diff --git a/README.md b/README.md index 52855d6..95901a3 100644 --- a/README.md +++ b/README.md @@ -6,15 +6,15 @@ Deep learned, NVIDIA-accelerated 3D object pose estimation ## 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 Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation) contains +three ROS 2 packages to predict the pose of an object. Please refer the following table to see the differences of them: + +| Node | Novel Object wo/ Retraining | TAO Support | Speed | Quality | Maturity | +|----------------------------|-------------------------------|---------------|---------|-----------|-------------| +| `isaac_ros_foundationpose` | ✓ | N/A | Fast | Best | New | +| `isaac_ros_dope` | x | x | Fastest | Good | Time-tested | +| `isaac_ros_centerpose` | x | ✓ | Faster | Better | Established | + 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 diff --git a/isaac_ros_centerpose/package.xml b/isaac_ros_centerpose/package.xml index 34edcd6..8ec8d45 100644 --- a/isaac_ros_centerpose/package.xml +++ b/isaac_ros_centerpose/package.xml @@ -21,7 +21,7 @@ isaac_ros_centerpose - 3.0.0 + 3.0.1 CenterPose: Pose Estimation using Deep Learning Isaac ROS Maintainers diff --git a/isaac_ros_dope/package.xml b/isaac_ros_dope/package.xml index a237370..3c100ec 100644 --- a/isaac_ros_dope/package.xml +++ b/isaac_ros_dope/package.xml @@ -21,7 +21,7 @@ isaac_ros_dope - 3.0.0 + 3.0.1 Deep learning based pose estimation Isaac ROS Maintainers diff --git a/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim.launch.py b/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim.launch.py index 85bb743..8d31b56 100644 --- a/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim.launch.py +++ b/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim.launch.py @@ -134,8 +134,8 @@ def generate_launch_description(): 'disable_padding': True }], remappings=[ - ('image', 'front_stereo_camera/left_rgb/image_raw'), - ('camera_info', 'front_stereo_camera/left_rgb/camerainfo') + ('image', 'front_stereo_camera/left/image_rect_color'), + ('camera_info', 'front_stereo_camera/left/camera_info') ] ) pad_node = ComposableNode( @@ -277,10 +277,10 @@ def generate_launch_description(): 'disable_padding': False }], remappings=[ - ('image', 'front_stereo_camera/left_rgb/image_raw'), - ('camera_info', 'front_stereo_camera/left_rgb/camerainfo'), - ('resize/image', 'front_stereo_camera/left_rgb/image_raw_resized'), - ('resize/camera_info', 'front_stereo_camera/left_rgb/camera_info') + ('image', 'front_stereo_camera/left/image_rect_color'), + ('camera_info', 'front_stereo_camera/left/camera_info'), + ('resize/image', 'front_stereo_camera/left/image_rect_color_resized'), + ('resize/camera_info', 'front_stereo_camera/left/camera_info_resized') ] ) resize_right_ess_size = ComposableNode( @@ -297,10 +297,10 @@ def generate_launch_description(): 'disable_padding': False }], remappings=[ - ('image', 'front_stereo_camera/right_rgb/image_raw'), - ('camera_info', 'front_stereo_camera/right_rgb/camerainfo'), - ('resize/image', 'front_stereo_camera/right_rgb/image_raw_resized'), - ('resize/camera_info', 'front_stereo_camera/right_rgb/camera_info') + ('image', 'front_stereo_camera/right/image_rect_color'), + ('camera_info', 'front_stereo_camera/right/camera_info'), + ('resize/image', 'front_stereo_camera/right/image_rect_color_resized'), + ('resize/camera_info', 'front_stereo_camera/right/camera_info_resized') ] ) @@ -313,10 +313,10 @@ def generate_launch_description(): 'threshold': ess_depth_threshold }], remappings=[ - ('left/image_rect', 'front_stereo_camera/left_rgb/image_raw_resized'), - ('right/image_rect', 'front_stereo_camera/right_rgb/image_raw_resized'), - ('left/camera_info', 'front_stereo_camera/left_rgb/camera_info'), - ('right/camera_info', 'front_stereo_camera/right_rgb/camera_info') + ('left/image_rect', 'front_stereo_camera/left/image_rect_color_resized'), + ('right/image_rect', 'front_stereo_camera/right/image_rect_color_resized'), + ('left/camera_info', 'front_stereo_camera/left/camera_info_resized'), + ('right/camera_info', 'front_stereo_camera/right/camera_info_resized') ] ) disparity_to_depth_node = ComposableNode( @@ -351,8 +351,8 @@ def generate_launch_description(): }], remappings=[ ('pose_estimation/depth_image', 'depth_image'), - ('pose_estimation/image', 'front_stereo_camera/left_rgb/image_raw_resized'), - ('pose_estimation/camera_info', 'front_stereo_camera/left_rgb/camera_info'), + ('pose_estimation/image', 'front_stereo_camera/left/image_rect_color_resized'), + ('pose_estimation/camera_info', 'front_stereo_camera/left/camera_info_resized'), ('pose_estimation/segmentation', 'segmentation'), ('pose_estimation/output', 'output')] ) diff --git a/isaac_ros_foundationpose/package.xml b/isaac_ros_foundationpose/package.xml index a7ec046..e813fea 100644 --- a/isaac_ros_foundationpose/package.xml +++ b/isaac_ros_foundationpose/package.xml @@ -21,7 +21,7 @@ isaac_ros_foundationpose - 3.0.0 + 3.0.1 FoundationPose 6D pose estimation Isaac ROS Maintainers diff --git a/isaac_ros_foundationpose/rviz/foundationpose_isaac_sim.rviz b/isaac_ros_foundationpose/rviz/foundationpose_isaac_sim.rviz index c0334a5..2032ea3 100644 --- a/isaac_ros_foundationpose/rviz/foundationpose_isaac_sim.rviz +++ b/isaac_ros_foundationpose/rviz/foundationpose_isaac_sim.rviz @@ -1,6 +1,6 @@ Panels: - Class: rviz_common/Displays - Help Height: 70 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: @@ -8,7 +8,7 @@ Panels: - /Status1 - /Camera1 Splitter Ratio: 0.5001519322395325 - Tree Height: 70 + Tree Height: 146 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -59,7 +59,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /front_stereo_camera/left_rgb/image_raw_resized + Value: /front_stereo_camera/left/image_rect_color Value: true Visibility: Detection3DArray: true @@ -86,7 +86,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: front_stereo_camera:left_rgb + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -144,20 +144,20 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: -0.9897971153259277 + Pitch: 0.24979707598686218 Target Frame: Value: Orbit (rviz) - Yaw: 0.7003983855247498 + Yaw: 3.2935781478881836 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false - Height: 1072 + Height: 1099 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000038800000383fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000108000002b60000002800ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c000000051fc0100000002fb0000000800540069006d00650100000000000003c00000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000320000038300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000003880000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000cd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000010e000002cb0000002800ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000051fc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003f20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -166,6 +166,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 960 + Width: 1920 X: 0 - Y: 27 + Y: 240 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml index d6daaff..e75f681 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_centerpose - 3.0.0 + 3.0.1 GXF extension containing CenterPose pose estimation related components. Isaac ROS Maintainers diff --git a/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml index a5acda8..566fbd7 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_dope - 3.0.0 + 3.0.1 GXF extension containing CenterPose pose estimation related components. Isaac ROS Maintainers diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml index 4049297..d8cb10c 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_foundationpose - 3.0.0 + 3.0.1 GXF extension containing Foundation Pose estimation related components. Isaac ROS Maintainers