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LiDAR Detection (Issue #368) #417
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Everything looks awesome. Just a few comments I left
data/navigator_default.rviz
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What's with all the changes to the default rviz config?
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Was this a rebase?
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I added a group for object detection/tracking, and the rest of the changes are just the position I had the camera at. Here is the most important part of the changes:
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Detected
Namespaces:
object_bounding_box: true
object_tag: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /viz/detected/objects3d
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Tracked
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /viz/tracked/objects3d
Value: false
Enabled: true
Name: 3D Objects
src/perception/lidar_detection/lidar_detection/complex_yolov4/README.md
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…ator into feature/yolo_detection_3d Updating the branch.
Hi Gueren. Please don't hardcode the paths to model configs/weights, change it so they pass them through ros params. There's a reason I used MMDetection. That is, you can take any state-of-the-art model (a lot of them better than ComplexYOLO) from MMDetection package and use it for inference. By hardcoding the configs/weights the key functionality of my package is lost. Thanks, P.S. in the future just communicate with others if you are going to edit and remove their code. Communication is key, y'know? I'm a nice guy, I promise, just reach me out on teams. Like really, our packages should've been split instead of combined the way it is to prevent any issues. |
- Added checkpoint_path and config_path to the params of LidarDetectionNode - Fixed MMDetection3DModel class to take checkpoint and config arguements
Description
Implemented a lidar detection node that combines the MMDetection3D and the ComplexYOLOv4 models for the Object classification (Lidar) Issue.
Usage
To test the new feature do the following:
complex_yolov4_mse_loss.pth
filecomplex_yolov4_mse_loss.pth
into the directorynavigator/data/perception/checkpoints/complex_yolov4_mse_loss.pth
/navigator
# *object3d_launch_entities,
inlaunches/launch.perception.py
docker compose run navigator_carla
colcon build --symlink-install --packages-select lidar_detection && source install/setup.bash
ros2 launch launches/launch.vehicle.py
/navigator
docker compose run navigator_carla
ros2 bag play /bags/2024/bag_2024-02-09_Demo/
or other bag