CenterPose Inference Shift in Isaac ROS

[kai-mastumoto]

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.

[monajalal]

Does it matter if I have trained my data using TAO toolkit 5.2 vs 5.5 for isaac_ros_centerpose?

I trained my data using isaac_ros_centerpose 5.2 (remote workstation), then on my machine I converted pth to onnx using TAO Toolkit 5.3, and I am not able to get any inference using it.