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Depth Anything V2#

Authors: Holoscan Team (NVIDIA)
Supported platforms: x86_64, aarch64
Language: Python
Last modified: May 13, 2025
Latest version: 1.0
Minimum Holoscan SDK version: 2.5.0
Tested Holoscan SDK versions: 2.8.0
Contribution metric: Level 2 - Trusted

This application uses the Depth Anything V2 model for monocular depth estimation. Monocular Depth Estimation refers to the task of predicting the distance of objects in a scene from a single 2D image captured by a standard camera.

Model#

This application uses the Depth Anything V2 model from DepthAnythingV2 for monocular depth estimation. The model is downloaded when building the Docker image.

NOTE: The user is responsible for checking if the model license is suitable for the intended purpose.

Data#

This application downloads a pre-recorded video from Pexels when the application is built. Please review the license terms from Pexels.

NOTE: The user is responsible for ensuring the dataset license is suitable for the intended purpose.

Input#

This app supports two different input options. If you have a v4l2 compatible device plugged into your machine such as a webcam, you can run this application with option 1. Otherwise you can run this application using a pre-recorded video with option 2.

  1. v4l2 compatible input device (default, see V4L2 Support below)
  2. pre-recorded video (see Video Replayer Support below)

To see the list of v4l2 devices connected to your machine, install v4l-utils if it's not already installed:

sudo apt-get install v4l-utils

Then run:

v4l2-ctl --list-devices

Run Instructions#

V4L2 Support#

This application supports v4l2 compatible devices as input. To run this application with your v4l2 compatible device, please plug in your input device and run: 

./dev_container build_and_run depth_anything_v2

By default, this application expects the input device to be mounted at /dev/video0. If this is not the case, update applications/depth_anything_v2/depth_anything_v2.yaml file to set the corresponding input device before running the application. You can also override the default input device on the command line by running: 

./dev_container build_and_run depth_anything_v2 --run_args "--video_device /dev/video0"

Video Replayer Support#

If you don't have a v4l2 compatible device plugged in, you can also run this application on a pre-recorded video. To launch the application using the Video Stream Replayer as the input source, run:

./dev_container build_and_run depth_anything_v2 --run_args "--source replayer"

Display Modes#

This application has multiple display modes which you can toggle through using the left mouse button.

  • original: output the original image from input source
  • depth: output the color depthmap based on the depthmap returned from Depth Anything V2 model
  • side-by-side: output a side-by-side view of the original image next to the color depthmap
  • interactive: allow user

In interactive mode, the middle or right mouse button can be used to modify the ratio of original image vs color depthmap is shown.

Acknowledgement#

This project is based on the following projects: - Depth-Anything-V2 - Depth Anything V2 - depth-anything-tensorrt - Depth Anything TensorRT CLI

Known Issues#

There is a known issue running this application on IGX w/ iGPU and on Jetson AGX (see #500). The workaround is to update the device to avoid picking up the libnvv4l2.so library.

cd /usr/lib/aarch64-linux-gnu/
ls -l libv4l2.so.0.0.999999
sudo rm libv4l2.so.0.0.999999
sudo ln -s libv4l2.so.0.0.0.0  libv4l2.so.0.0.999999