lidar_instance_segmentation_tvm

Getting Started

1. Build and install tvm
   Please refer to https://tvm.apache.org/docs/install/from_source.html
   Download pre-build bainaries llvm or build it from source. https://releases.llvm.org/download.html and edit build/config.cmake

set(USE_CUDA ON)
set(USE_LLVM /path/to/your/llvm/bin/llvm-config)

2 )Clone and copy the following package

• autoware_perception_msgs
• dynamic_object_visualization

cd <your catkin_ws>/src
git clone https://github.com/tier4/lidar_instance_segmentation_tvm.git
git clone https://github.com/tier4/autoware.iv.universe.git /tmp/autoware.iv.universe
cp -r /tmp/autoware.iv.universe/common/msgs/autoware_perception_msgs .
cp -r /tmp/autoware.iv.universe/perception/util/visualizer/dynamic_object_visualization .
catkin b

3. Download the pre-trained model and compile the tvm model
   Requires python 3.7 or higher.

pip install -r requirements.txt
python prepare_model.py

4. Run

roslaunch lidar_instance_segmentation_tvm lidar_instance_segmentation.launch