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.

`isaac_ros_stereo_image_proc`

Source code on GitHub.

Quickstart

Set up your development environment by following the instructions here.

Clone isaac_ros_common and this repository under ${ISAAC_ROS_WS}/src.

cd ${ISAAC_ROS_WS}/src

git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline.git

Build the RealSense camera package for Humble, using this doc.

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh

Install this package’s dependencies.

sudo apt-get install -y ros-humble-isaac-ros-stereo-image-proc

Start isaac_ros_stereo_image_proc using the prebuilt launch file (Using RealSense camera as an example):
```
ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_realsense.launch.py
```

Note

For RealSense camera package issues, please refer to the section here.

Other supported cameras can be found here.

For camera calibration, please refer to this guide.

Try More Examples

To continue your exploration, check out the following suggested examples:

API

Overview

The isaac_ros_stereo_image_proc package offers functionality for handling image pairs from a binocular/stereo camera setup, calculating the disparity between the two images, and producing a point cloud with depth information. It largely replaces the stereo_image_proc package.

Available Components

Component	Topics Subscribed	Topics Published	Parameters
`DisparityNode`	`left/image_rect`, `left/camera_info`: The left camera stream `right/image_rect`, `right/camera_info`: The right camera stream	`disparity`: The disparity between the two cameras	`max_disparity`: The maximum value for disparity per pixel, which is 64 by default. With ORIN backend, this value must be 128 or 256. `backends`: The VPI backend to use, which is CUDA by default (options: “CUDA”, “XAVIER”, “ORIN”) `confidence_threshold`: The confidence threshold for VPI SGM algorithm `window_size`: The window size for SGM disparity calculation `num_passes`: The number of passes SGM takes to compute result `p1`: Penalty on disparity changes of +/- 1 between neighbor pixels `p2`: Penalty on disparity changes of more than 1 between neighbor pixels `p2_alpha`: Alpha for P2 `quality`: Quality of disparity output. It’s only applicable when using XAVIER backend. The higher the value, better the quality and possibly slower performance. Refer tothis VPI docfor more details on the parameters
`PointCloudNode`	`left/image_rect_color`: The coloring for the point cloud `left/camera_info`: The left camera info `right/camera_info`: The right camera info `disparity` The disparity between the two cameras	`points2`: The output point cloud	`use_color`: Whether or not the output point cloud should have color. The default value is false. `unit_scaling`: The amount to scale the `xyz` points by
`DisparityToDepthNode`	`disparity` The disparity image	`depth` The resultant depth image	N/A

isaac_ros_stereo_image_proc