AbangLZU / Voxelnetros
implement the VoxelNet with ROS, using Kitti data to test
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Programming Languages
python
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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
- unfortunately,
ROS Node
Rviz Animation
Future Work
- Retrain the model
- Still too slow, need more efficient implementation for the VoxelNet
- code clean
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