Pointmap: 3-pane layout (input | depth | point cloud), drop raw .glb accordion

app.py

@@ -145,6 +145,25 @@ def _foreground_mask(image_pil: Image.Image, target_h: int, target_w: int) -> np
     return (out.argmax(dim=1)[0] > 0).cpu().numpy()
 
 
+def _depth_to_rgb(depth: np.ndarray, mask: np.ndarray) -> np.ndarray:
+    """Inverse-depth turbo colormap. Background pixels are left at 0 — caller overlays them."""
+    valid = np.isfinite(depth) & (depth > 1e-3) & mask
+    rgb = np.zeros((*depth.shape, 3), dtype=np.uint8)
+    if not valid.any():
+        return rgb
+    inv = np.zeros_like(depth, dtype=np.float32)
+    inv[valid] = 1.0 / depth[valid]
+    p1, p99 = np.percentile(inv[valid], [1, 99])
+    lo, hi = float(p1), float(p99)
+    if hi <= lo:
+        hi = lo + 1e-3
+    norm = ((inv - lo) / (hi - lo)).clip(0, 1)
+    grey = (norm * 255.0).astype(np.uint8)
+    color = cv2.applyColorMap(grey, cv2.COLORMAP_TURBO)[:, :, ::-1]
+    rgb[valid] = color[valid]
+    return rgb
+
+
 # -----------------------------------------------------------------------------
 # Point cloud export — trimesh → .glb (much faster than Open3D .ply for Three.js)
 
@@ -220,12 +239,20 @@ def predict(image: Image.Image, size: str):
     mask = _foreground_mask(image_pil, h_n, w_n)
     print(f"[time] fg mask         {(_t.perf_counter()-t)*1000:.0f} ms")
 
+    t = _t.perf_counter()
+    depth = pointmap[:, :, 2]
+    depth_rgb = _depth_to_rgb(depth, mask)
+    depth_rgb[~mask] = 200  # solid grey background
+    w0, h0 = image_pil.size
+    depth_pil = Image.fromarray(depth_rgb).resize((w0, h0), Image.LANCZOS)
+    print(f"[time] depth+resize    {(_t.perf_counter()-t)*1000:.0f} ms")
+
     t = _t.perf_counter()
     glb_path = _make_glb(image_pil, pointmap, mask)
     print(f"[time] glb export      {(_t.perf_counter()-t)*1000:.0f} ms")
 
     print(f"[time] TOTAL           {(_t.perf_counter()-t0)*1000:.0f} ms")
-    return glb_path, glb_path
+    return depth_pil, glb_path
 
 
 # -----------------------------------------------------------------------------
@@ -293,8 +320,9 @@ with gr.Blocks(title="Sapiens2 Pointmap", theme=gr.themes.Soft(), css=CUSTOM_CSS
 
     with gr.Row(equal_height=True):
         inp = gr.Image(label="Input", type="pil", height=640)
+        out_depth = gr.Image(label="Depth (Z)", type="pil", height=640)
         out_glb = gr.Model3D(
-            label="Point cloud — drag to rotate, scroll to zoom, shift+drag to pan",
+            label="Point cloud",
             height=640,
             clear_color=[0.07, 0.09, 0.13, 1.0],
             display_mode="point_cloud",
@@ -313,10 +341,7 @@ with gr.Blocks(title="Sapiens2 Pointmap", theme=gr.themes.Soft(), css=CUSTOM_CSS
 
     gr.Examples(examples=EXAMPLES, inputs=inp, examples_per_page=14)
 
-    with gr.Accordion("Raw Pointmap", open=False):
-        out_glb_file = gr.File(label="Point cloud (.glb — open in Blender/MeshLab/web viewers)")
-
-    run.click(predict, inputs=[inp, size], outputs=[out_glb, out_glb_file])
+    run.click(predict, inputs=[inp, size], outputs=[out_depth, out_glb])
 
 
 if __name__ == "__main__":