Configuration Reference

Complete reference for all parameters, topics, and configuration options.

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Launch File Parameters

All parameters can be configured via launch files or command line:

ros2 launch depth_anything_3_ros2 depth_anything_3.launch.py \
  parameter_name:=value

Core Parameters

Parameter	Type	Default	Description
model_name	string	depth-anything/DA3-BASE	Hugging Face model ID or local path
device	string	cuda	Inference device (cuda or cpu)
cache_dir	string	""	Model cache directory (empty for default)

Inference Parameters

Parameter	Type	Default	Description
inference_height	int	518	Height for inference (model input)
inference_width	int	518	Width for inference (model input)
input_encoding	string	bgr8	Expected input encoding (bgr8 or rgb8)
normalize_depth	bool	true	Normalize depth to [0, 1] range

Output Parameters

Parameter	Type	Default	Description
publish_colored	bool	true	Publish colorized depth visualization
publish_confidence	bool	true	Publish confidence map
colormap	string	turbo	Colormap for visualization

Performance Parameters

Parameter	Type	Default	Description
queue_size	int	1	Subscriber queue size (1 = latest frame only)
log_inference_time	bool	false	Log performance metrics

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Available Models

Model ID	Parameters	VRAM	Use Case
depth-anything/DA3-SMALL	0.08B	~1.5GB	Fast inference, real-time robotics
depth-anything/DA3-BASE	0.12B	~2.5GB	Balanced performance (recommended)
depth-anything/DA3-LARGE	0.35B	~4GB	Higher accuracy
depth-anything/DA3-GIANT	1.15B	~6.5GB	Best accuracy, slower
depth-anything/DA3NESTED-GIANT-LARGE	Combined	~8GB	Metric scale reconstruction

Model Licensing

Model	License	Commercial Use
DA3-SMALL	Apache-2.0	Yes
DA3-BASE	CC-BY-NC-4.0	No (contact ByteDance)
DA3-LARGE	CC-BY-NC-4.0	No (contact ByteDance)
DA3-GIANT	CC-BY-NC-4.0	No (contact ByteDance)

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Topics

Subscribed Topics

Topic	Type	Description
~/image_raw	sensor_msgs/Image	Input RGB image from camera
~/camera_info	sensor_msgs/CameraInfo	Optional camera intrinsics

Published Topics

Topic	Type	Description
~/depth	sensor_msgs/Image	Depth map (32FC1 encoding, normalized 0-1)
~/depth_colored	sensor_msgs/Image	Colorized depth (BGR8, for visualization)
~/confidence	sensor_msgs/Image	Confidence map (32FC1)
~/depth/camera_info	sensor_msgs/CameraInfo	Camera info for depth image

Topic Remapping

Remap topics to match your camera setup:

ros2 launch depth_anything_3_ros2 depth_anything_3.launch.py \
  image_topic:=/my_camera/image_raw \
  camera_info_topic:=/my_camera/camera_info

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Resolution Guidelines

Resolution must be divisible by 14 (ViT patch size). Common presets:

Preset	Resolution	Use Case
Low	308x308	Fastest, obstacle avoidance, memory-constrained
Medium	518x518	Balanced speed and detail (default)
High	728x728	More detail, slower inference
Ultra	1024x1024	Maximum detail, requires high-end GPU

Platform-Specific Recommendations

Platform	Recommended Resolution	Notes
Orin Nano 4GB/8GB	308x308	Memory-constrained
Orin NX 8GB	308x308	Good balance
Orin NX 16GB	518x518	Recommended default
AGX Orin 32GB/64GB	518x518	Can go higher if needed

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Colormap Options

Available colormaps for colormap parameter:

Colormap	Description
turbo	Rainbow-like, good contrast (default)
viridis	Perceptually uniform, colorblind-friendly
plasma	Warm colors, good for presentations
inferno	Dark to light, high contrast
magma	Similar to inferno, softer
jet	Classic rainbow (not recommended)

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Environment Variables

Docker Environment Variables

Variable	Default	Description
DA3_MODEL	depth-anything/DA3-BASE	HuggingFace model ID
DA3_INFERENCE_HEIGHT	518	Inference height
DA3_INFERENCE_WIDTH	518	Inference width
DA3_VRAM_LIMIT_MB	(auto)	Override detected VRAM
DA3_DEVICE	cuda	Inference device
DA3_USE_SHARED_MEMORY	false	Use shared memory IPC

Hugging Face Environment Variables

Variable	Description
HF_HOME	Custom cache directory for models
TRANSFORMERS_CACHE	Alternative cache directory
HF_HUB_OFFLINE	Set to 1 for offline mode

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Configuration File Example

Create a YAML file for complex configurations:

# my_config.yaml
depth_anything_3:
  ros__parameters:
    # Model
    model_name: "depth-anything/DA3-BASE"
    device: "cuda"

    # Inference
    inference_height: 518
    inference_width: 518
    input_encoding: "bgr8"
    normalize_depth: true

    # Output
    publish_colored: true
    publish_confidence: true
    colormap: "turbo"

    # Performance
    queue_size: 1
    log_inference_time: true

Launch with config file:

ros2 launch depth_anything_3_ros2 depth_anything_3.launch.py \
  params_file:=/path/to/my_config.yaml

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QoS Settings

The node uses these QoS profiles:

Image Subscriber

• Reliability: BEST_EFFORT (allows frame drops)
• Durability: VOLATILE
• History: KEEP_LAST (depth 1)

Depth Publisher

• Reliability: RELIABLE
• Durability: VOLATILE
• History: KEEP_LAST (depth 10)

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Next Steps

• Usage Examples - Practical examples
• ROS2 Node Reference - Node lifecycle, QoS, diagnostics
• Optimization Guide - Performance tuning
• Jetson Deployment - TensorRT setup