Tutorial for Bi3D with ZED Camera
=================================


Overview
------------

This tutorial walks through setting up a graph to
:ir_repo:`segment stereo image pairs <isaac_ros_depth_segmentation>`
from a `ZED <https://www.stereolabs.com/>`_ camera.

.. note::

   This tutorial requires a compatible ZED camera from
   the list available
   :ref:`here <getting_started/hardware_setup/sensors/zed_setup:Camera Compatibility>`.


Tutorial Walkthrough
--------------------

1. Complete the :doc:`ZED setup tutorial </getting_started/hardware_setup/sensors/zed_setup>`.
2. Complete the :doc:`Quickstart section </repositories_and_packages/isaac_ros_depth_segmentation/isaac_ros_bi3d/index>` for the ``isaac_ros_bi3d`` package.
3. Launch the Docker container using the ``run_dev.sh`` script:

   .. code:: bash

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

4. Inside the container, build and source the workspace:

   .. code:: bash

      cd /workspaces/isaac_ros-dev && \
      colcon build --symlink-install && \
      source install/setup.bash

.. note::

   If you are not using the ZED2i camera, modify the ``camera_model`` variable in the
   :ir_repo:`launch file <isaac_ros_depth_segmentation> <isaac_ros_bi3d/launch/isaac_ros_bi3d_zed.launch.py>`
   to ``zed``, ``zed2``, ``zed2i``, ``zedm``, ``zedx`` or ``zedxm``.
   Also change the `Fixed Frame <https://wiki.ros.org/rviz/UserGuide#The_Fixed_Frame>`_ in RViz to ``camera_model_left_camera_optical_frame``.

5. Launch the pre-composed graph launch file and wait for 10 seconds:

   .. code:: bash

      ros2 launch isaac_ros_bi3d isaac_ros_bi3d_zed.launch.py \
      featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
      segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan \
      max_disparity_values:=10 \
      image_height:=1080 \
      image_width:=3840

.. note::

   Modify ``image_height`` and ``image_width`` with the appropriate values if using other image sizes.