Added Ampere arch

43b3b6ca · Gines Hidalgo · 3a21129c · 43b3b6ca · 43b3b6ca · 43b3b6ca
13 changed file
--- a/3rdparty/windows/getCaffe.bat
+++ b/3rdparty/windows/getCaffe.bat
@@ -7,7 +7,7 @@ SET WGET_EXE=wget\wget.exe
 :: Download temporary zip
 echo ----- Downloading Caffe -----
 SET CAFEE_FOLDER=caffe\
-SET ZIP_NAME=caffe_15_2020_04_05.zip
+SET ZIP_NAME=caffe_16_2020_11_14.zip
 SET ZIP_FULL_PATH=%CAFEE_FOLDER%%ZIP_NAME%
 %WGET_EXE% -c http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/%ZIP_NAME% -P %CAFEE_FOLDER%
 echo:

--- a/3rdparty/windows/getCaffe3rdparty.bat
+++ b/3rdparty/windows/getCaffe3rdparty.bat
@@ -7,7 +7,7 @@ SET WGET_EXE=wget\wget.exe
 :: Download temporary zip
 echo ----- Downloading Caffe -----
 SET CAFEE_FOLDER=caffe3rdparty\
-SET ZIP_NAME=caffe3rdparty_15_2019_03_14.zip
+SET ZIP_NAME=caffe3rdparty_16_2020_11_14.zip
 SET ZIP_FULL_PATH=%CAFEE_FOLDER%%ZIP_NAME%
 %WGET_EXE% -c http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/%ZIP_NAME% -P %CAFEE_FOLDER%
 echo:

--- a/3rdparty/windows/getSpinnaker.bat
+++ b/3rdparty/windows/getSpinnaker.bat
+:: Avoid printing all the comments in the Windows cmd
+@echo off
+
+SET UNZIP_EXE=unzip\unzip.exe
+SET WGET_EXE=wget\wget.exe
+
+:: Download temporary zip
+echo ----- Downloading Caffe -----
+SET SPINNAKER_FOLDER=spinnaker\
+SET ZIP_NAME=spinnaker_2018_01_24.zip
+SET ZIP_FULL_PATH=%SPINNAKER_FOLDER%%ZIP_NAME%
+%WGET_EXE% -c http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/%ZIP_NAME% -P %SPINNAKER_FOLDER%
+echo:
+
+echo ----- Unzipping Caffe -----
+%UNZIP_EXE% %ZIP_FULL_PATH%
+echo:
+
+:: echo ----- Deleting Temporary Zip File %ZIP_FULL_PATH% -----
+:: del "%ZIP_FULL_PATH%"
+
+echo ----- Caffe Downloaded and Unzipped -----
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -556,14 +556,16 @@ if (WIN32)
  # Download required zip files
  download_zip("opencv_420_v14_15_2020_04_04.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 59da628c17fe0f4755d22ff86dbb8c06)
  # download_zip("caffe3rdparty_2019_03_12.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 34c49be6a2418fd1670b46fc455eebc0)
-  download_zip("caffe3rdparty_15_2019_03_14.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 9fcc6bdf4765db699d1a279c8d6b830b)
+  # download_zip("caffe3rdparty_15_2019_03_14.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 9fcc6bdf4765db699d1a279c8d6b830b)
+  download_zip("caffe3rdparty_16_2020_11_14.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 83C17DC4473985B6AB3A29FD9AB93409)
  if (${GPU_MODE} MATCHES "OPENCL")
    download_zip("caffe_opencl_2018_02_13.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 3ac3e1acf5ee6a4e57920be73053067a)
  elseif (${GPU_MODE} MATCHES "CPU_ONLY")
    download_zip("caffe_cpu_2018_05_27.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 87E8401B6DFBAC5B8E909DD20E3B3390)
  else (${GPU_MODE} MATCHES "OPENCL")
    # download_zip("caffe_2019_03_12.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 859a592310f0928fd4f40da1456a217f)
-    download_zip("caffe_15_2020_04_05.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} cd4ec4d709a70c94aa6b151d2d040300)
+    # download_zip("caffe_15_2020_04_05.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} cd4ec4d709a70c94aa6b151d2d040300)
+    download_zip("caffe_16_2020_11_14.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} 8F8BF43B16ABE49039A35F41C6897E67)
  endif (${GPU_MODE} MATCHES "OPENCL")
  if (WITH_3D_RENDERER)
    download_zip("freeglut_2018_01_14.zip" ${OP_WIN_URL} ${FIND_LIB_PREFIX} BB182187285E06880F0EDE3A39530091)
@@ -571,7 +573,8 @@ if (WIN32)
  message(STATUS "Windows dependencies downloaded.")

  # set(VS_VERSION "14")
-  set(VS_VERSION "15") # Note: VS2017 code seems to simply works in VS2015
+  # set(VS_VERSION "15") # Note: VS2017 code seems to simply works in VS2015
+  set(VS_VERSION "16")
  find_library(OpenCV_LIBS_RELEASE opencv_world420 HINTS ${FIND_LIB_PREFIX}/opencv/x64/vc${VS_VERSION}/lib)
  find_library(OpenCV_LIBS_DEBUG opencv_world420d HINTS ${FIND_LIB_PREFIX}/opencv/x64/vc${VS_VERSION}/lib)
  find_library(GFLAGS_LIBRARY_RELEASE gflags HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
@@ -610,18 +613,15 @@ if (WIN32)
      find_library(Caffe_Proto_LIB_DEBUG caffeproto-d HINTS ${FIND_LIB_PREFIX}/caffe/lib)
    endif (${GPU_MODE} MATCHES "CPU_ONLY")
  endif (${GPU_MODE} MATCHES "OPENCL")
-  # Boost DepCopy over required DLL F
-  if (${GPU_MODE} MATCHES "CPU_ONLY" OR ${GPU_MODE} MATCHES "OPENCL" OR BUILD_PYTHON)
-      find_library(BOOST_SYSTEM_LIB_RELEASE boost_system-vc141-mt-x64-1_69 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
-      find_library(BOOST_SYSTEM_LIB_DEBUG boost_system-vc141-mt-gd-x64-1_69 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
-      find_library(BOOST_FILESYSTEM_LIB_RELEASE boost_filesystem-vc141-mt-x64-1_69 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
-      find_library(BOOST_FILESYSTEM_LIB_DEBUG boost_filesystem-vc141-mt-gd-x64-1_69 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
-  else ()
-      set(BOOST_SYSTEM_LIB_RELEASE "")
-      set(BOOST_SYSTEM_LIB_DEBUG "")
-      set(BOOST_FILESYSTEM_LIB_RELEASE "")
-      set(BOOST_FILESYSTEM_LIB_DEBUG "")
-  endif ()
+  # Boost DepCopy over required DLL
+  find_library(BOOST_SYSTEM_LIB_RELEASE boost_system-vc142-mt-x64-1_74 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
+  find_library(BOOST_SYSTEM_LIB_DEBUG boost_system-vc142-mt-gd-x64-1_74 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
+  find_library(BOOST_FILESYSTEM_LIB_RELEASE boost_filesystem-vc142-mt-x64-1_74 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
+  find_library(BOOST_FILESYSTEM_LIB_DEBUG boost_filesystem-vc142-mt-gd-x64-1_74 HINTS ${FIND_LIB_PREFIX}/caffe3rdparty/lib)
+  # message(STATUS "\${BOOST_SYSTEM_LIB_RELEASE} = ${BOOST_SYSTEM_LIB_RELEASE}")
+  # message(STATUS "\${BOOST_SYSTEM_LIB_DEBUG} = ${BOOST_SYSTEM_LIB_DEBUG}")
+  # message(STATUS "\${BOOST_FILESYSTEM_LIB_RELEASE} = ${BOOST_FILESYSTEM_LIB_RELEASE}")
+  # message(STATUS "\${BOOST_FILESYSTEM_LIB_DEBUG} = ${BOOST_FILESYSTEM_LIB_DEBUG}")
  if (WITH_3D_RENDERER)
    find_library(GLUT_LIBRARY freeglut HINTS ${FIND_LIB_PREFIX}/freeglut/lib)
    message(STATUS "\${GLUT_LIBRARY} = ${GLUT_LIBRARY}")
@@ -730,7 +730,7 @@ if (UNIX OR APPLE)
      set(CAFFE_CPU_ONLY OFF)
      if (${GPU_MODE} MATCHES "CUDA")
        # execute_process(COMMAND git checkout master WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
-        execute_process(COMMAND git checkout b846ff9 WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
+        execute_process(COMMAND git checkout 1807aad WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
      elseif (${GPU_MODE} MATCHES "CPU_ONLY")
        if (USE_MKL)
          #execute_process(COMMAND git checkout intel WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
@@ -766,7 +766,7 @@ if (UNIX OR APPLE)
            )
        else (USE_MKL)
          # execute_process(COMMAND git checkout master WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
-          execute_process(COMMAND git checkout b846ff9 WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
+          execute_process(COMMAND git checkout 1807aad WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/caffe)
        endif (USE_MKL)
        set(CAFFE_CPU_ONLY ON)
        set(USE_CUDNN OFF)

--- a/cmake/Cuda.cmake
+++ b/cmake/Cuda.cmake
@@ -21,23 +21,25 @@ endmacro()

 # This list will be used for CUDA_ARCH = All option
 # Fermi (3.2 <= CUDA <= 8)
-set(FERMI "20 21(20)")
+# set(FERMI "20 21(20)")
 # Kepler (CUDA >= 5)
-set(KEPLER "30 35 37")
+set(KEPLER "35 37") # set(KEPLER "30 35 37") # This crashes with CUDA 10
 # Maxwell (CUDA >= 6)
 set(MAXWELL "50 52 53")
 # Pascal (CUDA >= 8)
 set(PASCAL "60 61 62")
 # Volta (CUDA >= 9)
-set(VOLTA "70") # set(VOLTA "70 71 72") # This crashes with CUDA 10
+set(VOLTA "70 72") # set(VOLTA "70 71 72") # This crashes with CUDA 10
 # Turing (CUDA >= 10)
 set(TURING "75")
+# Ampere (CUDA >= 11)
+set(AMPERE "80 86")
 if (UNIX AND NOT APPLE)
-  set(Caffe_known_gpu_archs "${KEPLER} ${MAXWELL} ${PASCAL} ${VOLTA} ${TURING}")
+  set(Caffe_known_gpu_archs "${KEPLER} ${MAXWELL} ${PASCAL} ${VOLTA} ${TURING} ${AMPERE}")
  # set(Caffe_known_gpu_archs "${FERMI} ${KEPLER} ${MAXWELL} ${PASCAL} ${VOLTA} ${TURING}")
  # set(Caffe_known_gpu_archs "20 21(20) 30 35 50 52 60 61")
 elseif (WIN32)
-  set(Caffe_known_gpu_archs "${KEPLER} ${MAXWELL} ${PASCAL} ${VOLTA} ${TURING}")
+  set(Caffe_known_gpu_archs "${KEPLER} ${MAXWELL} ${PASCAL} ${VOLTA} ${TURING} ${AMPERE}")
 endif ()



--- a/doc/installation_deprecated.md
+++ b/doc/installation_deprecated.md
@@ -139,8 +139,8 @@ Note: This installer will not incorporate any new features, we recommend to use
        - [Face model](http://posefs1.perception.cs.cmu.edu/OpenPose/models/face/pose_iter_116000.caffemodel): download in `models/face/`.
        - [Hands model](http://posefs1.perception.cs.cmu.edu/OpenPose/models/hand/pose_iter_102000.caffemodel): download in `models/hand/`.
    - Dependencies:
-        - [Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_15_2020_04_05.zip): Unzip as `3rdparty/windows/caffe/`.
-        - [Caffe dependencies](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe3rdparty_15_2019_03_14.zip): Unzip as `3rdparty/windows/caffe3rdparty/`.
+        - [Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_16_2020_11_14.zip): Unzip as `3rdparty/windows/caffe/`.
+        - [Caffe dependencies](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe3rdparty_16_2020_11_14.zip): Unzip as `3rdparty/windows/caffe3rdparty/`.
        - [OpenCV 4.2.0](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/opencv_420_v14_15_2020_04_04.zip): Unzip as `3rdparty/windows/opencv/`.
 2. Open the Visual Studio project sln file by double-cliking on `{openpose_path}\windows\OpenPose.sln`.
 3. In order to verify OpenPose is working, try compiling and executing the demo:

--- a/doc/prerequisites.md
+++ b/doc/prerequisites.md
@@ -93,19 +93,19 @@ NOTE: These instructions are only required when compiling OpenPose brom source.
        - **Important installation tips**:
            - If CMake returns and error message similar to `CUDA_TOOLKIT_ROOT_DIR not found or specified` or any other CUDA component missing, then: 1) Re-install Visual Studio 2015; 2) Reboot your PC; 3) Re-install CUDA (in this order!).
    3. [**cuDNN 8.0.5**](https://developer.nvidia.com/cudnn), [**cuDNN 7.5.1**](https://developer.nvidia.com/rdp/cudnn-archive), or [**cuDNN 5.1**](https://developer.nvidia.com/rdp/cudnn-archive):
-        - In order to manually install it, just unzip it and copy (merge) the contents on the CUDA folder, usually `C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0` in Windows and `/usr/local/cuda/` in Ubuntu.
-4. AMD GPU version prerequisites:
-    1. Download official AMD drivers for Windows from [**AMD - Windows**](https://support.amd.com/en-us/download).
+        - In order to manually install it, just unzip it and copy (merge) the contents on the CUDA folder, usually `C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v{version}` in Windows and `/usr/local/cuda-{version}/` in Ubuntu.
+4. AMD GPU version prerequisites (only if you do not have an Nvidia GPU and want to run on AMD graphic cards):
+    1. Download the official AMD drivers for Windows from [**AMD - Windows**](https://support.amd.com/en-us/download).
    2. The libviennacl package comes packaged inside OpenPose for Windows (i.e., no further action required).
 5. **Caffe, OpenCV, and Caffe prerequisites**:
    - CMake automatically downloads all the Windows DLLs. Alternatively, you might prefer to download them manually:
        - Dependencies:
            - Note: Leave the zip files in `3rdparty/windows/` so that CMake does not try to download them again.
            - Caffe (if you are not sure which one you need, donwload the default one):
-                - [CUDA Caffe (Default)](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_15_2020_04_05.zip): Unzip as `3rdparty/windows/caffe/`.
+                - [CUDA Caffe (Default)](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_16_2020_11_14.zip): Unzip as `3rdparty/windows/caffe/`.
                - [CPU Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_cpu_2018_05_27.zip): Unzip as `3rdparty/windows/caffe_cpu/`.
                - [OpenCL Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_opencl_2018_02_13.zip): Unzip as `3rdparty/windows/caffe_opencl/`.
-            - [Caffe dependencies](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe3rdparty_15_2019_03_14.zip): Unzip as `3rdparty/windows/caffe3rdparty/`.
+            - [Caffe dependencies](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe3rdparty_16_2020_11_14.zip): Unzip as `3rdparty/windows/caffe3rdparty/`.
            - [OpenCV 4.2.0](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/opencv_420_v14_15_2020_04_04.zip): Unzip as `3rdparty/windows/opencv/`.
 6. **Eigen prerequisite** (optional, only required for some specific extra functionality, such as extrinsic camera calibration):
    - Enable the `WITH_EIGEN` flag when running CMake, and set it to `BUILD`.

--- a/doc/release_notes.md
+++ b/doc/release_notes.md
@@ -414,14 +414,14 @@ OpenPose Library - Release Notes



-## Current version - Future OpenPose 1.6.1
+## Current version - Future OpenPose 1.7.0
 1. Main improvements:
-    1. Some parts of the documentation have been explained better.
-    2. Added `DOWNLOAD_SERVER` variable to CMake. It specifies the link where the models and 3rd party libraries will be downloaded from.
+    1. Added compatibility with CUDA 11.X and cuDNN 8.X.
+    2. Added compatibility with Ubuntu 20.04.
    3. Added Asynchronous mode to Python API.
-    4. Added compatibility with Ubuntu 20.04, CUDA 11.X, and cuDNN 8.0.X.
+    4. Added `DOWNLOAD_SERVER` variable to CMake. It specifies the link where the models and 3rd party libraries will be downloaded from.
    5. Installation documentation highly simplified and improved.
-    6. Removed all compiler warnings for Ubuntu 20.04.
+    6. Removed all compiler warnings for Ubuntu 20.04 and removed some for Windows 10.
 2. Functions or parameters renamed:
 3. Main bugs fixed:
    1. 90 and 270-degree rotations working again.

--- a/scripts/ubuntu/install_cuda.sh
+++ b/scripts/ubuntu/install_cuda.sh
 #!/bin/bash

-echo "NOTE: This script assumes Ubuntu 18 (Nvidia Graphics card >= 10XX), 16 (card up to 10XX), or 14 (card up to 10XX)."
+echo "NOTE: This script assumes Ubuntu 20 or 18 (Nvidia Graphics card >= 10XX), as well as 16 or 14 (card up to 10XX)."
 echo "Otherwise, install it by yourself or it might fail."

 # Install CUDA 8.0

--- a/scripts/ubuntu/install_cudnn.sh
+++ b/scripts/ubuntu/install_cudnn.sh
 #!/bin/bash

-echo "NOTE: This script assumes Ubuntu 16 or 14 and Nvidia Graphics card up to 10XX. Otherwise, install it by yourself or it will fail."
+echo "This script assumes Ubuntu 16 or 14 and Nvidia Graphics card up to 10XX. Otherwise, it will fail."

 # Install cuDNN 5.1
-CUDNN_URL="http://developer.download.nvidia.com/compute/redist/cudnn/v5.1/cudnn-8.0-linux-x64-v5.1.tgz"
-wget -c ${CUDNN_URL}
-sudo tar -xzf cudnn-8.0-linux-x64-v5.1.tgz -C /usr/local
-rm cudnn-8.0-linux-x64-v5.1.tgz && sudo ldconfig
+if [[ $UBUNTU_VERSION == *"14."* ]] || [[ $UBUNTU_VERSION == *"15."* ]] || [[ $UBUNTU_VERSION == *"16."* ]]; then
+	CUDNN_URL="http://developer.download.nvidia.com/compute/redist/cudnn/v5.1/cudnn-8.0-linux-x64-v5.1.tgz"
+	wget -c ${CUDNN_URL}
+	sudo tar -xzf cudnn-8.0-linux-x64-v5.1.tgz -C /usr/local
+	rm cudnn-8.0-linux-x64-v5.1.tgz && sudo ldconfig
+else
+	echo "cuDNN NOT INSTALLED! Ubuntu 16 or 14 not found. Install cuDNN manually from 'https://developer.nvidia.com/cudnn'."
+fi
--- a/scripts/ubuntu/install_deps.sh
+++ b/scripts/ubuntu/install_deps.sh
@@ -2,6 +2,8 @@

 ### INSTALL PREREQUISITES

+UBUNTU_VERSION="$(lsb_release -r)"
+
 # Basic
 sudo apt-get --assume-yes update
 sudo apt-get --assume-yes install build-essential
@@ -10,16 +12,20 @@ sudo apt-get --assume-yes install libatlas-base-dev libprotobuf-dev libleveldb-d
 sudo apt-get --assume-yes install --no-install-recommends libboost-all-dev
 # Remaining dependencies, 14.04
 sudo apt-get --assume-yes install libgflags-dev libgoogle-glog-dev liblmdb-dev
-# Python2 libs
-sudo apt-get --assume-yes install python-setuptools python-dev build-essential
-sudo easy_install pip
-sudo -H pip install --upgrade numpy protobuf opencv-python
+# Python2 libs (Official Ubuntu support dropped after Ubuntu 20)
+if [[ $UBUNTU_VERSION == *"14."* ]] || [[ $UBUNTU_VERSION == *"15."* ]] || [[ $UBUNTU_VERSION == *"16."* ]] || [[ $UBUNTU_VERSION == *"17."* ]] || [[ $UBUNTU_VERSION == *"18."* ]]; then
+	sudo apt-get --assume-yes install python-setuptools python-dev build-essential
+	sudo easy_install pip
+	sudo -H pip install --upgrade numpy protobuf opencv-python
+fi
 # Python3 libs
 sudo apt-get --assume-yes install python3-setuptools python3-dev build-essential
 sudo apt-get --assume-yes install python3-pip
 sudo -H pip3 install --upgrade numpy protobuf opencv-python
+# OpenCL Generic (Official OpenPose support dropped after Ubuntu 20)
+if [[ $UBUNTU_VERSION == *"14."* ]] || [[ $UBUNTU_VERSION == *"15."* ]] || [[ $UBUNTU_VERSION == *"16."* ]] || [[ $UBUNTU_VERSION == *"17."* ]] || [[ $UBUNTU_VERSION == *"18."* ]]; then
+	sudo apt-get --assume-yes install opencl-headers ocl-icd-opencl-dev
+	sudo apt-get --assume-yes install libviennacl-dev
+fi
 # OpenCV 2.4 -> Added as option
 # # sudo apt-get --assume-yes install libopencv-dev
-# OpenCL Generic
-sudo apt-get --assume-yes install opencl-headers ocl-icd-opencl-dev
-sudo apt-get --assume-yes install libviennacl-dev
\ No newline at end of file
--- a/src/openpose/producer/spinnakerWrapper.cpp
+++ b/src/openpose/producer/spinnakerWrapper.cpp
@@ -608,7 +608,7 @@ namespace op
                                    // // Single-thread option
                                    // readAndUndistortImage(i, imagePtrs.at(i), cameraIntrinsics.at(i), cameraDistorsions.at(i));
                                }
-                                readAndUndistortImage(imagePtrs.size()-1, imagePtrs.back(), cameraIntrinsics.back(),
+                                readAndUndistortImage((int)imagePtrs.size()-1, imagePtrs.back(), cameraIntrinsics.back(),
                                                      cameraDistorsions.back());
                                // Close threads
                                for (auto& thread : threads)
@@ -714,7 +714,7 @@ namespace op
                //
                opLog("\n*** DEVICE INFORMATION ***\n", Priority::High);

-                for (auto i = 0u; i < upImpl->mCameraList.GetSize(); i++)
+                for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
                {
                    // Select camera
                    auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
@@ -729,7 +729,7 @@ namespace op
                                  __LINE__, __FUNCTION__, __FILE__);
                }

-                for (auto i = 0u; i < upImpl->mCameraList.GetSize(); i++)
+                for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
                {
                    // Select camera
                    auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
@@ -787,7 +787,7 @@ namespace op
                //
                // Serial numbers are the only persistent objects we gather in this
                // example, which is why a std::vector is created.
-                for (auto i = 0u; i < upImpl->mCameraList.GetSize(); i++)
+                for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
                {
                    // Select camera
                    auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
@@ -1072,7 +1072,7 @@ namespace op
                    // GetByIndex(); this is an alternative to retrieving cameras as
                    // Spinnaker::CameraPtr objects that can be quick and easy for small tasks.
                    //
-                    for (auto i = 0u; i < upImpl->mCameraList.GetSize(); i++)
+                    for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
                    {
                        // Select camera
                        auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
@@ -1119,7 +1119,7 @@ namespace op
                    if (cameraList.GetSize() > 0)
                    {

-                        for (auto i = 0u; i < cameraList.GetSize(); i++)
+                        for (auto i = 0; i < cameraList.GetSize(); i++)
                        {
                            // Select camera
                            auto cameraPtr = cameraList.GetByIndex(i);

--- a/src/openpose/tracking/pyramidalLK.cpp
+++ b/src/openpose/tracking/pyramidalLK.cpp
@@ -413,7 +413,7 @@ namespace op
                // Check distance
                for (size_t i=0; i<status.size(); i++)
                {
-                    const float distance = std::sqrt(
+                    const double distance = std::sqrt(
                        std::pow(coordI[i].x-coordJ[i].x,2) + std::pow(coordI[i].y-coordJ[i].y,2));

                    // Check if lk loss track, if distance is close keep it