From 613cc76fa64d19237c7e110d6b12728c211c7986 Mon Sep 17 00:00:00 2001
From: Bingyi Kang <bingykang@gmail.com>
Date: Fri, 14 Nov 2025 09:51:18 +0800
Subject: [PATCH 01/16] init

---
 assets/images/da3_radar.png | Bin 131 -> 214877 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/assets/images/da3_radar.png b/assets/images/da3_radar.png
index 3231985835e11a51e8b59c48ee84740fe4b7e06a..aa1c651b664dad9ce028b964c9020ac9eecca9f7 100644
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literal 131
zcmWN?NfN>!5CFhCuiyg)W>_b`VHt%gm6VVie7*LiFaFFv-m<NA%w4HRU$^IdZvWev
zw=!O89$eG~V)QC!OX&Pwqe}@>qyprK4RG=pY_P`bfI5>+h76$R2pSDhVOw)C&eaIj
N1~L1WC4!A1h#%i)CWin3


From 9188f692427ad49eddbef59636544743e5018c5c Mon Sep 17 00:00:00 2001
From: Bingyi Kang <bingykang@gmail.com>
Date: Fri, 14 Nov 2025 09:54:55 +0800
Subject: [PATCH 02/16] init

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 5f2b29b4..96ed2e9a 100644
--- a/README.md
+++ b/README.md
@@ -37,7 +37,7 @@ All models are trained exclusively on **public academic datasets**.
 
 
 ## 📰 News
-- **2025-11-03:** 🎉 Paper, project page, code and models are all released.
+- **2025-11-14:** 🎉 Paper, project page, code and models are all released.
 
 ## ✨ Highlights
 

From 22aa22c0bd380f14fe068069d33fdc4b68ff9c57 Mon Sep 17 00:00:00 2001
From: Bingyi Kang <bingykang@gmail.com>
Date: Fri, 14 Nov 2025 10:54:02 +0800
Subject: [PATCH 03/16] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 96ed2e9a..cee2cace 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,7 @@
 
 &dagger;project lead&emsp;*Equal Contribution
 
-<a href="https://arxiv.org/abs/"><img src='https://img.shields.io/badge/arXiv-Depth Anything 3-red' alt='Paper PDF'></a>
+<a href="https://arxiv.org/abs/2511.10647"><img src='https://img.shields.io/badge/arXiv-Depth Anything 3-red' alt='Paper PDF'></a>
 <a href='https://depth-anything-3.github.io'><img src='https://img.shields.io/badge/Project_Page-Depth Anything 3-green' alt='Project Page'></a>
 <a href='https://huggingface.co/spaces/depth-anything/Depth-Anything-3'><img src='https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-Demo-blue'></a>
 <!-- <a href='https://huggingface.co/datasets/depth-anything/VGB'><img src='https://img.shields.io/badge/Benchmark-VisGeo-yellow' alt='Benchmark'></a> -->

From 3ee3c8b029267519028c21c3766d03882300162a Mon Sep 17 00:00:00 2001
From: Bingyi Kang <bingykang@gmail.com>
Date: Fri, 14 Nov 2025 12:23:53 +0800
Subject: [PATCH 04/16] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index cee2cace..3130183a 100644
--- a/README.md
+++ b/README.md
@@ -222,7 +222,7 @@ If you find Depth Anything 3 useful in your research or projects, please cite ou
 @article{depthanything3,
   title={Depth Anything 3: Recovering the visual space from any views},
   author={Haotong Lin and Sili Chen and Jun Hao Liew and Donny Y. Chen and Zhenyu Li and Guang Shi and Jiashi Feng and Bingyi Kang},
-  journal={arXiv preprint arXiv:XXXX.XXXXX},
+  journal={arXiv preprint arXiv:2511.10647},
   year={2025}
 }
 ```

From 21185e66f049d45246f6c4a1425486eb2180616a Mon Sep 17 00:00:00 2001
From: Haotong LIN <haotongl@outlook.com>
Date: Fri, 14 Nov 2025 17:34:22 +0800
Subject: [PATCH 05/16] fix typo

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3130183a..7de55f1a 100644
--- a/README.md
+++ b/README.md
@@ -146,7 +146,7 @@ da3 auto assets/examples/SOH \
 
 ```
 
-The model architecture is defined in [`DepthAnything3Net`](src/depth_anything_3/model/da3.py), and specified with a Yaml config file located at [`src/depth_anything_3/configs`](src/depth_anything_3/configs). The input and output processing are handeled by [`DepthAnything3`](src/depth_anything_3/api.py). To customize the model architecutre, simply create a new config file (*e.g.*, `path/to/new/config`) as:
+The model architecture is defined in [`DepthAnything3Net`](src/depth_anything_3/model/da3.py), and specified with a Yaml config file located at [`src/depth_anything_3/configs`](src/depth_anything_3/configs). The input and output processing are handled by [`DepthAnything3`](src/depth_anything_3/api.py). To customize the model architecture, simply create a new config file (*e.g.*, `path/to/new/config`) as:
 
 ```yaml
 __object__:

From 10c00f31ea73211019a3095226d60627922bb9d9 Mon Sep 17 00:00:00 2001
From: Donny Chen <donny.chen@outlook.sg>
Date: Fri, 14 Nov 2025 18:08:50 +0800
Subject: [PATCH 06/16] Fix author name formatting in README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 7de55f1a..feeffbcb 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 <!-- <h2 style="border-top: none; margin-top: 3px;">Recovering the Visual Space from Any Views</h2> -->
 
 
-[**Haotong Lin**](https://haotongl.github.io/)<sup>\*</sup> · [**Sili Chen**](https://github.com/SiliChen321)<sup>\*</sup> · [**Junhao Liew**](https://liewjunhao.github.io/)<sup>\*</sup> · [**Donny Y. Chen**](https://donydchen.github.io)<sup>\*</sup> · [**Zhenyu Li**](https://zhyever.github.io/) · [**Guang Shi**](https://scholar.google.com/citations?user=MjXxWbUAAAAJ&hl=en) · [**Jiashi Feng**](https://scholar.google.com.sg/citations?user=Q8iay0gAAAAJ&hl=en)
+[**Haotong Lin**](https://haotongl.github.io/)<sup>\*</sup> · [**Sili Chen**](https://github.com/SiliChen321)<sup>\*</sup> · [**Jun Hao Liew**](https://liewjunhao.github.io/)<sup>\*</sup> · [**Donny Y. Chen**](https://donydchen.github.io)<sup>\*</sup> · [**Zhenyu Li**](https://zhyever.github.io/) · [**Guang Shi**](https://scholar.google.com/citations?user=MjXxWbUAAAAJ&hl=en) · [**Jiashi Feng**](https://scholar.google.com.sg/citations?user=Q8iay0gAAAAJ&hl=en)
 <br>
 [**Bingyi Kang**](https://bingykang.github.io/)<sup>\*&dagger;</sup>
 

From 3bff2497ad08582c50d9fc2aabd096c7a6997c1c Mon Sep 17 00:00:00 2001
From: SiliChen321 <sili.chen@foxmail.com>
Date: Fri, 14 Nov 2025 20:42:09 +0800
Subject: [PATCH 07/16] Update README.md

---
 README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index feeffbcb..93a3110b 100644
--- a/README.md
+++ b/README.md
@@ -3,11 +3,11 @@
 <!-- <h2 style="border-top: none; margin-top: 3px;">Recovering the Visual Space from Any Views</h2> -->
 
 
-[**Haotong Lin**](https://haotongl.github.io/)<sup>\*</sup> · [**Sili Chen**](https://github.com/SiliChen321)<sup>\*</sup> · [**Jun Hao Liew**](https://liewjunhao.github.io/)<sup>\*</sup> · [**Donny Y. Chen**](https://donydchen.github.io)<sup>\*</sup> · [**Zhenyu Li**](https://zhyever.github.io/) · [**Guang Shi**](https://scholar.google.com/citations?user=MjXxWbUAAAAJ&hl=en) · [**Jiashi Feng**](https://scholar.google.com.sg/citations?user=Q8iay0gAAAAJ&hl=en)
+[**Haotong Lin**](https://haotongl.github.io/)<sup>&ast;</sup> · [**Sili Chen**](https://github.com/SiliChen321)<sup>&ast;</sup> · [**Jun Hao Liew**](https://liewjunhao.github.io/)<sup>&ast;</sup> · [**Donny Y. Chen**](https://donydchen.github.io)<sup>&ast;</sup> · [**Zhenyu Li**](https://zhyever.github.io/) · [**Guang Shi**](https://scholar.google.com/citations?user=MjXxWbUAAAAJ&hl=en) · [**Jiashi Feng**](https://scholar.google.com.sg/citations?user=Q8iay0gAAAAJ&hl=en)
 <br>
-[**Bingyi Kang**](https://bingykang.github.io/)<sup>\*&dagger;</sup>
+[**Bingyi Kang**](https://bingykang.github.io/)<sup>&ast;&dagger;</sup>
 
-&dagger;project lead&emsp;*Equal Contribution
+&dagger;project lead&emsp;&ast;Equal Contribution
 
 <a href="https://arxiv.org/abs/2511.10647"><img src='https://img.shields.io/badge/arXiv-Depth Anything 3-red' alt='Paper PDF'></a>
 <a href='https://depth-anything-3.github.io'><img src='https://img.shields.io/badge/Project_Page-Depth Anything 3-green' alt='Project Page'></a>

From fcf07185b363b39543bbe0a67272a4e2ae11fff3 Mon Sep 17 00:00:00 2001
From: Sili Chen <sili.chen@foxmail.com>
Date: Fri, 14 Nov 2025 23:06:28 +0800
Subject: [PATCH 08/16] Update .gitattributes

---
 .gitattributes | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.gitattributes b/.gitattributes
index 99a46d13..8b137891 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,2 +1 @@
-assets/images/da3_teaser.png filter=lfs diff=lfs merge=lfs -text
-assets/images/da3_radar.png filter=lfs diff=lfs merge=lfs -text
+

From 775faca1ce786b193a0f1bc938bed42ec0261af7 Mon Sep 17 00:00:00 2001
From: calledit <1573053+calledit@users.noreply.github.com>
Date: Fri, 14 Nov 2025 17:12:38 +0100
Subject: [PATCH 09/16] Fix issue with dependency np.math naming

---
 src/depth_anything_3/utils/pose_align.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/depth_anything_3/utils/pose_align.py b/src/depth_anything_3/utils/pose_align.py
index a32a99fd..695d07fc 100644
--- a/src/depth_anything_3/utils/pose_align.py
+++ b/src/depth_anything_3/utils/pose_align.py
@@ -16,7 +16,6 @@
 import numpy as np
 import torch
 from evo.core.trajectory import PosePath3D
-from numpy import math
 
 from depth_anything_3.utils.geometry import affine_inverse, affine_inverse_np
 
@@ -284,10 +283,10 @@ def _rand_rot():
     u1, u2, u3 = np.random.rand(3)
     q = np.array(
         [
-            np.sqrt(1 - u1) * np.sin(2 * math.pi * u2),
-            np.sqrt(1 - u1) * np.cos(2 * math.pi * u2),
-            np.sqrt(u1) * np.sin(2 * math.pi * u3),
-            np.sqrt(u1) * np.cos(2 * math.pi * u3),
+            np.sqrt(1 - u1) * np.sin(2 * np.math.pi * u2),
+            np.sqrt(1 - u1) * np.cos(2 * np.math.pi * u2),
+            np.sqrt(u1) * np.sin(2 * np.math.pi * u3),
+            np.sqrt(u1) * np.cos(2 * np.math.pi * u3),
         ]
     )
     w, x, y, z = q

From 825efb76b06ca8f56df6ca7be8b294b70f17d502 Mon Sep 17 00:00:00 2001
From: Yudong Jin <krahets@163.com>
Date: Sat, 15 Nov 2025 19:18:11 +0800
Subject: [PATCH 10/16] Update installation instructions in README

Added conda environment creation command and updated pip install commands for specific versions.
---
 README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/README.md b/README.md
index 93a3110b..d0bcab46 100644
--- a/README.md
+++ b/README.md
@@ -79,6 +79,9 @@ We introduce a new benchmark to rigorously evaluate geometry prediction models o
 ### 📦 Installation
 
 ```bash
+conda create -n da3 python=3.12
+pip install torch==2.9.0 torchvision==0.24.0 torchaudio==2.9.0 --index-url https://download.pytorch.org/whl/cu128
+
 pip install -e . # Basic
 pip install -e ".[gs]" # Gaussians Estimation and Rendering
 pip install -e ".[app]" # Gradio, python>=3.10

From 3f1d36d1b70d983e89d91dcaaeb2de0e6bbd9e00 Mon Sep 17 00:00:00 2001
From: Haotong LIN <haotongl@outlook.com>
Date: Sat, 15 Nov 2025 19:34:37 +0800
Subject: [PATCH 11/16] Update README.md

---
 README.md | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/README.md b/README.md
index d0bcab46..a88f9a8d 100644
--- a/README.md
+++ b/README.md
@@ -79,9 +79,7 @@ We introduce a new benchmark to rigorously evaluate geometry prediction models o
 ### 📦 Installation
 
 ```bash
-conda create -n da3 python=3.12
-pip install torch==2.9.0 torchvision==0.24.0 torchaudio==2.9.0 --index-url https://download.pytorch.org/whl/cu128
-
+pip install torch\>=2 torchvision
 pip install -e . # Basic
 pip install -e ".[gs]" # Gaussians Estimation and Rendering
 pip install -e ".[app]" # Gradio, python>=3.10

From a6b26d1152dba6daeea1941ee7820ec7adad2da3 Mon Sep 17 00:00:00 2001
From: linhaotong <linhaotong@bytedance.com>
Date: Sat, 15 Nov 2025 21:13:51 +0800
Subject: [PATCH 12/16] update README with a reference to the issue about older
 GPU support

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index a88f9a8d..60a04530 100644
--- a/README.md
+++ b/README.md
@@ -216,6 +216,11 @@ Generally, you should observe that DA3-LARGE achieves comparable results to VGGT
 | [DA3MONO-LARGE](https://huggingface.co/depth-anything/DA3MONO-LARGE)                | 0.35B     | ✅             |              |               |               |       | ✅         | Apache 2.0     |
 
 
+## ❓ FAQ
+
+- **Older GPUs without XFormers support**: See [Issue #11](https://github.com/ByteDance-Seed/Depth-Anything-3/issues/11). Thanks to [@S-Mahoney](https://github.com/S-Mahoney) for the solution!
+
+
 ## 📝 Citations
 If you find Depth Anything 3 useful in your research or projects, please cite our work:
 

From 4c350f90582502b8b326b1c960818b7b0e37a5e9 Mon Sep 17 00:00:00 2001
From: meydanoglu <eminmeydanoglu@gmail.com>
Date: Fri, 28 Nov 2025 15:14:50 +0300
Subject: [PATCH 13/16] Add alias for warn() method in Logger class to match
 standard logging interface

---
 src/depth_anything_3/utils/logger.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/depth_anything_3/utils/logger.py b/src/depth_anything_3/utils/logger.py
index 0eb4f606..9c5ed359 100644
--- a/src/depth_anything_3/utils/logger.py
+++ b/src/depth_anything_3/utils/logger.py
@@ -64,6 +64,10 @@ def error(self, *args, **kwargs):
     def warn(self, *args, **kwargs):
         self.log("WARN:", *args, **kwargs)
 
+    def warning(self, *args, **kwargs):
+        """Alias for warn() to match standard logging interface."""
+        self.warn(*args, **kwargs)
+
     def info(self, *args, **kwargs):
         self.log("INFO:", *args, **kwargs)
 

From 11a70dd3a9064567cb0b2d1524108a33531fc675 Mon Sep 17 00:00:00 2001
From: meydanoglu <eminmeydanoglu@gmail.com>
Date: Fri, 28 Nov 2025 16:54:36 +0300
Subject: [PATCH 14/16] Implement ZeroMQ backend server for Depth Anything 3
 with inference capabilities and logging

---
 src/depth_anything_3/api.py              |  11 +-
 src/depth_anything_3/utils/pose_align.py |  51 ++++--
 test_imports.py                          |  59 +++++++
 zmq_server.py                            | 213 +++++++++++++++++++++++
 4 files changed, 322 insertions(+), 12 deletions(-)
 create mode 100644 test_imports.py
 create mode 100755 zmq_server.py

diff --git a/src/depth_anything_3/api.py b/src/depth_anything_3/api.py
index d5c25dd4..8524f428 100644
--- a/src/depth_anything_3/api.py
+++ b/src/depth_anything_3/api.py
@@ -321,13 +321,22 @@ def _align_to_input_extrinsics_intrinsics(
         if extrinsics is None:
             return prediction
         prediction.intrinsics = intrinsics.numpy()
-        _, _, scale, aligned_extrinsics = align_poses_umeyama(
+        alignment_result = align_poses_umeyama(
             prediction.extrinsics,
             extrinsics.numpy(),
             ransac=len(extrinsics) >= ransac_view_thresh,
             return_aligned=True,
             random_state=42,
         )
+        if alignment_result is None:
+            # Alignment failed due to degenerate poses (insufficient camera motion)
+            # Fall back to using model-estimated poses without alignment
+            logger.warning(
+                "Pose alignment failed due to insufficient camera motion. "
+                "Using model-estimated poses and relative depth."
+            )
+            return prediction
+        _, _, scale, aligned_extrinsics = alignment_result
         if align_to_input_ext_scale:
             prediction.extrinsics = extrinsics[..., :3, :].numpy()
             prediction.depth /= scale
diff --git a/src/depth_anything_3/utils/pose_align.py b/src/depth_anything_3/utils/pose_align.py
index 695d07fc..46d9ac21 100644
--- a/src/depth_anything_3/utils/pose_align.py
+++ b/src/depth_anything_3/utils/pose_align.py
@@ -12,13 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import List
+import logging
+from typing import List, Optional, Tuple
+
 import numpy as np
 import torch
+from evo.core.geometry import GeometryException
 from evo.core.trajectory import PosePath3D
 
 from depth_anything_3.utils.geometry import affine_inverse, affine_inverse_np
 
+logger = logging.getLogger(__name__)
+
 
 def batch_apply_alignment_to_enc(
     rots: torch.Tensor, trans: torch.Tensor, scales: torch.Tensor, enc_list: List[torch.Tensor]
@@ -81,12 +86,26 @@ def _poses_from_ext(ext_ref, ext_est):
     return pose_ref, pose_est
 
 
-def _umeyama_sim3_from_paths(pose_ref, pose_est):
-    path_ref = PosePath3D(poses_se3=pose_ref.copy())
-    path_est = PosePath3D(poses_se3=pose_est.copy())
-    r, t, s = path_est.align(path_ref, correct_scale=True)
-    pose_est_aligned = np.stack(path_est.poses_se3)
-    return r, t, s, pose_est_aligned
+def _umeyama_sim3_from_paths(
+    pose_ref, pose_est
+) -> Optional[Tuple[np.ndarray, np.ndarray, float, np.ndarray]]:
+    """Compute Umeyama Sim(3) alignment between two pose trajectories.
+
+    Returns:
+        Tuple of (rotation, translation, scale, aligned_poses) if successful,
+        None if alignment fails due to degenerate poses (insufficient motion).
+    """
+    try:
+        path_ref = PosePath3D(poses_se3=pose_ref.copy())
+        path_est = PosePath3D(poses_se3=pose_est.copy())
+        r, t, s = path_est.align(path_ref, correct_scale=True)
+        pose_est_aligned = np.stack(path_est.poses_se3)
+        return r, t, s, pose_est_aligned
+    except GeometryException as e:
+        logger.warning(
+            f"Umeyama alignment failed (degenerate poses - insufficient camera motion): {e}"
+        )
+        return None
 
 
 def _apply_sim3_to_poses(poses, r, t, s):
@@ -149,7 +168,11 @@ def _ransac_align_sim3(
 
     # Fit again with best inliers
     if best_inliers is not None and best_inliers.sum() >= 3:
-        r, t, s, _ = _umeyama_sim3_from_paths(pose_ref[best_inliers], pose_est[best_inliers])
+        result = _umeyama_sim3_from_paths(pose_ref[best_inliers], pose_est[best_inliers])
+        if result is not None:
+            r, t, s, _ = result
+        else:
+            r, t, s = best_model
     else:
         r, t, s = best_model
     return r, t, s
@@ -164,19 +187,25 @@ def align_poses_umeyama(
     inlier_thresh=None,
     ransac_max_iters=10,
     random_state=None,
-):
+) -> Optional[Tuple]:
     """
     Align estimated trajectory to reference using Umeyama Sim(3).
     Default no RANSAC; if ransac=True, use RANSAC (max iterations default 10).
     - sub_n defaults to half the number of frames (rounded up, at least 3)
     - inlier_thresh defaults to median of "distance from each estimated pose to
       nearest reference pose after pre-alignment"
-    Returns rotation (3x3), translation (3,), scale; optionally returns aligned extrinsics (4x4).
+
+    Returns:
+        If return_aligned=False: (rotation (3x3), translation (3,), scale) or None if alignment fails.
+        If return_aligned=True: (rotation, translation, scale, aligned_extrinsics (4x4)) or None if alignment fails.
     """
     pose_ref, pose_est = _poses_from_ext(ext_ref, ext_est)
 
     if not ransac:
-        r, t, s, pose_est_aligned = _umeyama_sim3_from_paths(pose_ref, pose_est)
+        result = _umeyama_sim3_from_paths(pose_ref, pose_est)
+        if result is None:
+            return None
+        r, t, s, pose_est_aligned = result
     else:
         r, t, s = _ransac_align_sim3(
             pose_ref,
diff --git a/test_imports.py b/test_imports.py
new file mode 100644
index 00000000..e89116ec
--- /dev/null
+++ b/test_imports.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+"""Simple test to verify all imports work correctly."""
+
+print("Testing imports...")
+print("-" * 60)
+
+try:
+    import os
+    print("✓ os")
+except Exception as e:
+    print(f"✗ os: {e}")
+
+try:
+    import numpy as np
+    print(f"✓ numpy (version: {np.__version__})")
+except Exception as e:
+    print(f"✗ numpy: {e}")
+
+try:
+    import matplotlib
+    import matplotlib.pyplot as plt
+    print(f"✓ matplotlib (version: {matplotlib.__version__})")
+except Exception as e:
+    print(f"✗ matplotlib: {e}")
+    import traceback
+    traceback.print_exc()
+
+try:
+    from PIL import Image
+    print(f"✓ PIL (Pillow)")
+except Exception as e:
+    print(f"✗ PIL: {e}")
+
+try:
+    import torch
+    print(f"✓ torch (version: {torch.__version__})")
+    print(f"  - CUDA available: {torch.cuda.is_available()}")
+    if torch.cuda.is_available():
+        print(f"  - CUDA version: {torch.version.cuda}")
+        print(f"  - GPU: {torch.cuda.get_device_name(0)}")
+except Exception as e:
+    print(f"✗ torch: {e}")
+
+try:
+    from depth_anything_3.api import DepthAnything3
+    print("✓ depth_anything_3.api.DepthAnything3")
+except Exception as e:
+    print(f"✗ depth_anything_3.api: {e}")
+    import traceback
+    traceback.print_exc()
+
+try:
+    from depth_anything_3.utils.visualize import visualize_depth
+    print("✓ depth_anything_3.utils.visualize.visualize_depth")
+except Exception as e:
+    print(f"✗ depth_anything_3.utils.visualize: {e}")
+
+print("-" * 60)
+print("All import tests completed!")
diff --git a/zmq_server.py b/zmq_server.py
new file mode 100755
index 00000000..59952c95
--- /dev/null
+++ b/zmq_server.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python3
+"""
+Depth Anything 3 - ZeroMQ Backend Server
+High-performance inference server using ZeroMQ for low-latency communication.
+"""
+import zmq
+import numpy as np
+import torch
+import sys
+import argparse
+from pathlib import Path
+
+# Add src to path
+sys.path.insert(0, str(Path(__file__).parent / "src"))
+
+from depth_anything_3.api import DepthAnything3
+
+import logging
+
+logger = logging.getLogger(__name__)
+
+class DepthAnythingZMQServer:
+    def __init__(self, model_name="da3-large", device="cuda", port=5555):
+        """
+        Initialize ZeroMQ server for Depth Anything 3.
+        
+        Args:
+            model_name: Model to load (da3-small, da3-base, da3-large, da3-giant)
+            device: Device to use (cuda or cpu)
+            port: ZeroMQ port to bind to
+        """
+        self.device = device
+        self.port = port
+        
+        # Initialize ZeroMQ context and socket
+        self.context = zmq.Context()
+        self.socket = self.context.socket(zmq.REP)
+        self.socket.bind(f"tcp://*:{port}")
+        
+        # Load model
+        self.model = DepthAnything3.from_pretrained(f"depth-anything/{model_name.upper()}")
+        self.model = self.model.to(device=device)
+        self.model.eval()
+        
+        logger.info(f"Server ready: model={model_name}, device={device}, port={port}")
+
+    def log_vram_usage(self):
+        """Log current VRAM usage."""
+        if self.device == 'cuda':
+            allocated = torch.cuda.memory_allocated() / 1024**2
+            reserved = torch.cuda.memory_reserved() / 1024**2
+            logger.debug(f"VRAM: Allocated={allocated:.1f}MB, Reserved={reserved:.1f}MB")
+
+    def process_request(self, request):
+        """
+        Process incoming request and return depth prediction.
+        """
+        try:
+            command = request.get('command', '')
+            
+            if command == 'ping':
+                return {'status': 'success', 'message': 'pong'}
+            
+            elif command == 'inference_batch':
+                images = request['images'] # List of images
+                process_res = request.get('process_res', 504)
+                
+                # Extract intrinsics and extrinsics
+                intrinsics_list = request.get('intrinsics')
+                extrinsics_list = request.get('extrinsics')
+                
+                intrinsics = None
+                if intrinsics_list is not None:
+                    intrinsics = np.stack(intrinsics_list).astype(np.float32)
+                    
+                extrinsics = None
+                if extrinsics_list is not None:
+                    extrinsics = np.stack(extrinsics_list).astype(np.float32)
+
+                batch_size = len(images)
+                
+                logger.debug(f"Processing batch of {batch_size} images (res={process_res})")
+                self.log_vram_usage()
+                
+                # Run inference
+                with torch.no_grad():
+                    prediction = self.model.inference(
+                        images,
+                        intrinsics=intrinsics,
+                        extrinsics=extrinsics,
+                        export_dir=None,
+                        export_format="mini_npz",
+                        process_res=process_res,
+                        show_cameras=False
+                    )
+                
+                # Extract results (list of depths and intrinsics)
+                depths = [d.astype(np.float32) for d in prediction.depth]
+                intrinsics = [i.astype(np.float32) for i in prediction.intrinsics]
+                
+                return {
+                    'status': 'success',
+                    'depth': depths,
+                    'intrinsics': intrinsics
+                }
+            
+            elif command == 'inference':
+                image = request['image']
+                process_res = request.get('process_res', 504)
+                
+                logger.debug(f"Processing single image (res={process_res})")
+                self.log_vram_usage()
+                
+                # Run inference
+                with torch.no_grad():
+                    prediction = self.model.inference(
+                        [image],
+                        export_dir=None,
+                        export_format="mini_npz",
+                        process_res=process_res,
+                        show_cameras=False
+                    )
+                
+                # Extract results
+                depth = prediction.depth[0]  # (H, W)
+                intrinsics = prediction.intrinsics[0]  # (3, 3)
+                
+                return {
+                    'status': 'success',
+                    'depth': depth.astype(np.float32),
+                    'intrinsics': intrinsics.astype(np.float32)
+                }
+            
+            else:
+                logger.warning(f"Unknown command received: {command}")
+                return {
+                    'status': 'error',
+                    'error': f'Unknown command: {command}'
+                }
+        
+        except Exception as e:
+            import traceback
+            error_msg = f"Error processing request: {str(e)}\n{traceback.format_exc()}"
+            logger.error(f"❌ {error_msg}")
+            return {
+                'status': 'error',
+                'error': error_msg
+            }
+    
+    def run(self):
+        """Run the server loop."""
+        request_count = 0
+        try:
+            while True:
+                # Wait for request
+                message = self.socket.recv_pyobj()
+                request_count += 1
+                
+                # Process request
+                response = self.process_request(message)
+                
+                # Send response
+                self.socket.send_pyobj(response)
+                
+        except KeyboardInterrupt:
+            logger.info(f"Server stopped by user (processed {request_count} requests)")
+        except Exception as e:
+            logger.error(f"Server error: {e}")
+            import traceback
+            traceback.print_exc()
+        finally:
+            self.cleanup()
+    
+    def cleanup(self):
+        """Clean up resources."""
+        self.socket.close()
+        self.context.term()
+        logger.info("Server closed")
+
+def main():
+    parser = argparse.ArgumentParser(description='Depth Anything 3 ZeroMQ Server')
+    parser.add_argument('--model', type=str, default='da3-large',
+                        choices=['da3-small', 'da3-base', 'da3-large', 'da3-giant',
+                                 'da3nested-giant-large'],
+                        help='Model name to load')
+    parser.add_argument('--device', type=str, default='cuda',
+                        choices=['cuda', 'cpu'],
+                        help='Device to use for inference')
+    parser.add_argument('--port', type=int, default=5555,
+                        help='ZeroMQ port to bind to')
+    parser.add_argument('--log-level', type=str, default='WARNING',
+                        choices=['DEBUG', 'INFO', 'WARNING', 'ERROR'],
+                        help='Logging verbosity level (default: WARNING)')
+    
+    args = parser.parse_args()
+    
+    # Configure logging based on argument
+    logging.basicConfig(
+        level=getattr(logging, args.log_level),
+        format='%(asctime)s - %(levelname)s - %(message)s',
+        datefmt='%H:%M:%S'
+    )
+    
+    # Create and run server
+    server = DepthAnythingZMQServer(
+        model_name=args.model,
+        device=args.device,
+        port=args.port
+    )
+    server.run()
+
+if __name__ == '__main__':
+    main()

From 2d8437502a6523f991e429d9e0eb3103828b225b Mon Sep 17 00:00:00 2001
From: meydanoglu <eminmeydanoglu@gmail.com>
Date: Thu, 4 Dec 2025 12:20:01 +0300
Subject: [PATCH 15/16] Refactor code structure for improved readability and
 maintainability

---
 pyproject.toml |    5 +-
 uv.lock        | 3165 ++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 3169 insertions(+), 1 deletion(-)
 create mode 100644 uv.lock

diff --git a/pyproject.toml b/pyproject.toml
index 6a11c7ae..84209fd2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -7,7 +7,7 @@ name = "depth-anything-3"
 version = "0.0.0"
 description = "Depth Anything 3"
 readme = "README.md"
-requires-python = ">=3.9, <=3.13"
+requires-python = ">=3.10, <=3.13"
 license = { text = "Apache-2.0" }
 authors = [{ name = "Your Name" }]
 
@@ -69,6 +69,9 @@ include = [
 [tool.hatch.metadata]
 allow-direct-references = true
 
+[tool.uv]
+extra-build-dependencies = { gsplat = ["torch"] }
+
 [tool.mypy]
 plugins = ["jaxtyping.mypy_plugin"]
 
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 00000000..e80304f4
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,3165 @@
+version = 1
+revision = 3
+requires-python = ">=3.10, <=3.13"
+resolution-markers = [
+    "python_full_version >= '3.13' and sys_platform == 'darwin'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version == '3.11.*' and sys_platform == 'darwin'",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version < '3.11' and sys_platform == 'darwin'",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux')",
+]
+
+[[package]]
+name = "addict"
+version = "2.4.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/85/ef/fd7649da8af11d93979831e8f1f8097e85e82d5bfeabc8c68b39175d8e75/addict-2.4.0.tar.gz", hash = "sha256:b3b2210e0e067a281f5646c8c5db92e99b7231ea8b0eb5f74dbdf9e259d4e494", size = 9186, upload-time = "2020-11-21T16:21:31.416Z" }
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+]
+
+[[package]]
+name = "aiofiles"
+version = "24.1.0"
+source = { registry = "https://pypi.org/simple" }
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+wheels = [
+    { url = "https://files.pythonhosted.org/packages/a5/45/30bb92d442636f570cb5651bc661f52b610e2eec3f891a5dc3a4c3667db0/aiofiles-24.1.0-py3-none-any.whl", hash = "sha256:b4ec55f4195e3eb5d7abd1bf7e061763e864dd4954231fb8539a0ef8bb8260e5", size = 15896, upload-time = "2024-06-24T11:02:01.529Z" },
+]
+
+[[package]]
+name = "annotated-doc"
+version = "0.0.4"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/57/ba/046ceea27344560984e26a590f90bc7f4a75b06701f653222458922b558c/annotated_doc-0.0.4.tar.gz", hash = "sha256:fbcda96e87e9c92ad167c2e53839e57503ecfda18804ea28102353485033faa4", size = 7288, upload-time = "2025-11-10T22:07:42.062Z" }
+wheels = [
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+]
+
+[[package]]
+name = "annotated-types"
+version = "0.7.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ee/67/531ea369ba64dcff5ec9c3402f9f51bf748cec26dde048a2f973a4eea7f5/annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89", size = 16081, upload-time = "2024-05-20T21:33:25.928Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/78/b6/6307fbef88d9b5ee7421e68d78a9f162e0da4900bc5f5793f6d3d0e34fb8/annotated_types-0.7.0-py3-none-any.whl", hash = "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53", size = 13643, upload-time = "2024-05-20T21:33:24.1Z" },
+]
+
+[[package]]
+name = "antlr4-python3-runtime"
+version = "4.9.3"
+source = { registry = "https://pypi.org/simple" }
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From 1fe079feaf6c4f1e1892d615648bbf7b89166d85 Mon Sep 17 00:00:00 2001
From: meydanoglu <eminmeydanoglu@gmail.com>
Date: Fri, 5 Dec 2025 15:54:19 +0300
Subject: [PATCH 16/16] chore: Update project dependencies and lock file.

---
 pyproject.toml |   1 +
 uv.lock        | 134 +++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 135 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 84209fd2..cffcbd62 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
     "moviepy==1.0.3",
     "typer>=0.9.0",
     "pycolmap",
+    "pyzmq>=27.1.0",
 ]
 
 [project.optional-dependencies]
diff --git a/uv.lock b/uv.lock
index e80304f4..db73f265 100644
--- a/uv.lock
+++ b/uv.lock
@@ -196,6 +196,66 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/70/7d/9bc192684cea499815ff478dfcdc13835ddf401365057044fb721ec6bddb/certifi-2025.11.12-py3-none-any.whl", hash = "sha256:97de8790030bbd5c2d96b7ec782fc2f7820ef8dba6db909ccf95449f2d062d4b", size = 159438, upload-time = "2025-11-12T02:54:49.735Z" },
 ]
 
+[[package]]
+name = "cffi"
+version = "2.0.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
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