---
title: "Metric3D"
description: "Metric3D from DJI / Zhejiang University: monocular-depth-estimation and metric-depth-estimation; Verified."
modelId: "metric3d-prior"
pageSource: generated
---

Metric3D recovers metric-scale depth from a single image by normalizing images into a canonical camera space, which lets one model generalize across cameras. In this catalog it is a verified metric-depth prior: the VIPE SLAM defaults reference it by name through the shared priors factory, and checkpoint-backed inference runs through the geometry-prior contract.

<ModelPaperFigures modelId="metric3d-prior" locale="en" />

The recorded paper is [arXiv 2403.12013](https://arxiv.org/abs/2403.12013).

Project page: [jugghm.github.io/Metric3Dv2](https://jugghm.github.io/Metric3Dv2/). Code: [YvanYin/Metric3D](https://github.com/YvanYin/Metric3D).

<ModelCommandBuilder modelId="metric3d-prior" locale="en" />

## What it is for

`metric3d-prior` is the recorded reconstruction line. Start here to emit geometry from the documented views.

Per the upstream publication (ICCV 2023), a canonical-camera transformation resolves the metric ambiguity of single-image depth, and the recorded checkpoint is JUGGHM/Metric3D under a bsd-2-clause license. Registered at base_models/three_dimensions/depth/metric3d. It is published by DJI / Zhejiang University.

Catalog tasks include monocular-depth-estimation, metric-depth-estimation, and geometry-prior. Catalog aliases include `metric3d` and `yvanyin-metric3d`.

## Runtime contract

Optional `input_path`, `model`, `version`, `focal_length`, and `execute`; artifacts `metric3d-prior.npz`.

CLI task profiles: `default`. WorldFoundry binds `Metric3DPriorPipeline`.

Family status: **Verified**.

It is integrated as an independent geometry prior under worldfoundry/base_models and exposed through the shared geometry-prior pipeline/operator contract. Higher-level pipelines (e.g. ViPE) import it from this canonical owner instead of keeping private copies. Runner parity is verified through the shared contract; it is the default metric-depth choice in the VIPE SLAM configuration.

Integrated as an independent metric-depth prior at worldfoundry/base_models/three_dimensions/depth/metric3d.

## Running in WorldFoundry

Launch `worldfoundry-eval run metric3d-prior --pipeline.task-profile default` to write geometry. The command builder above switches `--pipeline.task-profile` among recorded tasks and still emits `worldfoundry-eval run`.

It runs in the unified environment `worldfoundry-unified-cu128` (Python 3.11, CUDA 12.8).

Recorded weight repositories include `JUGGHM/Metric3D`. Prepare the environment and check local assets with `bash scripts/inference/prepare_model_infer.sh metric3d-prior`. Add `--download` to fetch missing public checkpoints.

Status: **Verified**.

<ModelRelatedRecipes modelId="metric3d-prior" locale="en" />