Jw add cuda dependency

darknet_ros/CMakeLists.txt

@@ -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

darknet_ros/include/darknet_ros/YoloObjectDetector.hpp

@@ -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,
@@ -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*/

darknet_ros/launch/darknet_ros.launch

@@ -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>

darknet_ros/src/YoloObjectDetector.cpp

@@ -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()
@@ -241,7 +240,6 @@ void YoloObjectDetector::checkForObjectsActionGoalCB()
     frameWidth_ = cam_image->image.size().width;
     frameHeight_ = cam_image->image.size().height;
   }
-  return;
 }
 
 void YoloObjectDetector::checkForObjectsActionPreemptCB()
@@ -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;
@@ -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];
@@ -324,7 +313,7 @@ detection *YoloObjectDetector::avgPredictions(network *net, int *nboxes)
   return dets;
 }
 
-void *YoloObjectDetector::detectInThread()
+void YoloObjectDetector::detectInThread()
 {
   running_ = 1;
   float nms = .4;
@@ -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;
@@ -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) {
@@ -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,
@@ -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 {
@@ -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_);
@@ -640,8 +622,6 @@ void *YoloObjectDetector::publishInThread()
     rosBoxes_[i].clear();
     rosBoxCounter_[i] = 0;
   }
-
-  return 0;
 }