https://github.com/owen-liuyuxuan/visualdet3d_ros

A naive ROS interface for visualDet3D.
https://github.com/owen-liuyuxuan/visualdet3d_ros

Last synced: 4 days ago
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A naive ROS interface for visualDet3D.

• Host: GitHub
• URL: https://github.com/owen-liuyuxuan/visualdet3d_ros
• Owner: Owen-Liuyuxuan
• Created: 2021-09-23T10:09:18.000Z (about 3 years ago)
• Default Branch: master
• Last Pushed: 2023-10-02T04:16:47.000Z (about 1 year ago)
• Last Synced: 2023-10-02T05:28:23.763Z (about 1 year ago)
• Language: Python
• Size: 9.03 MB
• Stars: 22
• Watchers: 1
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: readme.md

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README

        
## YOLO3D ROS Node

This repo contains a Monocular 3D detection Ros node. Base on https://github.com/Owen-Liuyuxuan/visualDet3D.

**Update (2023-10-2)**: This repo now also supports inference from [FSNet/VisionFactory](https://github.com/Owen-Liuyuxuan/visionfactory). Use the ```mono3d_node.py``` and the ```mono3d.launch``` instead. Existing models from visualDet3D are still well-supported by ```yolo3d_node.py/yolo3d.launch```

We have also provided a [cookbook](https://owen-liuyuxuan.github.io/papers_reading_sharing.github.io/3dDetection/my_cookbook/#synthetic-cookbook-for-usingtestingdemonstrating-visualdet3d-in-ros) on how to utilize the open-source tool chains. 

All parameters are exposed in the launch file.

![image](doc/yolo3d_ros_realtime.gif)

**Notice**: This node only takes image and camera_info as input, the outputs are bounding boxes. 

### Setup

Install ROS, tested on Ubuntu 18.04, ROS melodic.

Enable rospy in Python3 (this should not affect Python2), but it **does not** enable **tf** in Python3.

```bash

sudo apt-get install python3-catkin-pkg-modules

sudo apt-get install python3-rospkg-modules

```

Clone this repo into a ROS workspace and run

```bash

catkin_make

source devel/setup.bash

```

under the workspace folder.

Also modify the launch file.

### Subscribed Topics

image_raw ([sensor_msgs/Image](http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))

A stream of rectifiled image to be predicted using monodepth.

camera_info ([sensor_msgs/CameraInfo](http://docs.ros.org/en/api/sensor_msgs/html/msg/CameraInfo.html))

Camera calibration information of the rectified image.

### Published Topics

bboxes ([visualization_msgs/MarkerArray](http://docs.ros.org/en/noetic/api/visualization_msgs/html/msg/MarkerArray.html))

Predicted bboxes 3D objects.