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,
Hi @HiddenNetwork ,
You can take such an example as the code in this repository:
Raffaello
Hi @HiddenNetwork ,
second hint:
You can follow this example
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
show original
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,
system
November 29, 2023, 8:01pm
4
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