Difference between revisions of "TB3 ROS OpenCL Caffe"
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Investigation | Investigation |
Revision as of 19:49, 7 July 2018
Reference
Prerequisite
- Done: Ubuntu 16.04
- Done: ROS kinetic
- Done: RGB Camera
Environment Setup
- ROS Kinetic - See TR3_Intel_ROS_Project#Software_Environment
- Catkin Workspace - See TR3_Intel_ROS_Project#Software_Environment
- clCaffe TB3 clCaffe - Done - This step is misleadingly involved. It is also finicky. It took me several trials to get it right. Once done, it doesn't appear that difficult. It is easy to miss a detail that puts you on a bad path. Furthermore, there is a lot of glue here to stitch together components from diverse environments, for example, ROS catkin, classic Ubuntu, rpm, Debian, and OpenCL.
- Create a symbol link in /opt/clCaffe
$ sudo ln -s /home/eepp/code/clCaffe/ /opt/clCaffe
- Add clCaffe libraries to LD_LIBRARY_PATH to the .bashrc file.
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/clCaffe/build/lib
- Install ROS package for different cameras as needed. See TR3_Intel_ROS_Project#Environment_Setup
Building and Installing
- object_msgs has already been installed. See TR3_Intel_ROS_Project#Package:_Object_Msgs_.281.29
$ cd ~/catkin_ws/src/ $ git clone https://github.com/intel/ros_opencl_caffe $ cd ~/catkin_ws/ $ catkin_make ... [ 98%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/opencl_caffe/unittest_detector [ 98%] Built target unittest_detector [100%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/movidius_ncs_stream/unittest_stream_detection [100%] Built target unittest_stream_detection $ catkin_make install $ source install/setup.bash $ cp ~/catkin_ws/src/ros_opencl_caffe/opencl_caffe/resources/voc.txt /opt/clCaffe/data/yolo/
Running Demo
$ roslaunch opencl_caffe_launch usb_cam_viewer.launch
Holly Shit it did something.
Investigation
$ cd /home/eepp/ros_packages/roslaunch_to_dot $ python roslaunch-to-dot.py --png ~/catkin_ws/install/share/opencl_caffe_launch/launch/opencl_caffe_nodelet.launch caffe_nodelet.dot $ gimp caffe_nodelet.png
This did not help: clCaffe
$ export CAFFE_ROOT=$HOME/code/clCaffe