MMint FoundationStereo (ROS1)

This package publishes ROS1 topics of foundation stereo depth estimation

[Recommended] Docker Guide

Setup

1. Clone and set up workspace directory environment variable

git clone https://github.com/MMintLab/ros1_foundationstereo.git
cd ros1_foundationstereo
echo "export MMINT_FS_WORKSPACE_DIR=$(pwd)" >> ~/.bashrc
source ~/.bashrc

2. Build docker image

cd docker/script
docker build -t foundationstereo -f build_cuda12_ros1.sh .

3. Update Configs in docker/config/config.yaml and camera configs in assets/

Run Foundation Stereo with ROS1

./run_foundationstereo.sh

Make sure you are not running any cameras before running!

Installation from Scratch

This is recommended for testing out FoundationStereo without having to deal with ROS1.

git clone git@github.com:MMintLab/ros1_foundationstereo.
git submodule update --init --recursive
cd FoundationStereo
pip install -e .
pip install -e FoundationStereo/