depth_anything_ros

KO | EN

gitlite — search

#python #hacktoberfest #react #android #rust #deep-learning #docker #macos #awesome #cli #awesome-list #security #pytorch #open-source

depth_anything_ros

(★ 21)

ROS1 wrapper package of Depth Anything V2

depth_anything_ros 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# depth_anything_ros

ROS1 wrapper for [Depth Anything V2](https://github.com/DepthAnything/Depth-Anything-V2.git).

## Creating Pointcloud without depth
![Alt text](https://raw.githubusercontent.com/ojh6404/depth_anything_ros/master/assets/demo.gif)

## Setup

### Prerequisite
This package is build upon
- ROS1 (Noetic)
- cuda (11.8+)
- TensorRT(8+)
- (Optional) docker and nvidia-container-toolkit (for environment safety)

### Build package

#### on your workspace
```bash
mkdir -p ~/ros/catkin_ws/src && cd ~/ros/catkin_ws/src
git clone https://github.com/ojh6404/depth_anything_ros.git
cd ~/ros/catkin_ws/src/depth_anything_ros && git submodule --init --recursive
cd ~/ros/catkin_ws && TENSORRT_DIR='/path/to/your/tensorrt_dir' catkin build
cd ~/ros/catkin_ws/src/depth_anything_ros && pip install -r requierments.txt
cd ~/ros/catkin_ws/src/depth_anything_ros && ./scripts/onnx2tensorrt.sh trained_data
```

#### using docker (Recommended)
```bash
git clone https://github.com/ojh6404/depth_anything_ros.git
cd depth_anything_ros && docker build -t depth_anything_ros .
```

## How to use
```bash
roslaunch depth_anything_ros.launch depth_estimation.launch input_image:=/your/image/topic camera_info:=/your/camera_info/topic
```
Please refer depth_estimation.launch to see args.

In case you are using docker,
```bash
docker run --rm --net=host -it --gpus 1  depth_anything_ros:latest /bin/bash
```
then inside docker,
```bash
roscd depth_anything_ros
./scripts/onnx2tensorrt trained_data # convert onnx to tensorrt
roslaunch depth_anything_ros.launch depth_estimation.launch input_image:=/your/image/topic camera_info:=/your/camera_info/topic
```

For just test with provided rosbag, run
```bash
roslaunch depth_anything_ros test.launch
```

### Acknowledgement
- [Depth Anything V2](https://github.com/DepthAnything/Depth-Anything-V2.git).
- [depth-anything-tensorrt](https://github.com/spacewalk01/depth-anything-tensorrt.git).

depth_anything_ros

depth_anything_ros 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

depth_anything_ros

depth_anything_ros 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

Download README