How does this project realize visualization in RVIZ of ROS?

sshaoshuai / PointRCNN

PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud, CVPR 2019.

MIT License

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How does this project realize visualization in RVIZ of ROS? #111

Open zhongzhuonan opened 5 years ago

zhongzhuonan commented 5 years ago

Hello, your project is very good.Can I connect to Velodyne64 lidar? Then display the results on the RVIZ of ROS in real time.Please give me some advice if it's convenient.Thank you very much.

muzi2045 commented 5 years ago

it has been test in ros rviz with the pretrained model, in 1080ti it can't be real time, most cost time part is the RPN layer which consist of Pointnet++ module, total cost time per frame between 100ms ~ 150ms， because of the input datasetloader is the FOV camera boundingbox, output of network are also in camera coords, so it can't be visualize in 360 degree range.

zhongzhuonan commented 5 years ago

Thank you for your reply.