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Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
ROS2 TensorRT Node for Monocular Metric Depth estimation and Point Cloud generation from camera images with Depth Anything V3
| Date | Stars |
|---|---|
| 2026-07-24 | 514 |
| 2026-07-25 | 514 |
| 2026-07-28 | 514 |
| 2026-07-30 | 514 |
| 2026-08-06 | 514 |
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# Depth Anything V3 TensorRT ROS 2 Node https://github.com/user-attachments/assets/d119d3b8-bba1-43a3-9f86-75db24e01235 A ROS 2 node for Depth Anything V3 depth estimation using TensorRT for real-time inference. This node subscribes to camera image and camera info topics and publishes directly both, a metric depth image and `PointCloud2` point cloud. <!-- omit from toc --> ## Overview - [Features](#features) - [Dependencies](#dependencies) - [Topics](#topics) - [Parameters](#parameters) - [Usage](#usage) - [Model Preparation](#model-preparation) - [Docker Image](#docker-image) - [Building](#building) - [Performance](#performance) - [Architecture](#architecture) - [Depth Postprocessing Pipeline](#depth-postprocessing-pipeline) - [Troubleshooting](#troubleshooting) - [License](#license) - [Citation](#citation) - [Acknowledgements](#acknowledgements) ## Features - **Real-time metric depth estimation** using Depth Anything V3 with TensorRT acceleration - **Point cloud generation** from metric depth image - **Debug visualization** with colormap options - **Configurable precision** (FP16/FP32) > [!IMPORTANT] > This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/). > We cover a wide variety of research topics within our [*Vehicle Intelligence & Automated Driving*](https://www.ika.rwth-aachen.de/en/competences/fields-of-research/vehicle-intelligence-automated-driving.html) domain. > If you would like to learn more about how we can support your automated driving or robotics efforts, feel free to reach out to us! > :email: ***[email protected]*** ## Dependencies - Tested with image `nvcr.io/nvidia/tensorrt:25.08-py3` - Ubuntu 24.04, ROS 2 Jazzy - CUDA 13 - TensorRT 10.9 - Tested with image `nvcr.io/nvidia/tensorrt:25.03-py3` - Ubuntu 24.04, ROS 2 Jazzy - CUDA 12.8.1 - TensorRT 10.9 Depending on your driver and CUDA version you need to select the appropriate base image. ## Topics ### Subscribed Topics - `~/input/image` (sensor_msgs/msg/Image): Input camera image (supports raw and compressed transport via [image_transport](https://wiki.ros.org/image_transport)) - `~/input/camera_info` (sensor_msgs/msg/CameraInfo): Camera calibration info ### Published Topics - `~/output/depth_image` (sensor_msgs/msg/Image): Depth image (32FC1 format) - `~/output/point_cloud` (sensor_msgs/msg/PointCloud2): Generated point cloud - `~/output/depth_image_debug` (sensor_msgs/msg/Image): Debug depth visualization (if enabled) ## Parameters All parameters can be configured via `config/depth_anything_v3.param.yaml` or passed at launch time. ### Model Configuration | Parameter | Type | Default | Description | |-----------|------|---------|-------------| | `onnx_path` | string | `"models/DA3METRIC-LARGE.onnx"` | Path to Depth Anything V3 ONNX or TensorRT engine file | | `precision` | string | `"fp16"` | Inference precision (`"fp16"` or `"fp32"`) | ### Sky Handling | Parameter | Type | Default | Description | |-----------|------|---------|-------------| | `sky_threshold` | double | `0.3` | Threshold for sky classification from model's sky output (lower = more sky detected) | | `sky_depth_cap` | double | `200.0` | Maximum depth value (meters) to assign to sky pixels | ### Point Cloud Configuration | Parameter | Type | Default | Description | |-----------|------|---------|-------------| | `point_cloud_downsample_factor` | int | `2` | Publish every Nth point (1 = full resolution, 10 = every 10th point) | | `colorize_point_cloud` | bool | `true` | Add RGB colors from input image to point cloud | ### Debug Configuration | Parameter | Type | Default | Description | |-----------|------|---------|-------------| | `enable_debug` | bool | `false` | Enable debug visualization output | | `debug_colormap` | string | `"JET"` | Colormap for depth visualization (see below) | | `debug_filepath` | string | `"/tmp/
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Sachin Kumar · Germany
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:d1e8ae0b06765034, topic:ros2, readme:robotics
matched fp:d1e8ae0b06765034, topic:tensorrt