Isaac ROS 3.0.0

README.md

@@ -1,6 +1,6 @@
 # Isaac ROS AprilTag
 
-Hardware-accelerated AprilTag detection and pose estimation.
+NVIDIA-accelerated AprilTag detection and 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_apriltag/isaac_ros_apriltag_sample_crop.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag_sample_crop.gif/" width="550px"/></a></div>
 
@@ -53,10 +53,10 @@ 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/>                                                                                                                              |
-|---------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [AprilTag Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_apriltag_node.py)<br/><br/><br/><br/>   | 720p<br/><br/><br/><br/> | [216 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-agx_orin.json)<br/><br/><br/>9.7 ms<br/><br/> | [106 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nx.json)<br/><br/><br/>14 ms<br/><br/>  | [74.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nano.json)<br/><br/><br/>21 ms<br/><br/>  | [473 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-nuc_4060ti.json)<br/><br/><br/>6.4 ms<br/><br/>  |
-| [AprilTag Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_apriltag_graph.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [213 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-agx_orin.json)<br/><br/><br/>14 ms<br/><br/> | [102 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nx.json)<br/><br/><br/>20 ms<br/><br/> | [71.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nano.json)<br/><br/><br/>26 ms<br/><br/> | [472 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-nuc_4060ti.json)<br/><br/><br/>9.5 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/>                                                                                                                                      |
+|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [AprilTag Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_node.py)<br/><br/><br/><br/>   | 720p<br/><br/><br/><br/> | [244 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-agx_orin.json)<br/><br/><br/>7.3 ms @ 30Hz<br/><br/>  | [114 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/>  | [79.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nano.json)<br/><br/><br/>18 ms @ 30Hz<br/><br/>  | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-nuc_4060ti.json)<br/><br/><br/>2.4 ms @ 30Hz<br/><br/>  | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-x86_4090.json)<br/><br/><br/>2.1 ms @ 30Hz<br/><br/>  |
+| [AprilTag Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_graph.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [241 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-agx_orin.json)<br/><br/><br/>9.5 ms @ 30Hz<br/><br/> | [109 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nx.json)<br/><br/><br/>15 ms @ 30Hz<br/><br/> | [74.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nano.json)<br/><br/><br/>21 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-nuc_4060ti.json)<br/><br/><br/>3.4 ms @ 30Hz<br/><br/> | [596 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-x86_4090.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/> |
 
 ---
 
@@ -76,4 +76,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2023-10-18: Improved throughput performance, exposed new tuning parameters.
+Update 2024-05-30: Update to be compatible with JetPack 6.0

gxf_isaac_fiducials/CMakeLists.txt

@@ -0,0 +1,73 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023-2024 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.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.22.1)
+project(gxf_isaac_fiducials LANGUAGES C CXX)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-fPIC -w)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# Dependencies
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+find_package(isaac_ros_nitros_april_tag_detection_array_type REQUIRED)
+find_package(yaml-cpp)
+
+# cuapriltags (resolve path from ament_index)
+ament_index_get_resource(CUAPRILTAGS_RELATIVE_PATH cuapriltags isaac_ros_nitros)
+ament_index_get_prefix_path(AMENT_INDEX_PREFIX_PATHS)
+foreach(PREFIX_PATH IN LISTS AMENT_INDEX_PREFIX_PATHS)
+    if(EXISTS "${PREFIX_PATH}/${CUAPRILTAGS_RELATIVE_PATH}")
+      set(CUAPRILTAGS "${PREFIX_PATH}/${CUAPRILTAGS_RELATIVE_PATH}")
+      break()
+    endif()
+endforeach()
+message( STATUS "Found cuapriltags at ${CUAPRILTAGS}")
+
+add_library(cuapriltags STATIC IMPORTED)
+set_property(TARGET cuapriltags PROPERTY IMPORTED_LOCATION ${CUAPRILTAGS}/lib/libcuapriltags.a)
+
+# Fiducials extension
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  gxf/extensions/fiducials/components/cuda_april_tag_detector.cpp
+  gxf/extensions/fiducials/fiducials.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "${CUAPRILTAGS}/cuapriltags"
+  "${CMAKE_CURRENT_SOURCE_DIR}/gxf"
+  "${isaac_ros_nitros_april_tag_detection_array_type_INCLUDE_DIRS}"
+)
+target_link_libraries(${PROJECT_NAME}
+  Eigen3::Eigen
+  ${isaac_ros_nitros_april_tag_detection_array_type_LIBRARIES}
+  cuapriltags
+  yaml-cpp
+)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE
+)
+
+# Install the binary file
+install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
+
+ament_auto_package(INSTALL_TO_SHARE)

isaac_ros_apriltag/gxf/fiducials/components/cuda_april_tag_detector.cpp → gxf_isaac_fiducials/gxf/extensions/fiducials/components/cuda_april_tag_detector.cpp

@@ -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.
@@ -22,9 +22,9 @@
 #include <vector>
 
 #include "cuAprilTags.h"
-#include "engine/core/image/image.hpp"
-#include "engine/gems/image/utils.hpp"
 #include "extensions/fiducials/messages/fiducial_message.hpp"
+#include "gems/core/image/image.hpp"
+#include "gems/image/utils.hpp"
 #include "gxf/multimedia/video.hpp"
 #include "gxf/std/timestamp.hpp"
 

isaac_ros_apriltag/gxf/fiducials/include/extensions/fiducials/components/cuda_april_tag_detector.hpp → gxf_isaac_fiducials/gxf/extensions/fiducials/components/cuda_april_tag_detector.hpp

@@ -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.

isaac_ros_apriltag/gxf/fiducials/fiducials.cpp → gxf_isaac_fiducials/gxf/extensions/fiducials/fiducials.cpp

@@ -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.

gxf_isaac_fiducials/package.xml

@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+
+<!--
+SPDX-FileCopyrightText: Copyright (c) 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.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+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>gxf_isaac_fiducials</name>
+  <version>3.0.0</version>
+  <description>GXF extension containing components for working with fiducials.</description>
+
+  <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
+  <license>Apache-2.0</license>
+  <url type="website">https://developer.nvidia.com/isaac-ros-gems/</url>
+  <author>CY Chen</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>isaac_ros_common</depend>
+  <depend>isaac_ros_nitros</depend>
+  <depend>isaac_ros_gxf</depend>
+  <depend>isaac_ros_apriltag_interfaces</depend>
+  <depend>isaac_ros_nitros_april_tag_detection_array_type</depend>
+
+  <build_depend>gxf_isaac_gems</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

isaac_ros_apriltag/CMakeLists.txt

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2022 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.
@@ -28,31 +28,15 @@ ament_auto_find_build_dependencies()
 # Dependencies
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
-# cuapriltags (resolve path from ament_index)
-ament_index_get_resource(CUAPRILTAGS_RELATIVE_PATH cuapriltags isaac_ros_nitros)
-ament_index_get_prefix_path(AMENT_INDEX_PREFIX_PATHS)
-foreach(PREFIX_PATH IN LISTS AMENT_INDEX_PREFIX_PATHS)
-    if(EXISTS "${PREFIX_PATH}/${CUAPRILTAGS_RELATIVE_PATH}")
-      set(CUAPRILTAGS "${PREFIX_PATH}/${CUAPRILTAGS_RELATIVE_PATH}")
-      break()
-    endif()
-endforeach()
-
-message( STATUS "Found cuapriltags at ${CUAPRILTAGS}")
-
 # ApriltagNode
 ament_auto_add_library(apriltag_node SHARED src/apriltag_node.cpp)
 rclcpp_components_register_nodes(apriltag_node "nvidia::isaac_ros::apriltag::AprilTagNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::apriltag::AprilTagNode;$<TARGET_FILE:apriltag_node>\n")
 target_link_libraries(apriltag_node Eigen3::Eigen)
-
-### Install extensions built from source
-
-# Fiducials
-add_subdirectory(gxf/fiducials)
-install(TARGETS gxf_fiducials DESTINATION share/${PROJECT_NAME}/gxf/lib/fiducials)
-
-### End extensions
+set_target_properties(apriltag_node PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -67,4 +51,4 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_apriltag_pipeline_test.py)
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE config launch)
+ament_auto_package(INSTALL_TO_SHARE config launch rviz)