Preception

WIP Autonomous Driving Perception (with conjunction with Udacity Simulator)

Simulator

Download prebuilt binaries

Build

Build project
- Release bazel build //...
- Debug bazel build -c dbg //...
Run Unit Tests bazel test //... --test_output=all

Dependencies

Install all the required dependencies:

sudo apt-get install -y build-essential gcc g++ lcov make cmake
sudo apt-get install -y openjdk-11-jdk openjdk-11-jre
sudo apt-get install -y libtool clang-format-6.0
sudo apt-get install -y git curl
sudo apt-get install -y wget
sudo apt-get install -y libuv1-dev libssl-dev

TensorFlow

To build libtensorflow_cc.so

~/$ git clone https://github.com/tensorflow/tensorflow.git
~/$ git checkout v2.3.0
~/$ cd tensorflow
~tensorflow/$ bazel build -c opt --config=monolithic //tensorflow:libtensorflow_cc.so //tensorflow:install_headers
~tensorflow/$ cd bazel-bin/tensorflow
~tensorflow/bazel-bin/tensorflow$ mkdir -p libtensorflow_cc-2.3.0-linux/include libtensorflow_cc-2.3.0-linux/lib
~tensorflow/bazel-bin/tensorflow$ cp -R include/* libtensorflow_cc-2.3.0-linux/include 
~tensorflow/bazel-bin/tensorflow$ cp -P libtensorflow_cc.so libtensorflow_cc.so.2 libtensorflow_cc.so.2.3.0 libtensorflow_cc-2.3.0-linux/lib/
~tensorflow/bazel-bin/tensorflow$ tar cvzf libtensorflow_cc-2.3.0-linux.tar.gz libtensorflow_cc-2.3.0-linux

Package libtensorflow_cc-2.3.0-linux.tar.gz contains required tensorflow libraries.

TensorFlow Lite

To build libtensorflowlite.so

~/$ git clone https://github.com/tensorflow/tensorflow.git
~/$ git checkout v2.3.0
~/$ cd tensorflow
~tensorflow/$ bazel build -c opt --config=monolithic //tensorflow/lite:libtensorflowlite.so
~tensorflow/$ cd bazel-bin/tensorflow/lite
~tensorflow/bazel-bin/tensorflow$ mkdir -p libtensorflowlite-2.3.0-linux/include libtensorflowlite-2.3.0-linux/lib
~tensorflow/bazel-bin/tensorflow$ cp --parents -r ~tensorflow/lite/**/**/*.h libtensorflowlite-2.3.0-linux/include 
~tensorflow/bazel-bin/tensorflow$ cp -P libtensorflowlite.so libtensorflowlite-2.3.0-linux/lib/
~tensorflow/bazel-bin/tensorflow$ tar cvzf libtensorflowlite-2.3.0-linux.tar.gz libtensorflowlite-2.3.0-linux

Package libtensorflowlite-2.3.0-linux.tar.gz contains required tensorflowlite libraries.

OpenCV

Install OpenCV v4.x

On macOS, run brew install opencv.

On Ubuntu or other linux systems, run following commands to build OpenCV from source and install.

export OPENCV_VERSION="4.2.0"
wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
unzip ${OPENCV_VERSION}.zip && rm -rf ${OPENCV_VERSION}.zip && \
mkdir -p opencv-${OPENCV_VERSION}/build
cd opencv-${OPENCV_VERSION}/build && \
cmake -DBUILD_TESTS=OFF -DBUILT_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF -DWITH_LIBV4L=ON -DWITH_OPENGL=ON .. && \
make -j8 && \
make install && \
cd -
rm -rf opencv-${OPENCV_VERSION}

Supported OS

Currently project works (tested) on following Operating Systems:

macOS Catalina > v10.15
Ubuntu 18.04
Docker Engine v2.1.0 (stable)

Third Party

Repository uses some of the third party library as follows, which are being downloaded and linked with Bazel Rules defined in WORKSPACE and bazel/ of this repository.

lucianzhong / perception