pedestrain123/CenterPoint-ROS-Detection-and-Tracking

Detection and Tracking ROS node based on CenterPoint and Kalman Filter

CenterPoint-ROS-Detection-and-Tracking

Environment

• Hardware
  • GPU Nvidia RTX4060
• Software
  • Ubuntu 20.04
  • ROS noetic
  • TensorRT 8.6.1.6
  • CUDA 11.8
  • cuDNN 8.9.7

scene1.webm

Build

• Please First Update your TensorRT include and library path in CMakeLists.txt's line 32 (TENSORRT_INCLUDE_DIRS) and 33 (TENSORRT_LIBRARY_DIRS).

cd <your catkin_workspace>/src
git clone git@github.com:JYS997760473/CenterPoint-ROS-Detection-and-Tracking.git
catkin build centerpoint_detection

Perpare nuscenes rosbag

• Recommand generate nuscenes rosbag from nuscenes2bag.

Or can download a demo rosbag from Google Drive

Detection

roslaunch centerpoint_detection_and_tracking centerpoint_detection.launch

rosbag play <rosbag.bag>

Detection and Tracking

roslaunch centerpoint_detection_and_tracking centerpoint_detection_and_tracking.launch

rosbag play <rosbag.bag>

Reference

CUDA-CenterPoint

nuscenes2bag

AutoLidarPerception