diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..a89cd42
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,14 @@
+# Isaac ROS Contribution Rules
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+> **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+
+[//]: # (202201002)
diff --git a/LICENSE b/LICENSE
index 88bc900..7a4a3ea 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,66 +1,202 @@
-NVIDIA ISAAC ROS SOFTWARE LICENSE
-This license is a legal agreement between you and NVIDIA Corporation ("NVIDIA") and governs the use of the NVIDIA Isaac ROS software and materials provided hereunder (“SOFTWARE”).
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diff --git a/README.md b/README.md
index 984a82e..7689632 100644
--- a/README.md
+++ b/README.md
@@ -3,22 +3,31 @@
46ms | N/A | N/A |
+| Bi3D Stereo Node (576p) (GPU) | 81 fps
61ms | 25 fps
65ms | 145 fps
386ms |
+| Freespace Segmentation | 1145 fps
1.3ms | 725 fps
2ms | 1490 fps
0.3ms |
+
+These data have been collected per the methodology described [here](https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/performance-summary.md#methodology).
+
+## Table of Contents
-## Table of Contents
- [Isaac ROS Proximity Segmentation](#isaac-ros-proximity-segmentation)
- [Overview](#overview)
- [Isaac ROS NITROS Acceleration](#isaac-ros-nitros-acceleration)
@@ -35,8 +44,8 @@ The following are the benchmark performance results of the prepared pipelines in
- [Model Preparation](#model-preparation)
- [Download Pre-trained Models (.onnx) from NGC](#download-pre-trained-models-onnx-from-ngc)
- [Convert the Pre-trained Models (.onnx) to TensorRT Engine Plans](#convert-the-pre-trained-models-onnx-to-tensorrt-engine-plans)
- - [Generating Engine Plans for Jetson:](#generating-engine-plans-for-jetson)
- - [Generating Engine Plans for x86_64:](#generating-engine-plans-for-x86_64)
+ - [Generating Engine Plans for Jetson](#generating-engine-plans-for-jetson)
+ - [Generating Engine Plans for x86_64](#generating-engine-plans-for-x86_64)
- [Package Reference](#package-reference)
- [`isaac_ros_bi3d`](#isaac_ros_bi3d)
- [Bi3D Overview](#bi3d-overview)
@@ -45,37 +54,43 @@ The following are the benchmark performance results of the prepared pipelines in
- [ROS Parameters](#ros-parameters)
- [ROS Topics Subscribed](#ros-topics-subscribed)
- [ROS Topics Published](#ros-topics-published)
+ - [`isaac_ros_bi3d_freespace`](#isaac_ros_bi3d_freespace)
+ - [Usage](#usage-1)
+ - [ROS Parameters](#ros-parameters-1)
+ - [ROS Topics Subscribed](#ros-topics-subscribed-1)
+ - [ROS Topics Published](#ros-topics-published-1)
- [Troubleshooting](#troubleshooting)
- [Isaac ROS Troubleshooting](#isaac-ros-troubleshooting)
- [DNN and Triton Troubleshooting](#dnn-and-triton-troubleshooting)
- [Updates](#updates)
## Latest Update
-Update 2022-08-31: Update to use latest model and to be compatible with JetPack 5.0.2
+Update 2022-10-19: Add Freespace Segmentation functionality to produce occupancy grids from Bi3D's output
## Supported Platforms
+
This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU.
> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
-
-
-| Platform | Hardware | Software | Notes |
-| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
-| x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
-
+| Platform | Hardware | Software | Notes |
+| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that the [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
+| x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
### Docker
+
To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following [these steps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.
-> **Note:** All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.
+> **Note:** All Isaac ROS quick start guides, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.
## Quickstart
+
1. Set up your development environment by following the instructions [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md).
-
-2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`.
+
+2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`.
+
```bash
cd ~/workspaces/isaac_ros-dev/src &&
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common &&
@@ -84,29 +99,33 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_proximity_segmentation
```
-3. Pull down a ROS Bag of sample data:
+3. Pull down a rosbag of sample data:
+
```bash
cd ~/workspaces/isaac_ros-dev/src/isaac_ros_proximity_segmentation &&
git lfs pull -X "" -I "resources/rosbags/bi3dnode_rosbag"
```
-4. Launch the Docker container using the `run_dev.sh` script:
+4. Launch the Docker container using the `run_dev.sh` script:
+
```bash
cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common &&
./scripts/run_dev.sh
```
5. Download model files for Bi3D (refer to the [Model Preparation](#model-preparation) section for more information):
+
```bash
mkdir -p /tmp/models/bi3d &&
cd /tmp/models/bi3d &&
- wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/1.0.0/files/featnet.onnx' &&
- wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/1.0.0/files/segnet.onnx'
+ wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/featnet.onnx' &&
+ wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/segnet.onnx'
```
-
-6. Convert the `.onnx` model files to TensorRT engine plan files (refer to the [Model Preparation](#model-preparation) section for more information):
-
+
+6. Convert the `.onnx` model files to TensorRT engine plan files (refer to the [Model Preparation](#model-preparation) section for more information):
+
If using Jetson (Generate engine plans with DLA support enabled):
+
```bash
/usr/src/tensorrt/bin/trtexec --saveEngine=/tmp/models/bi3d/bi3dnet_featnet.plan \
--onnx=/tmp/models/bi3d/featnet.onnx \
@@ -117,6 +136,7 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
```
If using x86_64:
+
```bash
/usr/src/tensorrt/bin/trtexec --saveEngine=/tmp/models/bi3d/bi3dnet_featnet.plan \
--onnx=/tmp/models/bi3d/featnet.onnx --int8 &&
@@ -124,93 +144,136 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
--onnx=/tmp/models/bi3d/segnet.onnx --int8
```
- > **Note:** The engine plans generated using the x86_64 commands will work with Jetson, however, performance will be reduced.
+ > **Note:** The engine plans generated using the x86_64 commands will also work on Jetson, but performance will be reduced.
+
+7. Build and source the workspace:
-7. Build and source the workspace:
```bash
cd /workspaces/isaac_ros-dev &&
colcon build --symlink-install &&
source install/setup.bash
```
-8. (Optional) Run tests to verify complete and correct installation:
+8. (Optional) Run tests to verify complete and correct installation:
+
```bash
colcon test --executor sequential
```
-
-9. Run the launch file to spin up a demo of this package:
+
+9. Run the launch file to spin up a demo of this package:
+
```bash
- ros2 launch isaac_ros_bi3d isaac_ros_bi3d.launch.py featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
+ ros2 launch isaac_ros_bi3d_freespace isaac_ros_bi3d_freespace.launch.py featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan \
max_disparity_values:=10
```
-10. Visualize and validate the output of the package:
- ```bash
- ros2 run isaac_ros_bi3d isaac_ros_bi3d_visualizer.py \
- --rosbag_path /workspaces/isaac_ros-dev/src/isaac_ros_proximity_segmentation/resources/rosbags/bi3dnode_rosbag/ \
- --max_disparity_value 50
- ```
-
- 
2. There should only be a single publisher node publishing to `left_image_bi3d`. Timing behaviour with multiple publishers is not guaranteed by Bi3DNode and inference may not be performed on correct image pairs. Bi3D will process input pairs on a first available basis. Use a separate instance of Bi3DNode for each unique scene (publisher) that you wish to process. |
+| `right_image_bi3d` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | 1. The message must be a ROS `sensor_msgs/Image` of size **W=960, H=576** with `rgb8` image encoding.
2. There should only be a single publisher node publishing to `right_image_bi3d`. Timing behaviour with multiple publishers is not guaranteed by Bi3DNode and inference may not be performed on correct image pairs. Bi3D will process inputs pairs on a first available basis. Use a separate instance of Bi3DNode for each unique scene (publisher) that you wish to process. | |
+> Note: The images on input topics (`left_image_bi3d` and `right_image_bi3d`) should be a color image in `rgb8` format.
+
+#### ROS Topics Published
+
+| ROS Topic | Interface | Description |
+| --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `bi3d_node/bi3d_output` | [stereo_msgs/DisparityImage](https://github.com/ros2/common_interfaces/blob/humble/stereo_msgs/msg/DisparityImage.msg) | The proximity segmentation of Bi3D given as a disparity image. For pixels not deemed freespace, their value is set to the closest (largest) disparity plane that is breached. A pixel value is set to 0 if it doesn't breach any disparity plane or if it is freespace.
Output Resolution: 960x576 (WxH) |
+| `bi3d_node/bi3d_disparity_values` | [isaac_ros_bi3d_interfaces/Bi3DInferenceParametersArray](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_bi3d_interfaces/msg/Bi3DInferenceParametersArray.msg) | The disparity values used for Bi3D inference. The timestamp is matched to the timestamp in the correpsonding output image from `bi3d_node/bi3d_output` |
+
+### `isaac_ros_bi3d_freespace`
+
+#### Usage
+
+```bash
+ros2 launch isaac_ros_bi3d_freespace isaac_ros_freespace_segmentation.launch.py base_link_frame:=<"name of base link"> camera_frame:=<"name of camera frame"> s_x:=<"pixel pitch in x dimension"> s_y:=<"pixel pitch in y dimension"> f:=<"focal length"> grid_width:=<"desired grid width"> grid_height:=<"desired grid height"> grid_resolution:=<"desired grid resolution">
+```
#### ROS Parameters
-| ROS Parameter | Type | Default | Description |
-| -------------------------- | --------- | -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `featnet_engine_file_path` | `string` | `'path_to_featnet_engine'` | The path to the Bi3D Featnet engine plan |
-| `segnet_engine_file_path` | `string` | `'path_to_segnet_engine'` | The path to the Bi3D Segnet engine plan |
-| `max_disparity_values` | `integer` | `64` | The maximum number of disparity values used for Bi3D inference. Isaac ROS Proximity Segmentation supports up to a theoretical maximum of 64 disparity values during inference. However, the maximum length of disparities that a user may run in practice is dependent on the user's hardware and availability of memory. |
+| ROS Parameter | Type | Default | Description |
+| ----------------- | ------------- | ----------- | ------------------------------------------------------------------------------- |
+| `base_link_frame` | `std::string` | `base_link` | The name of the `tf2` frame attached to the robot base |
+| `camera_frame` | `std::string` | `camera` | The name of the `tf2` frame attached to the camera |
+| `s_x` | `double` | `1e5` | The pitch of pixels on the image sensor in the X dimension, in pixels per meter |
+| `s_y` | `double` | `1e5` | The pitch of pixels on the image sensor in the Y dimension, in pixels per meter |
+| `f` | `double` | `1e-2` | The focal length of the camera, in meters |
+| `grid_width` | `int` | `100` | The width of the output occupancy grid, in number of cells |
+| `grid_height` | `int` | `100` | The height of the output occupancy grid, in number of cells |
+| `grid_resolution` | `double` | `0.01` | The resolution of the output occupancy grid, in meters per cell |
#### ROS Topics Subscribed
-| ROS Topic | Interface | Description |
-| ----------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `left_image_bi3d` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | 1. The message must be a ROS `sensor_msgs/Image` of size **W=960, H=576** with `rgb8` image encoding.
2. There should only be a single publisher node publishing to `left_image_bi3d`. Timing behaviour with multiple publishers is not guaranteed by Bi3DNode and inference may not be performed on correct image pairs. Bi3D will process input pairs on a first available basis. Use a separate instance of Bi3DNode for each unique scene (publisher) that you wish to process. |
-| `right_image_bi3d` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | 1. The message must be a ROS `sensor_msgs/Image` of size **W=960, H=576** with `rgb8` image encoding.
2. There should only be a single publisher node publishing to `right_image_bi3d`. Timing behaviour with multiple publishers is not guaranteed by Bi3DNode and inference may not be performed on correct image pairs. Bi3D will process inputs pairs on a first available basis. Use a separate instance of Bi3DNode for each unique scene (publisher) that you wish to process. |
-| `bi3d_disparity_values` | [isaac_ros_bi3d_interfaces/Bi3DInferenceParametersArray](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_bi3d_interfaces/msg/Bi3DInferenceParametersArray.msg) | The message containing the disparity values used for Bi3D inference. The disparity values may be dynamic and change between subsequent messages. The number of disparity values must not exceed the value set in the `max_disparity_values` ROS parameter. |
+
+| ROS Topic | Interface | Description |
+| -------------------------------- | ---------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
+| `freespace_segmentation/mask_in` | [stereo_msgs/DisparityImage](https://github.com/ros2/common_interfaces/blob/humble/stereo_msgs/msg/DisparityImage.msg) | The input disparity image, with pixels corresponding to ground labelled as 0 |
+
+> **Limitation:** For all input images, both the height and width must be an even number of pixels.
#### ROS Topics Published
-| ROS Topic | Interface | Description |
-| --------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `bi3d_node/bi3d_output` | [stereo_msgs/DisparityImage](https://github.com/ros2/common_interfaces/blob/humble/stereo_msgs/msg/DisparityImage.msg) | The proximity segmentation of Bi3D given as a disparity image. For pixels not deemed freespace, their value is set to the closest (largest) disparity plane that is breached. A pixel value is set to 0 if it doesn't breach any disparity plane or if it is freespace.
Output Resolution: 960x576 (WxH) |
-| `bi3d_node/bi3d_disparity_values` | [isaac_ros_bi3d_interfaces/Bi3DInferenceParametersArray](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_bi3d_interfaces/msg/Bi3DInferenceParametersArray.msg) | The disparity values used for Bi3D inference. The timestamp is matched to the timestamp in the correpsonding output image from `bi3d_node/bi3d_output` |
+
+| ROS Topic | Interface | Description |
+| --------------------------------------- | -------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------- |
+| `freespace_segmentation/occupancy_grid` | [nav_msgs/OccupancyGrid](https://github.com/ros2/common_interfaces/blob/humble/nav_msgs/msg/OccupancyGrid.msg) | The output occupancy grid, with cells marked as 0 if free |
## Troubleshooting
+
### Isaac ROS Troubleshooting
-For solutions to problems with Isaac ROS, please check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/troubleshooting.md).
+
+Check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/troubleshooting.md) for solutions to problems with Isaac ROS.
### DNN and Triton Troubleshooting
-For solutions to problems with using DNN models and Triton, please check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/main/docs/troubleshooting.md).
+Check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/main/docs/troubleshooting.md) for solutions to problems with using DNN models and Triton.
## Updates
-| Date | Changes |
-| ---------- | ------------------------------------------------------------------ |
-| 2022-08-31 | Update to use latest model and to be compatible with JetPack 5.0.2 |
-| 2022-06-30 | Initial release |
+
+| Date | Changes |
+| ---------- | -------------------------------------------------------------------------------------- |
+| 2022-10-19 | Add Freespace Segmentation functionality to produce occupancy grids from Bi3D's output |
+| 2022-08-31 | Update to use latest model and to be compatible with JetPack 5.0.2 |
+| 2022-06-30 | Initial release |
diff --git a/docs/bi3d-example.md b/docs/bi3d-example.md
index 9c05d4b..8e6081a 100644
--- a/docs/bi3d-example.md
+++ b/docs/bi3d-example.md
@@ -1,6 +1,6 @@
# Example Usage of Isaac ROS Proximity Segmentation
-This is an example use case of Isaac ROS Proximity Segmentation, which includes monitoring the forward zones of an autonomous mobile robot (AMR) using a HAWK stereo camera. Consider three zones in front of the robot (Zones 1-3), corresponding to different alerts and actions the robot must take if an object breaches the zone. Zone 3 generates a warning, Zone 2 sends a signal for the robot to slow, and Zone 1 results in the robot stopping immediately.
+This is an example use case of Isaac ROS Proximity Segmentation, which includes monitoring the forward zones of an autonomous mobile robot (AMR) using a HAWK stereo camera. Consider three zones in front of the robot (Zones 1-3), corresponding to different alerts and actions the robot must take if an object breaches the zone. Zone 3 generates a warning, Zone 2 sends a signal for the robot to slow, and Zone 1 results in the robot stopping immediately.
