将YOLOV4移植到ROS中会面对的BUG补充

这是大佬的原创

https://blog.csdn.net/JIEJINQUANIL/article/details/106461895

，本博客是关于未匹配的函数的问题补充：具体情况是cv::Mat 和IplImage的转换问题，将YoloObjectDetector.cpp文件中的第518行（具体还要看你报错时候告诉你的行数）的函数替换为如下代码即可

IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader() {
  IplImage ROS_img = cvIplImage(camImageCopy_);

  IplImageWithHeader_ header = {.image = &ROS_img, .header = imageHeader_};
  return header;
}

后续-------------

可能各位不一定会添加未定义文件
我这里也给各位贴上了

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
    ${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/dark_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/lylogistic_layer.c
    # ${DARKNET_PATH}/src/l2norm_layer.c            
    ${DARKNET_PATH}/src/yolo_layer.c

    ${DARKNET_PATH}/src/art.c                
    # ${DARKNET_PATH}/src/lsd.c
    # ${DARKNET_PATH}/src/attention.c          
    ${DARKNET_PATH}/src/nightmare.c
    ${DARKNET_PATH}/src/captcha.c            
    # ${DARKNET_PATH}/src/regressor.c
    ${DARKNET_PATH}/src/cifar.c              ${DARKNET_PATH}/src/rnn.c
    ${DARKNET_PATH}/src/classifier.c         
    # ${DARKNET_PATH}/src/segmenter.c
    ${DARKNET_PATH}/src/coco.c               ${DARKNET_PATH}/src/super.c
    ${DARKNET_PATH}/src/darknet.c            ${DARKNET_PATH}/src/tag.c
    ${DARKNET_PATH}/src/detector.c           ${DARKNET_PATH}/src/yolo.c
    ${DARKNET_PATH}/src/go.c

    #新加文件
    ${DARKNET_PATH}/src/image_opencv.cpp
    ${DARKNET_PATH}/src/conv_lstm_layer.c
    ${DARKNET_PATH}/src/gaussian_yolo_layer.c 
    ${DARKNET_PATH}/src/getopt.c
    ${DARKNET_PATH}/src/voxel.c
    ${DARKNET_PATH}/src/rnn_vid.c
    ${DARKNET_PATH}/src/sam_layer.c
    ${DARKNET_PATH}/src/detection_layer.c
    ${DARKNET_PATH}/src/dice.c
    ${DARKNET_PATH}/src/reorg_old_layer.c
    ${DARKNET_PATH}/src/compare.c
    ${DARKNET_PATH}/src/http_stream.cpp
    ${DARKNET_PATH}/src/writing.c
    ${DARKNET_PATH}/src/scale_channels_layer.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
    # 新加文件
    ${DARKNET_PATH}/src/network_kernels.cu
)

BGM起！