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OpenCV4 compilation success
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@kunaltyagi
kunaltyagi committed Dec 4, 2019
1 parent f463605 commit 256ea50
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Showing 7 changed files with 71 additions and 70 deletions.
2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
[submodule "darknet"]
path = darknet
url = https://github.com/pjreddie/darknet
url = https://github.com/kunaltyagi/darknet
2 changes: 1 addition & 1 deletion darknet
Submodule darknet updated 120 files
76 changes: 39 additions & 37 deletions darknet_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,7 @@ cmake_minimum_required(VERSION 2.8.12)
project(darknet_ros)

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

# Define path of darknet folder here.
find_path(DARKNET_PATH
Expand Down Expand Up @@ -89,42 +88,43 @@ include_directories(
)

set(PROJECT_LIB_FILES
src/YoloObjectDetector.cpp src/image_interface.c
src/YoloObjectDetector.cpp src/image_interface.cpp
)

set(DARKNET_CORE_FILES
${DARKNET_PATH}/src/activation_layer.c ${DARKNET_PATH}/src/im2col.c
${DARKNET_PATH}/src/activations.c ${DARKNET_PATH}/src/image.c
${DARKNET_PATH}/src/avgpool_layer.c ${DARKNET_PATH}/src/layer.c
${DARKNET_PATH}/src/batchnorm_layer.c ${DARKNET_PATH}/src/list.c
${DARKNET_PATH}/src/blas.c ${DARKNET_PATH}/src/local_layer.c
${DARKNET_PATH}/src/box.c ${DARKNET_PATH}/src/lstm_layer.c
${DARKNET_PATH}/src/col2im.c ${DARKNET_PATH}/src/matrix.c
${DARKNET_PATH}/src/connected_layer.c ${DARKNET_PATH}/src/maxpool_layer.c
${DARKNET_PATH}/src/convolutional_layer.c ${DARKNET_PATH}/src/network.c
${DARKNET_PATH}/src/cost_layer.c ${DARKNET_PATH}/src/normalization_layer.c
${DARKNET_PATH}/src/crnn_layer.c ${DARKNET_PATH}/src/option_list.c
${DARKNET_PATH}/src/crop_layer.c ${DARKNET_PATH}/src/parser.c
${DARKNET_PATH}/src/cuda.c ${DARKNET_PATH}/src/region_layer.c
${DARKNET_PATH}/src/data.c ${DARKNET_PATH}/src/reorg_layer.c
${DARKNET_PATH}/src/deconvolutional_layer.c ${DARKNET_PATH}/src/rnn_layer.c
${DARKNET_PATH}/src/demo.c ${DARKNET_PATH}/src/route_layer.c
${DARKNET_PATH}/src/detection_layer.c ${DARKNET_PATH}/src/shortcut_layer.c
${DARKNET_PATH}/src/dropout_layer.c ${DARKNET_PATH}/src/softmax_layer.c
${DARKNET_PATH}/src/gemm.c ${DARKNET_PATH}/src/tree.c
${DARKNET_PATH}/src/gru_layer.c ${DARKNET_PATH}/src/utils.c
${DARKNET_PATH}/src/upsample_layer.c ${DARKNET_PATH}/src/logistic_layer.c
${DARKNET_PATH}/src/l2norm_layer.c ${DARKNET_PATH}/src/yolo_layer.c

${DARKNET_PATH}/examples/art.c ${DARKNET_PATH}/examples/lsd.c
${DARKNET_PATH}/examples/attention.c ${DARKNET_PATH}/examples/nightmare.c
${DARKNET_PATH}/examples/captcha.c ${DARKNET_PATH}/examples/regressor.c
${DARKNET_PATH}/examples/cifar.c ${DARKNET_PATH}/examples/rnn.c
${DARKNET_PATH}/examples/classifier.c ${DARKNET_PATH}/examples/segmenter.c
${DARKNET_PATH}/examples/coco.c ${DARKNET_PATH}/examples/super.c
${DARKNET_PATH}/examples/darknet.c ${DARKNET_PATH}/examples/tag.c
${DARKNET_PATH}/examples/detector.c ${DARKNET_PATH}/examples/yolo.c
${DARKNET_PATH}/examples/go.c
${DARKNET_PATH}/src/activation_layer.cpp ${DARKNET_PATH}/src/activations.cpp
${DARKNET_PATH}/src/avgpool_layer.cpp ${DARKNET_PATH}/src/batchnorm_layer.cpp
${DARKNET_PATH}/src/blas.cpp ${DARKNET_PATH}/src/box.cpp
${DARKNET_PATH}/src/col2im.cpp ${DARKNET_PATH}/src/connected_layer.cpp
${DARKNET_PATH}/src/convolutional_layer.cpp ${DARKNET_PATH}/src/cost_layer.cpp
${DARKNET_PATH}/src/crnn_layer.cpp ${DARKNET_PATH}/src/crop_layer.cpp
${DARKNET_PATH}/src/cuda.cpp ${DARKNET_PATH}/src/data.cpp
${DARKNET_PATH}/src/deconvolutional_layer.cpp ${DARKNET_PATH}/src/demo.cpp
${DARKNET_PATH}/src/detection_layer.cpp ${DARKNET_PATH}/src/dropout_layer.cpp
${DARKNET_PATH}/src/gemm.cpp ${DARKNET_PATH}/src/gru_layer.cpp
${DARKNET_PATH}/src/im2col.cpp ${DARKNET_PATH}/src/image.cpp
${DARKNET_PATH}/src/image_opencv.cpp ${DARKNET_PATH}/src/iseg_layer.cpp
${DARKNET_PATH}/src/l2norm_layer.cpp ${DARKNET_PATH}/src/layer.cpp
${DARKNET_PATH}/src/list.cpp ${DARKNET_PATH}/src/local_layer.cpp
${DARKNET_PATH}/src/logistic_layer.cpp ${DARKNET_PATH}/src/lstm_layer.cpp
${DARKNET_PATH}/src/matrix.cpp ${DARKNET_PATH}/src/maxpool_layer.cpp
${DARKNET_PATH}/src/network.cpp ${DARKNET_PATH}/src/normalization_layer.cpp
${DARKNET_PATH}/src/option_list.cpp ${DARKNET_PATH}/src/parser.cpp
${DARKNET_PATH}/src/region_layer.cpp ${DARKNET_PATH}/src/reorg_layer.cpp
${DARKNET_PATH}/src/rnn_layer.cpp ${DARKNET_PATH}/src/route_layer.cpp
${DARKNET_PATH}/src/shortcut_layer.cpp ${DARKNET_PATH}/src/softmax_layer.cpp
${DARKNET_PATH}/src/tree.cpp ${DARKNET_PATH}/src/upsample_layer.cpp
${DARKNET_PATH}/src/utils.cpp ${DARKNET_PATH}/src/yolo_layer.cpp

${DARKNET_PATH}/examples/art.cpp ${DARKNET_PATH}/examples/attention.cpp
${DARKNET_PATH}/examples/captcha.cpp ${DARKNET_PATH}/examples/cifar.cpp
${DARKNET_PATH}/examples/classifier.cpp ${DARKNET_PATH}/examples/coco.cpp
${DARKNET_PATH}/examples/darknet.cpp ${DARKNET_PATH}/examples/detector.cpp
${DARKNET_PATH}/examples/go.cpp ${DARKNET_PATH}/examples/instance_segmenter.cpp
${DARKNET_PATH}/examples/lsd.cpp ${DARKNET_PATH}/examples/nightmare.cpp
${DARKNET_PATH}/examples/regressor.cpp ${DARKNET_PATH}/examples/rnn.cpp
${DARKNET_PATH}/examples/segmenter.cpp ${DARKNET_PATH}/examples/super.cpp
${DARKNET_PATH}/examples/tag.cpp ${DARKNET_PATH}/examples/yolo.cpp
)

set(DARKNET_CUDA_FILES
Expand Down Expand Up @@ -169,10 +169,12 @@ else()

endif()

set_target_properties(${PROJECT_NAME}_lib PROPERTIES
LINKER_LANGUAGE CXX
)

target_link_libraries(${PROJECT_NAME}_lib
m
pthread
stdc++
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
Expand Down
25 changes: 12 additions & 13 deletions darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,21 +45,16 @@
#include "cublas_v2.h"
#endif

extern "C" {
#include "network.h"
#include "detection_layer.h"
#include "region_layer.h"
#include "cost_layer.h"
#include "utils.h"
#include "parser.h"
#include "image.h"
#include "box.h"
#include "darknet_ros/image_interface.h"
#include <sys/time.h>
}

extern "C" void ipl_into_image(IplImage* src, image im);
extern "C" image ipl_to_image(IplImage* src);
extern "C" void show_image_cv(image p, const char *name, IplImage *disp);

namespace darknet_ros {

Expand All @@ -70,11 +65,15 @@ typedef struct
int num, Class;
} RosBox_;

typedef struct
{
IplImage* image;
std_msgs::Header header;
} IplImageWithHeader_;
struct MatWithHeader_ {
cv::Mat image;
std_msgs::Header header;

MatWithHeader_() = default;
MatWithHeader_(cv::Mat img, std_msgs::Header hdr):
image(img.clone()), header(hdr) {}
};


class YoloObjectDetector
{
Expand Down Expand Up @@ -177,7 +176,7 @@ class YoloObjectDetector
image buffLetter_[3];
int buffId_[3];
int buffIndex_ = 0;
IplImage * ipl_;
cv::Mat ipl_;
float fps_ = 0;
float demoThresh_ = 0;
float demoHier_ = .5;
Expand Down Expand Up @@ -239,7 +238,7 @@ class YoloObjectDetector

void yolo();

IplImageWithHeader_ getIplImageWithHeader();
MatWithHeader_ getIplImageWithHeader();

bool getImageStatus(void);

Expand Down
3 changes: 2 additions & 1 deletion darknet_ros/include/darknet_ros/image_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,10 @@
#define IMAGE_INTERFACE_H

#include "image.h"
#include <opencv2/core.hpp>

static float get_pixel(image m, int x, int y, int c);
image **load_alphabet_with_file(char *datafile);
void generate_image(image p, IplImage *disp);
void generate_image(image p, cv::Mat disp);

#endif
27 changes: 13 additions & 14 deletions darknet_ros/src/YoloObjectDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,9 @@ char **detectionNames;

YoloObjectDetector::YoloObjectDetector(ros::NodeHandle nh)
: nodeHandle_(nh),
imageTransport_(nodeHandle_),
numClasses_(0),
classLabels_(0),
imageTransport_(nodeHandle_),
rosBoxes_(0),
rosBoxCounter_(0)
{
Expand Down Expand Up @@ -408,9 +408,9 @@ void *YoloObjectDetector::fetchInThread()
{
{
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
IplImage* ROS_img = imageAndHeader.image;
ipl_into_image(ROS_img, buff_[buffIndex_]);
MatWithHeader_ imageAndHeader = getIplImageWithHeader();
cv::Mat ROS_img = imageAndHeader.image;
mat_to_image(ROS_img, buff_ + buffIndex_);
headerBuff_[buffIndex_] = imageAndHeader.header;
buffId_[buffIndex_] = actionId_;
}
Expand All @@ -421,8 +421,7 @@ void *YoloObjectDetector::fetchInThread()

void *YoloObjectDetector::displayInThread(void *ptr)
{
show_image_cv(buff_[(buffIndex_ + 1)%3], "YOLO V3", ipl_);
int c = cv::waitKey(waitKeyDelay_);
int c = show_image(buff_[(buffIndex_ + 1)%3], "YOLO V3", waitKeyDelay_);
if (c != -1) c = c%256;
if (c == 27) {
demoDone_ = 1;
Expand Down Expand Up @@ -504,9 +503,9 @@ void YoloObjectDetector::yolo()

{
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
IplImage* ROS_img = imageAndHeader.image;
buff_[0] = ipl_to_image(ROS_img);
MatWithHeader_ imageAndHeader = getIplImageWithHeader();
cv::Mat ROS_img = imageAndHeader.image;
buff_[0] = mat_to_image(ROS_img);
headerBuff_[0] = imageAndHeader.header;
}
buff_[1] = copy_image(buff_[0]);
Expand All @@ -516,7 +515,8 @@ void YoloObjectDetector::yolo()
buffLetter_[0] = letterbox_image(buff_[0], net_->w, net_->h);
buffLetter_[1] = letterbox_image(buff_[0], net_->w, net_->h);
buffLetter_[2] = letterbox_image(buff_[0], net_->w, net_->h);
ipl_ = cvCreateImage(cvSize(buff_[0].w, buff_[0].h), IPL_DEPTH_8U, buff_[0].c);
ipl_ = cv::Mat(buff_[0].h, buff_[0].w,
CV_8UC(buff_[0].c));

int count = 0;

Expand Down Expand Up @@ -560,10 +560,9 @@ void YoloObjectDetector::yolo()

}

IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader()
MatWithHeader_ YoloObjectDetector::getIplImageWithHeader()
{
IplImage* ROS_img = new IplImage(camImageCopy_);
IplImageWithHeader_ header = {.image = ROS_img, .header = imageHeader_};
MatWithHeader_ header {camImageCopy_, imageHeader_};
return header;
}

Expand All @@ -582,7 +581,7 @@ bool YoloObjectDetector::isNodeRunning(void)
void *YoloObjectDetector::publishInThread()
{
// Publish image.
cv::Mat cvImage = cv::cvarrToMat(ipl_);
cv::Mat cvImage = ipl_;
if (!publishDetectionImage(cv::Mat(cvImage))) {
ROS_DEBUG("Detection image has not been broadcasted.");
}
Expand Down
6 changes: 3 additions & 3 deletions darknet_ros/src/image_interface.c → darknet_ros/src/image_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,17 +34,17 @@ image **load_alphabet_with_file(char *datafile) {
}

#ifdef OPENCV
void generate_image(image p, IplImage *disp)
void generate_image(image p, cv::Mat disp)
{
int x,y,k;
if(p.c == 3) rgbgr_image(p);
//normalize_image(copy);

int step = disp->widthStep;
int step = disp.step[0];
for(y = 0; y < p.h; ++y){
for(x = 0; x < p.w; ++x){
for(k= 0; k < p.c; ++k){
disp->imageData[y*step + x*p.c + k] = (unsigned char)(get_pixel(p,x,y,k)*255);
disp.data[y*step + x*p.c + k] = (unsigned char)(get_pixel(p,x,y,k)*255);
}
}
}
Expand Down

1 comment on commit 256ea50

@z760
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@z760 z760 commented on 256ea50 Nov 17, 2020

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/home/jcfh/project/volans/src/mid/image_process/darknet_ros/darknet_ros/src/yolo_object_detector_node.cpp:15: undefined reference to darknet_ros::YoloObjectDetector::YoloObjectDetector(ros::NodeHandle)' /home/jcfh/project/volans/src/mid/image_process/darknet_ros/darknet_ros/src/yolo_object_detector_node.cpp:15: undefined reference to darknet_ros::YoloObjectDetector::~YoloObjectDetector()'
/home/jcfh/project/volans/src/mid/image_process/darknet_ros/darknet_ros/src/yolo_object_detector_node.cpp:15: undefined reference to `darknet_ros::YoloObjectDetector::~YoloObjectDetector()'
can you help me

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