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Depth Estimation Example

Depth estimation model are usually used to approximate the relative distance of every pixel in an image from the camera, also known as depth.

Depth Estimation Model

X-AnyLabeling offers a range of depth models for using, including Depth Anything V1 and Depth Anything V2.

  • Depth Anything V1 is a highly practical solution for robust monocular depth estimation by training on a combination of 1.5M labeled images and 62M+ unlabeled images.
  • Depth Anything V2 significantly outperforms its predecessor, V1, in terms of fine-grained detail and robustness. In comparison to SD-based models, V2 boasts faster inference speed, a reduced number of parameters, and enhanced depth accuracy.

girl.mov

Usage

  1. Import your image (Ctrl+I) or video (Ctrl+O) file into the X-AnyLabeling.
  2. Select and load the Depth-Anything related model, or choose from other available depth estimation models.
  3. Initiate the process by clicking Run (i). Once you've verified that everything is set up correctly, use the keyboard shortcut Ctrl+M to process all images in one go.

The output, once completed, will be automatically stored in a x-anylabeling-depth subdirectory within the same folder as your original image.

painting Source depth-anything-v1-gray Depth Anything V1 (Gray) depth-anything-v2-color Depth Anything V2 (Color)

Tip

Two output modes are supported: grayscale and color. You can switch between these modes by modifying the render_mode parameter in the respective configuration file.

Advanced: Depth Calibration

By default, depth estimation models output relative depth (normalized 0-1 values) which only indicates which areas are closer or farther. To convert these to real-world distances, you can enable depth calibration by adding the following parameters to your configuration file:

min_depth: 0.5    # Minimum distance in meters
max_depth: 20.0   # Maximum distance in meters
save_raw_depth: true  # Save calibrated depth as .npy file

Example Configuration:

type: depth_anything_v2
name: depth_anything_v2_vit_b
display_name: Depth-Anything-V2-Base
model_path: depth_anything_v2_vitb.onnx
render_mode: color
min_depth: 1.0
max_depth: 50.0
save_raw_depth: true

When enabled, the output will include:

  • Visualization image: Color or grayscale heatmap (same as before)
  • *_depth.npy file: Calibrated depth map with real-world distances in meters

You can load and query the calibrated depth data using:

import numpy as np
depth_map = np.load("image_depth.npy")
distance = depth_map[y, x]  # Get distance at pixel (x, y) in meters

Note

The min_depth and max_depth values should be set according to your actual scene. For indoor scenes, typical values might be 0.5-10m, while outdoor scenes might use 5-100m. Leave these parameters unset to use default visualization-only mode.