app.py

# Copyright 2024 Anton Obukhov, ETH Zurich. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# --------------------------------------------------------------------------
# If you find this code useful, we kindly ask you to cite our paper in your work.
# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
# More information about the method can be found at https://marigoldmonodepth.github.io
# --------------------------------------------------------------------------

import functools
import os

import spaces
import gradio as gr
import numpy as np
import plotly.graph_objects as go
import torch as torch
from PIL import Image
from scipy.ndimage import maximum_filter

from marigold_dc import MarigoldDepthCompletionPipeline

from gradio_imageslider import ImageSlider
from huggingface_hub import login

DRY_RUN = False


def dilate_rgb_image(image, kernel_size):
    r_channel, g_channel, b_channel = image[..., 0], image[..., 1], image[..., 2]
    r_dilated = maximum_filter(r_channel, size=kernel_size)
    g_dilated = maximum_filter(g_channel, size=kernel_size)
    b_dilated = maximum_filter(b_channel, size=kernel_size)
    dilated_image = np.stack([r_dilated, g_dilated, b_dilated], axis=-1)
    return dilated_image


def generate_rmse_plot(steps, metrics, denoise_steps):
    y_min = min(metrics)
    y_max = max(metrics)
    fig = go.Figure()
    fig.add_trace(
        go.Scatter(
            x=steps,
            y=metrics,
            mode="lines+markers",
            line=dict(color="#af2928"),
            name="RMSE",
        )
    )

    if denoise_steps < 20:
        x_dtick = 1
    else:
        x_dtick = 5

    fig.update_layout(
        autosize=False,
        height=300,
        xaxis_title="Steps",
        xaxis_range=[0, denoise_steps + 1],
        xaxis=dict(
            scaleanchor="y",
            scaleratio=1.5,
            dtick=x_dtick,
        ),
        yaxis_title="RMSE",
        yaxis_range=[np.log10(max(y_min - 0.1, 0.1)), np.log10(y_max + 1)],
        yaxis=dict(
            type="log",
        ),
        hovermode="x unified",
        template="plotly_white",
    )
    return fig


def process(
    pipe,
    path_image,
    path_sparse,
    denoise_steps,
):
    image = Image.open(path_image)
    sparse_depth = np.load(path_sparse)
    sparse_depth_valid = sparse_depth[sparse_depth > 0]
    sparse_depth_min = np.min(sparse_depth_valid)
    sparse_depth_max = np.max(sparse_depth_valid)
    width, height = image.size
    max_dim = max(width, height)

    processing_resolution = 0
    if max_dim > 768:
        processing_resolution = 768

    metrics = []
    steps = []

    for step, (pred, rmse) in enumerate(
        pipe(
            image=Image.open(path_image),
            sparse_depth=sparse_depth,
            num_inference_steps=denoise_steps + 1,
            processing_resolution=processing_resolution,
            dry_run=DRY_RUN,
        )
    ):
        min_both = min(sparse_depth_min, pred.min().item())
        max_both = min(sparse_depth_max, pred.max().item())
        metrics.append(rmse)
        steps.append(step)

        vis_pred = pipe.image_processor.visualize_depth(
            pred, val_min=min_both, val_max=max_both
        )[0]

        vis_sparse = pipe.image_processor.visualize_depth(
            sparse_depth, val_min=min_both, val_max=max_both
        )[0]
        vis_sparse = np.array(vis_sparse)
        vis_sparse[sparse_depth <= 0] = (0, 0, 0)
        vis_sparse = dilate_rgb_image(vis_sparse, kernel_size=5)
        vis_sparse = Image.fromarray(vis_sparse)

        plot = generate_rmse_plot(steps, metrics, denoise_steps)

        yield (
            [vis_sparse, vis_pred],
            plot,
        )


def run_demo_server(pipe):
    process_pipe = spaces.GPU(functools.partial(process, pipe))
    os.environ["GRADIO_ALLOW_FLAGGING"] = "never"

    with gr.Blocks(
        analytics_enabled=False,
        title="Marigold Depth Completion",
        css="""
            #short {
                height: 130px;
            }
            .slider .inner {
                width: 4px;
                background: #FFF;
            }
            .slider .icon-wrap svg {
                fill: #FFF;
                stroke: #FFF;
                stroke-width: 3px;
            }
            .viewport {
                aspect-ratio: 4/3;
            }
            h1 {
                text-align: center;
                display: block;
            }
            h2 {
                text-align: center;
                display: block;
            }
            h3 {
                text-align: center;
                display: block;
            }
        """,
    ) as demo:
        gr.HTML(
            """
            <h1>⇆ Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusion (ICCV 2025)</h1>
            <p align="center">
            <a title="Website" href="https://MarigoldDepthCompletion.github.io/" target="_blank" rel="noopener noreferrer" style="display: inline-block;">
                <img src="https://img.shields.io/badge/%F0%9F%A4%8D%20Project%20-Website-blue" alt="Website Badge">
            </a>
            <a title="arXiv" href="https://arxiv.org/abs/2412.13389" target="_blank" rel="noopener noreferrer" style="display: inline-block;">
                <img src="https://img.shields.io/badge/%F0%9F%93%84%20Read%20-Paper-af2928" alt="arXiv Badge">
            </a>
            <a title="Github" href="https://github.com/prs-eth/marigold-dc" target="_blank" rel="noopener noreferrer" style="display: inline-block;">
                <img src="https://img.shields.io/github/stars/prs-eth/marigold-dc?label=GitHub&logo=github&color=C8C" alt="badge-github-stars">
            </a>
            <a title="Social" href="https://twitter.com/antonobukhov1" target="_blank" rel="noopener noreferrer" style="display: inline-block;">
                <img src="https://www.obukhov.ai/img/badges/badge-social.svg" alt="social">
            </a><br>
            Start exploring the interactive examples at the bottom of the page!
            </p>
        """
        )

        with gr.Row():
            with gr.Column():
                input_image = gr.Image(
                    label="Input Image",
                    type="filepath",
                )
                input_sparse = gr.File(
                    label="Input sparse depth (numpy file)",
                    elem_id="short",
                )
                with gr.Accordion("Advanced options", open=False):
                    denoise_steps = gr.Slider(
                        label="Number of denoising steps",
                        minimum=10,
                        maximum=50,
                        step=1,
                        value=50,
                    )
                with gr.Row():
                    submit_btn = gr.Button(value="Compute Depth", variant="primary")
                    clear_btn = gr.Button(value="Clear")
            with gr.Column():
                output_slider = ImageSlider(
                    label="Completed depth (red-near, blue-far)",
                    type="filepath",
                    show_download_button=True,
                    show_share_button=True,
                    interactive=False,
                    elem_classes="slider",
                    position=0.25,
                )
                plot = gr.Plot(
                    label="RMSE between input and result",
                    elem_id="viewport",
                )

        inputs = [
            input_image,
            input_sparse,
            denoise_steps,
        ]
        outputs = [
            output_slider,
            plot,
        ]

        def submit_depth_fn(path_image, path_sparse, denoise_steps):
            for outputs in process_pipe(path_image, path_sparse, denoise_steps):
                yield outputs

        submit_btn.click(
            fn=submit_depth_fn,
            inputs=inputs,
            outputs=outputs,
        )

        gr.Examples(
            fn=submit_depth_fn,
            examples=[
                [
                    "files/kitti_1.png",
                    "files/kitti_1.npy",
                    10,  # denoise_steps
                ],
                [
                    "files/kitti_2.png",
                    "files/kitti_2.npy",
                    10,  # denoise_steps
                ],
                [
                    "files/teaser.png",
                    "files/teaser_1000.npy",
                    10,  # denoise_steps
                ],
                [
                    "files/teaser.png",
                    "files/teaser_100.npy",
                    10,  # denoise_steps
                ],
                [
                    "files/teaser.png",
                    "files/teaser_10.npy",
                    10,  # denoise_steps
                ],
            ],
            inputs=inputs,
            outputs=outputs,
            cache_examples="lazy",
        )

        def clear_fn():
            return [
                gr.Image(value=None, interactive=True),
                gr.File(None, interactive=True),
                None,
            ]

        clear_btn.click(
            fn=clear_fn,
            inputs=[],
            outputs=[
                input_image,
                input_sparse,
                output_slider,
            ],
        )

        demo.queue(
            api_open=False,
        ).launch(
            server_name="0.0.0.0",
            server_port=7860,
        )


def main():
    CHECKPOINT = "prs-eth/marigold-depth-v1-0"

    os.system("pip freeze")

    if "HF_TOKEN_LOGIN" in os.environ:
        login(token=os.environ["HF_TOKEN_LOGIN"])

    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")

    pipe = MarigoldDepthCompletionPipeline.from_pretrained(CHECKPOINT)

    try:
        import xformers

        pipe.enable_xformers_memory_efficient_attention()
    except:
        pass  # run without xformers

    pipe = pipe.to(device)
    run_demo_server(pipe)


if __name__ == "__main__":
    main()