined_result)" }, { "path": "run_video.py", "content": "import argparse\nimport cv2\nimport glob\nimport matplotlib\nimport numpy as np\nimport os\nimport torch\n\nfrom depth_anything_v2.dpt import DepthAnythingV2\n\n\nif __name__ == '__main__':\n parser = argparse.ArgumentParser(description='Depth Anything V2')\n \n parser.add_argument('--video-path', type=str)\n parser.add_argument('--input-size', type=int, default=518)\n parser.add_argument('--outdir', type=str, default='./vis_video_depth')\n \n parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg'])\n \n parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction')\n parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette')\n \n args = parser.parse_args()\n \n DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu'\n \n model_configs = {\n 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]},\n 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]},\n 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]},\n 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]}\n }\n \n depth_anything = DepthAnythingV2(**model_configs[args.encoder])\n depth_anything.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{args.encoder}.pth', map_location='cpu'))\n depth_anything = depth_anything.to(DEVICE).eval()\n \n if os.path.isfile(args.video_path):\n if args.video_path.endswith('txt'):\n with open(args.video_path, 'r') as f:\n lines = f.read().splitlines()\n else:\n filenames = [args.video_path]\n else:\n filenames = glob.glob(os.path.join(args.video_path, '**/*'), recursive=True)\n \n os.makedirs(args.outdir, exist_ok=True)\n \n margin_width = 50\n cmap = matplotlib.colormaps.get_cmap('Spectral_r')\n \n for k, filename in enumerate(filenames):\n print(f'Progress {k+1}/{len(filenames)}: {filename}')\n \n raw_video = cv2.VideoCapture(filename)\n frame_width, frame_height = int(raw_video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(raw_video.get(cv2.CAP_PROP_FRAME_HEIGHT))\n frame_rate = int(raw_video.get(cv2.CAP_PROP_FPS))\n \n if args.pred_only: \n output_width = frame_width\n else: \n output_width = frame_width * 2 + margin_width\n \n output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.mp4')\n out = cv2.VideoWriter(output_path, cv2.VideoWriter_fourcc(*\"mp4v\"), frame_rate, (output_width, frame_height))\n \n while raw_video.isOpened():\n ret, raw_frame = raw_video.read()\n if not ret:\n break\n \n depth = depth_anything.infer_image(raw_frame, args.input_size)\n \n depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0\n depth = depth.astype(np.uint8)\n \n if args.grayscale:\n depth = np.repeat(depth[..., np.newaxis], 3, axis=-1)\n else:\n depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8)\n \n if args.pred_only:\n out.write(depth)\n else:\n split_region = np.ones((frame_height, margin_width, 3), dtype=np.uint8) * 255\n combined_frame = cv2.hconcat([raw_frame, split_region, depth])\n \n out.write(combined_frame)\n \n raw_video.release()\n out.release()\n" } ]