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Merge pull request #52 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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‎README.md‎

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@@ -49,11 +49,11 @@ 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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| [Rectify Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_image_proc_benchmark/scripts/isaac_ros_rectify_node.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [983 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-agx_orin.json)<br/><br/><br/>2.5 ms @ 30Hz<br/><br/> | [569 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-orin_nx.json)<br/><br/><br/>3.5 ms @ 30Hz<br/><br/> | [394 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-orin_nano.json)<br/><br/><br/>5.2 ms @ 30Hz<br/><br/> | [2500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-nuc_4060ti.json)<br/><br/><br/>0.88 ms @ 30Hz<br/><br/> | [2500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-x86_4090.json)<br/><br/><br/>0.66 ms @ 30Hz<br/><br/> |
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| [Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_stereo_image_proc_benchmark/scripts/isaac_ros_disparity_node.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [168 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-agx_orin.json)<br/><br/><br/>7.5 ms @ 30Hz<br/><br/> | [75.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-orin_nx.json)<br/><br/><br/>15 ms @ 30Hz<br/><br/> | [51.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-orin_nano.json)<br/><br/><br/>22 ms @ 30Hz<br/><br/> | [350 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-nuc_4060ti.json)<br/><br/><br/>3.4 ms @ 30Hz<br/><br/> | [814 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-x86_4090.json)<br/><br/><br/>1.8 ms @ 30Hz<br/><br/> |
56-
| [Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_stereo_image_proc_benchmark/scripts/isaac_ros_disparity_graph.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [157 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [72.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-orin_nx.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [49.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-orin_nano.json)<br/><br/><br/>28 ms @ 30Hz<br/><br/> | [349 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-nuc_4060ti.json)<br/><br/><br/>2.5 ms @ 30Hz<br/><br/> | [791 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-x86_4090.json)<br/><br/><br/>2.7 ms @ 30Hz<br/><br/> |
52+
| 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/> |
53+
|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|
54+
| [Rectify Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_image_proc_benchmark/scripts/isaac_ros_rectify_node.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [1160 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-agx_orin.json)<br/><br/><br/>2.2 ms @ 30Hz<br/><br/> | [595 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-orin_nx.json)<br/><br/><br/>3.6 ms @ 30Hz<br/><br/> | [411 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-orin_nano.json)<br/><br/><br/>4.4 ms @ 30Hz<br/><br/> | [2500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rectify_node-x86-4090.json)<br/><br/><br/>0.70 ms @ 30Hz<br/><br/> |
55+
| [Stereo Disparity Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_stereo_image_proc_benchmark/scripts/isaac_ros_disparity_node.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [117 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-agx_orin.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/> | [78.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-orin_nx.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/> | [53.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-orin_nano.json)<br/><br/><br/>21 ms @ 30Hz<br/><br/> | [978 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_node-x86-4090.json)<br/><br/><br/>1.6 ms @ 30Hz<br/><br/> |
56+
| [Stereo Disparity Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_stereo_image_proc_benchmark/scripts/isaac_ros_disparity_graph.py)<br/><br/><br/><br/> | 1080p<br/><br/><br/><br/> | [111 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-agx_orin.json)<br/><br/><br/>15 ms @ 30Hz<br/><br/> | [72.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-orin_nx.json)<br/><br/><br/>19 ms @ 30Hz<br/><br/> | [49.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-orin_nano.json)<br/><br/><br/>26 ms @ 30Hz<br/><br/> | [695 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_disparity_graph-x86-4090.json)<br/><br/><br/>3.9 ms @ 30Hz<br/><br/> |
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---
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@@ -78,4 +78,4 @@ 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 new alpha blending node

‎isaac_ros_depth_image_proc/CMakeLists.txt‎

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add_launch_test(test/isaac_ros_depth_image_proc_convert_metric_pol.py)
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endif()
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74+
# Embed versioning information into installed files
75+
ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
76+
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
77+
generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE launch config)

‎isaac_ros_depth_image_proc/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"?>
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<package format="3">
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<name>isaac_ros_depth_image_proc</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Stereo and disparity processing</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
@@ -30,6 +30,7 @@ SPDX-License-Identifier: Apache-2.0
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<author>Ashwin Varghese Kuruttukulam</author>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<build_depend>isaac_ros_common</build_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>

‎isaac_ros_depth_image_proc/src/convert_metric_node.cpp‎

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@@ -56,13 +56,13 @@ ConvertMetricNode::ConvertMetricNode(const rclcpp::NodeOptions options)
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::nvidia::isaac_ros::nitros::NitrosImageView>>(
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this, "image_raw", ::nvidia::isaac_ros::nitros::nitros_image_mono16_t::supported_type_name,
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std::bind(&ConvertMetricNode::DepthCallback, this,
59-
std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosStatisticsConfig{},
59+
std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{},
6060
input_qos_)},
6161
nitros_img_pub_{std::make_shared<
6262
nvidia::isaac_ros::nitros::ManagedNitrosPublisher<nvidia::isaac_ros::nitros::NitrosImage>>(
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this, "image",
6464
nvidia::isaac_ros::nitros::nitros_image_32FC1_t::supported_type_name,
65-
nvidia::isaac_ros::nitros::NitrosStatisticsConfig{}, output_qos_)}
65+
nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{}, output_qos_)}
6666
{
6767
CheckCudaErrors(cudaStreamCreate(&stream_), __FILE__, __LINE__);
6868
}

‎isaac_ros_gxf_extensions/gxf_isaac_depth_image_proc/CMakeLists.txt‎

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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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67+
# 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)
69+
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
70+
generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎isaac_ros_gxf_extensions/gxf_isaac_depth_image_proc/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"?>
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<package format="3">
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<name>gxf_isaac_depth_image_proc</name>
24-
<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Depth Proc GXF extension</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

‎isaac_ros_gxf_extensions/gxf_isaac_image_flip/CMakeLists.txt‎

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@@ -53,4 +53,10 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY COMPILE_OPTIONS ${target_options})
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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)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎isaac_ros_gxf_extensions/gxf_isaac_image_flip/gxf/image_flip.cpp‎

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#include "image_flip.hpp"
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#include <string>
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#include <unordered_map>
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#include <vector>
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#include "gxf/multimedia/video.hpp"
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#include "gxf/std/timestamp.hpp"
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namespace nvidia
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{
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namespace isaac_ros
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{
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namespace nvidia {
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namespace isaac_ros {
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#define CHECK_VPI_STATUS(STMT) \
3131
do { \
@@ -35,7 +35,7 @@ namespace isaac_ros
3535
vpiGetLastStatusMessage(buffer, sizeof(buffer)); \
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std::ostringstream ss; \
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ss << __FILE__ << ":" << __LINE__ << ": " << vpiStatusGetName(status) << ": " << buffer; \
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GXF_LOG_ERROR(ss.str().c_str()); \
38+
GXF_LOG_ERROR("%s", ss.str().c_str()); \
3939
return GXF_FAILURE; \
4040
} \
4141
} while (0);
@@ -50,14 +50,12 @@ const std::unordered_map<std::string, uint32_t> kStrToVpiBackend({{"CPU", VPI_BA
5050
const std::unordered_map<std::string, VPIFlipMode> kStrToVpiFlipMode(
5151
{{"HORIZONTAL", VPI_FLIP_HORIZ}, {"VERTICAL", VPI_FLIP_VERT}, {"BOTH", VPI_FLIP_BOTH}});
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53-
struct VPIFormat
54-
{
53+
struct VPIFormat {
5554
VPIImageFormat image_format;
5655
std::vector<VPIPixelType> pixel_type;
5756
};
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59-
VPIFormat ToVpiFormat(VideoFormat value)
60-
{
58+
VPIFormat ToVpiFormat(VideoFormat value) {
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wpedantic"
6361
switch (value) {
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VPIStatus CreateVPIImageWrapper(
9795
VPIImage & vpi_image, VPIImageData & img_data, uint64_t flags,
98-
const nvidia::gxf::Handle<nvidia::gxf::VideoBuffer> & video_buff)
99-
{
96+
const nvidia::gxf::Handle<nvidia::gxf::VideoBuffer> & video_buff) {
10097
nvidia::gxf::VideoBufferInfo image_info = video_buff->video_frame_info();
10198
VPIFormat vpi_format = ToVpiFormat(image_info.color_format);
10299
img_data.bufferType = VPI_IMAGE_BUFFER_CUDA_PITCH_LINEAR;
@@ -117,8 +114,7 @@ VPIStatus CreateVPIImageWrapper(
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118115
VPIStatus UpdateVPIImageWrapper(
119116
VPIImage & image, VPIImageData & imageWrap,
120-
const nvidia::gxf::Handle<nvidia::gxf::VideoBuffer> & video_buff)
121-
{
117+
const nvidia::gxf::Handle<nvidia::gxf::VideoBuffer> & video_buff) {
122118
nvidia::gxf::VideoBufferInfo image_info = video_buff->video_frame_info();
123119
auto data_ptr_offset = 0;
124120
for (size_t i = 0; i < image_info.color_planes.size(); ++i) {
@@ -128,8 +124,7 @@ VPIStatus UpdateVPIImageWrapper(
128124
return vpiImageSetWrapper(image, &imageWrap);
129125
}
130126

131-
gxf_result_t ImageFlip::registerInterface(gxf::Registrar * registrar)
132-
{
127+
gxf_result_t ImageFlip::registerInterface(gxf::Registrar * registrar) {
133128
gxf::Expected<void> result;
134129

135130
result &= registrar->parameter(
@@ -157,8 +152,7 @@ gxf_result_t ImageFlip::registerInterface(gxf::Registrar * registrar)
157152
return gxf::ToResultCode(result);
158153
}
159154

160-
gxf_result_t ImageFlip::start()
161-
{
155+
gxf_result_t ImageFlip::start() {
162156
// Set and print out backend used
163157
auto backend_it = kStrToVpiBackend.find(vpi_backends_param_.get());
164158
if (backend_it != kStrToVpiBackend.end()) {
@@ -188,8 +182,7 @@ gxf_result_t ImageFlip::start()
188182
return GXF_SUCCESS;
189183
}
190184

191-
gxf_result_t ImageFlip::tick()
192-
{
185+
gxf_result_t ImageFlip::tick() {
193186
auto maybe_input_message = image_receiver_->receive();
194187
if (!maybe_input_message) {
195188
GXF_LOG_ERROR("Failed to receive image message");
@@ -291,8 +284,7 @@ gxf_result_t ImageFlip::tick()
291284
return GXF_SUCCESS;
292285
}
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294-
gxf_result_t ImageFlip::stop()
295-
{
287+
gxf_result_t ImageFlip::stop() {
296288
if (!vpi_stream_) {CHECK_VPI_STATUS(vpiStreamSync(vpi_stream_));}
297289
vpiStreamDestroy(vpi_stream_);
298290
vpiImageDestroy(input_);

‎isaac_ros_gxf_extensions/gxf_isaac_image_flip/gxf/image_flip.hpp‎

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@@ -14,6 +14,7 @@
1414
// limitations under the License.
1515
//
1616
// SPDX-License-Identifier: Apache-2.0
17+
1718
#ifndef NVIDIA_ISAAC_ROS_EXTENSIONS_IMAGE_FLIP_HPP_
1819
#define NVIDIA_ISAAC_ROS_EXTENSIONS_IMAGE_FLIP_HPP_
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@@ -29,25 +30,22 @@
2930
#include "gxf/std/receiver.hpp"
3031
#include "gxf/std/transmitter.hpp"
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32-
#include "vpi/VPI.h"
3333
#include "vpi/algo/ConvertImageFormat.h"
3434
#include "vpi/algo/ImageFlip.h"
35+
#include "vpi/VPI.h"
3536

36-
namespace nvidia
37-
{
38-
namespace isaac_ros
39-
{
37+
namespace nvidia {
38+
namespace isaac_ros {
4039
// GXF codelet that subscribes image using videobuffer,
4140
// then publishes a flipped image
42-
class ImageFlip : public gxf::Codelet
43-
{
44-
public:
41+
class ImageFlip : public gxf::Codelet {
42+
public:
4543
gxf_result_t start() override;
4644
gxf_result_t tick() override;
4745
gxf_result_t stop() override;
4846
gxf_result_t registerInterface(gxf::Registrar * registrar) override;
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50-
private:
48+
private:
5149
// The name of the input image
5250
gxf::Parameter<std::string> image_name_;
5351
// The name of the output video buffer

‎isaac_ros_gxf_extensions/gxf_isaac_image_flip/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"?>
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<package format="3">
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<name>gxf_isaac_image_flip</name>
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<version>3.1.0</version>
24+
<version>3.2.0</version>
2525
<description>Image Flip GXF extension.</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

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