下载PointRCNN和这个包
使用rosrun ros_pointrcnn ros_pointrcnn.py -h
查看参数意义
rosrun ros_pointrcnn ros_pointrcnn.py -s /home/ou/workspace/code/PointRCNN -m /home/ou/workspace/code/PointRCNN/tools/PointRCNN.pth -c /home/ou/workspace/ros_ws/pointrcnn_ws/src/ros-pointrcnn/src/config/pointrcnn.yaml -t /excavator/lidar_perception/viz_cloud_0
检测结果如下