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DetAny3D

This is the official repository for the Detect Anything 3D in the Wild, a promptable 3D detection foundation model capable of detecting any novel object under arbitrary camera configurations using only monocular inputs.

📖 Table of Contents

• 📌 TODO
• 🚀 Getting Started
  • Step 1: Create Environment
  • Step 2: Install Dependencies
• 📦 Checkpoints
• 📁 Dataset Preparation
• 🏋️‍♂️ Training
• 🔍 Inference
• 🌐 Launch Online Demo
• 📚 Citation

📌 TODO

✅ Done

• Release full code
• Provide training and inference scripts
• Release the model weights

🛠️ In Progress

• TODO: Provide full conversion scripts for constructing DA3D locally
• TODO: Simplify the inference process
• TODO: Provide a tutorial for creating customized datasets and finetuning

🚀 Getting Started

Step 1: Create Environment

conda create -n detany3d python=3.8
conda activate detany3d

---

Step 2: Install Dependencies

✅ (1) Install Segment Anything (SAM)

Follow the official instructions to install SAM and download its checkpoints.

✅ (2) Install UniDepth

Follow the UniDepth setup guide to compile and install all necessary packages.

✅ (3) Clone and configure GroundingDINO

git clone https://github.com/IDEA-Research/GroundingDINO.git
cd GroundingDINO
pip install -e .

👉 The exact dependency versions are listed in our requirements.txt

📦 Checkpoints

Please download third-party checkpoints from the following sources:

• SAM checkpoint: Please download sam_vit_h.pth from the official SAM GitHub Releases
• UniDepth / DINO checkpoints: Available via Google Drive

detany3d_private/
├── checkpoints/
│   ├── sam_ckpts/
│   │   └── sam_vit_h.pth
│   ├── unidepth_ckpts/
│   │   └── unidepth.pth
│   ├── dino_ckpts/
│   │   └── dino_swin_large.pth
│   └── detany3d_ckpts/
│       └── detany3d.pth

GroundingDINO's checkpoint should be downloaded from its official repo and placed as instructed in their documentation.

📁 Dataset Preparation

The data/ directory should follow the structure below:

data/
├── DA3D_pkls/                             # DA3D processed pickle files 
├── kitti/
│   ├── test_depth_front/
│   ├── ImageSets/
│   ├── training/
│   └── testing/
├── nuscenes/
|   ├── nuscenes_depth/
│   └── samples/
├── 3RScan/
│   └── <token folders>/             # e.g., 10b17940-3938-...
├── hypersim/
|   ├── depth_in_meter/
│   └── ai_XXX_YYY/                  # e.g., ai_055_009
├── waymo/
│   └── kitti_format/                # KITTI-format data for Waymo
│       ├── validation_depth_front/
│       ├── ImageSets/
│       ├── training/
│       └── testing/
├── objectron/
│   ├── train/
│   └── test/
├── ARKitScenes/
│   ├── Training/
│   └── Validation/
├── cityscapes3d/
│   ├── depth/
│   └── leftImg8bit/
├── SUNRGBD/
│   ├── realsense/
│   ├── xtion/
|   ├── kv1/
│   └── kv2/

The download for kitti, nuscenes, hypersim, objectron, arkitscenes, and sunrgbd follow the Omni3D convention. Please refer to the Omni3D repository for details on how to organize and preprocess these datasets.

🗂️ The DA3D_pkls (minimal metadata for inference) can be downloaded from Google Drive.
🧩 Note: This release currently supports a minimal inference-only version. The conversion scripts of full dataset + all depth-related files will be provided later.

⚠️ Depth files are not required for inference. You can safely set depth_path = None in detany3d_dataset.py to bypass depth loading.

🏋️‍♂️ Training

torchrun \
    --nproc_per_node=8 \
    --master_addr=${MASTER_ADDR} \
    --master_port=${MASTER_PORT} \
    --nnodes=8 \
    --node_rank=${RANK} \
    ./train.py \
    --config_path \
    ./detect_anything/configs/train.yaml

🔍 Inference

torchrun \
    --nproc_per_node=8 \
    --master_addr=${MASTER_ADDR} \
    --master_port=${MASTER_PORT} \
    --nnodes=1 \
    --node_rank=${RANK} \
    ./train.py \
    --config_path \
    ./detect_anything/configs/inference_indomain_gt_prompt.yaml

After inference, a file named {dataset}_output_results.json will be generated in the exps/<your_exp_dir>/ directory.

⚠️ Due to compatibility issues between pytorch3d and the current environment, we recommend copying the output JSON file into the evaluation script of repositories like Omni3D or OVMono3D for standardized metric evaluation.

TODO: Evaluation for zero-shot datasets currently requires manual modification of the Omni3D or OVMono3D repositories and is not yet fully supported here.
We plan to release a merged evaluation script in this repository to make direct evaluation more convenient in the future.

🌐 Launch Online Demo

python ./deploy.py

📚 Citation

If you find this repository useful, please consider citing:

@article{zhang2025detect,
  title={Detect Anything 3D in the Wild},
  author={Zhang, Hanxue and Jiang, Haoran and Yao, Qingsong and Sun, Yanan and Zhang, Renrui and Zhao, Hao and Li, Hongyang and Zhu, Hongzi and Yang, Zetong},
  journal={arXiv preprint arXiv:2504.07958},
  year={2025}
}