Merge branch 'kunaltyagi-cleanup'

Author: mbjelonic

darknet_ros/CMakeLists.txt

@@ -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
@@ -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}
@@ -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}
@@ -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
 )

darknet_ros/src/YoloObjectDetector.cpp

@@ -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;
@@ -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);
     }
   }