```python
import torch
import numpy as np
from PIL import Image
from transformers import DPTImageProcessor, DPTForDepthEstimation
from diffusers import ControlNetModel, StableDiffusionXLControlNetPipeline
from diffusers.utils import load_image, make_image_grid
from scheduling_tcd import TCDScheduler

device = "cuda"
depth_estimator = DPTForDepthEstimation.from_pretrained("Intel/dpt-hybrid-midas").to(device)
feature_extractor = DPTImageProcessor.from_pretrained("Intel/dpt-hybrid-midas")