DA3 to Point Cloud

DA3_ToPointCloud

Convert DA3 depth map to 3D point cloud using proper camera geometry. Uses geometric unprojection: P = K^(-1) * [u, v, 1]^T * depth Inputs: - depth_raw: Metric depth map (from DepthAnything_V3 with normalization_mode="Raw") - confidence: Confidence map - intrinsics: (Optional) Camera intrinsics JSON from DepthAnything_V3 ⚠️ If not provided, uses estimated intrinsics (may cause warping) - sky_mask: (Optional but RECOMMENDED) Sky segmentation - excludes sky from point cloud - source_image: (Optional) Source image for point colors Parameters: - confidence_threshold: Filter points below this confidence (0-1) - downsample: Take every Nth pixel (5 = 1/25th of points, faster) Output POINTCLOUD contains: - points: Nx3 array of 3D coordinates - colors: Nx3 array of RGB colors (if source_image provided) - confidence: Nx1 array of confidence values

Pack: ComfyUI-DepthAnythingV3

custom_nodes.ComfyUI-DepthAnythingV3