GitHub:https://github.com/PRBonn/rangenet_lib
本机环境:cudnn 8.0 cudas 10.2 tensorrt 7.1.3
点云语义分割网络RangeNet++
RangeNet++配置参考:
- Jetson Xavier NX 自带cuda,cudnn和TensorRT,因此需要按照这个步骤先测试一下环境:
https://blog.csdn.net/weixin_43527977/article/details/130705921 - 按照这个链接,主要修改一下代码:
https://blog.csdn.net/weixin_44793883/article/details/120659876 - 作为补充:
https://blog.csdn.net/weixin_40826634/article/details/127836169
https://blog.csdn.net/weixin_46118817/article/details/125155602?spm=1001.2014.3001.5501
测试demo
下载预训练模型:https://www.ipb.uni-bonn.de/html/projects/semantic_suma/darknet53.tar.gz(解压)
测试数据文件:example/000000.bin.
# go to the root path of the catkin workspace
$ cd ~/catkin_ws
# use --verbose or -v to get verbose mode
$ ./devel/lib/rangenet_lib/infer -h # help
$ ./devel/lib/rangenet_lib/infer -p /path/to/the/pretrained/darknet53 -s /path/to/the/000000.bin --verbose
注:如果有编译不通过,可以先删除build中对应的ranglib文件夹再编译