- ROS2(humble, foxy)
- vision-msgs
- vision-msgs-rviz-plugins
- tf-transformation
- sensor-msgs
- mmdet3d(temporary) 1.0.0-rc6
rosdep install --from-paths src --ignore-src -r -y
Note:
If you are using Foxy distro instead of Humble, you need to manually build these dependencies:
- vision-msgs
- vision-msgs-rviz-plugins
In the patch 0.0.2, we introduced the ros2 params feature in order to avoid verbose build. You can rewrite the config file config.yaml
in conf/
directory.
-
pub_nuscenes_bin
-
time_period
Time period for releasing the point cloud. In nuscenes source, it is the frequency of publishing point cloud; in real-time lidar scan, it is the scan frequency.
-
nus_lidar_path
The path to the pointcloud folder. It should end with 'LIDAR_TOP'.
-
-
infer_node
-
score_threshold
The threshold of score for filtering the detection result.
-
mmdet3d_path
The absolute path to the mmdet3d package.
-
config_file
The relative path of config file in mmdet3d path.
-
checkpoint_file
The absolute path to the checkpoint file.(.pth)
-
onnx_model(supported in v1.0.x)
The absolute path to the onnxruntime model file.(.onnx)
-
colcon build --packages-select pc_det
. install/setup.bash
- base demo (mmdet3d api)
ros2 launch pc_det nuscenes_demo_launch.py
- ort-gpu infer (still bug)
ros2 launch pc_det nuscenes_ort_launch.py
- direct pc2 format inference(skip the file transform)
ros2 launch pc_det nuscenes_pc_launch.py
- run depthcam detection demo
ros2 launch pc_det depthcam_demo_launch.py