To run EGM Dragonet on Ford Fusion Hyperion 8 sensor configuration in FlatSIM:
bob@desktop:~/isaac/sdk/$ bazel run extensions/egm_fusion/apps:egm_ford_fusion_inference_marlin_ford_fusion
To run EGM Marlin on MB223 data over cask replay:
bob@desktop:~/isaac/sdk/$ bazel run extensions/egm_fusion/apps:egm_cask_inference_marlin_mb223
To run EGM Dragonet with Classical Fusion on MB223 data over cask replay:
bob@desktop:~/isaac/sdk/$ bazel run extensions/egm_fusion/apps:egm_cask_inference_dragonet_classical_fusion_mb223
When running on Ampere GPU, add –config=x86_64_cuda_11_4 to above command
When running the above applications for the first time, TRT plan generation will take a long time (up to a minute). Subsequent runs use the cached TRT plan file and should be faster.
To run egm_ndas_inference graph from isaac:
bob@desktop:~/isaac/sdk/$ bazel run extensions/egm_fusion/apps:egm_ndas_inference_marlin_mb223
- Use _dragonet_ or _dragonet_classical_fusion_ instead of _marlin_ to use different model. The
app should start correctly but will not tick, since the graph do not have USS envelope generators.
To run the unit test for egm_ndas_inference from isaac:
bob@desktop:~/isaac/sdk/$ bazel run extensions/egm_fusion/tests:test_egm_ndas_inference
To use the egm_ndas_inference app outside of isaac, load the following yaml files in order.
For Dragonet: * extensions/egm_fusion/graphs/atlas.yaml * extensions/sight_web/graphs/sight_web.yaml * extensions/flatsim/graphs/mb223_rig.yaml * extensions/egm_fusion/apps/egm_inference_dragonet_config.yaml * extensions/egm_fusion/apps/egm_inference_dragonet_mb223_config.yaml * extensions/egm_fusion/apps/egm_ndas_inference.yaml
For Dragonet with Classical Fusion: * extensions/egm_fusion/graphs/atlas.yaml * extensions/sight_web/graphs/sight_web.yaml * extensions/flatsim/graphs/mb223_rig.yaml * extensions/egm_fusion/apps/egm_inference_dragonet_classical_fusion_config.yaml * extensions/egm_fusion/apps/egm_inference_dragonet_mb223_config.yaml * extensions/egm_fusion/apps/egm_ndas_inference.yaml
For Marlin: * extensions/egm_fusion/graphs/atlas.yaml * extensions/sight_web/graphs/sight_web.yaml * extensions/flatsim/graphs/mb223_rig.yaml * extensions/egm_fusion/apps/egm_inference_marlin_config.yaml * extensions/egm_fusion/apps/egm_inference_marlin_mb223_config.yaml * extensions/egm_fusion/apps/egm_ndas_inference.yaml
For following subgraphs will be loaded as part of the egm apps * extensions/egm_fusion/graphs/distance_map_visualizer_subgraph.yaml * extensions/egm_fusion/graphs/egm_classical_fusion_subgraph.yaml * extensions/egm_fusion/graphs/egm_debug_visualizer_subgraph.yaml * extensions/egm_fusion/graphs/egm_distance_map_subgraph.yaml * extensions/egm_fusion/graphs/egm_dragonet_subgraph.yaml * extensions/egm_fusion/graphs/egm_inference_subgraph.yaml * extensions/egm_fusion/graphs/egm_marlin_subgraph.yaml * extensions/egm_fusion/graphs/egm_uss_batch_encoder_subgraph.yaml
By default, GXF loads app and subgraph yamls relative to the current working directory. To ensure the subgraphs can be loaded in ndas without modifying the subgraph yaml, place all the app and subgraph yamls above in the same folder hierarchy under a ROOT folder, e.g. ROOT/extensions/flatsim/graphs/mb223_rig.yaml or ROOT/extensions/egm_fusion/graphs/egm_inference_subgraph.yaml. ROOT could be the path to the isaac package linked inside ndas. At runtime, before loading any GXF app yaml, use the following API to set the GXF root path for loading the app and subgraph yamls: GxfGraphSetRootPath(context, ROOT).
The follow application runs parking planner in FlatSIM with EGM Dragonet Classical Fusion
bob@desktop:~/isaac/sdk/$ bazel run apps/isaac2/planner:interactive_parking_uss_dragonet