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Jw add cuda dependency #210

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Jw add cuda dependency #210

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c25004d
Update Submodules
May 19, 2019
fcb2a57
Made fixes
Nov 10, 2019
9b6ea50
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Nov 15, 2019
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2 changes: 1 addition & 1 deletion darknet_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ 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_C_FLAGS "-Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -Wno-deprecated-declarations -fPIC ${CMAKE_C_FLAGS}")

# Define path of darknet folder here.
find_path(DARKNET_PATH
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18 changes: 6 additions & 12 deletions darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
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Expand Up @@ -214,23 +214,17 @@ class YoloObjectDetector
int actionId_;
boost::shared_mutex mutexActionStatus_;

// double getWallTime();

int sizeNetwork(network *net);

void rememberNetwork(network *net);

detection *avgPredictions(network *net, int *nboxes);

void *detectInThread();

void *fetchInThread();

void *displayInThread(void *ptr);
void detectInThread();

void *displayLoop(void *ptr);
void fetchInThread();

void *detectLoop(void *ptr);
void displayInThread();

void setupNetwork(char *cfgfile, char *weightfile, char *datafile, float thresh,
char **names, int classes,
Expand All @@ -241,11 +235,11 @@ class YoloObjectDetector

IplImageWithHeader_ getIplImageWithHeader();

bool getImageStatus(void);
bool getImageStatus();

bool isNodeRunning(void);
bool isNodeRunning();

void *publishInThread();
void publishInThread();
};

} /* namespace darknet_ros*/
2 changes: 1 addition & 1 deletion darknet_ros/launch/darknet_ros.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
<rosparam command="load" ns="darknet_ros" file="$(arg network_param_file)"/>

<!-- Start darknet and ros wrapper -->
<node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">
<node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="log" launch-prefix="$(arg launch_prefix)">
<param name="weights_path" value="$(arg yolo_weights_path)" />
<param name="config_path" value="$(arg yolo_config_path)" />
</node>
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60 changes: 20 additions & 40 deletions darknet_ros/src/YoloObjectDetector.cpp
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Expand Up @@ -205,7 +205,6 @@ void YoloObjectDetector::cameraCallback(const sensor_msgs::ImageConstPtr& msg)
frameWidth_ = cam_image->image.size().width;
frameHeight_ = cam_image->image.size().height;
}
return;
}

void YoloObjectDetector::checkForObjectsActionGoalCB()
Expand Down Expand Up @@ -241,7 +240,6 @@ void YoloObjectDetector::checkForObjectsActionGoalCB()
frameWidth_ = cam_image->image.size().width;
frameHeight_ = cam_image->image.size().height;
}
return;
}

void YoloObjectDetector::checkForObjectsActionPreemptCB()
Expand Down Expand Up @@ -270,15 +268,6 @@ bool YoloObjectDetector::publishDetectionImage(const cv::Mat& detectionImage)
return true;
}

// double YoloObjectDetector::getWallTime()
// {
// struct timeval time;
// if (gettimeofday(&time, NULL)) {
// return 0;
// }
// return (double) time.tv_sec + (double) time.tv_usec * .000001;
// }

int YoloObjectDetector::sizeNetwork(network *net)
{
int i;
Expand Down Expand Up @@ -311,7 +300,7 @@ detection *YoloObjectDetector::avgPredictions(network *net, int *nboxes)
int count = 0;
fill_cpu(demoTotal_, 0, avg_, 1);
for(j = 0; j < demoFrame_; ++j){
axpy_cpu(demoTotal_, 1./demoFrame_, predictions_[j], 1, avg_, 1);
axpy_cpu(demoTotal_, 1.f/demoFrame_, predictions_[j], 1, avg_, 1);
}
for(i = 0; i < net->n; ++i){
layer l = net->layers[i];
Expand All @@ -324,7 +313,7 @@ detection *YoloObjectDetector::avgPredictions(network *net, int *nboxes)
return dets;
}

void *YoloObjectDetector::detectInThread()
void YoloObjectDetector::detectInThread()
{
running_ = 1;
float nms = .4;
Expand Down Expand Up @@ -401,10 +390,9 @@ void *YoloObjectDetector::detectInThread()
free_detections(dets, nboxes);
demoIndex_ = (demoIndex_ + 1) % demoFrame_;
running_ = 0;
return 0;
}

void *YoloObjectDetector::fetchInThread()
void YoloObjectDetector::fetchInThread()
{
IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
IplImage* ROS_img = imageAndHeader.image;
Expand All @@ -416,17 +404,16 @@ void *YoloObjectDetector::fetchInThread()
}
rgbgr_image(buff_[buffIndex_]);
letterbox_image_into(buff_[buffIndex_], net_->w, net_->h, buffLetter_[buffIndex_]);
return 0;
}

void *YoloObjectDetector::displayInThread(void *ptr)
void YoloObjectDetector::displayInThread()
{
show_image_cv(buff_[(buffIndex_ + 1)%3], "YOLO V3", ipl_);
int c = cvWaitKey(waitKeyDelay_);
if (c != -1) c = c%256;
if (c == 27) {
demoDone_ = 1;
return 0;
return;
} else if (c == 82) {
demoThresh_ += .02;
} else if (c == 84) {
Expand All @@ -438,21 +425,6 @@ void *YoloObjectDetector::displayInThread(void *ptr)
demoHier_ -= .02;
if(demoHier_ <= .0) demoHier_ = .0;
}
return 0;
}

void *YoloObjectDetector::displayLoop(void *ptr)
{
while (1) {
displayInThread(0);
}
}

void *YoloObjectDetector::detectLoop(void *ptr)
{
while (1) {
detectInThread();
}
}

void YoloObjectDetector::setupNetwork(char *cfgfile, char *weightfile, char *datafile, float thresh,
Expand Down Expand Up @@ -534,10 +506,20 @@ void YoloObjectDetector::yolo()
fetch_thread = std::thread(&YoloObjectDetector::fetchInThread, this);
detect_thread = std::thread(&YoloObjectDetector::detectInThread, this);
if (!demoPrefix_) {
fps_ = 1./(what_time_is_it_now() - demoTime_);
fps_ = 1.f/(what_time_is_it_now() - demoTime_);
demoTime_ = what_time_is_it_now();
if (viewImage_) {
displayInThread(0);
displayInThread();
} else {
const auto& p = buff_[(buffIndex_ + 1)%3];
int step = ipl_->widthStep;
for(int y = 0; y < p.h; ++y){
for(int x = 0; x < p.w; ++x){
for(int k= 0; k < p.c; ++k){
ipl_->imageData[y*step + x*p.c + k] = (unsigned char)(p.data[k*p.h*p.w + y*p.w + x]*255);
}
}
}
}
publishInThread();
} else {
Expand All @@ -563,19 +545,19 @@ IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader()
return header;
}

bool YoloObjectDetector::getImageStatus(void)
bool YoloObjectDetector::getImageStatus()
{
boost::shared_lock<boost::shared_mutex> lock(mutexImageStatus_);
return imageStatus_;
}

bool YoloObjectDetector::isNodeRunning(void)
bool YoloObjectDetector::isNodeRunning()
{
boost::shared_lock<boost::shared_mutex> lock(mutexNodeStatus_);
return isNodeRunning_;
}

void *YoloObjectDetector::publishInThread()
void YoloObjectDetector::publishInThread()
{
// Publish image.
cv::Mat cvImage = cv::cvarrToMat(ipl_);
Expand Down Expand Up @@ -640,8 +622,6 @@ void *YoloObjectDetector::publishInThread()
rosBoxes_[i].clear();
rosBoxCounter_[i] = 0;
}

return 0;
}


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