SapiensDepth

class grid.model.perception.depth.sapiens_depth.SapiensDepth(*args, **kwargs)

SapiensDepth: Depth Estimation Model

This class implements a wrapper for the Sapiens depth estimation model.

__init__(depth_model_name='1b', seg_model_name='fg-bg-1b (recommended)')

Initialize the Sapiens depth estimation model with the selected model names.

Return type:

None

load_model(checkpoint_path)
Parameters:

checkpoint_path (str)

run(rgbimage, background=False)

Run the depth estimation model on the input image.

Parameters:
  • rgbimage (np.ndarray) -- Input RGB image.

  • background (bool)

Returns:

Processed depth map as numpy array.

Return type:

np.ndarray