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autoware入门教程-安装SSD

autoware入门教程-安装SSD

说明:

  • 介绍如何在autoware小车中安装SSD
  • 测试环境:jetpack3.3

步骤:

安装SSD步骤:

git clone -b ssd https://github.com/weiliu89/caffe.git ssdcaffe
cd ssdcaffe
git checkout 4817bf8b4200b35ada8ed0dc378dceaf38c539e4
  • 配置
cp Makefile.config.example Makefile.config
  • 修改Makefile.config
  • 分别设置
USE_CUDNN := 1
USE_OPENCV := 1
OPENCV_VERSION := 3
CUDA_ARCH := -gencode arch=compute_30,code=sm_30 \
             -gencode arch=compute_35,code=sm_35 \
             -gencode arch=compute_50,code=sm_50 \
             -gencode arch=compute_52,code=sm_52 \
             -gencode arch=compute_61,code=sm_61

INCLUDE_DIRS := $(PYTHON_INCLUDE) /usr/local/include  /usr/include/hdf5/serial/
  • 编译
make && make distribute
roscd vision_ssd_detect/launch
vim vision_ssd_detect.launch
  • 修改对应文件:
    <arg name="network_definition_file" default="$(env HOME)/ssdcaffe/models/VGGNet/VOC0712/SSD_512x512_ft/deploy.prototxt"/>
    <arg name="pretrained_model_file" default="$(env HOME)/ssdcaffe/models/VGGNet/VOC0712/SSD_512x512_ft/VGG_VOC0712_SSD_512x512_ft_iter_120000.caffemodel"/>
  • 再修改deploy.prototxt文件中的labelmap_voc.prototxt为实际路径
save_output_param {
  label_map_file: "/home/ubuntu/ssdcaffe/data/VOC0712/labelmap_voc.prototxt"
}
  • 运行
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64:~/ssdcaffe/build/lib
roslaunch vision_ssd_detect vision_ssd_detect.launch
  • 如果没有vision_ssd_detect.launch,则重新编译一次autoware,参考
  • 如果没错误出现,则说明安装完成

参考:

  • https://gitlab.com/autowarefoundation/autoware.ai/core_perception/tree/master/vision_ssd_detect

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