Real-time Depth Estimation for Jetson Orin
This project aims to provide a real-time depth estimation optimized for NVIDIA Jetson Orin devices. Utilizing the power of the Jetson Orin's GPU, it processes live camera feeds to estimate depth maps in real-time, enabling applications in robotics, autonomous vehicles, and augmented reality among others. Thank you to [DepthAnything](https://github.com/LiheYoung/Depth-Anything) team for implementing real-time depth estimation.
**Note: This video is unedited, and the frame rate may appear awkward due to the varying inference time of each frame.**
Timelines
- 2024-04-04: This repository is public! 🎉
Requirements
Hardware
- NVIDIA Jetson Orin Developer Kit(8GB)
- A CSI camera module
Webcam\ The current code incamera.pyonly supports CSI cameras, but a simple code modification should enable it to work with USB Cameras as well. 😊
Software
- JetPack SDK (version: 5.1.3)
- Python 3.8.10
- CUDA (version: 11.4)
- TensorRT (version: 8.5.2)
- OpenCV (version: 4.5.4, ensure compatibility with GStreamer)
Installations
- Clone This Repository
git clone https://github.com/IRCVLab/Depth-Anything-for-Jetson-Orin cd Depth-Anything-for-Jetson-Orin/ - Install TensorRT
sudo apt install tensorrt sudo apt update - Install torch-related packages
# torch pip3 install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v51/pytorch/torch-2.0.0a0+8aa34602.nv23.03-cp38-cp38-linux_aarch64.whl
torchvision
pip3 install torchvision==0.15.0
For more details, please refer to Nvidia's [Installing PyTorch for Jetson Platform](https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/). (**<ins>Do not install venv or Anaconda</ins>**)
- **Install Jetson Stats**
```bash
sudo pip3 install -U jetson-stats - You can check the memory usage using the command below:
jtopCamera Setup
- Ensure your camera is connected to the Jetson Orin.
- To check if GStreamer is working properly, run the following code:
import cv2
print(cv2.getBuildInformation())
### ❌ Non-recommended ❌
- **Do not install Anaconda**
- **Do not reinstall OpenCV**
- **It is already installed with Jetson SDK**
- **Do not install PyTorch using ```pip3 install pytorch```**
## Performance
All performance was measured on the Jetson Orin(8GB). The input size means the size of the resized tensor that goes into the model, <ins>not the resolution of the camera</ins>. **<ins>Larger models(Base & Large) are not supported on Jetson Orin due to memory issues.</ins>**
| Model | Input Size | Inference Time | Memory Usage |
|:-:|:-:|:-:|:-:|
| Depth-Anything-Small | 308x308 | 23.5ms | 626MB |
| Depth-Anything-Small | 364x364 | 39.2ms | 640MB |
| Depth-Anything-Small | 406x406 | 47.7ms | 649MB |
| Depth-Anything-Small | 518x518 | 98.0ms | 689MB |
**All of weights files are available [here](https://huggingface.co/spaces/LiheYoung/Depth-Anything/tree/main/checkpoints).**
## Usage
### Code
**You can run the code in just a few lines.**
- **Export ONNX & TensorRT Engine(<ins>Network required</ins>)**
- ```input_size``` must <ins>be divisible by 14</ins>.
```python
# export.py
export(
weights_path="LiheYoung/depth_anything_vits14", # local hub or online
save_dir="weights", # folder name
input_size=364, # 308 | 364 | 406 | 518
)✨ No networks are required from now
- Camera Streaming
from camera import Camera
camera = Camera(sensor_id=0, save=True) camera.run()
- **Depth Estimation**
- ```input_size``` must <ins>be divisible by 14</ins>.
```python
from depth import DepthEngine
depth = DepthEngine(
input_size=308
frame_rate=15,
stream=True,
)
depth.run()Running
-
Convert weights(.pt/.pth) to TensorRT Engine(.trt)
python3 export.py -
Real-time depth estimation
# Streaming the results python3 depth.py --stream
Streaming and Visualizing the depth map to grayscale
python3 depth.py --stream --grayscale
Streaming and Saving the depth map
python3 depth.py --stream --save
Using only raw depth map(float type)
python3 depth.py --raw
Recording Results
python3 depth.py --record
**Frame rate of recorded video could be unmatched with the camera's frame rate <ins>due to variable inference time</ins>.**
**⚠ Note: Please turn off the stream/save option for faster performance.**
## Dependencies
### Pip
>huggingface-hub: 0.22.2 \
>jetson-stats: 4.2.7 \
>matplotlib: 3.1.2 \
>mpmath: 1.3.0 \
>numpy: 1.24.4 \
>onnx: 1.16.0 \
>Pillow: 7.0.0 \
>pip: 24.0 \
>pycuda: 2024.1 \
>scipy: 1.3.3 \
>sympy: 1.12 \
>tensorrt: 8.5.2.2 \
>torch: 2.0.0a0+8aa34602.nv23.3 \
>torchvision: 0.15.0
<details>
<summary>Entire</summary>
<div markdown="1">
>appdirs: 1.4.4\
>apt-clone: 0.2.1\
>apturl: 0.5.2\
>bcrypt: 3.1.7\
>blinker: 1.4\
>Brlapi: 0.7.0\
>certifi: 2019.11.28\
>chardet: 3.0.4\
>Click: 7.0\
>colorama: 0.4.3\
>cryptography: 2.8\
>cupshelpers: 1.0\
>cycler: 0.10.0\
>dbus-python: 1.2.16\
>decorator: 4.4.2\
>defer: 1.0.6\
>distro: 1.4.0\
>distro-info: 0.23+ubuntu1.1\
>duplicity: 0.8.12.0\
>entrypoints: 0.3\
>fasteners: 0.14.1\
>filelock: 3.13.3\
>fsspec: 2024.3.1\
>future: 0.18.2\
>graphsurgeon: 0.4.6\
>httplib2: 0.14.0\
>huggingface-hub: 0.22.2\
>idna: 2.8\
>Jetson.GPIO: 2.1.6\
>jetson-stats: 4.2.7\
>keyring: 18.0.1\
>kiwisolver: 1.0.1\
>language-selector: 0.1\
>launchpadlib: 1.10.13\
>lazr.restfulclient: 0.14.2\
>lazr.uri: 1.0.3\
>lockfile: 0.12.2\
>louis: 3.12.0\
>macaroonbakery: 1.3.1\
>Mako: 1.1.0\
>MarkupSafe: 1.1.0\
>matplotlib: 3.1.2\
>monotonic: 1.5\
>mpmath: 1.3.0\
>networkx: 3.1\
>numpy: 1.24.4\
>oauthlib: 3.1.0\
>olefile: 0.46\
>onboard: 1.4.1\
>onnx: 1.16.0\
>onnx-graphsurgeon: 0.3.12\
>packaging: 24.0\
>PAM: 0.4.2\
>pandas: 0.25.3\
>paramiko: 2.6.0\
>pexpect: 4.6.0\
>Pillow: 7.0.0\
>pip: 24.0\
>platformdirs: 4.2.0\
>protobuf: 5.26.1\
>pycairo: 1.16.2\
>pycrypto: 2.6.1\
>pycuda: 2024.1\
>pycups: 1.9.73\
>PyGObject: 3.36.0\
>PyICU: 2.4.2\
>PyJWT: 1.7.1\
>pymacaroons: 0.13.0\
>PyNaCl: 1.3.0\
>pyparsing: 2.4.6\
>pyRFC3339: 1.1\
>python-apt: 2.0.1+ubuntu0.20.4.1\
>python-dateutil: 2.7.3\
>python-dbusmock: 0.19\
>python-debian: 0.1.36+ubuntu1.1\
>pytools: 2024.1.1\
>pytz: 2019.3\
>pyxdg: 0.26\
>PyYAML: 5.3.1\
>requests: 2.22.0\
>requests-unixsocket: 0.2.0\
>scipy: 1.3.3\
>SecretStorage: 2.3.1\
>setuptools: 45.2.0\
>simplejson: 3.16.0\
>six: 1.14.0\
>smbus2: 0.4.3\
>sympy: 1.12\
>systemd-python: 234\
>tensorrt: 8.5.2.2\
>torch: 2.0.0a0+8aa34602.nv23.3\
>torchvision: 0.15.0\
>tqdm: 4.66.2\
>typing_extensions: 4.10.0\
>ubuntu-drivers-common: 0.0.0\
>ubuntu-pro-client: 8001\
>uff: 0.6.9\
>urllib3: 1.25.8\
>urwid: 2.0.1\
>wadllib: 1.3.3\
>wheel: 0.34.2\
>xkit: 0.0.0
</div>
</details>
**⚠ When installing Python packages that depend on opencv, please be cautious or do not install them.**
## Issues
**Known solutions for troubleshootings**
### Gstreamer
```bash
export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libGLdispatch.so.0OpenCV
Nothing here yet.
Star History
References
✨ Special thanks to these amaizing projects: