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Merge pull request #53 from NVIDIA-ISAAC-ROS/release-3.2
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Isaac ROS 3.2
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@jaiveersinghNV
jaiveersinghNV authored Dec 11, 2024
2 parents f3f6b6a + 089480e commit 6ec90c9
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16 changes: 8 additions & 8 deletions README.md
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Expand Up @@ -70,13 +70,13 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev

## Performance

| 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/> |
|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_dope_node.py)<br/><br/><br/>DOPE<br/><br/> | VGA<br/><br/><br/><br/> | [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/><br/><br/>24 ms @ 30Hz<br/><br/> | [17.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br/><br/><br/>56 ms @ 30Hz<br/><br/> | [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br/><br/><br/>82 ms @ 30Hz<br/><br/> | [98.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-nuc_4060ti.json)<br/><br/><br/>13 ms @ 30Hz<br/><br/> | [296 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86_4090.json)<br/><br/><br/>5.1 ms @ 30Hz<br/><br/> |
| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_dope_node.py)<br/><br/><br/>DOPE<br/><br/> | VGA<br/><br/><br/><br/> | [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> | [20.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br/><br/><br/>540 ms @ 30Hz<br/><br/> | [14.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br/><br/><br/>790 ms @ 30Hz<br/><br/> | [94.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-nuc_4060ti.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [254 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86_4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/> |
| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_ps_node.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br/><br/><br/>4.1 ms @ 30Hz<br/><br/> | [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br/><br/><br/>6.1 ms @ 30Hz<br/><br/> | [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br/><br/><br/>7.0 ms @ 30Hz<br/><br/> | [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/> | [675 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-x86_4090.json)<br/><br/><br/>3.0 ms @ 30Hz<br/><br/> |
| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_ps_node.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br/><br/><br/>4.8 ms @ 30Hz<br/><br/> | [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br/><br/><br/>6.5 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br/><br/><br/>2.2 ms @ 30Hz<br/><br/> | [619 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-x86_4090.json)<br/><br/><br/>1.9 ms @ 30Hz<br/><br/> |
| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dnn_image_encoder_benchmark/scripts/isaac_ros_dnn_image_encoder_node.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [522 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [330 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [811 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-nuc_4060ti.json)<br/><br/><br/>6.6 ms @ 30Hz<br/><br/> | [822 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86_4090.json)<br/><br/><br/>6.4 ms @ 30Hz<br/><br/> |
| 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/> |
|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_dope_node.py)<br/><br/><br/>DOPE<br/><br/> | VGA<br/><br/><br/><br/> | [47.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/> | [18.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br/><br/><br/>56 ms @ 30Hz<br/><br/> | [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br/><br/><br/>81 ms @ 30Hz<br/><br/> | [298 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86-4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/> |
| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_dope_node.py)<br/><br/><br/>DOPE<br/><br/> | VGA<br/><br/><br/><br/> | [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/> | [20.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br/><br/><br/>530 ms @ 30Hz<br/><br/> | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br/><br/><br/>780 ms @ 30Hz<br/><br/> | [276 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86-4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/> |
| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_ps_node.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br/><br/><br/>4.1 ms @ 30Hz<br/><br/> | [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br/><br/><br/>6.1 ms @ 30Hz<br/><br/> | [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br/><br/><br/>7.0 ms @ 30Hz<br/><br/> | [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/> |
| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_ps_node.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br/><br/><br/>4.8 ms @ 30Hz<br/><br/> | [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br/><br/><br/>6.5 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br/><br/><br/>2.2 ms @ 30Hz<br/><br/> |
| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dnn_image_encoder_benchmark/scripts/isaac_ros_dnn_image_encoder_node.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [420 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [382 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [574 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86-4090.json)<br/><br/><br/>5.2 ms @ 30Hz<br/><br/> |

---

Expand Down Expand Up @@ -104,4 +104,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re

## Latest

Update 2024-09-26: Update for Isaac ROS 3.1
Update 2024-12-10: Update to be compatible with JetPack 6.1
13 changes: 13 additions & 0 deletions isaac_ros_dnn_image_encoder/CMakeLists.txt
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Expand Up @@ -38,6 +38,13 @@ if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()

# Gtest for dnn image encoder node
ament_add_gtest(dnn_image_encoder_node_test test/dnn_image_encoder_node_test.cpp)
target_link_libraries(dnn_image_encoder_node_test dnn_image_encoder_node)
target_include_directories(dnn_image_encoder_node_test PUBLIC include/isaac_ros_dnn_image_encoder/)
target_include_directories(dnn_image_encoder_node_test PUBLIC /usr/src/googletest/googlemock/include/)
ament_target_dependencies(dnn_image_encoder_node_test rclcpp)
ament_target_dependencies(dnn_image_encoder_node_test isaac_ros_nitros)

# The FindPythonInterp and FindPythonLibs modules are removed
if(POLICY CMP0148)
Expand All @@ -50,4 +57,10 @@ if(BUILD_TESTING)
add_launch_test(test/isaac_ros_dnn_image_encoder_image_norm_test.py)
endif()


# Embed versioning information into installed files
ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
generate_version_info(${PROJECT_NAME})

ament_auto_package(INSTALL_TO_SHARE config launch)
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