Skip to content

Workaround for ROS kinetic / OpenCV 3 #6

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
jitrc wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Workaround for ROS kinetic / OpenCV 3 #6

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
a670b0b
darknet without OpenCV as C on openCV 3 and CUDA does not work in da…
Jul 22, 2017
0af74cb
auto detect version of opencv for including headers
Jul 22, 2017
1a48902
adding ipl_to_image to make the code work without OpenCV
Jul 22, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ Fully check out this repository with submodule ```darknet```. Compile the ```dar

```
cd darknet;mkdir build;cd build
cmake -DCMAKE_INSTALL_PREFIX=<full path to dn_object_detect> ..
cmake -DOPENCV=OFF -DCMAKE_INSTALL_PREFIX=<full path to dn_object_detect> ..
make install
```

Expand Down
24 changes: 20 additions & 4 deletions src/MultiClassObjectDetector.cpp
100644 → 100755
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,6 @@
// Copyright (c) 2016 Xun Wang. All rights reserved.
//

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <boost/bind.hpp>
#include <boost/timer.hpp>
#include <boost/format.hpp>
Expand All @@ -30,6 +27,25 @@

#include "dn_object_detect/DetectedObjects.h"

image ipl_to_image(IplImage* src)
{
unsigned char *data = (unsigned char *)src->imageData;
int h = src->height;
int w = src->width;
int c = src->nChannels;
int step = src->widthStep;
image out = make_image(w, h, c);
int i, j, k, count=0;;

for(k= 0; k < c; ++k){
for(i = 0; i < h; ++i){
for(j = 0; j < w; ++j){
out.data[count++] = data[i*step + j*c + k]/255.;
}
}
}
return out;
}
namespace uts_perp {

using namespace std;
Expand Down Expand Up @@ -275,7 +291,7 @@ void MultiClassObjectDetector::startDetection()
cv_ptr_.reset();
imgMsgPtr_.reset();

image_transport::TransportHints hints( "compressed" );
image_transport::TransportHints hints( "raw" );
imgSub_ = imgTrans_.subscribe( cameraDevice_, 1,
&MultiClassObjectDetector::processingRawImages, this, hints );

Expand Down