diff --git a/darknet b/darknet
index 508381b37..eb0272f27 160000
--- a/darknet
+++ b/darknet
@@ -1 +1 @@
-Subproject commit 508381b37fe75e0e1a01bcb2941cb0b31eb0e4c9
+Subproject commit eb0272f27acda1982fe4d30acd838fca427785a9
diff --git a/darknet_ros/CMakeLists.txt b/darknet_ros/CMakeLists.txt
index b76f4fa70..bac121e31 100644
--- a/darknet_ros/CMakeLists.txt
+++ b/darknet_ros/CMakeLists.txt
@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(darknet_ros)
 
+set(BUILD_AS_CPP ON)
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../darknet ${CMAKE_BINARY_DIR}/darknet)
+
 # Set c++11 cmake flags
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 set(CMAKE_C_FLAGS "-Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC ${CMAKE_C_FLAGS}")
@@ -39,7 +42,7 @@ endif()
 message ( STATUS "Searching for X11..." )
 find_package ( X11 REQUIRED )
 if ( X11_FOUND )
-  include_directories ( ${X11_INCLUDE_DIR} )
+    include_directories (SYSTEM ${X11_INCLUDE_DIR} )
   link_libraries ( ${X11_LIBRARIES} )
   message ( STATUS " X11_INCLUDE_DIR: " ${X11_INCLUDE_DIR} )
   message ( STATUS " X11_LIBRARIES: " ${X11_LIBRARIES} )
@@ -48,7 +51,7 @@ endif ( X11_FOUND )
 # Find rquired packeges
 find_package(Boost REQUIRED COMPONENTS thread)
 find_package(OpenCV REQUIRED)
-include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
 find_package(catkin REQUIRED
   COMPONENTS
     cv_bridge
@@ -82,58 +85,16 @@ catkin_package(
 )
 
 include_directories(
-  ${DARKNET_PATH}/src
-  ${DARKNET_PATH}/include
   include
+)
+include_directories(SYSTEM
   ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
 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
-    ${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
-)
-
-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
+    src/YoloObjectDetector.cpp
+    src/image_interface.cpp
 )
 
 if (CUDA_FOUND)
@@ -143,8 +104,7 @@ if (CUDA_FOUND)
   )
 
   cuda_add_library(${PROJECT_NAME}_lib
-    ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
-    ${DARKNET_CUDA_FILES}
+    ${PROJECT_LIB_FILES}
   )
 
   target_link_libraries(${PROJECT_NAME}_lib
@@ -161,7 +121,7 @@ if (CUDA_FOUND)
 else()
 
   add_library(${PROJECT_NAME}_lib
-    ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
+    ${PROJECT_LIB_FILES}
   )
 
   add_executable(${PROJECT_NAME}
@@ -178,6 +138,7 @@ target_link_libraries(${PROJECT_NAME}_lib
   ${OpenCV_LIBRARIES}
   ${catkin_LIBRARIES}
   ${OpenCV_LIBS}
+  dark
 )
 
 target_link_libraries(${PROJECT_NAME}
diff --git a/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp b/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
index daef6ef67..ce832f73b 100644
--- a/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
+++ b/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
@@ -45,21 +45,19 @@
 #include "curand.h"
 #endif
 
-extern "C" {
 #include <sys/time.h>
 #include "box.h"
 #include "cost_layer.h"
-#include "darknet_ros/image_interface.h"
 #include "detection_layer.h"
 #include "network.h"
 #include "parser.h"
 #include "region_layer.h"
 #include "utils.h"
-}
 
-extern "C" void ipl_into_image(IplImage* src, image im);
-extern "C" image ipl_to_image(IplImage* src);
-extern "C" void show_image_cv(image p, const char* name, IplImage* disp);
+#include "image_opencv.h"
+#include "blas.h"
+
+#include "darknet_ros/image_interface.h"
 
 namespace darknet_ros {
 
@@ -70,7 +68,7 @@ typedef struct {
 } RosBox_;
 
 typedef struct {
-  IplImage* image;
+  cv::Mat image;
   std_msgs::Header header;
 } IplImageWithHeader_;
 
@@ -174,7 +172,7 @@ class YoloObjectDetector {
   image buffLetter_[3];
   int buffId_[3];
   int buffIndex_ = 0;
-  IplImage* ipl_;
+  cv::Mat ipl_;
   float fps_ = 0;
   float demoThresh_ = 0;
   float demoHier_ = .5;
diff --git a/darknet_ros/include/darknet_ros/image_interface.h b/darknet_ros/include/darknet_ros/image_interface.h
index 7fb3d49b1..14a244b37 100644
--- a/darknet_ros/include/darknet_ros/image_interface.h
+++ b/darknet_ros/include/darknet_ros/image_interface.h
@@ -11,8 +11,10 @@
 
 #include "image.h"
 
+#include <opencv2/core.hpp>
+
 static float get_pixel(image m, int x, int y, int c);
 image** load_alphabet_with_file(char* datafile);
-void generate_image(image p, IplImage* disp);
+void generate_image(image p, cv::Mat disp);
 
 #endif
diff --git a/darknet_ros/src/YoloObjectDetector.cpp b/darknet_ros/src/YoloObjectDetector.cpp
index 17cb41e7a..ea98db4dc 100644
--- a/darknet_ros/src/YoloObjectDetector.cpp
+++ b/darknet_ros/src/YoloObjectDetector.cpp
@@ -286,7 +286,7 @@ detection* YoloObjectDetector::avgPredictions(network* net, int* nboxes) {
       count += l.outputs;
     }
   }
-  detection* dets = get_network_boxes(net, buff_[0].w, buff_[0].h, demoThresh_, demoHier_, 0, 1, nboxes);
+  detection* dets = get_network_boxes(net, buff_[0].w, buff_[0].h, demoThresh_, demoHier_, 0, 1, nboxes, 0);
   return dets;
 }
 
@@ -296,7 +296,7 @@ void* YoloObjectDetector::detectInThread() {
 
   layer l = net_->layers[net_->n - 1];
   float* X = buffLetter_[(buffIndex_ + 2) % 3].data;
-  float* prediction = network_predict(net_, X);
+  float* prediction = network_predict(*net_, X);
 
   rememberNetwork(net_);
   detection* dets = 0;
@@ -312,7 +312,7 @@ void* YoloObjectDetector::detectInThread() {
     printf("Objects:\n\n");
   }
   image display = buff_[(buffIndex_ + 2) % 3];
-  draw_detections(display, dets, nboxes, demoThresh_, demoNames_, demoAlphabet_, demoClasses_);
+  draw_detections_v3(display, dets, nboxes, demoThresh_, demoNames_, demoAlphabet_, demoClasses_, false);
 
   // extract the bounding boxes and send them to ROS
   int i, j;
@@ -369,8 +369,8 @@ void* YoloObjectDetector::fetchInThread() {
   {
     boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
     IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
-    IplImage* ROS_img = imageAndHeader.image;
-    ipl_into_image(ROS_img, buff_[buffIndex_]);
+    cv::Mat ROS_img = imageAndHeader.image;
+    buff_[buffIndex_] = mat_to_image(ROS_img);
     headerBuff_[buffIndex_] = imageAndHeader.header;
     buffId_[buffIndex_] = actionId_;
   }
@@ -380,7 +380,7 @@ void* YoloObjectDetector::fetchInThread() {
 }
 
 void* YoloObjectDetector::displayInThread(void* ptr) {
-  show_image_cv(buff_[(buffIndex_ + 1) % 3], "YOLO V3", ipl_);
+  show_image_cv(buff_[(buffIndex_ + 1) % 3], "YOLO V3"); //, ipl_);
   int c = cv::waitKey(waitKeyDelay_);
   if (c != -1) c = c % 256;
   if (c == 27) {
@@ -458,8 +458,8 @@ void YoloObjectDetector::yolo() {
   {
     boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
     IplImageWithHeader_ imageAndHeader = getIplImageWithHeader();
-    IplImage* ROS_img = imageAndHeader.image;
-    buff_[0] = ipl_to_image(ROS_img);
+    cv::Mat ROS_img = imageAndHeader.image;
+    buff_[0] = mat_to_image(ROS_img);
     headerBuff_[0] = imageAndHeader.header;
   }
   buff_[1] = copy_image(buff_[0]);
@@ -469,7 +469,6 @@ void YoloObjectDetector::yolo() {
   buffLetter_[0] = letterbox_image(buff_[0], net_->w, net_->h);
   buffLetter_[1] = letterbox_image(buff_[0], net_->w, net_->h);
   buffLetter_[2] = letterbox_image(buff_[0], net_->w, net_->h);
-  ipl_ = cvCreateImage(cvSize(buff_[0].w, buff_[0].h), IPL_DEPTH_8U, buff_[0].c);
 
   int count = 0;
 
@@ -495,7 +494,7 @@ void YoloObjectDetector::yolo() {
       if (viewImage_) {
         displayInThread(0);
       } else {
-        generate_image(buff_[(buffIndex_ + 1) % 3], ipl_);
+        ipl_ = image_to_mat(buff_[(buffIndex_ + 1) % 3]);
       }
       publishInThread();
     } else {
@@ -513,7 +512,7 @@ void YoloObjectDetector::yolo() {
 }
 
 IplImageWithHeader_ YoloObjectDetector::getIplImageWithHeader() {
-  IplImage* ROS_img = new IplImage(camImageCopy_);
+  cv::Mat ROS_img = camImageCopy_;
   IplImageWithHeader_ header = {.image = ROS_img, .header = imageHeader_};
   return header;
 }
@@ -530,7 +529,7 @@ bool YoloObjectDetector::isNodeRunning(void) {
 
 void* YoloObjectDetector::publishInThread() {
   // Publish image.
-  cv::Mat cvImage = cv::cvarrToMat(ipl_);
+  cv::Mat cvImage = ipl_;
   if (!publishDetectionImage(cv::Mat(cvImage))) {
     ROS_DEBUG("Detection image has not been broadcasted.");
   }
diff --git a/darknet_ros/src/image_interface.c b/darknet_ros/src/image_interface.cpp
similarity index 78%
rename from darknet_ros/src/image_interface.c
rename to darknet_ros/src/image_interface.cpp
index e1ab068cb..f59c3f9c1 100644
--- a/darknet_ros/src/image_interface.c
+++ b/darknet_ros/src/image_interface.cpp
@@ -16,13 +16,13 @@ static float get_pixel(image m, int x, int y, int c) {
 image** load_alphabet_with_file(char* datafile) {
   int i, j;
   const int nsize = 8;
-  image** alphabets = calloc(nsize, sizeof(image));
+  image** alphabets = (image**)calloc(nsize, sizeof(image));
   char* labels = "/labels/%d_%d.png";
   char* files = (char*)malloc(1 + strlen(datafile) + strlen(labels));
   strcpy(files, datafile);
   strcat(files, labels);
   for (j = 0; j < nsize; ++j) {
-    alphabets[j] = calloc(128, sizeof(image));
+    alphabets[j] = (image*)calloc(128, sizeof(image));
     for (i = 32; i < 127; ++i) {
       char buff[256];
       sprintf(buff, files, i, j);
@@ -33,16 +33,16 @@ image** load_alphabet_with_file(char* datafile) {
 }
 
 #ifdef OPENCV
-void generate_image(image p, IplImage* disp) {
+void generate_image(image p, cv::Mat disp) {
   int x, y, k;
   if (p.c == 3) rgbgr_image(p);
   // normalize_image(copy);
 
-  int step = disp->widthStep;
+  int step = disp.step[0];
   for (y = 0; y < p.h; ++y) {
     for (x = 0; x < p.w; ++x) {
       for (k = 0; k < p.c; ++k) {
-        disp->imageData[y * step + x * p.c + k] = (unsigned char)(get_pixel(p, x, y, k) * 255);
+        disp.data[y * step + x * p.c + k] = (unsigned char)(get_pixel(p, x, y, k) * 255);
       }
     }
   }