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jessiffmmjessiffmm
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Merge pull request #14 from JdeRobot/issue13
I upload the latest version of darknet adapted
2 parents 2a8c0d2 + 82684cc commit 9658676

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‎darknet/.gitignore‎

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*.o
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*.dSYM
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*.csv
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*.out
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*.png
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*.jpg
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*.pyc
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old/
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mnist/
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data/
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caffe/
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grasp/
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images/
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opencv/
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convnet/
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decaf/
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submission/
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cfg/
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darknet
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.fuse*
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# OS Generated #
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.DS_Store*
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ehthumbs.db
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Icon?
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Thumbs.db
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*.swp

‎darknet/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8)
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PROJECT(DARKNET C CXX)
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####################################################################
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####################################################################
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###### DEFINE DARKNET CMAKE OPTIONS ######
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####################################################################
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####################################################################
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OPTION(BUILD_python "Build Python wrapper" ON)
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OPTION(USE_GPU "Compile with GPU support" ON)
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SET(DARKNET_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/src ${CMAKE_CURRENT_LIST_DIR}/examples ${CMAKE_CURRENT_LIST_DIR}/)
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IF (USE_GPU)
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add_definitions(-DGPU)
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ENDIF()
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####################################################################
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####################################################################
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###### DEFINE LOCAL CMAKE REPO AND TOOLS ######
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####################################################################
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####################################################################
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IF (NOT DEFINED CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
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ELSEIF (CMAKE_BUILD_TYPE STREQUAL "" )
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SET(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
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ENDIF()
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####################################################################
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####################################################################
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####################################################################
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###### DEPENDENCIES ######
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####################################################################
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# ---[ Python
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#Cuda
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FIND_PACKAGE(OpenCV REQUIRED)
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FIND_PACKAGE(Boost REQUIRED)
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IF(USE_GPU)
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FIND_PACKAGE(CUDA REQUIRED)
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ENDIF(USE_GPU)
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####################################################################
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####################################################################
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###### SET COMPILLER OPTIONS ######
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####################################################################
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####################################################################
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-fPIC)
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####################################################################
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####################################################################
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set(LIB_DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" CACHE STRING "Library directory name" FORCE)
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set(HEADER_DESTINATION "${CMAKE_INSTALL_PREFIX}/include" CACHE STRING "include directory name" FORCE)
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add_subdirectory(src)
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add_subdirectory(examples)
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add_subdirectory(DarknetAPI)
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add_subdirectory(test)
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add_custom_target(uninstall
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"${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/uninstall.cmake"
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)

‎darknet/DarknetAPI/CMakeLists.txt‎

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if(UNIX)
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set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -Xcompiler -fPIC; -O3; -ccbin ${CMAKE_CXX_COMPILER})
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else()
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set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -ccbin "\"${CMAKE_CXX_COMPILER}\"")
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endif()
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set (darknetAPI_SOURCES
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DarknetAPI
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DarknetAPIConversions
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DarknetDetection
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)
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include_directories(${CMAKE_CURRENT_LIST_DIR}/../ ${CMAKE_CURRENT_LIST_DIR}/../include ${CMAKE_CURRENT_LIST_DIR}/../examples ${CMAKE_CURRENT_LIST_DIR}/../src ${CMAKE_CURRENT_LIST_DIR} ${OPENCV_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${RAPIDJSON_INCLUDE_DIR})
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if(USE_GPU)
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cuda_add_library (darknetAPILib ${darknetAPI_SOURCES} ${gpu_SRCS} SHARED)
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else()
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add_library (darknetAPILib SHARED ${darknetAPI_SOURCES})
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endif(USE_GPU)
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target_link_libraries(darknetAPILib darknetLib ${OpenCV_LIBRARIES})
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install(TARGETS darknetAPILib LIBRARY DESTINATION ${LIB_DESTINATION} ARCHIVE DESTINATION ${LIB_DESTINATION} RUNTIME DESTINATION ${LIB_DESTINATION})
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file(GLOB filesB *.h)
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file(GLOB filesC ../include/*.h)
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install(FILES ${filesB} DESTINATION ${HEADER_DESTINATION}/DarknetAPI)
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install(FILES ${filesC} DESTINATION ${HEADER_DESTINATION})

‎darknet/DarknetAPI/DarknetAPI.cpp‎

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//
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// Created by frivas on 25/04/16.
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//
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#include "DarknetAPI.h"
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#include <iostream>
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#include "DarknetAPIConversions.h"
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//char *voc_names2[] = {"gable_main", "hip_main", "hip_ext", "hipgable_main", "hipgable_ext",
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// "nested_turret"};
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//image voc_labels[6];
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char *voc_names2[] = {"None","motorcycle","car","van","bus","truck","small-truck","tank-truck"};
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image voc_labels[8];
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void addDetection(image& im, int num, float thresh, detection *dets, char **names, image *labels, int classes, DarknetDetections& detections){
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int i,j;
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int classid;
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float prob;
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for(i = 0; i < num; ++i){
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char labelstr[4096] = {0};
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classid = -1;
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for(j = 0; j < classes; ++j){
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if (dets[i].prob[j] > thresh){
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if (classid < 0) {
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strcat(labelstr, names[j]);
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classid = j;
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prob = dets[i].prob[j];
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} else {
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strcat(labelstr, ", ");
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strcat(labelstr, names[j]);
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}
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printf("%s: %.0f%%\n", names[j], dets[i].prob[j]*100);
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}
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}
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if(classid >= 0){
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/*int width = pow(prob, 1./2.)*10+1;
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int offset = classid*17 % classes;*/
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box b = dets[i].bbox;
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int left = (b.x-b.w/2.)*im.w;
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int right = (b.x+b.w/2.)*im.w;
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int top = (b.y-b.h/2.)*im.h;
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int bot = (b.y+b.h/2.)*im.h;
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if(left < 0) left = 0;
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if(right > im.w-1) right = im.w-1;
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if(top < 0) top = 0;
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if(bot > im.h-1) bot = im.h-1;
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box detectedbox;
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detectedbox.x = left;
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detectedbox.y = top;
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detectedbox.h = bot - top;
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detectedbox.w = right - left;
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// std::cout<<"---------------------:" << detectedbox.x<<" "<<detectedbox.y<<" "<<detectedbox.w<<" "<<detectedbox.h<<std::endl;
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DarknetDetection detection(detectedbox,classid,prob);
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detections.push_back(detection);
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}
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}
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}
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DarknetDetections processImageDetection(network *net,image& im, float thresh ){
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float hier_thresh=0.5;
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DarknetDetections detections;
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c_set_batch_network(net, 1);
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srand(2222222);
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clock_t time;
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char buff[256];
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char *input = buff;
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int j;
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float nms = .3;
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image sized = c_letterbox_image(im, net->w, net->h);
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layer l = net->layers[net->n-1];
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float *X = sized.data;
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time=clock();
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c_network_predict(net, X);
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printf("%s: Predicted in %f seconds.\n", input, c_sec(clock()-time));
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int nboxes = 0;
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detection *dets = get_network_boxes(net, im.w, im.h, thresh, hier_thresh, 0, 1, &nboxes);
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/*c_get_region_boxes(l, im.w, im.h, net->w, net->h, thresh, probs, boxes, masks, 0, 0, hier_thresh, 1);*/
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if (l.softmax_tree && nms)
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c_do_nms_obj(dets, nboxes, l.classes, nms);
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else if (nms)
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c_do_nms_sort(dets, nboxes, l.classes, nms);
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addDetection( im, nboxes, thresh, dets, voc_names2, 0, l.classes, detections );
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c_free_image(sized);
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return detections;
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}
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DarknetDetections processImageDetection(network *net,const cv::Mat & im, float thresh){
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image imDark= cv_to_image(im);
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auto detection= processImageDetection(net,imDark,thresh);
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c_free_image(imDark);
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return detection;
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}
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DarknetAPI::DarknetAPI(char *cfgfile, char *weightfile) {
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net = c_parse_network_cfg(cfgfile);
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if (weightfile != nullptr) {
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c_load_weights(net, weightfile);
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}
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}
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DarknetAPI::~DarknetAPI(){
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c_free_network(net);
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}
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DarknetDetections DarknetAPI::process(image& im, float thresh ){
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return processImageDetection(this->net,im,thresh);
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}
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DarknetDetections DarknetAPI::process(const cv::Mat &im, float thresh) {
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image imDark= cv_to_image(im);
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return processImageDetection(this->net,imDark,thresh);
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}
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std::string DarknetAPI::processToJson(const cv::Mat &im, float thresh) {
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return process(im,thresh).serialize();
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}

‎darknet/DarknetAPI/DarknetAPI.h‎

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//
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// Created by frivas on 25/04/16.
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//
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#ifndef DARKNET_DARKNETAPI_H
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#define DARKNET_DARKNETAPI_H
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#include "parser.h"
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#include "detection_layer.h"
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#include "utils.h"
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#include <DarknetAPI/DarknetDetection.h>
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#include <vector>
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#include <iostream>
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extern "C" void c_test_detector(char *datacfg, char *cfgfile, char *weightfile, char *filename, float thresh, float hier_thresh);
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extern "C" network *c_parse_network_cfg(char *filename);
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extern "C" void c_load_weights(network *net, char *filename);
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extern "C" void c_set_batch_network(network *net, int b);
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extern "C" image c_load_image_color(char *filename, int w, int h);
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extern "C" image c_resize_image(image im, int w, int h);
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extern "C" float *c_network_predict(network *net, float *input);
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extern "C" float c_sec(clock_t clocks);
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extern "C" void c_get_detection_boxes(layer l, int w, int h, float thresh, float **probs, box *boxes, int only_objectness);
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extern "C" void c_do_nms_sort(detection *dets, int total, int classes, float thresh);
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extern "C" void c_draw_detections(image im, int num, float thresh, box *boxes, float **probs, char **names, image *labels, int classes);
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extern "C" void c_show_image(image p, const char *name);
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extern "C" void c_save_image(image im, const char *name);
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extern "C" void c_free_image(image m);
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extern "C" float c_get_pixel(image m, int x, int y, int c);
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extern "C" image c_make_image(int w, int h, int c);
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extern "C" image c_copy_image(image p);
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extern "C" void c_rgbgr_image(image im);
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extern "C" void c_free_network(network *net);
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extern "C" int c_max_index(float *a, int n);
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extern "C" void c_do_nms_obj(detection *dets, int total, int classes, float thresh);
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//extern "C" void c_get_region_boxes(layer l, int w, int h, float thresh, float **probs, box *boxes, int only_objectness, int *map, float tree_thresh);
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extern "C" void c_get_region_boxes(layer l, int w, int h, int netw, int neth, float thresh, float **probs, box *boxes, float **masks, int only_objectness, int *map, float tree_thresh, int relative);
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extern "C" image c_letterbox_image(image im, int w, int h);
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void addDetection(int num, float thresh, box *boxes, float **probs, char **names, image *labels, int classes, DarknetDetections& detections);
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DarknetDetections processImageDetection(network *net, image& im, float thresh = 0.24);
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DarknetDetections processImageDetection(network *net,const cv::Mat & im, float thresh = 0.24);
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class DarknetAPI {
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network *net;
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public:
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DarknetAPI(char *cfgfile, char *weightfile);
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~DarknetAPI();
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DarknetDetections process(image& im, float thresh = 0.24);
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DarknetDetections process(const cv::Mat& im, float thresh = 0.24);
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std::string processToJson(const cv::Mat& im, float thresh = 0.24);
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};
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#endif //DARKNET_DARKNETAPI_H

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