Looking for information regarding libcuapriltags

[nd26]

i have been working with the isaac ros sdk for a bit, specifically with isaac_ros_apriltags. per my understanding, the isaac_ros_apriltags package has two tag detectors implemented - one that uses libvpi (PFA only, meaning only jetson agx modules) and another that uses this libcuapriltags library located in the isaac_ros_nitros package for some reason, in addition to libcuvslam (link). im looking for more information regarding this library, specifically:

• is it open source? can the source be released?
• where does it come from
• why is it in the nitros package

thanks in advance

[Raffaello]

Hi @nd26

Welcome to the Isaac ROS forum.

Let me help you, where is possibile:

@nd26

• is it open source? can the source be released?

The libraries are closed source and will not be released.

@nd26

• where does it come from
• why is it in the nitros package

NVIDIA Isaac Transport for ROS (NITROS) is a technology designed to facilitate streaming via ROS graphs that are enhanced by NVIDIA acceleration.
For more details you can find them at the concept page: NITROS — isaac_ros_docs documentation

I don’t know exactly why these libraries are located in the NITROS package, but I think it’s for better integration with the package.

Best,
Raffaello