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Merge pull request #35 from NVIDIA-ISAAC-ROS/release-3.2
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Isaac ROS 3.2
jaiveersinghNV authored Dec 11, 2024

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14 changes: 7 additions & 7 deletions README.md
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@@ -56,12 +56,12 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev

## Performance

| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | x86_64 w/ RTX 4060 Ti<br/><br/> |
|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [DNN Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_ess_node.py)<br/><br/><br/>Full<br/><br/> | 576p<br/><br/><br/><br/> | [96.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-agx_orin.json)<br/><br/><br/>13 ms @ 30Hz<br/><br/> | [41.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-orin_nx.json)<br/><br/><br/>27 ms @ 30Hz<br/><br/> | [224 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-nuc_4060ti.json)<br/><br/><br/>5.5 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_light_ess_node.py)<br/><br/><br/>Light<br/><br/> | 288p<br/><br/><br/><br/> | [276 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-agx_orin.json)<br/><br/><br/>5.9 ms @ 30Hz<br/><br/> | [134 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-orin_nx.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-nuc_4060ti.json)<br/><br/><br/>2.4 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_ess_graph.py)<br/><br/><br/>Full<br/><br/> | 576p<br/><br/><br/><br/> | [89.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-agx_orin.json)<br/><br/><br/>5.4 ms @ 30Hz<br/><br/> | [36.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-orin_nx.json)<br/><br/><br/>36 ms @ 30Hz<br/><br/> | [215 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-nuc_4060ti.json)<br/><br/><br/>3.7 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_light_ess_graph.py)<br/><br/><br/>Light<br/><br/> | 288p<br/><br/><br/><br/> | [247 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-agx_orin.json)<br/><br/><br/>5.9 ms @ 30Hz<br/><br/> | [122 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-orin_nx.json)<br/><br/><br/>8.5 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-nuc_4060ti.json)<br/><br/><br/>6.1 ms @ 30Hz<br/><br/> |
| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [DNN Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_ess_node.py)<br/><br/><br/>Full<br/><br/> | 576p<br/><br/><br/><br/> | [103 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [42.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-orin_nx.json)<br/><br/><br/>26 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_node-x86-4090.json)<br/><br/><br/>2.3 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_light_ess_node.py)<br/><br/><br/>Light<br/><br/> | 288p<br/><br/><br/><br/> | [306 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-agx_orin.json)<br/><br/><br/>5.6 ms @ 30Hz<br/><br/> | [143 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-orin_nx.json)<br/><br/><br/>9.4 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_node-x86-4090.json)<br/><br/><br/>1.6 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_ess_graph.py)<br/><br/><br/>Full<br/><br/> | 576p<br/><br/><br/><br/> | [33.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-agx_orin.json)<br/><br/><br/>25 ms @ 30Hz<br/><br/> | [35.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-orin_nx.json)<br/><br/><br/>34 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_ess_graph-x86-4090.json)<br/><br/><br/>5.6 ms @ 30Hz<br/><br/> |
| [DNN Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_benchmark/scripts/isaac_ros_light_ess_graph.py)<br/><br/><br/>Light<br/><br/> | 288p<br/><br/><br/><br/> | [179 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-agx_orin.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/> | [126 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-orin_nx.json)<br/><br/><br/>15 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_light_ess_graph-x86-4090.json)<br/><br/><br/>4.4 ms @ 30Hz<br/><br/> |

---

@@ -81,4 +81,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re

## Latest

Update 2024-09-26: Update for ZED compatibility
Update 2024-09-26: Updated for ESS 4.1 trained on additional samples
6 changes: 6 additions & 0 deletions gxf_isaac_ess/CMakeLists.txt
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@@ -66,4 +66,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
# Install the binary file
install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)


# Embed versioning information into installed files
ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
generate_version_info(${PROJECT_NAME})

ament_auto_package(INSTALL_TO_SHARE)
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@@ -53,7 +53,7 @@ gxf_result_t PassthroughComponents(gxf::Entity& output, gxf::Entity& input,
}
*(output_component.value()) = *(maybe_component.value());
} else {
GXF_LOG_INFO("component %s not found.", name);
GXF_LOG_DEBUG("component %s not found.", name);
}

return GXF_SUCCESS;
29 changes: 13 additions & 16 deletions gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Errors.h
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@@ -1,19 +1,16 @@
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
// Copyright (c) 2021-2024 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
/*
* Copyright (c) 2021-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
*
* NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
* property and proprietary rights in and to this material, related
* documentation and any modifications thereto. Any use, reproduction,
* disclosure or distribution of this material and related documentation
* without an express license agreement from NVIDIA CORPORATION or
* its affiliates is strictly prohibited.
*
* SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES
* SPDX-License-Identifier: LicenseRef-NvidiaProprietary
*/

#pragma once

Original file line number Diff line number Diff line change
@@ -1,19 +1,16 @@
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
// Copyright (c) 2021-2024 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
/*
* Copyright (c) 2021-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
*
* NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
* property and proprietary rights in and to this material, related
* documentation and any modifications thereto. Any use, reproduction,
* disclosure or distribution of this material and related documentation
* without an express license agreement from NVIDIA CORPORATION or
* its affiliates is strictly prohibited.
*
* SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES
* SPDX-License-Identifier: LicenseRef-NvidiaProprietary
*/

#pragma once

29 changes: 13 additions & 16 deletions gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Inferencer.h
Original file line number Diff line number Diff line change
@@ -1,19 +1,16 @@
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
// Copyright (c) 2021-2024 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
/*
* Copyright (c) 2021-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
*
* NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
* property and proprietary rights in and to this material, related
* documentation and any modifications thereto. Any use, reproduction,
* disclosure or distribution of this material and related documentation
* without an express license agreement from NVIDIA CORPORATION or
* its affiliates is strictly prohibited.
*
* SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES
* SPDX-License-Identifier: LicenseRef-NvidiaProprietary
*/

#pragma once

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