Tutorial: Stereo Camera Configurations for Isaac Perceptor
Isaac Perceptor supports various stereo camera configurations. They configure how the different camera images are processed in the Isaac Perceptor algorithms.
Configuration Description
The following table lists all stereo camera configurations and specifies the corresponding downstream pipeline:
Configuration Name |
ESS + Nvblox |
cuVSLAM |
People |
---|---|---|---|
|
Front: Full at 30 Hz |
Front |
✗ |
|
Front: Full at 30 Hz |
Front |
Front |
|
Front: Full at 30 Hz Left/Right: Light at 15 Hz |
Front/Left/Right |
✗ |
Additional information:
Front/Left/Right denote the stereo cameras mounted on either Nova Orin Developer Kit or Nova Carter.
The terms Full and Light correspond to different versions of the ESS DNN model.
The People column refers to the people reconstruction mode of nvblox.
Note
When enabling wheel odometry with the enable_wheel_odometry
on Nova
Carter, visual SLAM is automatically disabled on all cameras.
Selecting a Configuration for Isaac Perceptor
When running Isaac Perceptor, the stereo camera configuration can be specified using the stereo_camera_configuration argument:
ros2 launch <"platform name">_bringup perceptor.launch.py \
stereo_camera_configuration:=<"configuration name">
where “platform name” is either nova_developer_kit or nova_carter, depending on the platform you are running Isaac Perceptor on:
To access all available sensor configurations, use the --show-args
argument, for example:
ros2 launch <"platform name">_bringup perceptor.launch.py --show-args
The following table lists the stereo camera configuration compatibility for the Isaac Perceptor tutorials on Nova Carter and Nova Orin Developer Kit platforms:
Configuration Name |
Nova Carter |
Nova Orin Developer Kit |
---|---|---|
|
✓ |
✓ |
|
✓ |
✓ |
|
✓ |
✓ |