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Cleaned up CMakeLists.txt, used OpenCV C++ API for cpp file
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@kunaltyagi
kunaltyagi committed Nov 27, 2019
1 parent 4c733b7 commit c30619a
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Showing 2 changed files with 33 additions and 66 deletions.
89 changes: 28 additions & 61 deletions darknet_ros/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -88,16 +88,11 @@ include_directories(
${catkin_INCLUDE_DIRS}
)

if (CUDA_FOUND)

link_directories(
/usr/local/cuda/lib64
)

cuda_add_library(${PROJECT_NAME}_lib
src/YoloObjectDetector.cpp
src/image_interface.c
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
Expand Down Expand Up @@ -130,26 +125,32 @@ if (CUDA_FOUND)
${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
)

if (CUDA_FOUND)

link_directories(
${CUDA_TOOLKIT_ROOT_DIR}/lib
)

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

target_link_libraries(${PROJECT_NAME}_lib
m
pthread
stdc++
cuda
cudart
cublas
curand
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBS}
)

cuda_add_executable(${PROJECT_NAME}
Expand All @@ -159,51 +160,7 @@ if (CUDA_FOUND)
else()

add_library(${PROJECT_NAME}_lib
src/YoloObjectDetector.cpp
src/image_interface.c

${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
)

target_link_libraries(${PROJECT_NAME}_lib
m
pthread
stdc++
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
)

add_executable(${PROJECT_NAME}
Expand All @@ -212,6 +169,16 @@ else()

endif()

target_link_libraries(${PROJECT_NAME}_lib
m
pthread
stdc++
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBS}
)

target_link_libraries(${PROJECT_NAME}
${PROJECT_NAME}_lib
)
Expand Down
10 changes: 5 additions & 5 deletions darknet_ros/src/YoloObjectDetector.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -422,7 +422,7 @@ void *YoloObjectDetector::fetchInThread()
void *YoloObjectDetector::displayInThread(void *ptr)
{
show_image_cv(buff_[(buffIndex_ + 1)%3], "YOLO V3", ipl_);
int c = cvWaitKey(waitKeyDelay_);
int c = cv::waitKey(waitKeyDelay_);
if (c != -1) c = c%256;
if (c == 27) {
demoDone_ = 1;
Expand Down Expand Up @@ -521,12 +521,12 @@ void YoloObjectDetector::yolo()
int count = 0;

if (!demoPrefix_ && viewImage_) {
cvNamedWindow("YOLO V3", CV_WINDOW_NORMAL);
cv::namedWindow("YOLO V3", cv::WINDOW_NORMAL);
if (fullScreen_) {
cvSetWindowProperty("YOLO V3", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
cv::setWindowProperty("YOLO V3", cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
} else {
cvMoveWindow("YOLO V3", 0, 0);
cvResizeWindow("YOLO V3", 640, 480);
cv::moveWindow("YOLO V3", 0, 0);
cv::resizeWindow("YOLO V3", 640, 480);
}
}

Expand Down

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