![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]
Messages
Services
Plugins
Recent questions tagged pcdet_ros2 at Robotics Stack Exchange
![]() |
pcdet_ros2 package from pcdet_ros2 repopcdet_ros2 |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | MIT |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | ROS 2 Wrapper for OpenPCDet |
Checkout URI | https://github.com/pradhanshrijal/pcdet_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-02-06 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shrijal Pradhan
Authors
pcdet_ros2
This is a ROS 2 Wrapper for [OpenPCDet]
.
Test System
- Computation: i9-12900K, GPU 4080
- System Setup:
- Ubuntu 22.04, ROS 2 Humble
- CUDA 11.7, CuDNN 8.5.0.96
- Python 3.10, PyTorch 2.0
- OpenPCDet Version:
v0.6.0
Status
- Successfully Tested with Kitti 3D Object Detection and nuScenes based models.
- The package can be used for deployment of the models. For deployment it is not necessary to download the dataset, it will directly work with the input pointcloud.
Content
OpenPCDet Installation
Quick Installation compatible with the setup specified above:
git clone https://github.com/open-mmlab/OpenPCDet
python3 -m pip install torch torchvision torchaudio
python3 -m pip install tensorflow
python3 -m pip install spconv-cu117
cd OpenPCDet
python3 -m pip install -r requirements.txt
python3 setup.py develop
python3 -m pip install kornia open3d
python3 -m pip install pyquaternion
Please refer to OpenPCDet’s INSTALL.md for the original installations instructions of OpenPCDet
. Try the Quick Demo to verify installations.
- This project provides a docker installation reference DOCKER_INSTALL.md which is highly recommended.
Installation
Build the Packages
# GOTO the ros 2 workspace
cd src/
git clone https://github.com/Box-Robotics/ros2_numpy -b humble
python3 -m pip install catkin_pkg
sudo apt install ros-humble-ament-cmake-nose -y
python3 -m pip install nose
python3 -m pip install transform3d
git clone https://github.com/pradhanshrijal/pcdet_ros2
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install --packages-select ros2_numpy pcdet_ros2
# Source the workspace
Download the weights
Example:
- Download the PV-RCNN pre-trained weight for the Kitti Dataset
[model-50M]
. - Copy the weight to the checkpoints folder of the pcdet_ros2 package.
Check OpenPCDet’s Model Zoo for available models and weights.
P.S. Symlink connections will save a lot of storage space and help organise the files.
Usage
ros2 launch pcdet_ros2 pcdet.launch.py
Parameters
Parameter | Description |
---|---|
config_file | Local Path to the configuration file for the model. |
model_file | Local Path to the pre-trained weight for the model. |
allow_memory_fractioning | Boolean to activate setting a limit to the GPU Usage. Used together with device_memory_fraction . |
allow_score_thresholding | Boolean to activate the removal of low scored detections. Used together with threshold_array . |
num_features | Parameter to specify data transformation of pointcloud. For Kitti the value is 4 . For nuScenes the value is 5 . |
device_id | ID for the GPU to be used. |
device_memory_fraction | GPU Memory (in GB) used for the detections. Used together with allow_memory_fractioning . |
threshold_array | Threshold values for low scoring detections. Used together with allow_score_thresholding . See the config_file for the list of detections. |
License
pcdet_ros2
is released under the MIT License.
Citation
If you find this project useful in your research, please consider citing the original work:
``` @misc{openpcdet2020, title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
File truncated at 100 lines see the full file
Dependant Packages
Launch files
- launch/parta2_free.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/parta2_free.param.yaml]
- launch/pp_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/pp_multihead_nds.param.yaml]
- launch/second_multihead_nds.launch.xml
-
- params_file [default: $(find-pkg-share pcdet_ros2)/config/cbgs_second_multihead_nds.param.yaml]