fix file sizes

.gitignore

@@ -0,0 +1,3 @@
+*.pth
+.venv/
+outputs/pointclouds/*.html

Dockerfile

@@ -0,0 +1,64 @@
+# Use NVIDIA CUDA base image for GPU support
+FROM nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu22.04
+
+# Set environment variables
+ENV DEBIAN_FRONTEND=noninteractive
+ENV PYTHONUNBUFFERED=1
+ENV TORCH_CUDA_ARCH_LIST="6.0 6.1 7.0 7.5 8.0 8.6+PTX"
+
+# Install system dependencies
+RUN apt-get update && apt-get install -y \
+    python3 \
+    python3-pip \
+    python3-dev \
+    git \
+    wget \
+    curl \
+    build-essential \
+    cmake \
+    libgl1-mesa-glx \
+    libglib2.0-0 \
+    libsm6 \
+    libxext6 \
+    libxrender-dev \
+    libgomp1 \
+    libgcc-s1 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Create working directory
+WORKDIR /app
+
+# Copy requirements first (for better Docker layer caching)
+COPY requirements.txt .
+
+# Install Python dependencies
+RUN pip3 install --no-cache-dir --upgrade pip setuptools wheel
+RUN pip3 install --no-cache-dir -r requirements.txt
+
+
+
+
+
+# Go back to app directory
+WORKDIR /app
+
+# Copy the application code
+COPY . .
+
+# Set up DepthAnythingV2
+#WORKDIR /app/Depth-Anything-V2
+#RUN pip3 install -e .
+#WORKDIR /app
+
+# Create directories for models and cache
+RUN mkdir -p /app/models /root/.cache
+
+# Download DepthAnythingV2 weights (you can add this step or mount as volume)
+# Uncomment the line below if you want to download weights during build
+# RUN wget -O depth_anything_v2_metric_vkitti_vitl.pth https://huggingface.co/depth-anything/Depth-Anything-V2-Metric-VKITTI-Small/resolve/main/depth_anything_v2_metric_vkitti_vitl.pth
+
+# Expose the port
+EXPOSE 7860
+
+# Set the entry point
+CMD ["python3", "enhanced_app.py"]

README.md

@@ -5,7 +5,7 @@ colorFrom: blue
 colorTo: green
 sdk: gradio
 sdk_version: 5.36.2
-app_file: app.py
+app_file: enhanced_app.py
 pinned: false
 license: apache-2.0
 short_description: 'Road Scene Sensing: Semantic Segmentation & Depth Estimation'

docker-compose.yml

@@ -0,0 +1,23 @@
+version: '3.8'
+
+services:
+  segmentation-app:
+    build: .
+    ports:
+      - "7861:7860"
+    volumes:
+      - models_cache:/root/.cache
+      - ./outputs:/app/outputs  # Map host outputs directory to container outputs
+    environment:
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+
+volumes:
+  models_cache:

enhanced_app.py

@@ -0,0 +1,960 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Enhanced Single-View Gradio App for Semantic Segmentation, Depth Estimation, and 3D Point Cloud
+Processes one image and shows all outputs: segmentation, depth, and colored point cloud
+Now with precomputed examples for demonstration
+"""
+
+import sys
+import locale
+import os
+import datetime
+from pathlib import Path
+
+# Set UTF-8 encoding
+if sys.version_info >= (3, 7):
+    sys.stdout.reconfigure(encoding='utf-8')
+    sys.stderr.reconfigure(encoding='utf-8')
+
+# Set locale for proper Unicode support
+try:
+    locale.setlocale(locale.LC_ALL, 'en_US.UTF-8')
+except locale.Error:
+    try:
+        locale.setlocale(locale.LC_ALL, 'C.UTF-8')
+    except locale.Error:
+        pass  # Use system default
+
+import gradio as gr
+import torch
+import numpy as np
+import matplotlib.pyplot as plt
+from PIL import Image
+import io
+import base64
+from dataclasses import dataclass
+from typing import Optional, List, Tuple, Dict, Any
+import requests
+import cv2
+from abc import ABC, abstractmethod
+from collections import namedtuple
+import plotly.graph_objects as go
+import plotly.io as pio
+import open3d as o3d
+import json
+
+# Import DepthAnythingV2 (assuming it's in the same directory or installed)
+try:
+    from metric_depth.depth_anything_v2.dpt import DepthAnythingV2
+    DEPTH_AVAILABLE = True
+except ImportError:
+    print("DepthAnythingV2 not available. Using precomputed examples only.")
+    DEPTH_AVAILABLE = False
+
+# Set environment variable to disable xFormers
+os.environ['XFORMERS_DISABLED'] = '1'
+os.environ['XFORMERS_MORE_DETAILS'] = '1'
+
+# Output directory structure (mounted volume)
+OUTPUT_DIR = Path("outputs")
+
+# =============================================================================
+# Model Base Classes and Configurations
+# =============================================================================
+
+@dataclass
+class ModelConfig:
+    """Configuration for segmentation models."""
+    model_name: str
+    processor_name: str
+    device: str = "cuda" if torch.cuda.is_available() else "cpu"
+    trust_remote_code: bool = True
+    task_type: str = "semantic"
+
+@dataclass
+class DepthConfig:
+    """Configuration for depth estimation models."""
+    encoder: str = "vitl"  # 'vits', 'vitb', 'vitl'
+    dataset: str = "vkitti"  # 'hypersim' for indoor, 'vkitti' for outdoor
+    max_depth: int = 80  # 20 for indoor, 80 for outdoor
+    weights_path: str = "depth_anything_v2_metric_vkitti_vitl.pth"
+    device: str = "cuda" if torch.cuda.is_available() else "cpu"
+
+class BaseSegmentationModel(ABC):
+    """Abstract base class for segmentation models."""
+    
+    def __init__(self, model_config):
+        self.config = model_config
+        self.model = None
+        self.processor = None
+        self.device = torch.device(model_config.device if torch.cuda.is_available() else "cpu")
+        
+    @abstractmethod
+    def load_model(self):
+        """Load the model and processor."""
+        pass
+    
+    @abstractmethod
+    def preprocess(self, image: Image.Image, **kwargs) -> Dict[str, torch.Tensor]:
+        """Preprocess the input image."""
+        pass
+    
+    @abstractmethod
+    def predict(self, inputs: Dict[str, torch.Tensor]) -> Dict[str, torch.Tensor]:
+        """Run inference on preprocessed inputs."""
+        pass
+    
+    @abstractmethod
+    def postprocess(self, outputs: Dict[str, torch.Tensor], target_size: Tuple[int, int]) -> np.ndarray:
+        """Postprocess model outputs to segmentation map."""
+        pass
+    
+    def segment_image(self, image: Image.Image, **kwargs) -> np.ndarray:
+        """End-to-end segmentation pipeline."""
+        if self.model is None:
+            self.load_model()
+            
+        inputs = self.preprocess(image, **kwargs)
+        outputs = self.predict(inputs)
+        segmentation_map = self.postprocess(outputs, image.size[::-1])
+        
+        return segmentation_map
+
+# =============================================================================
+# OneFormer Model Implementation
+# =============================================================================
+
+class OneFormerModel(BaseSegmentationModel):
+    """OneFormer model for universal segmentation."""
+    
+    def __init__(self, model_config):
+        super().__init__(model_config)
+        
+    def load_model(self):
+        """Load OneFormer model and processor."""
+        print(f"Loading OneFormer model: {self.config.model_name}")
+        
+        try:
+            from transformers import OneFormerProcessor, OneFormerForUniversalSegmentation
+            
+            self.processor = OneFormerProcessor.from_pretrained(
+                self.config.processor_name,
+                trust_remote_code=self.config.trust_remote_code
+            )
+            
+            self.model = OneFormerForUniversalSegmentation.from_pretrained(
+                self.config.model_name,
+                trust_remote_code=self.config.trust_remote_code
+            )
+            
+            self.model.to(self.device)
+            self.model.eval()
+            
+            print(f"OneFormer model loaded successfully on {self.device}")
+            
+        except Exception as e:
+            print(f"Error loading OneFormer model: {e}")
+            raise
+        
+    def preprocess(self, image: Image.Image, task_inputs: List[str] = None) -> Dict[str, torch.Tensor]:
+        """Preprocess image for OneFormer."""
+        if task_inputs is None:
+            task_inputs = [self.config.task_type]
+            
+        inputs = self.processor(
+            images=image,
+            task_inputs=task_inputs,
+            return_tensors="pt"
+        )
+        
+        # Move inputs to device
+        inputs = {k: v.to(self.device) if isinstance(v, torch.Tensor) else v 
+                 for k, v in inputs.items()}
+        
+        return inputs
+    
+    def predict(self, inputs: Dict[str, torch.Tensor]) -> Dict[str, torch.Tensor]:
+        """Run inference with OneFormer."""
+        with torch.no_grad():
+            outputs = self.model(**inputs)
+            
+        return outputs
+    
+    def postprocess(self, outputs: Dict[str, torch.Tensor], target_size: Tuple[int, int]) -> np.ndarray:
+        """Postprocess OneFormer outputs."""
+        predicted_semantic_map = self.processor.post_process_semantic_segmentation(
+            outputs, 
+            target_sizes=[target_size]
+        )[0]
+        
+        return predicted_semantic_map.cpu().numpy()
+
+# =============================================================================
+# DepthAnythingV2 Model Implementation
+# =============================================================================
+
+class DepthAnythingV2Model:
+    """DepthAnythingV2 model for depth estimation."""
+    
+    def __init__(self, depth_config: DepthConfig):
+        self.config = depth_config
+        self.model = None
+        self.device = torch.device(depth_config.device if torch.cuda.is_available() else "cpu")
+        
+    def load_model(self):
+        """Load DepthAnythingV2 model."""
+        if not DEPTH_AVAILABLE:
+            raise ImportError("DepthAnythingV2 is not available")
+            
+        print(f"Loading DepthAnythingV2 model: {self.config.encoder}")
+        
+        try:
+            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]}
+            }
+            
+            self.model = DepthAnythingV2(**{**model_configs[self.config.encoder], 'max_depth': self.config.max_depth})
+            
+            # Load weights
+            if os.path.exists(self.config.weights_path):
+                self.model.load_state_dict(torch.load(self.config.weights_path, map_location='cpu'))
+                print(f"Loaded weights from {self.config.weights_path}")
+            else:
+                print(f"Warning: Weights file {self.config.weights_path} not found")
+                
+            self.model.to(self.device)
+            self.model.eval()
+            
+            print(f"DepthAnythingV2 model loaded successfully on {self.device}")
+            
+        except Exception as e:
+            print(f"Error loading DepthAnythingV2 model: {e}")
+            raise
+    
+    def estimate_depth(self, image: Image.Image) -> np.ndarray:
+        """Estimate depth from image."""
+        if self.model is None:
+            self.load_model()
+            
+        # Convert PIL to OpenCV format
+        img_array = np.array(image)
+        if len(img_array.shape) == 3:
+            img_array = cv2.cvtColor(img_array, cv2.COLOR_RGB2BGR)
+        
+        # Infer depth
+        depth_map = self.model.infer_image(img_array)
+        
+        return depth_map
+
+# =============================================================================
+# Cityscapes Label Definitions
+# =============================================================================
+
+Label = namedtuple('Label', [
+    'name', 'id', 'trainId', 'category', 'categoryId', 
+    'hasInstances', 'ignoreInEval', 'color'
+])
+
+labels = [
+    Label('unlabeled',            0, 255, 'void',            0, False, True,  (0,  0,  0)),
+    Label('ego vehicle',          1, 255, 'void',            0, False, True,  (0,  0,  0)),
+    Label('rectification border', 2, 255, 'void',            0, False, True,  (0,  0,  0)),
+    Label('out of roi',           3, 255, 'void',            0, False, True,  (0,  0,  0)),
+    Label('static',               4, 255, 'void',            0, False, True,  (0,  0,  0)),
+    Label('dynamic',              5, 255, 'void',            0, False, True,  (111, 74,  0)),
+    Label('ground',               6, 255, 'void',            0, False, True,  (81,  0, 81)),
+    Label('road',                 7,   0, 'flat',            1, False, False, (128, 64,128)),
+    Label('sidewalk',             8,   1, 'flat',            1, False, False, (244, 35,232)),
+    Label('parking',              9, 255, 'flat',            1, False, True,  (250,170,160)),
+    Label('rail track',          10, 255, 'flat',            1, False, True,  (230,150,140)),
+    Label('building',            11,   2, 'construction',    2, False, False, (70, 70, 70)),
+    Label('wall',                12,   3, 'construction',    2, False, False, (102,102,156)),
+    Label('fence',               13,   4, 'construction',    2, False, False, (190,153,153)),
+    Label('guard rail',          14, 255, 'construction',    2, False, True,  (180,165,180)),
+    Label('bridge',              15, 255, 'construction',    2, False, True,  (150,100,100)),
+    Label('tunnel',              16, 255, 'construction',    2, False, True,  (150,120, 90)),
+    Label('pole',                17,   5, 'object',          3, False, False, (153,153,153)),
+    Label('polegroup',           18, 255, 'object',          3, False, True,  (153,153,153)),
+    Label('traffic light',       19,   6, 'object',          3, False, False, (250,170, 30)),
+    Label('traffic sign',        20,   7, 'object',          3, False, False, (220,220,  0)),
+    Label('vegetation',          21,   8, 'nature',          4, False, False, (107,142, 35)),
+    Label('terrain',             22,   9, 'nature',          4, False, False, (152,251,152)),
+    Label('sky',                 23,  10, 'sky',             5, False, False, (70,130,180)),
+    Label('person',              24,  11, 'human',           6, True,  False, (220, 20, 60)),
+    Label('rider',               25,  12, 'human',           6, True,  False, (255,  0,  0)),
+    Label('car',                 26,  13, 'vehicle',         7, True,  False, (0,  0,142)),
+    Label('truck',               27,  14, 'vehicle',         7, True,  False, (0,  0, 70)),
+    Label('bus',                 28,  15, 'vehicle',         7, True,  False, (0, 60,100)),
+    Label('caravan',             29, 255, 'vehicle',         7, True,  True,  (0,  0, 90)),
+    Label('trailer',             30, 255, 'vehicle',         7, True,  True,  (0,  0,110)),
+    Label('train',               31,  16, 'vehicle',         7, True,  False, (0, 80,100)),
+    Label('motorcycle',          32,  17, 'vehicle',         7, True,  False, (0,  0,230)),
+    Label('bicycle',             33,  18, 'vehicle',         7, True,  False, (119, 11, 32)),
+    Label('license plate',       -1,  -1, 'vehicle',         7, False, True,  (0,  0,142)),
+]
+
+# Sky trainId is 10
+SKY_TRAIN_ID = 10
+
+# =============================================================================
+# Utility Functions
+# =============================================================================
+
+def get_color_map(labels):
+    """Returns a color map dictionary for the given labels."""
+    color_map = {label.trainId: label.color for label in labels if label.trainId != 255}
+    return color_map
+
+def apply_color_map(semantic_map, color_map):
+    """Applies a color map to a semantic map."""
+    height, width = semantic_map.shape
+    color_mapped_image = np.zeros((height, width, 3), dtype=np.uint8)
+    
+    for trainId, color in color_map.items():
+        mask = semantic_map == trainId
+        color_mapped_image[mask] = color
+    
+    return color_mapped_image
+
+def create_depth_visualization(depth_map: np.ndarray, colormap: str = 'magma') -> Image.Image:
+    """Create a colored depth map visualization with exact dimensions."""
+    # Normalize depth map to [0, 1]
+    normalized_depth = depth_map / np.max(depth_map)
+    
+    # Apply colormap
+    cmap = plt.get_cmap(colormap)
+    colored_depth = cmap(normalized_depth)
+    
+    # Convert to 8-bit RGB (remove alpha channel)
+    colored_depth_8bit = (colored_depth[:, :, :3] * 255).astype(np.uint8)
+    
+    return Image.fromarray(colored_depth_8bit)
+
+def depth_to_point_cloud_with_segmentation(depth_map: np.ndarray, rgb_image: Image.Image, 
+                                          semantic_map: np.ndarray,
+                                          fx: float = 525.0, fy: float = 525.0, 
+                                          cx: float = None, cy: float = None) -> o3d.geometry.PointCloud:
+    """Convert depth map and RGB image to 3D point cloud with segmentation colors, excluding sky."""
+    height, width = depth_map.shape
+    
+    if cx is None:
+        cx = width / 2.0
+    if cy is None:
+        cy = height / 2.0
+    
+    # Create coordinate matrices
+    u, v = np.meshgrid(np.arange(width), np.arange(height))
+    
+    # Convert to 3D coordinates
+    z = depth_map
+    x = (u - cx) * z / fx
+    y = (v - cy) * z / fy
+    
+    # Stack coordinates
+    points = np.stack([x, y, z], axis=-1).reshape(-1, 3)
+    
+    # Create mask to exclude sky points and invalid depths
+    flat_semantic = semantic_map.flatten()
+    flat_depth = z.flatten()
+    
+    # Filter out invalid points and sky points
+    valid_mask = (flat_depth > 0) & (flat_depth < 1000) & (flat_semantic != SKY_TRAIN_ID)
+    points = points[valid_mask]
+    
+    # Get segmentation colors for each point
+    color_map = get_color_map(labels)
+    seg_colors = np.zeros((len(flat_semantic), 3))
+    
+    for trainId, color in color_map.items():
+        mask = flat_semantic == trainId
+        seg_colors[mask] = color
+    
+    # Filter colors to match valid points
+    colors = seg_colors[valid_mask] / 255.0  # Normalize to [0, 1]
+    
+    # Create Open3D point cloud
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = o3d.utility.Vector3dVector(points)
+    pcd.colors = o3d.utility.Vector3dVector(colors)
+    
+    return pcd
+
+def create_plotly_pointcloud(pcd: o3d.geometry.PointCloud, downsample_factor: float = 0.1) -> go.Figure:
+    """Create interactive Plotly 3D point cloud visualization."""
+    # Downsample for performance
+    if downsample_factor < 1.0:
+        num_points = len(pcd.points)
+        indices = np.random.choice(num_points, int(num_points * downsample_factor), replace=False)
+        points = np.asarray(pcd.points)[indices]
+        colors = np.asarray(pcd.colors)[indices]
+    else:
+        points = np.asarray(pcd.points)
+        colors = np.asarray(pcd.colors)
+    
+    # Create 3D scatter plot
+    fig = go.Figure(data=[go.Scatter3d(
+        x=points[:, 0],
+        y=points[:, 1], 
+        z=points[:, 2],
+        mode='markers',
+        marker=dict(
+            size=1,
+            color=colors,
+            opacity=0.8
+        ),
+        text=[f'Point {i}' for i in range(len(points))],
+        hovertemplate='X: %{x:.2f}<br>Y: %{y:.2f}<br>Z: %{z:.2f}<extra></extra>'
+    )])
+    
+    # Update layout for centered display
+    fig.update_layout(
+        scene=dict(
+            xaxis_title='X (Horizontal)',
+            yaxis_title='Y (Vertical)', 
+            zaxis_title='Z (Depth)',
+            aspectmode='data'
+        ),
+        title={
+            'text': 'Interactive 3D Point Cloud (Colored by Segmentation, Sky Excluded)',
+            'x': 0.5,
+            'xanchor': 'center'
+        },
+        width=None,  # Let it auto-size to container
+        height=600,
+        margin=dict(l=0, r=0, t=40, b=0),  # Minimal margins
+        autosize=True  # Enable auto-sizing to container
+    )
+    
+    # Set camera for bird's eye view that clearly shows 3D structure
+    fig.update_layout(scene_camera=dict(
+        up=dict(x=0, y=0, z=1),        # Z-axis points up
+        center=dict(x=0, y=0, z=0),    # Center at origin
+        eye=dict(x=0.5, y=-2.5, z=1.5) # View from above-back position
+    ))
+    
+    return fig
+
+def create_overlay_plot(rgb_image: Image.Image, semantic_map: np.ndarray, alpha: float = 0.5):
+    """Create segmentation overlay plot without title and borders."""
+    rgb_array = np.array(rgb_image)
+    color_map = get_color_map(labels)
+    colored_semantic_map = apply_color_map(semantic_map, color_map)
+    
+    # Create figure with exact image dimensions
+    height, width = rgb_array.shape[:2]
+    dpi = 100
+    fig, ax = plt.subplots(1, 1, figsize=(width/dpi, height/dpi), dpi=dpi)
+    
+    # Remove all margins and padding
+    fig.subplots_adjust(left=0, right=1, top=1, bottom=0)
+    
+    ax.imshow(rgb_array)
+    ax.imshow(colored_semantic_map, alpha=alpha)
+    ax.axis('off')
+    
+    buf = io.BytesIO()
+    plt.savefig(buf, format='png', bbox_inches='tight', pad_inches=0, dpi=dpi)
+    buf.seek(0)
+    plt.close(fig)
+    
+    return Image.open(buf)
+
+class PrecomputedExamplesManager:
+    """Manages precomputed examples from output folder structure."""
+    
+    def __init__(self, output_dir: Path):
+        self.output_dir = output_dir
+        self.rgb_dir = output_dir / "rgb"
+        self.segmentation_dir = output_dir / "segmentation"
+        self.depth_dir = output_dir / "depth" 
+        self.pointclouds_dir = output_dir / "pointclouds"
+        self.examples = self._load_examples()
+    
+    def _load_examples(self) -> Dict[str, Dict]:
+        """Load all available precomputed examples from output structure."""
+        examples = {}
+        
+        if not self.output_dir.exists():
+            print(f"Output directory {self.output_dir} not found.")
+            return {}
+        
+        # Find all timestamps by looking at RGB files (the inputs)
+        if not self.rgb_dir.exists():
+            print(f"RGB directory {self.rgb_dir} not found.")
+            return {}
+        
+        # Get all RGB files and extract timestamps
+        timestamps = set()
+        for rgb_file in self.rgb_dir.glob("rgb_*.png"):
+            # Extract timestamp from filename like "rgb_20241215_143022.png"
+            filename = rgb_file.stem
+            if filename.startswith("rgb_"):
+                timestamp = filename.replace("rgb_", "")
+                timestamps.add(timestamp)
+        
+        print(f"Found {len(timestamps)} RGB input images")
+        
+        # For each timestamp, try to load the complete example
+        for timestamp in sorted(timestamps, reverse=True):  # Most recent first
+            example_data = self._load_single_example(timestamp)
+            if example_data:
+                examples[timestamp] = example_data
+        
+        print(f"Loaded {len(examples)} precomputed examples from output directory")
+        return examples
+    
+    def _load_single_example(self, timestamp: str) -> Optional[Dict]:
+        """Load a single precomputed example by timestamp."""
+        try:
+            # Input file (required)
+            rgb_path = self.rgb_dir / f"rgb_{timestamp}.png"
+            
+            # Output files (some may be optional)
+            seg_path = self.segmentation_dir / f"segmentation_{timestamp}.png"
+            depth_path = self.depth_dir / f"depth_{timestamp}.png"
+            ply_path = self.pointclouds_dir / f"pointcloud_{timestamp}.ply"
+            html_path = self.pointclouds_dir / f"pointcloud_{timestamp}.html"
+            
+            # Check if RGB input exists (required)
+            if not rgb_path.exists():
+                print(f"RGB input file missing for timestamp {timestamp}: {rgb_path}")
+                return None
+            
+            # Check if at least segmentation output exists
+            if not seg_path.exists():
+                print(f"Segmentation output missing for timestamp {timestamp}: {seg_path}")
+                return None
+            
+            # Create a display name from timestamp
+            try:
+                # Parse timestamp like "20241215_143022"
+                if len(timestamp) >= 13 and "_" in timestamp:
+                    date_part = timestamp[:8]
+                    time_part = timestamp[9:15]
+                    # Format as "Dec 15, 2024 14:30"
+                    year = date_part[:4]
+                    month = date_part[4:6]
+                    day = date_part[6:8]
+                    hour = time_part[:2]
+                    minute = time_part[2:4]
+                    
+                    month_names = ["", "Jan", "Feb", "Mar", "Apr", "May", "Jun",
+                                 "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"]
+                    month_name = month_names[int(month)] if 1 <= int(month) <= 12 else month
+                    
+                    display_name = f"{month_name} {int(day)}, {year} {hour}:{minute}"
+                else:
+                    display_name = timestamp
+            except:
+                display_name = timestamp
+            
+            return {
+                'name': display_name,
+                'timestamp': timestamp,
+                'rgb_path': rgb_path,  # Input image
+                'segmentation_path': seg_path,  # Output
+                'depth_path': depth_path if depth_path.exists() else None,  # Output (optional)
+                'pointcloud_ply_path': ply_path if ply_path.exists() else None,  # Output (optional)
+                'pointcloud_html_path': html_path if html_path.exists() else None,  # Output (optional)
+                'preview_image': self._create_preview_image(rgb_path, timestamp)
+            }
+            
+        except Exception as e:
+            print(f"Error loading example {timestamp}: {e}")
+            return None
+    
+    def _create_preview_image(self, rgb_path: Path, timestamp: str) -> Image.Image:
+        """Create a preview thumbnail from RGB input image."""
+        try:
+            image = Image.open(rgb_path)
+            image.thumbnail((200, 150), Image.Resampling.LANCZOS)
+            return image
+                
+        except Exception as e:
+            print(f"Error creating preview for {timestamp}: {e}")
+            return Image.new('RGB', (200, 150), color=(128, 128, 128))
+    
+    def get_example_names(self) -> List[str]:
+        """Get list of available example names."""
+        return [data['name'] for data in self.examples.values()]
+    
+    def get_example_previews(self) -> List[Tuple[Image.Image, str]]:
+        """Get preview images for all examples."""
+        previews = []
+        for timestamp, data in self.examples.items():
+            previews.append((data['preview_image'], data['name']))
+        return previews
+    
+    def get_timestamp_by_name(self, name: str) -> Optional[str]:
+        """Get timestamp by display name."""
+        for timestamp, data in self.examples.items():
+            if data['name'] == name:
+                return timestamp
+        return None
+    
+    def load_example_results(self, example_name: str) -> Tuple[Optional[Image.Image], Optional[Image.Image], Optional[go.Figure], str]:
+        """Load precomputed results for an example."""
+        if not example_name:
+            return None, None, None, "Please select an example."
+        
+        # Find the timestamp for this example name
+        timestamp = self.get_timestamp_by_name(example_name)
+        if not timestamp or timestamp not in self.examples:
+            return None, None, None, f"Example '{example_name}' not found."
+        
+        example_data = self.examples[timestamp]
+        
+        try:
+            # Load output images
+            segmentation_image = Image.open(example_data['segmentation_path'])
+            
+            depth_image = None
+            if example_data['depth_path'] and example_data['depth_path'].exists():
+                depth_image = Image.open(example_data['depth_path'])
+            
+            # Load point cloud if available
+            point_cloud_fig = None
+            if example_data['pointcloud_ply_path'] and example_data['pointcloud_ply_path'].exists():
+                try:
+                    pcd = o3d.io.read_point_cloud(str(example_data['pointcloud_ply_path']))
+                    if len(pcd.points) > 0:
+                        point_cloud_fig = create_plotly_pointcloud(pcd, downsample_factor=1)
+                    else:
+                        print(f"Point cloud file {example_data['pointcloud_ply_path']} is empty")
+                except Exception as e:
+                    print(f"Error loading point cloud: {e}")
+            
+            return segmentation_image, depth_image, point_cloud_fig, ""
+            
+        except Exception as e:
+            return None, None, None, f"Error loading example results: {str(e)}"
+
+# =============================================================================
+# Main Application Class
+# =============================================================================
+
+class EnhancedSingleViewApp:
+    def __init__(self):
+        # Model configurations
+        self.oneformer_config = ModelConfig(
+            model_name="shi-labs/oneformer_cityscapes_swin_large",
+            processor_name="shi-labs/oneformer_cityscapes_swin_large",
+            task_type="semantic"
+        )
+        
+        self.depth_config = DepthConfig(
+            encoder="vitl",
+            dataset="vkitti",
+            max_depth=80,
+            weights_path="depth_anything_v2_metric_vkitti_vitl.pth"
+        )
+        
+        # Models
+        self.oneformer_model = None
+        self.depth_model = None
+        self.segmentation_loaded = False
+        self.depth_loaded = False
+        
+        # Precomputed examples manager
+        self.examples_manager = PrecomputedExamplesManager(OUTPUT_DIR)
+        
+        # Online sample images (fallback)
+        self.sample_images = {
+            "Street Scene 1": "https://images.unsplash.com/photo-1449824913935-59a10b8d2000?w=800",
+            "Street Scene 2": "https://images.unsplash.com/photo-1502920917128-1aa500764cbd?w=800", 
+            "Urban Road": "https://images.unsplash.com/photo-1516738901171-8eb4fc13bd20?w=800",
+            "City View": "https://images.unsplash.com/photo-1477959858617-67f85cf4f1df?w=800",
+            "Highway": "https://images.unsplash.com/photo-1544620347-c4fd4a3d5957?w=800",
+        }
+    
+    def download_sample_image(self, image_url: str) -> Image.Image:
+        """Download a sample image from URL."""
+        try:
+            response = requests.get(image_url, timeout=10)
+            response.raise_for_status()
+            return Image.open(io.BytesIO(response.content)).convert('RGB')
+        except Exception as e:
+            print(f"Error downloading image: {e}")
+            return Image.new('RGB', (800, 600), color=(128, 128, 128))
+    
+    def create_overlay_plot(self, rgb_image: Image.Image, semantic_map: np.ndarray, alpha: float = 0.5):
+        """Create segmentation overlay plot without title and borders."""
+        rgb_array = np.array(rgb_image)
+        color_map = get_color_map(labels)
+        colored_semantic_map = apply_color_map(semantic_map, color_map)
+        
+        # Create figure with exact image dimensions
+        height, width = rgb_array.shape[:2]
+        dpi = 100
+        fig, ax = plt.subplots(1, 1, figsize=(width/dpi, height/dpi), dpi=dpi)
+        
+        # Remove all margins and padding
+        fig.subplots_adjust(left=0, right=1, top=1, bottom=0)
+        
+        ax.imshow(rgb_array)
+        ax.imshow(colored_semantic_map, alpha=alpha)
+        ax.axis('off')
+        
+        buf = io.BytesIO()
+        plt.savefig(buf, format='png', bbox_inches='tight', pad_inches=0, dpi=dpi)
+        buf.seek(0)
+        plt.close(fig)
+        
+        return Image.open(buf)
+    
+    def process_complete_pipeline(self, image: Image.Image):
+        """Process image through complete pipeline: segmentation + depth + point cloud."""
+        if image is None:
+            return None, None, None, "Please upload an image."
+        
+        # Default values
+        overlay_alpha = 0.5
+        depth_colormap = "magma"
+        downsample_factor = 0.1
+        
+        try:
+            # Auto-load models if not loaded
+            if not self.segmentation_loaded:
+                if self.oneformer_model is None:
+                    self.oneformer_model = OneFormerModel(self.oneformer_config)
+                    self.oneformer_model.load_model()
+                self.segmentation_loaded = True
+            
+            if not self.depth_loaded and DEPTH_AVAILABLE:
+                if self.depth_model is None:
+                    self.depth_model = DepthAnythingV2Model(self.depth_config)
+                    self.depth_model.load_model()
+                self.depth_loaded = True
+            
+            # Resize if too large
+            original_size = image.size
+            if max(image.size) > 1024:
+                image.thumbnail((1024, 1024), Image.Resampling.LANCZOS)
+            
+            # Step 1: Semantic Segmentation
+            task_inputs = ["semantic"]
+            semantic_map = self.oneformer_model.segment_image(image, task_inputs=task_inputs)
+            segmentation_overlay = self.create_overlay_plot(image, semantic_map, overlay_alpha)
+            
+            # Step 2: Depth Estimation (if available)
+            depth_vis = None
+            point_cloud_fig = None
+            pcd = None
+            
+            if DEPTH_AVAILABLE and self.depth_loaded:
+                depth_map = self.depth_model.estimate_depth(image)
+                depth_vis = create_depth_visualization(depth_map, depth_colormap)
+                
+                # Step 3: Point Cloud with Segmentation Colors
+                pcd = depth_to_point_cloud_with_segmentation(depth_map, image, semantic_map)
+                point_cloud_fig = create_plotly_pointcloud(pcd, downsample_factor)
+            
+            # Generate comprehensive info
+            unique_classes = np.unique(semantic_map)
+            class_info = []
+            total_pixels = semantic_map.size
+            
+            for class_id in unique_classes:
+                if class_id < len(labels) and class_id != 255:
+                    label = labels[class_id]
+                    pixel_count = np.sum(semantic_map == class_id)
+                    percentage = (pixel_count / total_pixels) * 100
+                    if percentage > 0.1:
+                        class_info.append(f"- {label.name}: {percentage:.1f}%")
+            
+            # Point cloud statistics
+            if point_cloud_fig is not None:
+                num_points = len(pcd.points)
+                downsampled_points = int(num_points * downsample_factor)
+                point_cloud_info = f"""
+3D Point Cloud:
+- Total points: {num_points:,}
+- Displayed points: {downsampled_points:,} ({downsample_factor*100:.0f}%)
+- Sky points excluded
+- Colors match segmentation classes"""
+            else:
+                point_cloud_info = "Point cloud not available (DepthAnythingV2 required)"
+            
+            # Depth statistics
+            if depth_vis is not None and DEPTH_AVAILABLE:
+                depth_stats = {
+                    'min': np.min(depth_map),
+                    'max': np.max(depth_map),
+                    'mean': np.mean(depth_map),
+                    'std': np.std(depth_map)
+                }
+                depth_info = f"""
+Depth Estimation:
+- Min depth: {depth_stats['min']:.2f}m
+- Max depth: {depth_stats['max']:.2f}m  
+- Mean depth: {depth_stats['mean']:.2f}m
+- Std deviation: {depth_stats['std']:.2f}m
+- Colormap: {depth_colormap}"""
+            else:
+                depth_info = "Depth estimation not available"
+            
+            info_text = f"""Complete vision pipeline processed successfully!
+
+Models Used:
+- OneFormer (Semantic Segmentation)
+{f"- DepthAnythingV2 ({self.depth_config.encoder.upper()})" if DEPTH_AVAILABLE else "- DepthAnythingV2 (Not Available)"}
+
+Image Processing:
+- Original size: {original_size[0]}x{original_size[1]}
+- Processed size: {image.size[0]}x{image.size[1]}
+- Overlay transparency: {overlay_alpha:.1f}
+
+Detected Classes:
+{chr(10).join(class_info)}
+{depth_info}
+{point_cloud_info}
+
+The point cloud shows 3D structure with each point colored according to its segmentation class. Sky points are excluded for better visualization."""
+            
+            return segmentation_overlay, depth_vis, point_cloud_fig, info_text
+            
+        except Exception as e:
+            return None, None, None, f"Error processing pipeline: {str(e)}"
+
+# Initialize the app
+app = EnhancedSingleViewApp()
+
+def process_uploaded_image(image):
+        try:
+            return app.process_complete_pipeline(image)
+        except:
+            return None, None, None
+
+def process_sample_image(sample_choice):
+    """Process sample image through complete pipeline.""" 
+    if sample_choice and sample_choice in app.sample_images:
+        image_url = app.sample_images[sample_choice]
+        image = app.download_sample_image(image_url)
+        return app.process_complete_pipeline(image)
+    return None, None, None, "Please select a sample image."
+
+def load_precomputed_example(evt: gr.SelectData):
+    """Load precomputed example results from gallery selection."""
+    if evt.index is not None:
+        example_names = app.examples_manager.get_example_names()
+        if evt.index < len(example_names):
+            example_name = example_names[evt.index]
+            seg_image, depth_image, pc_fig, info_text = app.examples_manager.load_example_results(example_name)
+            return seg_image, depth_image, pc_fig
+    return None, None, None
+
+def get_example_previews():
+    """Get preview images for the gallery."""
+    previews = app.examples_manager.get_example_previews()
+    if not previews:
+        return []
+    return previews
+
+# =============================================================================
+# Create Gradio Interface
+# =============================================================================
+
+def create_gradio_interface():
+    """Create and return the enhanced single-view Gradio interface."""
+    
+    with gr.Blocks(
+        title="Enhanced Computer Vision Pipeline",
+        theme=gr.themes.Default()
+    ) as demo:
+        
+        gr.Markdown("""
+        # Street Scene 3D Reconstruction
+        
+        Upload an image or select an example to see:
+        - **Semantic Segmentation** - Identify roads, buildings, vehicles, people, and other scene elements
+        - **Depth Estimation** - Generate metric depth maps showing distance to objects  
+        - **3D Point Cloud** - Interactive 3D reconstruction with semantic colors)
+        """)
+        
+        with gr.Row():
+            # Left Column: Controls and Input
+            with gr.Column(scale=1):
+                gr.Markdown("### Upload Image")
+                
+                uploaded_image = gr.Image(
+                    type="pil",
+                    label="Upload Image"
+                )
+                upload_btn = gr.Button("Process Image", variant="primary", size="lg")
+                
+                gr.Markdown("### Examples")
+                gr.Markdown("Click on an image to load the example:")
+                
+                # Example gallery
+                example_gallery = gr.Gallery(
+                    value=get_example_previews(),
+                    label="Example Images",
+                    show_label=False,
+                    elem_id="example_gallery",
+                    columns=2,
+                    rows=3,
+                    height="auto",
+                    object_fit="cover"
+                )
+            
+            # Right Column: Results
+            with gr.Column(scale=2):
+                gr.Markdown("### Results")
+                
+                # Segmentation and Depth side by side
+                with gr.Row():
+                    with gr.Column():
+                        gr.Markdown("#### Semantic Segmentation")
+                        segmentation_output = gr.Image(label="Segmentation Overlay")
+                    
+                    with gr.Column():
+                        gr.Markdown("#### Depth Estimation")
+                        depth_output = gr.Image(label="Depth Map")
+                
+                # Point Cloud below
+                gr.Markdown("#### 3D Point Cloud")
+                pointcloud_output = gr.Plot(label="Interactive 3D Point Cloud (Colored by Segmentation)")
+        
+        # Event handlers
+        upload_btn.click(
+            fn=process_uploaded_image,
+            inputs=[uploaded_image],
+            outputs=[segmentation_output, depth_output, pointcloud_output]
+        )
+        
+        # Gallery selection loads example directly
+        example_gallery.select(
+            fn=load_precomputed_example,
+            outputs=[segmentation_output, depth_output, pointcloud_output]
+        )
+    
+    return demo
+
+# =============================================================================
+# Main Execution
+# =============================================================================
+
+if __name__ == "__main__":
+    # Create and launch the interface
+    demo = create_gradio_interface()
+    
+    print("Starting Enhanced Single-View Computer Vision App...")
+    print("Complete Pipeline: Segmentation + Depth + 3D Point Cloud")
+    print("Device:", "CUDA" if torch.cuda.is_available() else "CPU")
+    print("Depth Available:", "YES" if DEPTH_AVAILABLE else "NO")
+    print("Point Cloud Colors: Segmentation-based (Sky Excluded)")
+    print(f"Output Directory: {OUTPUT_DIR.absolute()}")
+    print(f"Available Examples: {len(app.examples_manager.examples)}")
+    
+    # Launch the app
+    demo.launch(
+        share=True,           # Creates a public link
+        debug=True,           # Enable debugging
+        server_name="0.0.0.0", # Allow external connections
+        server_port=7860,     # Default port
+        show_error=True,      # Show errors in the interface
+        quiet=False           # Show startup logs
+    )

metric_depth/README.md

@@ -0,0 +1,114 @@
+# 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 <path> --outdir <outdir> [--input-size <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 <path> --outdir <outdir> [--input-size <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 <path> --outdir <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}
+}
+```

metric_depth/dataset/hypersim.py

@@ -0,0 +1,74 @@
+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)

metric_depth/dataset/kitti.py

@@ -0,0 +1,57 @@
+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)

metric_depth/dataset/transform.py

@@ -0,0 +1,277 @@
+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

metric_depth/dataset/vkitti2.py

@@ -0,0 +1,54 @@
+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)

metric_depth/depth_anything_v2/dinov2.py

@@ -0,0 +1,415 @@
+# 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
+    )

metric_depth/depth_anything_v2/dinov2_layers/__init__.py

@@ -0,0 +1,11 @@
+# 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

metric_depth/depth_anything_v2/dinov2_layers/attention.py

@@ -0,0 +1,83 @@
+# 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
+
+        

metric_depth/depth_anything_v2/dinov2_layers/block.py

@@ -0,0 +1,252 @@
+# 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

metric_depth/depth_anything_v2/dinov2_layers/drop_path.py

@@ -0,0 +1,35 @@
+# 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)

metric_depth/depth_anything_v2/dinov2_layers/layer_scale.py

@@ -0,0 +1,28 @@
+# 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

metric_depth/depth_anything_v2/dinov2_layers/mlp.py

@@ -0,0 +1,41 @@
+# 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

metric_depth/depth_anything_v2/dinov2_layers/patch_embed.py

@@ -0,0 +1,89 @@
+# 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

metric_depth/depth_anything_v2/dinov2_layers/swiglu_ffn.py

@@ -0,0 +1,63 @@
+# 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,
+        )

metric_depth/depth_anything_v2/dpt.py

@@ -0,0 +1,222 @@
+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)

metric_depth/depth_anything_v2/util/blocks.py

@@ -0,0 +1,148 @@
+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

metric_depth/depth_anything_v2/util/transform.py

@@ -0,0 +1,158 @@
+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

metric_depth/depth_to_pointcloud.py

@@ -0,0 +1,114 @@
+"""
+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()

metric_depth/dist_train.sh

@@ -0,0 +1,26 @@
+#!/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

metric_depth/requirements.txt

@@ -0,0 +1,5 @@
+matplotlib
+opencv-python
+open3d
+torch
+torchvision

metric_depth/run.py

@@ -0,0 +1,81 @@
+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)

metric_depth/train.py

@@ -0,0 +1,212 @@
+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()

metric_depth/util/dist_helper.py

@@ -0,0 +1,41 @@
+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

metric_depth/util/loss.py

@@ -0,0 +1,16 @@
+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

metric_depth/util/metric.py

@@ -0,0 +1,26 @@
+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()}

metric_depth/util/utils.py

@@ -0,0 +1,26 @@
+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

outputs/pointclouds/pointcloud_20250714_125057.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07eab61319eeceb3da33df6c66da1a761345d57834edd1b7825f4e47f2851ee
+size 1184941

outputs/pointclouds/pointcloud_20250714_125314.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9638604c044a819a28a9bd08b1e2be1195e7ff16c5a090309f6b813edc84785c
+size 1158778

outputs/pointclouds/pointcloud_20250714_125405.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3138ad4d68e7a18ba3c05eeeb2ffc4fbd2f3c7ba1f522ce9a4a3680e13b44d6a
+size 840961

outputs/pointclouds/pointcloud_20250714_125456.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d81148f95fcb702a75f36f5fb5622ace24837f8970a6038ce35cd2a7724a281
+size 1169929

outputs/pointclouds/pointcloud_20250714_125608.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567ef46a3ca77fb2b4cf8f39676f5ef9f65b832b5a94fa2ce5664dfc5f72b45a
+size 1348021

outputs/pointclouds/pointcloud_20250714_125650.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c694283b48f7f25bb80f6baaebd298fdf2ec194e75778b85919172715c6e43
+size 1184941

outputs/pointclouds/pointcloud_20250714_125834.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7763c963d92363bfc6dd1eaef5345012a87b0d6ed5c9f0f0eb3eb1f33ca8725e
+size 1370809

outputs/pointclouds/pointcloud_20250714_125959.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b705ff6cd6185ce44b7a9c2070803b5f3e9569ffae0c61e76884eea3f3887630
+size 1270153

outputs/pointclouds/pointcloud_20250714_130113.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c451509aab01141153203b0cf59900032320b67150e91d0fa9bfe66ce677c6c
+size 1415116