This repo is forked from https://github.com/gangweiX/IGEV with some modifications in order to run onnx models on Jetson Jetpack 5.

Create a conda environment

conda create -n stereo python=3.8
conda activate stereo
pip install -r requirements.txt

Download the pretrained model

Browse the original repo to download pretrained models and to convert the model from pytorch to onnx, run the following command:

python utils/onnx_converter.py --restore_ckpt ./pretrained_models/middlebury.pth --save_onnx_path ./pretrained_models/middlebury.onnx --img_size 608 800 --iter 32

On Jetson Jetpack 5, run the following command to generate the trt engine:

trtexec --workspace=10240 --verbose --onnx=middlebury.onnx --saveEngine=middlebury.trt
# trtexec --workspace=10240 --iterations=100 --avgRuns=10 --verbose --loadEngine=middlebury.trt

Or visualize the result by using viz.ipynb