Blender Depth-map
Source: Reddit Post
MiDaS is really good at automatically generating depth maps from 2D images, but it lacks the detail you can get with a true map from a 3D render.
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Build the scene in Blender. Don't worry too much about texturing or lighting.
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Render the scene like you normally would.
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Perform a second render, this time with just the inverted Z (depth) channel.
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Apply this pull request: AUTOMATIC1111
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Write a dirty hack so you can use your rendered depth map instead of the one generated by MiDaS
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In img2img, turn the denoising strength all the way to 1, unless you want to show off the ugly colours you chose for the render
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Load the normal render into img2img, describe the scene, and hit generate
These instructions currently belong on r/restofthefuckingowl, but I hope it'll get easier as the tools mature.