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pcdet_ros2 package from pcdet_ros2 repo

pcdet_ros2

API Docs
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Package Summary

Tags No category tags.
Version 0.0.1
License MIT
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pradhanshrijal/pcdet_ros2.git
VCS Type git
VCS Version master
Last Updated 2025-02-06
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

ROS 2 Wrapper for OpenPCDet

Additional Links

No additional links.

Maintainers

  • Shrijal Pradhan

Authors

No additional authors.
README.md

pcdet_ros2

This is a ROS 2 Wrapper for [OpenPCDet].

Sample Rviz2

Test System

  • Computation: i9-12900K, GPU 4080
  • System Setup:
    • Ubuntu 22.04, ROS 2 Humble
    • CUDA 11.7, CuDNN 8.5.0.96
    • Python 3.10, PyTorch 2.0
  • OpenPCDet Version: v0.6.0

Status

  • Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
  • The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.

Content

OpenPCDet Installation

Quick Installation compatible with the setup specified above:

git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion

Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet. Try the Quick Demo to verify installations.

  • This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.

Installation

Build the Packages

# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace

Download the weights
Example:

  • Download the PV-RCNN pre-trained weight for the Kitti Dataset [model-50M].
  • Copy the weight to the checkpoints folder of the pcdet_ros2 package.

Check OpenPCDet’s Model Zoo for available models and weights.

P.S. Symlink connections will save a lot of storage space and help organise the files.

Usage

ros2 launch pcdet_ros2 pcdet.launch.py

Parameters

Parameter Description
config_file Local Path to the configuration file for the model.
model_file Local Path to the pre-trained weight for the model.
allow_memory_fractioning Boolean to activate setting a limit to the GPU Usage.
  Used together with device_memory_fraction.
allow_score_thresholding Boolean to activate the removal of low scored detections.
  Used together with threshold_array.
num_features Parameter to specify data transformation of pointcloud.
  For Kitti the value is 4.
  For nuScenes the value is 5.
device_id ID for the GPU to be used.
device_memory_fraction GPU Memory (in GB) used for the detections.
  Used together with allow_memory_fractioning.
threshold_array Threshold values for low scoring detections.
  Used together with allow_score_thresholding.
  See the config_file for the list of detections.

License

pcdet_ros2 is released under the MIT License.

Citation

If you find this project useful in your research, please consider citing the original work:

@misc{openpcdet2020,
    title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
    author={OpenPCDet Development Team},
    howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}},
    year={2020}
}
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
vision_msgs
ros2_numpy
ament_copyright
ament_flake8
ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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