Dynamic Object Detection using PointPillar

simple program for detect 3D objects in oudoor using torch implementation of PointPillar with ROS1 noetic

• input : Ouster Lidar pointcloud topic
• output : bounding boxes (by custom msg), rviz marker

How to use

1. installation

cd catkin_ws/src
git clone https://github.com/KRISO-MIR-Lab/DL_based_dynObjDet.git

# -------------------------terminal in the container-----------------
cd DL_based_dynObjDet
conda create -n test python=3.7
conda activate test

cd PointPillars/
pip install -r requirements.txt
python setup.py build_ext --inplace
pip install .

cd dynObjDet
cd src

git clone https://github.com/zhulf0804/PointPillars.git

chmod +x src/prediction.py

2. build with catkin_make or build.
3. rosrun dynObjDet prediction.py

When you use