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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_CLOUDcURup#[R"U[RURS9n[R"U[RURS9n[R "XESS9upE[R "XE[R"U5/SS9n[R"S[RRURUR55U5nXpRS5-$)uSPixel-space K⁻¹ unprojection: (H,W) depth → (H,W,3) point map in OpenCV space.)dtypedevicexy)indexingdimz ij,hwj->hwi) shapetorcharangefloat32rmeshgridstack ones_likeeinsumlinalginvto unsqueeze)depthKHWuvpixrayss C/home/wildlama/comfy/ComfyUI/comfy_extras/nodes_depth_anything_3.py_da3_unprojectr+1s ;;DA QemmELLAA QemmELLAA >>! .DA ++qU__Q/0b 9C << u||'7'7U\\8J'KS QD //"% %%c[U5S-=p#[R"USUS- S- /SX0S- S- //SQ/[RS9$)uKFallback ~60° FOV pinhole K for mono-mode DA3 (no intrinsics in geometry).gffffff?g@)r.r.?r)floatrtensorr)r$r%fxfys r*_da3_default_Kr6<sUAhnB <<"cAES=1rES=1(*16 @@r,cSU;aUSSU4R5$[R"S5RS5 [ X#5$)zMReturn pixel-space K for batch element b, falling back to a default estimate. intrinsicsrcomfyusDA3_GEOMETRY has no intrinsics (mono-mode model). Using a ~60° FOV estimate; 3-D reconstruction may be inaccurate.)r2logging getLoggerwarningr6)geometrybr$r%s r* _da3_get_Kr?DsSx %ad+1133 g&& L ! r,c@SU;agUSSU4R5$)zReturn the world-to-camera extrinsic for batch element b, or None in mono mode. The model outputs (1, S, 3, 4) [R|t] matrices; the fallback identity is (4, 4). _da3_apply_extrinsic handles both shapes via [:3, :3] / [:3, 3] slicing. extrinsicsNr)r2)r=r>s r*_da3_get_extrinsicrBPs, 8# L !!Q$ ' - - //r,cURUR5R5n[R"U5R 5(d'[ R"S5RS5 U$URup#nUSS2SS24nUSS2S4nURnXv-*nURSS5n XR-U-n U RX#S5$)z>!  " "'"** 8 GA! "1"bqb& A "1"a%A CCEiLE   R #Cgg %I   Q1 %%r,cURSn/n[U5HYnXnUR5UR5peUR Xe:a XE- Xe- - O[ R "U55 M[ [ R"USS9$)z'Map raw confidence to [0, 1] per image.rr)rrangeminmaxappendrrr)confBouticc_minc_maxs r*_normalize_confidencer_nst 1 A C 1X Guuwu EMAI%-0uWXGYZ ;;s ""r,c[R"X#[RS9nU(aSU;a X`SUS:-nSU;a#US:a[USXS-5SnXgU:-nU$)z?Build (H,W) bool keep-mask from sky probability and confidence.r1skyg? confidencer.r/r)ronesboolr_)r=r>r$r%confidence_threshold use_sky_maskmask conf_norms r*_da3_build_maskriysv ::a%** -D)q)C/0x$83$>)(<*@q5*IJ1M $889 Kr,c8\rSrSr\S5r\SSj5rSrg) LoadDA3Modelc [R"SSS[RRS[R "S5S9[RRS/SQS S 9/[ R5/S 9$) NrkzLoad Depth Anything 3z model/loaders model_namegeometry_estimation)options weight_dtype)defaultfp16bf16fp32rr)rprr)node_id display_namecategoryinputsoutputs)r SchemaComboInput folder_pathsget_filename_list DA3ModelTypeOutputclss r* define_schemaLoadDA3Model.define_schemasyyy"0$ (::;PQ"?% "((*+  r,c40nUS:Xa[RUS'O3US:Xa[RUS'OUS:Xa[RUS'[R "SU5n[ RRXCS9n[R"U5$)Nrsrrtruro) model_options) rfloat16bfloat16rr~get_full_path_or_raiser9sdload_diffusion_modelr NodeOutput)rrnrqrpathmodels r*executeLoadDA3Model.executes 6 !%*]]M' " V #%*^^M' " V #%*]]M' "223H*U--d-P}}U##r,Nreturnz io.NodeOutput)__name__ __module__ __qualname____firstlineno__ classmethodrr__static_attributes__rr,r*rkrks(  & $ $r,rkc.URS:XaURSS:XdS[UR535eURupEpg[R"U5 UR R n[R"5n URb URO[Rn ///pn [U5GHnXUS-RU 5n[R"XUS9nURU S9n[R"5 U"U5nSSS5 WS n[R R"R%UR'S5R)5XV4S S S 9R+S5R-5nU R/U5 S U;ay[R R"R%US R'S5R)5XV4S S S 9R+S5R-5nU R/U5 SU;dGMg[R R"R%USR'S5R)5XV4S S S 9R+S5R-5nU R/U5 GM [R0"U SS9nU (a[R0"U SS9OSnU (a[R0"U SS9OSnUUU4$!,(df  GN=f)zNRun DA3 on (B,H,W,3), returns depth/conf/sky at original resolution (or None).rrDexpected (B,H,W,3) IMAGE; got Nr/ process_resmethodr1r"bilinearFsizemode align_corners depth_confrarr)ndimrtuplemmload_model_gpurdiffusion_modelget_torch_devicerrrrTr da3_preprocesspreprocess_imageno_gradnn functional interpolater!r2squeezecpurWcat) model_patcherimagerrrYr$r%rK diffusionrrdepthsconfsskiesr[singlexrZdepth_lr depth_full conf_fullsky_fullr"rbras r*_run_da3rs ::?u{{2!3j7UV[\a\g\gVhUi5jj 3JA!m$##33I  "F(:IOO Er25F 1XQ""6*  + +FTZ [ DDuD  ]]_A,Cw<XX((44   q ! ' ' )55  '!*SSU   j! 3 ++77L!++A.446aVu8gaj  LL # C<xx**66E $$Q'--/qfu7gaj  LL "36 IIf! $E,15a(tJ%*%))Eq !C *c !!5_s  L L c`\rSrSr\S5r\SSj5r\SSj5r\SSj5rSr g) DA3Inferencec[R"S/SQSSS[RS5[RRS5[R RSS S S S S S9[R RSSS/SSS9[RRSS[RRS/5[RRS[R RS/SQSSS9[R RSSS/SSS9/5/S 9/[RS!S"S#9/S$9$)%Nr) r"r=da3depth anything monocularpointmapra3dz 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.rrrUrVsteptooltip resize_methodupper_bound_resizelower_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).rprrrrzmono: 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.rrp 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).)rrvsearch_aliasesrwrx descriptionryrz) r r{rr}ImageIntr| DynamicComboOption DA3Geometryrrs r*rDA3Inference.define_schemaslyy"M/0K"";/w' \3CTPRIJ 9MOc8doCUV%%f7E..vr:..{':D~IZ%L'M }y*>U_h%x'y = &<""> EMM HHV   + +Am \ DDuD  ' ' *#z1 ]]_AL]^C##// L   * *1 -QF50  '!*SSU   C<((%%11E $$Q'--/qfu2gaj  3 <3#6\*002668J\*002668J1j188Aq!DJJLJ1j188Aq!DJJLJ%%'37^'')$//1$//1   ?!nn.HUO 3 88&&22L!++A.446aVu3gaj &*__%6H\ "}}X&&K_s N55 OrNr) rrrrrrrrrrrr,r*rrsR) ) V& & P ' '5'5'r,rc\rSrSrSr\R RS/SQSSS9\RRSS S S 9/r \ S 5r \ SS j5r \ SSj5rSrg) DA3Renderirz2Render 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).rrrcj[R"SSSS[RS5[RRSS[RR SUR 5[RR S UR 5[RR S [RRS S S S9/5[RR S[RRS S SS9/5/S9/[RR5/S9$)NrzRender Depth Anything 3rzTRender a depth map, confidence map, or sky mask from Depth Anything 3 geometry data.routputz- depth: normalised greyscale depth image. - depth_colored: depth mapped through the Turbo colormap. - sky_mask: sky probability in [0, 1] (for Mono/Metric models only). - confidence: normalised depth confidence (for Small/Base models only).r" depth_coloredsky_maskcoloredFz)Apply the Turbo colormap to the sky mask.r rbz/Apply the Turbo colormap to the confidence map.r)rvrwrxrryrz) r r{rr}rr_DEPTH_RENDER_INPUTSBooleanrrrs r*rDA3Render.define_schemasyy20n!!.1%%hb OO**7C4L4LMOO**?C2%2#77#&I2%&&u=AD-7?-JVDL)PTF : %L( ![\\u%Ci r*11@399@a@KKM < '</ !eff(l)CDDi +22BDJJBBMMO4ZLAB B}}V\\^,,9%s8%G#c URSnUS:XaN[R"[U5Vs/sH#n[R "XUbXOS5PM% snSS9nOUS:Xa[R "U5nOUnURS5RSSSS5nUS :waURS S 5nUR5$s snf) z6Normalise depth and pack as an (B,H,W,3) image tensor.rrNrrrr/rDrr.r0) rrrrTrnormalize_depth_v2_stylenormalize_depth_min_maxr!repeatclampr)r" sky_for_normrNr[normrZs r*rDA3Render._depth_to_images KKN J &;;q "A77H1IlotU!  D i '!99%@DDnnR ''1a3 E !))C%C~~ s*CrNr)r" torch.Tensorr torch.Tensor | Nonerstrrr$)rrrr__doc__r r|r}rrrrr staticmethodrrrr,r*rrrs< 2M  N )5^  _   6*-*-X  r,rc<\rSrSrSr\S5r\SSj5rSrg)DA3GeometryToMeshizXConvert a DA3_GEOMETRY packet into a Types.MESH by unprojecting depth and triangulating.c[R"S/SQSSS[RS5[RRSSSS S S 9[RRS S S SSS 9[R RSSSSSSS9[R RSSSSSSS9[R RSSSS9[R RSSSS9/[RR5/S 9$)!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.rrrUrVr decimationr/z2Vertex stride. 1 = full resolution, 2 = half, etc.discontinuity_thresholdg{Gz?r.r0{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).r texturez-Use the source image as a base color texture.r) r r{rr}rFloatrMeshrrs r*rDA3GeometryToMesh.define_schemasyy']70J!!.1 ]A1$Qr s \1!MA B8$CUX_cnst5sQT[_[\   H @   DBq r WW^^%&#  r,c FUSnURSn X):a[SUSU S35eXn U RupU R5n [R"U 5)R 5R 5n U (a8[R"S5RSUSU S S U -X-- S S 35 S U [R"U 5)'[R"S5RSUSU R5SSU R5SSU R5S35 [XX5n[X5n[!X5nUb [#UU5n[%XXXV5nUXS:-[R"X5-nUR5n['S5UU)'[)UUUU S9unnnURSS:XdURSS:Xa [S5eU[R*"/SQUR,S9-nUSS2/SQ4R/5nU(a USX"S-OSn[0R2"UR5S5UR5S5UR5S5US9n[6R8"U5$)Nr"r batch_index . is out of range; DA3_GEOMETRY has batch size .r9zDA3GeometryToMesh: depth[z] has z non-finite pixels (dz.1fz%) - zeroed before unproject.r.z ] range [z.4gz, z], mean=inf)r1r3r"zDA3GeometryToMesh produced an empty mesh. Try raising discontinuity_threshold, lowering confidence_threshold, or disabling use_sky_mask.)r0r@r1)rr/rr/)verticesfacesuvsr6)rrrrrEsumitemr:r;r<debugrUrVmeanr?r+rBrRrir2r r3rrrMESHr!r r)rrr.r1r3rerfr6 depth_allrYr"r$r%n_badr#pointsrJrgvertsrCrDtexr,s r*rDA3GeometryToMesh.executes ) OOA   |K=8fghfiijkl l&{{  ..'',,.335    g & . .+K=ugFIqsOC((EG ),u~~e$$%'"((' }5 C 599;s"38EJJL;M O |! 7) | 9 =)&!4F|!@Tcy-12U^^IDZ5[[e u 1 !$;  uc ;;q>Q %++a.A"5-  %6ekkJJal#..0DKl7#Ka@QUzz__Q'//!$ a    }}T""r,rNr rrrrr'rrrrrr,r*r*r*s-b  *A#A#r,r*c<\rSrSrSr\S5r\SSj5rSrg)DA3GeometryToPointCloudi>zCUnproject a DA3_GEOMETRY depth map into a filtered DA3_POINT_CLOUD.c[R"S/SQSSS[RS5[RRSSSS S S 9[R RS S SSSSS9[R RSSSS9[RRSSSSSS 9/[RSS9/S9$)NrR)rrz point cloud pointcloudrr=z#Convert DA3 Geometry to Point Cloudrz*Convert a depth map into a 3D point cloud.rr.rr/z"Which image of a batch to convert.r0rer5r.r0r4zExclude pixels whose per-image normalised confidence is below this value (0 = keep all). Used when the geometry has a confidence map (Small/Base models).rrfTzgExclude sky-probability pixels (sky >= 0.5). Used when the geometry has a sky map (Mono/Metric models).r  downsampler/zbTake every Nth pixel (1 = full resolution). Higher values give fewer points and faster processing. point_cloud)rwr) r r{rr}rr7r DA3PointCloudrrs r*r%DA3GeometryToPointCloud.define_schemaAsyy-c>0D!!.1 ]A1$Pt u5sQT[_xy   F!G \1!AB #))})EF#  r,cUSnURSnX':a[SUSUS35eXbR5nSU[R"U5)'URup[ XX5n US:aMUSSU2SSU24R 5nU R5n U SSS24==U-ss'U SSS24==U-ss'URup[X5n[X5nUb [X5n[XXX45nUS:a USSU2SSU24nU[R"U5-nUR5nUS==S -ss'US ==S -ss'URS S 5URS 5nSnS U;a?US UnUS:a USSU2SSU24nURS S 5URS 5nSnSU;a>USUnUS:a USSU2SSU24nURS 5URS 5nURSS:Xa [S5e[R"UUUS.5$)Nr"rr;r<r=r.r/).r/r@).rArrDrrbzzDA3GeometryToPointCloud produced zero points after filtering. Try lowering confidence_threshold or disabling use_sky_mask.)rLcolorsrb)rrrrrEr?rr+rBrRrirHr r)rrr.rerfrUrJrYr"r$r%r#H_dsW_dsrLrJrg points_gltfpts_flat colors_flatimg conf_flatrXs r*rDA3GeometryToPointCloud.executeWs ) OOA   |K=8fghfiijkl l&,,.(+u~~e$$%{{ |! 7 >,J, * 45@@BE A adGz !G adGz !G[[ ) | 9 =)&4F|!@Tc > * l l23DennU++lln Ft#Ft#&&r1-dll2.>? l "w' 4CA~,J, * 45++b!,T\\"-=>K < ' -k:DA~LjL,J,67 R(b)9:I >>!  !O  }}!#   r,rNrrPrr,r*rRrR>s-M  *A A r,rRc(\rSrSr\SSj5rSrg) DA3Extensionic6# [[[[/$7fN)rkrrr*)selfs r* get_node_listDA3Extension.get_node_lists       srN)rzlist[type[io.ComfyNode]])rrrrrrirrr,r*reres   r,rec# [5$7frg)rerr,r*comfy_entrypointrls >s )r"r$r#r$rr$)r$intr%rmrr$) r=dictr>rmr$rmr%rmrr$)r=rnr>rmrr%)rIr$rJr$rr$)rXr$rr$)r=rnr>rmr$rmr%rmrer2rfrdrr$)r)rr$rrmrr&)rre)-r' __future__rr:typing_extensionsrrcomfy.model_managementmodel_managementrcomfy.sdr9r~comfy.ldm.colormaprrcomfy.ldm.depth_anything_3rrcomfy_api.latestrrr comfy.ldm.moge.geometryr CustomrrrXr+r6r?rBrRr_ri ComfyNoderkrrrr*rRrerlrr,r*rzs#& #.C669yy% ii'  +, *&@  0&&#!$2<<!$H)"X['2<<['|k  k \[# [#|[ bll[ |  >  r,