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README.md

topic_ws| blog

ROS implementation of IOU-SSD, deep learning based 3D object detection algorithm <<<<<<< HEAD 中文博客教程blog

3D object detection tools

author: liangzhao

Using ROS achieve online detection

This is the official implementation of Seg-RCNN and IOU-SSD through ROS

introduction

Deep learning based 3D obejct detection.

src/object_detect

installation

(1) Clone this repository.

git  clone <>

(2) Setup Python environment.

virtualenv -p /usr/bin/python3.6   venv
source venv/bin/activate 
pip install -r src/requirement.txt 

(3) install cuda cudnn nvidia dirver .etc

pip install torch==1.4.0 torchvison=0.5.0 etc 

(4)

install spconv install ros_numpy please search in github install c++ function in topic_ws/src/bject_detect/for_ros/iou3d_nm install c++ function in topic_ws/src/object_detect/for_ros/pointnet2

usage

train on KITTI/Leishen dataset.

test on KITTI/Leishen rosbag

prepare data

(1) download rosbag.(1)kitti rosbag(2) leishen rosbag

(2) download kitti dataset

baidudisk
password:w0fg

(3)dowloadd weights model

model1 model2 model3 cat these three files into one by following commond cat checkpoint_epoch_80_pack.pth_a* >checkpoint_epoch_80.pth

online detection

(1) run model in leishen rosbag firts play a leishen rosbag , then

cd topic_ws
source venv/bin/activate
source catkin_workspace/install/setup.bash
cd src/object_detect/leishen/single_stage_model
python IOU_SSD_leishen_detection.py

or

cd topic_ws
source venv/bin/activate
source catkin_workspace/install/setup.bash
cd src/object_detect/tools/
python IOU_SSD_detection.py 

(2)run model in kitti rosbag firts play a leishen rosbag , then

cd topic_ws
source venv/bin/activate
cd src/object_detect/for_ros
python real_time_detect.py

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