NVIDIA-ISAAC-ROS · jaiveersinghNV · May 26, 2023 · May 26, 2023
diff --git a/README.md b/README.md
@@ -40,13 +40,13 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 The following table summarizes the per-platform performance statistics of sample graphs that use this package, with links included to the full benchmark output. These benchmark configurations are taken from the [Isaac ROS Benchmark](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark#list-of-isaac-ros-benchmarks) collection, based on the [`ros2_benchmark`](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) framework.
 
-| Sample Graph                                                                                                                                          | Input Size | AGX Orin                                                                                                                                                | Orin NX                                                                                                                                                | Orin Nano 8GB                                                                                                                                           | x86_64 w/ RTX 3060 Ti                                                                                                                                            |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [TensorRT Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_dope_node.py)          | VGA        | [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>22 ms      | [17.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br>56 ms      | [13.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano_8gb.json)<br>79 ms | [94.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86_64_rtx_3060Ti.json)<br>10 ms      |
-| [Triton Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_dope_node.py)               | VGA        | [48.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br>22 ms         | [20.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br>540 ms        | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano_8gb.json)<br>790 ms   | [94.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86_64_rtx_3060Ti.json)<br>11 ms         |
-| [TensorRT Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_ps_node.py) | 544p       | [467 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br>2.3 ms        | [270 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br>4.0 ms        | [184 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano_8gb.json)<br>9.0 ms   | [1500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-x86_64_rtx_3060Ti.json)<br>1.1 ms       |
-| [Triton Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_ps_node.py)      | 544p       | [293 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br>3.7 ms           | [191 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br>5.5 ms           | --                                                                                                                                                      | [512 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-x86_64_rtx_3060Ti.json)<br>2.1 ms           |
-| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_dnn_image_encoder_node.py)      | VGA        | [2230 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br>0.60 ms | [1560 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br>0.89 ms | --                                                                                                                                                      | [5780 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86_64_rtx_3060Ti.json)<br>0.45 ms |
+| Sample Graph                                                                                                                                          | Input Size | AGX Orin                                                                                                                                               | Orin NX                                                                                                                                               | Orin Nano 8GB                                                                                                                                       | x86_64 w/ RTX 4060 Ti                                                                                                                                     |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [TensorRT Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_dope_node.py)          | VGA        | [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>21 ms     | [19.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br>54 ms     | [13.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br>79 ms | [102 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-nuc_4060ti.json)<br>10 ms       |
+| [Triton Node<br>DOPE](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_dope_node.py)               | VGA        | [48.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br>22 ms        | [20.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br>540 ms       | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br>790 ms   | [99.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-nuc_4060ti.json)<br>10 ms         |
+| [TensorRT Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_tensor_rt_ps_node.py) | 544p       | [468 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br>2.6 ms       | [272 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br>4.1 ms       | [185 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br>5.9 ms   | [1990 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br>0.88 ms      |
+| [Triton Node<br>PeopleSemSegNet](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_triton_ps_node.py)      | 544p       | [296 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br>3.5 ms          | [190 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br>5.5 ms          | --                                                                                                                                                  | [709 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br>2.0 ms           |
+| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_dnn_image_encoder_node.py)      | VGA        | [2120 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br>1.1 ms | [1550 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br>1.2 ms | --                                                                                                                                                  | [5340 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-nuc_4060ti.json)<br>0.48 ms |
 
 ## Table of Contents
 
@@ -87,7 +87,7 @@ The following table summarizes the per-platform performance statistics of sample
 
 ## Latest Update
 
-Update 2023-04-05: Source available GXF extensions
+Update 2023-05-25: Performance improvements.
 
 ## Supported Platforms
 
@@ -473,6 +473,7 @@ For solutions to problems with using DNN models, please check [here](docs/troubl
 
 | Date       | Changes                                                                                                                      |
 | ---------- | ---------------------------------------------------------------------------------------------------------------------------- |
+| 2023-05-25 | Performance improvements                                                                                                     |
 | 2023-04-05 | Source available GXF extensions                                                                                              |
 | 2022-10-19 | Updated OSS licensing                                                                                                        |
 | 2022-08-31 | Update to be compatible with JetPack 5.0.2                                                                                   |

diff --git a/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml b/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml
@@ -1,6 +1,6 @@
 %YAML 1.2
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -19,36 +19,36 @@
 name: global
 components:
 - name: adapter_video_buffer
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "VideoBuffer"
 - name: adapter_bgr_u8
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "BGR_U8"
 - name: adapter_rgb_u8
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "RGB_U8"
 - name: adapter_bgr_f32
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "BGR_F32"
 - name: adapter_rgb_f32
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "RGB_F32"
 - name: adapter_planar_bgr_f32
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "PLANAR_BGR_F32"
 - name: adapter_planar_rgb_f32
-  type: nvidia::cvcore::tensor_ops::ImageAdapter
+  type: nvidia::isaac::tensor_ops::ImageAdapter
   parameters:
     message_type: "Tensor"
     image_type: "PLANAR_RGB_F32"
@@ -110,7 +110,7 @@ components:
     block_size: 1566720
     num_blocks: 40
 - name: resize_operator
-  type: nvidia::cvcore::tensor_ops::Resize
+  type: nvidia::isaac::tensor_ops::Resize
   parameters:
     output_width: 0
     output_height: 0
@@ -150,7 +150,7 @@ components:
     block_size: 1566720
     num_blocks: 40
 - name: color_converter_operator
-  type: nvidia::cvcore::tensor_ops::ConvertColorFormat
+  type: nvidia::isaac::tensor_ops::ConvertColorFormat
   parameters:
     output_type: "RGB_U8"
     receiver: data_receiver
@@ -186,7 +186,7 @@ components:
     block_size: 6266880
     num_blocks: 40
 - name: normalizer_operator
-  type: nvidia::cvcore::tensor_ops::Normalize
+  type: nvidia::isaac::tensor_ops::Normalize
   parameters:
     scales: [ 0.0156862745, 0.00490196078, 0.00784313725 ]
     offsets: [ -127.5, -153.0, -63.75 ]
@@ -223,7 +223,7 @@ components:
     block_size: 6266880
     num_blocks: 40
 - name: interleaved_to_planar_operator
-  type: nvidia::cvcore::tensor_ops::InterleavedToPlanar
+  type: nvidia::isaac::tensor_ops::InterleavedToPlanar
   parameters:
     receiver: data_receiver
     transmitter: data_transmitter
@@ -259,7 +259,7 @@ components:
     block_size: 6266880
     num_blocks: 40
 - name: reshape_operator
-  type: nvidia::cvcore::tensor_ops::Reshape
+  type: nvidia::isaac::tensor_ops::Reshape
   parameters:
     receiver: data_receiver
     transmitter: data_transmitter
@@ -304,7 +304,7 @@ components:
     camera_model_rx: data_receiver_timestamp
     tx: data_transmitter
 ---
-name: vault
+name: sink
 components:
 - name: signal
   type: nvidia::gxf::DoubleBufferReceiver
@@ -315,12 +315,10 @@ components:
   parameters:
     receiver: signal
     min_size: 1
-- name: vault
-  type: nvidia::gxf::Vault
+- name: sink
+  type: nvidia::isaac_ros::MessageRelay
   parameters:
     source: signal
-    max_waiting_count: 1
-    drop_waiting: false
 ---
 components:
 - name: edge0
@@ -376,12 +374,13 @@ components:
   type: nvidia::gxf::Connection
   parameters:
     source: compositor/data_transmitter
-    target: vault/signal
+    target: sink/signal
 ---
 components:
 - type: nvidia::gxf::GreedyScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
+    check_recession_period_us: 100
 - name: clock
   type: nvidia::gxf::RealtimeClock
diff --git a/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml b/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml
@@ -1,6 +1,6 @@
 %YAML 1.2
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -20,13 +20,13 @@ name: DNN Image Encoder Namespace Injector Rule
 operation: namespace_injector
 body:
   components:
-    - type: nvidia::cvcore::tensor_ops::ConvertColorFormat
+    - type: nvidia::isaac::tensor_ops::ConvertColorFormat
       path_parameter_keys: [input_adapter, output_adapter]
-    - type: nvidia::cvcore::tensor_ops::Resize
+    - type: nvidia::isaac::tensor_ops::Resize
       path_parameter_keys: [input_adapter, output_adapter]
-    - type: nvidia::cvcore::tensor_ops::Normalize
+    - type: nvidia::isaac::tensor_ops::Normalize
       path_parameter_keys: [input_adapter, output_adapter]
-    - type: nvidia::cvcore::tensor_ops::InterleavedToPlanar
+    - type: nvidia::isaac::tensor_ops::InterleavedToPlanar
       path_parameter_keys: [input_adapter, output_adapter]
-    - type: nvidia::cvcore::tensor_ops::Reshape
+    - type: nvidia::isaac::tensor_ops::Reshape
       path_parameter_keys: [input_adapter, output_adapter]
diff --git a/isaac_ros_dnn_encoders/package.xml b/isaac_ros_dnn_encoders/package.xml
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_dnn_encoders</name>
-  <version>0.30.0</version>
+  <version>0.31.0</version>
   <description>Encoders for preprocessing before running deep learning inference</description>
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>
   <license>Apache-2.0</license>