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NVIDIA-ISAAC-ROS / isaac_ros_pose_estimation

Deep learned, NVIDIA-accelerated 3D object pose estimation
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Low FPS on jetson Orin AGX #49

Open yashwant-ies opened 1 month ago

yashwant-ies commented 1 month ago

We are able to achieve only about 23FPS on ISAAC ROS foundation. Can you please help in increasing FPS? \

am working with a Jetson AGX and have followed the complete tutorial to set up Isaac ROS along with FoundationPose. I’m currently running FoundationPose tracking, which is said to support up to 120 fps. However, when using rosbags, I can only achieve a maximum of 23 fps. Could you please help identify the factors that might be limiting its performance?

Rosbag input frequency is varied from 1fps to 100 fps but max output frequency reached is 23 fps

Also posted on nvidia forums: https://forums.developer.nvidia.com/t/cant-reach-the-maximum-capacity-while-running-isaac-ros-foundationpose-in-jetson-agx/307990

huihui6666 commented 2 weeks ago

Hi,I found it detection only achieve about 1.5FPS on RTX4090,it's much lower than the official.do you find the reason for the low speed?