C++ version MegaDepth with Point Cloud Visualization

step 1:

compile libtorch

git clone --recursive -b v1.1.0 https://github.com/pytorch/pytorch
cd pytorch && mkdir build && cd build
python ../tools/build_libtorch.py

and change torch dir in CMakeLists.txt

step 2:

download pre-trained megadepth weight

http://www.cs.cornell.edu/projects/megadepth/dataset/models/best_generalization_net_G.pth

put weight in script

and clone mega depth from

https://github.com/zhengqili/MegaDepth.git

put pytorch_DIW_scratch.py in script

step 3:

run convert.py

python3 convert.py

note your pytorch should also be 1.1.0

put converted torch jit script in build or data

step 4

build c++ version mega depth

run

./megadepthclient -n ../data/mega_depth_net.pt -v ../data/kitti.mp4 -y ../data/kitti.yml -h 256 -w 512

enjoy