Merge pull request #37 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.0

README.md

@@ -1,25 +1,41 @@
 # Isaac ROS Pose Estimation
 
-Deep learned, hardware-accelerated 3D object pose estimation
+Deep learned, NVIDIA-accelerated 3D object pose estimation
 
 <div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_pose_estimation/dope_objects.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_pose_estimation/dope_objects.png/" width="400px"/></a></div>
 
 ## Overview
 
 [Isaac ROS Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation)
 contains ROS 2 packages to predict the pose of an object.
+`isaac_ros_foundationpose` estimates the object’s pose using the 3D
+bounding cuboid dimensions of unknown object from an input image.
 `isaac_ros_dope` estimates the object’s pose using the 3D
 bounding cuboid dimensions of a known object in an input image.
 `isaac_ros_centerpose` estimates the object’s pose using the 3D
 bounding cuboid dimensions of unknown object instances in a known
-category of objects from an input image. `isaac_ros_dope` and
-`isaac_ros_centerpose` use GPU acceleration for DNN inference to
+category of objects from an input image.
+Those packages use GPU acceleration for DNN inference to
 estimate the pose of an object. The output prediction can be used by
 perception functions when fusing with the corresponding depth to provide
 the 3D pose of an object and distance for navigation or manipulation.
 
 <div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_pose_estimation_nodegraph.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_pose_estimation_nodegraph.png/" width="500px"/></a></div>
 
+`isaac_ros_foundationpose` is used in a graph of nodes to estimate the pose of
+a novel object using 3D bounding cuboid dimensions. It’s developed on top of
+[FoundationPose](https://github.com/NVlabs/FoundationPose) model, which is
+a pre-trained deep learning model developed by NVLabs. FoundationPose
+is capable for both pose estimation and tracking on unseen objects without requiring fine-tuning,
+and its accuracy outperforms existing state-of-art methods.
+
+FoundationPose comprises two distinct models: the refine model and the score model.
+The refine model processes initial pose hypotheses, iteratively refining them, then
+passes these refined hypotheses to the score model, which selects and finalizes the pose estimation.
+Additionally, the refine model can serve for tracking, that updates the pose estimation based on
+new image inputs and the previous frame’s pose estimate. This tracking process is more efficient
+compared to pose estimation, which speeds exceeding 120 FPS on the Jetson Orin platform.
+
 `isaac_ros_dope` is used in a graph of nodes to estimate the pose of a
 known object with 3D bounding cuboid dimensions. To produce the
 estimate, a [DOPE](https://github.com/NVlabs/Deep_Object_Pose) (Deep
@@ -65,10 +81,11 @@ which can also be found at [Isaac ROS DNN Inference](https://github.com/NVIDIA-I
 
 ## 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/>                                                                                                                                |
-|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [DOPE Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_dope_graph.py)<br/><br/><br/><br/>             | VGA<br/><br/><br/><br/> | [39.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-agx_orin.json)<br/><br/><br/>33 ms<br/><br/>        | [17.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-orin_nx.json)<br/><br/><br/>120 ms<br/><br/>       | –<br/><br/><br/><br/>                                                                                                                                         | [89.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-nuc_4060ti.json)<br/><br/><br/>15 ms<br/><br/>       |
-| [Centerpose Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_centerpose_graph.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [36.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-agx_orin.json)<br/><br/><br/>5.7 ms<br/><br/> | [19.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nx.json)<br/><br/><br/>7.4 ms<br/><br/> | [13.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nano.json)<br/><br/><br/>12 ms<br/><br/> | [50.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-nuc_4060ti.json)<br/><br/><br/>14 ms<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 4060 Ti<br/><br/>                                                                                                                                       | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                            |
+|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [FoundationPose Pose Estimation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_foundationpose_benchmark/scripts/isaac_ros_foundationpose_node.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [1.72 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-agx_orin.json)<br/><br/><br/>690 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/>                                                                                                                                               | –<br/><br/><br/><br/>                                                                                                                                                 | –<br/><br/><br/><br/>                                                                                                                                                 | [7.02 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-x86_4090.json)<br/><br/><br/>170 ms @ 30Hz<br/><br/> |
+| [DOPE Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dope_benchmark/scripts/isaac_ros_dope_graph.py)<br/><br/><br/><br/>                             | VGA<br/><br/><br/><br/>  | [41.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-agx_orin.json)<br/><br/><br/>42 ms @ 30Hz<br/><br/>           | [17.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-orin_nx.json)<br/><br/><br/>76 ms @ 30Hz<br/><br/>        | –<br/><br/><br/><br/>                                                                                                                                                 | [85.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-nuc_4060ti.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/>       | [199 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-x86_4090.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/>            |
+| [Centerpose Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_centerpose_benchmark/scripts/isaac_ros_centerpose_graph.py)<br/><br/><br/><br/>           | VGA<br/><br/><br/><br/>  | [36.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-agx_orin.json)<br/><br/><br/>4.8 ms @ 30Hz<br/><br/>    | [19.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nx.json)<br/><br/><br/>4.9 ms @ 30Hz<br/><br/> | [13.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nano.json)<br/><br/><br/>7.4 ms @ 30Hz<br/><br/> | [50.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-nuc_4060ti.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> | [50.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-x86_4090.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/>     |
 
 ---
 
@@ -82,7 +99,6 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 * [`isaac_ros_centerpose`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html)
   * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html#quickstart)
-  * [Use Different Models](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html#use-different-models)
   * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html#troubleshooting)
   * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html#api)
 * [`isaac_ros_dope`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_dope/index.html)
@@ -91,7 +107,12 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
   * [Use Different Models](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_dope/index.html#use-different-models)
   * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_dope/index.html#troubleshooting)
   * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_dope/index.html#api)
+* [`isaac_ros_foundationpose`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html)
+  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html#quickstart)
+  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html#try-more-examples)
+  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html#troubleshooting)
+  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html#api)
 
 ## Latest
 
-Update 2023-10-18: Adding NITROS CenterPose decoder.
+Update 2024-05-30: Added FoundationPose pose estimation package

isaac_ros_centerpose/CMakeLists.txt

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2024 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.
@@ -29,19 +29,22 @@ ament_auto_find_build_dependencies()
 ament_auto_add_library(centerpose_decoder_node SHARED src/centerpose_decoder_node.cpp)
 rclcpp_components_register_nodes(centerpose_decoder_node "nvidia::isaac_ros::centerpose::CenterPoseDecoderNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::centerpose::CenterPoseDecoderNode;$<TARGET_FILE:centerpose_decoder_node>\n")
+set_target_properties(centerpose_decoder_node PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE
+)
 
 # Visualizer node
 ament_auto_add_library(centerpose_visualizer_node SHARED src/centerpose_visualizer_node.cpp)
 rclcpp_components_register_nodes(centerpose_visualizer_node "nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode;$<TARGET_FILE:centerpose_visualizer_node>\n")
+set_target_properties(centerpose_visualizer_node PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE
+)
 
-### Install extensions built from source
-
-# CenterPose
-add_subdirectory(gxf/centerpose)
-install(TARGETS gxf_centerpose DESTINATION share/${PROJECT_NAME}/gxf/lib/centerpose)
-
-### End extensions
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

isaac_ros_centerpose/config/centerpose_node.yaml

@@ -22,17 +22,14 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: camera_model_input
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: output
   type: nvidia::gxf::DoubleBufferTransmitter
   parameters:
     capacity: 12
-    policy: 0
 - name: allocator
   type: nvidia::gxf::UnboundedAllocator
 - name: centerpose_decoder
@@ -64,12 +61,10 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: output
   type: nvidia::gxf::DoubleBufferTransmitter
   parameters:
     capacity: 12
-    policy: 0
 - name: centerpose_decoder_to_isaac
   type: nvidia::isaac::centerpose::CenterPoseDetectionToIsaac
   parameters:
@@ -91,7 +86,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 2
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: signal

isaac_ros_centerpose/config/centerpose_visualizer_node.yaml

@@ -22,22 +22,18 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: detections_input
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: camera_model_input
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - name: output
   type: nvidia::gxf::DoubleBufferTransmitter
   parameters:
     capacity: 12
-    policy: 0
 - name: allocator
   type: nvidia::gxf::UnboundedAllocator
 - name: centerpose_visualizer
@@ -73,7 +69,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 2
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: signal