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Merge pull request #17 from NVIDIA-ISAAC-ROS/release-3.0
Isaac ROS 3.0.0
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‎README.md‎

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# Isaac ROS Depth Segmentation
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Hardware-accelerated packages for depth segmentation.
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NVIDIA-accelerated packages for depth segmentation.
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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_depth_segmentation/isaac_ros_bi3d_real_opt.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_depth_segmentation/isaac_ros_bi3d_real_opt.gif/" width="500px"/></a></div>
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@@ -14,7 +14,7 @@ Learn how to use this package by watching our on-demand webinar: [Using ML Model
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### Overview
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[Isaac ROS Depth Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_depth_segmentation) provides NVIDIA hardware-accelerated packages for
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[Isaac ROS Depth Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_depth_segmentation) provides NVIDIA NVIDIA-accelerated packages for
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depth segmentation. The `isaac_ros_bi3d` package uses the
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optimized [Bi3D DNN
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model](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/models/bi3d_proximity_segmentation)
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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/> | x86_64 w/ RTX 4060 Ti<br/><br/> |
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|-------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Depth Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_bi3d_node.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [47.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-agx_orin.json)<br/><br/><br/>43 ms<br/><br/> | [30.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-orin_nx.json)<br/><br/><br/>98 ms<br/><br/> | [89.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-nuc_4060ti.json)<br/><br/><br/>28 ms<br/><br/> |
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | x86_64 w/ RTX 4060 Ti<br/><br/> |
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|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Depth Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_bi3d_benchmark/scripts/isaac_ros_bi3d_node.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [45.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-agx_orin.json)<br/><br/><br/>76 ms @ 30Hz<br/><br/> | [28.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-orin_nx.json)<br/><br/><br/>92 ms @ 30Hz<br/><br/> | [87.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-nuc_4060ti.json)<br/><br/><br/>35 ms @ 30Hz<br/><br/> |
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---
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### Latest
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Update 2023-10-18: Renamed repository to `isaac_ros_depth_segmentation`.
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Update 2024-05-30: Update to be compatible with JetPack 6.0

‎gxf_isaac_bi3d/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.22.1)
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project(gxf_isaac_bi3d LANGUAGES C CXX)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-fPIC -w)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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enable_language(CUDA)
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# Dependencies
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find_package(CUDAToolkit)
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find_package(yaml-cpp)
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find_package(TENSORRT)
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find_package(Eigen3)
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# Bi3D extension
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ament_auto_add_library(${PROJECT_NAME} SHARED
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gxf/extensions/bi3d/bi3d.cpp
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gxf/extensions/bi3d/components/bi3d_postprocessor.cpp
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gxf/extensions/bi3d/components/bi3d_inference.cpp
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gxf/extensions/bi3d/components/bi3d_postprocessor.cu
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gxf/extensions/bi3d/components/bi3d_depthview.cpp
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gxf/extensions/bi3d/inference/Bi3D_detail.cpp
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gxf/extensions/bi3d/inference/Bi3D_detail.hpp
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gxf/extensions/bi3d/inference/Bi3D.cpp
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gxf/extensions/bi3d/inference/Bi3D.h
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gxf/extensions/bi3d/inference/Bi3DPreProcessor.cpp
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gxf/extensions/bi3d/inference/Bi3DPostProcessor.cpp
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# Inferencer (Bi3D only)
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gxf/gems/dnn_inferencer/inferencer/TensorRTInferencer.cpp
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gxf/gems/dnn_inferencer/inferencer/TensorRTUtils.cpp
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gxf/gems/dnn_inferencer/inferencer/Inferencer.cpp
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gxf/gems/dnn_inferencer/inferencer/Errors.cpp
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)
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target_include_directories(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/gxf")
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target_link_libraries(${PROJECT_NAME}
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Eigen3::Eigen
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CUDA::cudart
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CUDA::nppc
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CUDA::nppial
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CUDA::nppicc
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CUDA::nppidei
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CUDA::nppif
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CUDA::nppig
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CUDA::nppisu
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CUDA::nppitc
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TENSORRT::nvinfer
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yaml-cpp
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)
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set_target_properties(${PROJECT_NAME} PROPERTIES
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BUILD_WITH_INSTALL_RPATH TRUE
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BUILD_RPATH_USE_ORIGIN TRUE
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INSTALL_RPATH_USE_LINK_PATH TRUE
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)
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# Install the binary file
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install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
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ament_auto_package(INSTALL_TO_SHARE)

isaac_ros_bi3d/gxf/extensions/bi3d/bi3d.cpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/bi3d.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_depthview.cpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_depthview.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include <iomanip>
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#include <string>
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#include "engine/core/image/image.hpp"
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#include "engine/core/tensor/tensor.hpp"
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#include "engine/gems/image/io.hpp"
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#include "engine/gems/image/utils.hpp"
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#include "gems/core/image/image.hpp"
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#include "gems/core/tensor/tensor.hpp"
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#include "gems/image/io.hpp"
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#include "gems/image/utils.hpp"
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#include "gxf/multimedia/video.hpp"
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namespace nvidia {

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_depthview.hpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_depthview.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include <string>
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#include <vector>
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#include "engine/gems/image/color.hpp"
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#include "gems/image/color.hpp"
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#include "gxf/std/codelet.hpp"
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#include "gxf/std/receiver.hpp"
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#include "gxf/std/tensor.hpp"

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_inference.cpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_inference.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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const auto& right_info = inputRightBuffer.value()->video_frame_info();
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if (left_info.color_format != right_info.color_format ||
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left_info.height != right_info.height || left_info.width != right_info.width ||
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left_info.surface_layout != left_info.surface_layout ||
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left_info.surface_layout != right_info.surface_layout ||
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(left_info.color_format != gxf::VideoFormat::GXF_VIDEO_FORMAT_RGB &&
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left_info.color_format != gxf::VideoFormat::GXF_VIDEO_FORMAT_R32_G32_B32 &&
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left_info.color_format != gxf::VideoFormat::GXF_VIDEO_FORMAT_BGR &&

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_inference.hpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_inference.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include "extensions/bi3d/components/bi3d_postprocessor.cu.hpp"
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#include "gems/video_buffer/allocator.hpp"
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#include "gxf/std/parameter_parser_std.hpp"
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#include "gxf/core/parameter_parser_std.hpp"
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#include "gxf/std/timestamp.hpp"
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namespace nvidia {

isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cu renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cu

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isaac_ros_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cu.hpp renamed to gxf_isaac_bi3d/gxf/extensions/bi3d/components/bi3d_postprocessor.cu.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

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