This project was based on https://github.com/cedricxie/second_ros

I debugged the original repo and applied it with Pointpillars.

You need to change the paths in scripts/second_ros to your own file correctly

Also, Rviz should be installed, the rosbag of kitti needs to be run.

Below is the readme of the original repo with little modification

Run SECOND as a ROS Node

This project is still work in progress. Feel free to make pull requests and improve the performance together.

It is mostly based on SECOND detector and Voxelnet ROS Implementation. Special thanks to @traveller59, @tigerk0430 and @qianguih!

Instructions

Make sure to modify the paths in the scripts based on your setting accordingly.

Step 1: build package

mkdir catkin_ws && cd catkin_ws
git clone https://github.com/liu-qingzhen/Pointpillars-ROS
cd src
catkin_make && source devel/setup.bash

Step 2: create environment for SECOND (if you already created the environment for seconds or pointpillars, then no need to create this one)

Follow installation and dataset preparation instruction at https://github.com/traveller59/second.pytorch. Miniconda is used to configure the dependencies. Notice that if you have rospy installed in Python 3, you can still use rosrun to launch SECOND as a ROS node.

conda env create -n py36 -f environment.yml
conda activate py36
source add_paths.sh
pip install --user rospkg catkin_pkg

Step 3: launch SECOND as a ROS node

Play a bag from KITTI and see the result!

roslaunch second_ros second_kitt.launch

Video

Check out the SECOND in Rviz at link. The ROS bag is from KITTI raw dataset 2011_09_26_drive_0005.