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Merge pull request #78 from NVIDIA-ISAAC-ROS/release-3.2
FoundationPose symmetry and performance enhancements
2 parents 51cba92 + 2faf5ad commit a4f9b05

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‎isaac_ros_centerpose/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -47,13 +47,22 @@ set_target_properties(centerpose_visualizer_node PROPERTIES
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_cmake_gtest REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# Force use of ROS2 vendor googletest to avoid version conflicts
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set(CMAKE_IGNORE_PATH "/usr/src/googletest" ${CMAKE_IGNORE_PATH})
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set(CMAKE_IGNORE_PATH "/usr/include/gtest" ${CMAKE_IGNORE_PATH})
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set(CMAKE_IGNORE_PATH "/usr/include/gmock" ${CMAKE_IGNORE_PATH})
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# Explicitly use ROS2 vendor googletest/gmock
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include_directories(BEFORE /opt/ros/humble/src/gtest_vendor/include)
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include_directories(BEFORE /opt/ros/humble/src/gmock_vendor/include)
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# Gtest for decoder_node
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ament_add_gtest(centerpose_decoder_node_test test/centerpose_decoder_node_test.cpp)
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target_link_libraries(centerpose_decoder_node_test centerpose_decoder_node)
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target_include_directories(centerpose_decoder_node_test PUBLIC include/isaac_ros_centerpose/)
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target_include_directories(centerpose_decoder_node_test PUBLIC /usr/src/googletest/googlemock/include/)
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ament_target_dependencies(centerpose_decoder_node_test rclcpp)
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ament_target_dependencies(centerpose_decoder_node_test isaac_ros_nitros)
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# The FindPythonInterp and FindPythonLibs modules are removed

‎isaac_ros_centerpose/package.xml‎

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@@ -21,7 +21,7 @@
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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_centerpose</name>
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<version>3.2.5</version>
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<version>3.2.10</version>
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<description>CenterPose: Pose Estimation using Deep Learning</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_foundationpose/CMakeLists.txt‎

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@@ -76,6 +76,8 @@ if(BUILD_TESTING)
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find_package(launch_testing_ament_cmake REQUIRED)
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add_launch_test(test/isaac_ros_foundationpose_pol.py TIMEOUT "900")
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add_launch_test(test/isaac_ros_foundationpose_bbox_pol.py TIMEOUT "900")
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add_launch_test(test/isaac_ros_foundationpose_fixed_axis_angles_pol.py TIMEOUT "900")
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add_launch_test(test/isaac_ros_foundationpose_symmetry_axes_pol.py TIMEOUT "900")
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add_launch_test(test/isaac_ros_foundationpose_iterative_refine_pol.py TIMEOUT "900")
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add_launch_test(test/isaac_ros_foundationpose_tracking_pol.py TIMEOUT "900")
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endif()

‎isaac_ros_foundationpose/config/isaac_ros_foundationpose_spec.yaml‎

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%YAML 1.2
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 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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---
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id: [0xd43f23e4b9bf11eb, 0x9d182b7be630552b]
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name: TensorRTExtension
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version: 2.0.0
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components:
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- id: [0x06a7f0e0b9c011eb, 0x8cd623c9c2070107]
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type: nvidia::gxf::TensorRtInference
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input_output_groups:
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- input_keys: [dummy_rx]
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output_keys: [tx]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_tensor_list_nchw]
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output_formats: [nitros_tensor_list_nchw]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_tensor_list_nhwc]
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output_formats: [nitros_tensor_list_nhwc]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_tensor_list_nchw_rgb_f32]
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output_formats: [nitros_tensor_list_nhwc_rgb_f32]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_tensor_list_nchw_bgr_f32]
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output_formats: [nitros_tensor_list_nhwc_bgr_f32]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_tensor_list_nchw_rgb_f32]
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output_formats: [nitros_tensor_list_nchw_rgb_f32]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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---
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id: [0x5b942ff659bc4502, 0xa0b000b36b53f74f]
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name: FoundationPoseExtension
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version: 1.0.0
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components:
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- id: [0x835babbb1c2caac7, 0x8eb3b7e37a08230c]
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type: nvidia::isaac_ros::depth_image_proc::DepthToPointCloud
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input_output_groups:
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- input_keys: [depth_receiver]
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output_keys: [point_cloud_transmitter]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_32FC1]
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output_formats: [nitros_point_cloud]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0xa7cdaf12f3402b64, 0x9fb6c7e9a0de679a]
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type: nvidia::isaac::CameraMessageCompositor
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input_output_groups:
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- input_keys: [video_buffer_input,camera_model_input]
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output_keys: [camera_message_output]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_rgb8,nitros_camera_info]
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output_formats: [nitros_image_rgb8]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_image_32FC1,nitros_camera_info]
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output_formats: [nitros_image_32FC1]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0x52138759e5824999, 0x8d26bd90e602d335]
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type: nvidia::isaac_ros::FoundationposeSampling
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input_output_groups:
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- input_keys: [depth_input, point_cloud_input, rgb_input, segmentation_input]
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output_keys: [output, point_cloud_output, rgb_output]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_32FC1, nitros_point_cloud, nitros_image_rgb8, nitros_image_mono8]
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output_formats: [nitros_tensor_list_nchw, nitros_point_cloud, nitros_image_rgb8]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0x52138759e5824998, 0x8d26bd90e603d335]
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type: nvidia::isaac_ros::FoundationPoseSynchronization
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input_output_groups:
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- input_keys: [inputs]
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output_keys: [outputs]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [any]
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output_formats: [any]
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- id: [0x63138759e5624879, 0x4a95bd90e602d324]
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type: nvidia::isaac_ros::FoundationposeRender
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input_output_groups:
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- input_keys: [rgb_input, camera_model_input, pose_array_input, point_cloud_input]
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output_keys: [output]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_rgb8, nitros_camera_info, nitros_tensor_list_nchw, nitros_point_cloud]
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output_formats: [nitros_tensor_list_nchw]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0x97104bb7e89f2b2a, 0x9de6f7fd399a201d]
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type: nvidia::isaac_ros::FoundationposeTransformation
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input_output_groups:
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- input_keys: [refined_poses_input, poses_input]
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output_keys: [sliced_output, batched_output]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_tensor_list_nchw, nitros_tensor_list_nchw]
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output_formats: [nitros_tensor_list_nchw, nitros_tensor_list_nchw]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0x97104bb7e89f2b2a, 0x9de6f7fd399a201d]
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type: nvidia::isaac_ros::FoundationposeDecoder
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input_output_groups:
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- input_keys: [pose_array_input]
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output_keys: [output, pose_matrix_output]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_tensor_list_nchw]
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output_formats: [nitros_detection3_d_array, nitros_tensor_list_nchw]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0xf6bbcfd111984aeb, 0xb6dbf26d3125540f]
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type: nvidia::isaac_ros::MeshStorage

‎isaac_ros_foundationpose/config/namespace_injector_rule.yaml‎

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- type: nvidia::gxf::TensorRtInference
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path_parameter_keys: [cuda_stream_pool, clock]
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- type: nvidia::isaac_ros::FoundationposeSampling
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path_parameter_keys: [cuda_stream_pool]
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path_parameter_keys: [cuda_stream_pool, mesh_storage]
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- type: nvidia::isaac_ros::FoundationposeRender
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path_parameter_keys: [cuda_stream_pool]
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path_parameter_keys: [cuda_stream_pool, mesh_storage]
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- type: nvidia::isaac_ros::FoundationposeTransformation
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path_parameter_keys: [cuda_stream_pool]
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path_parameter_keys: [cuda_stream_pool, mesh_storage]
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- type: nvidia::isaac_ros::FoundationposeDecoder
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path_parameter_keys: [cuda_stream_pool]
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- type: nvidia::isaac_ros::RenderReceptiveSchedulingTerm
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path_parameter_keys: [render_impl]
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path_parameter_keys: [cuda_stream_pool, mesh_storage]

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