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README.md
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---
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license: apple-ascl
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pipeline_tag: depth-estimation
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---
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# DepthPro: Monocular Depth Estimation
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```bash
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pip install -q numpy pillow torch torchvision
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pip install -q git+https://github.com/geetu040/transformers.git@depth-pro#egg=transformers
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```
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```
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image = Image.open(requests.get(url, stream=True).raw)
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image = image.convert("RGB")
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inputs = image_processor(images=image, return_tensors="pt")
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inputs = {k: v.to(device) for k, v in inputs.items()}
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with torch.no_grad():
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# interpolate to original size
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post_processed_output = image_processor.post_process_depth_estimation(
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depth = post_processed_output[0]["predicted_depth"]
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depth = (depth - depth.min()) / depth.max()
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depth = depth * 255.
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depth = depth.detach().cpu().numpy()
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depth = Image.fromarray(depth.astype("uint8"))
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```
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---
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library_name: transformers
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license: apple-ascl
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tags:
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- vision
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- depth-estimation
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pipeline_tag: depth-estimation
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widget:
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- src: https://huggingface.co/datasets/mishig/sample_images/resolve/main/tiger.jpg
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example_title: Tiger
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- src: https://huggingface.co/datasets/mishig/sample_images/resolve/main/teapot.jpg
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example_title: Teapot
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- src: https://huggingface.co/datasets/mishig/sample_images/resolve/main/palace.jpg
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example_title: Palace
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---
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# DepthPro: Monocular Depth Estimation
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## Table of Contents
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- [DepthPro: Monocular Depth Estimation](#depthpro-monocular-depth-estimation)
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- [Table of Contents](#table-of-contents)
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- [Model Details](#model-details)
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- [Model Sources](#model-sources)
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- [How to Get Started with the Model](#how-to-get-started-with-the-model)
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- [Training Details](#training-details)
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- [Training Data](#training-data)
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- [Preprocessing](#preprocessing)
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- [Training Hyperparameters](#training-hyperparameters)
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- [Evaluation](#evaluation)
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- [Model Architecture and Objective](#model-architecture-and-objective)
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- [Citation](#citation)
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- [Model Card Authors](#model-card-authors)
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## Model Details
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![image/png](https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/transformers/model_doc/depth_pro_teaser.png)
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DepthPro is a foundation model for zero-shot metric monocular depth estimation, designed to generate high-resolution depth maps with remarkable sharpness and fine-grained details. It employs a multi-scale Vision Transformer (ViT)-based architecture, where images are downsampled, divided into patches, and processed using a shared Dinov2 encoder. The extracted patch-level features are merged, upsampled, and refined using a DPT-like fusion stage, enabling precise depth estimation.
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The abstract from the paper is the following:
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> We present a foundation model for zero-shot metric monocular depth estimation. Our model, Depth Pro, synthesizes high-resolution depth maps with unparalleled sharpness and high-frequency details. The predictions are metric, with absolute scale, without relying on the availability of metadata such as camera intrinsics. And the model is fast, producing a 2.25-megapixel depth map in 0.3 seconds on a standard GPU. These characteristics are enabled by a number of technical contributions, including an efficient multi-scale vision transformer for dense prediction, a training protocol that combines real and synthetic datasets to achieve high metric accuracy alongside fine boundary tracing, dedicated evaluation metrics for boundary accuracy in estimated depth maps, and state-of-the-art focal length estimation from a single image. Extensive experiments analyze specific design choices and demonstrate that Depth Pro outperforms prior work along multiple dimensions.
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This is the model card of a 🤗 [transformers](https://huggingface.co/docs/transformers/index) model that has been pushed on the Hub.
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- **Developed by:** Aleksei Bochkovskii, Amaël Delaunoy, Hugo Germain, Marcel Santos, Yichao Zhou, Stephan R. Richter, Vladlen Koltun.
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- **Model type:** [DepthPro](https://huggingface.co/docs/transformers/main/en/model_doc/depth_pro)
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- **License:** Apple-ASCL
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### Model Sources
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<!-- Provide the basic links for the model. -->
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- **HF Docs:** [DepthPro](https://huggingface.co/docs/transformers/main/en/model_doc/depth_pro)
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- **Repository:** https://github.com/apple/ml-depth-pro
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- **Paper:** https://arxiv.org/abs/2410.02073
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## How to Get Started with the Model
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Use the code below to get started with the model.
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```python
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import requests
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from PIL import Image
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import torch
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from transformers import DepthProImageProcessorFast, DepthProForDepthEstimation
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url = 'https://huggingface.co/datasets/mishig/sample_images/resolve/main/tiger.jpg'
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image = Image.open(requests.get(url, stream=True).raw)
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image_processor = DepthProImageProcessorFast.from_pretrained("geetu040/DepthPro")
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model = DepthProForDepthEstimation.from_pretrained("geetu040/DepthPro")
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inputs = image_processor(images=image, return_tensors="pt")
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with torch.no_grad():
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outputs = model(**inputs)
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post_processed_output = image_processor.post_process_depth_estimation(
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outputs, target_sizes=[(image.height, image.width)],
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fov = post_processed_output[0]["fov"]
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depth = post_processed_output[0]["predicted_depth"]
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depth = (depth - depth.min()) / depth.max()
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depth = depth * 255.
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depth = depth.detach().cpu().numpy()
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depth = Image.fromarray(depth.astype("uint8"))
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```
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## Training Details
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### Training Data
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<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
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The DepthPro model was trained on the following datasets:
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![image/jpeg](assets/depth-pro-datasets.jpeg)
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### Preprocessing
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Images go through the following preprocessing steps:
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- rescaled by `1/225.`
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- normalized with `mean=[0.5, 0.5, 0.5]` and `std=[0.5, 0.5, 0.5]`
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- resized to `1536x1536` pixels
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### Training Hyperparameters
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![image/jpeg](assets/depth-pro-training-hyper-parameters.jpeg)
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## Evaluation
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![image/png](assets/depth-pro-results-depth.png)
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![image/png](assets/depth-pro-results-boundary.png)
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![image/png](assets/depth-pro-results-fov.png)
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### Model Architecture and Objective
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![image/png](https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/transformers/model_doc/depth_pro_architecture.png)
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The `DepthProForDepthEstimation` model uses a `DepthProEncoder`, for encoding the input image and a `FeatureFusionStage` for fusing the output features from encoder.
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The `DepthProEncoder` further uses two encoders:
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- `patch_encoder`
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- Input image is scaled with multiple ratios, as specified in the `scaled_images_ratios` configuration.
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- Each scaled image is split into smaller **patches** of size `patch_size` with overlapping areas determined by `scaled_images_overlap_ratios`.
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- These patches are processed by the **`patch_encoder`**
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- `image_encoder`
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- Input image is also rescaled to `patch_size` and processed by the **`image_encoder`**
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Both these encoders can be configured via `patch_model_config` and `image_model_config` respectively, both of which are seperate `Dinov2Model` by default.
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Outputs from both encoders (`last_hidden_state`) and selected intermediate states (`hidden_states`) from **`patch_encoder`** are fused by a `DPT`-based `FeatureFusionStage` for depth estimation.
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The network is supplemented with a focal length estimation head. A small convolutional head ingests frozen features from the depth estimation network and task-specific features from a separate ViT image encoder to predict the horizontal angular field-of-view.
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## Citation
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<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
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**BibTeX:**
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```bibtex
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@misc{bochkovskii2024depthprosharpmonocular,
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title={Depth Pro: Sharp Monocular Metric Depth in Less Than a Second},
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author={Aleksei Bochkovskii and Amaël Delaunoy and Hugo Germain and Marcel Santos and Yichao Zhou and Stephan R. Richter and Vladlen Koltun},
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year={2024},
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eprint={2410.02073},
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archivePrefix={arXiv},
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primaryClass={cs.CV},
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url={https://arxiv.org/abs/2410.02073},
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}
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```
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## Model Card Authors
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[Armaghan Shakir](https://huggingface.co/geetu040)
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