ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_monocular_depth at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
ros2_monocular_depth package from ros2_torch2trt_examples reporos2_east ros2_monocular_depth |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ros2 packages for torch2trt examples |
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_torch2trt_examples.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ak-nv
Authors
No additional authors.
The repository contains ROS2 package for MiDAS : Robust Monocular Depth Estimation.
Package outputs:
- Depth Estimated Image
Requirements
- ROS2 Eloquent
- torch2trt
Build
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone <repo name>
- Install requirements using
rosdep
``` $ rosdep install –from-paths src –ignore-src –rosdistro eloquent -y
- torch2trt related model file updates <br/>
- Clone the MiDaS repository<br/>
$ cd ros2_ws/src/ros2_monocular_depth/ros2_monocular_depth
$ git clone https://github.com/intel-isl/MiDaS
- To resolve a torch2trt tracing error, modify the following line https://github.com/intel-isl/MiDaS/blob/f275ca1c6f9af17aabe6f1e024b2084d7b84abb0/midas/blocks.py#L117 to read<br/>
x = nn.functional.interpolate(
x, scale_factor=self.scale_factor, mode=self.mode, align_corners=False
)
- Download the MiDaS small model weights into `model_dir`. Name them midas_trt.pth.<br/>
- Build and install `ros2_monocular_depth` package <br/>
$ colcon build $ source install/local_setup.sh
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2
``` (for Jetson Xavier NX) <br/>
``` sudo nvpmodel -m0
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using
```image_tools
``` package <br/>
``` ros2 run image_tools cam2image
- Run
ros2_monocular_depthnode
$ ros2 run ros2_monocular_depth depth_estimation --ros-args -p model_dir:='<absolute-path-to-base_dir>'
Other related work
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| image_tools | |
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.