Tutorial for Bi3D with RealSense Camera


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


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 && \
  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 \


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