NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation
CenterPose Inference Shift in Isaac ROS
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- Dominant language
- C++
- Stars
- 501
- Forks
- 57
- PR merge metrics
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Description
I am experiencing an issue where the inference results of CenterPose in the Isaac ROS environment are shifted to the left and right.
model file: cereal_box_FAN_small.onnx
model file: laptop_FAN_small.onnx
When visualizing CenterPose in TAO 5.5, there was no such shift.
model file: cereal_box_FAN_small.onnx
Both environments are using the same CenterPose model for inference, yet this issue only occurs in Isaac ROS.
I have also attached a video. It seems that there is no vertical shift.
https://github.com/user-attachments/assets/5a2b9dc8-6ff8-4f7d-9fb4-7322fce7d1a7
Is there a known reason for this behavior, or any recommended way to correct the shift?
Any guidance would be greatly appreciated.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reproducing the reported behavior with cereal_box_FAN_small.onnx and laptop_FAN_small.onnx in Isaac ROS, then compare the outputs with TAO 5.5 using the same models. Use the attached images and video to verify the horizontal shift and absence of vertical shift; done means the Isaac ROS inference results are aligned with the reference output or the cause is documented.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, machine-learning
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 30/100