---
license: apache-2.0
tags:
  - coreml
  - depth-estimation
  - computer-vision
  - ios
  - macos
  - panorama
  - vision
pipeline_tag: depth-estimation
base_model: Insta360-Research/DAP-weights
---

# DAP CoreML — Panoramic Depth Estimation for Apple Silicon

CoreML export of **[DAP (Depth Any Panoramas)](https://github.com/Insta360-Research-Team/DAP)**, a foundation model for monocular depth estimation on equirectangular 360° panoramas. Optimized for on-device inference on iOS 18+ and macOS with Apple Silicon.

![](test/test.png)

![](test/depth.png)

### 📦 Download the Core ML Model Only

```bash
pip install huggingface-hub

huggingface-cli download --include DAPModel.mlpackage/ --local-dir . pearsonkyle/DepthAnyPanorama-coreml
```

### 🧰 Clone the Full Repository

This will include the inference and model conversion/validation scripts.

```bash
brew install git-xet
git xet install
```

Clone the model repository:

```
git clone git@hf.co:pearsonkyle/DepthAnyPanorama-coreml
```

| | |
|---|---|
| **Original model** | [DAP (Insta360 Research)](https://huggingface.co/Insta360-Research/DAP-weights) |
| **Architecture** | Depth-Anything-V2 + DINOv3 (ViT-L) |
| **Input** | Equirectangular panorama, 2:1 aspect ratio (default 1536×768) |
| **Output** | Monocular depth map, float32, same resolution as input |
| **CoreML size** | ~1.2 GB |
| **Deployment** | iOS 18+, macOS 15+ (Apple Silicon) |

## Validation
The CoreML export achieves near-perfect numerical fidelity to the original PyTorch implementation, with negligible differences in depth predictions and identical correlation. Changing the input resolution can somtimes lead to artifacts around the edges of the panorama.

| Metric | Value |
|---|---|
| Max absolute difference | 5.54×10⁻⁶ |
| Mean absolute difference | 4.50×10⁻⁷ |
| Correlation | 1.000000 |
| CoreML inference (M-series) | ~650 ms |

![Validation](test_output/comparison.png)

## Command line on macOS

Compile and run `DepthPredictor.swift` as a standalone tool — no Xcode project needed:

```bash
# Compile
swiftc -O -o depth_predictor DepthPredictor.swift \
    -framework CoreML -framework Vision -framework CoreImage \
    -framework CoreGraphics -framework AppKit

# Generate a 16-bit grayscale depth map
./depth_predictor -m DAPModel.mlpackage -i panorama.jpg -o depth.png

# Colorized with jet colormap
./depth_predictor -m DAPModel.mlpackage -i panorama.jpg -o depth.png -c jet

# Turbo colormap
./depth_predictor -m DAPModel.mlpackage -i panorama.jpg -o depth.png -c turbo
```

Options:

| Flag | Description |
|---|---|
| `-m, --model PATH` | Path to `DAPModel.mlpackage` or `.mlmodelc` |
| `-i, --input PATH` | Input equirectangular panorama (2:1 aspect ratio) |
| `-o, --output PATH` | Output PNG file |
| `-c, --colormap STYLE` | `grayscale` (16-bit, default), `jet`, or `turbo` |

The model is automatically compiled on first use and cached for subsequent runs.

## 360° Gaussian Splat from Panorama

![](test/360splat.gif)

Convert an equirectangular panorama directly into a 3D Gaussian splat `.ply` file — one Gaussian per pixel, compatible with standard [3DGS viewers](https://huggingface.co/spaces/pearsonkyle/Gaussian-Splat-Viewer):

```bash
# Compile
swiftc -O -o panorama_splat PanoramaSplat.swift \
    -framework CoreML -framework Vision -framework CoreImage \
    -framework CoreGraphics -framework AppKit

# Generate a Gaussian splat PLY
./panorama_splat -m DAPModel.mlpackage -i test/test.png -o scene.ply -r 5.0
```

Options:

| Flag | Description |
|---|---|
| `-m, --model PATH` | Path to `DAPModel.mlpackage` |
| `-i, --input PATH` | Input equirectangular panorama (2:1 aspect ratio) |
| `-o, --output PATH` | Output PLY file |
| `-r, --radius FLOAT` | Sphere radius in world units (default: `5.0`) |

The PLY uses the same binary format as [SHARP](https://github.com/apple/ml-sharp), with per-pixel positions projected onto a sphere using estimated depth, image-derived colors (SH0), uniform scale/opacity, and identity quaternions.

## Files

| File | Description |
|---|---|
| `DAPModel.mlpackage/` | CoreML model (depth-only, ImageType input) |
| `model.pth` | Original DAP PyTorch weights |
| `export_and_validate_coreml.py` | Export + validation script |
| `DepthPredictor.swift` | Swift inference wrapper |
| `depth_anything_utils.py` | Image preprocessing utilities |
| `networks/` | DAP model definition |
| `depth_anything_v2_metric/` | Depth-Anything-V2 + DINOv3 backbone |
| `test/test.png` | Test panorama for validation |
| `test_output/` | PyTorch vs CoreML comparison |

## Export from Scratch

Reproduce the CoreML model from the PyTorch weights:

```bash
# Install dependencies
pip install -r requirements.txt

# Export and validate (produces DAPModel.mlpackage + test_output/)
python export_and_validate_coreml.py

# Custom resolution (must be multiples of 16)
python export_and_validate_coreml.py --height 768 --width 1536

# Skip export, only validate existing model
python export_and_validate_coreml.py --skip_export
```

## Citation

```bibtex
@article{lin2025dap,
  title={Depth Any Panoramas: A Foundation Model for Panoramic Depth Estimation},
  author={Lin, Xin and Song, Meixi and Zhang, Dizhe and Lu, Wenxuan and Li, Haodong and Du, Bo and Yang, Ming-Hsuan and Nguyen, Truong and Qi, Lu},
  journal={arXiv},
  year={2025}
}
```

## License

Original DAP weights and model architecture: **MIT** ([Insta360 Research Team](https://github.com/Insta360-Research-Team/DAP))

CoreML export and Swift wrapper: **MIT**