maliksyria / depth_estimation_ros

Scaled_Metric_Depth_Estimation_ROS

A ROS node for generating scaled metric depth estimation using MiDaS from https://github.com/isl-org/MiDaS and to generate point cloud of the estimated metric depth point cloud.

To use it PyTorch +1.7 should be there with CUDA +11.0, PyTorch should be installed in this way:

cd ~/
wget https://download.pytorch.org/libtorch/cu110/libtorch-cxx11-abi-shared-with-deps-1.7.0%2Bcu110.zip
unzip libtorch-cxx11-abi-shared-with-deps-1.7.0+cu110.zip

Now from ROS workspace:

https://github.com/maliksyria/depth_estimation_ros.git

Then :

chmod +x src/depth_estimation_ros/scripts/*.py

Followed by:

catkin_make

Don't forget to source devel.bash file of ROS workspace.

A pre-trained traced model should be in cached ROS directory which can be done by:

cd ~/.ros
wget https://github.com/intel-isl/MiDaS/releases/download/v2_1/model-small-traced.pt

Run Depth Only

roslaunch midas_cpp midas_cpp_xyzrgb.launch input_topic:="/input/image" gt_topic:="/ground_truth_depth" camera_info_in:="/image/camera_info"

Run Segmentation only

roslaunch midas_cpp midas_cpp_seg.launch input_topic:="/input/image"  image_input_original_topic:="/input/image_color" segmentation_topic:="/segmented"

Run Segmentation and Depth rescale with SLAM features

roslaunch midas_cpp midas_cpp_features_seg.launch input_topic:="/input/image"  camera_info_in:="/input/camera_info" map_topic:="/input/map_point" pose_topic:="/input/pose" image_input_original_topic:="/input/image_color" segmentation_topic:="/segmented"