/OpenPCDet_ros

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ROS Wrapper for OpenPCDet: Real-time 3D Object Detection with Point Cloud

This repository contains a ROS (Robot Operating System) wrapper for OpenPCDet, enabling real-time 3D object detection using point cloud data. OpenPCDet is an open-source toolbox for 3D object detection from point cloud data.

With this ROS wrapper, you can seamlessly integrate OpenPCDet into your robotics applications to perform real-time 3D object detection using point cloud data from LiDAR or depth cameras.

Features

  • Real-time 3D object detection with point cloud data
  • Easy integration with ROS-compatible devices
  • Compatible with common ROS point cloud message types (e.g., sensor_msgs/PointCloud2)
  • Configurable detection parameters for adapting to different environments and use cases

Dependencies

Please provide the following information to help us list the dependencies:

  • ROS Noetic
  • CUDA version (11.7)
  • PyTorch version (1.13.1)

Installation

  1. Clone this repository into your ROS workspace's src directory:
cd ~/your_ros_workspace/src
git clone https://github.com/dom-lee/OpenPCDet_ros
  1. Install the required dependencies:
sudo apt-get install ros-<your_ros_distro>-jsk-rviz-plugins
sudo apt-get install ros-<your_ros_distro>-vision-msgs
  1. Build the package:
cd ~/your_ros_workspace
catkin_make
  1. Source the workspace:
source devel/setup.bash

Usage

  1. Launch the ROS wrapper for OpenPCDet:
roslaunch multiple-object-tracking kitti-raw.launch

  1. Publish your point cloud data to the /point_raw topic using the sensor_msgs/PointCloud2 message type.

  2. Subscribe to the /detect_3dbox topic to receive detected 3D objects.

Configuration

You can configure the ROS wrapper for OpenPCDet by modifying the parameters in the config/kitti-raw.yaml file. These parameters include:

  • pointcloud_topic: Input point cloud topic (default: /points_raw)
  • bbox_topic: Output detected objects topic (default: /detect_3dbox)
  • threshold: Minimum score for an object to be considered detected (default: 0.1)
  • cfg_file: Path to the OpenPCDet model configuration file
  • ckpt_file: Path to the OpenPCDet model weights file

Support

If you encounter any issues or have questions, please open an issue on the GitHub repository.

License

This ROS wrapper for OpenPCDet is released under the MIT License. Please refer to the original OpenPCDet repository for information about its licensing.