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Isaac ROS 3.0.0
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‎README.md

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# Isaac ROS Object Detection
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Hardware-accelerated, deep learned model support for object detection including DetectNet.
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NVIDIA-accelerated, deep learned model support for object detection including DetectNet.
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<div align="center"><img alt="original image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example.png/" width="300px"/>
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<img alt="bounding box predictions using DetectNet" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example_bbox.png/" width="300px"/></div>
@@ -60,9 +60,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
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## Performance
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| 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/> |
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|----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/> | 544p<br/><br/><br/><br/> | [232 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>11 ms<br/><br/> | [105 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>15 ms<br/><br/> | [74.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>22 ms<br/><br/> | [644 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>5.6 ms<br/><br/> |
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| 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/> |
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|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [RT-DETR Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_rtdetr_benchmark/scripts/isaac_ros_rtdetr_graph.py)<br/><br/><br/>SyntheticaDETR<br/><br/> | 720p<br/><br/><br/><br/> | [71.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/> | [30.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nx.json)<br/><br/><br/>41 ms @ 30Hz<br/><br/> | [21.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nano.json)<br/><br/><br/>61 ms @ 30Hz<br/><br/> | [205 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-nuc_4060ti.json)<br/><br/><br/>8.7 ms @ 30Hz<br/><br/> | [400 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-x86_4090.json)<br/><br/><br/>6.3 ms @ 30Hz<br/><br/> |
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| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_detectnet_benchmark/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/> | 544p<br/><br/><br/><br/> | [165 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [115 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>26 ms @ 30Hz<br/><br/> | [63.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>36 ms @ 30Hz<br/><br/> | [488 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> | [589 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-x86_4090.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> |
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---
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@@ -80,10 +81,17 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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* [ROS 2 Graph Configuration](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#ros-2-graph-configuration)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#api)
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* [`isaac_ros_rtdetr`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#quickstart)
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* [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#try-more-examples)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#api)
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* [`isaac_ros_yolov8`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#api)
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* [Usage](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#usage)
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## Latest
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Update 2023-10-18: Adding NITROS YOLOv8 decoder.
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Update 2024-05-30: Added RT-DETR object detection package

‎gxf_isaac_detectnet/CMakeLists.txt

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.22.1)
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project(gxf_isaac_detectnet LANGUAGES C CXX)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-fPIC -w)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Dependencies
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find_package(Eigen3 3.3 REQUIRED NO_MODULE)
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find_package(isaac_ros_nitros_detection2_d_array_type REQUIRED)
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find_package(yaml-cpp)
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# DetectNet extension
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ament_auto_add_library(${PROJECT_NAME} SHARED
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gxf/detectnet/detectnet.cpp
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gxf/detectnet/detectnet_decoder.cpp
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gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp
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gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp
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gxf/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp
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)
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target_include_directories(${PROJECT_NAME} PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/gxf
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${isaac_ros_nitros_detection2_d_array_type_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/include
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${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinfer/include
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${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/include
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${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/dbscan
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)
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target_link_libraries(${PROJECT_NAME}
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Eigen3::Eigen
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${isaac_ros_nitros_detection2_d_array_type_LIBRARIES}
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yaml-cpp
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)
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set_target_properties(${PROJECT_NAME} PROPERTIES
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BUILD_WITH_INSTALL_RPATH TRUE
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BUILD_RPATH_USE_ORIGIN TRUE
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INSTALL_RPATH_USE_LINK_PATH TRUE
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)
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# Install the binary file
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install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
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ament_auto_package(INSTALL_TO_SHARE)

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/include/nvds_transform.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/include/nvds_transform.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2020-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer_context.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer_context.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinfer/include/nvdsinfer_custom_impl.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinfer/include/nvdsinfer_custom_impl.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/include/nvdsinfer_dbscan.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/include/nvdsinfer_dbscan.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/include/nvdsinfer_tlt.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/include/nvdsinfer_tlt.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2019-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2019-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/deepstream_utils/nvdsinferutils/include/nvdsinfer_utils.h renamed to ‎gxf_isaac_detectnet/gxf/deepstream_utils/nvdsinferutils/include/nvdsinfer_utils.h

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/detectnet.cpp renamed to ‎gxf_isaac_detectnet/gxf/detectnet/detectnet.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_detectnet/gxf/detectnet/detectnet_decoder.cpp renamed to ‎gxf_isaac_detectnet/gxf/detectnet/detectnet_decoder.cpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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#include "gxf/multimedia/camera.hpp"
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#include "gxf/multimedia/video.hpp"
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#include "gxf/std/parameter_parser_std.hpp"
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#include "gxf/core/parameter_parser_std.hpp"
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#include "gxf/std/timestamp.hpp"
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#include "cuda.h"
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#include "cuda_runtime.h"
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}
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std::unique_ptr<float[]> bbox_tensor_arr(new float[bbox_tensor->element_count()]);
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float bbox_tensor_arr[bbox_tensor->size() / sizeof(float)]; // since data in tensor is kFloat32
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const cudaError_t cuda_error_bbox_tensor = cudaMemcpy(
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&bbox_tensor_arr, bbox_tensor->pointer(),
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bbox_tensor->size(), cudaMemcpyDeviceToHost);
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if (cuda_error_bbox_tensor != cudaSuccess) {
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‎isaac_ros_detectnet/gxf/detectnet/include/detectnet/detectnet_decoder.hpp renamed to ‎gxf_isaac_detectnet/gxf/detectnet/detectnet_decoder.hpp

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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#include "gxf/core/gxf.h"
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#include "gxf/core/parameter_parser_std.hpp"
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#include "gxf/std/receiver.hpp"
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#include "gxf/std/transmitter.hpp"
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#include "detection2_d_array_message.hpp"

‎gxf_isaac_detectnet/package.xml

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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SPDX-License-Identifier: Apache-2.0
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-->
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gxf_isaac_detectnet</name>
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<version>3.0.0</version>
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<description>Detectnet GXF extension.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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<license>Apache-2.0</license>
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<url type="website">https://developer.nvidia.com/isaac-ros-gems/</url>
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<author>CY Chen</author>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>isaac_ros_common</depend>
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<depend>isaac_ros_gxf</depend>
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<depend>isaac_ros_nitros_detection2_d_array_type</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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