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Isaac ROS 3.2
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jaiveersinghNV committed Dec 11, 2024
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22 changes: 13 additions & 9 deletions README.md
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Expand Up @@ -9,7 +9,7 @@ NVIDIA-accelerated AprilTag detection and pose estimation.
[Isaac ROS AprilTag](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag) contains a ROS 2 package for detection of
[AprilTags](https://april.eecs.umich.edu/software/apriltag),
a type of fiducial marker that provides a point of reference or measure.
AprilTag detections are GPU-accelerated for high performance.
AprilTag detections are NVIDIA-accelerated for high performance.

<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_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_apriltag/isaac_ros_apriltag_nodegraph.png/" width="800px"/></a></div>

Expand All @@ -24,10 +24,10 @@ pixels are required to perform an AprilTag detection and classification.
For example, an 8mp input image of 3840×2160 may be much larger than
necessary and a 4:1 downscale to 1920x1080 could make more efficient
use of compute resources and satisfy the required detection distance of
the application. Each of the green nodes in the above diagram is GPU
the application. Each of the green nodes in the above diagram is NVIDIA
accelerated, allowing for a high-performance compute graph from Argus
Camera to ApriTag. For USB and Ethernet cameras, the graph is
accelerated from Rectify through AprilTag
accelerated from Rectify through AprilTag detection.

<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/apriltagdetection_message_illustration.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_apriltag/apriltagdetection_message_illustration.png/" width="700px"/></a></div>

Expand All @@ -38,7 +38,11 @@ four corners ((x0, y0), (x1, y1), (x2, y2), (x3, y3)) and center (x, y)
of the input image, and the pose of the AprilTag.

> [!Note]
> This package is a GPU-accelerated drop-in replacement for
> This package provides the option through the `backend` parameter to leverage either the GPU or
> CPU on all NVIDIA-powered platforms or PVA on Jetson devices for AprilTag detection.
> [!Note]
> This package is a NVIDIA-accelerated drop-in replacement for
> the [CPU version of ROS
> AprilTag](https://github.com/christianrauch/apriltag_ros)
Expand All @@ -53,10 +57,10 @@ 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/> | 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/> |
| 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 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/> | [249 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-agx_orin.json)<br/><br/><br/>4.5 ms @ 30Hz<br/><br/> | [116 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nx.json)<br/><br/><br/>9.3 ms @ 30Hz<br/><br/> | [80.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_node-orin_nano.json)<br/><br/><br/>14 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/>0.97 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/> | [246 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-agx_orin.json)<br/><br/><br/>6.3 ms @ 30Hz<br/><br/> | [111 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [77.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_apriltag_graph-orin_nano.json)<br/><br/><br/>20 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/>1.6 ms @ 30Hz<br/><br/> |

---

Expand All @@ -76,4 +80,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re

## Latest

Update 2024-09-26: Update for ZED compatibility
Update 2024-12-10: Added PVA and CPU backends for detector with support for new tag families
73 changes: 0 additions & 73 deletions gxf_isaac_fiducials/CMakeLists.txt
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