DISCONTINUATION OF PROJECT

This project will no longer be maintained by Intel.

Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.

Intel no longer accepts patches to this project.

If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.

Contact: [email protected]

ros_opencl_caffe

Warning: This repo is deprecated. For latest ROS wrapper for Intel GPU, please refer to our project ros_openvino_toolkit.

See: https://github.com/intel/ros_openvino_toolkit!!

Introduction

OpenCL Caffe(clCaffe) is an OpenCL backend for Caffe from Intel®. With inference optimized by Intel® OpenCL, clCaffe can be used in most scene in high performance, like objects inference.

This project is a ROS wrapper for OpenCL Caffe, providing following features:

• A ROS service for objects inference in a ROS image message
• A ROS publisher for objects inference in a ROS image message from a RGB camera
• Demo applications to show the capablilities of ROS service and publisher

Prerequisite

• An x86_64 computer with Ubuntu 16.04
• ROS Kinetic
• RGB camera, e.g. Intel® RealSense™, Microsoft® Kinect™ or standard USB camera

Environment Setup

• Install ROS Kinetic Desktop-Full (guide)
• Create a catkin workspace (guide)
• Install clCaffe (guide)
• Create a symbol link in /opt/clCaffe

  sudo ln -s <clCaffe-path> /opt/clCaffe

• Add clCaffe libraries to LD_LIBRARY_PATH.

  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/clCaffe/build/lib

• Install ROS package for different cameras as needed. e.g.
  1. Standard USB camera

    sudo apt-get install ros-kinetic-usb-cam

  2. Intel® RealSense™ camera
  • Install Intel® RealSense™ SDK 2.0 (guide). Refer here for more details about Intel® RealSense™ SDK 2.0.
  • Install Intel® RealSense™ ROS (guide)

    cd ~/catkin_ws/src
    git clone https://github.com/intel-ros/realsense.git
    cd  realsense
    git checkout 2.0.0
    cd ~/catkin_ws
    catkin_make

  3. Microsoft® Kinect™ camera

    sudo apt-get install ros-kinetic-openni-launch

Building and Installation

  cd ~/catkin_ws/src
  git clone https://github.com/intel/object_msgs
  git clone https://github.com/intel/ros_opencl_caffe
  cd ~/catkin_ws/
  catkin_make
  catkin_make install
  source install/setup.bash

Copy object label file to clCaffe installation location

  cp ~/catkin_ws/src/ros_opencl_caffe/opencl_caffe/resources/voc.txt /opt/clCaffe/data/yolo/

Running the Demo

Inference

1. Standard USB camera

    roslaunch opencl_caffe_launch usb_cam_viewer.launch

2. Intel® RealSense™ camera

    roslaunch opencl_caffe_launch realsense_viewer.launch

3. Microsoft® Kinect™ camera

    roslaunch opencl_caffe_launch kinect_viewer.launch

Service

  roslaunch opencl_caffe_launch opencl_caffe_srv.launch

Test

Use rostest for tests

  source devel/setup.bash
  rostest opencl_caffe service.test
  rostest opencl_caffe detector.test

Known Issues

• Only image messages supported in service demo
• Only test on RealSense D400 series camera, Microsoft Kinect v1 camera and Microsoft HD-300 USB camera

TODO

• Support latest clCaffe

Any security issue should be reported using process at https://01.org/security