Skip to content

Commit f45b220

Browse files
hemalshahNVhemalshahNV
committed
Isaac ROS 3.0.0
1 parent b43ecae commit f45b220

File tree

69 files changed

+2476
-285
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

69 files changed

+2476
-285
lines changed

‎README.md‎

Lines changed: 13 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
# Isaac ROS Object Detection
22

3-
Hardware-accelerated, deep learned model support for object detection including DetectNet.
3+
NVIDIA-accelerated, deep learned model support for object detection including DetectNet.
44

55
<div align="center"><img alt="original image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example.png/" width="300px"/>
66
<img alt="bounding box predictions using DetectNet" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example_bbox.png/" width="300px"/></div>
@@ -60,9 +60,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
6060

6161
## Performance
6262

63-
| 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/> |
64-
|----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------|
65-
| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/> | 544p<br/><br/><br/><br/> | [232 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>11 ms<br/><br/> | [105 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>15 ms<br/><br/> | [74.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>22 ms<br/><br/> | [644 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>5.6 ms<br/><br/> |
63+
| 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/> |
64+
|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
65+
| [RT-DETR Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_rtdetr_benchmark/scripts/isaac_ros_rtdetr_graph.py)<br/><br/><br/>SyntheticaDETR<br/><br/> | 720p<br/><br/><br/><br/> | [71.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/> | [30.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nx.json)<br/><br/><br/>41 ms @ 30Hz<br/><br/> | [21.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nano.json)<br/><br/><br/>61 ms @ 30Hz<br/><br/> | [205 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-nuc_4060ti.json)<br/><br/><br/>8.7 ms @ 30Hz<br/><br/> | [400 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-x86_4090.json)<br/><br/><br/>6.3 ms @ 30Hz<br/><br/> |
66+
| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_detectnet_benchmark/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/> | 544p<br/><br/><br/><br/> | [165 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [115 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>26 ms @ 30Hz<br/><br/> | [63.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>36 ms @ 30Hz<br/><br/> | [488 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> | [589 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-x86_4090.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> |
6667

6768
---
6869

@@ -80,10 +81,17 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
8081
* [ROS 2 Graph Configuration](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#ros-2-graph-configuration)
8182
* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#troubleshooting)
8283
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#api)
84+
* [`isaac_ros_rtdetr`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html)
85+
* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#quickstart)
86+
* [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#try-more-examples)
87+
* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#troubleshooting)
88+
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#api)
8389
* [`isaac_ros_yolov8`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html)
8490
* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#quickstart)
91+
* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#troubleshooting)
8592
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#api)
93+
* [Usage](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#usage)
8694

8795
## Latest
8896

89-
Update 2023-10-18: Adding NITROS YOLOv8 decoder.
97+
Update 2024-05-30: Added RT-DETR object detection package

‎gxf_isaac_detectnet/CMakeLists.txt‎

Lines changed: 66 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,66 @@
1+
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2+
# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3+
#
4+
# Licensed under the Apache License, Version 2.0 (the "License");
5+
# you may not use this file except in compliance with the License.
6+
# You may obtain a copy of the License at
7+
#
8+
# http://www.apache.org/licenses/LICENSE-2.0
9+
#
10+
# Unless required by applicable law or agreed to in writing, software
11+
# distributed under the License is distributed on an "AS IS" BASIS,
12+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
# See the License for the specific language governing permissions and
14+
# limitations under the License.
15+
#
16+
# SPDX-License-Identifier: Apache-2.0
17+
18+
cmake_minimum_required(VERSION 3.22.1)
19+
project(gxf_isaac_detectnet LANGUAGES C CXX)
20+
21+
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
22+
add_compile_options(-fPIC -w)
23+
endif()
24+
25+
find_package(ament_cmake_auto REQUIRED)
26+
ament_auto_find_build_dependencies()
27+
28+
# Dependencies
29+
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
30+
find_package(isaac_ros_nitros_detection2_d_array_type REQUIRED)
31+
find_package(yaml-cpp)
32+
33+
# DetectNet extension
34+
ament_auto_add_library(${PROJECT_NAME} SHARED
35+
gxf/detectnet/detectnet.cpp
36+
gxf/detectnet/detectnet_decoder.cpp
37+
gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp
38+
gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp
39+
gxf/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp
40+
)
41+
42+
target_include_directories(${PROJECT_NAME} PRIVATE
43+
${CMAKE_CURRENT_SOURCE_DIR}/gxf
44+
${isaac_ros_nitros_detection2_d_array_type_INCLUDE_DIRS}
45+
${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/include
46+
${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinfer/include
47+
${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/include
48+
${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/dbscan
49+
)
50+
51+
target_link_libraries(${PROJECT_NAME}
52+
Eigen3::Eigen
53+
${isaac_ros_nitros_detection2_d_array_type_LIBRARIES}
54+
yaml-cpp
55+
)
56+
57+
set_target_properties(${PROJECT_NAME} PROPERTIES
58+
BUILD_WITH_INSTALL_RPATH TRUE
59+
BUILD_RPATH_USE_ORIGIN TRUE
60+
INSTALL_RPATH_USE_LINK_PATH TRUE
61+
)
62+
63+
# Install the binary file
64+
install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
65+
66+
ament_auto_package(INSTALL_TO_SHARE)

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/include/nvds_transform.h renamed to gxf_isaac_detectnet/gxf/deepstream_utils/include/nvds_transform.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2020-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer.h renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer_context.h renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer_context.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer_custom_impl.h renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer_custom_impl.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/include/nvdsinfer_dbscan.h renamed to gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/include/nvdsinfer_dbscan.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

0 commit comments

Comments
 (0)