Depth from camera to object in meters from depth map

Omniverse Isaac Sim
1

Hello, I am publishing a depth image using ROS1 Camera Helper. I am trying to get the depth from an object of in these scene to the camera. But when I am subscribing in ROS and performing the decoding the values are strange. I am confused if its about the unit Issac sim uses or my interpretation in ROS. Would really appreciate some help.

cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_32FC1);
float depth_value = depth_image.at(center_x, center_y);

3

I can confirm that Isaac Sim units are in meters. You can check the units in the synthetic data annotator page. In this case for depth we are using the DistanceToImagePlane synthetic data sensor: Annotators Information — Omniverse Extensions latest documentation

5

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.