/ROS_Smoke

Primary LanguageC++

ROS_Smoke

This repo deploys SMOKE using TensorRT for C++ inference in ROS.

0.Prerequisites

  • TensorRT 8.0.1 GA
  • CUDA 10.2 (Additional patching required)
  • See install
  • MMDetection3D (v1.0.0) 
    pip install torch==1.8.0 torchvision==0.9.0
pip install mmcv-full==1.4.0
pip install mmdet==2.19.0
pip install mmsegmentation==0.20.0
git clone -b v1.0.0rc0 https://gitee.com/open-mmlab/mmdetection3d.git
cd mmdetection3d
pip install -v -e .  # or "python setup.py develop"

1.ONNX

  1. Export ONNX (first comment code in mmdet3d/models/dense_heads/smoke_mono3d_head.py)
cd mmdetection3d
python smoke_pth2onnx.py  # smoke_dla34.onnx

2.TensorRT(C++/ROS Inference)

git clone https://github.com/ChenZjut/ROS_Smoke.git
cd ROS_Smoke
catkin_make
roslaunch laneatt laneatt.launch

pic1

3.Reference

tensorrt_smoke

TensorRT-SMOKE

mmdetection3d

SMOKE

TODO

  • C++ inference
  • Measure speed on Orin