Notice

This repo will be moved to https://github.com/roadview-project

How to Build

Configure

Open the CmakeList.txt Point the libraraies on your system.

Create a build folder

mkdir build

catkin build

catkin_make

run the dummy point publisher

1. Open a terminal
2. cd to the catkin workspace
3. run source devel/setup.bash
4. run rosrun outdet point_publisher This will read a point cloud in KITTI format and publish it continuously. Replace the file path with your point cloud.

run the tensorRT inference

1. Open a terminal
2. cd to the catkin workspace
3. run source devel/setup.bash
4. run rosrun outdet filter_with_outdet This will run TensorRT inference in C++, the code needs to be optimized and paralellized based on the environment. The node will extract the 10 meter front view in the point cloud and run 3D-OutDet on it, then the node will publish the filtered point cloud which can be accessed with the topic name /desnowed_cloud