Instructions to Generate Disparity Maps for Stereo Images

These are instructions for generating a disparity map for a given stereo image pair using FoundationStereo.

The isaac_ros_foundationstereo_visualizer.py script supports:

• Raw input images

• Camera info files

To generate a disparity estimation from raw inputs:

1. Complete the Quickstart guide.

2. Launch the FoundationStereo pipeline using the following command:

   High Resolution (high_res)Low Resolution (low_res)

   ros2 launch isaac_ros_foundationstereo isaac_ros_foundationstereo.launch.py \
      engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationstereo/deployable_foundation_stereo_small_v1.0/foundationstereo_576x960.engine
   

3. Visualize and validate the output of the package:

   ros2 run isaac_ros_foundationstereo isaac_ros_foundationstereo_visualizer.py --raw_inputs
   

   Verify that you see:

   

4. Try your own examples:

   ros2 run isaac_ros_foundationstereo isaac_ros_foundationstereo_visualizer.py --raw_inputs \
           --left_image_path '<Absolute path to your left image>' \
           --right_image_path '<Absolute path to your right image>' \
           --camera_info_path '<Absolute path your camera info json file>'