Second

This package contains the second model that performs 3D object detection from pointcloud data.

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Setting up the environment and installing dependencies

Current Environment

• ROS Melodic
• Ubuntu 18.04
• NVIDIA GeForce 940MX

Please install all dependencies required for the second.pytorch model.

Please note that this repo requires Python 3.6+. If you are using ROS Melodic, please build ROS from source to ensure rospy runs with Python3.

Setting up the package

Clone project into catkin_ws and build it

$ cd ~/catkin_ws && catkin_make
$ source devel/setup.bash

Download rosbag files for testing

To download rosbags for testing, please follow the link to get a kitti.bag for testing.

Using the package

Running the package

$ roslaunch second_ros second_kitti.launch

Future improvements

• Test model inference on NVIDIA Jetson Xavier
• Inference with ONNX or TensorRT
• Add pointpillar/TANET support

Licenses and References

I referenced original implementation of second.pytorch which is under MIT License