Tutorial for Bi3D with RealSense Camera

Overview

This tutorial walks through setting up a graph to segment stereo image pairs from a RealSense camera.

Note

This tutorial requires a compatible RealSense camera from the list of available cameras.

Tutorial Walkthrough

1. Complete the RealSense setup tutorial.

2. Complete the Quickstart section for the isaac_ros_bi3d package.

3. Launch the Docker container using the run_dev.sh script:

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

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

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

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

   ros2 launch isaac_ros_bi3d isaac_ros_bi3d_realsense.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:=1920
   

Note

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