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darkscnn_caffe_cv.dnn's Introduction

darkscnn_caffe_cv.dnn

using cv:dnn caffe to load and inference darkscnn models with ros1 integration. It doesn't need caffe modules if you compile CV with CUDA support.

bug

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.5.5) /home/s95huang/Downloads/opencv-4.5.5/modules/dnn/src/dnn.cpp:3231: error: (-215:Assertion failed) biasLayerData->outputBlobsWrappers.size() == 1 in function 'fuseLayers'

  • looks like model error

    • The output should be 1 X 13 X img_size.
    • The cv.dnn deployment method causes dimmension mismatch.
    • Aborting further development

Apollo's method

  • Apollo deployed this caffe model by using TensorRT API to replace some components with equivalent CUDA ops.

    • For example, slice layer from caffe is rewritten using CUDA layer.

  • Models are obtained from Apollo's Github repo.

    • Please refer to their website for licenses etc.

ref

https://docs.opencv.org/4.5.5/d5/de7/tutorial_dnn_googlenet.html

https://github.com/ApolloAuto/apollo

darkscnn_caffe_cv.dnn's People

Contributors

chenzjut avatar s95huang avatar

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darkscnn_caffe_cv.dnn's Issues

代码编译, launch 正常，无法读取模型文件

process[lane_detection_node-1]: started with pid [1305791]
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.2.0) ../modules/dnn/src/caffe/caffe_io.cpp:1121: error: (-2:Unspecified error) FAILED: fs.is_open(). Can't open "$(find darkscnn_caffe)/data/deploy.prototxt" in function 'ReadProtoFromTextFile'

[lane_detection_node-1] process has died [pid 1305791, exit code -6, cmd /mnt/0c39e9c4-f324-420d-a1e9-f20a41d147a8/personal_repos/darkscnn_caffe_cv.dnn/devel/lib/darkscnn_caffe/darkscnn_caffe_node __name:=lane_detection_node __log:=/home/s95huang/.ros/log/bf894504-b99c-11ed-bf0d-7101d7d7abfb/lane_detection_node-1.log].
log file: /home/s95huang/.ros/log/bf894504-b99c-11ed-bf0d-7101d7d7abfb/lane_detection_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

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