YOLO3D ROS Node
This repo contains a Monocular 3D detection Ros node. Base on https://github.com/Owen-Liuyuxuan/visualDet3D
All parameters are exposed in the launch file.
Notice: This node only takes image and camera_info as input, the outputs are bounding boxes.
Setup
Install ROS, tested on Ubuntu 18.04, ROS melodic.
Enable rospy in Python3 (this should not affect Python2), but it does not enable tf in Python3.
sudo apt-get install python3-catkin-pkg-modules
sudo apt-get install python3-rospkg-modules
Clone this repo into a ROS workspace and run
catkin_make
source devel/setup.bash
under the workspace folder.
Also modify the launch file.
Subscribed Topics
image_raw (sensor_msgs/Image)
A stream of rectifiled image to be predicted using monodepth.
camera_info (sensor_msgs/CameraInfo)
Camera calibration information of the rectified image.
Published Topics
bboxes (visualization_msgs/MarkerArray)
Predicted bboxes 3D objects.
