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Merge pull request #56 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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‎README.md‎

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@@ -9,7 +9,7 @@ NVIDIA-accelerated AprilTag detection and pose estimation.
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[Isaac ROS AprilTag](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag) contains a ROS 2 package for detection of
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[AprilTags](https://april.eecs.umich.edu/software/apriltag),
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a type of fiducial marker that provides a point of reference or measure.
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AprilTag detections are GPU-accelerated for high performance.
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AprilTag detections are NVIDIA-accelerated for high performance.
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag_nodegraph.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag_nodegraph.png/" width="800px"/></a></div>
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For example, an 8mp input image of 3840×2160 may be much larger than
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necessary and a 4:1 downscale to 1920x1080 could make more efficient
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use of compute resources and satisfy the required detection distance of
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the application. Each of the green nodes in the above diagram is GPU
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the application. Each of the green nodes in the above diagram is NVIDIA
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accelerated, allowing for a high-performance compute graph from Argus
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Camera to ApriTag. For USB and Ethernet cameras, the graph is
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accelerated from Rectify through AprilTag
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accelerated from Rectify through AprilTag detection.
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/apriltagdetection_message_illustration.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/apriltagdetection_message_illustration.png/" width="700px"/></a></div>
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@@ -38,7 +38,11 @@ four corners ((x0, y0), (x1, y1), (x2, y2), (x3, y3)) and center (x, y)
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of the input image, and the pose of the AprilTag.
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> [!Note]
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> This package is a GPU-accelerated drop-in replacement for
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> This package provides the option through the `backend` parameter to leverage either the GPU or
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> CPU on all NVIDIA-powered platforms or PVA on Jetson devices for AprilTag detection.
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> [!Note]
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> This package is a NVIDIA-accelerated drop-in replacement for
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> the [CPU version of ROS
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> AprilTag](https://github.com/christianrauch/apriltag_ros)
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## Performance
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | Orin Nano 8GB<br/><br/> | x86_64 w/ RTX 4060 Ti<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
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|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [AprilTag Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_node.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [244 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-agx_orin.json)<br/><br/><br/>7.3 ms @ 30Hz<br/><br/> | [114 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [79.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nano.json)<br/><br/><br/>18 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-nuc_4060ti.json)<br/><br/><br/>2.4 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-x86_4090.json)<br/><br/><br/>2.1 ms @ 30Hz<br/><br/> |
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| [AprilTag Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_graph.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [241 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-agx_orin.json)<br/><br/><br/>9.5 ms @ 30Hz<br/><br/> | [109 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nx.json)<br/><br/><br/>15 ms @ 30Hz<br/><br/> | [74.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nano.json)<br/><br/><br/>21 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-nuc_4060ti.json)<br/><br/><br/>3.4 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-x86_4090.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/> |
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | Orin Nano 8GB<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
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|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [AprilTag Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_node.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [249 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-agx_orin.json)<br/><br/><br/>4.5 ms @ 30Hz<br/><br/> | [116 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nx.json)<br/><br/><br/>9.3 ms @ 30Hz<br/><br/> | [80.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nano.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-x86-4090.json)<br/><br/><br/>0.97 ms @ 30Hz<br/><br/> |
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| [AprilTag Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_graph.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [246 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-agx_orin.json)<br/><br/><br/>6.3 ms @ 30Hz<br/><br/> | [111 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [77.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nano.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-x86-4090.json)<br/><br/><br/>1.6 ms @ 30Hz<br/><br/> |
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@@ -76,4 +80,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Latest
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Update 2024-09-26: Update for ZED compatibility
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Update 2024-12-10: Added PVA and CPU backends for detector with support for new tag families

‎gxf_isaac_fiducials/CMakeLists.txt‎

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