Please check this repo for the readme and usage: https://github.com/Kin-Zhang/OpenPCDet_ros
run image to container
# if you want to display open3d, check the reference for more info
xhost +local:docker
docker run -it --net=host --gpus all -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --name pcdet_ros zhangkin/openpcdet:ros /bin/zsh
# if not, simple one
docker run -it --net=host --gpus all --name pcdet_ros zhangkin/openpcdet:ros /bin/zsh
Because it need detect your setups, also you have to run the setup.py inside the container
cd OpenPCDet && python3 setup.py develop
# After screen print: Finished processing dependencies for pcdet==xxx
# Test step cp model and test pcd to container:
docker cp /home/kin/workspace/OpenPCDet/tools/pv_rcnn_8369.pth pcdet:/home/kin/workspace/OpenPCDet/tools/
docker cp /home/kin/workspace/OpenPCDet/tools/test_data/vel_000002.bin pcdet:/home/kin/workspace/OpenPCDet/tools
# test demo
cd tools && python3 demo.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml \
--ckpt pv_rcnn_8369.pth \
--data_path 000002.bin
This image could also used on other methods like IA-SSD which is based on OpenPCDet, like here:
git clone https://github.com/yifanzhang713/IA-SSD.git && cd IA-SSD
python3 setup.py develop
cd tools && python3 demo.py --cfg_file cfgs/kitti_models/IA-SSD.yaml --ckpt IA-SSD.pth --data_path vel_000002.bin
Dockerfile could check here:
Content type
Image
Digest
sha256:5fff63e31…
Size
7.1 GB
Last updated
over 3 years ago
docker pull zhangkin/openpcdet