pack and write to a binary file. :param fid: :param data: data to send, if multiple elements are sent at the same time, they should be enc

Align estimated trajectory to reference using Umeyama Sim(3). Default no RANSAC; if ransac=True, use RANSAC (max iterations default 10).

Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.

Perform a robust GPU cleanup sequence. This includes synchronizing, emptying caches, collecting IPC handles and running the Python garbage co

Accept (..., 3,4) or (..., 4,4) extrinsics, return (...,4,4) homogeneous matrix. Supports torch.Tensor or np.ndarray.

Create an object from config. The config is expected to contains the following: __object__: path: path.to.module name: MyClas

Evaluate for all configured modes and write JSON files. Evaluation order by mode (all datasets per mode): 1. pose -

Handle export directory

Process single image

Unified inference interface

depth: [N, H, W] numpy array or torch tensor intrinsics: [N, 3, 3] numpy array or torch tensor extrinsics: [N, 3, 4] (w2c) numpy array or

Uniformly sample points from a triangle mesh. Args: mesh: Input triangle mesh num_points: Number of points to sample Re

Remove ANSI escape sequences from string for length calculation.

Wait until file size stabilizes for 2 consecutive checks.

Run inference on input images. Args: image: List of input images (numpy arrays, PIL Images, or file paths) e

Validate path

Return a snapshot of current GPU memory usage or None if CUDA not available. Keys in returned dict: total_gb, allocated_gb, reserved_gb, free_gb,

Parse export_feat parameter

Convert sequential relative transforms to absolute pose sequence S_01, S_12, S_23, ... -> T_0, T_1, T_2, T_3, ... Where T_i i

Simple UV position encoding directly added to feature map.

Apply activation to single channel output, maintaining semantic consistency with value branch in multi-channel case. Supports: exp /

Apply activation to single channel output, maintaining semantic consistency with value branch in multi-channel case. Supports: exp /

Get export directory path. Structure: .../model_results/{data}/{scene}/{posed|unposed}

Calculate the Area Under the Curve (AUC) for the given error arrays. Args: r_error: Rotation error values in degrees t_error

Create a scalable TSDF volume for depth fusion. Args: voxel_length: Size of each voxel sdf_trunc: Truncation distance for SD

Safe interpolation implementation to avoid INT_MAX overflow in torch.nn.functional.interpolate.

src_pts: (N,2) source points (torch.Tensor, float32/float64) dst_pts: (N,2) target points (torch.Tensor, float32/float64) confident_weigh

Fuse multiple depth maps into TSDF volume and extract mesh. Args: volume: TSDF volume to integrate into depths: Depth maps [

Convert batched points (xyz) to (xyz1).

Load a configuration. Will resolve inheritance. Supports both file paths and module paths (e.g., depth_anything_3.configs.giant).

Compute nearest neighbor distances from verts2 to verts1 using KDTree. Args: verts1: Reference point cloud [N, 3] verts2: Qu

Print evaluation metrics in a beautiful tabular format. Args: metrics: Metrics dictionary. If None, loads from saved JSO

Simple UV positional embedding added to feature maps.

Accept (4,4) or (3,4) extrinsic parameters, return (4,4) homogeneous matrix.

Join URL parts safely.

Back-project depth map into 3D world coordinates. Args: depth: Depth tensor [B, 1, H, W] proj: Projection ma

Get list of scenes to evaluate, optionally filtered.

Scan and import all .py submodules under depth_anything_3.bench.datasets (skip files/packages starting with underscore), to trigger @REGISTRY

Process the next task in the queue.

Clean up temporary files and calculate reclaimed disk space. This method deletes all temporary files generated during processing fro

Compute the inverse of each 4x4 (or 3x4) SE3 matrix in a batch. Uses closed-form solution instead of torch.inverse() for numerical stability

Compute non-sky mask from sky prediction. Args: sky_prediction: Sky prediction tensor threshold: Threshold for sky classific

Convert general model state dict to match current model architecture. Args: state_dict: Original state dictionary Returns:

Evaluate 3D reconstruction quality using standard metrics. This function computes: - Accuracy: Mean distance from predicted points to GT

Generate a coordinate frame given perpendicular, unit-length Y and Z vectors.

Get information about scenes in the examples directory. Args: examples_dir: Path to examples directory Returns: List of

Load model

- points: np.ndarray, (b, H, W, 3) / (N, 3) - colors: np.ndarray, (b, H, W, 3) / (N, 3) - confs: np.ndarray, (b, H, W) / (N,) - ou

Update measure view for a specific view index. Args: processed_data: Processed data dictionary view_index: I

Applies 1D rotary position embeddings along one dimension. Args: tokens: Input token features. positions: Position in

Clean up old completed/failed tasks to prevent memory buildup.

For each frame, transform (u,v,1) through K^{-1} to get rays, multiply by depth to camera frame, then use (w2c)^{-1} to transform to world fr

Write JSON with UTF-8 and pretty indentation.

Compute reconstruction metrics for each dataset and scene. Args: mode: "recon_unposed" or "recon_posed"

4-layer top-down fusion, returns finest scale features (after fusion, before neck1).

Check if name is safe for use in paths.

GPU-accelerated nearest neighbor distance computation. Args: query: Query points [N, 3] target: Target point

Load GT depth and create valid mask. For ScanNet++, GT depth is stored as 16-bit PNG in millimeters. Returns: B

Load GT depth and create valid mask. For 7Scenes, GT depth is stored as 16-bit PNG in millimeters. Value 65535 indicates inv

Load GT depth and aliasing mask to create valid mask. For HiRoom: - GT depth is stored as 16-bit PNG, scaled to 100m range

Load GT mask for masking invalid regions. GT mask marks occluded or invalid regions that should be excluded from depth fusio

Mask invalid depth values by setting them to 0.

Mask invalid depth values by setting them to 0. Args: depth: Depth map to mask gt_zero_mask: Optional GT mas

Mask invalid depth values by setting them to 0.

Mask invalid depth values by setting them to 0. Logic: 1. Apply GT mask (if provided) - marks occluded/invalid regions