How to Install Caffe for SSD vision detector

Updated as of 2018-07-04

1. Complete the pre-requisites.

2. Clone the SSD Caffe fork in your home directory (CMake files will be looking for it there).

% git clone -b ssd https://github.com/weiliu89/caffe.git ssdcaffe
% cd ssdcaffe
% git checkout 4817bf8b4200b35ada8ed0dc378dceaf38c539e4

1. Follow the authors’ instructions to complete the pre-requisites for compilation.

2. Compile Caffe:

make && make distribute

1. Download pre-trained models as provided at https://github.com/weiliu89/caffe/tree/ssd, or use your own.

Once compiled, run from the terminal, or launch from RunTimeManager:

% roslaunch vision_ssd_detect vision_ssd_detect network_definition_file:=/PATH/TO/deploy.prototxt pretrained_model_file:=/PATH/TO/model.caffemodel

Remember to modify the launch file located inside AUTOWARE_BASEDIR/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/launch/vision_ssd_detect.launch and point the network and pre-trained models to your paths.

Launch file params

Notes

Remember to modify the deploy.prototxt to use the FULL PATH to the VOC label prototxt file.

Open the file $SSDCAFFEPATH/models/VGGNet/VOC0712/SSD_512x512/deploy.prototxt

Change line 1803 to point to the full path of the labelmap_voc.prototxt file.

Changelog for package vision_ssd_detect

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Fix/remove obsolete range fusion (#1884)
  • Remove obsolete range_fusion
  • Removed range_fusion ui entry
  • Remove obsolete lidar_tracker_libs_fusion
  • Removed fusion dependency from vision_ssd_detect package
• Initial release of object filter
• Contributors: Abraham Monrroy, Abraham Monrroy Cano, Servando, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• [fix] SSD detector, cmake colcon (#1837)
  • Fixes for new colcon script on ssd cuda based node
  • Fixed to RTM and darknet launch files
  • catkin_fix
  • • catkin & colcon build successfully
  • reverted back run to devel space (for the time being)
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Feature/perception visualization cleanup (#1648)
  • • Initial commit for visualization package
  • Removal of all visualization messages from perception nodes
  • Visualization dependency removal
  • Launch file modification
  • • Fixes to visualization
  • Error on Clustering CPU
  • Reduce verbosity on markers
  • intial commit
  • • Changed to 2 spaces indentation
  • Added README
  • Fixed README messages type
  • 2 space indenting
  • ros clang format
  • Publish acceleration and velocity from ukf tracker
  • Remove hardcoded path
  • Updated README
  • updated prototype
  • Prototype update for header and usage
  • Removed unknown label from being reported
  • Updated publishing orientation to match develop
  • • Published all the trackers
  • Added valid field for visualization and future compatibility with ADAS ROI filtering
  • Add simple functions
  • Refacor code
  • • Reversed back UKF node to develop
  • Formatted speed
  • Refactor codes
  • Refactor codes
  • Refactor codes
  • Refacor codes
  • Make tracking visualization work
  • Relay class info in tracker node
  • Remove dependency to jskbbox and rosmarker in ukf tracker
  • apply rosclang to ukf tracker
  • Refactor codes
  • Refactor codes
  • add comment
  • refactor codes

  * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

  • delete dependency to jsk and remove pointcloud_frame
  • get direction nis
  • set velocity_reliable true in tracker node
  • Add divided function
  • add function
  • Sanity checks
  • Relay all the data from input DetectedObject
  • Divided function work both for immukf and sukf
  • Add comment
  • Refactor codes
  • Pass immukf test
  • make direction assisted tracking work
  • Visualization fixes
  • Refacor codes
  • Refactor codes
  • Refactor codes
  • refactor codes
  • refactor codes
  • Refactor codes
  • refactor codes
  • Tracker Merging step added
  • Added launch file support for merging phase
  • lane assisted with sukf
  • Refactor codes
  • Refactor codes
  • • change only static objects
  • keep label of the oldest tracker
  • Static Object discrimination
  • Non rotating bouding box
  • no disappear if detector works
  • Modify removeRedundant a bit
  • Replacement of JSK visualization for RViz Native Markers
  • Added Models namespace to visualization
  • Naming change for matching the perception component graph
  • • Added 3D Models for different classes in visualization
  • 2D Rect node visualize_rects added to visualization_package
• Fix Ros/ROS naming convention
• Fix Ssd/SSD naming convention
• Contributors: Abraham Monrroy Cano, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• Moved configuration messages to autoware_config_msgs
• [fix] Updated ssd readme (#1613)
• Feature/beyond pixel tracker (#1473)
  • Add beyond_pixel node
  • Update prototype of beyond pixel (#1430)
  • Add parser of DetectedObjectArray for beyond tracker(#1430)
  • • Adaptations to the original code
  • Added README
  • Added Runtime Manager entry
  • Added Video link
  • Added install commands for cmake
  • • Add ID only to tracked objects
  • Display valid IDs on the 3D labels
  • Display only objects with image coords
  • • Added Minimum dimensions
  • Register angle from the vision tracker if available
  • Keep message publishing rate continuous
  • Revert platform_automation_msgs (#1498)
  • Code cleanup
  • Fixed a crash when the dimensions are outside of the image
  • Fix annoying catkin_make causing to run twice the Cmake generation
• Contributors: Abraham Monrroy, Esteve Fernandez

1.8.0 (2018-08-31)

• Feature/std perception msg (#1418)
  • New standard message definition for the perception nodes
  • New Detected Object message applied to:
  • SSD
  • Integrated RVIZ viewer
  • External Viewer
  • modified yolo2 and yolo3, compiles but cuda issues, trying different PC
  • Boiler plate for range vision fusion node

  * Added GenColors for Kinetic Typo fixes for yolo2

  • testing colors in Yolo3
  • Completed transformation, projection of 3D boxes
  • Fixed error on negative assignation
  • code clean up
  • removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC.
  • Readme updated, added gitignore for data folder.

  * Added Runtime manager UI for yolo2, yolo3.Support tested for TinyYolo v2 and v3 * Fusion Vision Range Icons for viewer

  • Range Vision Fusion node
  • Indigo cv im read
  • Indigo compiation fix
  • Topic renaming according to new spec
  • Try to fix arm64 stuff
  • • Added launch file
  • Added Runtime manager entry
  • • Added Publication of non fused objects
  • Fixed topic names
• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Feature] Cross compile Autoware for aarch64 (#1375)
• Contributors: Abraham Monrroy, Esteve Fernandez

1.7.0 (2018-05-16)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Remove history of sub-branches
• Add automatically-generated CHANGELOG.rst
• [Fix] rename packages (#1269)
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • Rename road_wizard to trafficlight_recognizer
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • removed unnecessary comments
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename road_wizard to trafficlight_recognizer
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • Fix bug for not starting run time manager
  • Remove invalid dependency
• Contributors: Kenji Funaoka, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

1.6.1 (2018-01-20)

1.6.0 (2017-12-11)

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)