Dynamic Reconstruction with RealSense
=====================================

.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/realsense_dynamic_example.gif>`
    :width: 600px
    :align: center

This tutorial demonstrates how to perform reconstruction
of a scene with moving elements in nvblox using a RealSense camera.

The algorithm used for nvblox dynamic reconstruction is based on the following paper:

* | Lukas Schmid, Olov Andersson, Aurelio Sulser, Patrick Pfreundschuh, and Roland Siegwart.
  | "**Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments**"
  | in *IEEE Robotics and Automation Letters (RA-L)*,
    Vol. 8, No. 10, pp. 6259 - 6266, October 2023.
  | [ `IEEE <https://ieeexplore.ieee.org/document/10218983>`__ | `ArXiv <https://arxiv.org/abs/2304.10049>`__ | `Video <https://www.youtube.com/watch?v=NA13fRWlqRQ>`__]

For more information about dynamic reconstruction in nvblox see
:doc:`/concepts/scene_reconstruction/nvblox/technical_details`.

.. note::

  Dynamic reconstruction requires accurate pose estimation.
  Objects moving slower than the odometry drift can't be detected as dynamic.


Example with RealSense Live Data
--------------------------------

Before continuing this example, you must have successfully completed the
 :doc:`tutorial_realsense`.

1. Connect the RealSense device to your machine using a USB 3 cable/port.

2. Run the ROS Docker container using the ``run_dev.sh`` script:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
      ./scripts/run_dev.sh

3. Source the workspace:

   .. code:: bash

      source /workspaces/isaac_ros-dev/install/setup.bash

4. Verify that the RealSense camera is connected by running ``realsense-viewer``:

   .. code:: bash

      realsense-viewer

5. If successful, run the launch file to spin up the example:

   .. code:: bash

      ros2 launch nvblox_examples_bringup realsense_dynamics_example.launch.py


.. note::

   If you want to restrict odometry to a 2D plane
   (for example, to run a robot in a flat environment),
   you can use the ``flatten_odometry_to_2d`` argument.


Example with RealSense Recorded Data
------------------------------------

If you want to run the example on recorded data see
:doc:`tutorial_realsense_record`.

Troubleshooting
---------------

See
:doc:`/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_realsense`.