How to install SSD Caffe for Autoware

Caffe Prerequisites

  1. sudo apt-get install libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler
  2. sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev
  3. sudo apt-get install libatlas-base-dev

Clone SSD fork of Caffe

  1. Go to your home directory
  2. Clone the code: git clone https://github.com/weiliu89/caffe.git ssdcaffe
  3. Move inside the directory cd ssdcaffe
  4. Checkout compatible API version git checkout 5365d0dccacd18e65f10e840eab28eb65ce0cda7
  5. Create config file cp Makefile.config.example Makefile.config
  6. Start building make
  7. Once completed execute make distribute
  8. Compile Autoware, Cmake will detect SSD Caffe and compile the SSD nodes.
  9. To test, download the object detection models from:
    http://ertl.jp/~amonrroy/ssd_models/ssd500.zip
    http://ertl.jp/~amonrroy/ssd_models/ssd300.zip
    The 300 model will run faster but won’t provide good results at farther distances. In contrast, the 500 model require more computing power but will detect at lower resolutions(farther objects).
  10. In Autoware’s RTM use the [app] button next to ssd_unc in the Computing Tab. to select the correct image input src and the models path.
    image
  11. Launch the node and play a rosbag with image data.
  12. In Rviz add the ImageViewer Panel
  13. Select the Image topic and the Object Rect topic