BEVDet by TensorRT, C++, ROS

• This repository contains source code and models for BEVDet online real-time inference using CUDA, TensorRT, ROS1 & C++.

• Modify the record reference modify

1 ENV

• ubuntu-20.04、CUDA-11.3、cuDNN-8.6.0、TensorRT-8.5
• yaml-cpp、Eigen3、libjpeg

2 Build

mkdir -p bev_ws/src
cd bev_ws/src
git clone https://github.com/linClubs/BEVDet-ROS-TensorRT.git
cd ..
catkin_make
source devel/setup.bash

3 Run

1. generate engine

Generate the onnx TensorRT engine reference to bevdet-tensorrt-cpp engine path as follows.

# engine path
BEVDet-ROS-TensorRT
    └──ckpts
        ├── bev_stage_lt_d.engine
        ├── img_stage_lt_d.engine
        └── lt_d.yaml

2. data preparation The rosbag folder can be downloaded from Baidu Netdisk

3. demo test

# 1. start bevdet_node
roslaunch bevdet bevdet_node.launch

# 2  play data
rosbag play nus.bag

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References

• bevdet-tensorrt-cpp

• BEVDet

• mmdetection3d

• nuScenes

• bev感知交流群-472648720, 欢迎各位小伙伴进群一起学习讨论bev相关知识！！！^_^

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