Opencv4, now working

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "darknet"]
 	path = darknet
-	url = https://github.com/pjreddie/darknet
+	url = https://github.com/kunaltyagi/darknet

darknet_ros/CMakeLists.txt

@@ -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
@@ -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
@@ -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}

darknet_ros/include/darknet_ros/YoloObjectDetector.hpp

@@ -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 {
 
@@ -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
 {
@@ -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;
@@ -239,7 +238,7 @@ class YoloObjectDetector
 
   void yolo();
 
-  IplImageWithHeader_ getIplImageWithHeader();
+  MatWithHeader_ getIplImageWithHeader();
 
   bool getImageStatus(void);
 

darknet_ros/include/darknet_ros/image_interface.h

@@ -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

darknet_ros/src/YoloObjectDetector.cpp

@@ -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)
 {
@@ -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_;
   }
@@ -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;
@@ -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]);
@@ -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;
 
@@ -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;
 }
 
@@ -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.");
   }

darknet_ros/src/image_interface.c → darknet_ros/src/image_interface.cpp

@@ -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);
             }
         }
     }