PointPillars Inference with TensorRT

Prerequisites

To build the pointpillars inference, TensorRT with PillarScatter layer and CUDA are needed. PillarScatter layer plugin is already implemented as a plugin for TRT in the demo.

Environments

• Nvidia Jetson Xavier/Orin + Jetpack 5.0
• CUDA 11.4 + cuDNN 8.3.2 + TensorRT 8.4.0

Compile && Run

!python visualize_point_cloud.py --bin_file /path/to/your/point_cloud.bin --pred_file /path/to/your/prediction.txt

References

• Detecting Objects in Point Clouds with NVIDIA CUDA-Pointpillars
• PointPillars: Fast Encoders for Object Detection from Point Clouds