add MJPG

.gitignore

@@ -2,6 +2,7 @@
 .Python
 build/
 models/
+confs/
 ZLM/
 ZLMediaKit/
 ffmpeg-4.2.5/
@@ -21,6 +22,11 @@ share/python-wheels/
 *.egg
 MANIFEST
 .idea/
+calib_webcam_1280x720.yaml
+calib_webcam_640x480.yaml
+sv_algorithm_params.json
+sv_algorithm_params_coco_1280.json
+sv_algorithm_params_coco_640.json
 
 # Prerequisites
 *.d

algorithm/sv_algorithm_base.cpp

@@ -32,7 +32,7 @@ CameraAlgorithm::CameraAlgorithm()
   // this->_allocator = NULL;
   this->_t0 = std::chrono::system_clock::now();
 
-  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "sv_algorithm_params.json";
+  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "params/a-params/sv_algorithm_params.json";
   // std::cout << "CameraAlgorithm->alg_params_fn: " << this->alg_params_fn << std::endl;
   // if (_is_file_exist(params_fn))
   //   this->loadAlgorithmParams(params_fn);

include/sv_video_base.h

@@ -333,7 +333,7 @@ class CameraBase {
 public:
   CameraBase(CameraType type=CameraType::NONE, int id=0);
   ~CameraBase();
-  void open(CameraType type=CameraType::WEBCAM, int id=0);
+  void open(CameraType type=CameraType::V4L2CAM, int id=0);
   bool read(cv::Mat& image);
   void release();
   
@@ -347,7 +347,9 @@ public:
   double getSaturation();
   double getHue();
   double getExposure();
+  std::string getFourcc();
   bool isRunning();
+  void setFourcc(std::string fourcc);
   void setWH(int width, int height);
   void setFps(int fps);
   void setIp(std::string ip);
@@ -383,6 +385,7 @@ protected:
   double _saturation;
   double _hue;
   double _exposure;
+  std::string _fourcc;
 };
 
 

samples/demo/aruco_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(ad.image_width, ad.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -8,9 +8,9 @@ using namespace std;
 int main(int argc, char *argv[]) {  
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)

samples/demo/color_line_detect.cpp

@@ -11,13 +11,14 @@ int main(int argc, char *argv[])
   // 实例化 color line detection 检测器类
   sv::ColorLineDetector cld;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cld.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.setWH(cld.image_width, cld.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/common_object_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -40,18 +40,20 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/ellipse_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 椭圆 检测器类
   sv::EllipseDetector ed;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ed.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(ed.image_width, ed.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -58,10 +58,12 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -256,4 +258,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_landing_marker_detection.cpp

@@ -58,7 +58,8 @@ int main(int argc, char *argv[])
   // 实例化 圆形降落标志 检测器类
   sv::LandingMarkerDetector lmd;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -144,4 +145,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -67,7 +67,8 @@ int main(int argc, char *argv[])
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 圆形降落标志 检测器类
   sv::LandingMarkerDetector lmd;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(lmd.image_width, lmd.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -9,17 +9,19 @@ int main(int argc, char *argv[]) {
   // 实例化
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   sv::MultipleObjectTracker mot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   mot.init(&cod);
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(mot.image_width, mot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -28,15 +28,15 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(sot.image_width, sot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_sender.cpp

@@ -9,13 +9,13 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_1280x720.yaml");
   
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -20,16 +20,18 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::VeriDetector veri;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  veri.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  veri.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_saving.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -23,7 +24,7 @@ int main(int argc, char *argv[]) {
   // 实例化视频保存类
   sv::VideoWriter vw;
   // 设置保存路径"/home/amov/Videos"，保存图像尺寸（640，480），帧频25Hz，同步保存检测结果（.svj）
-  vw.setup("/home/amov/Videos", cv::Size(640, 480), 25, true);
+  vw.setup(sv::get_home() + "/Videos", cv::Size(cod.image_width, cod.image_height), 25, true);
 
   while (1)
   {
@@ -31,7 +32,7 @@ int main(int argc, char *argv[]) {
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-    cv::resize(img, img, cv::Size(640, 480));
+    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
     // 执行通用目标检测
     cod.detect(img, tgts);

scripts/common/models-downloading.sh

@@ -3,12 +3,6 @@
 root_dir=${HOME}"/SpireCV/models"
 root_server="https://download.amovlab.com/model"
 
-sv_params1=${HOME}"/SpireCV/sv_algorithm_params.json"
-sv_params2=${HOME}"/SpireCV/sv_algorithm_params_coco_640.json"
-sv_params3=${HOME}"/SpireCV/sv_algorithm_params_coco_1280.json"
-camera_params1=${HOME}"/SpireCV/calib_webcam_640x480.yaml"
-camera_params2=${HOME}"/SpireCV/calib_webcam_1280x720.yaml"
-
 coco_model1="COCO-yolov5s.wts"
 coco_model2="COCO-yolov5s6.wts"
 coco_model3="COCO-yolov5s-seg.wts"
@@ -46,28 +40,6 @@ if [ ! -d ${root_dir} ]; then
   mkdir -p ${root_dir}
 fi
 
-if [ ! -f ${sv_params1} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params1} not exist, downloading ... \033[0m"
-  wget -O ${sv_params1} ${root_server}/install/a-params/sv_algorithm_params.json
-fi
-if [ ! -f ${sv_params2} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params2} not exist, downloading ... \033[0m"
-  wget -O ${sv_params2} ${root_server}/install/a-params/sv_algorithm_params_coco_640.json
-fi
-if [ ! -f ${sv_params3} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params3} not exist, downloading ... \033[0m"
-  wget -O ${sv_params3} ${root_server}/install/a-params/sv_algorithm_params_coco_1280.json
-fi
-
-if [ ! -f ${camera_params1} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params1} not exist, downloading ... \033[0m"
-  wget -O ${camera_params1} ${root_server}/install/c-params/calib_webcam_640x480.yaml
-fi
-if [ ! -f ${camera_params2} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params2} not exist, downloading ... \033[0m"
-  wget -O ${camera_params2} ${root_server}/install/c-params/calib_webcam_1280x720.yaml
-fi
-
 if [ ! -f ${coco_model1_fn} ]; then
   echo -e "\033[32m[INFO]: ${coco_model1_fn} not exist, downloading ... \033[0m"
   wget -O ${coco_model1_fn} ${root_server}/install/${coco_model1}

scripts/jetson/gst-install-orin.sh

@@ -8,7 +8,7 @@ sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
 sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
 sudo apt install -y gstreamer1.0-pulseaudio
 sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev
+sudo apt install -y libeigen3-dev libfmt-dev v4l-utils
 
 sudo apt -y install autotools-dev automake m4 perl
 sudo apt -y install libtool

scripts/jetson/gst-install.sh

@@ -8,7 +8,7 @@ sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
 sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
 sudo apt install -y gstreamer1.0-pulseaudio
 sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev
+sudo apt install -y libeigen3-dev libfmt-dev v4l-utils
 
 git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
 cd gst-rtsp-server-b18

scripts/x86-cuda/ffmpeg425-install.sh

@@ -3,7 +3,7 @@
 
 sudo apt install -y \
 build-essential yasm cmake libtool libc6 libc6-dev unzip wget libeigen3-dev libfmt-dev \
-libnuma1 libnuma-dev libx264-dev libx265-dev libfaac-dev libssl-dev
+libnuma1 libnuma-dev libx264-dev libx265-dev libfaac-dev libssl-dev v4l-utils
 
 current_dir=$(pwd)
 root_dir=${HOME}"/SpireCV"

scripts/x86-intel/ffmpeg-install.sh

@@ -1,5 +1,6 @@
 #!/bin/sh
 
+sudo apt install -y v4l-utils
 wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
 tar -xjf ffmpeg-4.2.5.tar.bz2
 cd ffmpeg-4.2.5

video_io/sv_video_base.cpp

@@ -1059,6 +1059,7 @@ CameraBase::CameraBase(CameraType type, int id)
   this->_saturation = -1;
   this->_hue = -1;
   this->_exposure = -1;
+  this->_fourcc = "MJPG";
 
   this->open(type, id);
 }
@@ -1067,6 +1068,14 @@ CameraBase::~CameraBase()
   this->_is_running = false;
   // this->_tt.join();
 }
+std::string CameraBase::getFourcc()
+{
+  return this->_fourcc;
+}
+void CameraBase::setFourcc(std::string fourcc)
+{
+  this->_fourcc = fourcc;
+}
 void CameraBase::setWH(int width, int height)
 {
   this->_width = width;

video_io/sv_video_input.cpp

@@ -19,12 +19,16 @@ void Camera::openImpl()
     if (this->_type == CameraType::V4L2CAM)
     {
       this->_cap.open(this->_camera_id, cv::CAP_V4L2);
-      // this->_cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', 'U', 'Y', 'V'));
     }
     if (this->_type == CameraType::WEBCAM)
     {
       this->_cap.open(this->_camera_id);
     }
+    if (_fourcc.size() >= 4)
+    {
+      const char *fourcc_cstr = _fourcc.c_str();
+      this->_cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc(fourcc_cstr[0], fourcc_cstr[1], fourcc_cstr[2], fourcc_cstr[3]));
+    }
     if (this->_width > 0 && this->_height > 0)
     {
       this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);