This project visualizes the real-time object detection and tracking with point clouds only. It uses feature-self-attention mechanism to improve the accuracy of the detection.
Before you compile this project, you need to put the rosbag into the proper directory.
Put the rosbag named 2024-04-16-16-27-12.bag into /home/ez/project/detr/bag/
eg. /home/ez/project/detr/bag/2024-04-16-16-27-12.bag
conda env create -f environment.yml
conda activate OpenPCDet
cd /home/ez/project/detr/
source devel/setup.bash
roslaunch detr detect.launch
roslaunch detr tracking.launch
This node only visualizes the images and the relevent point clouds real time.
roslaunch detr visualization.launch
This project was accomplished on June 1, 2024 and was first upload to the github on March 10, 2025.
Contact Email: 2110539202@qq.com