Tutorial for FoundationStereo with Isaac Sim

This tutorial walks you through a graph to estimate depth with stereo images from Isaac Sim using FoundationStereo.

Tutorial Walkthrough

1. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.

2. Press Play to start publishing data from the Isaac Sim.

   

3. Complete the isaac_ros_foundationstereo quickstart.

Note

Use the FoundationStereo model for the quickstart.

4. Open a second terminal and attach to the container:

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

5. In the second terminal, start the isaac_ros_foundationstereo node using the launch files:

   High Resolution (high_res)Low Resolution (low_res)

   ros2 launch isaac_ros_foundationstereo isaac_ros_foundationstereo_isaac_sim.launch.py \
      engine_file_path:=${ISAAC_ROS_WS:?}/isaac_ros_assets/models/foundationstereo/deployable_foundation_stereo_small_v1.0/foundationstereo_576x960.engine
   

6. Optionally, you can run the visualizer script to visualize the disparity image:

   ros2 run isaac_ros_foundationstereo isaac_ros_foundationstereo_visualizer.py