stephen20180131/cnn_seg_lidar

Real time 3D semantic segmentation for Lidar, Ros based project

深度学习Lidar障碍物检测模块使用说明(ROS)

Deep learning based obstacle detection module(ROS)

This project use the CNN-Seg model from Baidu Apollo Project. And make it running in ROS.

Dependence

• Ubuntu 16.04
• ROS kinetic
• CUDA 9.0
• Caffe

Update

This project have been test with Ubuntu 18.04 and CUDA 10.0. For Ubuntu 18.04 and CUDA 10.0, you only neet to update the CMake version to > 3.12.2, here I use CMake 3.17.2:

tar -xvf cmake-3.17.2.tar.gz
cd cmake-3.17.2
cmake .
make -j8
sudo make install
sudo update-alternatives --install /usr/bin/cmake cmake /usr/local/bin/cmake 1 --force

then you will see:

cmake version 3.12.2

CMake suite maintained and supported by Kitware (kitware.com/cmake).

Caffe Config

clone the caffe project in your home folder. like this:

cd
git clone https://github.com/BVLC/caffe.git

before install , install the dependencies:

sudo apt-get install libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler
sudo apt-get install --no-install-recommends libboost-all-dev

sudo apt-get install libopenblas-dev

sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev

Then copy our Makefile.config to the caffe folder (replace the older one)

make & make distribute

sudo make -j8
sudo make distribute

if the there is error with opencv, try uncomment this line in Makefile.config:

# OPENCV_VERSION := 3

Build the project

install the catkin build tool:

sudo apt-get install python-catkin-tools

build this project:

catkin build

Run this project

source devel/setup.bash
roslaunch lidar_cnn_seg_detect lidar_cnn_seg_detect.launch