+jz dZddlmZddlZddlmZddlZddlmZ ddl Z ddl Z ddl mZddlmZddlmZmZmZddlmZejd Zejd Zejd Zd8dZd9dZd:dZd;dZ dd$Z#Gd%d&ej$Z%d?d@d,Z&Gd-d.ej$Z'Gd/d0ej$Z(Gd1d2ej$Z)Gd3d4ej$Z*Gd5d6eZ+dAd7Z,dS)BapComfyUI nodes for Depth Anything 3. Model capability matrix: Variant head_type has_sky has_conf cam_dec DA3-Small dualdpt False True yes DA3-Base dualdpt False True yes DA3-Mono-Large dpt True False no DA3-Metric-Large dpt True False no (raw output is metres) ) annotationsN)override)turbo) preprocess)ComfyExtensionTypesio)triangulate_grid_mesh DA3_MODEL DA3_GEOMETRYDA3_POINT_CLOUDdepth torch.TensorKreturnc|j\}}tj|tj|j}tj|tj|j}tj||d\}}tj||tj|gd}tjdtj | |j|}|| dzS)uSPixel-space K⁻¹ unprojection: (H,W) depth → (H,W,3) point map in OpenCV space.)dtypedevicexy)indexingdimz ij,hwj->hwi) shapetorcharangefloat32rmeshgridstack ones_likeeinsumlinalginvto unsqueeze)rrHWuvpixrayss C/home/wildlama/comfy/ComfyUI/comfy_extras/nodes_depth_anything_3.py_da3_unprojectr-1s ;DAq QemELAAAA QemELAAAA >!Q . . .DAq +q!U_Q//0b 9 9 9C < u|'7'7U\8J8J'K'KS Q QD %//"%% %%r&intr'ct|dzx}}tj|d|dz dz gd||dz dz ggdgtjS)uKFallback ~60° FOV pinhole K for mono-mode DA3 (no intrinsics in geometry).gffffff?g@)r1r1?r)floatrtensorr)r&r'fxfys r,_da3_default_Kr9<sgAhhnB <"cAES=1rAES=1(*16 @ @ @@r.geometrydictbcd|vr"|dd|fStjddt ||S)zMReturn pixel-space K for batch element b, falling back to a default estimate. intrinsicsrcomfyusDA3_GEOMETRY has no intrinsics (mono-mode model). Using a ~60° FOV estimate; 3-D reconstruction may be inaccurate.)r5logging getLoggerwarningr9)r:r<r&r's r, _da3_get_KrCDshx %ad+11333 g&& L !Q  r.torch.Tensor | NonecRd|vrdS|dd|fS)zReturn the world-to-camera extrinsic for batch element b, or None in mono mode. The model outputs (1, S, 3, 4) [R|t] matrices; the fallback identity is (4, 4). _da3_apply_extrinsic handles both shapes via [:3, :3] / [:3, 3] slicing. extrinsicsNr)r5)r:r<s r,_da3_get_extrinsicrGPs4 8##t L !!Q$ ' - - / //r. points_camEc||j}tj|s)t jdd|S|j \}}}|ddddf}|dddf}|j }||z }| dd} | |j z|z} | ||dS)z!   " "'""** 8   GAq! "1"bqb& A "1"a%A CEaiLE   R # #Ceg %I   Q1 % %%r.confc@|jd}g}t|D]j}||}||}}|||kr ||z ||z z nt j|kt j|dS)z'Map raw confidence to [0, 1] per image.rr)rrangeminmaxappendrr r)rXBouticc_minc_maxs r,_normalize_confidencerdns 1 A C 1XX[[ Guuwwu EEMMAI%%-00uWXGYGYZZZZ ;s " " ""r.confidence_thresholdr5 use_sky_maskboolctj||tj}|rd|vr||d|dkz}d|vr5|dkr/t|d||dzd}|||kz}|S)z?Build (H,W) bool keep-mask from sky probability and confidence.r4skyg? confidencer1r2r)ronesrgrd)r:r<r&r'rerfmask conf_norms r,_da3_build_maskrnys :a%* - - -D1))xq)C/0x$83$>$>)(<*@1q5*IJJ1M y$889 Kr.c<eZdZedZeddZdS) LoadDA3Modelc tjdddtjdt jdtjdgdd gt g S) NrpzLoad Depth Anything 3z model/loaders model_namegeometry_estimation)options weight_dtype)defaultfp16bf16fp32rv)rtrv)node_id display_namecategoryinputsoutputs)r SchemaComboInput folder_pathsget_filename_list DA3ModelTypeOutputclss r, define_schemazLoadDA3Model.define_schemasy"0$ (:;PQQ"???% "((**+    r.r io.NodeOutputci}|dkrtj|d<n+|dkrtj|d<n|dkrtj|d<t jd|}t j||}tj |S)Nrwrrxryrs) model_options) rfloat16bfloat16rrget_full_path_or_raiser?sdload_diffusion_modelr NodeOutput)rrrrurpathmodels r,executezLoadDA3Model.executes 6 ! !%*]M' " " V # #%*^M' " " V # #%*]M' "23H*UU--d--PP}U###r.Nrr)__name__ __module__ __qualname__ classmethodrrr.r,rprpsM  [ & $ $ $[ $ $ $r.rpupper_bound_resizeimage process_resmethodstrcp|jdkr|jddksJdt|j|j\}}}}tj||jj}tj} |j|jn tj } ggg} } } t|D]=}|||dz | }tj|||}| | }tj5||}dddn #1swxYwY|d }tjj|d||fd d d}| |d |vrtjj|d d||fd d d}| |d|vrtjj|dd||fd d d}| |?tj| d}| rtj| dnd}| rtj| dnd}|||fS)zNRun DA3 on (B,H,W,3), returns depth/conf/sky at original resolution (or None).rrKexpected (B,H,W,3) IMAGE; got Nr2rrr4rbilinearFsizemode align_corners depth_confrirr)ndimrtuplemmload_model_gpurdiffusion_modelget_torch_devicerrrrZr$da3_preprocesspreprocess_imageno_gradnn functional interpolater%r5squeezecpur]cat) model_patcherrrrr^r&r'rP diffusionrrdepthsconfsskiesr`singlexr_depth_lr depth_full conf_fullsky_fullrrjris r,_run_da3rsG :??u{2!3335jV[\a\gVhVh5j5j33 3JAq!Qm$$$#3I  " "F(:IOO Er25EF 1XX##qQw""6**  +F TZ [ [ [ DDuD   ]__  )A,,C               w<X(44   q ! ! ' ' ) )A55   '!**SSUU   j!!! 3  +77L!++A..4466aVu8gajj  LL # # # C<<x*66E $$Q''--//q!fu7gajj  LL " " " If! $ $ $E,1;5a((((tJ%* 4%)Eq ! ! ! !C *c !!s D%%D) ,D) cleZdZedZeddZeddZeddZdS) DA3Inferencectjdgddddtdtjdtjdd d d d d tjdddgddtjddtjdgtjdtjdgdddtjdddgddgg gt d!d"#g$S)%Nr) rr:da3depth anything monocularpointmapri3dz metric depth disparityzRun Depth Anything 3image/geometry estimationzpRun Depth Anything 3 on an image. In multi-view mode each image is treated as a separate view of the same scene. da3_modelr resolutionii zResolution the model runs at (longest side, multiple of 14). Lower = faster / less VRAM. Higher = more detail. Output is upsampled back to the original size.rvr[r\steptooltip resize_methodrlower_bound_resizezupper_bound_resize: scale so the longest side = resolution (caps memory, default). lower_bound_resize: scale so the shortest side = resolution (preserves more detail on tall/wide images, uses more memory).rtrvrrzmono: single view image (works with any model variant). multiview: all images processed together for geometric consistency + camera pose (for Small/Base models only).mono multiviewref_view_strategy)saddle_balancedsaddle_sim_rangefirstmiddlerzWhich view acts as the geometric anchor. - saddle_balanced: the view most 'average' across all others (best general choice). - saddle_sim_range: the view most visually distinct from the others. - first / middle: fixed positional picks. pose_methodcam_decray_poseaHow the camera field-of-view is estimated (for Small/Base models only). - cam_dec: learned from image features. - ray_pose: derived geometrically from the model's 3D ray output. Affects perspective correctness of the 3D output. Try both if results look distorted.rrt da3_geometryzDictionary of non-normalized tensors. Always has the keys: depth, image, mode. Optional keys: sky (for Mono/Metric), confidence (for Small/Base), extrinsics + intrinsics (for multi-view).)rrzsearch_aliasesr{r| descriptionr}r~) r rrrImageIntr DynamicComboOption DA3Geometryrrs r,rzDA3Inference.define_schemasy"MMM/0K"";//w'' \3CTPRIJJ 9MOc8doCUVV%%f7E..vr::..{':D~D~D~IZ%L'MM }y*>U_h%x'yy =  &<"">)NN.r)rrrrFr>rrj)rrrrrrrrrrrr$rrr%rrrrr5rreyeexpandclonerr r)rrrrrrrSr&r'rPrrrrrr_rrirFr>r:rXs r,rzDA3Inference._execute_multiview9s zQ5;r?a#7#7#7 AU5;-?-? A A$8#77[ 1a %   K/ $&&#,?#> EM HHV    +A:m \ \ \ DDuD   ' ' * *#z1 ]__ _ _)ALL]^^^C _ _ _ _ _ _ _ _ _ _ _ _ _ _ _#// L   * *1 - -QF50   '!**SSUU   C<<(%11E $$Q''--//q!fu2gajj  3  <3#6#6\*00226688J\*00226688JJ1j188Aq!DDJJLLJ1j188Aq!DDJJLLJ%%''37^''))$//11$//11    ?!nn..HUO 3  8&22L!++A..4466aVu3gajj &*__%6%6H\ "}X&&&sDD"%D"Nr)rrrrrrrrrr.r,rrs) ) [) V& & & [& P ' ' '[ '5'5'5'[5'5'5'r.rceZdZdZejdgdddejddd gZe d Z e ddZ e ddZ dS) DA3Renderz2Render a visualization from a DA3_GEOMETRY packet. normalization)v2_stylemin_maxrawrz- v2_style: mean/std normalisation for perceptually balanced results (default). - min_max: stretches the full depth range to [0, 1] for maximum contrast. - raw: no scaling,preserves metric units for Metric model.rapply_sky_clipFzClip sky-region depth to the 99th percentile of foreground depth before normalisation. Requires a sky key in the da3_geometry input (for Mono/Metric models only).rvrcttjddddtdtjddtjd|jtjd |jtjd tjd d d gtjdtjd d dgggtj gS)NrzRender Depth Anything 3rzTRender a depth map, confidence map, or sky mask from Depth Anything 3 geometry data.routputz- depth: normalised greyscale depth image. - depth_colored: depth mapped through the Turbo colormap. - sky_mask: sky probability in [0, 1] (for Mono/Metric models only). - confidence: normalised depth confidence (for Small/Base models only).r depth_coloredsky_maskcoloredFz)Apply the Turbo colormap to the sky mask.rrjz/Apply the Turbo colormap to the confidence map.r)rzr{r|rr}r~) r rrrrr_DEPTH_RENDER_INPUTSBooleanrrrs r,rzDA3Render.define_schemasy20n!!.11%%hb O**7C4LMMO**?Cz%DA3Render.execute..s>%%%#7a#a&II%%%r.rrr).rr z8geometry has no sky output; run with Mono/Metric models.r rrKrjzBda3_geometry has no confidence output; run with Small/Base models.zUnknown output mode: )rgetrrrZr_depth_to_image_turbor%rrrdr rr5) rrr output_valrrgreyresultrXrris @@r,rzDA3Render.executesSH% 3 3 3"?3M#$45N %|";"; O!)E""5))C #/ %%%%%"5;q>22%%%&&uc=AAD-7?-J-JVDL)))PTFF : % %L(( ![\\\u%Ci  N1r**1@39@a@@@KKMM < ' '<// !efff(l)CDDDi  P2++2BDJBBBBMMOOAZAABB B}V\\^^,,,r.rr sky_for_normrDrc~jd}|dkr1tjfdt|Dd}n|dkrt j}n}|ddddd}|d kr|d d }| S) z6Normalise depth and pack as an (B,H,W,3) image tensor.rrcZg|]'}tj||nd(SN)rnormalize_depth_v2_style)rr`rrs r,rz-DA3Render._depth_to_image..sP   7!H1Il1ootUU   r.rrrr2rKrr1r3) rrrrZrnormalize_depth_min_maxr%repeatclampr)rrrNnormr_s`` r,rzDA3Render._depth_to_images KN J & &;     q    DD i ' '!9%@@DDDnnR  ''1a33 E ! !))C%%C~~r.Nr)rrrrDrrrr)rrr__doc__r rrr r rrr staticmethodrrr.r,rrrs<< 222M  N N )5^  _ _   [ 6*-*-*-[*-X   \   r.rc@eZdZdZedZeddZdS)DA3GeometryToMeshzXConvert a DA3_GEOMETRY packet into a Types.MESH by unprojecting depth and triangulating.cHtjdgddddtdtjdddd d tjd d d dd tjddddddtjddddddtjdddtjdddgtjg S)!Nr%)rrmeshr:r triangulatezConvert DA3 Geometry to Meshrz0Convert a depth map into a triangulated 3D mesh.r batch_indexrz_Which image of a batch to convert. Per-image vertex counts differ so batches cannot be stacked.rvr[r\r decimationr2z2Vertex stride. 1 = full resolution, 2 = half, etc.discontinuity_thresholdg{Gz?r1r3{Gz?zCDrop triangles whose 3x3 depth span exceeds this fraction. 0 = off.rre皙?zExclude pixels whose per-image normalised confidence is below this value (0 = keep all, 1 = keep only the single most confident pixel). Used when the geometry has a confidence map (Small/Base models).rfTzuExclude sky-probability pixels (sky >= 0.5) from the mesh. Used when the geometry has a sky map (Mono/Metric models).rtexturez-Use the source image as a base color texture.r) r rrrrFloatr Meshrrs r,rzDA3GeometryToMesh.define_schemas@y']]]70J!!.11 ]A1$Qr ss \1!MA BB8$CUX_cnstt5sQT[_[\\   H @@   DBq rr W^^%%&#    r.rrc |d}|jd} || krtd|d| d||} | j\} } | } tj| } | r;tjd d|d| d d | z| | zz d d d | tj| <tjd d|d| dd| dd| dt||| | }t| |}t!||}|t#||}t%||| | ||}|||dkztj||z}|}t'd||<t)|||| \}}}|jddks|jddkrtd|tjgd|jz}|ddgdf}|r|d||dznd}t1j|d|d|d|}t7j|S)Nrr batch_index . is out of range; DA3_GEOMETRY has batch size .r?zDA3GeometryToMesh: depth[z] has z non-finite pixels (dz.1fz%) - zeroed before unproject.r1z ] range [z.4gz, z], mean=inf)r,r.rzDA3GeometryToMesh produced an empty mesh. Try raising discontinuity_threshold, lowering confidence_threshold, or disabling use_sky_mask.)r3r:r4)rr2rr2)verticesfacesuvsr1)rrrrrLsumitemr@rArBdebugr[r\meanrCr-rGrWrnr5r r6rrrMESHr%r r)rrr)r,r.rerfr1 depth_allr^rr&r'n_badrpointsrIrlvertsr=r>texr's r,rzDA3GeometryToMesh.executeso ) OA  !  kKkkghkkkll l+&{1  .''',,..3355    g & & . .GKGGuGGIqsOFGGG   ),u~e$$$%'""(( O  O O N O O#(99;; N O OQ  %+a.A"5"5-  %6%6%6ekJJJJaaal#..00DKUl7#K a$?@@QUz__Q''//!$$ a       }T"""r.Nrrrrr"rrrrr.r,r%r%sYbb  [ *A#A#A#[A#A#A#r.r%c@eZdZdZedZeddZdS)DA3GeometryToPointCloudzCUnproject a DA3_GEOMETRY depth map into a filtered DA3_POINT_CLOUD.ctjdgddddtdtjdddd d tjd d ddddtjdddtjddddd gtdgS)NrK)rrz point cloud pointcloudrr:z#Convert DA3 Geometry to Point Cloudrz*Convert a depth map into a 3D point cloud.rr)rr*z"Which image of a batch to convert.r+rer0r1r3r/zExclude pixels whose per-image normalised confidence is below this value (0 = keep all). Used when the geometry has a confidence map (Small/Base models).rrfTzgExclude sky-probability pixels (sky >= 0.5). Used when the geometry has a sky map (Mono/Metric models).r downsampler2zbTake every Nth pixel (1 = full resolution). Higher values give fewer points and faster processing. point_cloud)r{r) r rrrrr2r  DA3PointCloudrrs r,rz%DA3GeometryToPointCloud.define_schemaAsy-ccc>0D!!.11 ]A1$Pt uu5sQT[_xyy   F!GG \1!ABB #))})EEF#    r.rrcZ|d}|jd}||krtd|d|d||}d|tj|<|j\} } t ||| | } |dkr^|dd|dd|f}| } | dddfxx|zcc<| dddfxx|zcc<|j\} } t|| }t||}|t||}t||| | ||}|dkr|dd|dd|f}|tj|z}|}|dxxd zcc<|d xxd zcc<| d d | d }d}d |vrS|d |}|dkr|dd|dd|f}| d d | d }d}d|vrR|d|}|dkr|dd|dd|f}| d | d }|jddkrtdtj |||dS)Nrrr5r6r7r1r2).r2r:).r;rrKrrjzzDA3GeometryToPointCloud produced zero points after filtering. Try lowering confidence_threshold or disabling use_sky_mask.)rFcolorsrj)rrrrrLrCrr-rGrWrnrOr r)rrr)rerfrNrDr^rr&r'rH_dsW_dsrFrIrl points_gltfpts_flat colors_flatimg conf_flatrXs r,rzDA3GeometryToPointCloud.executeWs( ) OA  !  kKkkghkkkll l+&,,..(+u~e$$$%{1 |[!Q 7 7 >>,,J, * 45@@BBE A adGGGz !GGG adGGGz !GGG[ dq)) |[ 9 9 =)&!44F|[!Q@TVbcc >> * ll l23DenU+++llnn Ft#Ft#&&r1--dll2.>.>? l " "w' 4CA~~,,J, * 45++b!,,T\\"-=-=>K < ' ' -k:DA~~LLjL,,J,67 R((b)9)9:I >!  ! !O  }!#     r.NrrIrr.r,rKrK>sYMM  [ *A A A [A A A r.rKc&eZdZeddZdS) DA3Extensionrlist[type[io.ComfyNode]]c:KttttgSr)rprrr%)selfs r, get_node_listzDA3Extension.get_node_lists       r.N)rr])rrrrr`rr.r,r\r\s2    X   r.r\c"KtSr)r\rr.r,comfy_entrypointrbs >>r.)rrrrrr)r&r/r'r/rr) r:r;r<r/r&r/r'r/rr)r:r;r<r/rrD)rHrrIrrr)rXrrr)r:r;r<r/r&r/r'r/rer5rfrgrr)r)rrrr/rr)rr\)-r" __future__rr@typing_extensionsrrcomfy.model_managementmodel_managementrcomfy.sdr?rcomfy.ldm.colormaprrcomfy.ldm.depth_anything_3rrcomfy_api.latestrrr comfy.ldm.moge.geometryr CustomrrrQr-r9rCrGrWrdrn ComfyNoderprrrr%rKr\rbrr.r,rns#"""""&&&&&& ######......CCCCCC6666666666999999ry%% bi''  +,, *&&&&@@@@     0000&&&&&####!$!$!$!$!$2<!$!$!$H)")")")")"X['['['['['2<['['['|k k k k k  k k k \[#[#[#[#[# [#[#[#|[ [ [ [ [ bl[ [ [ |      >    r.