Tossy0423 · kyuhyong · Sep 23, 2021 · Sep 14, 2023 · Sep 14, 2023 · Sep 15, 2023
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+darknet_ros/yolo_network_config/cfg/yolov4-tiny_dehumid.cfg
diff --git a/darknet_ros/CMakeLists.txt b/darknet_ros/CMakeLists.txt
@@ -5,6 +5,8 @@ project(darknet_ros)
 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_EXPORT_COMPILE_COMMANDS ON)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(gtk+ REQUIRED gtk+-3.0)
 
 # Define path of darknet folder here.
 find_path(DARKNET_PATH
@@ -23,12 +25,13 @@ if (CUDA_FOUND)
     CUDA_NVCC_FLAGS
     ${CUDA_NVCC_FLAGS};
     -O3
-    -gencode arch=compute_30,code=sm_30
-    -gencode arch=compute_35,code=sm_35
-    -gencode arch=compute_50,code=[sm_50,compute_50]
-    -gencode arch=compute_52,code=[sm_52,compute_52]
-    -gencode arch=compute_61,code=sm_61
-    -gencode arch=compute_62,code=sm_62
+    #-gencode arch=compute_30,code=sm_30
+    #-gencode arch=compute_35,code=sm_35
+    #-gencode arch=compute_50,code=[sm_50,compute_50]
+    #-gencode arch=compute_52,code=[sm_52,compute_52]
+    #-gencode arch=compute_61,code=sm_61
+    #-gencode arch=compute_62,code=sm_62
+    -gencode arch=compute_86,code=[sm_86,compute_86]
   )
   add_definitions(-DGPU)
 else()
@@ -90,7 +93,8 @@ include_directories(
 )
 
 set(PROJECT_LIB_FILES
-    src/YoloObjectDetector.cpp                    src/image_interface.c
+    src/YoloObjectDetector.cpp                    
+    src/image_interface.cpp
 )
 
 set(DARKNET_CORE_FILES
@@ -228,20 +232,20 @@ install(DIRECTORY config launch yolo_network_config
 
 # Download yolov2-tiny.weights
 set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/yolo_network_config/weights")
-set(FILE "${PATH}/yolov2-tiny.weights")
-message(STATUS "Checking and downloading yolov2-tiny.weights if needed ...")
-if (NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND wget -q https://github.com/leggedrobotics/darknet_ros/releases/download/1.1.4/yolov2-tiny.weights -P ${PATH})
-endif()
+#set(FILE "${PATH}/yolov2-tiny.weights")
+#message(STATUS "Checking and downloading yolov2-tiny.weights if needed ...")
+#if (NOT EXISTS "${FILE}")
+#  message(STATUS "... file does not exist. Downloading now ...")
+#  execute_process(COMMAND wget -q https://github.com/leggedrobotics/darknet_ros/releases/download/1.1.4/yolov2-tiny.weights -P ${PATH})
+#endif()
 
 # Download yolov3.weights
-set(FILE "${PATH}/yolov3.weights")
-message(STATUS "Checking and downloading yolov3.weights if needed ...")
-if (NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND wget -q https://github.com/leggedrobotics/darknet_ros/releases/download/1.1.4/yolov3.weights -P ${PATH})
-endif()
+#set(FILE "${PATH}/yolov3.weights")
+#message(STATUS "Checking and downloading yolov3.weights if needed ...")
+#if (NOT EXISTS "${FILE}")
+#  message(STATUS "... file does not exist. Downloading now ...")
+#  execute_process(COMMAND wget -q https://github.com/leggedrobotics/darknet_ros/releases/download/1.1.4/yolov3.weights -P ${PATH})
+#endif()
 
 # Download yolov4.weights
 set(FILE "${PATH}/yolov4.weights")
@@ -251,6 +255,14 @@ if (NOT EXISTS "${FILE}")
   execute_process(COMMAND wget -q https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights -P ${PATH})
 endif()
 
+# Download yolov4-tiny.weights
+set(FILE "${PATH}/yolov4-tiny.weights")
+message(STATUS "Checking and downloading yolov4-tiny.weights if needed ...")
+if (NOT EXISTS "${FILE}")
+  message(STATUS "... file does not exist. Downloading now ...")
+  execute_process(COMMAND wget -q https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v4_pre/yolov4-tiny.weights -P ${PATH})
+endif()
+
 #############
 ## Testing ##
 #############

diff --git a/darknet_ros/config/ros.yaml b/darknet_ros/config/ros.yaml
@@ -28,6 +28,6 @@ publishers:
 
 image_view:
 
-  enable_opencv: true
+  enable_opencv: false
   wait_key_delay: 1
   enable_console_output: true
diff --git a/darknet_ros/config/yolov4-tiny.yaml b/darknet_ros/config/yolov4-tiny.yaml
@@ -0,0 +1,90 @@
+yolo_model:
+
+  config_file:
+    name: yolov4-tiny.cfg
+  weight_file:
+    name: yolov4-tiny.weights
+  threshold:
+    value: 0.3
+  detection_classes:
+    names:
+      - person
+      - bicycle
+      - car
+      - motorbike
+      - aeroplane
+      - bus
+      - train
+      - truck
+      - boat
+      - traffic light
+      - fire hydrant
+      - stop sign
+      - parking meter
+      - bench
+      - bird
+      - cat
+      - dog
+      - horse
+      - sheep
+      - cow
+      - elephant
+      - bear
+      - zebra
+      - giraffe
+      - backpack
+      - umbrella
+      - handbag
+      - tie
+      - suitcase
+      - frisbee
+      - skis
+      - snowboard
+      - sports ball
+      - kite
+      - baseball bat
+      - baseball glove
+      - skateboard
+      - surfboard
+      - tennis racket
+      - bottle
+      - wine glass
+      - cup
+      - fork
+      - knife
+      - spoon
+      - bowl
+      - banana
+      - apple
+      - sandwich
+      - orange
+      - broccoli
+      - carrot
+      - hot dog
+      - pizza
+      - donut
+      - cake
+      - chair
+      - sofa
+      - pottedplant
+      - bed
+      - diningtable
+      - toilet
+      - tvmonitor
+      - laptop
+      - mouse
+      - remote
+      - keyboard
+      - cell phone
+      - microwave
+      - oven
+      - toaster
+      - sink
+      - refrigerator
+      - book
+      - clock
+      - vase
+      - scissors
+      - teddy bear
+      - hair drier
+      - toothbrush
diff --git a/darknet_ros/config/yolov4-tiny_dehumid.yaml b/darknet_ros/config/yolov4-tiny_dehumid.yaml
@@ -0,0 +1,12 @@
+yolo_model:
+
+  config_file:
+    name: yolov4-tiny_dehumid.cfg
+  weight_file:
+    name: yolov4-tiny_dehumid_final2.weights
+  threshold:
+    value: 0.8
+  detection_classes:
+    names:
+      - pass
+      - no_cover
diff --git a/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp b/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
@@ -51,16 +51,23 @@ 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"
+
+#include "image_opencv.h"
+#include "image.h"
+#include "darknet.h"
+
+#include "darknet_ros/image_interface.hpp"
 }
 
-extern "C" void ipl_into_image(IplImage* src, image im);
-extern "C" image ipl_to_image(IplImage* src);
+//extern "C" void ipl_into_image(IplImage* src, image im);
+//extern "C" image ipl_to_image(IplImage* src);
+extern "C" cv::Mat image_to_mat(image im);
+extern "C" image mat_to_image(cv::Mat m);
 // extern "C" void show_image_cv(image p, const char* name, IplImage* disp);
 
 namespace darknet_ros {
@@ -71,10 +78,15 @@ typedef struct {
   int num, Class;
 } RosBox_;
 
+// typedef struct {
+//   IplImage* image;
+//   std_msgs::Header header;
+// } IplImageWithHeader_;
+
 typedef struct {
-  IplImage* image;
+  cv::Mat image;
   std_msgs::Header header;
-} IplImageWithHeader_;
+} CvMatWithHeader_;
 
 class YoloObjectDetector {
  public:
@@ -176,7 +188,8 @@ class YoloObjectDetector {
   image buffLetter_[3];
   int buffId_[3];
   int buffIndex_ = 0;
-  IplImage* ipl_;
+  //IplImage* ipl_;
+  cv::Mat disp_;
   float fps_ = 0;
   float demoThresh_ = 0;
   float demoHier_ = .5;
@@ -234,15 +247,19 @@ class YoloObjectDetector {
   void setupNetwork(char* cfgfile, char* weightfile, char* datafile, float thresh, char** names, int classes, int delay, char* prefix,
                     int avg_frames, float hier, int w, int h, int frames, int fullscreen);
 
+  image** load_alphabet_with_file(char* datafile);
+
   void yolo();
 
-  IplImageWithHeader_ getIplImageWithHeader();
+  //IplImageWithHeader_ getIplImageWithHeader();
+  CvMatWithHeader_ getCvMatWithHeader();
 
   bool getImageStatus(void);
 
   bool isNodeRunning(void);
 
   void* publishInThread();
+  void generate_image_cp(image p, cv::Mat& disp);
 };
 
 } /* namespace darknet_ros*/
diff --git a/darknet_ros/include/darknet_ros/image_interface.h b/darknet_ros/include/darknet_ros/image_interface.h
diff --git a/darknet_ros/include/darknet_ros/image_interface.hpp b/darknet_ros/include/darknet_ros/image_interface.hpp
@@ -0,0 +1,23 @@
+/*
+ * image_interface.h
+ *
+ *  Created on: Dec 19, 2016
+ *      Author: Marko Bjelonic
+ *   Institute: ETH Zurich, Robotic Systems Lab
+ */
+
+#ifndef IMAGE_INTERFACE_HPP
+#define IMAGE_INTERFACE_HPP
+
+#include "opencv2/highgui/highgui_c.h"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/core/version.hpp"
+
+#include "image.h"
+//#include "opencv2/core/types_c.h"
+
+static float get_pixel(image m, int x, int y, int c);
+//image** load_alphabet_with_file(char* datafile);  //Moved to YoloObejctDetector.cpp
+void generate_image(image p, cv::Mat& disp);
+
+#endif
diff --git a/darknet_ros/launch/yolo_v3.launch b/darknet_ros/launch/yolo_v3.launch
@@ -4,7 +4,7 @@
 
   <!-- Use YOLOv3 -->
   <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/>
-  <arg name="image" default="camera/rgb/image_raw" />
+  <arg name="image" default="usb_cam/image_raw" />
 
 
   <!-- Include main launch file -->

diff --git a/darknet_ros/launch/yolo_v4-tiny.launch b/darknet_ros/launch/yolo_v4-tiny.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<launch>
+
+  <!-- Use YOLOv3 -->
+  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov4-tiny.yaml"/>
+  <arg name="image" default="usb_cam/image_raw" />
+
+
+  <!-- Include main launch file -->
+  <include file="$(find darknet_ros)/launch/darknet_ros.launch">
+    <arg name="network_param_file"    value="$(arg network_param_file)"/>
+    <arg name="image" value="$(arg image)" />
+  </include>
+
+</launch>
diff --git a/darknet_ros/launch/yolo_v4.launch b/darknet_ros/launch/yolo_v4.launch
@@ -4,7 +4,7 @@
 
   <!-- Use YOLOv3 -->
   <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov4.yaml"/>
-  <arg name="image" default="camera/rgb/image_raw" />
+  <arg name="image" default="usb_cam/image_raw" />
 
 
   <!-- Include main launch file -->
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		darknet_ros/yolo_network_config/cfg/yolov4-tiny_dehumid.cfg