Repository: DepthAnything/Depth-Anything-V2 Branch: main Commit: e5a2732d3ea2 Files: 49 Total size: 18.4 MB Directory structure: gitextract_wwh_ughm/ ├── DA-2K.md ├── LICENSE ├── README.md ├── app.py ├── depth_anything_v2/ │ ├── dinov2.py │ ├── dinov2_layers/ │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── block.py │ │ ├── drop_path.py │ │ ├── layer_scale.py │ │ ├── mlp.py │ │ ├── patch_embed.py │ │ └── swiglu_ffn.py │ ├── dpt.py │ └── util/ │ ├── blocks.py │ └── transform.py ├── metric_depth/ │ ├── README.md │ ├── dataset/ │ │ ├── hypersim.py │ │ ├── kitti.py │ │ ├── splits/ │ │ │ ├── hypersim/ │ │ │ │ ├── train.txt │ │ │ │ └── val.txt │ │ │ ├── kitti/ │ │ │ │ └── val.txt │ │ │ └── vkitti2/ │ │ │ └── train.txt │ │ ├── transform.py │ │ └── vkitti2.py │ ├── depth_anything_v2/ │ │ ├── dinov2.py │ │ ├── dinov2_layers/ │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── block.py │ │ │ ├── drop_path.py │ │ │ ├── layer_scale.py │ │ │ ├── mlp.py │ │ │ ├── patch_embed.py │ │ │ └── swiglu_ffn.py │ │ ├── dpt.py │ │ └── util/ │ │ ├── blocks.py │ │ └── transform.py │ ├── depth_to_pointcloud.py │ ├── dist_train.sh │ ├── requirements.txt │ ├── run.py │ ├── train.py │ └── util/ │ ├── dist_helper.py │ ├── loss.py │ ├── metric.py │ └── utils.py ├── requirements.txt ├── run.py └── run_video.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: DA-2K.md ================================================ # DA-2K Evaluation Benchmark ## Introduction ![DA-2K](assets/DA-2K.png) DA-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. Please refer to our [paper](https://arxiv.org/abs/2406.09414) for details in constructing this benchmark. ## Usage Please first [download the benchmark](https://huggingface.co/datasets/depth-anything/DA-2K/tree/main). All 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: ``` { "image_path": [ { "point1": [h1, w1], # (vertical position, horizontal position) "point2": [h2, w2], # (vertical position, horizontal position) "closer_point": "point1" # we always set "point1" as the closer one }, ... ], ... } ``` To visualize the annotations: ```bash python visualize.py [--scene-type ] ``` **Options** - `--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. ## Citation If you find this benchmark useful, please consider citing: ```bibtex @article{depth_anything_v2, title={Depth Anything V2}, author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, journal={arXiv:2406.09414}, year={2024} } ``` ================================================ FILE: LICENSE ================================================ Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. 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Depth Anything V2

[**Lihe Yang**](https://liheyoung.github.io/)1 · [**Bingyi Kang**](https://bingykang.github.io/)2† · [**Zilong Huang**](http://speedinghzl.github.io/)2
[**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* 1HKU   2TikTok
†project lead *corresponding author Paper PDF Project Page Benchmark
This 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. ![teaser](assets/teaser.png) ## News - **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). - **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. - **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. - **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. - **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. - **2024-06-20:** Our repository and project page are flagged by GitHub and removed from the public for 6 days. Sorry for the inconvenience. - **2024-06-14:** Paper, project page, code, models, demo, and benchmark are all released. ## Pre-trained Models We provide **four models** of varying scales for robust relative depth estimation: | Model | Params | Checkpoint | |:-|-:|:-:| | 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) | | 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) | | 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) | | Depth-Anything-V2-Giant | 1.3B | Coming soon | ## Usage ### Prepraration ```bash git clone https://github.com/DepthAnything/Depth-Anything-V2 cd Depth-Anything-V2 pip install -r requirements.txt ``` Download the checkpoints listed [here](#pre-trained-models) and put them under the `checkpoints` directory. ### Use our models ```python import cv2 import torch from depth_anything_v2.dpt import DepthAnythingV2 DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } encoder = 'vitl' # or 'vits', 'vitb', 'vitg' model = DepthAnythingV2(**model_configs[encoder]) model.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{encoder}.pth', map_location='cpu')) model = model.to(DEVICE).eval() raw_img = cv2.imread('your/image/path') depth = model.infer_image(raw_img) # HxW raw depth map in numpy ``` If 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. - Note 1: Make sure you can connect to Hugging Face and have installed the latest Transformers. - 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. ```python from transformers import pipeline from PIL import Image pipe = pipeline(task="depth-estimation", model="depth-anything/Depth-Anything-V2-Small-hf") image = Image.open('your/image/path') depth = pipe(image)["depth"] ``` ### Running script on *images* ```bash python run.py \ --encoder \ --img-path --outdir \ [--input-size ] [--pred-only] [--grayscale] ``` Options: - `--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. - `--input-size` (optional): By default, we use input size `518` for model inference. ***You can increase the size for even more fine-grained results.*** - `--pred-only` (optional): Only save the predicted depth map, without raw image. - `--grayscale` (optional): Save the grayscale depth map, without applying color palette. For example: ```bash python run.py --encoder vitl --img-path assets/examples --outdir depth_vis ``` ### Running script on *videos* ```bash python run_video.py \ --encoder \ --video-path assets/examples_video --outdir video_depth_vis \ [--input-size ] [--pred-only] [--grayscale] ``` ***Our larger model has better temporal consistency on videos.*** ### Gradio demo To use our gradio demo locally: ```bash python app.py ``` You can also try our [online demo](https://huggingface.co/spaces/Depth-Anything/Depth-Anything-V2). ***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. ## Fine-tuned to Metric Depth Estimation Please refer to [metric depth estimation](./metric_depth). ## DA-2K Evaluation Benchmark Please refer to [DA-2K benchmark](./DA-2K.md). ## Community Support **We sincerely appreciate all the community support for our Depth Anything series. Thank you a lot!** - Apple Core ML: - https://developer.apple.com/machine-learning/models - https://huggingface.co/apple/coreml-depth-anything-v2-small - https://huggingface.co/apple/coreml-depth-anything-small - Transformers: - https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything_v2 - https://huggingface.co/docs/transformers/main/en/model_doc/depth_anything - TensorRT: - https://github.com/spacewalk01/depth-anything-tensorrt - https://github.com/zhujiajian98/Depth-Anythingv2-TensorRT-python - ONNX: https://github.com/fabio-sim/Depth-Anything-ONNX - ComfyUI: https://github.com/kijai/ComfyUI-DepthAnythingV2 - Transformers.js (real-time depth in web): https://huggingface.co/spaces/Xenova/webgpu-realtime-depth-estimation - Android: - https://github.com/shubham0204/Depth-Anything-Android - https://github.com/FeiGeChuanShu/ncnn-android-depth_anything ## Acknowledgement We 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. We also thank the [DINOv2](https://github.com/facebookresearch/dinov2) team for contributing such impressive models to our community. ## LICENSE Depth-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. ## Citation If you find this project useful, please consider citing: ```bibtex @article{depth_anything_v2, title={Depth Anything V2}, author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, journal={arXiv:2406.09414}, year={2024} } @inproceedings{depth_anything_v1, title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, booktitle={CVPR}, year={2024} } ``` ================================================ FILE: app.py ================================================ import glob import gradio as gr import matplotlib import numpy as np from PIL import Image import torch import tempfile from gradio_imageslider import ImageSlider from depth_anything_v2.dpt import DepthAnythingV2 css = """ #img-display-container { max-height: 100vh; } #img-display-input { max-height: 80vh; } #img-display-output { max-height: 80vh; } #download { height: 62px; } """ DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } encoder = 'vitl' model = DepthAnythingV2(**model_configs[encoder]) state_dict = torch.load(f'checkpoints/depth_anything_v2_{encoder}.pth', map_location="cpu") model.load_state_dict(state_dict) model = model.to(DEVICE).eval() title = "# Depth Anything V2" description = """Official demo for **Depth Anything V2**. Please 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.""" def predict_depth(image): return model.infer_image(image) with gr.Blocks(css=css) as demo: gr.Markdown(title) gr.Markdown(description) gr.Markdown("### Depth Prediction demo") with gr.Row(): input_image = gr.Image(label="Input Image", type='numpy', elem_id='img-display-input') depth_image_slider = ImageSlider(label="Depth Map with Slider View", elem_id='img-display-output', position=0.5) submit = gr.Button(value="Compute Depth") gray_depth_file = gr.File(label="Grayscale depth map", elem_id="download",) raw_file = gr.File(label="16-bit raw output (can be considered as disparity)", elem_id="download",) cmap = matplotlib.colormaps.get_cmap('Spectral_r') def on_submit(image): original_image = image.copy() h, w = image.shape[:2] depth = predict_depth(image[:, :, ::-1]) raw_depth = Image.fromarray(depth.astype('uint16')) tmp_raw_depth = tempfile.NamedTemporaryFile(suffix='.png', delete=False) raw_depth.save(tmp_raw_depth.name) depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 depth = depth.astype(np.uint8) colored_depth = (cmap(depth)[:, :, :3] * 255).astype(np.uint8) gray_depth = Image.fromarray(depth) tmp_gray_depth = tempfile.NamedTemporaryFile(suffix='.png', delete=False) gray_depth.save(tmp_gray_depth.name) return [(original_image, colored_depth), tmp_gray_depth.name, tmp_raw_depth.name] submit.click(on_submit, inputs=[input_image], outputs=[depth_image_slider, gray_depth_file, raw_file]) example_files = glob.glob('assets/examples/*') examples = gr.Examples(examples=example_files, inputs=[input_image], outputs=[depth_image_slider, gray_depth_file, raw_file], fn=on_submit) if __name__ == '__main__': demo.queue().launch() ================================================ FILE: depth_anything_v2/dinov2.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # # This source code is licensed under the Apache License, Version 2.0 # found in the LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/main/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py from functools import partial import math import logging from typing import Sequence, Tuple, Union, Callable import torch import torch.nn as nn import torch.utils.checkpoint from torch.nn.init import trunc_normal_ from .dinov2_layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block logger = logging.getLogger("dinov2") def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: if not depth_first and include_root: fn(module=module, name=name) for child_name, child_module in module.named_children(): child_name = ".".join((name, child_name)) if name else child_name named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) if depth_first and include_root: fn(module=module, name=name) return module class BlockChunk(nn.ModuleList): def forward(self, x): for b in self: x = b(x) return x class DinoVisionTransformer(nn.Module): def __init__( self, img_size=224, patch_size=16, in_chans=3, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4.0, qkv_bias=True, ffn_bias=True, proj_bias=True, drop_path_rate=0.0, drop_path_uniform=False, init_values=None, # for layerscale: None or 0 => no layerscale embed_layer=PatchEmbed, act_layer=nn.GELU, block_fn=Block, ffn_layer="mlp", block_chunks=1, num_register_tokens=0, interpolate_antialias=False, interpolate_offset=0.1, ): """ Args: img_size (int, tuple): input image size patch_size (int, tuple): patch size in_chans (int): number of input channels embed_dim (int): embedding dimension depth (int): depth of transformer num_heads (int): number of attention heads mlp_ratio (int): ratio of mlp hidden dim to embedding dim qkv_bias (bool): enable bias for qkv if True proj_bias (bool): enable bias for proj in attn if True ffn_bias (bool): enable bias for ffn if True drop_path_rate (float): stochastic depth rate drop_path_uniform (bool): apply uniform drop rate across blocks weight_init (str): weight init scheme init_values (float): layer-scale init values embed_layer (nn.Module): patch embedding layer act_layer (nn.Module): MLP activation layer block_fn (nn.Module): transformer block class ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" block_chunks: (int) split block sequence into block_chunks units for FSDP wrap num_register_tokens: (int) number of extra cls tokens (so-called "registers") interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings """ super().__init__() norm_layer = partial(nn.LayerNorm, eps=1e-6) self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models self.num_tokens = 1 self.n_blocks = depth self.num_heads = num_heads self.patch_size = patch_size self.num_register_tokens = num_register_tokens self.interpolate_antialias = interpolate_antialias self.interpolate_offset = interpolate_offset self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim) num_patches = self.patch_embed.num_patches self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim)) assert num_register_tokens >= 0 self.register_tokens = ( nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None ) if drop_path_uniform is True: dpr = [drop_path_rate] * depth else: dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule if ffn_layer == "mlp": logger.info("using MLP layer as FFN") ffn_layer = Mlp elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": logger.info("using SwiGLU layer as FFN") ffn_layer = SwiGLUFFNFused elif ffn_layer == "identity": logger.info("using Identity layer as FFN") def f(*args, **kwargs): return nn.Identity() ffn_layer = f else: raise NotImplementedError blocks_list = [ block_fn( dim=embed_dim, num_heads=num_heads, mlp_ratio=mlp_ratio, qkv_bias=qkv_bias, proj_bias=proj_bias, ffn_bias=ffn_bias, drop_path=dpr[i], norm_layer=norm_layer, act_layer=act_layer, ffn_layer=ffn_layer, init_values=init_values, ) for i in range(depth) ] if block_chunks > 0: self.chunked_blocks = True chunked_blocks = [] chunksize = depth // block_chunks for i in range(0, depth, chunksize): # this is to keep the block index consistent if we chunk the block list chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) else: self.chunked_blocks = False self.blocks = nn.ModuleList(blocks_list) self.norm = norm_layer(embed_dim) self.head = nn.Identity() self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) self.init_weights() def init_weights(self): trunc_normal_(self.pos_embed, std=0.02) nn.init.normal_(self.cls_token, std=1e-6) if self.register_tokens is not None: nn.init.normal_(self.register_tokens, std=1e-6) named_apply(init_weights_vit_timm, self) def interpolate_pos_encoding(self, x, w, h): previous_dtype = x.dtype npatch = x.shape[1] - 1 N = self.pos_embed.shape[1] - 1 if npatch == N and w == h: return self.pos_embed pos_embed = self.pos_embed.float() class_pos_embed = pos_embed[:, 0] patch_pos_embed = pos_embed[:, 1:] dim = x.shape[-1] w0 = w // self.patch_size h0 = h // self.patch_size # we add a small number to avoid floating point error in the interpolation # see discussion at https://github.com/facebookresearch/dino/issues/8 # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0 w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset # w0, h0 = w0 + 0.1, h0 + 0.1 sqrt_N = math.sqrt(N) sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N patch_pos_embed = nn.functional.interpolate( patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2), scale_factor=(sx, sy), # (int(w0), int(h0)), # to solve the upsampling shape issue mode="bicubic", antialias=self.interpolate_antialias ) assert int(w0) == patch_pos_embed.shape[-2] assert int(h0) == patch_pos_embed.shape[-1] patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype) def prepare_tokens_with_masks(self, x, masks=None): B, nc, w, h = x.shape x = self.patch_embed(x) if masks is not None: x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) x = x + self.interpolate_pos_encoding(x, w, h) if self.register_tokens is not None: x = torch.cat( ( x[:, :1], self.register_tokens.expand(x.shape[0], -1, -1), x[:, 1:], ), dim=1, ) return x def forward_features_list(self, x_list, masks_list): x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] for blk in self.blocks: x = blk(x) all_x = x output = [] for x, masks in zip(all_x, masks_list): x_norm = self.norm(x) output.append( { "x_norm_clstoken": x_norm[:, 0], "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], "x_prenorm": x, "masks": masks, } ) return output def forward_features(self, x, masks=None): if isinstance(x, list): return self.forward_features_list(x, masks) x = self.prepare_tokens_with_masks(x, masks) for blk in self.blocks: x = blk(x) x_norm = self.norm(x) return { "x_norm_clstoken": x_norm[:, 0], "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], "x_prenorm": x, "masks": masks, } def _get_intermediate_layers_not_chunked(self, x, n=1): x = self.prepare_tokens_with_masks(x) # If n is an int, take the n last blocks. If it's a list, take them output, total_block_len = [], len(self.blocks) blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n for i, blk in enumerate(self.blocks): x = blk(x) if i in blocks_to_take: output.append(x) assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" return output def _get_intermediate_layers_chunked(self, x, n=1): x = self.prepare_tokens_with_masks(x) output, i, total_block_len = [], 0, len(self.blocks[-1]) # If n is an int, take the n last blocks. If it's a list, take them blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n for block_chunk in self.blocks: for blk in block_chunk[i:]: # Passing the nn.Identity() x = blk(x) if i in blocks_to_take: output.append(x) i += 1 assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" return output def get_intermediate_layers( self, x: torch.Tensor, n: Union[int, Sequence] = 1, # Layers or n last layers to take reshape: bool = False, return_class_token: bool = False, norm=True ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: if self.chunked_blocks: outputs = self._get_intermediate_layers_chunked(x, n) else: outputs = self._get_intermediate_layers_not_chunked(x, n) if norm: outputs = [self.norm(out) for out in outputs] class_tokens = [out[:, 0] for out in outputs] outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs] if reshape: B, _, w, h = x.shape outputs = [ out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() for out in outputs ] if return_class_token: return tuple(zip(outputs, class_tokens)) return tuple(outputs) def forward(self, *args, is_training=False, **kwargs): ret = self.forward_features(*args, **kwargs) if is_training: return ret else: return self.head(ret["x_norm_clstoken"]) def init_weights_vit_timm(module: nn.Module, name: str = ""): """ViT weight initialization, original timm impl (for reproducibility)""" if isinstance(module, nn.Linear): trunc_normal_(module.weight, std=0.02) if module.bias is not None: nn.init.zeros_(module.bias) def vit_small(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=384, depth=12, num_heads=6, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_base(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_large(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=1024, depth=24, num_heads=16, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): """ Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 """ model = DinoVisionTransformer( patch_size=patch_size, embed_dim=1536, depth=40, num_heads=24, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def DINOv2(model_name): model_zoo = { "vits": vit_small, "vitb": vit_base, "vitl": vit_large, "vitg": vit_giant2 } return model_zoo[model_name]( img_size=518, patch_size=14, init_values=1.0, ffn_layer="mlp" if model_name != "vitg" else "swiglufused", block_chunks=0, num_register_tokens=0, interpolate_antialias=False, interpolate_offset=0.1 ) ================================================ FILE: depth_anything_v2/dinov2_layers/__init__.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. from .mlp import Mlp from .patch_embed import PatchEmbed from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused from .block import NestedTensorBlock from .attention import MemEffAttention ================================================ FILE: depth_anything_v2/dinov2_layers/attention.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py import logging from torch import Tensor from torch import nn logger = logging.getLogger("dinov2") try: from xformers.ops import memory_efficient_attention, unbind, fmha XFORMERS_AVAILABLE = True except ImportError: logger.warning("xFormers not available") XFORMERS_AVAILABLE = False class Attention(nn.Module): def __init__( self, dim: int, num_heads: int = 8, qkv_bias: bool = False, proj_bias: bool = True, attn_drop: float = 0.0, proj_drop: float = 0.0, ) -> None: super().__init__() self.num_heads = num_heads head_dim = dim // num_heads self.scale = head_dim**-0.5 self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) self.attn_drop = nn.Dropout(attn_drop) self.proj = nn.Linear(dim, dim, bias=proj_bias) self.proj_drop = nn.Dropout(proj_drop) def forward(self, x: Tensor) -> Tensor: B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] attn = q @ k.transpose(-2, -1) attn = attn.softmax(dim=-1) attn = self.attn_drop(attn) x = (attn @ v).transpose(1, 2).reshape(B, N, C) x = self.proj(x) x = self.proj_drop(x) return x class MemEffAttention(Attention): def forward(self, x: Tensor, attn_bias=None) -> Tensor: if not XFORMERS_AVAILABLE: assert attn_bias is None, "xFormers is required for nested tensors usage" return super().forward(x) B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) q, k, v = unbind(qkv, 2) x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) x = x.reshape([B, N, C]) x = self.proj(x) x = self.proj_drop(x) return x ================================================ FILE: depth_anything_v2/dinov2_layers/block.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py import logging from typing import Callable, List, Any, Tuple, Dict import torch from torch import nn, Tensor from .attention import Attention, MemEffAttention from .drop_path import DropPath from .layer_scale import LayerScale from .mlp import Mlp logger = logging.getLogger("dinov2") try: from xformers.ops import fmha from xformers.ops import scaled_index_add, index_select_cat XFORMERS_AVAILABLE = True except ImportError: logger.warning("xFormers not available") XFORMERS_AVAILABLE = False class Block(nn.Module): def __init__( self, dim: int, num_heads: int, mlp_ratio: float = 4.0, qkv_bias: bool = False, proj_bias: bool = True, ffn_bias: bool = True, drop: float = 0.0, attn_drop: float = 0.0, init_values=None, drop_path: float = 0.0, act_layer: Callable[..., nn.Module] = nn.GELU, norm_layer: Callable[..., nn.Module] = nn.LayerNorm, attn_class: Callable[..., nn.Module] = Attention, ffn_layer: Callable[..., nn.Module] = Mlp, ) -> None: super().__init__() # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") self.norm1 = norm_layer(dim) self.attn = attn_class( dim, num_heads=num_heads, qkv_bias=qkv_bias, proj_bias=proj_bias, attn_drop=attn_drop, proj_drop=drop, ) self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.norm2 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) self.mlp = ffn_layer( in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop, bias=ffn_bias, ) self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.sample_drop_ratio = drop_path def forward(self, x: Tensor) -> Tensor: def attn_residual_func(x: Tensor) -> Tensor: return self.ls1(self.attn(self.norm1(x))) def ffn_residual_func(x: Tensor) -> Tensor: return self.ls2(self.mlp(self.norm2(x))) if self.training and self.sample_drop_ratio > 0.1: # the overhead is compensated only for a drop path rate larger than 0.1 x = drop_add_residual_stochastic_depth( x, residual_func=attn_residual_func, sample_drop_ratio=self.sample_drop_ratio, ) x = drop_add_residual_stochastic_depth( x, residual_func=ffn_residual_func, sample_drop_ratio=self.sample_drop_ratio, ) elif self.training and self.sample_drop_ratio > 0.0: x = x + self.drop_path1(attn_residual_func(x)) x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 else: x = x + attn_residual_func(x) x = x + ffn_residual_func(x) return x def drop_add_residual_stochastic_depth( x: Tensor, residual_func: Callable[[Tensor], Tensor], sample_drop_ratio: float = 0.0, ) -> Tensor: # 1) extract subset using permutation b, n, d = x.shape sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) brange = (torch.randperm(b, device=x.device))[:sample_subset_size] x_subset = x[brange] # 2) apply residual_func to get residual residual = residual_func(x_subset) x_flat = x.flatten(1) residual = residual.flatten(1) residual_scale_factor = b / sample_subset_size # 3) add the residual x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) return x_plus_residual.view_as(x) def get_branges_scales(x, sample_drop_ratio=0.0): b, n, d = x.shape sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) brange = (torch.randperm(b, device=x.device))[:sample_subset_size] residual_scale_factor = b / sample_subset_size return brange, residual_scale_factor def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): if scaling_vector is None: x_flat = x.flatten(1) residual = residual.flatten(1) x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) else: x_plus_residual = scaled_index_add( x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor ) return x_plus_residual attn_bias_cache: Dict[Tuple, Any] = {} def get_attn_bias_and_cat(x_list, branges=None): """ this will perform the index select, cat the tensors, and provide the attn_bias from cache """ batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) if all_shapes not in attn_bias_cache.keys(): seqlens = [] for b, x in zip(batch_sizes, x_list): for _ in range(b): seqlens.append(x.shape[1]) attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) attn_bias._batch_sizes = batch_sizes attn_bias_cache[all_shapes] = attn_bias if branges is not None: cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) else: tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) cat_tensors = torch.cat(tensors_bs1, dim=1) return attn_bias_cache[all_shapes], cat_tensors def drop_add_residual_stochastic_depth_list( x_list: List[Tensor], residual_func: Callable[[Tensor, Any], Tensor], sample_drop_ratio: float = 0.0, scaling_vector=None, ) -> Tensor: # 1) generate random set of indices for dropping samples in the batch branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] branges = [s[0] for s in branges_scales] residual_scale_factors = [s[1] for s in branges_scales] # 2) get attention bias and index+concat the tensors attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) # 3) apply residual_func to get residual, and split the result residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore outputs = [] for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) return outputs class NestedTensorBlock(Block): def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: """ x_list contains a list of tensors to nest together and run """ assert isinstance(self.attn, MemEffAttention) if self.training and self.sample_drop_ratio > 0.0: def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.attn(self.norm1(x), attn_bias=attn_bias) def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.mlp(self.norm2(x)) x_list = drop_add_residual_stochastic_depth_list( x_list, residual_func=attn_residual_func, sample_drop_ratio=self.sample_drop_ratio, scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, ) x_list = drop_add_residual_stochastic_depth_list( x_list, residual_func=ffn_residual_func, sample_drop_ratio=self.sample_drop_ratio, scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, ) return x_list else: def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.ls2(self.mlp(self.norm2(x))) attn_bias, x = get_attn_bias_and_cat(x_list) x = x + attn_residual_func(x, attn_bias=attn_bias) x = x + ffn_residual_func(x) return attn_bias.split(x) def forward(self, x_or_x_list): if isinstance(x_or_x_list, Tensor): return super().forward(x_or_x_list) elif isinstance(x_or_x_list, list): assert XFORMERS_AVAILABLE, "Please install xFormers for nested tensors usage" return self.forward_nested(x_or_x_list) else: raise AssertionError ================================================ FILE: depth_anything_v2/dinov2_layers/drop_path.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py from torch import nn def drop_path(x, drop_prob: float = 0.0, training: bool = False): if drop_prob == 0.0 or not training: return x keep_prob = 1 - drop_prob shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets random_tensor = x.new_empty(shape).bernoulli_(keep_prob) if keep_prob > 0.0: random_tensor.div_(keep_prob) output = x * random_tensor return output class DropPath(nn.Module): """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" def __init__(self, drop_prob=None): super(DropPath, self).__init__() self.drop_prob = drop_prob def forward(self, x): return drop_path(x, self.drop_prob, self.training) ================================================ FILE: depth_anything_v2/dinov2_layers/layer_scale.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 from typing import Union import torch from torch import Tensor from torch import nn class LayerScale(nn.Module): def __init__( self, dim: int, init_values: Union[float, Tensor] = 1e-5, inplace: bool = False, ) -> None: super().__init__() self.inplace = inplace self.gamma = nn.Parameter(init_values * torch.ones(dim)) def forward(self, x: Tensor) -> Tensor: return x.mul_(self.gamma) if self.inplace else x * self.gamma ================================================ FILE: depth_anything_v2/dinov2_layers/mlp.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py from typing import Callable, Optional from torch import Tensor, nn class Mlp(nn.Module): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = nn.GELU, drop: float = 0.0, bias: bool = True, ) -> None: super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) self.act = act_layer() self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) self.drop = nn.Dropout(drop) def forward(self, x: Tensor) -> Tensor: x = self.fc1(x) x = self.act(x) x = self.drop(x) x = self.fc2(x) x = self.drop(x) return x ================================================ FILE: depth_anything_v2/dinov2_layers/patch_embed.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py from typing import Callable, Optional, Tuple, Union from torch import Tensor import torch.nn as nn def make_2tuple(x): if isinstance(x, tuple): assert len(x) == 2 return x assert isinstance(x, int) return (x, x) class PatchEmbed(nn.Module): """ 2D image to patch embedding: (B,C,H,W) -> (B,N,D) Args: img_size: Image size. patch_size: Patch token size. in_chans: Number of input image channels. embed_dim: Number of linear projection output channels. norm_layer: Normalization layer. """ def __init__( self, img_size: Union[int, Tuple[int, int]] = 224, patch_size: Union[int, Tuple[int, int]] = 16, in_chans: int = 3, embed_dim: int = 768, norm_layer: Optional[Callable] = None, flatten_embedding: bool = True, ) -> None: super().__init__() image_HW = make_2tuple(img_size) patch_HW = make_2tuple(patch_size) patch_grid_size = ( image_HW[0] // patch_HW[0], image_HW[1] // patch_HW[1], ) self.img_size = image_HW self.patch_size = patch_HW self.patches_resolution = patch_grid_size self.num_patches = patch_grid_size[0] * patch_grid_size[1] self.in_chans = in_chans self.embed_dim = embed_dim self.flatten_embedding = flatten_embedding self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() def forward(self, x: Tensor) -> Tensor: _, _, H, W = x.shape patch_H, patch_W = self.patch_size assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" x = self.proj(x) # B C H W H, W = x.size(2), x.size(3) x = x.flatten(2).transpose(1, 2) # B HW C x = self.norm(x) if not self.flatten_embedding: x = x.reshape(-1, H, W, self.embed_dim) # B H W C return x def flops(self) -> float: Ho, Wo = self.patches_resolution flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) if self.norm is not None: flops += Ho * Wo * self.embed_dim return flops ================================================ FILE: depth_anything_v2/dinov2_layers/swiglu_ffn.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. from typing import Callable, Optional from torch import Tensor, nn import torch.nn.functional as F class SwiGLUFFN(nn.Module): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = None, drop: float = 0.0, bias: bool = True, ) -> None: super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) self.w3 = nn.Linear(hidden_features, out_features, bias=bias) def forward(self, x: Tensor) -> Tensor: x12 = self.w12(x) x1, x2 = x12.chunk(2, dim=-1) hidden = F.silu(x1) * x2 return self.w3(hidden) try: from xformers.ops import SwiGLU XFORMERS_AVAILABLE = True except ImportError: SwiGLU = SwiGLUFFN XFORMERS_AVAILABLE = False class SwiGLUFFNFused(SwiGLU): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = None, drop: float = 0.0, bias: bool = True, ) -> None: out_features = out_features or in_features hidden_features = hidden_features or in_features hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 super().__init__( in_features=in_features, hidden_features=hidden_features, out_features=out_features, bias=bias, ) ================================================ FILE: depth_anything_v2/dpt.py ================================================ import cv2 import torch import torch.nn as nn import torch.nn.functional as F from torchvision.transforms import Compose from .dinov2 import DINOv2 from .util.blocks import FeatureFusionBlock, _make_scratch from .util.transform import Resize, NormalizeImage, PrepareForNet def _make_fusion_block(features, use_bn, size=None): return FeatureFusionBlock( features, nn.ReLU(False), deconv=False, bn=use_bn, expand=False, align_corners=True, size=size, ) class ConvBlock(nn.Module): def __init__(self, in_feature, out_feature): super().__init__() self.conv_block = nn.Sequential( nn.Conv2d(in_feature, out_feature, kernel_size=3, stride=1, padding=1), nn.BatchNorm2d(out_feature), nn.ReLU(True) ) def forward(self, x): return self.conv_block(x) class DPTHead(nn.Module): def __init__( self, in_channels, features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False ): super(DPTHead, self).__init__() self.use_clstoken = use_clstoken self.projects = nn.ModuleList([ nn.Conv2d( in_channels=in_channels, out_channels=out_channel, kernel_size=1, stride=1, padding=0, ) for out_channel in out_channels ]) self.resize_layers = nn.ModuleList([ nn.ConvTranspose2d( in_channels=out_channels[0], out_channels=out_channels[0], kernel_size=4, stride=4, padding=0), nn.ConvTranspose2d( in_channels=out_channels[1], out_channels=out_channels[1], kernel_size=2, stride=2, padding=0), nn.Identity(), nn.Conv2d( in_channels=out_channels[3], out_channels=out_channels[3], kernel_size=3, stride=2, padding=1) ]) if use_clstoken: self.readout_projects = nn.ModuleList() for _ in range(len(self.projects)): self.readout_projects.append( nn.Sequential( nn.Linear(2 * in_channels, in_channels), nn.GELU())) self.scratch = _make_scratch( out_channels, features, groups=1, expand=False, ) self.scratch.stem_transpose = None self.scratch.refinenet1 = _make_fusion_block(features, use_bn) self.scratch.refinenet2 = _make_fusion_block(features, use_bn) self.scratch.refinenet3 = _make_fusion_block(features, use_bn) self.scratch.refinenet4 = _make_fusion_block(features, use_bn) head_features_1 = features head_features_2 = 32 self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1) self.scratch.output_conv2 = nn.Sequential( nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1), nn.ReLU(True), nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0), nn.ReLU(True), nn.Identity(), ) def forward(self, out_features, patch_h, patch_w): out = [] for i, x in enumerate(out_features): if self.use_clstoken: x, cls_token = x[0], x[1] readout = cls_token.unsqueeze(1).expand_as(x) x = self.readout_projects[i](torch.cat((x, readout), -1)) else: x = x[0] x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w)) x = self.projects[i](x) x = self.resize_layers[i](x) out.append(x) layer_1, layer_2, layer_3, layer_4 = out layer_1_rn = self.scratch.layer1_rn(layer_1) layer_2_rn = self.scratch.layer2_rn(layer_2) layer_3_rn = self.scratch.layer3_rn(layer_3) layer_4_rn = self.scratch.layer4_rn(layer_4) path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:]) path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:]) path_1 = self.scratch.refinenet1(path_2, layer_1_rn) out = self.scratch.output_conv1(path_1) out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True) out = self.scratch.output_conv2(out) return out class DepthAnythingV2(nn.Module): def __init__( self, encoder='vitl', features=256, out_channels=[256, 512, 1024, 1024], use_bn=False, use_clstoken=False ): super(DepthAnythingV2, self).__init__() self.intermediate_layer_idx = { 'vits': [2, 5, 8, 11], 'vitb': [2, 5, 8, 11], 'vitl': [4, 11, 17, 23], 'vitg': [9, 19, 29, 39] } self.encoder = encoder self.pretrained = DINOv2(model_name=encoder) self.depth_head = DPTHead(self.pretrained.embed_dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken) def forward(self, x): patch_h, patch_w = x.shape[-2] // 14, x.shape[-1] // 14 features = self.pretrained.get_intermediate_layers(x, self.intermediate_layer_idx[self.encoder], return_class_token=True) depth = self.depth_head(features, patch_h, patch_w) depth = F.relu(depth) return depth.squeeze(1) @torch.no_grad() def infer_image(self, raw_image, input_size=518): image, (h, w) = self.image2tensor(raw_image, input_size) depth = self.forward(image) depth = F.interpolate(depth[:, None], (h, w), mode="bilinear", align_corners=True)[0, 0] return depth.cpu().numpy() def image2tensor(self, raw_image, input_size=518): transform = Compose([ Resize( width=input_size, height=input_size, resize_target=False, keep_aspect_ratio=True, ensure_multiple_of=14, resize_method='lower_bound', image_interpolation_method=cv2.INTER_CUBIC, ), NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), PrepareForNet(), ]) h, w = raw_image.shape[:2] image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0 image = transform({'image': image})['image'] image = torch.from_numpy(image).unsqueeze(0) DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' image = image.to(DEVICE) return image, (h, w) ================================================ FILE: depth_anything_v2/util/blocks.py ================================================ import torch.nn as nn def _make_scratch(in_shape, out_shape, groups=1, expand=False): scratch = nn.Module() out_shape1 = out_shape out_shape2 = out_shape out_shape3 = out_shape if len(in_shape) >= 4: out_shape4 = out_shape if expand: out_shape1 = out_shape out_shape2 = out_shape * 2 out_shape3 = out_shape * 4 if len(in_shape) >= 4: out_shape4 = out_shape * 8 scratch.layer1_rn = nn.Conv2d(in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) scratch.layer2_rn = nn.Conv2d(in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) scratch.layer3_rn = nn.Conv2d(in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) if len(in_shape) >= 4: scratch.layer4_rn = nn.Conv2d(in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) return scratch class ResidualConvUnit(nn.Module): """Residual convolution module. """ def __init__(self, features, activation, bn): """Init. Args: features (int): number of features """ super().__init__() self.bn = bn self.groups=1 self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) if self.bn == True: self.bn1 = nn.BatchNorm2d(features) self.bn2 = nn.BatchNorm2d(features) self.activation = activation self.skip_add = nn.quantized.FloatFunctional() def forward(self, x): """Forward pass. Args: x (tensor): input Returns: tensor: output """ out = self.activation(x) out = self.conv1(out) if self.bn == True: out = self.bn1(out) out = self.activation(out) out = self.conv2(out) if self.bn == True: out = self.bn2(out) if self.groups > 1: out = self.conv_merge(out) return self.skip_add.add(out, x) class FeatureFusionBlock(nn.Module): """Feature fusion block. """ def __init__( self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, size=None ): """Init. Args: features (int): number of features """ super(FeatureFusionBlock, self).__init__() self.deconv = deconv self.align_corners = align_corners self.groups=1 self.expand = expand out_features = features if self.expand == True: out_features = features // 2 self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1) self.resConfUnit1 = ResidualConvUnit(features, activation, bn) self.resConfUnit2 = ResidualConvUnit(features, activation, bn) self.skip_add = nn.quantized.FloatFunctional() self.size=size def forward(self, *xs, size=None): """Forward pass. Returns: tensor: output """ output = xs[0] if len(xs) == 2: res = self.resConfUnit1(xs[1]) output = self.skip_add.add(output, res) output = self.resConfUnit2(output) if (size is None) and (self.size is None): modifier = {"scale_factor": 2} elif size is None: modifier = {"size": self.size} else: modifier = {"size": size} output = nn.functional.interpolate(output, **modifier, mode="bilinear", align_corners=self.align_corners) output = self.out_conv(output) return output ================================================ FILE: depth_anything_v2/util/transform.py ================================================ import numpy as np import cv2 class Resize(object): """Resize sample to given size (width, height). """ def __init__( self, width, height, resize_target=True, keep_aspect_ratio=False, ensure_multiple_of=1, resize_method="lower_bound", image_interpolation_method=cv2.INTER_AREA, ): """Init. Args: width (int): desired output width height (int): desired output height resize_target (bool, optional): True: Resize the full sample (image, mask, target). False: Resize image only. Defaults to True. keep_aspect_ratio (bool, optional): True: Keep the aspect ratio of the input sample. Output sample might not have the given width and height, and resize behaviour depends on the parameter 'resize_method'. Defaults to False. ensure_multiple_of (int, optional): Output width and height is constrained to be multiple of this parameter. Defaults to 1. resize_method (str, optional): "lower_bound": Output will be at least as large as the given size. "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) "minimal": Scale as least as possible. (Output size might be smaller than given size.) Defaults to "lower_bound". """ self.__width = width self.__height = height self.__resize_target = resize_target self.__keep_aspect_ratio = keep_aspect_ratio self.__multiple_of = ensure_multiple_of self.__resize_method = resize_method self.__image_interpolation_method = image_interpolation_method def constrain_to_multiple_of(self, x, min_val=0, max_val=None): y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) if max_val is not None and y > max_val: y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int) if y < min_val: y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int) return y def get_size(self, width, height): # determine new height and width scale_height = self.__height / height scale_width = self.__width / width if self.__keep_aspect_ratio: if self.__resize_method == "lower_bound": # scale such that output size is lower bound if scale_width > scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "upper_bound": # scale such that output size is upper bound if scale_width < scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "minimal": # scale as least as possbile if abs(1 - scale_width) < abs(1 - scale_height): # fit width scale_height = scale_width else: # fit height scale_width = scale_height else: raise ValueError(f"resize_method {self.__resize_method} not implemented") if self.__resize_method == "lower_bound": new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height) new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width) elif self.__resize_method == "upper_bound": new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height) new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width) elif self.__resize_method == "minimal": new_height = self.constrain_to_multiple_of(scale_height * height) new_width = self.constrain_to_multiple_of(scale_width * width) else: raise ValueError(f"resize_method {self.__resize_method} not implemented") return (new_width, new_height) def __call__(self, sample): width, height = self.get_size(sample["image"].shape[1], sample["image"].shape[0]) # resize sample sample["image"] = cv2.resize(sample["image"], (width, height), interpolation=self.__image_interpolation_method) if self.__resize_target: if "depth" in sample: sample["depth"] = cv2.resize(sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST) if "mask" in sample: sample["mask"] = cv2.resize(sample["mask"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST) return sample class NormalizeImage(object): """Normlize image by given mean and std. """ def __init__(self, mean, std): self.__mean = mean self.__std = std def __call__(self, sample): sample["image"] = (sample["image"] - self.__mean) / self.__std return sample class PrepareForNet(object): """Prepare sample for usage as network input. """ def __init__(self): pass def __call__(self, sample): image = np.transpose(sample["image"], (2, 0, 1)) sample["image"] = np.ascontiguousarray(image).astype(np.float32) if "depth" in sample: depth = sample["depth"].astype(np.float32) sample["depth"] = np.ascontiguousarray(depth) if "mask" in sample: sample["mask"] = sample["mask"].astype(np.float32) sample["mask"] = np.ascontiguousarray(sample["mask"]) return sample ================================================ FILE: metric_depth/README.md ================================================ # Depth Anything V2 for Metric Depth Estimation ![teaser](./assets/compare_zoedepth.png) We 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. # Pre-trained Models We provide **six metric depth models** of three scales for indoor and outdoor scenes, respectively. | Base Model | Params | Indoor (Hypersim) | Outdoor (Virtual KITTI 2) | |:-|-:|:-:|:-:| | 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) | | 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) | | 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) | *We recommend to first try our larger models (if computational cost is affordable) and the indoor version.* ## Usage ### Prepraration ```bash git clone https://github.com/DepthAnything/Depth-Anything-V2 cd Depth-Anything-V2/metric_depth pip install -r requirements.txt ``` Download the checkpoints listed [here](#pre-trained-models) and put them under the `checkpoints` directory. ### Use our models ```python import cv2 import torch from depth_anything_v2.dpt import DepthAnythingV2 model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]} } encoder = 'vitl' # or 'vits', 'vitb' dataset = 'hypersim' # 'hypersim' for indoor model, 'vkitti' for outdoor model max_depth = 20 # 20 for indoor model, 80 for outdoor model model = DepthAnythingV2(**{**model_configs[encoder], 'max_depth': max_depth}) model.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_metric_{dataset}_{encoder}.pth', map_location='cpu')) model.eval() raw_img = cv2.imread('your/image/path') depth = model.infer_image(raw_img) # HxW depth map in meters in numpy ``` ### Running script on images Here, we take the `vitl` encoder as an example. You can also use `vitb` or `vits` encoders. ```bash # indoor scenes python run.py \ --encoder vitl \ --load-from checkpoints/depth_anything_v2_metric_hypersim_vitl.pth \ --max-depth 20 \ --img-path --outdir [--input-size ] [--save-numpy] # outdoor scenes python run.py \ --encoder vitl \ --load-from checkpoints/depth_anything_v2_metric_vkitti_vitl.pth \ --max-depth 80 \ --img-path --outdir [--input-size ] [--save-numpy] ``` ### Project 2D images to point clouds: ```bash python depth_to_pointcloud.py \ --encoder vitl \ --load-from checkpoints/depth_anything_v2_metric_hypersim_vitl.pth \ --max-depth 20 \ --img-path --outdir ``` ### Reproduce training Please 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: ```bash bash dist_train.sh ``` ## Citation If you find this project useful, please consider citing: ```bibtex @article{depth_anything_v2, title={Depth Anything V2}, author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Zhao, Zhen and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, journal={arXiv:2406.09414}, year={2024} } @inproceedings{depth_anything_v1, title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, booktitle={CVPR}, year={2024} } ``` ================================================ FILE: metric_depth/dataset/hypersim.py ================================================ import cv2 import h5py import numpy as np import torch from torch.utils.data import Dataset from torchvision.transforms import Compose from dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop def hypersim_distance_to_depth(npyDistance): intWidth, intHeight, fltFocal = 1024, 768, 886.81 npyImageplaneX = np.linspace((-0.5 * intWidth) + 0.5, (0.5 * intWidth) - 0.5, intWidth).reshape( 1, intWidth).repeat(intHeight, 0).astype(np.float32)[:, :, None] npyImageplaneY = np.linspace((-0.5 * intHeight) + 0.5, (0.5 * intHeight) - 0.5, intHeight).reshape(intHeight, 1).repeat(intWidth, 1).astype(np.float32)[:, :, None] npyImageplaneZ = np.full([intHeight, intWidth, 1], fltFocal, np.float32) npyImageplane = np.concatenate( [npyImageplaneX, npyImageplaneY, npyImageplaneZ], 2) npyDepth = npyDistance / np.linalg.norm(npyImageplane, 2, 2) * fltFocal return npyDepth class Hypersim(Dataset): def __init__(self, filelist_path, mode, size=(518, 518)): self.mode = mode self.size = size with open(filelist_path, 'r') as f: self.filelist = f.read().splitlines() net_w, net_h = size self.transform = Compose([ Resize( width=net_w, height=net_h, resize_target=True if mode == 'train' else False, keep_aspect_ratio=True, ensure_multiple_of=14, resize_method='lower_bound', image_interpolation_method=cv2.INTER_CUBIC, ), NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), PrepareForNet(), ] + ([Crop(size[0])] if self.mode == 'train' else [])) def __getitem__(self, item): img_path = self.filelist[item].split(' ')[0] depth_path = self.filelist[item].split(' ')[1] image = cv2.imread(img_path) image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0 depth_fd = h5py.File(depth_path, "r") distance_meters = np.array(depth_fd['dataset']) depth = hypersim_distance_to_depth(distance_meters) sample = self.transform({'image': image, 'depth': depth}) sample['image'] = torch.from_numpy(sample['image']) sample['depth'] = torch.from_numpy(sample['depth']) sample['valid_mask'] = (torch.isnan(sample['depth']) == 0) sample['depth'][sample['valid_mask'] == 0] = 0 sample['image_path'] = self.filelist[item].split(' ')[0] return sample def __len__(self): return len(self.filelist) ================================================ FILE: metric_depth/dataset/kitti.py ================================================ import cv2 import torch from torch.utils.data import Dataset from torchvision.transforms import Compose from dataset.transform import Resize, NormalizeImage, PrepareForNet class KITTI(Dataset): def __init__(self, filelist_path, mode, size=(518, 518)): if mode != 'val': raise NotImplementedError self.mode = mode self.size = size with open(filelist_path, 'r') as f: self.filelist = f.read().splitlines() net_w, net_h = size self.transform = Compose([ Resize( width=net_w, height=net_h, resize_target=True if mode == 'train' else False, keep_aspect_ratio=True, ensure_multiple_of=14, resize_method='lower_bound', image_interpolation_method=cv2.INTER_CUBIC, ), NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), PrepareForNet(), ]) def __getitem__(self, item): img_path = self.filelist[item].split(' ')[0] depth_path = self.filelist[item].split(' ')[1] image = cv2.imread(img_path) image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0 depth = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED).astype('float32') sample = self.transform({'image': image, 'depth': depth}) sample['image'] = torch.from_numpy(sample['image']) sample['depth'] = torch.from_numpy(sample['depth']) sample['depth'] = sample['depth'] / 256.0 # convert in meters sample['valid_mask'] = sample['depth'] > 0 sample['image_path'] = self.filelist[item].split(' ')[0] return sample def __len__(self): return len(self.filelist) ================================================ FILE: metric_depth/dataset/splits/hypersim/train.txt ================================================ [File too large to display: 13.1 MB] ================================================ FILE: metric_depth/dataset/splits/hypersim/val.txt ================================================ /mnt/bn/liheyang/DepthDatasets/HyperSim/all/ai_003_010/images/scene_cam_00_final_preview/frame.0000.tonemap.jpg 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/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 /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 /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 /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 /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 ================================================ FILE: metric_depth/dataset/transform.py ================================================ import cv2 import math import numpy as np import torch import torch.nn.functional as F def apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA): """Rezise the sample to ensure the given size. Keeps aspect ratio. Args: sample (dict): sample size (tuple): image size Returns: tuple: new size """ shape = list(sample["disparity"].shape) if shape[0] >= size[0] and shape[1] >= size[1]: return sample scale = [0, 0] scale[0] = size[0] / shape[0] scale[1] = size[1] / shape[1] scale = max(scale) shape[0] = math.ceil(scale * shape[0]) shape[1] = math.ceil(scale * shape[1]) # resize sample["image"] = cv2.resize( sample["image"], tuple(shape[::-1]), interpolation=image_interpolation_method ) sample["disparity"] = cv2.resize( sample["disparity"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST ) sample["mask"] = cv2.resize( sample["mask"].astype(np.float32), tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST, ) sample["mask"] = sample["mask"].astype(bool) return tuple(shape) class Resize(object): """Resize sample to given size (width, height). """ def __init__( self, width, height, resize_target=True, keep_aspect_ratio=False, ensure_multiple_of=1, resize_method="lower_bound", image_interpolation_method=cv2.INTER_AREA, ): """Init. Args: width (int): desired output width height (int): desired output height resize_target (bool, optional): True: Resize the full sample (image, mask, target). False: Resize image only. Defaults to True. keep_aspect_ratio (bool, optional): True: Keep the aspect ratio of the input sample. Output sample might not have the given width and height, and resize behaviour depends on the parameter 'resize_method'. Defaults to False. ensure_multiple_of (int, optional): Output width and height is constrained to be multiple of this parameter. Defaults to 1. resize_method (str, optional): "lower_bound": Output will be at least as large as the given size. "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) "minimal": Scale as least as possible. (Output size might be smaller than given size.) Defaults to "lower_bound". """ self.__width = width self.__height = height self.__resize_target = resize_target self.__keep_aspect_ratio = keep_aspect_ratio self.__multiple_of = ensure_multiple_of self.__resize_method = resize_method self.__image_interpolation_method = image_interpolation_method def constrain_to_multiple_of(self, x, min_val=0, max_val=None): y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) if max_val is not None and y > max_val: y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int) if y < min_val: y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int) return y def get_size(self, width, height): # determine new height and width scale_height = self.__height / height scale_width = self.__width / width if self.__keep_aspect_ratio: if self.__resize_method == "lower_bound": # scale such that output size is lower bound if scale_width > scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "upper_bound": # scale such that output size is upper bound if scale_width < scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "minimal": # scale as least as possbile if abs(1 - scale_width) < abs(1 - scale_height): # fit width scale_height = scale_width else: # fit height scale_width = scale_height else: raise ValueError( f"resize_method {self.__resize_method} not implemented" ) if self.__resize_method == "lower_bound": new_height = self.constrain_to_multiple_of( scale_height * height, min_val=self.__height ) new_width = self.constrain_to_multiple_of( scale_width * width, min_val=self.__width ) elif self.__resize_method == "upper_bound": new_height = self.constrain_to_multiple_of( scale_height * height, max_val=self.__height ) new_width = self.constrain_to_multiple_of( scale_width * width, max_val=self.__width ) elif self.__resize_method == "minimal": new_height = self.constrain_to_multiple_of(scale_height * height) new_width = self.constrain_to_multiple_of(scale_width * width) else: raise ValueError(f"resize_method {self.__resize_method} not implemented") return (new_width, new_height) def __call__(self, sample): width, height = self.get_size( sample["image"].shape[1], sample["image"].shape[0] ) # resize sample sample["image"] = cv2.resize( sample["image"], (width, height), interpolation=self.__image_interpolation_method, ) if self.__resize_target: if "disparity" in sample: sample["disparity"] = cv2.resize( sample["disparity"], (width, height), interpolation=cv2.INTER_NEAREST, ) if "depth" in sample: sample["depth"] = cv2.resize( sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST ) if "semseg_mask" in sample: # sample["semseg_mask"] = cv2.resize( # sample["semseg_mask"], (width, height), interpolation=cv2.INTER_NEAREST # ) sample["semseg_mask"] = F.interpolate(torch.from_numpy(sample["semseg_mask"]).float()[None, None, ...], (height, width), mode='nearest').numpy()[0, 0] if "mask" in sample: sample["mask"] = cv2.resize( sample["mask"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST, ) # sample["mask"] = sample["mask"].astype(bool) # print(sample['image'].shape, sample['depth'].shape) return sample class NormalizeImage(object): """Normlize image by given mean and std. """ def __init__(self, mean, std): self.__mean = mean self.__std = std def __call__(self, sample): sample["image"] = (sample["image"] - self.__mean) / self.__std return sample class PrepareForNet(object): """Prepare sample for usage as network input. """ def __init__(self): pass def __call__(self, sample): image = np.transpose(sample["image"], (2, 0, 1)) sample["image"] = np.ascontiguousarray(image).astype(np.float32) if "mask" in sample: sample["mask"] = sample["mask"].astype(np.float32) sample["mask"] = np.ascontiguousarray(sample["mask"]) if "depth" in sample: depth = sample["depth"].astype(np.float32) sample["depth"] = np.ascontiguousarray(depth) if "semseg_mask" in sample: sample["semseg_mask"] = sample["semseg_mask"].astype(np.float32) sample["semseg_mask"] = np.ascontiguousarray(sample["semseg_mask"]) return sample class Crop(object): """Crop sample for batch-wise training. Image is of shape CxHxW """ def __init__(self, size): if isinstance(size, int): self.size = (size, size) else: self.size = size def __call__(self, sample): h, w = sample['image'].shape[-2:] assert h >= self.size[0] and w >= self.size[1], 'Wrong size' h_start = np.random.randint(0, h - self.size[0] + 1) w_start = np.random.randint(0, w - self.size[1] + 1) h_end = h_start + self.size[0] w_end = w_start + self.size[1] sample['image'] = sample['image'][:, h_start: h_end, w_start: w_end] if "depth" in sample: sample["depth"] = sample["depth"][h_start: h_end, w_start: w_end] if "mask" in sample: sample["mask"] = sample["mask"][h_start: h_end, w_start: w_end] if "semseg_mask" in sample: sample["semseg_mask"] = sample["semseg_mask"][h_start: h_end, w_start: w_end] return sample ================================================ FILE: metric_depth/dataset/vkitti2.py ================================================ import cv2 import torch from torch.utils.data import Dataset from torchvision.transforms import Compose from dataset.transform import Resize, NormalizeImage, PrepareForNet, Crop class VKITTI2(Dataset): def __init__(self, filelist_path, mode, size=(518, 518)): self.mode = mode self.size = size with open(filelist_path, 'r') as f: self.filelist = f.read().splitlines() net_w, net_h = size self.transform = Compose([ Resize( width=net_w, height=net_h, resize_target=True if mode == 'train' else False, keep_aspect_ratio=True, ensure_multiple_of=14, resize_method='lower_bound', image_interpolation_method=cv2.INTER_CUBIC, ), NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), PrepareForNet(), ] + ([Crop(size[0])] if self.mode == 'train' else [])) def __getitem__(self, item): img_path = self.filelist[item].split(' ')[0] depth_path = self.filelist[item].split(' ')[1] image = cv2.imread(img_path) image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0 depth = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) / 100.0 # cm to m sample = self.transform({'image': image, 'depth': depth}) sample['image'] = torch.from_numpy(sample['image']) sample['depth'] = torch.from_numpy(sample['depth']) sample['valid_mask'] = (sample['depth'] <= 80) sample['image_path'] = self.filelist[item].split(' ')[0] return sample def __len__(self): return len(self.filelist) ================================================ FILE: metric_depth/depth_anything_v2/dinov2.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # # This source code is licensed under the Apache License, Version 2.0 # found in the LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/main/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py from functools import partial import math import logging from typing import Sequence, Tuple, Union, Callable import torch import torch.nn as nn import torch.utils.checkpoint from torch.nn.init import trunc_normal_ from .dinov2_layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block logger = logging.getLogger("dinov2") def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: if not depth_first and include_root: fn(module=module, name=name) for child_name, child_module in module.named_children(): child_name = ".".join((name, child_name)) if name else child_name named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) if depth_first and include_root: fn(module=module, name=name) return module class BlockChunk(nn.ModuleList): def forward(self, x): for b in self: x = b(x) return x class DinoVisionTransformer(nn.Module): def __init__( self, img_size=224, patch_size=16, in_chans=3, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4.0, qkv_bias=True, ffn_bias=True, proj_bias=True, drop_path_rate=0.0, drop_path_uniform=False, init_values=None, # for layerscale: None or 0 => no layerscale embed_layer=PatchEmbed, act_layer=nn.GELU, block_fn=Block, ffn_layer="mlp", block_chunks=1, num_register_tokens=0, interpolate_antialias=False, interpolate_offset=0.1, ): """ Args: img_size (int, tuple): input image size patch_size (int, tuple): patch size in_chans (int): number of input channels embed_dim (int): embedding dimension depth (int): depth of transformer num_heads (int): number of attention heads mlp_ratio (int): ratio of mlp hidden dim to embedding dim qkv_bias (bool): enable bias for qkv if True proj_bias (bool): enable bias for proj in attn if True ffn_bias (bool): enable bias for ffn if True drop_path_rate (float): stochastic depth rate drop_path_uniform (bool): apply uniform drop rate across blocks weight_init (str): weight init scheme init_values (float): layer-scale init values embed_layer (nn.Module): patch embedding layer act_layer (nn.Module): MLP activation layer block_fn (nn.Module): transformer block class ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" block_chunks: (int) split block sequence into block_chunks units for FSDP wrap num_register_tokens: (int) number of extra cls tokens (so-called "registers") interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings """ super().__init__() norm_layer = partial(nn.LayerNorm, eps=1e-6) self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models self.num_tokens = 1 self.n_blocks = depth self.num_heads = num_heads self.patch_size = patch_size self.num_register_tokens = num_register_tokens self.interpolate_antialias = interpolate_antialias self.interpolate_offset = interpolate_offset self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim) num_patches = self.patch_embed.num_patches self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim)) assert num_register_tokens >= 0 self.register_tokens = ( nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None ) if drop_path_uniform is True: dpr = [drop_path_rate] * depth else: dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule if ffn_layer == "mlp": logger.info("using MLP layer as FFN") ffn_layer = Mlp elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": logger.info("using SwiGLU layer as FFN") ffn_layer = SwiGLUFFNFused elif ffn_layer == "identity": logger.info("using Identity layer as FFN") def f(*args, **kwargs): return nn.Identity() ffn_layer = f else: raise NotImplementedError blocks_list = [ block_fn( dim=embed_dim, num_heads=num_heads, mlp_ratio=mlp_ratio, qkv_bias=qkv_bias, proj_bias=proj_bias, ffn_bias=ffn_bias, drop_path=dpr[i], norm_layer=norm_layer, act_layer=act_layer, ffn_layer=ffn_layer, init_values=init_values, ) for i in range(depth) ] if block_chunks > 0: self.chunked_blocks = True chunked_blocks = [] chunksize = depth // block_chunks for i in range(0, depth, chunksize): # this is to keep the block index consistent if we chunk the block list chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) else: self.chunked_blocks = False self.blocks = nn.ModuleList(blocks_list) self.norm = norm_layer(embed_dim) self.head = nn.Identity() self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) self.init_weights() def init_weights(self): trunc_normal_(self.pos_embed, std=0.02) nn.init.normal_(self.cls_token, std=1e-6) if self.register_tokens is not None: nn.init.normal_(self.register_tokens, std=1e-6) named_apply(init_weights_vit_timm, self) def interpolate_pos_encoding(self, x, w, h): previous_dtype = x.dtype npatch = x.shape[1] - 1 N = self.pos_embed.shape[1] - 1 if npatch == N and w == h: return self.pos_embed pos_embed = self.pos_embed.float() class_pos_embed = pos_embed[:, 0] patch_pos_embed = pos_embed[:, 1:] dim = x.shape[-1] w0 = w // self.patch_size h0 = h // self.patch_size # we add a small number to avoid floating point error in the interpolation # see discussion at https://github.com/facebookresearch/dino/issues/8 # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0 w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset # w0, h0 = w0 + 0.1, h0 + 0.1 sqrt_N = math.sqrt(N) sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N patch_pos_embed = nn.functional.interpolate( patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2), scale_factor=(sx, sy), # (int(w0), int(h0)), # to solve the upsampling shape issue mode="bicubic", antialias=self.interpolate_antialias ) assert int(w0) == patch_pos_embed.shape[-2] assert int(h0) == patch_pos_embed.shape[-1] patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype) def prepare_tokens_with_masks(self, x, masks=None): B, nc, w, h = x.shape x = self.patch_embed(x) if masks is not None: x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) x = x + self.interpolate_pos_encoding(x, w, h) if self.register_tokens is not None: x = torch.cat( ( x[:, :1], self.register_tokens.expand(x.shape[0], -1, -1), x[:, 1:], ), dim=1, ) return x def forward_features_list(self, x_list, masks_list): x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] for blk in self.blocks: x = blk(x) all_x = x output = [] for x, masks in zip(all_x, masks_list): x_norm = self.norm(x) output.append( { "x_norm_clstoken": x_norm[:, 0], "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], "x_prenorm": x, "masks": masks, } ) return output def forward_features(self, x, masks=None): if isinstance(x, list): return self.forward_features_list(x, masks) x = self.prepare_tokens_with_masks(x, masks) for blk in self.blocks: x = blk(x) x_norm = self.norm(x) return { "x_norm_clstoken": x_norm[:, 0], "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], "x_prenorm": x, "masks": masks, } def _get_intermediate_layers_not_chunked(self, x, n=1): x = self.prepare_tokens_with_masks(x) # If n is an int, take the n last blocks. If it's a list, take them output, total_block_len = [], len(self.blocks) blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n for i, blk in enumerate(self.blocks): x = blk(x) if i in blocks_to_take: output.append(x) assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" return output def _get_intermediate_layers_chunked(self, x, n=1): x = self.prepare_tokens_with_masks(x) output, i, total_block_len = [], 0, len(self.blocks[-1]) # If n is an int, take the n last blocks. If it's a list, take them blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n for block_chunk in self.blocks: for blk in block_chunk[i:]: # Passing the nn.Identity() x = blk(x) if i in blocks_to_take: output.append(x) i += 1 assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" return output def get_intermediate_layers( self, x: torch.Tensor, n: Union[int, Sequence] = 1, # Layers or n last layers to take reshape: bool = False, return_class_token: bool = False, norm=True ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: if self.chunked_blocks: outputs = self._get_intermediate_layers_chunked(x, n) else: outputs = self._get_intermediate_layers_not_chunked(x, n) if norm: outputs = [self.norm(out) for out in outputs] class_tokens = [out[:, 0] for out in outputs] outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs] if reshape: B, _, w, h = x.shape outputs = [ out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() for out in outputs ] if return_class_token: return tuple(zip(outputs, class_tokens)) return tuple(outputs) def forward(self, *args, is_training=False, **kwargs): ret = self.forward_features(*args, **kwargs) if is_training: return ret else: return self.head(ret["x_norm_clstoken"]) def init_weights_vit_timm(module: nn.Module, name: str = ""): """ViT weight initialization, original timm impl (for reproducibility)""" if isinstance(module, nn.Linear): trunc_normal_(module.weight, std=0.02) if module.bias is not None: nn.init.zeros_(module.bias) def vit_small(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=384, depth=12, num_heads=6, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_base(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_large(patch_size=16, num_register_tokens=0, **kwargs): model = DinoVisionTransformer( patch_size=patch_size, embed_dim=1024, depth=24, num_heads=16, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): """ Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 """ model = DinoVisionTransformer( patch_size=patch_size, embed_dim=1536, depth=40, num_heads=24, mlp_ratio=4, block_fn=partial(Block, attn_class=MemEffAttention), num_register_tokens=num_register_tokens, **kwargs, ) return model def DINOv2(model_name): model_zoo = { "vits": vit_small, "vitb": vit_base, "vitl": vit_large, "vitg": vit_giant2 } return model_zoo[model_name]( img_size=518, patch_size=14, init_values=1.0, ffn_layer="mlp" if model_name != "vitg" else "swiglufused", block_chunks=0, num_register_tokens=0, interpolate_antialias=False, interpolate_offset=0.1 ) ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/__init__.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. from .mlp import Mlp from .patch_embed import PatchEmbed from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused from .block import NestedTensorBlock from .attention import MemEffAttention ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/attention.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py import logging from torch import Tensor from torch import nn logger = logging.getLogger("dinov2") try: from xformers.ops import memory_efficient_attention, unbind, fmha XFORMERS_AVAILABLE = True except ImportError: logger.warning("xFormers not available") XFORMERS_AVAILABLE = False class Attention(nn.Module): def __init__( self, dim: int, num_heads: int = 8, qkv_bias: bool = False, proj_bias: bool = True, attn_drop: float = 0.0, proj_drop: float = 0.0, ) -> None: super().__init__() self.num_heads = num_heads head_dim = dim // num_heads self.scale = head_dim**-0.5 self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) self.attn_drop = nn.Dropout(attn_drop) self.proj = nn.Linear(dim, dim, bias=proj_bias) self.proj_drop = nn.Dropout(proj_drop) def forward(self, x: Tensor) -> Tensor: B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] attn = q @ k.transpose(-2, -1) attn = attn.softmax(dim=-1) attn = self.attn_drop(attn) x = (attn @ v).transpose(1, 2).reshape(B, N, C) x = self.proj(x) x = self.proj_drop(x) return x class MemEffAttention(Attention): def forward(self, x: Tensor, attn_bias=None) -> Tensor: if not XFORMERS_AVAILABLE: assert attn_bias is None, "xFormers is required for nested tensors usage" return super().forward(x) B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) q, k, v = unbind(qkv, 2) x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) x = x.reshape([B, N, C]) x = self.proj(x) x = self.proj_drop(x) return x ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/block.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py import logging from typing import Callable, List, Any, Tuple, Dict import torch from torch import nn, Tensor from .attention import Attention, MemEffAttention from .drop_path import DropPath from .layer_scale import LayerScale from .mlp import Mlp logger = logging.getLogger("dinov2") try: from xformers.ops import fmha from xformers.ops import scaled_index_add, index_select_cat XFORMERS_AVAILABLE = True except ImportError: logger.warning("xFormers not available") XFORMERS_AVAILABLE = False class Block(nn.Module): def __init__( self, dim: int, num_heads: int, mlp_ratio: float = 4.0, qkv_bias: bool = False, proj_bias: bool = True, ffn_bias: bool = True, drop: float = 0.0, attn_drop: float = 0.0, init_values=None, drop_path: float = 0.0, act_layer: Callable[..., nn.Module] = nn.GELU, norm_layer: Callable[..., nn.Module] = nn.LayerNorm, attn_class: Callable[..., nn.Module] = Attention, ffn_layer: Callable[..., nn.Module] = Mlp, ) -> None: super().__init__() # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") self.norm1 = norm_layer(dim) self.attn = attn_class( dim, num_heads=num_heads, qkv_bias=qkv_bias, proj_bias=proj_bias, attn_drop=attn_drop, proj_drop=drop, ) self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.norm2 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) self.mlp = ffn_layer( in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop, bias=ffn_bias, ) self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.sample_drop_ratio = drop_path def forward(self, x: Tensor) -> Tensor: def attn_residual_func(x: Tensor) -> Tensor: return self.ls1(self.attn(self.norm1(x))) def ffn_residual_func(x: Tensor) -> Tensor: return self.ls2(self.mlp(self.norm2(x))) if self.training and self.sample_drop_ratio > 0.1: # the overhead is compensated only for a drop path rate larger than 0.1 x = drop_add_residual_stochastic_depth( x, residual_func=attn_residual_func, sample_drop_ratio=self.sample_drop_ratio, ) x = drop_add_residual_stochastic_depth( x, residual_func=ffn_residual_func, sample_drop_ratio=self.sample_drop_ratio, ) elif self.training and self.sample_drop_ratio > 0.0: x = x + self.drop_path1(attn_residual_func(x)) x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 else: x = x + attn_residual_func(x) x = x + ffn_residual_func(x) return x def drop_add_residual_stochastic_depth( x: Tensor, residual_func: Callable[[Tensor], Tensor], sample_drop_ratio: float = 0.0, ) -> Tensor: # 1) extract subset using permutation b, n, d = x.shape sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) brange = (torch.randperm(b, device=x.device))[:sample_subset_size] x_subset = x[brange] # 2) apply residual_func to get residual residual = residual_func(x_subset) x_flat = x.flatten(1) residual = residual.flatten(1) residual_scale_factor = b / sample_subset_size # 3) add the residual x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) return x_plus_residual.view_as(x) def get_branges_scales(x, sample_drop_ratio=0.0): b, n, d = x.shape sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) brange = (torch.randperm(b, device=x.device))[:sample_subset_size] residual_scale_factor = b / sample_subset_size return brange, residual_scale_factor def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): if scaling_vector is None: x_flat = x.flatten(1) residual = residual.flatten(1) x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) else: x_plus_residual = scaled_index_add( x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor ) return x_plus_residual attn_bias_cache: Dict[Tuple, Any] = {} def get_attn_bias_and_cat(x_list, branges=None): """ this will perform the index select, cat the tensors, and provide the attn_bias from cache """ batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) if all_shapes not in attn_bias_cache.keys(): seqlens = [] for b, x in zip(batch_sizes, x_list): for _ in range(b): seqlens.append(x.shape[1]) attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) attn_bias._batch_sizes = batch_sizes attn_bias_cache[all_shapes] = attn_bias if branges is not None: cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) else: tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) cat_tensors = torch.cat(tensors_bs1, dim=1) return attn_bias_cache[all_shapes], cat_tensors def drop_add_residual_stochastic_depth_list( x_list: List[Tensor], residual_func: Callable[[Tensor, Any], Tensor], sample_drop_ratio: float = 0.0, scaling_vector=None, ) -> Tensor: # 1) generate random set of indices for dropping samples in the batch branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] branges = [s[0] for s in branges_scales] residual_scale_factors = [s[1] for s in branges_scales] # 2) get attention bias and index+concat the tensors attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) # 3) apply residual_func to get residual, and split the result residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore outputs = [] for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) return outputs class NestedTensorBlock(Block): def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: """ x_list contains a list of tensors to nest together and run """ assert isinstance(self.attn, MemEffAttention) if self.training and self.sample_drop_ratio > 0.0: def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.attn(self.norm1(x), attn_bias=attn_bias) def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.mlp(self.norm2(x)) x_list = drop_add_residual_stochastic_depth_list( x_list, residual_func=attn_residual_func, sample_drop_ratio=self.sample_drop_ratio, scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, ) x_list = drop_add_residual_stochastic_depth_list( x_list, residual_func=ffn_residual_func, sample_drop_ratio=self.sample_drop_ratio, scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, ) return x_list else: def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: return self.ls2(self.mlp(self.norm2(x))) attn_bias, x = get_attn_bias_and_cat(x_list) x = x + attn_residual_func(x, attn_bias=attn_bias) x = x + ffn_residual_func(x) return attn_bias.split(x) def forward(self, x_or_x_list): if isinstance(x_or_x_list, Tensor): return super().forward(x_or_x_list) elif isinstance(x_or_x_list, list): assert XFORMERS_AVAILABLE, "Please install xFormers for nested tensors usage" return self.forward_nested(x_or_x_list) else: raise AssertionError ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/drop_path.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py from torch import nn def drop_path(x, drop_prob: float = 0.0, training: bool = False): if drop_prob == 0.0 or not training: return x keep_prob = 1 - drop_prob shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets random_tensor = x.new_empty(shape).bernoulli_(keep_prob) if keep_prob > 0.0: random_tensor.div_(keep_prob) output = x * random_tensor return output class DropPath(nn.Module): """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" def __init__(self, drop_prob=None): super(DropPath, self).__init__() self.drop_prob = drop_prob def forward(self, x): return drop_path(x, self.drop_prob, self.training) ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/layer_scale.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 from typing import Union import torch from torch import Tensor from torch import nn class LayerScale(nn.Module): def __init__( self, dim: int, init_values: Union[float, Tensor] = 1e-5, inplace: bool = False, ) -> None: super().__init__() self.inplace = inplace self.gamma = nn.Parameter(init_values * torch.ones(dim)) def forward(self, x: Tensor) -> Tensor: return x.mul_(self.gamma) if self.inplace else x * self.gamma ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/mlp.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py from typing import Callable, Optional from torch import Tensor, nn class Mlp(nn.Module): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = nn.GELU, drop: float = 0.0, bias: bool = True, ) -> None: super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) self.act = act_layer() self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) self.drop = nn.Dropout(drop) def forward(self, x: Tensor) -> Tensor: x = self.fc1(x) x = self.act(x) x = self.drop(x) x = self.fc2(x) x = self.drop(x) return x ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/patch_embed.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. # References: # https://github.com/facebookresearch/dino/blob/master/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py from typing import Callable, Optional, Tuple, Union from torch import Tensor import torch.nn as nn def make_2tuple(x): if isinstance(x, tuple): assert len(x) == 2 return x assert isinstance(x, int) return (x, x) class PatchEmbed(nn.Module): """ 2D image to patch embedding: (B,C,H,W) -> (B,N,D) Args: img_size: Image size. patch_size: Patch token size. in_chans: Number of input image channels. embed_dim: Number of linear projection output channels. norm_layer: Normalization layer. """ def __init__( self, img_size: Union[int, Tuple[int, int]] = 224, patch_size: Union[int, Tuple[int, int]] = 16, in_chans: int = 3, embed_dim: int = 768, norm_layer: Optional[Callable] = None, flatten_embedding: bool = True, ) -> None: super().__init__() image_HW = make_2tuple(img_size) patch_HW = make_2tuple(patch_size) patch_grid_size = ( image_HW[0] // patch_HW[0], image_HW[1] // patch_HW[1], ) self.img_size = image_HW self.patch_size = patch_HW self.patches_resolution = patch_grid_size self.num_patches = patch_grid_size[0] * patch_grid_size[1] self.in_chans = in_chans self.embed_dim = embed_dim self.flatten_embedding = flatten_embedding self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() def forward(self, x: Tensor) -> Tensor: _, _, H, W = x.shape patch_H, patch_W = self.patch_size assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" x = self.proj(x) # B C H W H, W = x.size(2), x.size(3) x = x.flatten(2).transpose(1, 2) # B HW C x = self.norm(x) if not self.flatten_embedding: x = x.reshape(-1, H, W, self.embed_dim) # B H W C return x def flops(self) -> float: Ho, Wo = self.patches_resolution flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) if self.norm is not None: flops += Ho * Wo * self.embed_dim return flops ================================================ FILE: metric_depth/depth_anything_v2/dinov2_layers/swiglu_ffn.py ================================================ # Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. from typing import Callable, Optional from torch import Tensor, nn import torch.nn.functional as F class SwiGLUFFN(nn.Module): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = None, drop: float = 0.0, bias: bool = True, ) -> None: super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) self.w3 = nn.Linear(hidden_features, out_features, bias=bias) def forward(self, x: Tensor) -> Tensor: x12 = self.w12(x) x1, x2 = x12.chunk(2, dim=-1) hidden = F.silu(x1) * x2 return self.w3(hidden) try: from xformers.ops import SwiGLU XFORMERS_AVAILABLE = True except ImportError: SwiGLU = SwiGLUFFN XFORMERS_AVAILABLE = False class SwiGLUFFNFused(SwiGLU): def __init__( self, in_features: int, hidden_features: Optional[int] = None, out_features: Optional[int] = None, act_layer: Callable[..., nn.Module] = None, drop: float = 0.0, bias: bool = True, ) -> None: out_features = out_features or in_features hidden_features = hidden_features or in_features hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 super().__init__( in_features=in_features, hidden_features=hidden_features, out_features=out_features, bias=bias, ) ================================================ FILE: metric_depth/depth_anything_v2/dpt.py ================================================ import cv2 import torch import torch.nn as nn import torch.nn.functional as F from torchvision.transforms import Compose from .dinov2 import DINOv2 from .util.blocks import FeatureFusionBlock, _make_scratch from .util.transform import Resize, NormalizeImage, PrepareForNet def _make_fusion_block(features, use_bn, size=None): return FeatureFusionBlock( features, nn.ReLU(False), deconv=False, bn=use_bn, expand=False, align_corners=True, size=size, ) class ConvBlock(nn.Module): def __init__(self, in_feature, out_feature): super().__init__() self.conv_block = nn.Sequential( nn.Conv2d(in_feature, out_feature, kernel_size=3, stride=1, padding=1), nn.BatchNorm2d(out_feature), nn.ReLU(True) ) def forward(self, x): return self.conv_block(x) class DPTHead(nn.Module): def __init__( self, in_channels, features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False ): super(DPTHead, self).__init__() self.use_clstoken = use_clstoken self.projects = nn.ModuleList([ nn.Conv2d( in_channels=in_channels, out_channels=out_channel, kernel_size=1, stride=1, padding=0, ) for out_channel in out_channels ]) self.resize_layers = nn.ModuleList([ nn.ConvTranspose2d( in_channels=out_channels[0], out_channels=out_channels[0], kernel_size=4, stride=4, padding=0), nn.ConvTranspose2d( in_channels=out_channels[1], out_channels=out_channels[1], kernel_size=2, stride=2, padding=0), nn.Identity(), nn.Conv2d( in_channels=out_channels[3], out_channels=out_channels[3], kernel_size=3, stride=2, padding=1) ]) if use_clstoken: self.readout_projects = nn.ModuleList() for _ in range(len(self.projects)): self.readout_projects.append( nn.Sequential( nn.Linear(2 * in_channels, in_channels), nn.GELU())) self.scratch = _make_scratch( out_channels, features, groups=1, expand=False, ) self.scratch.stem_transpose = None self.scratch.refinenet1 = _make_fusion_block(features, use_bn) self.scratch.refinenet2 = _make_fusion_block(features, use_bn) self.scratch.refinenet3 = _make_fusion_block(features, use_bn) self.scratch.refinenet4 = _make_fusion_block(features, use_bn) head_features_1 = features head_features_2 = 32 self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1) self.scratch.output_conv2 = nn.Sequential( nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1), nn.ReLU(True), nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0), nn.Sigmoid() ) def forward(self, out_features, patch_h, patch_w): out = [] for i, x in enumerate(out_features): if self.use_clstoken: x, cls_token = x[0], x[1] readout = cls_token.unsqueeze(1).expand_as(x) x = self.readout_projects[i](torch.cat((x, readout), -1)) else: x = x[0] x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w)) x = self.projects[i](x) x = self.resize_layers[i](x) out.append(x) layer_1, layer_2, layer_3, layer_4 = out layer_1_rn = self.scratch.layer1_rn(layer_1) layer_2_rn = self.scratch.layer2_rn(layer_2) layer_3_rn = self.scratch.layer3_rn(layer_3) layer_4_rn = self.scratch.layer4_rn(layer_4) path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:]) path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:]) path_1 = self.scratch.refinenet1(path_2, layer_1_rn) out = self.scratch.output_conv1(path_1) out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True) out = self.scratch.output_conv2(out) return out class DepthAnythingV2(nn.Module): def __init__( self, encoder='vitl', features=256, out_channels=[256, 512, 1024, 1024], use_bn=False, use_clstoken=False, max_depth=20.0 ): super(DepthAnythingV2, self).__init__() self.intermediate_layer_idx = { 'vits': [2, 5, 8, 11], 'vitb': [2, 5, 8, 11], 'vitl': [4, 11, 17, 23], 'vitg': [9, 19, 29, 39] } self.max_depth = max_depth self.encoder = encoder self.pretrained = DINOv2(model_name=encoder) self.depth_head = DPTHead(self.pretrained.embed_dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken) def forward(self, x): patch_h, patch_w = x.shape[-2] // 14, x.shape[-1] // 14 features = self.pretrained.get_intermediate_layers(x, self.intermediate_layer_idx[self.encoder], return_class_token=True) depth = self.depth_head(features, patch_h, patch_w) * self.max_depth return depth.squeeze(1) @torch.no_grad() def infer_image(self, raw_image, input_size=518): image, (h, w) = self.image2tensor(raw_image, input_size) depth = self.forward(image) depth = F.interpolate(depth[:, None], (h, w), mode="bilinear", align_corners=True)[0, 0] return depth.cpu().numpy() def image2tensor(self, raw_image, input_size=518): transform = Compose([ Resize( width=input_size, height=input_size, resize_target=False, keep_aspect_ratio=True, ensure_multiple_of=14, resize_method='lower_bound', image_interpolation_method=cv2.INTER_CUBIC, ), NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), PrepareForNet(), ]) h, w = raw_image.shape[:2] image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0 image = transform({'image': image})['image'] image = torch.from_numpy(image).unsqueeze(0) DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' image = image.to(DEVICE) return image, (h, w) ================================================ FILE: metric_depth/depth_anything_v2/util/blocks.py ================================================ import torch.nn as nn def _make_scratch(in_shape, out_shape, groups=1, expand=False): scratch = nn.Module() out_shape1 = out_shape out_shape2 = out_shape out_shape3 = out_shape if len(in_shape) >= 4: out_shape4 = out_shape if expand: out_shape1 = out_shape out_shape2 = out_shape * 2 out_shape3 = out_shape * 4 if len(in_shape) >= 4: out_shape4 = out_shape * 8 scratch.layer1_rn = nn.Conv2d(in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) scratch.layer2_rn = nn.Conv2d(in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) scratch.layer3_rn = nn.Conv2d(in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) if len(in_shape) >= 4: scratch.layer4_rn = nn.Conv2d(in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) return scratch class ResidualConvUnit(nn.Module): """Residual convolution module. """ def __init__(self, features, activation, bn): """Init. Args: features (int): number of features """ super().__init__() self.bn = bn self.groups=1 self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) if self.bn == True: self.bn1 = nn.BatchNorm2d(features) self.bn2 = nn.BatchNorm2d(features) self.activation = activation self.skip_add = nn.quantized.FloatFunctional() def forward(self, x): """Forward pass. Args: x (tensor): input Returns: tensor: output """ out = self.activation(x) out = self.conv1(out) if self.bn == True: out = self.bn1(out) out = self.activation(out) out = self.conv2(out) if self.bn == True: out = self.bn2(out) if self.groups > 1: out = self.conv_merge(out) return self.skip_add.add(out, x) class FeatureFusionBlock(nn.Module): """Feature fusion block. """ def __init__( self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, size=None ): """Init. Args: features (int): number of features """ super(FeatureFusionBlock, self).__init__() self.deconv = deconv self.align_corners = align_corners self.groups=1 self.expand = expand out_features = features if self.expand == True: out_features = features // 2 self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1) self.resConfUnit1 = ResidualConvUnit(features, activation, bn) self.resConfUnit2 = ResidualConvUnit(features, activation, bn) self.skip_add = nn.quantized.FloatFunctional() self.size=size def forward(self, *xs, size=None): """Forward pass. Returns: tensor: output """ output = xs[0] if len(xs) == 2: res = self.resConfUnit1(xs[1]) output = self.skip_add.add(output, res) output = self.resConfUnit2(output) if (size is None) and (self.size is None): modifier = {"scale_factor": 2} elif size is None: modifier = {"size": self.size} else: modifier = {"size": size} output = nn.functional.interpolate(output, **modifier, mode="bilinear", align_corners=self.align_corners) output = self.out_conv(output) return output ================================================ FILE: metric_depth/depth_anything_v2/util/transform.py ================================================ import numpy as np import cv2 class Resize(object): """Resize sample to given size (width, height). """ def __init__( self, width, height, resize_target=True, keep_aspect_ratio=False, ensure_multiple_of=1, resize_method="lower_bound", image_interpolation_method=cv2.INTER_AREA, ): """Init. Args: width (int): desired output width height (int): desired output height resize_target (bool, optional): True: Resize the full sample (image, mask, target). False: Resize image only. Defaults to True. keep_aspect_ratio (bool, optional): True: Keep the aspect ratio of the input sample. Output sample might not have the given width and height, and resize behaviour depends on the parameter 'resize_method'. Defaults to False. ensure_multiple_of (int, optional): Output width and height is constrained to be multiple of this parameter. Defaults to 1. resize_method (str, optional): "lower_bound": Output will be at least as large as the given size. "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) "minimal": Scale as least as possible. (Output size might be smaller than given size.) Defaults to "lower_bound". """ self.__width = width self.__height = height self.__resize_target = resize_target self.__keep_aspect_ratio = keep_aspect_ratio self.__multiple_of = ensure_multiple_of self.__resize_method = resize_method self.__image_interpolation_method = image_interpolation_method def constrain_to_multiple_of(self, x, min_val=0, max_val=None): y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) if max_val is not None and y > max_val: y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int) if y < min_val: y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int) return y def get_size(self, width, height): # determine new height and width scale_height = self.__height / height scale_width = self.__width / width if self.__keep_aspect_ratio: if self.__resize_method == "lower_bound": # scale such that output size is lower bound if scale_width > scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "upper_bound": # scale such that output size is upper bound if scale_width < scale_height: # fit width scale_height = scale_width else: # fit height scale_width = scale_height elif self.__resize_method == "minimal": # scale as least as possbile if abs(1 - scale_width) < abs(1 - scale_height): # fit width scale_height = scale_width else: # fit height scale_width = scale_height else: raise ValueError(f"resize_method {self.__resize_method} not implemented") if self.__resize_method == "lower_bound": new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height) new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width) elif self.__resize_method == "upper_bound": new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height) new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width) elif self.__resize_method == "minimal": new_height = self.constrain_to_multiple_of(scale_height * height) new_width = self.constrain_to_multiple_of(scale_width * width) else: raise ValueError(f"resize_method {self.__resize_method} not implemented") return (new_width, new_height) def __call__(self, sample): width, height = self.get_size(sample["image"].shape[1], sample["image"].shape[0]) # resize sample sample["image"] = cv2.resize(sample["image"], (width, height), interpolation=self.__image_interpolation_method) if self.__resize_target: if "depth" in sample: sample["depth"] = cv2.resize(sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST) if "mask" in sample: sample["mask"] = cv2.resize(sample["mask"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST) return sample class NormalizeImage(object): """Normlize image by given mean and std. """ def __init__(self, mean, std): self.__mean = mean self.__std = std def __call__(self, sample): sample["image"] = (sample["image"] - self.__mean) / self.__std return sample class PrepareForNet(object): """Prepare sample for usage as network input. """ def __init__(self): pass def __call__(self, sample): image = np.transpose(sample["image"], (2, 0, 1)) sample["image"] = np.ascontiguousarray(image).astype(np.float32) if "depth" in sample: depth = sample["depth"].astype(np.float32) sample["depth"] = np.ascontiguousarray(depth) if "mask" in sample: sample["mask"] = sample["mask"].astype(np.float32) sample["mask"] = np.ascontiguousarray(sample["mask"]) return sample ================================================ FILE: metric_depth/depth_to_pointcloud.py ================================================ """ Born out of Depth Anything V1 Issue 36 Make sure you have the necessary libraries installed. Code by @1ssb This script processes a set of images to generate depth maps and corresponding point clouds. The resulting point clouds are saved in the specified output directory. Usage: 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 Arguments: --encoder: Model encoder to use. Choices are ['vits', 'vitb', 'vitl', 'vitg']. --load-from: Path to the pre-trained model weights. --max-depth: Maximum depth value for the depth map. --img-path: Path to the input image or directory containing images. --outdir: Directory to save the output point clouds. --focal-length-x: Focal length along the x-axis. --focal-length-y: Focal length along the y-axis. """ import argparse import cv2 import glob import numpy as np import open3d as o3d import os from PIL import Image import torch from depth_anything_v2.dpt import DepthAnythingV2 def main(): # Parse command-line arguments parser = argparse.ArgumentParser(description='Generate depth maps and point clouds from images.') parser.add_argument('--encoder', default='vitl', type=str, choices=['vits', 'vitb', 'vitl', 'vitg'], help='Model encoder to use.') parser.add_argument('--load-from', default='', type=str, required=True, help='Path to the pre-trained model weights.') parser.add_argument('--max-depth', default=20, type=float, help='Maximum depth value for the depth map.') parser.add_argument('--img-path', type=str, required=True, help='Path to the input image or directory containing images.') parser.add_argument('--outdir', type=str, default='./vis_pointcloud', help='Directory to save the output point clouds.') parser.add_argument('--focal-length-x', default=470.4, type=float, help='Focal length along the x-axis.') parser.add_argument('--focal-length-y', default=470.4, type=float, help='Focal length along the y-axis.') args = parser.parse_args() # Determine the device to use (CUDA, MPS, or CPU) DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' # Model configuration based on the chosen encoder model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } # Initialize the DepthAnythingV2 model with the specified configuration depth_anything = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth}) depth_anything.load_state_dict(torch.load(args.load_from, map_location='cpu')) depth_anything = depth_anything.to(DEVICE).eval() # Get the list of image files to process if os.path.isfile(args.img_path): if args.img_path.endswith('txt'): with open(args.img_path, 'r') as f: filenames = f.read().splitlines() else: filenames = [args.img_path] else: filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True) # Create the output directory if it doesn't exist os.makedirs(args.outdir, exist_ok=True) # Process each image file for k, filename in enumerate(filenames): print(f'Processing {k+1}/{len(filenames)}: {filename}') # Load the image color_image = Image.open(filename).convert('RGB') width, height = color_image.size # Read the image using OpenCV image = cv2.imread(filename) pred = depth_anything.infer_image(image, height) # Resize depth prediction to match the original image size resized_pred = Image.fromarray(pred).resize((width, height), Image.NEAREST) # Generate mesh grid and calculate point cloud coordinates x, y = np.meshgrid(np.arange(width), np.arange(height)) x = (x - width / 2) / args.focal_length_x y = (y - height / 2) / args.focal_length_y z = np.array(resized_pred) points = np.stack((np.multiply(x, z), np.multiply(y, z), z), axis=-1).reshape(-1, 3) colors = np.array(color_image).reshape(-1, 3) / 255.0 # Create the point cloud and save it to the output directory pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points) pcd.colors = o3d.utility.Vector3dVector(colors) o3d.io.write_point_cloud(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + ".ply"), pcd) if __name__ == '__main__': main() ================================================ FILE: metric_depth/dist_train.sh ================================================ #!/bin/bash now=$(date +"%Y%m%d_%H%M%S") epoch=120 bs=4 gpus=8 lr=0.000005 encoder=vitl dataset=hypersim # vkitti img_size=518 min_depth=0.001 max_depth=20 # 80 for virtual kitti pretrained_from=../checkpoints/depth_anything_v2_${encoder}.pth save_path=exp/hypersim # exp/vkitti mkdir -p $save_path python3 -m torch.distributed.launch \ --nproc_per_node=$gpus \ --nnodes 1 \ --node_rank=0 \ --master_addr=localhost \ --master_port=20596 \ train.py --epoch $epoch --encoder $encoder --bs $bs --lr $lr --save-path $save_path --dataset $dataset \ --img-size $img_size --min-depth $min_depth --max-depth $max_depth --pretrained-from $pretrained_from \ --port 20596 2>&1 | tee -a $save_path/$now.log ================================================ FILE: metric_depth/requirements.txt ================================================ matplotlib opencv-python open3d torch torchvision ================================================ FILE: metric_depth/run.py ================================================ import argparse import cv2 import glob import matplotlib import numpy as np import os import torch from depth_anything_v2.dpt import DepthAnythingV2 if __name__ == '__main__': parser = argparse.ArgumentParser(description='Depth Anything V2 Metric Depth Estimation') parser.add_argument('--img-path', type=str) parser.add_argument('--input-size', type=int, default=518) parser.add_argument('--outdir', type=str, default='./vis_depth') parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg']) parser.add_argument('--load-from', type=str, default='checkpoints/depth_anything_v2_metric_hypersim_vitl.pth') parser.add_argument('--max-depth', type=float, default=20) parser.add_argument('--save-numpy', dest='save_numpy', action='store_true', help='save the model raw output') parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction') parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette') args = parser.parse_args() DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } depth_anything = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth}) depth_anything.load_state_dict(torch.load(args.load_from, map_location='cpu')) depth_anything = depth_anything.to(DEVICE).eval() if os.path.isfile(args.img_path): if args.img_path.endswith('txt'): with open(args.img_path, 'r') as f: filenames = f.read().splitlines() else: filenames = [args.img_path] else: filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True) os.makedirs(args.outdir, exist_ok=True) cmap = matplotlib.colormaps.get_cmap('Spectral') for k, filename in enumerate(filenames): print(f'Progress {k+1}/{len(filenames)}: {filename}') raw_image = cv2.imread(filename) depth = depth_anything.infer_image(raw_image, args.input_size) if args.save_numpy: output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '_raw_depth_meter.npy') np.save(output_path, depth) depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 depth = depth.astype(np.uint8) if args.grayscale: depth = np.repeat(depth[..., np.newaxis], 3, axis=-1) else: depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8) output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png') if args.pred_only: cv2.imwrite(output_path, depth) else: split_region = np.ones((raw_image.shape[0], 50, 3), dtype=np.uint8) * 255 combined_result = cv2.hconcat([raw_image, split_region, depth]) cv2.imwrite(output_path, combined_result) ================================================ FILE: metric_depth/train.py ================================================ import argparse import logging import os import pprint import random import warnings import numpy as np import torch import torch.backends.cudnn as cudnn import torch.distributed as dist from torch.utils.data import DataLoader from torch.optim import AdamW import torch.nn.functional as F from torch.utils.tensorboard import SummaryWriter from dataset.hypersim import Hypersim from dataset.kitti import KITTI from dataset.vkitti2 import VKITTI2 from depth_anything_v2.dpt import DepthAnythingV2 from util.dist_helper import setup_distributed from util.loss import SiLogLoss from util.metric import eval_depth from util.utils import init_log parser = argparse.ArgumentParser(description='Depth Anything V2 for Metric Depth Estimation') parser.add_argument('--encoder', default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg']) parser.add_argument('--dataset', default='hypersim', choices=['hypersim', 'vkitti']) parser.add_argument('--img-size', default=518, type=int) parser.add_argument('--min-depth', default=0.001, type=float) parser.add_argument('--max-depth', default=20, type=float) parser.add_argument('--epochs', default=40, type=int) parser.add_argument('--bs', default=2, type=int) parser.add_argument('--lr', default=0.000005, type=float) parser.add_argument('--pretrained-from', type=str) parser.add_argument('--save-path', type=str, required=True) parser.add_argument('--local-rank', default=0, type=int) parser.add_argument('--port', default=None, type=int) def main(): args = parser.parse_args() warnings.simplefilter('ignore', np.RankWarning) logger = init_log('global', logging.INFO) logger.propagate = 0 rank, world_size = setup_distributed(port=args.port) if rank == 0: all_args = {**vars(args), 'ngpus': world_size} logger.info('{}\n'.format(pprint.pformat(all_args))) writer = SummaryWriter(args.save_path) cudnn.enabled = True cudnn.benchmark = True size = (args.img_size, args.img_size) if args.dataset == 'hypersim': trainset = Hypersim('dataset/splits/hypersim/train.txt', 'train', size=size) elif args.dataset == 'vkitti': trainset = VKITTI2('dataset/splits/vkitti2/train.txt', 'train', size=size) else: raise NotImplementedError trainsampler = torch.utils.data.distributed.DistributedSampler(trainset) trainloader = DataLoader(trainset, batch_size=args.bs, pin_memory=True, num_workers=4, drop_last=True, sampler=trainsampler) if args.dataset == 'hypersim': valset = Hypersim('dataset/splits/hypersim/val.txt', 'val', size=size) elif args.dataset == 'vkitti': valset = KITTI('dataset/splits/kitti/val.txt', 'val', size=size) else: raise NotImplementedError valsampler = torch.utils.data.distributed.DistributedSampler(valset) valloader = DataLoader(valset, batch_size=1, pin_memory=True, num_workers=4, drop_last=True, sampler=valsampler) local_rank = int(os.environ["LOCAL_RANK"]) model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } model = DepthAnythingV2(**{**model_configs[args.encoder], 'max_depth': args.max_depth}) if args.pretrained_from: 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) model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model) model.cuda(local_rank) model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[local_rank], broadcast_buffers=False, output_device=local_rank, find_unused_parameters=True) criterion = SiLogLoss().cuda(local_rank) optimizer = AdamW([{'params': [param for name, param in model.named_parameters() if 'pretrained' in name], 'lr': args.lr}, {'params': [param for name, param in model.named_parameters() if 'pretrained' not in name], 'lr': args.lr * 10.0}], lr=args.lr, betas=(0.9, 0.999), weight_decay=0.01) total_iters = args.epochs * len(trainloader) previous_best = {'d1': 0, 'd2': 0, 'd3': 0, 'abs_rel': 100, 'sq_rel': 100, 'rmse': 100, 'rmse_log': 100, 'log10': 100, 'silog': 100} for epoch in range(args.epochs): if rank == 0: logger.info('===========> Epoch: {:}/{:}, d1: {:.3f}, d2: {:.3f}, d3: {:.3f}'.format(epoch, args.epochs, previous_best['d1'], previous_best['d2'], previous_best['d3'])) logger.info('===========> Epoch: {:}/{:}, abs_rel: {:.3f}, sq_rel: {:.3f}, rmse: {:.3f}, rmse_log: {:.3f}, ' 'log10: {:.3f}, silog: {:.3f}'.format( epoch, args.epochs, previous_best['abs_rel'], previous_best['sq_rel'], previous_best['rmse'], previous_best['rmse_log'], previous_best['log10'], previous_best['silog'])) trainloader.sampler.set_epoch(epoch + 1) model.train() total_loss = 0 for i, sample in enumerate(trainloader): optimizer.zero_grad() img, depth, valid_mask = sample['image'].cuda(), sample['depth'].cuda(), sample['valid_mask'].cuda() if random.random() < 0.5: img = img.flip(-1) depth = depth.flip(-1) valid_mask = valid_mask.flip(-1) pred = model(img) loss = criterion(pred, depth, (valid_mask == 1) & (depth >= args.min_depth) & (depth <= args.max_depth)) loss.backward() optimizer.step() total_loss += loss.item() iters = epoch * len(trainloader) + i lr = args.lr * (1 - iters / total_iters) ** 0.9 optimizer.param_groups[0]["lr"] = lr optimizer.param_groups[1]["lr"] = lr * 10.0 if rank == 0: writer.add_scalar('train/loss', loss.item(), iters) if rank == 0 and i % 100 == 0: logger.info('Iter: {}/{}, LR: {:.7f}, Loss: {:.3f}'.format(i, len(trainloader), optimizer.param_groups[0]['lr'], loss.item())) model.eval() results = {'d1': torch.tensor([0.0]).cuda(), 'd2': torch.tensor([0.0]).cuda(), 'd3': torch.tensor([0.0]).cuda(), 'abs_rel': torch.tensor([0.0]).cuda(), 'sq_rel': torch.tensor([0.0]).cuda(), 'rmse': torch.tensor([0.0]).cuda(), 'rmse_log': torch.tensor([0.0]).cuda(), 'log10': torch.tensor([0.0]).cuda(), 'silog': torch.tensor([0.0]).cuda()} nsamples = torch.tensor([0.0]).cuda() for i, sample in enumerate(valloader): img, depth, valid_mask = sample['image'].cuda().float(), sample['depth'].cuda()[0], sample['valid_mask'].cuda()[0] with torch.no_grad(): pred = model(img) pred = F.interpolate(pred[:, None], depth.shape[-2:], mode='bilinear', align_corners=True)[0, 0] valid_mask = (valid_mask == 1) & (depth >= args.min_depth) & (depth <= args.max_depth) if valid_mask.sum() < 10: continue cur_results = eval_depth(pred[valid_mask], depth[valid_mask]) for k in results.keys(): results[k] += cur_results[k] nsamples += 1 torch.distributed.barrier() for k in results.keys(): dist.reduce(results[k], dst=0) dist.reduce(nsamples, dst=0) if rank == 0: logger.info('==========================================================================================') logger.info('{:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}, {:>8}'.format(*tuple(results.keys()))) 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()]))) logger.info('==========================================================================================') print() for name, metric in results.items(): writer.add_scalar(f'eval/{name}', (metric / nsamples).item(), epoch) for k in results.keys(): if k in ['d1', 'd2', 'd3']: previous_best[k] = max(previous_best[k], (results[k] / nsamples).item()) else: previous_best[k] = min(previous_best[k], (results[k] / nsamples).item()) if rank == 0: checkpoint = { 'model': model.state_dict(), 'optimizer': optimizer.state_dict(), 'epoch': epoch, 'previous_best': previous_best, } torch.save(checkpoint, os.path.join(args.save_path, 'latest.pth')) if __name__ == '__main__': main() ================================================ FILE: metric_depth/util/dist_helper.py ================================================ import os import subprocess import torch import torch.distributed as dist def setup_distributed(backend="nccl", port=None): """AdaHessian Optimizer Lifted from https://github.com/BIGBALLON/distribuuuu/blob/master/distribuuuu/utils.py Originally licensed MIT, Copyright (c) 2020 Wei Li """ num_gpus = torch.cuda.device_count() if "SLURM_JOB_ID" in os.environ: rank = int(os.environ["SLURM_PROCID"]) world_size = int(os.environ["SLURM_NTASKS"]) node_list = os.environ["SLURM_NODELIST"] addr = subprocess.getoutput(f"scontrol show hostname {node_list} | head -n1") # specify master port if port is not None: os.environ["MASTER_PORT"] = str(port) elif "MASTER_PORT" not in os.environ: os.environ["MASTER_PORT"] = "10685" if "MASTER_ADDR" not in os.environ: os.environ["MASTER_ADDR"] = addr os.environ["WORLD_SIZE"] = str(world_size) os.environ["LOCAL_RANK"] = str(rank % num_gpus) os.environ["RANK"] = str(rank) else: rank = int(os.environ["RANK"]) world_size = int(os.environ["WORLD_SIZE"]) torch.cuda.set_device(rank % num_gpus) dist.init_process_group( backend=backend, world_size=world_size, rank=rank, ) return rank, world_size ================================================ FILE: metric_depth/util/loss.py ================================================ import torch from torch import nn class SiLogLoss(nn.Module): def __init__(self, lambd=0.5): super().__init__() self.lambd = lambd def forward(self, pred, target, valid_mask): valid_mask = valid_mask.detach() diff_log = torch.log(target[valid_mask]) - torch.log(pred[valid_mask]) loss = torch.sqrt(torch.pow(diff_log, 2).mean() - self.lambd * torch.pow(diff_log.mean(), 2)) return loss ================================================ FILE: metric_depth/util/metric.py ================================================ import torch def eval_depth(pred, target): assert pred.shape == target.shape thresh = torch.max((target / pred), (pred / target)) d1 = torch.sum(thresh < 1.25).float() / len(thresh) d2 = torch.sum(thresh < 1.25 ** 2).float() / len(thresh) d3 = torch.sum(thresh < 1.25 ** 3).float() / len(thresh) diff = pred - target diff_log = torch.log(pred) - torch.log(target) abs_rel = torch.mean(torch.abs(diff) / target) sq_rel = torch.mean(torch.pow(diff, 2) / target) rmse = torch.sqrt(torch.mean(torch.pow(diff, 2))) rmse_log = torch.sqrt(torch.mean(torch.pow(diff_log , 2))) log10 = torch.mean(torch.abs(torch.log10(pred) - torch.log10(target))) silog = torch.sqrt(torch.pow(diff_log, 2).mean() - 0.5 * torch.pow(diff_log.mean(), 2)) return {'d1': d1.item(), 'd2': d2.item(), 'd3': d3.item(), 'abs_rel': abs_rel.item(), 'sq_rel': sq_rel.item(), 'rmse': rmse.item(), 'rmse_log': rmse_log.item(), 'log10':log10.item(), 'silog':silog.item()} ================================================ FILE: metric_depth/util/utils.py ================================================ import os import re import numpy as np import logging logs = set() def init_log(name, level=logging.INFO): if (name, level) in logs: return logs.add((name, level)) logger = logging.getLogger(name) logger.setLevel(level) ch = logging.StreamHandler() ch.setLevel(level) if "SLURM_PROCID" in os.environ: rank = int(os.environ["SLURM_PROCID"]) logger.addFilter(lambda record: rank == 0) else: rank = 0 format_str = "[%(asctime)s][%(levelname)8s] %(message)s" formatter = logging.Formatter(format_str) ch.setFormatter(formatter) logger.addHandler(ch) return logger ================================================ FILE: requirements.txt ================================================ gradio_imageslider gradio==4.29.0 matplotlib opencv-python torch torchvision ================================================ FILE: run.py ================================================ import argparse import cv2 import glob import matplotlib import numpy as np import os import torch from depth_anything_v2.dpt import DepthAnythingV2 if __name__ == '__main__': parser = argparse.ArgumentParser(description='Depth Anything V2') parser.add_argument('--img-path', type=str) parser.add_argument('--input-size', type=int, default=518) parser.add_argument('--outdir', type=str, default='./vis_depth') parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg']) parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction') parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette') args = parser.parse_args() DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } depth_anything = DepthAnythingV2(**model_configs[args.encoder]) depth_anything.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{args.encoder}.pth', map_location='cpu')) depth_anything = depth_anything.to(DEVICE).eval() if os.path.isfile(args.img_path): if args.img_path.endswith('txt'): with open(args.img_path, 'r') as f: filenames = f.read().splitlines() else: filenames = [args.img_path] else: filenames = glob.glob(os.path.join(args.img_path, '**/*'), recursive=True) os.makedirs(args.outdir, exist_ok=True) cmap = matplotlib.colormaps.get_cmap('Spectral_r') for k, filename in enumerate(filenames): print(f'Progress {k+1}/{len(filenames)}: {filename}') raw_image = cv2.imread(filename) depth = depth_anything.infer_image(raw_image, args.input_size) depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 depth = depth.astype(np.uint8) if args.grayscale: depth = np.repeat(depth[..., np.newaxis], 3, axis=-1) else: depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8) if args.pred_only: cv2.imwrite(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png'), depth) else: split_region = np.ones((raw_image.shape[0], 50, 3), dtype=np.uint8) * 255 combined_result = cv2.hconcat([raw_image, split_region, depth]) cv2.imwrite(os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.png'), combined_result) ================================================ FILE: run_video.py ================================================ import argparse import cv2 import glob import matplotlib import numpy as np import os import torch from depth_anything_v2.dpt import DepthAnythingV2 if __name__ == '__main__': parser = argparse.ArgumentParser(description='Depth Anything V2') parser.add_argument('--video-path', type=str) parser.add_argument('--input-size', type=int, default=518) parser.add_argument('--outdir', type=str, default='./vis_video_depth') parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg']) parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction') parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette') args = parser.parse_args() DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' model_configs = { 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} } depth_anything = DepthAnythingV2(**model_configs[args.encoder]) depth_anything.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{args.encoder}.pth', map_location='cpu')) depth_anything = depth_anything.to(DEVICE).eval() if os.path.isfile(args.video_path): if args.video_path.endswith('txt'): with open(args.video_path, 'r') as f: lines = f.read().splitlines() else: filenames = [args.video_path] else: filenames = glob.glob(os.path.join(args.video_path, '**/*'), recursive=True) os.makedirs(args.outdir, exist_ok=True) margin_width = 50 cmap = matplotlib.colormaps.get_cmap('Spectral_r') for k, filename in enumerate(filenames): print(f'Progress {k+1}/{len(filenames)}: {filename}') raw_video = cv2.VideoCapture(filename) frame_width, frame_height = int(raw_video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(raw_video.get(cv2.CAP_PROP_FRAME_HEIGHT)) frame_rate = int(raw_video.get(cv2.CAP_PROP_FPS)) if args.pred_only: output_width = frame_width else: output_width = frame_width * 2 + margin_width output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.mp4') out = cv2.VideoWriter(output_path, cv2.VideoWriter_fourcc(*"mp4v"), frame_rate, (output_width, frame_height)) while raw_video.isOpened(): ret, raw_frame = raw_video.read() if not ret: break depth = depth_anything.infer_image(raw_frame, args.input_size) depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 depth = depth.astype(np.uint8) if args.grayscale: depth = np.repeat(depth[..., np.newaxis], 3, axis=-1) else: depth = (cmap(depth)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8) if args.pred_only: out.write(depth) else: split_region = np.ones((frame_height, margin_width, 3), dtype=np.uint8) * 255 combined_frame = cv2.hconcat([raw_frame, split_region, depth]) out.write(combined_frame) raw_video.release() out.release()