https://github.com/NVIDIA-ISAAC-ROS/isaac_perceptor

Perception workflows
https://github.com/NVIDIA-ISAAC-ROS/isaac_perceptor

gpu jetson nvidia perception ros ros2 ros2-humble

Last synced: 3 days ago
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Perception workflows

• Host: GitHub
• URL: https://github.com/NVIDIA-ISAAC-ROS/isaac_perceptor
• Owner: NVIDIA-ISAAC-ROS
• License: other
• Created: 2024-05-31T01:09:09.000Z (7 months ago)
• Default Branch: main
• Last Pushed: 2024-12-11T01:40:53.000Z (29 days ago)
• Last Synced: 2024-12-11T02:30:34.781Z (28 days ago)
• Topics: gpu, jetson, nvidia, perception, ros, ros2, ros2-humble
• Language: CMake
• Homepage: https://developer.nvidia.com/isaac/perceptor
• Size: 38.1 KB
• Stars: 36
• Watchers: 4
• Forks: 7
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

Awesome Lists containing this project

• awesome_ai_agents - Isaac_Perceptor - Perception workflows (Building / Workflows)

README

        
# Isaac Perceptor

This repository contains the integrated Isaac Perceptor launch files.

## Setup and Documentation

Visit [Isaac Perceptor](https://nvidia-isaac-ros.github.io/reference_workflows/isaac_perceptor/index.html) to learn how to use this repository.

## Performance

| Sample Graph

                                                                                                                                                                                                                                                                    | Input Size

                | Nova Carter

                                                                                                                                                                                                                   |

|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|

| [DNN Stereo Disparity Live Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_ess_nova_benchmark/scripts/isaac_ros_hawk_1f_2lt_ess_depth_graph.py)


3 Hawk Cameras


1x Full ESS and 2x Throttled Light ESS

 | 1200p





 | Full: [30.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_hawk_1f_2lt_ess_depth_graph-carter-v2.4-jp6.json)


Light: 15.2 fps (avg)



                          |

| [Perceptor Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_perceptor_nova_benchmark/scripts/isaac_ros_perceptor_graph.py)


3 Hawk Cameras



                                                                  | 1200p





 | Nvblox ESDF: [9.46 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_perceptor_graph-carter-v2.4-jp6.json)


Nvblox Mesh: 1.01 fps


Visual Odometry: 30.0 fps

 |