Merge pull request #16 from NVIDIA-ISAAC-ROS/release-dp3

Isaac ROS 0.30.0 (DP3)

.gitattributes

@@ -1,3 +1,6 @@
+# Ignore Python files in linguist
+*.py linguist-detectable=false
+
 # Images
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
@@ -17,6 +20,7 @@
 *.so.* filter=lfs diff=lfs merge=lfs -text
 
 # ROS Bags
+**/resources/**/*.zstd filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.db3 filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
 

docs/tutorial-isaac-sim.md

@@ -4,7 +4,9 @@
 
 ## Overview
 
-This tutorial walks you through a pipeline for [Image Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation) of people using images from Isaac Sim.
+This tutorial walks you through a graph for [Image Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation) of people using images from Isaac Sim.
+
+Last validated with [Isaac Sim 2022.1.0](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/release_notes.html#id10).
 
 ## Tutorial Walkthrough
 
@@ -29,7 +31,7 @@ This tutorial walks you through a pipeline for [Image Segmentation](https://gith
    `omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd`.
 
    And wait for it to load completely.
-   > **Note:** To use a different server, replace `localhost` with `<your_nucleus_server>`
+   > **Note**: To use a different server, replace `localhost` with `<your_nucleus_server>`
 6. Go to the stage tab and select `/World/Carter_ROS`, then in properties tab -> Transform -> Translate -> X change `-3.0` to `0.0`.
     <div align="center"><img src="../resources/Isaac_sim_set_carter.png" width="400px"/></div>
 
@@ -59,4 +61,4 @@ This tutorial walks you through a pipeline for [Image Segmentation](https://gith
 
     Then inside the `rqt_image_view` GUI, change the topic to `/unet/colored_segmentation_mask` to view a colorized segmentation mask.
 
-    **Note:** The raw segmentation is also published to `/unet/raw_segmentation_mask`. However, the raw pixels correspond to the class labels and so the output is unsuitable for human visual inspection.
+    **Note**: The raw segmentation is also published to `/unet/raw_segmentation_mask`. However, the raw pixels correspond to the class labels and so the output is unsuitable for human visual inspection.

isaac_ros_unet/CMakeLists.txt

@@ -15,52 +15,31 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.23.2)
 project(isaac_ros_unet LANGUAGES C CXX)
 
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Default to Release build
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
-endif()
-message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )
-
-execute_process(COMMAND uname -m COMMAND tr -d '\n'
-  OUTPUT_VARIABLE ARCHITECTURE
-)
-message( STATUS "Architecture: ${ARCHITECTURE}" )
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
+# Dependencies
+enable_language(CUDA)
+
 # Decoder node
 ament_auto_add_library(unet_decoder_node SHARED src/unet_decoder_node.cpp)
-target_compile_definitions(unet_decoder_node
-  PRIVATE "COMPOSITION_BUILDING_DLL"
-)
 rclcpp_components_register_nodes(unet_decoder_node "nvidia::isaac_ros::unet::UNetDecoderNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::unet::UNetDecoderNode;$<TARGET_FILE:unet_decoder_node>\n")
 
-# Install config directory
-install(
-  DIRECTORY config
-  DESTINATION share/${PROJECT_NAME}
-)
+### Install extensions built from source
 
-install(TARGETS unet_decoder_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+# Segmentation Postprocessor
+add_subdirectory(gxf/image_segmentation)
+install(TARGETS gxf_segmentation_postprocessor DESTINATION share/${PROJECT_NAME}/gxf)
 
+### End extensions
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -70,4 +49,4 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_unet_pol_test.py TIMEOUT "400")
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(INSTALL_TO_SHARE config launch)

isaac_ros_unet/gxf/image_segmentation/CMakeLists.txt

@@ -0,0 +1,66 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+project(gxf_segmentation_postprocessor LANGUAGES C CXX)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-fPIC -w)
+endif()
+
+# Dependencies
+find_package(CUDAToolkit)
+find_package(GXF ${ISAAC_ROS_GXF_VERSION} MODULE REQUIRED
+    COMPONENTS
+    core
+    cuda
+    multimedia
+    serialization
+    std
+)
+include(YamlCpp)
+
+# Create extension
+add_library(gxf_segmentation_postprocessor SHARED
+    segmentation_mask_colorizer.cpp
+    segmentation_mask_colorizer.hpp
+    segmentation_postprocessing_utils.hpp
+    segmentation_postprocessor_ext.cpp
+    segmentation_postprocessor.cpp
+    segmentation_postprocessor.hpp
+    segmentation_postprocessor.cu.cpp
+    segmentation_postprocessor.cu.hpp
+    segmentation_mask_colorizer.cu.cpp
+    segmentation_mask_colorizer.cu.hpp
+)
+
+# Mark as CUDA files with non-standard extensions
+set_source_files_properties(
+  segmentation_postprocessor.cu.cpp
+  segmentation_postprocessor.cu.hpp
+  segmentation_mask_colorizer.cu.cpp
+  segmentation_mask_colorizer.cu.hpp
+  PROPERTIES LANGUAGE CUDA
+)
+
+target_link_libraries(gxf_segmentation_postprocessor
+  PUBLIC
+    CUDA::cudart
+    GXF::cuda
+    GXF::multimedia
+    GXF::std
+    yaml-cpp
+)