sDepth SDK

This project is a binocular depth estimation SDK based on C++ and TensorRT, running on NVIDIA Jetson Orin platform or the NVIDIA Jetson Thor platform.

Dependencies

• JetPack 6.1+:
  • CUDA 12.6
  • TensorRT 10.3
  • OpenCV 4.8+
• C++17 compiler (g++)
• CMake 3.16+

File Structure

sDepth/
├── CMakeLists.txt
├── README.md
├── config/
│   ├── stereo_calibration.json
│   └── vendor_public.pem
├── include/
│   ├── opencv4/
│   └── SG_StereoDepth_api.h
│── lib/
│   ├── opencv/
│   └── libsDepth.so
│── tools/
|    └── device_finger 
└── samples/
    └── main.cpp

Quick Start

1. Install System Dependencies

sudo apt update
sudo sudo apt install -y cmake build-essential v4l-utils nvidia-jetpack

2. Manual Build

cd sDepth
mkdir build
cd build
cmake ..
make -j$(nproc)

Compilation Output

The executable program is generated in the sDepth/bin directory:

sDepth_Demo  

Run Example

1. Offline mode: Input binocular images and output depth map

./sDepth_Demo -mode 0 -left left.jpg -right right.jpg -width 1920 -height 1536 -enc <model_filename> -lic <license_filename> -key ../config/vendor_public.pem

2. Online mode: real-time preview of deep video streams

./sDepth_Demo -mode 1 -left /dev/video2 -right /dev/video3 -width 1920 -height 1536 -enc <model_filename> -lic <license_filename> -key ../config/vendor_public.pem

Command Line Arguments

• -mode <0|1|2>: 0 for offline mode, 1/2 for online mode
• -left <path>: Path to the left image (for offline mode) or left video device (for online mode)
• -right <path>: Path to the right image (for offline mode) or right video device (for online mode)
• -width <int>: Image width
• -height <int>: Image height
• -enc <model_filename>: Model file
• -lic <license_filename>: Model license file
• -key <pem_filename>: Vendor public key file, provided in the config directory
• -json <calibra_filename>: Calibration parameter file, default to using the files in the config directory.

Obtain The sDepth Model

The sDepth model is not included in this repository. To obtain the model file and license, please contact our business team at <sales@sensing-world.com>

Obtain The Machine Code

To obtain the machine code for licensing, please run the device_finger tool located in the tools directory:

cd tools
./device_finger --vendor-pub ../config/vendor_public.pem --out my_device.finger

This will generate a device fingerprint file (my_device.finger) that you can send to our business team to obtain the license file for the sDepth model.