.. _isaac_perceptor:

Isaac Perceptor
===============

`Isaac Perceptor` is a camera-based 3D perception system for mobile robots.
It provides robust odometry together with local 3D scene reconstruction
to enable autonomous navigation applications.

`Isaac Perceptor` leverages multiple other Isaac ROS modules:

* :doc:`Isaac ROS Nova </repositories_and_packages/isaac_ros_nova/index>` for time-synchronized multi-cam data.
* :doc:`Isaac ROS Visual SLAM </repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index>` for GPU-accelerated camera-based odometry.
* :doc:`Isaac ROS Depth Estimation </repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_ess/index>` for learning-based stereo-depth estimation.
* :doc:`Isaac ROS Nvblox </repositories_and_packages/isaac_ros_nvblox/index>` for GPU-accelerated local 3D scene reconstruction.
* :doc:`Isaac ROS Image Pipeline </repositories_and_packages/isaac_ros_image_pipeline/index>` for GPU-accelerated image processing.

For details on how these packages are combined in `Isaac Perceptor` see:

.. toctree::
    :maxdepth: 1
    :glob:

    technical_details

Tutorials
---------

`Isaac Perceptor` supports running on the following robot platforms and simulation environment,

* robots equipped with the :ref:`nova_developer_kit`
* :ref:`nova_carter`
* `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/>`__

Running `Isaac Perceptor` on the :ref:`nova_developer_kit` could serve as a quickstart.

On the `Nova Orin Developer Kit`
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Review the following guide to run camera-based 3D perception with `Isaac Perceptor` on
the `Nova Orin Developer Kit`, which can be mounted on your robot.

.. toctree::
   :maxdepth: 1
   :glob:

   run_perceptor_on_devkit.rst


.. toctree::
   :maxdepth: 1
   :glob:
   :hidden:

   tutorials_on_devkit/demo_sensors.rst
   tutorials_on_devkit/tutorial_stereo_camera_configurations.rst
   tutorials_on_devkit/demo_perceptor.rst
   tutorials_on_devkit/tutorial_recording_and_playback.rst
   tutorials_on_devkit/demo_navigation.rst

On the `Nova Carter`
~~~~~~~~~~~~~~~~~~~~

Review the following guide to run camera-based 3D perception, and autonomous navigation
with `Isaac Perceptor` on the `Nova Carter`.

.. toctree::
   :maxdepth: 1
   :glob:

   run_perceptor_on_carter.rst


.. toctree::
   :maxdepth: 1
   :glob:
   :hidden:

   tutorials_on_carter/demo_perceptor.rst
   tutorials_on_carter/demo_navigation.rst

In `Isaac Sim`
~~~~~~~~~~~~~~

Review the following tutorial to run camera-based 3D perception, and autonomous navigation
with `Isaac Perceptor` in `Isaac Sim`.

.. toctree::
   :maxdepth: 1
   :glob:

   run_perceptor_in_sim.rst

Repositories and Packages
-------------------------

The Isaac ROS implementation of `Isaac Perceptor` is in the following repository:

* :doc:`Isaac Perceptor </repositories_and_packages/isaac_perceptor/index>`


Troubleshooting
---------------

.. toctree::
   :maxdepth: 1
   :glob:

   troubleshooting.rst