https://github.com/AbangLZU/VoxelNetRos

implement the VoxelNet with ROS, using Kitti data to test
https://github.com/AbangLZU/VoxelNetRos

Last synced: about 2 months ago
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implement the VoxelNet with ROS, using Kitti data to test

• Host: GitHub
• URL: https://github.com/AbangLZU/VoxelNetRos
• Owner: AbangLZU
• Created: 2018-12-05T07:05:39.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2018-12-05T07:09:09.000Z (over 5 years ago)
• Last Synced: 2024-02-04T06:33:17.538Z (5 months ago)
• Language: Python
• Size: 69.1 MB
• Stars: 108
• Watchers: 5
• Forks: 55
• Open Issues: 8
• Metadata Files:
  • Readme: README.md

Lists

• Awesome-Self-Driving - VoxelNetRos - Implement the VoxelNet with ROS, using Kitti data to test. (6. Detection / 3.4. Others)
• awesome-stars - AbangLZU/VoxelNetRos - implement the VoxelNet with ROS, using Kitti data to test (Python)

README

        
## Voxelnet ROS Implementation 

----

VoxelNet Implementation codes from "https://github.com/qianguih/voxelnet"

### Dependencies

* python3.5+

* TensorFlow (tested on 1.4)

* opencv

* shapely

* numba

* easydict

* ROS

* jsk package

  

### Data Preparation

Download the test data: https://pan.baidu.com/s/1kxZxrjGHDmTt-9QRMd_kOA

unzip to `data` folder,Directory structure should be:

```

data

----lidar_2d

--------0000...1.npy

--------0000...2.npy

--------.......

```

### Instructions

before run the code, you may need to install:

- clone this repository

- move voxelnet_ros folder to your `catkin_ws`

- `catkin_make`

- `roscd voxelnet/script/`

- `python3 voxelnet_ros.py & python3 pub_kitti_point_cloud.py` 

  - unfortunately, `rosrun` won't work. because it's using Python 3.x instead of 2.x

  

### ROS Node 



### Rviz Animation







### Future Work

- Retrain the model

- Still too slow, need more efficient implementation for the VoxelNet

- code clean