Tutorial for DNN Stereo Depth Estimation Using a RealSense Camera

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/concepts/stereo_depth/ess/realsense_example.png/

Overview

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

Note

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

Tutorial Walkthrough

Complete the realsense setup tutorial.
Complete steps 1-2 and 4-6 as described in the ESS Quickstart Guide.
Open a new terminal and launch the Docker container using the run_dev.sh script:
```
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh
```

Build and source the workspace:

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

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