Isaac ROS 3.2

NVIDIA-ISAAC-ROS · Dec 11, 2024 · 9dda1ae · 9dda1ae
1 parent f20b676
commit 9dda1ae
Show file tree

Hide file tree

Showing 31 changed files with 258 additions and 278 deletions.
diff --git a/README.md b/README.md
@@ -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
diff --git a/gxf_isaac_ess/CMakeLists.txt b/gxf_isaac_ess/CMakeLists.txt
@@ -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)
diff --git a/gxf_isaac_ess/gxf/extensions/ess/components/ess_inference.cpp b/gxf_isaac_ess/gxf/extensions/ess/components/ess_inference.cpp
@@ -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;

diff --git a/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Errors.h b/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Errors.h
@@ -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
 

diff --git a/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/IInferenceBackend.h b/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/IInferenceBackend.h
@@ -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
 

diff --git a/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Inferencer.h b/gxf_isaac_ess/gxf/gems/dnn_inferencer/inferencer/Inferencer.h
@@ -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