feat: Add Depth Anything PreProcessor

invokeai/app/invocations/controlnet_image_processors.py

@@ -30,6 +30,7 @@ from invokeai.app.invocations.primitives import ImageField, ImageOutput
 from invokeai.app.invocations.util import validate_begin_end_step, validate_weights
 from invokeai.app.services.image_records.image_records_common import ImageCategory, ResourceOrigin
 from invokeai.app.shared.fields import FieldDescriptions
+from invokeai.backend.image_util.depth_anything import DepthAnythingDetector
 
 from ...backend.model_management import BaseModelType
 from .baseinvocation import (
@@ -602,3 +603,32 @@ class ColorMapImageProcessorInvocation(ImageProcessorInvocation):
         color_map = cv2.resize(color_map, (width, height), interpolation=cv2.INTER_NEAREST)
         color_map = Image.fromarray(color_map)
         return color_map
+
+
+DEPTH_ANYTHING_MODEL_SIZES = Literal["large", "base", "small"]
+
+
+@invocation(
+    "depth_anything_image_processor",
+    title="Depth Anything Processor",
+    tags=["controlnet", "depth", "depth anything"],
+    category="controlnet",
+    version="1.0.0",
+)
+class DepthAnythingImageProcessorInvocation(ImageProcessorInvocation):
+    """Generates a depth map based on the Depth Anything algorithm"""
+
+    model_size: DEPTH_ANYTHING_MODEL_SIZES = InputField(
+        default="large", description="The size of the depth model to use"
+    )
+    offload: bool = InputField(default=False)
+
+    def run_processor(self, image):
+        depth_anything_detector = DepthAnythingDetector()
+        depth_anything_detector.load_model(model_size=self.model_size)
+
+        if image.mode == "RGBA":
+            image = image.convert("RGB")
+
+        processed_image = depth_anything_detector(image=image, offload=self.offload)
+        return processed_image

invokeai/backend/image_util/depth_anything/__init__.py

@@ -0,0 +1,107 @@
+import pathlib
+from typing import Literal, Union
+
+import cv2
+import numpy as np
+import torch
+import torch.nn.functional as F
+from einops import repeat
+from PIL import Image
+from torchvision.transforms import Compose
+
+from invokeai.app.services.config.config_default import InvokeAIAppConfig
+from invokeai.backend.image_util.depth_anything.model.dpt import DPT_DINOv2
+from invokeai.backend.image_util.depth_anything.utilities.util import NormalizeImage, PrepareForNet, Resize
+from invokeai.backend.util.devices import choose_torch_device
+from invokeai.backend.util.util import download_with_progress_bar
+
+config = InvokeAIAppConfig.get_config()
+
+DEPTH_ANYTHING_MODELS = {
+    "large": {
+        "url": "https://huggingface.co/spaces/LiheYoung/Depth-Anything/resolve/main/checkpoints/depth_anything_vitl14.pth?download=true",
+        "local": "sd-1/controlnet/annotator/depth_anything/depth_anything_vitl14.pth",
+    },
+    "base": {
+        "url": "https://huggingface.co/spaces/LiheYoung/Depth-Anything/resolve/main/checkpoints/depth_anything_vitb14.pth?download=true",
+        "local": "sd-1/controlnet/annotator/depth_anything/depth_anything_vitb14.pth",
+    },
+    "small": {
+        "url": "https://huggingface.co/spaces/LiheYoung/Depth-Anything/resolve/main/checkpoints/depth_anything_vits14.pth?download=true",
+        "local": "sd-1/controlnet/annotator/depth_anything/depth_anything_vits14.pth",
+    },
+}
+
+
+transform = Compose(
+    [
+        Resize(
+            width=518,
+            height=518,
+            resize_target=False,
+            keep_aspect_ratio=True,
+            ensure_multiple_of=14,
+            resize_method="lower_bound",
+            image_interpolation_method=cv2.INTER_CUBIC,
+        ),
+        NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
+        PrepareForNet(),
+    ]
+)
+
+
+class DepthAnythingDetector:
+    def __init__(self) -> None:
+        self.model = None
+        self.model_size: Union[Literal["large", "base", "small"], None] = None
+
+    def load_model(self, model_size=Literal["large", "base", "small"]):
+        DEPTH_ANYTHING_MODEL_PATH = pathlib.Path(config.models_path / DEPTH_ANYTHING_MODELS[model_size]["local"])
+        if not DEPTH_ANYTHING_MODEL_PATH.exists():
+            download_with_progress_bar(DEPTH_ANYTHING_MODELS[model_size]["url"], DEPTH_ANYTHING_MODEL_PATH)
+
+        if not self.model or model_size != self.model_size:
+            del self.model
+            self.model_size = model_size
+
+            if self.model_size == "small":
+                self.model = DPT_DINOv2(encoder="vits", features=64, out_channels=[48, 96, 192, 384], localhub=True)
+            if self.model_size == "base":
+                self.model = DPT_DINOv2(encoder="vitb", features=128, out_channels=[96, 192, 384, 768], localhub=True)
+            if self.model_size == "large":
+                self.model = DPT_DINOv2(
+                    encoder="vitl", features=256, out_channels=[256, 512, 1024, 1024], localhub=True
+                )
+
+            self.model.load_state_dict(torch.load(DEPTH_ANYTHING_MODEL_PATH.as_posix(), map_location="cpu"))
+            self.model.eval()
+
+        self.model.to(choose_torch_device())
+        return self.model
+
+    def to(self, device):
+        self.model.to(device)
+        return self
+
+    def __call__(self, image, offload=False):
+        image = np.array(image, dtype=np.uint8)
+        original_width, original_height = image.shape[:2]
+        image = image[:, :, ::-1] / 255.0
+
+        image_width, image_height = image.shape[:2]
+        image = transform({"image": image})["image"]
+        image = torch.from_numpy(image).unsqueeze(0).to(choose_torch_device())
+
+        with torch.no_grad():
+            depth = self.model(image)
+            depth = F.interpolate(depth[None], (image_height, image_width), mode="bilinear", align_corners=False)[0, 0]
+            depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0
+
+        depth_map = repeat(depth, "h w -> h w 3").cpu().numpy().astype(np.uint8)
+        depth_map = Image.fromarray(depth_map)
+        depth_map = depth_map.resize((original_height, original_width))
+
+        if offload:
+            del self.model
+
+        return depth_map

invokeai/backend/image_util/depth_anything/model/blocks.py

@@ -0,0 +1,145 @@
+import torch.nn as nn
+
+
+def _make_scratch(in_shape, out_shape, groups=1, expand=False):
+    scratch = nn.Module()
+
+    out_shape1 = out_shape
+    out_shape2 = out_shape
+    out_shape3 = out_shape
+    if len(in_shape) >= 4:
+        out_shape4 = out_shape
+
+    if expand:
+        out_shape1 = out_shape
+        out_shape2 = out_shape * 2
+        out_shape3 = out_shape * 4
+        if len(in_shape) >= 4:
+            out_shape4 = out_shape * 8
+
+    scratch.layer1_rn = nn.Conv2d(
+        in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups
+    )
+    scratch.layer2_rn = nn.Conv2d(
+        in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups
+    )
+    scratch.layer3_rn = nn.Conv2d(
+        in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups
+    )
+    if len(in_shape) >= 4:
+        scratch.layer4_rn = nn.Conv2d(
+            in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups
+        )
+
+    return scratch
+
+
+class ResidualConvUnit(nn.Module):
+    """Residual convolution module."""
+
+    def __init__(self, features, activation, bn):
+        """Init.
+
+        Args:
+            features (int): number of features
+        """
+        super().__init__()
+
+        self.bn = bn
+
+        self.groups = 1
+
+        self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)
+
+        self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups)
+
+        if self.bn:
+            self.bn1 = nn.BatchNorm2d(features)
+            self.bn2 = nn.BatchNorm2d(features)
+
+        self.activation = activation
+
+        self.skip_add = nn.quantized.FloatFunctional()
+
+    def forward(self, x):
+        """Forward pass.
+
+        Args:
+            x (tensor): input
+
+        Returns:
+            tensor: output
+        """
+
+        out = self.activation(x)
+        out = self.conv1(out)
+        if self.bn:
+            out = self.bn1(out)
+
+        out = self.activation(out)
+        out = self.conv2(out)
+        if self.bn:
+            out = self.bn2(out)
+
+        if self.groups > 1:
+            out = self.conv_merge(out)
+
+        return self.skip_add.add(out, x)
+
+
+class FeatureFusionBlock(nn.Module):
+    """Feature fusion block."""
+
+    def __init__(self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, size=None):
+        """Init.
+
+        Args:
+            features (int): number of features
+        """
+        super(FeatureFusionBlock, self).__init__()
+
+        self.deconv = deconv
+        self.align_corners = align_corners
+
+        self.groups = 1
+
+        self.expand = expand
+        out_features = features
+        if self.expand:
+            out_features = features // 2
+
+        self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1)
+
+        self.resConfUnit1 = ResidualConvUnit(features, activation, bn)
+        self.resConfUnit2 = ResidualConvUnit(features, activation, bn)
+
+        self.skip_add = nn.quantized.FloatFunctional()
+
+        self.size = size
+
+    def forward(self, *xs, size=None):
+        """Forward pass.
+
+        Returns:
+            tensor: output
+        """
+        output = xs[0]
+
+        if len(xs) == 2:
+            res = self.resConfUnit1(xs[1])
+            output = self.skip_add.add(output, res)
+
+        output = self.resConfUnit2(output)
+
+        if (size is None) and (self.size is None):
+            modifier = {"scale_factor": 2}
+        elif size is None:
+            modifier = {"size": self.size}
+        else:
+            modifier = {"size": size}
+
+        output = nn.functional.interpolate(output, **modifier, mode="bilinear", align_corners=self.align_corners)
+
+        output = self.out_conv(output)
+
+        return output

invokeai/backend/image_util/depth_anything/model/dpt.py

@@ -0,0 +1,186 @@
+from pathlib import Path
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+from .blocks import FeatureFusionBlock, _make_scratch
+
+torchhub_path = Path(__file__).parent.parent / "torchhub"
+
+
+def _make_fusion_block(features, use_bn, size=None):
+    return FeatureFusionBlock(
+        features,
+        nn.ReLU(False),
+        deconv=False,
+        bn=use_bn,
+        expand=False,
+        align_corners=True,
+        size=size,
+    )
+
+
+class DPTHead(nn.Module):
+    def __init__(
+        self, nclass, in_channels, features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False
+    ):
+        super(DPTHead, self).__init__()
+
+        self.nclass = nclass
+        self.use_clstoken = use_clstoken
+
+        self.projects = nn.ModuleList(
+            [
+                nn.Conv2d(
+                    in_channels=in_channels,
+                    out_channels=out_channel,
+                    kernel_size=1,
+                    stride=1,
+                    padding=0,
+                )
+                for out_channel in out_channels
+            ]
+        )
+
+        self.resize_layers = nn.ModuleList(
+            [
+                nn.ConvTranspose2d(
+                    in_channels=out_channels[0], out_channels=out_channels[0], kernel_size=4, stride=4, padding=0
+                ),
+                nn.ConvTranspose2d(
+                    in_channels=out_channels[1], out_channels=out_channels[1], kernel_size=2, stride=2, padding=0
+                ),
+                nn.Identity(),
+                nn.Conv2d(
+                    in_channels=out_channels[3], out_channels=out_channels[3], kernel_size=3, stride=2, padding=1
+                ),
+            ]
+        )
+
+        if use_clstoken:
+            self.readout_projects = nn.ModuleList()
+            for _ in range(len(self.projects)):
+                self.readout_projects.append(nn.Sequential(nn.Linear(2 * in_channels, in_channels), nn.GELU()))
+
+        self.scratch = _make_scratch(
+            out_channels,
+            features,
+            groups=1,
+            expand=False,
+        )
+
+        self.scratch.stem_transpose = None
+
+        self.scratch.refinenet1 = _make_fusion_block(features, use_bn)
+        self.scratch.refinenet2 = _make_fusion_block(features, use_bn)
+        self.scratch.refinenet3 = _make_fusion_block(features, use_bn)
+        self.scratch.refinenet4 = _make_fusion_block(features, use_bn)
+
+        head_features_1 = features
+        head_features_2 = 32
+
+        if nclass > 1:
+            self.scratch.output_conv = nn.Sequential(
+                nn.Conv2d(head_features_1, head_features_1, kernel_size=3, stride=1, padding=1),
+                nn.ReLU(True),
+                nn.Conv2d(head_features_1, nclass, kernel_size=1, stride=1, padding=0),
+            )
+        else:
+            self.scratch.output_conv1 = nn.Conv2d(
+                head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1
+            )
+
+            self.scratch.output_conv2 = nn.Sequential(
+                nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1),
+                nn.ReLU(True),
+                nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0),
+                nn.ReLU(True),
+                nn.Identity(),
+            )
+
+    def forward(self, out_features, patch_h, patch_w):
+        out = []
+        for i, x in enumerate(out_features):
+            if self.use_clstoken:
+                x, cls_token = x[0], x[1]
+                readout = cls_token.unsqueeze(1).expand_as(x)
+                x = self.readout_projects[i](torch.cat((x, readout), -1))
+            else:
+                x = x[0]
+
+            x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w))
+
+            x = self.projects[i](x)
+            x = self.resize_layers[i](x)
+
+            out.append(x)
+
+        layer_1, layer_2, layer_3, layer_4 = out
+
+        layer_1_rn = self.scratch.layer1_rn(layer_1)
+        layer_2_rn = self.scratch.layer2_rn(layer_2)
+        layer_3_rn = self.scratch.layer3_rn(layer_3)
+        layer_4_rn = self.scratch.layer4_rn(layer_4)
+
+        path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:])
+        path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:])
+        path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:])
+        path_1 = self.scratch.refinenet1(path_2, layer_1_rn)
+
+        out = self.scratch.output_conv1(path_1)
+        out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True)
+        out = self.scratch.output_conv2(out)
+
+        return out
+
+
+class DPT_DINOv2(nn.Module):
+    def __init__(
+        self,
+        encoder="vitl",
+        features=256,
+        out_channels=[256, 512, 1024, 1024],
+        use_bn=False,
+        use_clstoken=False,
+        localhub=True,
+    ):
+        super(DPT_DINOv2, self).__init__()
+
+        assert encoder in ["vits", "vitb", "vitl"]
+
+        # # in case the Internet connection is not stable, please load the DINOv2 locally
+        # if localhub:
+        #     self.pretrained = torch.hub.load(
+        #         torchhub_path / "facebookresearch_dinov2_main",
+        #         "dinov2_{:}14".format(encoder),
+        #         source="local",
+        #         pretrained=False,
+        #     )
+        # else:
+        #     self.pretrained = torch.hub.load(
+        #         "facebookresearch/dinov2",
+        #         "dinov2_{:}14".format(encoder),
+        #     )
+
+        self.pretrained = torch.hub.load(
+            "facebookresearch/dinov2",
+            "dinov2_{:}14".format(encoder),
+        )
+
+        dim = self.pretrained.blocks[0].attn.qkv.in_features
+
+        self.depth_head = DPTHead(1, dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken)
+
+    def forward(self, x):
+        h, w = x.shape[-2:]
+
+        features = self.pretrained.get_intermediate_layers(x, 4, return_class_token=True)
+
+        patch_h, patch_w = h // 14, w // 14
+
+        depth = self.depth_head(features, patch_h, patch_w)
+        depth = F.interpolate(depth, size=(h, w), mode="bilinear", align_corners=True)
+        depth = F.relu(depth)
+
+        return depth.squeeze(1)

invokeai/backend/image_util/depth_anything/utilities/util.py

@@ -0,0 +1,227 @@
+import math
+
+import cv2
+import numpy as np
+import torch
+import torch.nn.functional as F
+
+
+def apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA):
+    """Rezise the sample to ensure the given size. Keeps aspect ratio.
+
+    Args:
+        sample (dict): sample
+        size (tuple): image size
+
+    Returns:
+        tuple: new size
+    """
+    shape = list(sample["disparity"].shape)
+
+    if shape[0] >= size[0] and shape[1] >= size[1]:
+        return sample
+
+    scale = [0, 0]
+    scale[0] = size[0] / shape[0]
+    scale[1] = size[1] / shape[1]
+
+    scale = max(scale)
+
+    shape[0] = math.ceil(scale * shape[0])
+    shape[1] = math.ceil(scale * shape[1])
+
+    # resize
+    sample["image"] = cv2.resize(sample["image"], tuple(shape[::-1]), interpolation=image_interpolation_method)
+
+    sample["disparity"] = cv2.resize(sample["disparity"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST)
+    sample["mask"] = cv2.resize(
+        sample["mask"].astype(np.float32),
+        tuple(shape[::-1]),
+        interpolation=cv2.INTER_NEAREST,
+    )
+    sample["mask"] = sample["mask"].astype(bool)
+
+    return tuple(shape)
+
+
+class Resize(object):
+    """Resize sample to given size (width, height)."""
+
+    def __init__(
+        self,
+        width,
+        height,
+        resize_target=True,
+        keep_aspect_ratio=False,
+        ensure_multiple_of=1,
+        resize_method="lower_bound",
+        image_interpolation_method=cv2.INTER_AREA,
+    ):
+        """Init.
+
+        Args:
+            width (int): desired output width
+            height (int): desired output height
+            resize_target (bool, optional):
+                True: Resize the full sample (image, mask, target).
+                False: Resize image only.
+                Defaults to True.
+            keep_aspect_ratio (bool, optional):
+                True: Keep the aspect ratio of the input sample.
+                Output sample might not have the given width and height, and
+                resize behaviour depends on the parameter 'resize_method'.
+                Defaults to False.
+            ensure_multiple_of (int, optional):
+                Output width and height is constrained to be multiple of this parameter.
+                Defaults to 1.
+            resize_method (str, optional):
+                "lower_bound": Output will be at least as large as the given size.
+                "upper_bound": Output will be at max as large as the given size. (Output size might be smaller
+                    than given size.)
+                "minimal": Scale as least as possible.  (Output size might be smaller than given size.)
+                Defaults to "lower_bound".
+        """
+        self.__width = width
+        self.__height = height
+
+        self.__resize_target = resize_target
+        self.__keep_aspect_ratio = keep_aspect_ratio
+        self.__multiple_of = ensure_multiple_of
+        self.__resize_method = resize_method
+        self.__image_interpolation_method = image_interpolation_method
+
+    def constrain_to_multiple_of(self, x, min_val=0, max_val=None):
+        y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int)
+
+        if max_val is not None and y > max_val:
+            y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int)
+
+        if y < min_val:
+            y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int)
+
+        return y
+
+    def get_size(self, width, height):
+        # determine new height and width
+        scale_height = self.__height / height
+        scale_width = self.__width / width
+
+        if self.__keep_aspect_ratio:
+            if self.__resize_method == "lower_bound":
+                # scale such that output size is lower bound
+                if scale_width > scale_height:
+                    # fit width
+                    scale_height = scale_width
+                else:
+                    # fit height
+                    scale_width = scale_height
+            elif self.__resize_method == "upper_bound":
+                # scale such that output size is upper bound
+                if scale_width < scale_height:
+                    # fit width
+                    scale_height = scale_width
+                else:
+                    # fit height
+                    scale_width = scale_height
+            elif self.__resize_method == "minimal":
+                # scale as least as possbile
+                if abs(1 - scale_width) < abs(1 - scale_height):
+                    # fit width
+                    scale_height = scale_width
+                else:
+                    # fit height
+                    scale_width = scale_height
+            else:
+                raise ValueError(f"resize_method {self.__resize_method} not implemented")
+
+        if self.__resize_method == "lower_bound":
+            new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height)
+            new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width)
+        elif self.__resize_method == "upper_bound":
+            new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height)
+            new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width)
+        elif self.__resize_method == "minimal":
+            new_height = self.constrain_to_multiple_of(scale_height * height)
+            new_width = self.constrain_to_multiple_of(scale_width * width)
+        else:
+            raise ValueError(f"resize_method {self.__resize_method} not implemented")
+
+        return (new_width, new_height)
+
+    def __call__(self, sample):
+        width, height = self.get_size(sample["image"].shape[1], sample["image"].shape[0])
+
+        # resize sample
+        sample["image"] = cv2.resize(
+            sample["image"],
+            (width, height),
+            interpolation=self.__image_interpolation_method,
+        )
+
+        if self.__resize_target:
+            if "disparity" in sample:
+                sample["disparity"] = cv2.resize(
+                    sample["disparity"],
+                    (width, height),
+                    interpolation=cv2.INTER_NEAREST,
+                )
+
+            if "depth" in sample:
+                sample["depth"] = cv2.resize(sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST)
+
+            if "semseg_mask" in sample:
+                # sample["semseg_mask"] = cv2.resize(
+                #     sample["semseg_mask"], (width, height), interpolation=cv2.INTER_NEAREST
+                # )
+                sample["semseg_mask"] = F.interpolate(
+                    torch.from_numpy(sample["semseg_mask"]).float()[None, None, ...], (height, width), mode="nearest"
+                ).numpy()[0, 0]
+
+            if "mask" in sample:
+                sample["mask"] = cv2.resize(
+                    sample["mask"].astype(np.float32),
+                    (width, height),
+                    interpolation=cv2.INTER_NEAREST,
+                )
+                # sample["mask"] = sample["mask"].astype(bool)
+
+        # print(sample['image'].shape, sample['depth'].shape)
+        return sample
+
+
+class NormalizeImage(object):
+    """Normlize image by given mean and std."""
+
+    def __init__(self, mean, std):
+        self.__mean = mean
+        self.__std = std
+
+    def __call__(self, sample):
+        sample["image"] = (sample["image"] - self.__mean) / self.__std
+
+        return sample
+
+
+class PrepareForNet(object):
+    """Prepare sample for usage as network input."""
+
+    def __init__(self):
+        pass
+
+    def __call__(self, sample):
+        image = np.transpose(sample["image"], (2, 0, 1))
+        sample["image"] = np.ascontiguousarray(image).astype(np.float32)
+
+        if "mask" in sample:
+            sample["mask"] = sample["mask"].astype(np.float32)
+            sample["mask"] = np.ascontiguousarray(sample["mask"])
+
+        if "depth" in sample:
+            depth = sample["depth"].astype(np.float32)
+            sample["depth"] = np.ascontiguousarray(depth)
+
+        if "semseg_mask" in sample:
+            sample["semseg_mask"] = sample["semseg_mask"].astype(np.float32)
+            sample["semseg_mask"] = np.ascontiguousarray(sample["semseg_mask"])
+
+        return sample