Tutorial for DNN Stereo Depth Estimation Using a RealSense Camera



This tutorial demonstrates how to perform stereo-camera-based reconstruction using a RealSense camera and isaac_ros_ess.


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

Tutorial Walkthrough

  1. Complete the realsense setup tutorial.

  2. Complete steps 1-2 and 4-6 as described in the ESS Quickstart Guide.

  3. Open a new terminal and launch the Docker container using the run_dev.sh script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  4. Build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
      colcon build --symlink-install && \
      source install/setup.bash
  5. Run the launch file, which launches the example and waits for 10 seconds:

    ros2 launch isaac_ros_ess isaac_ros_ess_realsense.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine threshold:=0.8