jwpleow / stereo_libtorch_inference

stereo disparity estimator model in libtorch (AANet and BGNet)

Hmm

Dependencies

ROS
libtorch 1.7 # e.g. wget https://download.pytorch.org/libtorch/cu102/libtorch-cxx11-abi-shared-with-deps-1.7.0.zip

Publishing the camera and disparity feeds to ROS

expects ImageTransport mono8 stereo frame on /stereo/image

source /opt/ros/noetic/setup.bash
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH=path/to/libtorch1.7 ..
make
# roscore
./depth_camera_node

publishes left rectified rgb to /left/image_rect_color/ publishes right rectified rgb to /right/image_rect_color/ publishes depth to /depth/image_rect