CenterPoint TensorRT#
This is a 3D object detection implementation of CenterPoint supporting TensorRT inference.
The models are trained with OpenPCDet
Parameters#
Input Topics#
| Name | Type | Description |
|---|---|---|
| input/pointcloud | PointCloud2 | Point Clouds (x, y, z and intensity) |
Output Topics#
| Name | Type | Description |
|---|---|---|
| output/objects | DynamicObjectWithFeatureArray | 3D Bounding Box |
| debug/pointcloud_densification | PointCloud2 | multi-frame pointcloud |
ROS Parameters#
| Name | Type | Description | Default |
|---|---|---|---|
| score_threshold | float | detected objects with score less than threshold are ignored | 0.4 |
| densification_base_frame | string | the base frame id to fuse multi-frame pointcloud | map |
| densification_past_frames | int | the number of past frames to fuse with the current frame | 1 |
| use_cuda_preprocessor | bool | transform pointcloud to voxel-format on GPU | false |
| use_vfe_trt | bool | use TensorRT VoxelFeatureEncoder | false |
| use_head_trt | bool | use TensorRT DetectionHead | true |
| trt_precision | string | TensorRT inference precision: fp32 or fp16 |
fp16 |
| vfe_onnx_path | string | path to VoxelFeatureEncoder ONNX file | |
| vfe_engine_path | string | path to VoxelFeatureEncoder TensorRT Engine file | |
| vfe_pt_path | string | path to VoxelFeatureEncoder TorchScript file | |
| head_onnx_path | string | path to DetectionHead ONNX file | |
| head_engine_path | string | path to DetectionHead TensorRT Engine file | |
| head_pt_path | string | path to DetectionHead TorchScript file |
For Developers#
If you have an error like 'GOMP_4.5' not found, replace the OpenMP library in libtorch.
sudo apt install libgomp1 -y
rm /path/to/libtorch/lib/libgomp-75eea7e8.so.1
ln -s /usr/lib/x86_64-linux-gnu/libgomp.so.1 /path/to/libtorch/lib/libgomp-75eea7e8.so.1
Reference#
Yin, Tianwei, Xingyi Zhou, and Philipp Krähenbühl. "Center-based 3d object detection and tracking." arXiv preprint arXiv:2006.11275 (2020).