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OpenCV4 and Darknet by AlexeyAB #275

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OpenCV4 and Darknet by AlexeyAB #275

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84aae93
Only a few linker issues left
kunaltyagi Sep 9, 2020
71ea2ce
Trying a few things randomly
kunaltyagi Oct 16, 2020
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2 changes: 1 addition & 1 deletion darknet
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Submodule darknet updated 1236 files
63 changes: 12 additions & 51 deletions darknet_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
cmake_minimum_required(VERSION 2.8.12)
project(darknet_ros)

set(BUILD_AS_CPP ON)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../darknet ${CMAKE_BINARY_DIR}/darknet)

# 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}")
Expand Down Expand Up @@ -39,7 +42,7 @@ endif()
message ( STATUS "Searching for X11..." )
find_package ( X11 REQUIRED )
if ( X11_FOUND )
include_directories ( ${X11_INCLUDE_DIR} )
include_directories (SYSTEM ${X11_INCLUDE_DIR} )
link_libraries ( ${X11_LIBRARIES} )
message ( STATUS " X11_INCLUDE_DIR: " ${X11_INCLUDE_DIR} )
message ( STATUS " X11_LIBRARIES: " ${X11_LIBRARIES} )
Expand All @@ -48,7 +51,7 @@ endif ( X11_FOUND )
# Find rquired packeges
find_package(Boost REQUIRED COMPONENTS thread)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
find_package(catkin REQUIRED
COMPONENTS
cv_bridge
Expand Down Expand Up @@ -82,58 +85,16 @@ catkin_package(
)

include_directories(
${DARKNET_PATH}/src
${DARKNET_PATH}/include
include
)
include_directories(SYSTEM
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)

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

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
)

set(DARKNET_CUDA_FILES
${DARKNET_PATH}/src/activation_kernels.cu ${DARKNET_PATH}/src/crop_layer_kernels.cu
${DARKNET_PATH}/src/avgpool_layer_kernels.cu ${DARKNET_PATH}/src/deconvolutional_kernels.cu
${DARKNET_PATH}/src/blas_kernels.cu ${DARKNET_PATH}/src/dropout_layer_kernels.cu
${DARKNET_PATH}/src/col2im_kernels.cu ${DARKNET_PATH}/src/im2col_kernels.cu
${DARKNET_PATH}/src/convolutional_kernels.cu ${DARKNET_PATH}/src/maxpool_layer_kernels.cu
src/YoloObjectDetector.cpp
src/image_interface.cpp
)

if (CUDA_FOUND)
Expand All @@ -143,8 +104,7 @@ if (CUDA_FOUND)
)

cuda_add_library(${PROJECT_NAME}_lib
${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
${DARKNET_CUDA_FILES}
${PROJECT_LIB_FILES}
)

target_link_libraries(${PROJECT_NAME}_lib
Expand All @@ -161,7 +121,7 @@ if (CUDA_FOUND)
else()

add_library(${PROJECT_NAME}_lib
${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
${PROJECT_LIB_FILES}
)

add_executable(${PROJECT_NAME}
Expand All @@ -178,6 +138,7 @@ target_link_libraries(${PROJECT_NAME}_lib
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBS}
dark
)

target_link_libraries(${PROJECT_NAME}
Expand Down
14 changes: 6 additions & 8 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 +45,19 @@
#include "curand.h"
#endif

extern "C" {
#include <sys/time.h>
#include "box.h"
#include "cost_layer.h"
#include "darknet_ros/image_interface.h"
#include "detection_layer.h"
#include "network.h"
#include "parser.h"
#include "region_layer.h"
#include "utils.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);
#include "image_opencv.h"
#include "blas.h"

#include "darknet_ros/image_interface.h"

namespace darknet_ros {

Expand All @@ -70,7 +68,7 @@ typedef struct {
} RosBox_;

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

Expand Down Expand Up @@ -174,7 +172,7 @@ 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
4 changes: 3 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 @@ -11,8 +11,10 @@

#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
23 changes: 11 additions & 12 deletions darknet_ros/src/YoloObjectDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,7 +286,7 @@ detection* YoloObjectDetector::avgPredictions(network* net, int* nboxes) {
count += l.outputs;
}
}
detection* dets = get_network_boxes(net, buff_[0].w, buff_[0].h, demoThresh_, demoHier_, 0, 1, nboxes);
detection* dets = get_network_boxes(net, buff_[0].w, buff_[0].h, demoThresh_, demoHier_, 0, 1, nboxes, 0);
return dets;
}

Expand All @@ -296,7 +296,7 @@ void* YoloObjectDetector::detectInThread() {

layer l = net_->layers[net_->n - 1];
float* X = buffLetter_[(buffIndex_ + 2) % 3].data;
float* prediction = network_predict(net_, X);
float* prediction = network_predict(*net_, X);

rememberNetwork(net_);
detection* dets = 0;
Expand All @@ -312,7 +312,7 @@ void* YoloObjectDetector::detectInThread() {
printf("Objects:\n\n");
}
image display = buff_[(buffIndex_ + 2) % 3];
draw_detections(display, dets, nboxes, demoThresh_, demoNames_, demoAlphabet_, demoClasses_);
draw_detections_v3(display, dets, nboxes, demoThresh_, demoNames_, demoAlphabet_, demoClasses_, false);

// extract the bounding boxes and send them to ROS
int i, j;
Expand Down Expand Up @@ -369,8 +369,8 @@ 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_]);
cv::Mat ROS_img = imageAndHeader.image;
buff_[buffIndex_] = mat_to_image(ROS_img);
headerBuff_[buffIndex_] = imageAndHeader.header;
buffId_[buffIndex_] = actionId_;
}
Expand All @@ -380,7 +380,7 @@ void* YoloObjectDetector::fetchInThread() {
}

void* YoloObjectDetector::displayInThread(void* ptr) {
show_image_cv(buff_[(buffIndex_ + 1) % 3], "YOLO V3", ipl_);
show_image_cv(buff_[(buffIndex_ + 1) % 3], "YOLO V3"); //, ipl_);
int c = cv::waitKey(waitKeyDelay_);
if (c != -1) c = c % 256;
if (c == 27) {
Expand Down Expand Up @@ -458,8 +458,8 @@ 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);
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 @@ -469,7 +469,6 @@ 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);

int count = 0;

Expand All @@ -495,7 +494,7 @@ void YoloObjectDetector::yolo() {
if (viewImage_) {
displayInThread(0);
} else {
generate_image(buff_[(buffIndex_ + 1) % 3], ipl_);
ipl_ = image_to_mat(buff_[(buffIndex_ + 1) % 3]);
}
publishInThread();
} else {
Expand All @@ -513,7 +512,7 @@ void YoloObjectDetector::yolo() {
}

IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader() {
IplImage* ROS_img = new IplImage(camImageCopy_);
cv::Mat ROS_img = camImageCopy_;
IplImageWithHeader_ header = {.image = ROS_img, .header = imageHeader_};
return header;
}
Expand All @@ -530,7 +529,7 @@ 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
10 changes: 5 additions & 5 deletions darknet_ros/src/image_interface.c → darknet_ros/src/image_interface.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,13 @@ static float get_pixel(image m, int x, int y, int c) {
image** load_alphabet_with_file(char* datafile) {
int i, j;
const int nsize = 8;
image** alphabets = calloc(nsize, sizeof(image));
image** alphabets = (image**)calloc(nsize, sizeof(image));
char* labels = "/labels/%d_%d.png";
char* files = (char*)malloc(1 + strlen(datafile) + strlen(labels));
strcpy(files, datafile);
strcat(files, labels);
for (j = 0; j < nsize; ++j) {
alphabets[j] = calloc(128, sizeof(image));
alphabets[j] = (image*)calloc(128, sizeof(image));
for (i = 32; i < 127; ++i) {
char buff[256];
sprintf(buff, files, i, j);
Expand All @@ -33,16 +33,16 @@ 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