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NVIDIA-ISAAC-ROS / isaac_ros_depth_segmentation

NVIDIA-accelerated, deep learned depth segmentation and obstacle field ranging using Bi3D
Apache License 2.0
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Segmenting ground using isaac_ros_bi3d #14

Closed vishrutskaushik closed 9 months ago

vishrutskaushik commented 12 months ago

Hello, I am trying to segment out ground using Nvidia ISAAC ROS. I already have Isaac ROS DNN Stereo Disparity running but I want to mask out the ground from its output either in Disparity image or pointcloud. Any inputs would be really appreciated on how I can use Bi3D for the same since it already segments out ground. Additionally, how to customize the zones Bi3D detects? Thanks in advance!

hemalshahNV commented 11 months ago

Bi3D detects the ground plan (anything on the floor not taller than ~2cm) to segment it for meaningful output. You can configure the zones (disparity planes) using the Bi3DNode parameters (see here for the "disparity_values" parameter). Also, take a look at Isaac ROS Freespace Segmentation which specifically uses the Bi3D model to extract out the segmented floor for you.