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kunaltyagikunaltyagi
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OpenCV4 compilation success
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-70
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‎.gitmodules‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
[submodule "darknet"]
22
path = darknet
3-
url = https://github.com/pjreddie/darknet
3+
url = https://github.com/kunaltyagi/darknet

‎darknet‎

Submodule darknet updated 120 files

‎darknet_ros/CMakeLists.txt‎

Lines changed: 48 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,7 @@ cmake_minimum_required(VERSION 2.8.12)
22
project(darknet_ros)
33

44
# Set c++11 cmake flags
5-
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
6-
set(CMAKE_C_FLAGS "-Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC ${CMAKE_C_FLAGS}")
5+
set(CMAKE_CXX_FLAGS "-std=c++11 -Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -fPIC -fpermissive ${CMAKE_CXX_FLAGS}")
76

87
# Define path of darknet folder here.
98
find_path(DARKNET_PATH
@@ -89,42 +88,52 @@ include_directories(
8988
)
9089

9190
set(PROJECT_LIB_FILES
92-
src/YoloObjectDetector.cpp src/image_interface.c
91+
src/YoloObjectDetector.cpp src/image_interface.cpp
9392
)
9493

9594
set(DARKNET_CORE_FILES
96-
${DARKNET_PATH}/src/activation_layer.c ${DARKNET_PATH}/src/im2col.c
97-
${DARKNET_PATH}/src/activations.c ${DARKNET_PATH}/src/image.c
98-
${DARKNET_PATH}/src/avgpool_layer.c ${DARKNET_PATH}/src/layer.c
99-
${DARKNET_PATH}/src/batchnorm_layer.c ${DARKNET_PATH}/src/list.c
100-
${DARKNET_PATH}/src/blas.c ${DARKNET_PATH}/src/local_layer.c
101-
${DARKNET_PATH}/src/box.c ${DARKNET_PATH}/src/lstm_layer.c
102-
${DARKNET_PATH}/src/col2im.c ${DARKNET_PATH}/src/matrix.c
103-
${DARKNET_PATH}/src/connected_layer.c ${DARKNET_PATH}/src/maxpool_layer.c
104-
${DARKNET_PATH}/src/convolutional_layer.c ${DARKNET_PATH}/src/network.c
105-
${DARKNET_PATH}/src/cost_layer.c ${DARKNET_PATH}/src/normalization_layer.c
106-
${DARKNET_PATH}/src/crnn_layer.c ${DARKNET_PATH}/src/option_list.c
107-
${DARKNET_PATH}/src/crop_layer.c ${DARKNET_PATH}/src/parser.c
108-
${DARKNET_PATH}/src/cuda.c ${DARKNET_PATH}/src/region_layer.c
109-
${DARKNET_PATH}/src/data.c ${DARKNET_PATH}/src/reorg_layer.c
110-
${DARKNET_PATH}/src/deconvolutional_layer.c ${DARKNET_PATH}/src/rnn_layer.c
111-
${DARKNET_PATH}/src/demo.c ${DARKNET_PATH}/src/route_layer.c
112-
${DARKNET_PATH}/src/detection_layer.c ${DARKNET_PATH}/src/shortcut_layer.c
113-
${DARKNET_PATH}/src/dropout_layer.c ${DARKNET_PATH}/src/softmax_layer.c
114-
${DARKNET_PATH}/src/gemm.c ${DARKNET_PATH}/src/tree.c
115-
${DARKNET_PATH}/src/gru_layer.c ${DARKNET_PATH}/src/utils.c
116-
${DARKNET_PATH}/src/upsample_layer.c ${DARKNET_PATH}/src/logistic_layer.c
117-
${DARKNET_PATH}/src/l2norm_layer.c ${DARKNET_PATH}/src/yolo_layer.c
118-
119-
${DARKNET_PATH}/examples/art.c ${DARKNET_PATH}/examples/lsd.c
120-
${DARKNET_PATH}/examples/attention.c ${DARKNET_PATH}/examples/nightmare.c
121-
${DARKNET_PATH}/examples/captcha.c ${DARKNET_PATH}/examples/regressor.c
122-
${DARKNET_PATH}/examples/cifar.c ${DARKNET_PATH}/examples/rnn.c
123-
${DARKNET_PATH}/examples/classifier.c ${DARKNET_PATH}/examples/segmenter.c
124-
${DARKNET_PATH}/examples/coco.c ${DARKNET_PATH}/examples/super.c
125-
${DARKNET_PATH}/examples/darknet.c ${DARKNET_PATH}/examples/tag.c
126-
${DARKNET_PATH}/examples/detector.c ${DARKNET_PATH}/examples/yolo.c
127-
${DARKNET_PATH}/examples/go.c
95+
${DARKNET_PATH}/src/activation_layer.cpp ${DARKNET_PATH}/src/activations.cpp
96+
${DARKNET_PATH}/src/avgpool_layer.cpp ${DARKNET_PATH}/src/batchnorm_layer.cpp
97+
${DARKNET_PATH}/src/blas.cpp ${DARKNET_PATH}/src/box.cpp
98+
${DARKNET_PATH}/src/col2im.cpp ${DARKNET_PATH}/src/connected_layer.cpp
99+
${DARKNET_PATH}/src/convolutional_layer.cpp ${DARKNET_PATH}/src/cost_layer.cpp
100+
${DARKNET_PATH}/src/crnn_layer.cpp ${DARKNET_PATH}/src/crop_layer.cpp
101+
${DARKNET_PATH}/src/cuda.cpp ${DARKNET_PATH}/src/data.cpp
102+
${DARKNET_PATH}/src/deconvolutional_layer.cpp ${DARKNET_PATH}/src/demo.cpp
103+
${DARKNET_PATH}/src/detection_layer.cpp ${DARKNET_PATH}/src/dropout_layer.cpp
104+
${DARKNET_PATH}/src/gemm.cpp ${DARKNET_PATH}/src/gru_layer.cpp
105+
${DARKNET_PATH}/src/im2col.cpp ${DARKNET_PATH}/src/image.cpp
106+
${DARKNET_PATH}/src/image_opencv.cpp ${DARKNET_PATH}/src/iseg_layer.cpp
107+
${DARKNET_PATH}/src/l2norm_layer.cpp ${DARKNET_PATH}/src/layer.cpp
108+
${DARKNET_PATH}/src/list.cpp ${DARKNET_PATH}/src/local_layer.cpp
109+
${DARKNET_PATH}/src/logistic_layer.cpp ${DARKNET_PATH}/src/lstm_layer.cpp
110+
${DARKNET_PATH}/src/matrix.cpp ${DARKNET_PATH}/src/maxpool_layer.cpp
111+
${DARKNET_PATH}/src/network.cpp ${DARKNET_PATH}/src/normalization_layer.cpp
112+
${DARKNET_PATH}/src/option_list.cpp ${DARKNET_PATH}/src/parser.cpp
113+
${DARKNET_PATH}/src/region_layer.cpp ${DARKNET_PATH}/src/reorg_layer.cpp
114+
${DARKNET_PATH}/src/rnn_layer.cpp ${DARKNET_PATH}/src/route_layer.cpp
115+
${DARKNET_PATH}/src/shortcut_layer.cpp ${DARKNET_PATH}/src/softmax_layer.cpp
116+
${DARKNET_PATH}/src/tree.cpp ${DARKNET_PATH}/src/upsample_layer.cpp
117+
${DARKNET_PATH}/src/utils.cpp ${DARKNET_PATH}/src/yolo_layer.cpp
118+
119+
${DARKNET_PATH}/examples/art.cpp
120+
${DARKNET_PATH}/examples/attention.cpp
121+
${DARKNET_PATH}/examples/captcha.cpp
122+
${DARKNET_PATH}/examples/cifar.cpp
123+
${DARKNET_PATH}/examples/classifier.cpp
124+
${DARKNET_PATH}/examples/coco.cpp
125+
${DARKNET_PATH}/examples/darknet.cpp
126+
${DARKNET_PATH}/examples/detector.cpp
127+
${DARKNET_PATH}/examples/go.cpp
128+
${DARKNET_PATH}/examples/instance_segmenter.cpp
129+
${DARKNET_PATH}/examples/lsd.cpp
130+
${DARKNET_PATH}/examples/nightmare.cpp
131+
${DARKNET_PATH}/examples/regressor.cpp
132+
${DARKNET_PATH}/examples/rnn.cpp
133+
${DARKNET_PATH}/examples/segmenter.cpp
134+
${DARKNET_PATH}/examples/super.cpp
135+
${DARKNET_PATH}/examples/tag.cpp
136+
${DARKNET_PATH}/examples/yolo.cpp
128137
)
129138

130139
set(DARKNET_CUDA_FILES
@@ -169,10 +178,12 @@ else()
169178

170179
endif()
171180

181+
set_target_properties(${PROJECT_NAME}_lib PROPERTIES
182+
LINKER_LANGUAGE CXX
183+
)
184+
172185
target_link_libraries(${PROJECT_NAME}_lib
173186
m
174-
pthread
175-
stdc++
176187
${Boost_LIBRARIES}
177188
${OpenCV_LIBRARIES}
178189
${catkin_LIBRARIES}

‎darknet_ros/include/darknet_ros/YoloObjectDetector.hpp‎

Lines changed: 12 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -45,21 +45,16 @@
4545
#include "cublas_v2.h"
4646
#endif
4747

48-
extern "C" {
4948
#include "network.h"
5049
#include "detection_layer.h"
5150
#include "region_layer.h"
5251
#include "cost_layer.h"
5352
#include "utils.h"
5453
#include "parser.h"
54+
#include "image.h"
5555
#include "box.h"
5656
#include "darknet_ros/image_interface.h"
5757
#include <sys/time.h>
58-
}
59-
60-
extern "C" void ipl_into_image(IplImage* src, image im);
61-
extern "C" image ipl_to_image(IplImage* src);
62-
extern "C" void show_image_cv(image p, const char *name, IplImage *disp);
6358

6459
namespace darknet_ros {
6560

@@ -70,11 +65,15 @@ typedef struct
7065
int num, Class;
7166
} RosBox_;
7267

73-
typedef struct
74-
{
75-
IplImage* image;
76-
std_msgs::Header header;
77-
} IplImageWithHeader_;
68+
struct MatWithHeader_ {
69+
cv::Mat image;
70+
std_msgs::Header header;
71+
72+
MatWithHeader_() = default;
73+
MatWithHeader_(cv::Mat img, std_msgs::Header hdr):
74+
image(img), header(hdr) {}
75+
};
76+
7877

7978
class YoloObjectDetector
8079
{
@@ -177,7 +176,7 @@ class YoloObjectDetector
177176
image buffLetter_[3];
178177
int buffId_[3];
179178
int buffIndex_ = 0;
180-
IplImage * ipl_;
179+
cv::Mat ipl_;
181180
float fps_ = 0;
182181
float demoThresh_ = 0;
183182
float demoHier_ = .5;
@@ -239,7 +238,7 @@ class YoloObjectDetector
239238

240239
void yolo();
241240

242-
IplImageWithHeader_ getIplImageWithHeader();
241+
MatWithHeader_ getIplImageWithHeader();
243242

244243
bool getImageStatus(void);
245244

‎darknet_ros/include/darknet_ros/image_interface.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,9 +10,10 @@
1010
#define IMAGE_INTERFACE_H
1111

1212
#include "image.h"
13+
#include <opencv2/core.hpp>
1314

1415
static float get_pixel(image m, int x, int y, int c);
1516
image **load_alphabet_with_file(char *datafile);
16-
void generate_image(image p, IplImage *disp);
17+
void generate_image(image p, cv::Mat disp);
1718

1819
#endif

‎darknet_ros/src/YoloObjectDetector.cpp‎

Lines changed: 13 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -27,9 +27,9 @@ char **detectionNames;
2727

2828
YoloObjectDetector::YoloObjectDetector(ros::NodeHandle nh)
2929
: nodeHandle_(nh),
30-
imageTransport_(nodeHandle_),
3130
numClasses_(0),
3231
classLabels_(0),
32+
imageTransport_(nodeHandle_),
3333
rosBoxes_(0),
3434
rosBoxCounter_(0)
3535
{
@@ -408,9 +408,9 @@ void *YoloObjectDetector::fetchInThread()
408408
{
409409
{
410410
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
411-
IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
412-
IplImage* ROS_img = imageAndHeader.image;
413-
ipl_into_image(ROS_img, buff_[buffIndex_]);
411+
MatWithHeader_ imageAndHeader = getIplImageWithHeader();
412+
cv::Mat ROS_img = imageAndHeader.image;
413+
buff_[buffIndex_] = mat_to_image(ROS_img);
414414
headerBuff_[buffIndex_] = imageAndHeader.header;
415415
buffId_[buffIndex_] = actionId_;
416416
}
@@ -421,8 +421,7 @@ void *YoloObjectDetector::fetchInThread()
421421

422422
void *YoloObjectDetector::displayInThread(void *ptr)
423423
{
424-
show_image_cv(buff_[(buffIndex_ + 1)%3], "YOLO V3", ipl_);
425-
int c = cv::waitKey(waitKeyDelay_);
424+
int c = show_image(buff_[(buffIndex_ + 1)%3], "YOLO V3", waitKeyDelay_);
426425
if (c != -1) c = c%256;
427426
if (c == 27) {
428427
demoDone_ = 1;
@@ -504,9 +503,9 @@ void YoloObjectDetector::yolo()
504503

505504
{
506505
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
507-
IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
508-
IplImage* ROS_img = imageAndHeader.image;
509-
buff_[0] = ipl_to_image(ROS_img);
506+
MatWithHeader_ imageAndHeader = getIplImageWithHeader();
507+
cv::Mat ROS_img = imageAndHeader.image;
508+
buff_[0] = mat_to_image(ROS_img);
510509
headerBuff_[0] = imageAndHeader.header;
511510
}
512511
buff_[1] = copy_image(buff_[0]);
@@ -516,7 +515,8 @@ void YoloObjectDetector::yolo()
516515
buffLetter_[0] = letterbox_image(buff_[0], net_->w, net_->h);
517516
buffLetter_[1] = letterbox_image(buff_[0], net_->w, net_->h);
518517
buffLetter_[2] = letterbox_image(buff_[0], net_->w, net_->h);
519-
ipl_ = cvCreateImage(cvSize(buff_[0].w, buff_[0].h), IPL_DEPTH_8U, buff_[0].c);
518+
ipl_ = cv::Mat(cv::Size(buff_[0].w, buff_[0].h),
519+
cvType(IPL_DEPTH_8U, buff_[0].c));
520520

521521
int count = 0;
522522

@@ -560,10 +560,9 @@ void YoloObjectDetector::yolo()
560560

561561
}
562562

563-
IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader()
563+
MatWithHeader_ YoloObjectDetector::getIplImageWithHeader()
564564
{
565-
IplImage* ROS_img = new IplImage(camImageCopy_);
566-
IplImageWithHeader_ header = {.image = ROS_img, .header = imageHeader_};
565+
MatWithHeader_ header {cv::Mat(camImageCopy_, true), imageHeader_};
567566
return header;
568567
}
569568

@@ -582,7 +581,7 @@ bool YoloObjectDetector::isNodeRunning(void)
582581
void *YoloObjectDetector::publishInThread()
583582
{
584583
// Publish image.
585-
cv::Mat cvImage = cv::cvarrToMat(ipl_);
584+
cv::Mat cvImage = ipl_;
586585
if (!publishDetectionImage(cv::Mat(cvImage))) {
587586
ROS_DEBUG("Detection image has not been broadcasted.");
588587
}

‎darknet_ros/src/image_interface.c‎ renamed to ‎darknet_ros/src/image_interface.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -34,17 +34,17 @@ image **load_alphabet_with_file(char *datafile) {
3434
}
3535

3636
#ifdef OPENCV
37-
void generate_image(image p, IplImage *disp)
37+
void generate_image(image p, cv::Mat disp)
3838
{
3939
int x,y,k;
4040
if(p.c == 3) rgbgr_image(p);
4141
//normalize_image(copy);
4242

43-
int step = disp->widthStep;
43+
int step = disp.step[0];
4444
for(y = 0; y < p.h; ++y){
4545
for(x = 0; x < p.w; ++x){
4646
for(k= 0; k < p.c; ++k){
47-
disp->imageData[y*step + x*p.c + k] = (unsigned char)(get_pixel(p,x,y,k)*255);
47+
disp.data[y*step + x*p.c + k] = (unsigned char)(get_pixel(p,x,y,k)*255);
4848
}
4949
}
5050
}

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