Isaac ROS 0.11.0 (DP1.1)

Author: jaiveersinghNV

README.md

@@ -179,7 +179,7 @@ ros2 launch isaac_ros_detectnet isaac_ros_detectnet.launch.py label_list:=<list
 | `dbscan_threshold_athr`       | `double`   | `0.0`                       | The `area-to-hit` ratio threshold.                                                                                                                                                                                      |
 | `dbscan_clustering_algorithm` | `int`      | `1`                         | The clustering algorithm selection. (`1`: Enables DBScan clustering, `2`: Enables Hybrid clustering, resulting in more boxes that will need to be processed with NMS or other means of reducing overlapping detections. |
 | `bounding_box_scale`          | `double`   | `35.0`                      | The scale parameter, which should match the training configuration.                                                                                                                                                     |
-| `bounding_box_offset`         | `double`   | `0.5`                       | Bounding box offset for both X and Y dimensions.                                                                                                                                                                        |
+| `bounding_box_offset`         | `double`   | `0.0`                       | Bounding box offset for both X and Y dimensions.                                                                                                                                                                        |
 
 #### ROS Topics Subscribed
 | ROS Topic    | Interface                                                                                                                                                         | Description                                                     |

isaac_ros_detectnet/CMakeLists.txt

@@ -23,8 +23,6 @@ find_package(ament_cmake_python REQUIRED)
 
 ament_auto_find_build_dependencies()
 
-# NVDSINFER_DBSCAN
-
 execute_process(COMMAND uname -m COMMAND tr -d '\n'
   OUTPUT_VARIABLE ARCHITECTURE
 )
@@ -66,7 +64,7 @@ endif()
 # Visualizer python scripts
 
 ament_python_install_package(${PROJECT_NAME})
-# Install Python executables
+
 install(PROGRAMS
   scripts/isaac_ros_detectnet_visualizer.py
   DESTINATION lib/${PROJECT_NAME}
@@ -77,6 +75,6 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(INSTALL_TO_SHARE launch config)
 
 find_package(vision_msgs REQUIRED)

isaac_ros_detectnet/config/detectnet_node.yaml

@@ -39,7 +39,7 @@ components:
     dbscan_threshold_athr: 0.0
     dbscan_clustering_algorithm: 1
     bounding_box_scale: 35.0
-    bounding_box_offset: 0.5
+    bounding_box_offset: 0.0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: tensorlist_in

isaac_ros_detectnet/config/params.yaml

@@ -2,7 +2,7 @@ model_repository_paths:
   - '/tmp/models'
 model_name: 'detectnet'
 bounding_box_scale: 35.0
-bounding_box_offset: 0.5
+bounding_box_offset: 0.0
 
 # post filtering parameters
 enable_confidence_threshold: true

isaac_ros_detectnet/config/params_isaac_sim.yaml

@@ -2,7 +2,7 @@ model_repository_paths:
   - '/tmp/models'
 model_name: 'detectnet'
 bounding_box_scale: 35.0
-bounding_box_offset: 0.5
+bounding_box_offset: 0.0
 
 # post filtering parameters
 enable_confidence_threshold: true

isaac_ros_detectnet/src/detectnet_decoder_node.cpp

@@ -108,7 +108,7 @@ DetectNetDecoderNode::DetectNetDecoderNode(const rclcpp::NodeOptions & options)
   dbscan_threshold_athr_(declare_parameter<double>("dbscan_threshold_athr", 0.0)),
   dbscan_clustering_algorithm_(declare_parameter<int>("dbscan_clustering_algorithm", 1)),
   bounding_box_scale_(declare_parameter<double>("bounding_box_scale", 35.0)),
-  bounding_box_offset_(declare_parameter<double>("bounding_box_offset", 0.5))
+  bounding_box_offset_(declare_parameter<double>("bounding_box_offset", 0.0))
 {
   RCLCPP_DEBUG(get_logger(), "[DetectNetDecoderNode] Constructor");
 

isaac_ros_detectnet/test/isaac_ros_detectnet_pol_test.py

@@ -124,7 +124,7 @@ def generate_test_description():
             'enable_bbox_area_threshold': True,
             'enable_dbscan_clustering': True,
             'bounding_box_scale': 35.0,
-            'bounding_box_offset': 0.5,
+            'bounding_box_offset': 0.0,
             'confidence_threshold': 0.6,
             'min_bbox_area': 100.0,
             'dbscan_confidence_threshold': 0.6,

isaac_ros_detectnet/test/test_cases/single_detection/expected_detections.txt

@@ -1 +1 @@
-nvidia_mug 32 39 459 18
+nvidia_mug 32 39 451 10