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Isaac ROS 0.31.0 (DP3.1)
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‎README.md‎

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The following table summarizes the per-platform performance statistics of sample graphs that use this package, with links included to the full benchmark output. These benchmark configurations are taken from the [Isaac ROS Benchmark](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark#list-of-isaac-ros-benchmarks) collection, based on the [`ros2_benchmark`](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) framework.
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| Sample Graph | Input Size | AGX Orin | Orin NX | Orin Nano 8GB | x86_64 w/ RTX 3060 Ti |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [TensorRT Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_dope_node.py) | VGA | [48.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)<br>22 ms | [17.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br>56 ms | [13.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano_8gb.json)<br>79 ms | [94.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86_64_rtx_3060Ti.json)<br>10 ms |
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| [Triton Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_dope_node.py) | VGA | [48.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br>22 ms | [20.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br>540 ms | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano_8gb.json)<br>790 ms | [94.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86_64_rtx_3060Ti.json)<br>11 ms |
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| [TensorRT Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_ps_node.py) | 544p | [467 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br>2.3 ms | [270 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br>4.0 ms | [184 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano_8gb.json)<br>9.0 ms | [1500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-x86_64_rtx_3060Ti.json)<br>1.1 ms |
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| [Triton Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_ps_node.py) | 544p | [293 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br>3.7 ms | [191 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br>5.5 ms | -- | [512 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-x86_64_rtx_3060Ti.json)<br>2.1 ms |
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| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_dnn_image_encoder_node.py) | VGA | [2230 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br>0.60 ms | [1560 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br>0.89 ms | -- | [5780 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86_64_rtx_3060Ti.json)<br>0.45 ms |
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| Sample Graph | Input Size | AGX Orin | Orin NX | Orin Nano 8GB | x86_64 w/ RTX 4060 Ti |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [TensorRT Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_dope_node.py) | VGA | [48.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)<br>21 ms | [19.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br>54 ms | [13.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br>79 ms | [102 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-nuc_4060ti.json)<br>10 ms |
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| [Triton Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_dope_node.py) | VGA | [48.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br>22 ms | [20.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br>540 ms | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br>790 ms | [99.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-nuc_4060ti.json)<br>10 ms |
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| [TensorRT Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_ps_node.py) | 544p | [468 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br>2.6 ms | [272 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br>4.1 ms | [185 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br>5.9 ms | [1990 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br>0.88 ms |
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| [Triton Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_ps_node.py) | 544p | [296 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br>3.5 ms | [190 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br>5.5 ms | -- | [709 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br>2.0 ms |
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| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_dnn_image_encoder_node.py) | VGA | [2120 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br>1.1 ms | [1550 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br>1.2 ms | -- | [5340 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-nuc_4060ti.json)<br>0.48 ms |
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## Table of Contents
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## Latest Update
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Update 2023-04-05: Source available GXF extensions
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Update 2023-05-25: Performance improvements.
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## Supported Platforms
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| Date | Changes |
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| ---------- | ---------------------------------------------------------------------------------------------------------------------------- |
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| 2023-05-25 | Performance improvements |
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| 2023-04-05 | Source available GXF extensions |
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| 2022-10-19 | Updated OSS licensing |
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| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |

‎isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml‎

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%YAML 1.2
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2022-2023 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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name: global
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components:
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- name: adapter_video_buffer
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type: nvidia::cvcore::tensor_ops::ImageAdapter
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type: nvidia::isaac::tensor_ops::ImageAdapter
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parameters:
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- name: adapter_bgr_u8
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type: nvidia::cvcore::tensor_ops::ImageAdapter
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type: nvidia::isaac::tensor_ops::ImageAdapter
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type: nvidia::isaac::tensor_ops::ImageAdapter
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type: nvidia::cvcore::tensor_ops::ImageAdapter
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type: nvidia::isaac::tensor_ops::ImageAdapter
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type: nvidia::isaac::tensor_ops::ImageAdapter
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‎isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml‎

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%YAML 1.2
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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- type: nvidia::isaac::tensor_ops::ConvertColorFormat
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- type: nvidia::cvcore::tensor_ops::Resize
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- type: nvidia::cvcore::tensor_ops::Normalize
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- type: nvidia::isaac::tensor_ops::Normalize
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- type: nvidia::cvcore::tensor_ops::InterleavedToPlanar
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- type: nvidia::isaac::tensor_ops::InterleavedToPlanar
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- type: nvidia::cvcore::tensor_ops::Reshape
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- type: nvidia::isaac::tensor_ops::Reshape
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‎isaac_ros_dnn_encoders/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>isaac_ros_dnn_encoders</name>
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<version>0.30.0</version>
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<version>0.31.0</version>
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<description>Encoders for preprocessing before running deep learning inference</description>
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<maintainer email="[email protected]">Hemal Shah</maintainer>
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<license>Apache-2.0</license>

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