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Merge pull request #10 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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‎README.md‎

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@@ -43,10 +43,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
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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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| [Freespace Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_bi3d_freespace_benchmark/scripts/isaac_ros_bi3d_fs_node.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [2190 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-agx_orin.json)<br/><br/><br/>1.4 ms @ 30Hz<br/><br/> | [1850 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nx.json)<br/><br/><br/>1.8 ms @ 30Hz<br/><br/> | [1220 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nano.json)<br/><br/><br/>2.6 ms @ 30Hz<br/><br/> | [3500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-nuc_4060ti.json)<br/><br/><br/>0.50 ms @ 30Hz<br/><br/> | [3500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-x86_4090.json)<br/><br/><br/>0.48 ms @ 30Hz<br/><br/> |
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| [Freespace Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_bi3d_freespace_benchmark/scripts/isaac_ros_bi3d_fs_graph.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [42.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-agx_orin.json)<br/><br/><br/>77 ms @ 30Hz<br/><br/> | [27.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nx.json)<br/><br/><br/>99 ms @ 30Hz<br/><br/> | [21.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nano.json)<br/><br/><br/>100 ms @ 30Hz<br/><br/> | [88.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-nuc_4060ti.json)<br/><br/><br/>32 ms @ 30Hz<br/><br/> | [105 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-x86_4090.json)<br/><br/><br/>38 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/> |
47+
|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
48+
| [Freespace Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_bi3d_freespace_benchmark/scripts/isaac_ros_bi3d_fs_node.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [2120 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-agx_orin.json)<br/><br/><br/>1.7 ms @ 30Hz<br/><br/> | [2490 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nx.json)<br/><br/><br/>1.6 ms @ 30Hz<br/><br/> | [1560 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nano.json)<br/><br/><br/>2.3 ms @ 30Hz<br/><br/> | [3500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-x86-4090.json)<br/><br/><br/>0.52 ms @ 30Hz<br/><br/> |
49+
| [Freespace Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_bi3d_freespace_benchmark/scripts/isaac_ros_bi3d_fs_graph.py)<br/><br/><br/><br/> | 576p<br/><br/><br/><br/> | [36.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-agx_orin.json)<br/><br/><br/>84 ms @ 30Hz<br/><br/> | [27.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nx.json)<br/><br/><br/>100 ms @ 30Hz<br/><br/> | [22.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nano.json)<br/><br/><br/>98 ms @ 30Hz<br/><br/> | [100 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-x86-4090.json)<br/><br/><br/>22 ms @ 30Hz<br/><br/> |
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---
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@@ -65,4 +65,4 @@ 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: Update to be compatible with JetPack 6.1

‎gxf_isaac_occupancy_grid_projector/CMakeLists.txt‎

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@@ -62,4 +62,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
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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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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
68+
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
69+
generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎gxf_isaac_occupancy_grid_projector/gxf/occupancy_grid_projector.cpp‎

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// limitations under the License.
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//
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// SPDX-License-Identifier: Apache-2.0
17-
#include "occupancy_grid_projector.hpp"
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18+
#include <string>
19+
#include <utility>
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1921
#include "occupancy_grid_projector.cu.hpp"
22+
#include "occupancy_grid_projector.hpp"
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21-
#include "gxf/multimedia/video.hpp"
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#include "gxf/core/parameter_parser_std.hpp"
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#include "gxf/multimedia/video.hpp"
2326
#include "gxf/std/tensor.hpp"
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#include "gxf/std/timestamp.hpp"
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26-
namespace nvidia
27-
{
28-
namespace isaac_ros
29-
{
30-
namespace freespace_segmentation
31-
{
29+
namespace nvidia {
30+
namespace isaac_ros {
31+
namespace freespace_segmentation {
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33-
gxf_result_t OccupancyGridProjector::registerInterface(gxf::Registrar * registrar)
34-
{
33+
gxf_result_t OccupancyGridProjector::registerInterface(gxf::Registrar * registrar) {
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gxf::Expected<void> result;
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3736
result &= registrar->parameter(
@@ -68,8 +67,7 @@ gxf_result_t OccupancyGridProjector::registerInterface(gxf::Registrar * registra
6867
return gxf::ToResultCode(result);
6968
}
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71-
gxf_result_t OccupancyGridProjector::start()
72-
{
70+
gxf_result_t OccupancyGridProjector::start() {
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// Extract 3D transform from camera frame to ground frame from parameter
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auto projection = projection_transform_param_.get();
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if (projection.size() != 7) {
@@ -87,8 +85,7 @@ gxf_result_t OccupancyGridProjector::start()
8785
}
8886
if (cudaMemcpy(
8987
translation_device_, translation.data(),
90-
sizeof(float) * translation.size(), cudaMemcpyHostToDevice) != cudaSuccess)
91-
{
88+
sizeof(float) * translation.size(), cudaMemcpyHostToDevice) != cudaSuccess) {
9289
GXF_LOG_ERROR("Failed to copy translation to device");
9390
return GXF_FAILURE;
9491
}
@@ -108,8 +105,7 @@ gxf_result_t OccupancyGridProjector::start()
108105
}
109106
if (cudaMemcpy(
110107
rotation_matrix_device_, rotation_matrix.data(),
111-
sizeof(float) * rotation_matrix.size(), cudaMemcpyHostToDevice) != cudaSuccess)
112-
{
108+
sizeof(float) * rotation_matrix.size(), cudaMemcpyHostToDevice) != cudaSuccess) {
113109
GXF_LOG_ERROR("Failed to copy rotation matrix to device");
114110
return GXF_FAILURE;
115111
}
@@ -131,8 +127,7 @@ gxf_result_t OccupancyGridProjector::start()
131127
return GXF_SUCCESS;
132128
}
133129

134-
gxf_result_t OccupancyGridProjector::stop() noexcept
135-
{
130+
gxf_result_t OccupancyGridProjector::stop() noexcept {
136131
if (cudaFree(rotation_matrix_device_) != cudaSuccess) {
137132
GXF_LOG_ERROR("Failed to free rotation matrix");
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return GXF_FAILURE;
@@ -145,8 +140,7 @@ gxf_result_t OccupancyGridProjector::stop() noexcept
145140
return GXF_SUCCESS;
146141
}
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148-
gxf_result_t OccupancyGridProjector::tick()
149-
{
143+
gxf_result_t OccupancyGridProjector::tick() {
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// Retrieve segmentation mask from Bi3D postprocessor
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const auto maybe_mask_message = mask_receiver_->receive();
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if (!maybe_mask_message) {
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218212
if (cudaMemcpy(
219213
origin->pointer(), origin_pose.data(), sizeof(double) * origin_pose.size(),
220-
cudaMemcpyHostToDevice) != cudaSuccess)
221-
{
214+
cudaMemcpyHostToDevice) != cudaSuccess) {
222215
GXF_LOG_ERROR("Failed to copy origin to device");
223216
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224217
}
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245238
// Process segmentation map
246239
process_segmentation_mask(
247-
(float *) segmentation_mask->pointer(), occupancy_grid->data<int8_t>().value(),
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reinterpret_cast<float *>(segmentation_mask->pointer()), occupancy_grid->data<int8_t>().value(),
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segmentation_mask->video_frame_info().height,
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segmentation_mask->video_frame_info().width,
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grid_height_, grid_width_, grid_resolution_, f_x_, f_y_, rotation_matrix_device_,

‎gxf_isaac_occupancy_grid_projector/gxf/occupancy_grid_projector.hpp‎

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#ifndef NVIDIA_ISAAC_ROS_GXF_EXTENSIONS_OCCUPANCY_GRID_PROJECTOR_HPP_
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#define NVIDIA_ISAAC_ROS_GXF_EXTENSIONS_OCCUPANCY_GRID_PROJECTOR_HPP_
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#include <string>
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#include <Eigen/Dense>
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#include <string>
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#include <vector>
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#include "gxf/core/parameter_parser_std.hpp"
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#include "gxf/std/codelet.hpp"
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#include "gxf/std/memory_buffer.hpp"
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#include "gxf/core/parameter_parser_std.hpp"
2728
#include "gxf/std/receiver.hpp"
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#include "gxf/std/transmitter.hpp"
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#include "occupancy_grid_projector.cu.hpp"
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namespace nvidia
33-
{
34-
namespace isaac_ros
35-
{
36-
namespace freespace_segmentation
37-
{
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namespace nvidia {
34+
namespace isaac_ros {
35+
namespace freespace_segmentation {
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39-
class OccupancyGridProjector : public gxf::Codelet
40-
{
41-
public:
37+
class OccupancyGridProjector : public gxf::Codelet {
38+
public:
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gxf_result_t registerInterface(gxf::Registrar * registrar) override;
4340
gxf_result_t start() override;
4441
gxf_result_t tick() override;
4542
gxf_result_t stop() noexcept override;
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47-
private:
44+
private:
4845
gxf::Parameter<gxf::Handle<gxf::Receiver>> mask_receiver_;
4946
gxf::Parameter<gxf::Handle<gxf::Transmitter>> output_transmitter_;
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gxf::Parameter<gxf::Handle<gxf::Allocator>> allocator_;

‎gxf_isaac_occupancy_grid_projector/package.xml‎

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@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>gxf_isaac_occupancy_grid_projector</name>
24-
<version>3.1.0</version>
24+
<version>3.2.0</version>
2525
<description>Isaac ROS Occupancy Grid Projector Extension.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_bi3d_freespace/CMakeLists.txt‎

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@@ -56,4 +56,10 @@ if(BUILD_TESTING)
5656
add_launch_test(test/isaac_ros_freespace_segmentation_pol.py TIMEOUT "1000")
5757
endif()
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60+
# Embed versioning information into installed files
61+
ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
62+
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
63+
generate_version_info(${PROJECT_NAME})
64+
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ament_auto_package(INSTALL_TO_SHARE config launch)

‎isaac_ros_bi3d_freespace/package.xml‎

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@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>isaac_ros_bi3d_freespace</name>
24-
<version>3.1.0</version>
24+
<version>3.2.0</version>
2525
<description>Freespace segmentation using the Bi3D inference network for ROS</description>
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2727
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_bi3d_freespace/test/freespace_segmentation_node_test.cpp‎

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2222
// Objective: to cover code lines where exceptions are thrown
2323
// Approach: send Invalid Arguments for node parameters to trigger the exception
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25+
2526
TEST(freespace_segmentation_node_test, test_invalid_focal_length)
2627
{
2728
rclcpp::init(0, nullptr);
2829
rclcpp::NodeOptions options;
29-
options.arguments(
30-
{
31-
"--ros-args",
32-
"-p", "f_x_:= 0",
33-
});
30+
options.append_parameter_override("f_x", 0.0);
3431
EXPECT_THROW(
3532
{
3633
try {
@@ -39,6 +36,9 @@ TEST(freespace_segmentation_node_test, test_invalid_focal_length)
3936
} catch (const std::invalid_argument & e) {
4037
EXPECT_THAT(e.what(), testing::HasSubstr("Invalid focal length"));
4138
throw;
39+
} catch (const rclcpp::exceptions::InvalidParameterValueException & e) {
40+
EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set"));
41+
throw;
4242
}
4343
}, std::invalid_argument);
4444
rclcpp::shutdown();

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