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isaac_ros_image_pipeline repository

isaac_ros_depth_image_proc gxf_isaac_depth_image_proc gxf_isaac_image_flip gxf_isaac_rectify gxf_isaac_sgm gxf_isaac_tensorops isaac_ros_image_pipeline isaac_ros_image_proc isaac_ros_stereo_image_proc isaac_ros_vpi_utils

ROS Distro
github

Repository Summary

Description	NVIDIA-accelerated ROS 2 packages for camera image processing.
Checkout URI	https://github.com/nvidia-isaac-ros/isaac_ros_image_pipeline.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-20
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
isaac_ros_depth_image_proc	4.2.0
gxf_isaac_depth_image_proc	4.2.0
gxf_isaac_image_flip	4.2.0
gxf_isaac_rectify	4.2.0
gxf_isaac_sgm	4.2.0
gxf_isaac_tensorops	4.2.0
isaac_ros_image_pipeline	4.2.0
isaac_ros_image_proc	4.2.0
isaac_ros_stereo_image_proc	4.2.0
isaac_ros_vpi_utils	4.2.0

README

Isaac ROS Image Pipeline

NVIDIA-accelerated Image Pipeline.

Overview

Isaac ROS Image Pipeline is a metapackage of functionality for image processing. Camera output often needs pre-processing to meet the input requirements of multiple different perception functions. This can include cropping, resizing, mirroring, correcting for lens distortion, and color space conversion. For stereo cameras, additional processing is required to produce disparity between left + right images and a point cloud for depth perception.

This package is accelerated using the GPU and specialized hardware engines for image computation, replacing the CPU-based image_pipeline metapackage. Considerable effort has been made to ensure that replacing image_pipeline with isaac_ros_image_pipeline on a Jetson or GPU is as painless a transition as possible.

[!Note] Some image pre-processing functions use specialized hardware engines, which offload the GPU to make more compute available for other tasks.

Rectify corrects for lens distortion from the received camera sensor message. The rectified image is resized to the input resolution for disparity, using a crop before resizing to maintain image aspect ratio. The image is color space converted to YUV from RGB using the luma channel (the Y in YUV) to compute disparity using SGM. This common graph of nodes can be performed without the CPU processing a single pixel using isaac_ros_image_pipeline; in comparison, using image_pipeline, the CPU would process each pixel ~3 times.

The Isaac ROS Image Pipeline metapackage offloads the CPU from common image processing tasks so it can perform robotics functions best suited for the CPU.

Isaac ROS NITROS Acceleration

This package is powered by NVIDIA Isaac Transport for ROS (NITROS), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.

Performance

Sample Graph	Input Size	AGX Thor T5000	AGX Thor T4000	DGX Spark	x86_64 w/ RTX 5090
Rectify Node	1080p	1550 fps 1.6 ms @ 30Hz	768 fps 4.8 ms @ 30Hz	2500 fps 2.3 ms @ 30Hz	2500 fps 2.9 ms @ 30Hz
Stereo Disparity Node	1080p	217 fps 5.7 ms @ 30Hz	196 fps 20 ms @ 30Hz	249 fps 5.4 ms @ 30Hz	747 fps 4.0 ms @ 30Hz
Stereo Disparity Graph	1080p	203 fps 10 ms @ 30Hz	185 fps 26 ms @ 30Hz	183 fps 9.0 ms @ 30Hz	600 fps 6.9 ms @ 30Hz

Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

Packages

Latest

Update 2026-02-19: Support for DGX Spark and JetPack 7.1

CONTRIBUTING

Isaac ROS Contribution Rules

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).

# Isaac ROS Contribution Rules Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): > **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). [//]: # (202201002)

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