add G1 camera

video_io/driver/sv_camera_G1.cpp

@@ -0,0 +1,103 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-20 18:50:45
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_G1.cpp
+ */
+#include "../sv_camera_privately.h"
+#include <fstream>
+#include <map>
+#include <iterator>
+
+class sv_camera_G1 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+  uint16_t _port = 554;
+
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::G1; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+public:
+  sv_camera_G1();
+  ~sv_camera_G1();
+};
+
+bool sv_camera_G1::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    ret = true;
+  }
+  return ret;
+}
+
+// 合法的输入尺寸列表
+const static std::vector<uint32_t, uint32_t> imageSizeList[3] =
+    {
+        {1520, 2704},
+        {1080, 1920},
+        {720, 1280}};
+
+const static uint32_t imageHList[3] = {1520, 1080, 720};
+const static uint32_t imageWList[3] = {2704, 1920, 1280};
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_G1::open(void)
+{
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://" << this->_ip << ":"
+           << this->_port << "/H264?W=";
+
+  // 判断尺寸是否合法 不合法则找最高画质进行缩放
+  uint8_t i;
+  for (i = 0; i < 3; i++)
+  {
+    if (imageHList[i] <= this->getH())
+    {
+      if (imageWList[i] <= this->getW())
+      {
+        break;
+      }
+    }
+  }
+
+  // 在范围内
+  if (i < 3)
+  {
+    pipeline << imageWList[i] << "&H=" << imageHList[i];
+  }
+  else
+  {
+    pipeline << imageWList[2] << "&H=" << imageHList[2];
+  }
+
+  pipeline << "&FPS=" << this->getExpectFps() << "&BR=4000000 latency=100 "
+           << "! application/x-rtp,media=video ! rtph264depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder enable-max-performancegst=1 \
+               ! nvvidconv ! video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#else
+  pipeline << "avdec_h264 ! videoscale ! video/x-raw"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#endif
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  this->cap.open(pipeline.str(), cv::CAP_GSTREAMER);
+
+  // 开启读取线程
+  std::thread readLoop(&CameraBase::readThread, this);
+  this->readThreadHandle = readLoop.native_handle();
+  readLoop.detach();
+}

video_io/sv_camera_def.cpp

@@ -25,7 +25,7 @@ void sv_p::CameraBase::readThread(void)
       {
         this->cap.release();
         // 抛出异常 并返回
-        throw std::runtime_error("SpireCV (101) Camera has offline, check CAMERA!");
+        // throw std::runtime_error("SpireCV (101) Camera has offline, check CAMERA!");
         return;
       }
     }
@@ -98,10 +98,6 @@ void sv_p::CameraBase::setExposure(double exposure)
   }
 }
 
-bool sv_p::CameraBase::open(void)
-{
-}
-
 bool sv_p::CameraBase::read(cv::Mat &image)
 {
   bool ret = false;
@@ -111,6 +107,7 @@ bool sv_p::CameraBase::read(cv::Mat &image)
     // 获取图像
     this->imageBuff.copyTo(image);
     ret = true;
+    isGot = false;
   }
   return ret;
 }

video_io/sv_camera_privately.h

@@ -29,17 +29,16 @@ private:
   // 内部状态
   double fpsCurr = -1;
   bool isGot = false;
+  
+public:
   // 内部变量
   cv::Mat imageBuff;
-  cv::VideoCapture cap;
   std::mutex frameMutex;
   std::condition_variable_any frameEmpty;
   std::thread::native_handle_type readThreadHandle = 0;
-
+  cv::VideoCapture cap;
   // 获取图像的线程 在这个线程中查询、提取图像
   virtual void readThread(void);
-
-public:
   // 属性设置的接口
   virtual void setWH(int width, int height);
   // 基本属性 至少实现1个
@@ -71,7 +70,7 @@ public:
   double getExposure(void) { return _exposure; }
 
   // 功能接口函数
-  virtual bool open(void);
+  virtual bool open(void) = 0;
   virtual bool read(cv::Mat &image);
   virtual bool readNoBlock(cv::Mat &image);
   virtual void release(void);