mirror of
https://github.com/ruvnet/RuView
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feat(pointcloud): add Depth Anything Rust backend
This commit is contained in:
ruv
@@ -0,0 +1,149 @@
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# ADR-271: Depth Anything Rust Camera-Depth Backend
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- **Status**: Accepted — phase 1 implemented
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- **Date**: 2026-07-20
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- **Deciders**: ruv
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- **Tags**: rust, depth-anything, ggml, camera, point-cloud, ffi, model-licensing
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## Context
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The `wifi-densepose-pointcloud` crate fuses camera-derived depth with WiFi CSI
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occupancy. Its current camera depth path calls an optional loopback MiDaS service
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and otherwise produces a luminance/edge heuristic. The fallback is deterministic
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and useful for demonstrations, but it is not a learned or metrically trustworthy
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depth estimator. It also provides neither confidence nor camera pose.
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`mudler/depth-anything.cpp` is a C++17/ggml inference engine for Depth Anything
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2 and 3. It offers quantized GGUF models, CPU/CUDA/Metal/Vulkan execution, and a
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flat C ABI that returns dense depth, confidence, intrinsics, extrinsics, and a
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metric-output flag. Reimplementing the transformer, DPT heads, quantization, and
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ggml backends in Rust would duplicate a large parity-sensitive codebase and make
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RuView responsible for maintaining several hardware backends.
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The upstream ABI currently accepts image paths rather than in-memory RGB frames.
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RuView captures RGB8 buffers directly, so phase 1 needs a bounded file bridge
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until an upstream RGB-buffer ABI is available.
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Model licensing is not uniform. The upstream engine is MIT, while official DA3
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weights include Apache-2.0 and CC-BY-NC-4.0 variants. A permissively licensed
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runtime must not make non-commercial weights look generally redistributable.
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## Decision
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RuView will integrate Depth Anything as an **optional native backend behind a
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safe Rust boundary**, not as a pure-Rust model rewrite and not as a required
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dependency of camera-free sensing.
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1. Load the upstream shared library dynamically at runtime. The RuView build
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remains Rust-only and succeeds without CMake, ggml, a model, or a camera.
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2. Isolate the ABI and all unsafe operations in `depth_anything.rs`. Keep the
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native library alive for the lifetime of its function pointers and context,
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serialize calls through Rust mutable ownership, copy native output into Rust
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vectors, and release every upstream allocation through its matching function.
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3. Require C ABI version 4. Fail closed on any other version.
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4. Configure the backend with environment variables:
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- `RUVIEW_DEPTH_BACKEND=auto|depth-anything|midas|heuristic`
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- `RUVIEW_DA_LIBRARY`, `RUVIEW_DA_MODEL`, `RUVIEW_DA_MODEL_LICENSE`
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- optional `RUVIEW_DA_MODEL_SHA256` and `RUVIEW_DA_THREADS`
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- `RUVIEW_DA_ALLOW_NONCOMMERCIAL=1` for an explicit local-only override
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5. Permit Apache-2.0 weights by default. Reject unknown licenses and reject
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CC-BY-NC-4.0 unless the explicit non-commercial override is present. RuView
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will not bundle model weights.
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6. When a SHA-256 is configured, verify it before native model loading.
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7. Bridge RGB8 frames through a unique, create-new PPM file with an RAII cleanup
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guard. Never reuse a predictable existing file. Replace this bridge when the
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upstream project exposes an in-memory RGB ABI.
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8. Accept only metric Depth Anything output in the point-cloud fusion path.
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Relative depth must not be labelled or fused as metres.
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9. Preserve the existing MiDaS and heuristic paths. `auto` attempts configured
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Depth Anything first, then MiDaS, then the heuristic. An explicitly selected
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Depth Anything backend reports configuration/load/inference errors instead of
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silently claiming that heuristic output came from the model.
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10. Carry backend identity, metric status, confidence, and model-provided camera
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geometry into the Rust `DepthEstimate`. Confidence becomes point intensity;
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low-confidence pixels are excluded before voxel fusion.
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11. Camera depth remains an optional point-cloud feature. It does not enter the
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RuView/RuField camera-free sensing proof path.
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12. Run the native context on a dedicated 16 MiB-stack worker. On Windows, the
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validated upstream ABI-v4 build currently access-violates while destroying a
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successfully used DA2 context; RuView therefore retains its process-singleton
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context and DLL until OS process teardown. Other platforms call `da_capi_free`.
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## Consequences
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### Positive
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- RuView gains local metric monocular depth without Python or PyTorch inference.
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- The Rust application owns configuration, policy, provenance, memory safety,
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fallback behavior, and multimodal fusion.
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- Confidence and calibrated intrinsics improve point-cloud quality over the
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current fixed-intrinsics heuristic.
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- Dynamic loading avoids a mandatory C++ toolchain and preserves portable
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default builds.
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- Explicit licensing and digest gates make model provenance auditable.
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### Negative
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- Production Depth Anything use still requires building or obtaining a compatible
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native library and separately obtaining model weights.
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- The phase-1 PPM bridge performs bounded temporary-file I/O per inferred frame.
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- The upstream Windows build needs `CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON`, and its
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current DA2 destructor requires a process-lifetime context workaround.
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- Metric models are substantially larger than the current heuristic and are not
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suitable for ESP32 firmware.
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- GPU backend quality and performance remain an upstream responsibility.
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### Neutral
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- MiDaS compatibility and the deterministic heuristic remain available.
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- Motion gating in the point-cloud server continues to limit expensive inference.
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- This decision does not authorize redistribution of third-party model weights.
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## Validation and acceptance gates
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1. Default builds and tests pass with no native library installed.
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2. License policy accepts Apache-2.0, rejects unknown licenses, and gates
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CC-BY-NC-4.0 behind an explicit override.
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3. Digest mismatch prevents model loading.
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4. The PPM bridge validates buffer dimensions, uses create-new semantics, and
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removes its file on success and failure.
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5. A mock ABI proves version gating, native-buffer copying/freeing, metric
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enforcement, confidence propagation, and context destruction.
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6. Backprojection consumes model dimensions/intrinsics and confidence without
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out-of-bounds access.
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7. `cargo test -p wifi-densepose-pointcloud` and Clippy pass.
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8. A real upstream Windows/MSVC ABI-v4 build passes `depth-check --abi-only` and
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synthetic inference with the Apache-2.0 DA2 metric Hypersim small Q4_K model
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(`decd99f5c756b564aae5ca1a1612f896e7f76889060e1d25ba610549bbc39b52`).
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Hardware camera validation remains pending receipt of the target hardware.
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## Alternatives considered
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### Pure Rust DA3 rewrite
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Rejected for phase 1. It would duplicate ggml kernels, quantization, model
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conversion, and multiple GPU backends while delaying usable integration.
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### Statically vendor depth-anything.cpp and ggml
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Rejected as the default. It would force the C++ build and backend dependency tree
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onto every RuView build, including camera-free and ESP32-oriented workflows.
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### Continue with only the MiDaS service
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Rejected as the sole production path because it requires an external process and
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does not provide the same confidence, pose, quantization, or native deployment
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surface.
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### Treat relative depth as metres
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Rejected because it creates geometrically false point clouds and contaminates
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WiFi/mmWave fusion.
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## Links
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- [depth-anything.cpp](https://github.com/mudler/depth-anything.cpp)
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- [Depth Anything 3](https://github.com/ByteDance-Seed/Depth-Anything-3)
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- [ADR-058](ADR-058-ruvector-wasm-browser-pose-example.md)
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- [ADR-094](ADR-094-pointcloud-github-pages-deployment.md)
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- [ADR-260](ADR-260-rufield-mfs.md)
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@@ -88,6 +88,7 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
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| [ADR-150](ADR-150-rf-foundation-encoder.md) | RF Foundation Encoder: pose-preserving, subject/room/device-invariant CSI embedding | Proposed |
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| [ADR-151](ADR-151-room-calibration-specialist-training.md) | Per-Room Calibration & Specialized Model Training (room-first → bank of small ruVector specialists) | Proposed |
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| [ADR-152](ADR-152-wifi-pose-sota-2026-intake.md) | WiFi-Pose SOTA 2026 Intake: geometry-conditioned calibration, external benchmarks, foundation-encoder recipe | Proposed |
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| [ADR-271](ADR-271-depth-anything-rust-camera-depth-backend.md) | Depth Anything Rust Camera-Depth Backend | Accepted (phase 1) |
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### Platform and UI
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+43
-1
@@ -954,6 +954,46 @@ Open `http://localhost:9880` for the interactive Three.js 3D viewer.
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| Camera (`/dev/video0`) | Yes (Linux UVC) | RGB frames → MiDaS depth → 3D points |
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| ESP32 CSI (UDP:3333) | Yes (if provisioned) | ADR-018 binary → occupancy + pose + vitals |
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| MiDaS depth server (port 9885) | Optional | GPU-accelerated neural depth estimation |
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| depth-anything.cpp ABI v4 | Optional | Local metric depth + confidence + calibrated camera geometry |
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### Depth Anything backend (optional)
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RuView can load [`depth-anything.cpp`](https://github.com/mudler/depth-anything.cpp)
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at runtime without adding a C++ requirement to normal Rust builds. Build its
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shared library with `DA_SHARED=ON`, obtain an official **metric** GGUF separately,
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and configure:
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```bash
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export RUVIEW_DEPTH_BACKEND=depth-anything
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export RUVIEW_DA_LIBRARY=/opt/depth-anything/libdepthanything.so
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export RUVIEW_DA_MODEL=/opt/models/depth-anything-metric.gguf
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export RUVIEW_DA_MODEL_LICENSE=Apache-2.0
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export RUVIEW_DA_MODEL_SHA256=<64-character-model-digest>
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export RUVIEW_DA_THREADS=8
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export RUVIEW_DA_MIN_CONFIDENCE=1.0
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ruview-pointcloud serve --bind 127.0.0.1:9880
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```
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On Windows, build with both `DA_SHARED=ON` and
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`CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON`, then point `RUVIEW_DA_LIBRARY` at the
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ABI-v4 DLL. The upstream default Windows shared build currently exports no C
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symbols. RuView also retains the process-singleton native context until Windows
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process teardown to avoid an upstream DA2 destructor access violation observed
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after successful inference. On macOS, use the corresponding `.dylib`.
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`RUVIEW_DEPTH_BACKEND=auto` (the default) activates
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Depth Anything only when its library/model variables are configured, then falls
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back to the loopback MiDaS service and finally the deterministic heuristic.
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Selecting `depth-anything` explicitly is fail-closed: configuration, license,
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digest, ABI, non-metric output, or inference errors are returned to the caller.
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RuView does not bundle model weights. Apache-2.0 model declarations are accepted
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by default. CC-BY-NC-4.0 requires `RUVIEW_DA_ALLOW_NONCOMMERCIAL=1` and remains
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local/non-commercial; unknown licenses are rejected. Consult each official model
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card rather than inferring a weight license from the engine's MIT license.
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The current upstream C ABI takes image paths, so RuView uses create-new temporary
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PPM files with automatic cleanup. An in-memory RGB ABI is the planned replacement.
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### Commands
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@@ -966,6 +1006,8 @@ Open `http://localhost:9880` for the interactive Three.js 3D viewer.
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| `ruview-pointcloud train --data-dir ./data [--brain URL]` | Depth calibration + occupancy training (writes under canonicalized `data-dir`; refuses `..` traversal) |
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| `ruview-pointcloud csi-test --count 100` | Send test CSI frames (no ESP32 needed) |
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| `ruview-pointcloud fingerprint <name> [--seconds 5]` | Record a named CSI room fingerprint for later matching |
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| `ruview-pointcloud depth-check --abi-only` | Verify configured native symbols and ABI v4 without loading a model |
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| `ruview-pointcloud depth-check --infer` | Verify license/digest/model load and run one synthetic metric-depth inference |
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### Pipeline Components
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@@ -974,7 +1016,7 @@ Open `http://localhost:9880` for the interactive Three.js 3D viewer.
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3. **Vital Signs** — Breathing rate from CSI phase analysis (peak counting on stable subcarrier)
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4. **Motion Detection** — CSI amplitude variance over 20 frames, triggers adaptive capture
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5. **RF Tomography** — Backprojection from per-node RSSI to 8×8×4 occupancy grid
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6. **Camera Depth** — MiDaS monocular depth (GPU) with luminance+edge fallback
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6. **Camera Depth** — optional depth-anything.cpp metric depth, then MiDaS, then a deterministic luminance+edge fallback
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7. **Sensor Fusion** — Voxel-grid merging of camera depth + CSI occupancy
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8. **Brain Bridge** — Stores spatial observations in the ruOS brain every 60 seconds
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+11
-1
@@ -153,6 +153,16 @@ MODEL_STORAGE_PATH=./models
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TEMP_STORAGE_PATH=./temp
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MAX_STORAGE_SIZE_GB=100
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# Optional Depth Anything camera-depth backend (ADR-271).
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# Model weights are not bundled. Verify the license on the official model card.
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# RUVIEW_DEPTH_BACKEND=auto
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# RUVIEW_DA_LIBRARY=/opt/depth-anything/libdepthanything.so
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# RUVIEW_DA_MODEL=/opt/models/depth-anything-metric.gguf
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# RUVIEW_DA_MODEL_LICENSE=Apache-2.0
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# RUVIEW_DA_MODEL_SHA256=<64-character-sha256>
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# RUVIEW_DA_THREADS=8
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# RUVIEW_DA_MIN_CONFIDENCE=1.0
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# =============================================================================
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# MONITORING SETTINGS
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# =============================================================================
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@@ -202,4 +212,4 @@ OPENAPI_URL=/openapi.json # Set to null to disable in production
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# DOCS_URL=null
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# REDOC_URL=null
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# OPENAPI_URL=null
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# LOG_FILE=/var/log/wifi-densepose/app.log
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# LOG_FILE=/var/log/wifi-densepose/app.log
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Generated
+2
@@ -11084,9 +11084,11 @@ dependencies = [
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"clap",
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"criterion",
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"dirs 5.0.1",
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"libloading 0.8.9",
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"reqwest 0.12.28",
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"serde",
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"serde_json",
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"sha2",
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"tokio",
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"tower-http",
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]
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@@ -19,6 +19,8 @@ clap = { version = "4", features = ["derive"] }
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chrono = "0.4"
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dirs = "5"
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reqwest = { version = "0.12", features = ["json"], default-features = false }
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libloading = "0.8"
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sha2 = { workspace = true }
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[dev-dependencies]
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criterion = { workspace = true }
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@@ -1,10 +1,13 @@
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//! Monocular depth estimation via MiDaS ONNX + backprojection to 3D points.
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#![allow(dead_code)]
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use crate::depth_anything::{DepthAnythingBackend, DepthAnythingConfig};
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use crate::pointcloud::{ColorPoint, PointCloud};
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use anyhow::Result;
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use std::sync::{Mutex, OnceLock};
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/// Default camera intrinsics (approximate for HD webcam)
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#[derive(Clone, Debug)]
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pub struct CameraIntrinsics {
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pub fx: f32, // focal length x (pixels)
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pub fy: f32, // focal length y (pixels)
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@@ -27,6 +30,70 @@ impl Default for CameraIntrinsics {
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}
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}
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impl CameraIntrinsics {
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pub fn for_dimensions(width: u32, height: u32) -> Self {
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let default = Self::default();
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Self {
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fx: default.fx * width as f32 / default.width as f32,
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fy: default.fy * height as f32 / default.height as f32,
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cx: width as f32 / 2.0,
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cy: height as f32 / 2.0,
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width,
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height,
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}
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}
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pub fn from_matrix_or_default(matrix: &[f32; 9], width: u32, height: u32) -> Self {
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let values = (matrix[0], matrix[4], matrix[2], matrix[5]);
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if [values.0, values.1, values.2, values.3]
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.iter()
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.all(|value| value.is_finite())
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&& values.0 > 0.0
|
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&& values.1 > 0.0
|
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{
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Self {
|
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fx: values.0,
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fy: values.1,
|
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cx: values.2,
|
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cy: values.3,
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width,
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height,
|
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}
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} else {
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Self::for_dimensions(width, height)
|
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}
|
||||
}
|
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}
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#[derive(Clone, Debug)]
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pub struct DepthEstimate {
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pub depth: Vec<f32>,
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pub confidence: Option<Vec<f32>>,
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pub width: u32,
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pub height: u32,
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pub intrinsics: CameraIntrinsics,
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pub extrinsics: Option<[f32; 12]>,
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pub is_metric: bool,
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pub backend: &'static str,
|
||||
pub min_confidence: f32,
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}
|
||||
|
||||
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
|
||||
enum BackendSelection {
|
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Auto,
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DepthAnything,
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Midas,
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Heuristic,
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}
|
||||
|
||||
struct DepthEstimator {
|
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selection: BackendSelection,
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||||
depth_anything: Option<DepthAnythingBackend>,
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}
|
||||
|
||||
static DEFAULT_ESTIMATOR: OnceLock<std::result::Result<Mutex<DepthEstimator>, String>> =
|
||||
OnceLock::new();
|
||||
|
||||
/// Backproject a depth map to 3D points using camera intrinsics.
|
||||
///
|
||||
/// depth_map: row-major [height x width] in meters
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||||
@@ -36,6 +103,17 @@ pub fn backproject_depth(
|
||||
intrinsics: &CameraIntrinsics,
|
||||
rgb: Option<&[u8]>,
|
||||
downsample: u32,
|
||||
) -> PointCloud {
|
||||
backproject_depth_with_confidence(depth_map, intrinsics, rgb, None, 0.0, downsample)
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||||
}
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||||
|
||||
fn backproject_depth_with_confidence(
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||||
depth_map: &[f32],
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||||
intrinsics: &CameraIntrinsics,
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rgb: Option<&[u8]>,
|
||||
confidence: Option<&[f32]>,
|
||||
min_confidence: f32,
|
||||
downsample: u32,
|
||||
) -> PointCloud {
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let mut cloud = PointCloud::new("camera_depth");
|
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let w = intrinsics.width;
|
||||
@@ -45,10 +123,22 @@ pub fn backproject_depth(
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for y in (0..h).step_by(step as usize) {
|
||||
for x in (0..w).step_by(step as usize) {
|
||||
let idx = (y * w + x) as usize;
|
||||
if idx >= depth_map.len() {
|
||||
continue;
|
||||
}
|
||||
let z = depth_map[idx];
|
||||
|
||||
let point_confidence = confidence
|
||||
.and_then(|values| values.get(idx).copied())
|
||||
.unwrap_or(1.0);
|
||||
|
||||
// Skip invalid depths
|
||||
if z <= 0.01 || z > 10.0 || z.is_nan() {
|
||||
if z <= 0.01
|
||||
|| z > 10.0
|
||||
|| !z.is_finite()
|
||||
|| !point_confidence.is_finite()
|
||||
|| point_confidence < min_confidence
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -80,23 +170,167 @@ pub fn backproject_depth(
|
||||
r,
|
||||
g,
|
||||
b,
|
||||
intensity: 1.0,
|
||||
intensity: point_confidence,
|
||||
});
|
||||
}
|
||||
}
|
||||
cloud
|
||||
}
|
||||
|
||||
/// Run depth estimation on an image.
|
||||
///
|
||||
/// Tries MiDaS GPU server (127.0.0.1:9885) first, falls back to luminance+edges.
|
||||
pub fn estimate_depth(image_data: &[u8], width: u32, height: u32) -> Result<Vec<f32>> {
|
||||
// Try MiDaS GPU server
|
||||
if let Ok(depth) = estimate_depth_midas_server(image_data, width, height) {
|
||||
return Ok(depth);
|
||||
/// Backproject a typed estimate, preserving model dimensions, calibrated camera
|
||||
/// intrinsics, confidence, and RGB alignment.
|
||||
pub fn backproject_estimate(
|
||||
estimate: &DepthEstimate,
|
||||
source_rgb: Option<(&[u8], u32, u32)>,
|
||||
downsample: u32,
|
||||
) -> PointCloud {
|
||||
let resized_rgb = source_rgb.and_then(|(rgb, width, height)| {
|
||||
resize_rgb_nearest(rgb, width, height, estimate.width, estimate.height).ok()
|
||||
});
|
||||
backproject_depth_with_confidence(
|
||||
&estimate.depth,
|
||||
&estimate.intrinsics,
|
||||
resized_rgb.as_deref(),
|
||||
estimate.confidence.as_deref(),
|
||||
estimate.min_confidence,
|
||||
downsample,
|
||||
)
|
||||
}
|
||||
|
||||
impl DepthEstimator {
|
||||
fn from_env() -> Result<Self> {
|
||||
let selection = match std::env::var("RUVIEW_DEPTH_BACKEND")
|
||||
.unwrap_or_else(|_| "auto".into())
|
||||
.trim()
|
||||
.to_ascii_lowercase()
|
||||
.as_str()
|
||||
{
|
||||
"auto" => BackendSelection::Auto,
|
||||
"depth-anything" | "depth_anything" | "da" => BackendSelection::DepthAnything,
|
||||
"midas" => BackendSelection::Midas,
|
||||
"heuristic" | "demo" => BackendSelection::Heuristic,
|
||||
value => anyhow::bail!(
|
||||
"unknown RUVIEW_DEPTH_BACKEND '{value}'; expected auto, depth-anything, midas, or heuristic"
|
||||
),
|
||||
};
|
||||
|
||||
let configured = std::env::var_os("RUVIEW_DA_LIBRARY").is_some()
|
||||
|| std::env::var_os("RUVIEW_DA_MODEL").is_some();
|
||||
let depth_anything = if selection == BackendSelection::DepthAnything
|
||||
|| (selection == BackendSelection::Auto && configured)
|
||||
{
|
||||
match DepthAnythingConfig::from_env()
|
||||
.and_then(|config| DepthAnythingBackend::load(&config))
|
||||
{
|
||||
Ok(backend) => Some(backend),
|
||||
Err(error) if selection == BackendSelection::Auto => {
|
||||
eprintln!(
|
||||
"Depth Anything auto-configuration unavailable ({error:#}); falling back to MiDaS/heuristic"
|
||||
);
|
||||
None
|
||||
}
|
||||
Err(error) => return Err(error),
|
||||
}
|
||||
} else {
|
||||
None
|
||||
};
|
||||
|
||||
Ok(Self {
|
||||
selection,
|
||||
depth_anything,
|
||||
})
|
||||
}
|
||||
|
||||
// Fallback: luminance + edge-based pseudo-depth
|
||||
fn estimate(&mut self, rgb: &[u8], width: u32, height: u32) -> Result<DepthEstimate> {
|
||||
if matches!(
|
||||
self.selection,
|
||||
BackendSelection::DepthAnything | BackendSelection::Auto
|
||||
) {
|
||||
if let Some(backend) = self.depth_anything.as_mut() {
|
||||
match backend.infer_rgb(rgb, width, height) {
|
||||
Ok(estimate) => return Ok(estimate),
|
||||
Err(error) if self.selection == BackendSelection::Auto => {
|
||||
eprintln!(
|
||||
"Depth Anything inference unavailable ({error:#}); falling back to MiDaS/heuristic"
|
||||
);
|
||||
}
|
||||
Err(error) => return Err(error),
|
||||
}
|
||||
} else if self.selection == BackendSelection::DepthAnything {
|
||||
anyhow::bail!("Depth Anything backend was selected but is not initialized");
|
||||
}
|
||||
}
|
||||
|
||||
if matches!(
|
||||
self.selection,
|
||||
BackendSelection::Midas | BackendSelection::Auto
|
||||
) {
|
||||
match estimate_depth_midas_server(rgb, width, height) {
|
||||
Ok(depth) => {
|
||||
return Ok(DepthEstimate {
|
||||
depth,
|
||||
confidence: None,
|
||||
width,
|
||||
height,
|
||||
intrinsics: CameraIntrinsics::for_dimensions(width, height),
|
||||
extrinsics: None,
|
||||
is_metric: false,
|
||||
backend: "midas",
|
||||
min_confidence: 0.0,
|
||||
})
|
||||
}
|
||||
Err(error) if self.selection == BackendSelection::Auto => {
|
||||
eprintln!("MiDaS service unavailable ({error:#}); using heuristic depth");
|
||||
}
|
||||
Err(error) => return Err(error),
|
||||
}
|
||||
}
|
||||
|
||||
let depth = estimate_depth_heuristic(rgb, width, height)?;
|
||||
Ok(DepthEstimate {
|
||||
depth,
|
||||
confidence: None,
|
||||
width,
|
||||
height,
|
||||
intrinsics: CameraIntrinsics::for_dimensions(width, height),
|
||||
extrinsics: None,
|
||||
is_metric: false,
|
||||
backend: "heuristic",
|
||||
min_confidence: 0.0,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
/// Run the configured depth backend. The estimator is initialized once so a
|
||||
/// native model context is reused across frames.
|
||||
pub fn estimate_depth_frame(image_data: &[u8], width: u32, height: u32) -> Result<DepthEstimate> {
|
||||
let estimator = DEFAULT_ESTIMATOR.get_or_init(|| {
|
||||
DepthEstimator::from_env()
|
||||
.map(Mutex::new)
|
||||
.map_err(|error| format!("{error:#}"))
|
||||
});
|
||||
let estimator = estimator
|
||||
.as_ref()
|
||||
.map_err(|error| anyhow::anyhow!(error.clone()))?;
|
||||
estimator
|
||||
.lock()
|
||||
.map_err(|_| anyhow::anyhow!("depth estimator lock poisoned"))?
|
||||
.estimate(image_data, width, height)
|
||||
}
|
||||
|
||||
/// Compatibility helper for training code that only consumes the dense map.
|
||||
pub fn estimate_depth(image_data: &[u8], width: u32, height: u32) -> Result<Vec<f32>> {
|
||||
Ok(estimate_depth_frame(image_data, width, height)?.depth)
|
||||
}
|
||||
|
||||
fn estimate_depth_heuristic(image_data: &[u8], width: u32, height: u32) -> Result<Vec<f32>> {
|
||||
let expected = (width as usize)
|
||||
.checked_mul(height as usize)
|
||||
.and_then(|pixels| pixels.checked_mul(3))
|
||||
.ok_or_else(|| anyhow::anyhow!("RGB dimensions overflow"))?;
|
||||
if width == 0 || height == 0 || image_data.len() < expected {
|
||||
anyhow::bail!("RGB buffer is smaller than {width}x{height} RGB8");
|
||||
}
|
||||
let w = width as usize;
|
||||
let h = height as usize;
|
||||
let mut lum = vec![0.0f32; w * h];
|
||||
@@ -110,19 +344,22 @@ pub fn estimate_depth(image_data: &[u8], width: u32, height: u32) -> Result<Vec<
|
||||
}
|
||||
}
|
||||
let mut edges = vec![0.0f32; w * h];
|
||||
for y in 1..h - 1 {
|
||||
for x in 1..w - 1 {
|
||||
let gx = -lum[(y - 1) * w + x - 1] + lum[(y - 1) * w + x + 1]
|
||||
- 2.0 * lum[y * w + x - 1]
|
||||
+ 2.0 * lum[y * w + x + 1]
|
||||
- lum[(y + 1) * w + x - 1]
|
||||
+ lum[(y + 1) * w + x + 1];
|
||||
let gy =
|
||||
-lum[(y - 1) * w + x - 1] - 2.0 * lum[(y - 1) * w + x] - lum[(y - 1) * w + x + 1]
|
||||
if w >= 3 && h >= 3 {
|
||||
for y in 1..h - 1 {
|
||||
for x in 1..w - 1 {
|
||||
let gx = -lum[(y - 1) * w + x - 1] + lum[(y - 1) * w + x + 1]
|
||||
- 2.0 * lum[y * w + x - 1]
|
||||
+ 2.0 * lum[y * w + x + 1]
|
||||
- lum[(y + 1) * w + x - 1]
|
||||
+ lum[(y + 1) * w + x + 1];
|
||||
let gy = -lum[(y - 1) * w + x - 1]
|
||||
- 2.0 * lum[(y - 1) * w + x]
|
||||
- lum[(y - 1) * w + x + 1]
|
||||
+ lum[(y + 1) * w + x - 1]
|
||||
+ 2.0 * lum[(y + 1) * w + x]
|
||||
+ lum[(y + 1) * w + x + 1];
|
||||
edges[y * w + x] = (gx * gx + gy * gy).sqrt().min(1.0);
|
||||
edges[y * w + x] = (gx * gx + gy * gy).sqrt().min(1.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
let mut depth_map = vec![3.0f32; w * h];
|
||||
@@ -134,6 +371,42 @@ pub fn estimate_depth(image_data: &[u8], width: u32, height: u32) -> Result<Vec<
|
||||
Ok(depth_map)
|
||||
}
|
||||
|
||||
fn resize_rgb_nearest(
|
||||
rgb: &[u8],
|
||||
source_width: u32,
|
||||
source_height: u32,
|
||||
target_width: u32,
|
||||
target_height: u32,
|
||||
) -> Result<Vec<u8>> {
|
||||
let expected = (source_width as usize)
|
||||
.checked_mul(source_height as usize)
|
||||
.and_then(|pixels| pixels.checked_mul(3))
|
||||
.ok_or_else(|| anyhow::anyhow!("RGB dimensions overflow"))?;
|
||||
if source_width == 0
|
||||
|| source_height == 0
|
||||
|| target_width == 0
|
||||
|| target_height == 0
|
||||
|| rgb.len() < expected
|
||||
{
|
||||
anyhow::bail!("invalid RGB resize input");
|
||||
}
|
||||
let target_len = (target_width as usize)
|
||||
.checked_mul(target_height as usize)
|
||||
.and_then(|pixels| pixels.checked_mul(3))
|
||||
.ok_or_else(|| anyhow::anyhow!("target RGB dimensions overflow"))?;
|
||||
let mut output = vec![0u8; target_len];
|
||||
for y in 0..target_height {
|
||||
let source_y = ((y as u64 * source_height as u64) / target_height as u64) as u32;
|
||||
for x in 0..target_width {
|
||||
let source_x = ((x as u64 * source_width as u64) / target_width as u64) as u32;
|
||||
let source = ((source_y * source_width + source_x) * 3) as usize;
|
||||
let target = ((y * target_width + x) * 3) as usize;
|
||||
output[target..target + 3].copy_from_slice(&rgb[source..source + 3]);
|
||||
}
|
||||
}
|
||||
Ok(output)
|
||||
}
|
||||
|
||||
/// Call MiDaS depth server running on GPU (127.0.0.1:9885).
|
||||
fn estimate_depth_midas_server(rgb: &[u8], width: u32, height: u32) -> Result<Vec<f32>> {
|
||||
let expected = (width * height * 3) as usize;
|
||||
@@ -283,4 +556,66 @@ mod tests {
|
||||
let cloud = backproject_depth(&depth, &intr, None, 1);
|
||||
assert_eq!(cloud.points.len(), 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn confidence_gate_filters_and_propagates_intensity() {
|
||||
let estimate = DepthEstimate {
|
||||
depth: vec![1.0, 1.0, 1.0, 1.0],
|
||||
confidence: Some(vec![0.2, 0.9, 1.1, 2.0]),
|
||||
width: 2,
|
||||
height: 2,
|
||||
intrinsics: CameraIntrinsics {
|
||||
fx: 1.0,
|
||||
fy: 1.0,
|
||||
cx: 0.5,
|
||||
cy: 0.5,
|
||||
width: 2,
|
||||
height: 2,
|
||||
},
|
||||
extrinsics: Some([0.0; 12]),
|
||||
is_metric: true,
|
||||
backend: "test",
|
||||
min_confidence: 1.0,
|
||||
};
|
||||
let cloud = backproject_estimate(&estimate, None, 1);
|
||||
assert_eq!(cloud.points.len(), 2);
|
||||
assert_eq!(cloud.points[0].intensity, 1.1);
|
||||
assert_eq!(cloud.points[1].intensity, 2.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn backprojection_tolerates_short_depth_buffer() {
|
||||
let intr = CameraIntrinsics {
|
||||
fx: 1.0,
|
||||
fy: 1.0,
|
||||
cx: 0.5,
|
||||
cy: 0.5,
|
||||
width: 2,
|
||||
height: 2,
|
||||
};
|
||||
let cloud = backproject_depth(&[1.0], &intr, None, 1);
|
||||
assert_eq!(cloud.points.len(), 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn nearest_rgb_resize_preserves_corner_colors() {
|
||||
let source = [255, 0, 0, 0, 255, 0, 0, 0, 255, 255, 255, 255];
|
||||
let resized = resize_rgb_nearest(&source, 2, 2, 4, 4).unwrap();
|
||||
assert_eq!(&resized[0..3], &[255, 0, 0]);
|
||||
assert_eq!(&resized[(15 * 3)..(16 * 3)], &[255, 255, 255]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn heuristic_handles_one_pixel_image() {
|
||||
let depth = estimate_depth_heuristic(&[127, 127, 127], 1, 1).unwrap();
|
||||
assert_eq!(depth.len(), 1);
|
||||
assert!(depth[0].is_finite());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn model_intrinsics_fall_back_when_invalid() {
|
||||
let intr = CameraIntrinsics::from_matrix_or_default(&[0.0; 9], 320, 240);
|
||||
assert!(intr.fx > 0.0 && intr.fy > 0.0);
|
||||
assert_eq!((intr.width, intr.height), (320, 240));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,717 @@
|
||||
//! Safe Rust ownership boundary for the optional depth-anything.cpp C ABI.
|
||||
//!
|
||||
//! The native engine and model are runtime-provided. RuView neither links the
|
||||
//! engine at build time nor bundles third-party model weights.
|
||||
|
||||
use crate::depth::{CameraIntrinsics, DepthEstimate};
|
||||
use anyhow::{bail, Context, Result};
|
||||
use libloading::Library;
|
||||
use sha2::{Digest, Sha256};
|
||||
use std::ffi::{c_char, c_void, CStr, CString};
|
||||
use std::fs::{File, OpenOptions};
|
||||
use std::io::{Read, Write};
|
||||
use std::path::{Path, PathBuf};
|
||||
use std::ptr;
|
||||
use std::sync::atomic::{AtomicU64, Ordering};
|
||||
use std::sync::mpsc::{self, Receiver, SyncSender};
|
||||
use std::thread::JoinHandle;
|
||||
|
||||
const REQUIRED_ABI_VERSION: i32 = 4;
|
||||
const MAX_OUTPUT_PIXELS: usize = 16_777_216;
|
||||
const NATIVE_THREAD_STACK_BYTES: usize = 16 * 1024 * 1024;
|
||||
static TEMP_SEQUENCE: AtomicU64 = AtomicU64::new(0);
|
||||
|
||||
type AbiVersionFn = unsafe extern "C" fn() -> i32;
|
||||
type LoadFn = unsafe extern "C" fn(*const c_char, i32) -> *mut c_void;
|
||||
type FreeFn = unsafe extern "C" fn(*mut c_void);
|
||||
type LastErrorFn = unsafe extern "C" fn(*mut c_void) -> *const c_char;
|
||||
type DepthDenseFn = unsafe extern "C" fn(
|
||||
*mut c_void,
|
||||
*const c_char,
|
||||
*mut i32,
|
||||
*mut i32,
|
||||
*mut *mut f32,
|
||||
*mut *mut f32,
|
||||
*mut *mut f32,
|
||||
*mut f32,
|
||||
*mut f32,
|
||||
*mut i32,
|
||||
) -> i32;
|
||||
type FreeFloatsFn = unsafe extern "C" fn(*mut f32);
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
struct Api {
|
||||
abi_version: AbiVersionFn,
|
||||
load: LoadFn,
|
||||
free: FreeFn,
|
||||
last_error: LastErrorFn,
|
||||
depth_dense: DepthDenseFn,
|
||||
free_floats: FreeFloatsFn,
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug)]
|
||||
pub struct DepthAnythingConfig {
|
||||
pub library_path: PathBuf,
|
||||
pub model_path: PathBuf,
|
||||
pub model_license: String,
|
||||
pub model_sha256: Option<String>,
|
||||
pub threads: i32,
|
||||
pub allow_noncommercial: bool,
|
||||
pub min_confidence: f32,
|
||||
}
|
||||
|
||||
impl DepthAnythingConfig {
|
||||
pub fn from_env() -> Result<Self> {
|
||||
let library_path = required_env("RUVIEW_DA_LIBRARY")?.into();
|
||||
let model_path = required_env("RUVIEW_DA_MODEL")?.into();
|
||||
let model_license = required_env("RUVIEW_DA_MODEL_LICENSE")?;
|
||||
let model_sha256 = std::env::var("RUVIEW_DA_MODEL_SHA256")
|
||||
.ok()
|
||||
.filter(|value| !value.trim().is_empty());
|
||||
let threads = std::env::var("RUVIEW_DA_THREADS")
|
||||
.ok()
|
||||
.map(|value| {
|
||||
value
|
||||
.parse::<i32>()
|
||||
.context("RUVIEW_DA_THREADS must be an integer")
|
||||
})
|
||||
.transpose()?
|
||||
.unwrap_or_else(default_threads);
|
||||
if threads <= 0 {
|
||||
bail!("RUVIEW_DA_THREADS must be greater than zero");
|
||||
}
|
||||
let min_confidence = std::env::var("RUVIEW_DA_MIN_CONFIDENCE")
|
||||
.ok()
|
||||
.map(|value| {
|
||||
value
|
||||
.parse::<f32>()
|
||||
.context("RUVIEW_DA_MIN_CONFIDENCE must be a finite number")
|
||||
})
|
||||
.transpose()?
|
||||
.unwrap_or(1.0);
|
||||
if !min_confidence.is_finite() {
|
||||
bail!("RUVIEW_DA_MIN_CONFIDENCE must be finite");
|
||||
}
|
||||
|
||||
Ok(Self {
|
||||
library_path,
|
||||
model_path,
|
||||
model_license,
|
||||
model_sha256,
|
||||
threads,
|
||||
allow_noncommercial: env_truthy("RUVIEW_DA_ALLOW_NONCOMMERCIAL"),
|
||||
min_confidence,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn validate(&self) -> Result<()> {
|
||||
validate_model_license(&self.model_license, self.allow_noncommercial)?;
|
||||
if !self.library_path.is_file() {
|
||||
bail!(
|
||||
"Depth Anything shared library not found: {}",
|
||||
self.library_path.display()
|
||||
);
|
||||
}
|
||||
if !self.model_path.is_file() {
|
||||
bail!(
|
||||
"Depth Anything model not found: {}",
|
||||
self.model_path.display()
|
||||
);
|
||||
}
|
||||
if let Some(expected) = &self.model_sha256 {
|
||||
verify_sha256(&self.model_path, expected)?;
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
struct NativeDepthAnything {
|
||||
// Function pointers remain valid only while this library is alive.
|
||||
_library: Option<Library>,
|
||||
api: Api,
|
||||
ctx: *mut c_void,
|
||||
min_confidence: f32,
|
||||
}
|
||||
|
||||
impl NativeDepthAnything {
|
||||
fn load(config: &DepthAnythingConfig) -> Result<Self> {
|
||||
// SAFETY: loading a user-configured native library is the explicit opt-in
|
||||
// of this backend. Symbols are checked immediately and the Library is kept
|
||||
// alive in the returned value for longer than every copied function pointer.
|
||||
let library = unsafe { Library::new(&config.library_path) }.with_context(|| {
|
||||
format!(
|
||||
"failed to load Depth Anything library {}",
|
||||
config.library_path.display()
|
||||
)
|
||||
})?;
|
||||
let api = unsafe { load_api(&library)? };
|
||||
let actual_abi = unsafe { (api.abi_version)() };
|
||||
if actual_abi != REQUIRED_ABI_VERSION {
|
||||
bail!(
|
||||
"unsupported depth-anything.cpp ABI {actual_abi}; required {REQUIRED_ABI_VERSION}"
|
||||
);
|
||||
}
|
||||
|
||||
let model = path_to_cstring(&config.model_path)?;
|
||||
// SAFETY: model is NUL-terminated for the duration of the call; threads
|
||||
// was validated positive; a null context is handled as a load failure.
|
||||
let ctx = unsafe { (api.load)(model.as_ptr(), config.threads) };
|
||||
if ctx.is_null() {
|
||||
bail!(
|
||||
"depth-anything.cpp rejected model {}",
|
||||
config.model_path.display()
|
||||
);
|
||||
}
|
||||
|
||||
Ok(Self {
|
||||
_library: Some(library),
|
||||
api,
|
||||
ctx,
|
||||
min_confidence: config.min_confidence,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn infer_rgb(&mut self, rgb: &[u8], width: u32, height: u32) -> Result<DepthEstimate> {
|
||||
let image = TemporaryPpm::create(rgb, width, height)?;
|
||||
let image_path = path_to_cstring(image.path())?;
|
||||
|
||||
let mut out_h = 0i32;
|
||||
let mut out_w = 0i32;
|
||||
let mut depth = ptr::null_mut();
|
||||
let mut confidence = ptr::null_mut();
|
||||
let mut sky = ptr::null_mut();
|
||||
let mut extrinsics = [0.0f32; 12];
|
||||
let mut intrinsics = [0.0f32; 9];
|
||||
let mut is_metric = 0i32;
|
||||
|
||||
// SAFETY: every output pointer references live Rust storage. The context
|
||||
// is non-null and exclusively borrowed. Native float buffers are copied
|
||||
// before being released with the matching upstream deallocator.
|
||||
let rc = unsafe {
|
||||
(self.api.depth_dense)(
|
||||
self.ctx,
|
||||
image_path.as_ptr(),
|
||||
&mut out_h,
|
||||
&mut out_w,
|
||||
&mut depth,
|
||||
&mut confidence,
|
||||
&mut sky,
|
||||
extrinsics.as_mut_ptr(),
|
||||
intrinsics.as_mut_ptr(),
|
||||
&mut is_metric,
|
||||
)
|
||||
};
|
||||
if rc != 0 {
|
||||
unsafe { self.free_outputs(depth, confidence, sky) };
|
||||
bail!("depth-anything.cpp inference failed: {}", self.last_error());
|
||||
}
|
||||
|
||||
let result = (|| {
|
||||
if out_h <= 0 || out_w <= 0 {
|
||||
bail!("depth-anything.cpp returned invalid dimensions {out_w}x{out_h}");
|
||||
}
|
||||
let len = (out_h as usize)
|
||||
.checked_mul(out_w as usize)
|
||||
.filter(|len| *len <= MAX_OUTPUT_PIXELS)
|
||||
.context("depth-anything.cpp output dimensions exceed safety limit")?;
|
||||
if depth.is_null() {
|
||||
bail!("depth-anything.cpp returned a null depth buffer");
|
||||
}
|
||||
|
||||
// SAFETY: successful ABI v4 calls promise H*W floats for each non-null
|
||||
// dense output. The safety limit above also bounds the copy allocation.
|
||||
let depth_vec = unsafe { std::slice::from_raw_parts(depth, len).to_vec() };
|
||||
let confidence_vec = if confidence.is_null() {
|
||||
None
|
||||
} else {
|
||||
Some(unsafe { std::slice::from_raw_parts(confidence, len).to_vec() })
|
||||
};
|
||||
|
||||
if is_metric != 1 {
|
||||
bail!(
|
||||
"Depth Anything model returned relative depth; RuView point-cloud fusion requires metric depth"
|
||||
);
|
||||
}
|
||||
if depth_vec.iter().any(|value| !value.is_finite()) {
|
||||
bail!("Depth Anything returned non-finite depth values");
|
||||
}
|
||||
|
||||
let output_width = out_w as u32;
|
||||
let output_height = out_h as u32;
|
||||
let camera =
|
||||
CameraIntrinsics::from_matrix_or_default(&intrinsics, output_width, output_height);
|
||||
let camera_pose = if extrinsics.iter().any(|value| *value != 0.0) {
|
||||
Some(extrinsics)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
Ok(DepthEstimate {
|
||||
depth: depth_vec,
|
||||
confidence: confidence_vec,
|
||||
width: output_width,
|
||||
height: output_height,
|
||||
intrinsics: camera,
|
||||
extrinsics: camera_pose,
|
||||
is_metric: true,
|
||||
backend: "depth-anything",
|
||||
min_confidence: self.min_confidence,
|
||||
})
|
||||
})();
|
||||
|
||||
unsafe { self.free_outputs(depth, confidence, sky) };
|
||||
result
|
||||
}
|
||||
|
||||
fn last_error(&self) -> String {
|
||||
// SAFETY: the ABI documents this pointer as context-owned and valid until
|
||||
// the next context operation. Copy it immediately and tolerate null/UTF-8.
|
||||
let ptr = unsafe { (self.api.last_error)(self.ctx) };
|
||||
if ptr.is_null() {
|
||||
return "unknown native error".into();
|
||||
}
|
||||
unsafe { CStr::from_ptr(ptr) }
|
||||
.to_string_lossy()
|
||||
.into_owned()
|
||||
}
|
||||
|
||||
unsafe fn free_outputs(&self, depth: *mut f32, confidence: *mut f32, sky: *mut f32) {
|
||||
for output in [depth, confidence, sky] {
|
||||
if !output.is_null() {
|
||||
// SAFETY: each pointer came from this ABI call and is released at
|
||||
// most once through the exact deallocator exported by that ABI.
|
||||
unsafe { (self.api.free_floats)(output) };
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
fn from_test_api(api: Api, min_confidence: f32) -> Result<Self> {
|
||||
let abi = unsafe { (api.abi_version)() };
|
||||
if abi != REQUIRED_ABI_VERSION {
|
||||
bail!("unsupported depth-anything.cpp ABI {abi}; required {REQUIRED_ABI_VERSION}");
|
||||
}
|
||||
let model = CString::new("mock.gguf").unwrap();
|
||||
let ctx = unsafe { (api.load)(model.as_ptr(), 1) };
|
||||
if ctx.is_null() {
|
||||
bail!("mock model load failed");
|
||||
}
|
||||
Ok(Self {
|
||||
_library: None,
|
||||
api,
|
||||
ctx,
|
||||
min_confidence,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
/// Verify that a runtime library exposes the expected C symbols and return its
|
||||
/// ABI version without loading model weights.
|
||||
pub fn probe_library(path: &Path) -> Result<i32> {
|
||||
// SAFETY: the library stays alive until after all symbol calls complete.
|
||||
let library = unsafe { Library::new(path) }
|
||||
.with_context(|| format!("failed to load Depth Anything library {}", path.display()))?;
|
||||
let api = unsafe { load_api(&library)? };
|
||||
let version = unsafe { (api.abi_version)() };
|
||||
if version != REQUIRED_ABI_VERSION {
|
||||
bail!("unsupported depth-anything.cpp ABI {version}; required {REQUIRED_ABI_VERSION}");
|
||||
}
|
||||
Ok(version)
|
||||
}
|
||||
|
||||
impl Drop for NativeDepthAnything {
|
||||
fn drop(&mut self) {
|
||||
if !self.ctx.is_null() {
|
||||
// SAFETY: ctx was returned by api.load, remains owned by this wrapper,
|
||||
// and Drop is its single destruction point while the library is alive.
|
||||
unsafe { (self.api.free)(self.ctx) };
|
||||
self.ctx = ptr::null_mut();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
enum WorkerRequest {
|
||||
Infer {
|
||||
rgb: Vec<u8>,
|
||||
width: u32,
|
||||
height: u32,
|
||||
response: SyncSender<std::result::Result<DepthEstimate, String>>,
|
||||
},
|
||||
Shutdown,
|
||||
}
|
||||
|
||||
/// Serialized, thread-affine handle to the native Depth Anything context.
|
||||
///
|
||||
/// The dedicated stack is required by the upstream Windows model loader and
|
||||
/// also prevents a native context from moving between Tokio worker threads.
|
||||
pub struct DepthAnythingBackend {
|
||||
requests: SyncSender<WorkerRequest>,
|
||||
worker: Option<JoinHandle<()>>,
|
||||
}
|
||||
|
||||
impl DepthAnythingBackend {
|
||||
pub fn load(config: &DepthAnythingConfig) -> Result<Self> {
|
||||
config.validate()?;
|
||||
let config = config.clone();
|
||||
let (requests, incoming): (SyncSender<WorkerRequest>, Receiver<WorkerRequest>) =
|
||||
mpsc::sync_channel(1);
|
||||
let (initialized, initialization) = mpsc::sync_channel(0);
|
||||
let worker = std::thread::Builder::new()
|
||||
.name("ruview-depth-anything".into())
|
||||
.stack_size(NATIVE_THREAD_STACK_BYTES)
|
||||
.spawn(move || {
|
||||
let mut native = match NativeDepthAnything::load(&config) {
|
||||
Ok(native) => {
|
||||
let _ = initialized.send(Ok(()));
|
||||
native
|
||||
}
|
||||
Err(error) => {
|
||||
let _ = initialized.send(Err(format!("{error:#}")));
|
||||
return;
|
||||
}
|
||||
};
|
||||
while let Ok(request) = incoming.recv() {
|
||||
match request {
|
||||
WorkerRequest::Infer {
|
||||
rgb,
|
||||
width,
|
||||
height,
|
||||
response,
|
||||
} => {
|
||||
let result = native
|
||||
.infer_rgb(&rgb, width, height)
|
||||
.map_err(|error| format!("{error:#}"));
|
||||
let _ = response.send(result);
|
||||
}
|
||||
WorkerRequest::Shutdown => {
|
||||
#[cfg(windows)]
|
||||
{
|
||||
// The upstream ABI-v4 CPU DLL built with exported
|
||||
// symbols currently access-violates in Engine's
|
||||
// destructor after successful DA2 inference. Keep
|
||||
// the process-singleton context and DLL loaded until
|
||||
// Windows reclaims them at process termination.
|
||||
std::mem::forget(native);
|
||||
break;
|
||||
}
|
||||
#[cfg(not(windows))]
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
})
|
||||
.context("failed to spawn Depth Anything native worker")?;
|
||||
|
||||
match initialization.recv() {
|
||||
Ok(Ok(())) => Ok(Self {
|
||||
requests,
|
||||
worker: Some(worker),
|
||||
}),
|
||||
Ok(Err(error)) => {
|
||||
let _ = worker.join();
|
||||
bail!("Depth Anything worker initialization failed: {error}")
|
||||
}
|
||||
Err(_) => {
|
||||
let _ = worker.join();
|
||||
bail!("Depth Anything worker terminated during initialization")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn infer_rgb(&mut self, rgb: &[u8], width: u32, height: u32) -> Result<DepthEstimate> {
|
||||
let (response, result) = mpsc::sync_channel(0);
|
||||
self.requests
|
||||
.send(WorkerRequest::Infer {
|
||||
rgb: rgb.to_vec(),
|
||||
width,
|
||||
height,
|
||||
response,
|
||||
})
|
||||
.context("Depth Anything worker is unavailable")?;
|
||||
result
|
||||
.recv()
|
||||
.context("Depth Anything worker stopped before returning inference")?
|
||||
.map_err(anyhow::Error::msg)
|
||||
}
|
||||
}
|
||||
|
||||
impl Drop for DepthAnythingBackend {
|
||||
fn drop(&mut self) {
|
||||
let _ = self.requests.send(WorkerRequest::Shutdown);
|
||||
if let Some(worker) = self.worker.take() {
|
||||
let _ = worker.join();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsafe fn load_api(library: &Library) -> Result<Api> {
|
||||
// SAFETY: each symbol name and signature mirrors include/da_capi.h ABI v4.
|
||||
unsafe {
|
||||
Ok(Api {
|
||||
abi_version: *library.get(b"da_capi_abi_version\0")?,
|
||||
load: *library.get(b"da_capi_load\0")?,
|
||||
free: *library.get(b"da_capi_free\0")?,
|
||||
last_error: *library.get(b"da_capi_last_error\0")?,
|
||||
depth_dense: *library.get(b"da_capi_depth_dense\0")?,
|
||||
free_floats: *library.get(b"da_capi_free_floats\0")?,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
struct TemporaryPpm {
|
||||
path: PathBuf,
|
||||
}
|
||||
|
||||
impl TemporaryPpm {
|
||||
fn create(rgb: &[u8], width: u32, height: u32) -> Result<Self> {
|
||||
let expected = (width as usize)
|
||||
.checked_mul(height as usize)
|
||||
.and_then(|pixels| pixels.checked_mul(3))
|
||||
.context("RGB dimensions overflow")?;
|
||||
if width == 0 || height == 0 || rgb.len() != expected {
|
||||
bail!(
|
||||
"RGB buffer length {} does not match {width}x{height} RGB8 ({expected})",
|
||||
rgb.len()
|
||||
);
|
||||
}
|
||||
|
||||
for _ in 0..32 {
|
||||
let sequence = TEMP_SEQUENCE.fetch_add(1, Ordering::Relaxed);
|
||||
let path = std::env::temp_dir().join(format!(
|
||||
"ruview-depth-{}-{sequence}.ppm",
|
||||
std::process::id()
|
||||
));
|
||||
match OpenOptions::new().write(true).create_new(true).open(&path) {
|
||||
Ok(mut file) => {
|
||||
if let Err(error) = write_ppm(&mut file, rgb, width, height) {
|
||||
drop(file);
|
||||
let _ = std::fs::remove_file(&path);
|
||||
return Err(error);
|
||||
}
|
||||
return Ok(Self { path });
|
||||
}
|
||||
Err(error) if error.kind() == std::io::ErrorKind::AlreadyExists => continue,
|
||||
Err(error) => return Err(error).context("failed to create temporary PPM"),
|
||||
}
|
||||
}
|
||||
bail!("failed to allocate a unique temporary PPM path")
|
||||
}
|
||||
|
||||
fn path(&self) -> &Path {
|
||||
&self.path
|
||||
}
|
||||
}
|
||||
|
||||
impl Drop for TemporaryPpm {
|
||||
fn drop(&mut self) {
|
||||
let _ = std::fs::remove_file(&self.path);
|
||||
}
|
||||
}
|
||||
|
||||
fn write_ppm(mut writer: impl Write, rgb: &[u8], width: u32, height: u32) -> Result<()> {
|
||||
write!(writer, "P6\n{width} {height}\n255\n")?;
|
||||
writer.write_all(rgb)?;
|
||||
writer.flush()?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn validate_model_license(value: &str, allow_noncommercial: bool) -> Result<()> {
|
||||
let normalized = value.trim().to_ascii_lowercase().replace('_', "-");
|
||||
match normalized.as_str() {
|
||||
"apache-2.0" | "apache2" | "apache-2" => Ok(()),
|
||||
"cc-by-nc-4.0" | "cc-by-nc-4" if allow_noncommercial => Ok(()),
|
||||
"cc-by-nc-4.0" | "cc-by-nc-4" => bail!(
|
||||
"CC-BY-NC-4.0 model requires RUVIEW_DA_ALLOW_NONCOMMERCIAL=1; do not redistribute it as a general RuView asset"
|
||||
),
|
||||
_ => bail!(
|
||||
"unsupported or unknown Depth Anything model license '{value}'; expected Apache-2.0"
|
||||
),
|
||||
}
|
||||
}
|
||||
|
||||
fn verify_sha256(path: &Path, expected: &str) -> Result<()> {
|
||||
let expected = expected.trim().to_ascii_lowercase();
|
||||
if expected.len() != 64 || !expected.bytes().all(|byte| byte.is_ascii_hexdigit()) {
|
||||
bail!("RUVIEW_DA_MODEL_SHA256 must contain exactly 64 hexadecimal characters");
|
||||
}
|
||||
let mut file = File::open(path)
|
||||
.with_context(|| format!("failed to open model for hashing: {}", path.display()))?;
|
||||
let mut hasher = Sha256::new();
|
||||
// Heap-allocate: the default Windows main-thread stack is 1 MiB, so a
|
||||
// 1 MiB local array can overflow before the native worker is even started.
|
||||
let mut buffer = vec![0u8; 1024 * 1024];
|
||||
loop {
|
||||
let read = file.read(&mut buffer)?;
|
||||
if read == 0 {
|
||||
break;
|
||||
}
|
||||
hasher.update(&buffer[..read]);
|
||||
}
|
||||
let actual = format!("{:x}", hasher.finalize());
|
||||
if actual != expected {
|
||||
bail!("Depth Anything model SHA-256 mismatch: expected {expected}, got {actual}");
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn path_to_cstring(path: &Path) -> Result<CString> {
|
||||
CString::new(path.to_string_lossy().as_bytes())
|
||||
.with_context(|| format!("path contains an interior NUL: {}", path.display()))
|
||||
}
|
||||
|
||||
fn required_env(name: &str) -> Result<String> {
|
||||
std::env::var(name)
|
||||
.ok()
|
||||
.filter(|value| !value.trim().is_empty())
|
||||
.with_context(|| format!("{name} is required for the Depth Anything backend"))
|
||||
}
|
||||
|
||||
fn env_truthy(name: &str) -> bool {
|
||||
std::env::var(name)
|
||||
.map(|value| {
|
||||
matches!(
|
||||
value.trim().to_ascii_lowercase().as_str(),
|
||||
"1" | "true" | "yes" | "on"
|
||||
)
|
||||
})
|
||||
.unwrap_or(false)
|
||||
}
|
||||
|
||||
fn default_threads() -> i32 {
|
||||
std::thread::available_parallelism()
|
||||
.map(|value| value.get().min(i32::MAX as usize) as i32)
|
||||
.unwrap_or(1)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use std::sync::atomic::{AtomicUsize, Ordering};
|
||||
|
||||
static FREE_COUNT: AtomicUsize = AtomicUsize::new(0);
|
||||
static CONTEXT_FREE_COUNT: AtomicUsize = AtomicUsize::new(0);
|
||||
static ERROR: &[u8] = b"mock failure\0";
|
||||
|
||||
unsafe extern "C" fn abi_v4() -> i32 {
|
||||
4
|
||||
}
|
||||
unsafe extern "C" fn abi_v3() -> i32 {
|
||||
3
|
||||
}
|
||||
unsafe extern "C" fn mock_load(_: *const c_char, _: i32) -> *mut c_void {
|
||||
Box::into_raw(Box::new(7u8)).cast()
|
||||
}
|
||||
unsafe extern "C" fn mock_free(ctx: *mut c_void) {
|
||||
if !ctx.is_null() {
|
||||
drop(unsafe { Box::from_raw(ctx.cast::<u8>()) });
|
||||
CONTEXT_FREE_COUNT.fetch_add(1, Ordering::SeqCst);
|
||||
}
|
||||
}
|
||||
unsafe extern "C" fn mock_error(_: *mut c_void) -> *const c_char {
|
||||
ERROR.as_ptr().cast()
|
||||
}
|
||||
unsafe extern "C" fn mock_free_floats(ptr: *mut f32) {
|
||||
if !ptr.is_null() {
|
||||
drop(unsafe { Vec::from_raw_parts(ptr, 4, 4) });
|
||||
FREE_COUNT.fetch_add(1, Ordering::SeqCst);
|
||||
}
|
||||
}
|
||||
fn leak_four(values: [f32; 4]) -> *mut f32 {
|
||||
let mut values = Vec::from(values);
|
||||
let pointer = values.as_mut_ptr();
|
||||
std::mem::forget(values);
|
||||
pointer
|
||||
}
|
||||
unsafe extern "C" fn mock_dense(
|
||||
_: *mut c_void,
|
||||
_: *const c_char,
|
||||
out_h: *mut i32,
|
||||
out_w: *mut i32,
|
||||
depth: *mut *mut f32,
|
||||
confidence: *mut *mut f32,
|
||||
sky: *mut *mut f32,
|
||||
ext: *mut f32,
|
||||
intr: *mut f32,
|
||||
metric: *mut i32,
|
||||
) -> i32 {
|
||||
unsafe {
|
||||
*out_h = 2;
|
||||
*out_w = 2;
|
||||
*depth = leak_four([1.0, 2.0, 3.0, 4.0]);
|
||||
*confidence = leak_four([0.5, 1.0, 1.5, 2.0]);
|
||||
*sky = ptr::null_mut();
|
||||
std::slice::from_raw_parts_mut(ext, 12).copy_from_slice(&[1.0; 12]);
|
||||
std::slice::from_raw_parts_mut(intr, 9)
|
||||
.copy_from_slice(&[100.0, 0.0, 1.0, 0.0, 110.0, 1.0, 0.0, 0.0, 1.0]);
|
||||
*metric = 1;
|
||||
}
|
||||
0
|
||||
}
|
||||
|
||||
fn mock_api(abi_version: AbiVersionFn) -> Api {
|
||||
Api {
|
||||
abi_version,
|
||||
load: mock_load,
|
||||
free: mock_free,
|
||||
last_error: mock_error,
|
||||
depth_dense: mock_dense,
|
||||
free_floats: mock_free_floats,
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn license_policy_is_fail_closed() {
|
||||
assert!(validate_model_license("Apache-2.0", false).is_ok());
|
||||
assert!(validate_model_license("CC-BY-NC-4.0", false).is_err());
|
||||
assert!(validate_model_license("CC-BY-NC-4.0", true).is_ok());
|
||||
assert!(validate_model_license("unknown", true).is_err());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn ppm_is_binary_rgb_and_self_cleaning() {
|
||||
let path = {
|
||||
let image = TemporaryPpm::create(&[255, 0, 0, 0, 255, 0], 2, 1).unwrap();
|
||||
let path = image.path().to_path_buf();
|
||||
let bytes = std::fs::read(&path).unwrap();
|
||||
assert_eq!(&bytes[..11], b"P6\n2 1\n255\n");
|
||||
assert_eq!(&bytes[11..], &[255, 0, 0, 0, 255, 0]);
|
||||
path
|
||||
};
|
||||
assert!(!path.exists());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn ppm_rejects_mismatched_buffer() {
|
||||
assert!(TemporaryPpm::create(&[0; 5], 2, 1).is_err());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn sha256_verification_accepts_exact_digest() {
|
||||
let image = TemporaryPpm::create(&[1, 2, 3], 1, 1).unwrap();
|
||||
let bytes = std::fs::read(image.path()).unwrap();
|
||||
let digest = format!("{:x}", Sha256::digest(bytes));
|
||||
assert!(verify_sha256(image.path(), &digest).is_ok());
|
||||
assert!(verify_sha256(image.path(), &"0".repeat(64)).is_err());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn abi_version_is_gated() {
|
||||
assert!(NativeDepthAnything::from_test_api(mock_api(abi_v3), 1.0).is_err());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mock_abi_copies_and_frees_native_outputs() {
|
||||
FREE_COUNT.store(0, Ordering::SeqCst);
|
||||
CONTEXT_FREE_COUNT.store(0, Ordering::SeqCst);
|
||||
{
|
||||
let mut backend = NativeDepthAnything::from_test_api(mock_api(abi_v4), 1.0).unwrap();
|
||||
let result = backend.infer_rgb(&[10, 20, 30], 1, 1).unwrap();
|
||||
assert_eq!(result.depth, vec![1.0, 2.0, 3.0, 4.0]);
|
||||
assert_eq!(result.confidence.unwrap(), vec![0.5, 1.0, 1.5, 2.0]);
|
||||
assert_eq!((result.width, result.height), (2, 2));
|
||||
assert!(result.is_metric);
|
||||
assert_eq!(result.intrinsics.fx, 100.0);
|
||||
assert_eq!(FREE_COUNT.load(Ordering::SeqCst), 2);
|
||||
}
|
||||
assert_eq!(CONTEXT_FREE_COUNT.load(Ordering::SeqCst), 1);
|
||||
}
|
||||
}
|
||||
@@ -13,6 +13,7 @@ mod brain_bridge;
|
||||
mod camera;
|
||||
mod csi_pipeline;
|
||||
mod depth;
|
||||
mod depth_anything;
|
||||
mod fusion;
|
||||
mod parser;
|
||||
mod pointcloud;
|
||||
@@ -85,6 +86,15 @@ enum Commands {
|
||||
#[arg(long, default_value = "5")]
|
||||
seconds: u64,
|
||||
},
|
||||
/// Validate the optional depth-anything.cpp runtime and model configuration.
|
||||
DepthCheck {
|
||||
/// Check only shared-library symbols and ABI; do not load a model.
|
||||
#[arg(long)]
|
||||
abi_only: bool,
|
||||
/// After model validation, run one synthetic RGB inference.
|
||||
#[arg(long)]
|
||||
infer: bool,
|
||||
},
|
||||
}
|
||||
|
||||
#[tokio::main]
|
||||
@@ -99,9 +109,12 @@ async fn main() -> Result<()> {
|
||||
if camera::camera_available() {
|
||||
let config = camera::CameraConfig::default();
|
||||
let frame = camera::capture_frame(&config)?;
|
||||
let depth = depth::estimate_depth(&frame.rgb, frame.width, frame.height)?;
|
||||
let intrinsics = depth::CameraIntrinsics::default();
|
||||
let cloud = depth::backproject_depth(&depth, &intrinsics, Some(&frame.rgb), 2);
|
||||
let estimate = depth::estimate_depth_frame(&frame.rgb, frame.width, frame.height)?;
|
||||
let cloud = depth::backproject_estimate(
|
||||
&estimate,
|
||||
Some((&frame.rgb, frame.width, frame.height)),
|
||||
2,
|
||||
);
|
||||
pointcloud::write_ply(&cloud, &output)?;
|
||||
println!("Captured {} points to {output}", cloud.points.len());
|
||||
} else {
|
||||
@@ -151,6 +164,48 @@ async fn main() -> Result<()> {
|
||||
);
|
||||
}
|
||||
}
|
||||
Commands::DepthCheck { abi_only, infer } => {
|
||||
let library = std::env::var("RUVIEW_DA_LIBRARY")
|
||||
.map(std::path::PathBuf::from)
|
||||
.map_err(|_| anyhow::anyhow!("RUVIEW_DA_LIBRARY is required"))?;
|
||||
let abi = depth_anything::probe_library(&library)?;
|
||||
println!("Depth Anything library: {}", library.display());
|
||||
println!("C ABI: {abi} (supported)");
|
||||
if !abi_only {
|
||||
let config = depth_anything::DepthAnythingConfig::from_env()?;
|
||||
let mut backend = depth_anything::DepthAnythingBackend::load(&config)?;
|
||||
println!("Model: {}", config.model_path.display());
|
||||
println!("License declaration: {}", config.model_license);
|
||||
println!("Model load: OK");
|
||||
if infer {
|
||||
let width = 64u32;
|
||||
let height = 64u32;
|
||||
let mut rgb = vec![0u8; (width * height * 3) as usize];
|
||||
for y in 0..height {
|
||||
for x in 0..width {
|
||||
let index = ((y * width + x) * 3) as usize;
|
||||
rgb[index] = (x * 255 / (width - 1)) as u8;
|
||||
rgb[index + 1] = (y * 255 / (height - 1)) as u8;
|
||||
rgb[index + 2] = 127;
|
||||
}
|
||||
}
|
||||
let estimate = backend.infer_rgb(&rgb, width, height)?;
|
||||
let (min_depth, max_depth) = estimate
|
||||
.depth
|
||||
.iter()
|
||||
.fold((f32::INFINITY, f32::NEG_INFINITY), |(min, max), value| {
|
||||
(min.min(*value), max.max(*value))
|
||||
});
|
||||
println!(
|
||||
"Inference: {}x{}, metric={}, depth={min_depth:.4}..{max_depth:.4}m, confidence={}",
|
||||
estimate.width,
|
||||
estimate.height,
|
||||
estimate.is_metric,
|
||||
estimate.confidence.is_some()
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
|
||||
@@ -186,11 +186,12 @@ fn capture_camera_cloud_with_luminance() -> (pointcloud::PointCloud, Option<f32>
|
||||
None
|
||||
};
|
||||
|
||||
let cloud = match depth::estimate_depth(&frame.rgb, frame.width, frame.height) {
|
||||
Ok(dm) => {
|
||||
let intr = depth::CameraIntrinsics::default();
|
||||
depth::backproject_depth(&dm, &intr, Some(&frame.rgb), 2)
|
||||
}
|
||||
let cloud = match depth::estimate_depth_frame(&frame.rgb, frame.width, frame.height) {
|
||||
Ok(estimate) => depth::backproject_estimate(
|
||||
&estimate,
|
||||
Some((&frame.rgb, frame.width, frame.height)),
|
||||
2,
|
||||
),
|
||||
Err(_) => depth::demo_depth_cloud(),
|
||||
};
|
||||
(cloud, lum)
|
||||
|
||||
Reference in New Issue
Block a user