
retinify
Real-Time AI Stereo Vision Library
Stars: 212

Retinify is an advanced AI-powered stereo vision library designed for robotics, enabling real-time, high-precision 3D perception by leveraging GPU and NPU acceleration. It is open source under Apache-2.0 license, offers high precision 3D mapping and object recognition, runs computations on GPU for fast performance, accepts stereo images from any rectified camera setup, is cost-efficient using minimal hardware, and has minimal dependencies on CUDA Toolkit, cuDNN, and TensorRT. The tool provides a pipeline for stereo matching and supports various image data types independently of OpenCV.
README:
Retinify is an advanced AI-powered stereo vision library designed for robotics. It enables real-time, high-precision 3D perception by leveraging GPU and NPU acceleration.
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- ๐ Open Source: Fully customizable and freely available under an Apache-2.0 license.
- ๐ฅ High Precision: Delivers real-time, accurate 3D mapping and object recognition from stereo image input.
- โก Fast Pipeline: All necessary computations run seamlessly on the GPU, enabling real-time performance.
- ๐ฅ Camera-Agnostic: Accepts stereo images from any rectified camera setup, giving you the flexibility to use your own hardware.
- ๐ฐ Cost Efficiency: Runs using just cameras, enabling depth perception with minimal hardware cost.
- ๐ชถ Minimal Dependencies: The pipeline depends only on CUDA Toolkit, cuDNN, and TensorRT, providing a lean and production-grade foundation.
[!IMPORTANT] Retinify is independent of OpenCV and supports various image data types.
#include <retinify/retinify.hpp>
#include <opencv2/opencv.hpp>
// LOAD INPUT IMAGES
cv::Mat leftImage = cv::imread("path/to/left.png");
cv::Mat rightImage = cv::imread("path/to/right.png");
// PREPARE OUTPUT CONTAINER
cv::Mat disparity = cv::Mat::zeros(leftImage.size(), CV_32FC1);
// CREATE STEREO MATCHING PIPELINE
retinify::Pipeline pipeline;
// INITIALIZE THE PIPELINE
pipeline.Initialize(leftImage.cols, leftImage.rows);
// EXECUTE STEREO MATCHING
pipeline.Run(leftImage.ptr<uint8_t>(), leftImage.step[0], //
rightImage.ptr<uint8_t>(), rightImage.step[0], //
disparity.ptr<float>(), disparity.step[0]);
๐ retinify documentation โ Developer guide and API reference.
-
๐ Installation Guide
Step-by-step guide to build and install retinify. -
๐จ Tutorials
Hands-on examples to get you started with real-world use cases. -
๐งฉ API Reference
Detailed class and function-level documentation for developers.
๐ฏ Target | Status |
---|---|
Coming soon | |
Coming soon |
Latency includes the time for image upload, inference, and disparity download, reported as the median over 10,000 iterations (measured with retinify::Pipeline
).
These measurements were taken using each setting ofโฏretinify::Mode
.
[!NOTE] Results may vary depending on the execution environment.
DEVICE \ MODE | FAST | BALANCED | ACCURATE |
---|---|---|---|
NVIDIA RTX 3060 | 3.925ms / 254.8FPS | 4.691ms / 213.2FPS | 10.790ms / 92.7FPS |
NVIDIA Jetson Orin Nano | 17.462ms / 57.3FPS | 19.751ms / 50.6FPS | 46.104ms / 21.7FPS |
For a list of third-party dependencies, please refer to NOTICE.md.
For commercial inquiries, additional technical support, or any other questions, please feel free to contact us at [email protected].
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