Hi,
GPU: NVIDIA GeForce RTX 4060
Driver Version: 535.230.02
CUDA Version: 12.2
I’m trying to run the ESS-DNN model but the output disparity map is completely black (all zeros).
I’m running the model through the docker container suggested as part of the instructions along with the sample data provided (${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_ess/rosbags/ess_rosbag).
These are my docker images:
REPOSITORY TAG IMAGE ID CREATED SIZE
isaac_ros_dev-x86_64 latest 7066aeaa570a 2 weeks ago 37.2GB
nvcr.io/nvidia/isaac/ros x86_64-ros2_humble_79152baed139e9f4258734f3056c263a 7066aeaa570a 2 weeks ago 37.2GB
Launching the docker and running the following commands:
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=ess_disparity \
engine_file_path:=${ISAAC_ROS_WS:?}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.engine \
threshold:=0.0
Second terminal:
ros2 bag play -l ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_ess/rosbags/ess_rosbag \
--remap /left/camera_info:=/left/camera_info_rect /right/camera_info:=/right/camera_info_rect
Third terminal:
ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py
The pretrained model was installed using:
ros2 run isaac_ros_ess_models_install install_ess_models.sh --eula
I did observe the following logs when converting the onyx model to an engine plan though. Is this an issue?
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x5100456d60cc538d due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x606e22cd0b28a04e due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x001526e231ae2e51 due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x2fbc9130014701fc due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x55214d4ab35e0b9d due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x74f998800c32af5c due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x4d77488847fb11ac due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x79164861aa018d25 due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0x4f9a95a9a8862c25 due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0xadc24b6dce6a94cc due to exception Cask convolution execution
[03/13/2025-19:47:13] [E] Error[9]: Error Code: 9: Skipping tactic 0xe631f0b717976d6e due to exception Cask convolution execution
...
&&&& PASSED TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev//isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.onnx --saveEngine=/workspaces/isaac_ros-dev//isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.engine --fp16 --staticPlugins=/workspaces/isaac_ros-dev//isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/plugins/x86_64/ess_plugins.so
Please help me resolve this! Thank you!