Use ESS Stereo DNN with Nvblox - Depth image conversion

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi there,

I am trying to use isaac_ros_nvblox with a custom stereo camera and the Isaac ROS DNN Stereo Disparity package.

I am using the StereoDNN disparity node of the isaas_ros_ess package to generate a disparity map from a calibrated stereo camera, and am looking to feed this into the isaac_ros_nvblox package.

However, the isaas_ros_ess package outputs a disparity image of type stereo_msgs/DisparityImage, but the isaac_ros_nvblox package requires a depth image of type sensor_msgs/Image…

How can I convert the StereoDNN Disparity output to the required Depth image format? Are there any Isaac ROS nodes to do this?

Thanks,

2

Hi @HiddenNetwork ,

You can take such an example as the code in this repository:

Raffaello

3

Hi @HiddenNetwork ,

second hint:

You can follow this example

And run a Composable node like the code below:

disparity_to_depth_node = ComposableNode(
    name='disparity_to_depth',
    package='isaac_ros_stereo_image_proc',
    plugin='nvidia::isaac_ros::stereo_image_proc::DisparityToDepthNode')

Best,
Raffaello