Prerequisites

Hardware

• Jetson Orin NX 8GB or higher
• Intel Realsense D435i

Software

• JetPack 5.1.1
• OpenCV 4.10.0-dev with CUDA: YES
  • installation guide: https://qengineering.eu/install-opencv-on-jetson-nano.html
• CUDA 11.4.315
• cuDNN 8.6.0.166
• TensorRT 8.5.2.2
• pyrealsense2 2.55.1.6486

Example Usage

Cloning the Repository

git clone https://github.com/kyrie2to11/Depth-Anything-for-Jetson-Orin-Python.git

Build the Tensor RT engine

cd path/to/Depth-Anything-for-Jetson-Orin-Python
python export.py --weights_path="./ckpt" --save_path="exported_models" --input_size=364 # This will build the Tensor RT engine in the `exported_models` directory.

Running the Live Stream Demo

cd path/to/Depth-Anything-for-Jetson-Orin-Python
python depth_realsense.py --trt_engine_path='./exported_models/depth_anything_vits14_364.trt' --stream

Output Shortcut