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lidar_cnn_seg_detect package from dwd_sensor_fusion reporockauto_build_flags amathutils_lib state_machine_lib detected_objects_visualizer lidar_cnn_seg_detect rockauto_msgs darknet_ros darknet_ros_msgs kitti_player depthGet opencv_deal pcl_deal |
Package Summary
| Tags | No category tags. |
| Version | 1.8.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/vannizhou/dwd_sensor_fusion.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-04-08 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The cnn segmentation package
Additional Links
No additional links.
Maintainers
- Kosuke Murakami
Authors
- Kosuke Murakami
CNN LiDAR Baidu Object Segmenter
rockauto package based on Baidu’s object segmenter.
The Pretrained model
Use this link to download the pretrained model from Baidu:
https://github.com/ApolloAuto/apollo/tree/master/modules/perception/production/data/perception/lidar/models/cnnseg
These two files are needed:
- deploy.prototxt
- deploy.caffemodel
How to launch
- From a sourced terminal:
rosrun lidar_cnn_seg_detect lidar_cnn_seg_detect _network_definition_file:=/PATH/TO/FILE.prototxt _pretrained_model_file:=/PATH/TO/WEIGHTS.caffemodel _points_src:=/points_raw
roslaunch lidar_cnn_seg_detect lidar_cnn_seg_detect.launch network_definition_file:=/PATH/TO/FILE.prototxt pretrained_model_file:=/PATH/TO/WEIGHTS.caffemodel points_src:=/points_raw
- From Runtime Manager:
Computing Tab -> Detection/ lidar_detector -> cnn_segmenter_baidu
Parameters
| Parameter | Type | Description | Default |
|---|---|---|---|
network_definition_file |
String | Path to the network definition file (prototxt) | |
pretrained_model_file |
String | Path to the Pretrained model (weights) | |
points_src |
String | Input topic Pointcloud. Default. | /points_raw |
score_threshold |
Double | Minimum score required as given by the network to include the result (0.-1.) | 0.6 |
use_gpu |
Bool | Whether ot not to use a GPU device | true |
gpu_device_id |
Int | GPU ID | 0 |
Outputs
| Topic | Type | Description |
|---|---|---|
/detection/lidar_detector/points_cluster |
sensor_msgs/PointCloud2 |
Colored PointCloud of the resulting detected objects |
/detection/lidar_detector/objects |
rockauto_msgs/DetectedObjetArray |
Array of Detected Objects in rockauto format |
Notes
To display the results in Rviz objects_visualizer is required.
(Launch file launches automatically this node).
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| tf | |
| tf_conversions | |
| pcl_ros | |
| sensor_msgs | |
| geometry_msgs | |
| rockauto_msgs | |
| catkin | |
| rockauto_build_flags |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/lidar_cnn_seg_detect.launch
-
- network_definition_file [default: $(find lidar_cnn_seg_detect)/models/velodyne64/deploy.prototxt]
- pretrained_model_file [default: $(find lidar_cnn_seg_detect)/models/velodyne64/deploy.caffemodel]
- points_src [default: /kitti_player/hdl64e]
- score_threshold [default: 0.4]
- use_gpu [default: true]
- gpu_device_id [default: 0]
- width [default: 672]
- height [default: 672]
- range [default: 70]
- use_constant_feature [default: false]
- min_distance [default: 3.0]
- max_distance [default: 70.0]
- clip_height [default: 5.0]
- rviz_config [default: $(find lidar_cnn_seg_detect)/rviz_config/lidar_detect.rviz]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged lidar_cnn_seg_detect at Robotics Stack Exchange
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