Detecting obstacles within certain distance zones from stereo camera

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,

Currently i am looking at implementing detection of obstacles within a certain metres away from a stereo camera feed. I am currently using a third party USB stereo camera and have written a ROS node to images and send them in ROS as sensor_msgs/Image topics.

I also realized that there are 2 different isaac ros packages that works with Stereo cameras: isaac_ros_ess and isaac_ros_bi3d

would like to find out:

  1. I see that default example produces a point cloud, in the case of trying to calculate obstacle distance to the camera in real world units, do i need to use DisparityToDepthNode from isaac_ros_stereo_image_proc? i have tried doing so but no sure what units is the depth image supposed to be in.
  2. For disparity_values for isaac_ros_bi3d, how do i find out what are the valid range of values? and how is it related to the real world? also, is max_disparity_values representing the number of discrete levels to segement into
2

Hi @weicong2

welcome to the Isaac ROS forum and thank you for your questions.

Let help you line, question by question:

Have you also evaluate to use Isaac ROS pose estimation?
The packages collected use GPU acceleration for DNN inference to estimate the pose of an object.

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I think this package can save you more time instead of an estimating the distance of an object just only from the point cloud

I have forwarded this issue to engineering for reporting the valid range of available values.

Raffaello