Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

Instructions to Generate Disparity Maps for Stereo Images

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

The isaac_ros_ess_visualizer.py script supports:

• rosbag input type

• Raw input images

• Camera info files

To generate a disparity estimation from raw inputs:

1. Complete the Quickstart guide.

2. Pull the example data:

   cd ${ISAAC_ROS_WS}/src/isaac_ros_dnn_stereo_depth && \
   git lfs pull -X "" -I "resources/examples"
   

3. Launch the ESS Disparity Node using one of the following options:

   To run ESS at a threshold of 0.7 run:

   ros2 launch isaac_ros_ess isaac_ros_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine threshold:=0.7
   

   To run ESS at a threshold of 0.0 run:

   ros2 launch isaac_ros_ess isaac_ros_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine threshold:=0.0
   

4. Visualize and validate the output of the package:

   ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py --raw_inputs
   

   With threshold set to 0.7, you should see:

   

   With threshold set to 0.0, you should see:

   

5. Try your own examples:

   ros2 run isaac_ros_ess isaac_ros_ess_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>'