/autoware_perception

Primary LanguageC

new_perception

How to use

  1. start rosbag
  2. pause rosbag
  3. load pointcloud map, vector map, world map tf, vehicle tf
  4. launch ndt matching
  5. camera lidar calibration publisher
  6. roslaunch perception_launch perception.launch

How to use PointPillars + Multi Object Tracker

  1. Download PointPillars file into lidar_point_pillars/data/.
  2. roslaunch perception_launch perception_with_pointpillars.launch

How to use TensorRT YOLOv3

2019/05/01 when run catkin_make, automaticaly download caffemodel and prototxt. but you need to install tensorrt.

  1. Download caffemodel and prototxt into tensorrt_yolo3/data/yolov3_416.caffemodel/tensorrt_yolo3/data/yolov3_416_trt.prototxt.
  2. roslaunch tensorrt_yolo3 tensorrt_yolo3.launch
  3. The result is shown in /perception/tensorrt_yolo3/classified_image topic.