How to Install Caffe for SSD vision detector¶

Updated as of 2018-07-04

Complete the pre-requisites.
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

Follow the authors’ instructions to complete the pre-requisites for compilation.
Compile Caffe:

make && make distribute

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¶

Parameter	Type	Description	Default
`use_gpu`	Bool	Whether to use or not GPU acceleration.	`true`
`gpu_device_id`	Integer	ID of the GPU to be used.	`0`
`score_threshold`	Double	Value between 0 and 1. Defines the minimum score value to filter detections.	`0.5`
`network_definition_file`	String	Path to the prototxt file .	`$SSDCAFFEPATH/models/VGGNet/VOC0712/SSD_512x512/deploy.prototxt`
`pretrained_model_file`	String	Path to the prototxt file .	`$SSDCAFFEPATH/models/VGGNet/VOC0712/SSD_512x512/VGG_VOC0712_SSD_512x512_iter_120000.caffemodel`
`camera_id`	String	Camera ID to subscribe, i.e. `camera0`	`/`
`image_src`	String	Name of the image topic to subscribe to	`/image_raw`

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.