modefied some variables, abbreviation, and some files path bugs.

algorithm/color_line/sv_color_line.cpp

@@ -4,8 +4,11 @@
 #include <cmath>
 #include <fstream>
 
+namespace sv
+{
+
+
 
-namespace sv {
 ColorLineDetector::ColorLineDetector()
 {
     this->is_load_parameter = false;
@@ -24,53 +27,60 @@ void ColorLineDetector::_load()
     JsonValue colorliner_params_value;
     _parser_algorithm_params("ColorLineDetector", all_value, colorliner_params_value);
 
-  for (auto i : colorliner_params_value) {
+    for (auto i : colorliner_params_value)
-  if ("line_color" == std::string(i->key)) {
+    {
+        if ("line_color" == std::string(i->key))
+        {
             this->line_color = i->value.toString();
             std::cout << "line_color: " << this->line_color << std::endl;
         }
-  else if ("line_location" == std::string(i->key)) {
+        else if ("line_location" == std::string(i->key))
+        {
             this->line_location = i->value.toNumber();
         }
-  else if ("line_location_a1" == std::string(i->key)) {
+        else if ("line_location_a1" == std::string(i->key))
+        {
             this->line_location_a1 = i->value.toNumber();
         }
-  else if ("line_location_a2" == std::string(i->key)) {
+        else if ("line_location_a2" == std::string(i->key))
+        {
             this->line_location_a2 = i->value.toNumber();
         }
-
+    }
 }
 
-}
+void ColorLineDetector::get_line_area(cv::Mat &frame_, cv::Mat &line_area_, cv::Mat &line_area_a1_, cv::Mat &line_area_a2_)
+{
 
-void ColorLineDetector::get_line_area(cv::Mat &frame, cv::Mat &line_area, cv::Mat &line_area_a1, cv::Mat &line_area_a2) {
+    int h = frame_.rows;
-  
+    _half_h = h / 2.0;
-    int h = frame.rows;
+    _half_w = frame_.cols / 2.0;
-    half_h = h / 2.0;
-    half_w = frame.cols / 2.0;
     int l1 = int(h * (1 - line_location - 0.05));
     int l2 = int(h * (1 - line_location));
-    line_area = frame(cv::Range(l1, l2), cv::Range::all());
+    line_area_ = frame_(cv::Range(l1, l2), cv::Range::all());
 
     l1 = int(h * (1 - line_location_a1 - 0.05));
     l2 = int(h * (1 - line_location_a1));
-    line_area_a1 = frame(cv::Range(l1, l2), cv::Range::all());
+    line_area_a1_ = frame_(cv::Range(l1, l2), cv::Range::all());
-    cy_a1 = l1;
+    _cy_a1 = l1;
 
     l1 = int(h * (1 - line_location_a2 - 0.05));
     l2 = int(h * (1 - line_location_a2));
-    cy_a2 = l1;
+    _cy_a2 = l1;
-    line_area_a2 = frame(cv::Range(l1, l2), cv::Range::all());
+    line_area_a2_ = frame_(cv::Range(l1, l2), cv::Range::all());
 }
 
-float ColorLineDetector::cnt_area(std::vector<cv::Point> cnt) {
+float ColorLineDetector::cnt_area(std::vector<cv::Point> cnt_)
-    float area = cv::contourArea(cnt);
+{
+    float area = cv::contourArea(cnt_);
     return area;
 }
 
-void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat line_area_a2, std::string _line_color, cv::Point &center, int &area, cv::Point &center_a1, cv::Point &center_a2) {
+void ColorLineDetector::seg(cv::Mat line_area_, cv::Mat line_area_a1_, cv::Mat line_area_a2_, std::string line_color_, cv::Point &center_, int &area_, cv::Point &center_a1_, cv::Point &center_a2_)
+{
     int hmin, smin, vmin, hmax, smax, vmax;
-    if (_line_color == "black") {
+    if (line_color_ == "black")
+    {
         hmin = 0;
         smin = 0;
         vmin = 0;
@@ -78,7 +88,8 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         smax = 255;
         vmax = 46;
     }
-    else if (_line_color == "red") {
+    else if (line_color_ == "red")
+    {
         hmin = 0;
         smin = 43;
         vmin = 46;
@@ -86,7 +97,8 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         smax = 255;
         vmax = 255;
     }
-    else if (_line_color == "yellow") {
+    else if (line_color_ == "yellow")
+    {
         hmin = 26;
         smin = 43;
         vmin = 46;
@@ -94,7 +106,8 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         smax = 255;
         vmax = 255;
     }
-    else if (_line_color == "green") {
+    else if (line_color_ == "green")
+    {
         hmin = 35;
         smin = 43;
         vmin = 46;
@@ -102,7 +115,8 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         smax = 255;
         vmax = 255;
     }
-    else if (_line_color == "blue") {
+    else if (line_color_ == "blue")
+    {
         hmin = 100;
         smin = 43;
         vmin = 46;
@@ -110,7 +124,8 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         smax = 255;
         vmax = 255;
     }
-    else {
+    else
+    {
         hmin = 0;
         smin = 0;
         vmin = 0;
@@ -119,60 +134,63 @@ void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat lin
         vmax = 46;
     }
 
-    cv::cvtColor(line_area, line_area, cv::COLOR_BGR2HSV);
+    cv::cvtColor(line_area_, line_area_, cv::COLOR_BGR2HSV);
-    cv::inRange(line_area, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area);
+    cv::inRange(line_area_, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_);
 
     cv::Mat kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
-    cv::morphologyEx(line_area, line_area, cv::MORPH_OPEN, kernel);
+    cv::morphologyEx(line_area_, line_area_, cv::MORPH_OPEN, kernel);
 
     std::vector<std::vector<cv::Point>> contours;
     std::vector<cv::Vec4i> hierarchy;
-    cv::findContours(line_area, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
+    cv::findContours(line_area_, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
 
-    if (contours.size() > 0) {
+    if (contours.size() > 0)
+    {
         cv::Rect rect = cv::boundingRect(contours[0]);
         int cx = rect.x + rect.width / 2;
         int cy = rect.y + rect.height / 2;
-        std::sort(contours.begin(), contours.end(),[](const std::vector<cv::Point>& a, const std::vector<cv::Point>& b) {return cv::contourArea(a) > cv::contourArea(b);});
+        std::sort(contours.begin(), contours.end(),[](const std::vector<cv::Point> &a, const std::vector<cv::Point> &b)
-        area = cnt_area(contours[0]);
+                  {return cv::contourArea(a) > cv::contourArea(b);});
-        center = cv::Point(cx, cy);
+        area_ = cnt_area(contours[0]);
+        center_ = cv::Point(cx, cy);
     }
 
-    cv::cvtColor(line_area_a1, line_area_a1, cv::COLOR_BGR2HSV);
+    cv::cvtColor(line_area_a1_, line_area_a1_, cv::COLOR_BGR2HSV);
-    cv::inRange(line_area_a1, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a1);
+    cv::inRange(line_area_a1_, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a1_);
 
     //cv2.MORPH_CLOSE 先进行膨胀，再进行腐蚀操作
     kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
-    cv::morphologyEx(line_area_a1, line_area_a1, cv::MORPH_CLOSE, kernel);
+    cv::morphologyEx(line_area_a1_, line_area_a1_, cv::MORPH_CLOSE, kernel);
 
     std::vector<std::vector<cv::Point>> contours_a1;
-    cv::findContours(line_area_a1, contours_a1, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);      
+    cv::findContours(line_area_a1_, contours_a1, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
 
     if (contours_a1.size() > 0){
         cv::Rect rect = cv::boundingRect(contours_a1[0]);
         int cx = rect.x + rect.width / 2;
-        int cy = rect.y + rect.height / 2 + cy_a1;
+        int cy = rect.y + rect.height / 2 + _cy_a1;
-        center_a1 = cv::Point(cx - half_w, cy - half_h);
+        center_a1_ = cv::Point(cx - _half_w, cy - _half_h);
     }
 
-    cv::cvtColor(line_area_a2, line_area_a2, cv::COLOR_BGR2HSV);
+    cv::cvtColor(line_area_a2_, line_area_a2_, cv::COLOR_BGR2HSV);
-    cv::inRange(line_area_a2, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a2);
+    cv::inRange(line_area_a2_, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a2_);
 
     kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
-    cv::morphologyEx(line_area_a2, line_area_a2, cv::MORPH_CLOSE, kernel);
+    cv::morphologyEx(line_area_a2_, line_area_a2_, cv::MORPH_CLOSE, kernel);
 
     std::vector<std::vector<cv::Point>> contours_a2;
-    cv::findContours(line_area_a2, contours_a2, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
+    cv::findContours(line_area_a2_, contours_a2, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
 
-    if (contours_a2.size() > 0) {
+    if (contours_a2.size() > 0)
+    {
         cv::Rect rect = cv::boundingRect(contours_a2[0]);
         int cx = rect.x + rect.width / 2;
-        int cy = rect.y + rect.height / 2 + cy_a2;
+        int cy = rect.y + rect.height / 2 + _cy_a2;
-        center_a2 = cv::Point(cx - half_w, cy - half_h);
+        center_a2_ = cv::Point(cx - _half_w, cy - _half_h);
     }
 }
 
-void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
+void ColorLineDetector::detect(cv::Mat img_, sv::TargetsInFrame &tgts_)
 {
 
     if (!this->is_load_parameter)
@@ -185,13 +203,12 @@ void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
     cv::Mat area_base, area_base_a1, area_base_a2;
     cv::Point cxcy_n(0, 0), center_a1_n(0, 0), center_a2_n(0, 0);
 
-  get_line_area(img, area_base, area_base_a1, area_base_a2);   
+    get_line_area(img_, area_base, area_base_a1, area_base_a2);
     seg(area_base, area_base_a1, area_base_a2, line_color, cxcy_n, area_n, center_a1_n, center_a2_n);
     pose.x = 0.0;
     pose.y = -1.0;
     pose.z = 0.0;
 
-           
     if (area_n > 0)
     {
         circle(area_base, cv::Point(cxcy_n.x, cxcy_n.y), 4, cv::Scalar(0, 0, 255), -1);
@@ -210,18 +227,16 @@ void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
             pose.x = angle;
             pose.y = 1.0;
             pose.z = 0.0;
-       
         }
     }
 
-  tgts_.setSize(img.cols, img.rows);
+    tgts_.setSize(img_.cols, img_.rows);
     tgts_.setFOV(this->fov_x, this->fov_y);
     auto t1 = std::chrono::system_clock::now();
     tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
     this->_t0 = std::chrono::system_clock::now();
     tgts_.setTimeNow();
 
-  
     if (area_n > 0)
     {
         Target tgt;
@@ -244,9 +259,5 @@ void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
 
         tgts_.targets.push_back(tgt);
     }
-
-
 }
-
 }
-

algorithm/sv_algorithm_base.cpp

@@ -9,7 +9,7 @@
 #include "ellipse_detector.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
+#define SV_ROOT_DIR "/SpireCV/params/a-params/"
 
 
 namespace sv {

include/sv_color_line.h

@@ -6,10 +6,10 @@
 #include <string>
 #include <chrono>
 
+namespace sv
+{
 
 
-namespace sv {
-
 class ColorLineDetector : public CameraAlgorithm
 {
 public:
@@ -18,14 +18,6 @@ public:
 
   void detect(cv::Mat img_, TargetsInFrame &tgts_);
 
-protected:
-
-  float cy_a1;
-  float cy_a2;
-  float half_h;
-  float half_w;
-
-  cv::Mat img;
   cv::Point3d pose;
 
   double line_location;
@@ -36,13 +28,16 @@ protected:
 
   std::string line_color;
 
+protected:
+  float _cy_a1;
+  float _cy_a2;
+  float _half_h;
+  float _half_w;
+
   void _load();
-  float cnt_area(std::vector<cv::Point> cnt);
+  float cnt_area(std::vector<cv::Point> cnt_);
-  void get_line_area(cv::Mat &frame, cv::Mat &line_area, cv::Mat &line_area_a1, cv::Mat &line_area_a2);
+  void get_line_area(cv::Mat &frame_, cv::Mat &line_area_, cv::Mat &line_area_a1_, cv::Mat &line_area_a2_);
-  void seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat line_area_a2, std::string _line_color, cv::Point &center, int &area, cv::Point &center_a1, cv::Point &center_a2);
+  void seg(cv::Mat line_area_, cv::Mat line_area_a1_, cv::Mat line_area_a2_, std::string line_color_, cv::Point &center_, int &area_, cv::Point &center_a1_, cv::Point &center_a2_);
-  
 };
-
-
 }
 #endif

params/a-params/sv_algorithm_params.json

@@ -180,8 +180,7 @@
         "line_color": "black",
         "line_location": 0.5,
         "line_location_a1": 0.3,
-        "line_location_a2": 0.7,
+        "line_location_a2": 0.7
-    
     
     }
 }

samples/demo/aruco_detection.cpp

@@ -9,7 +9,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
   
   // 打开摄像头
   sv::Camera cap;

samples/demo/color_line_detect.cpp

@@ -6,13 +6,12 @@
 using namespace std;
 using namespace sv;
 
-
+int main(int argc, char *argv[])
-
+{
-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/params/c-params/calib_webcam_640x480.yaml");
 
   // 打开摄像头
   sv::Camera cap;
@@ -52,18 +51,12 @@ int main(int argc, char *argv[]) {
 
       // 打印每个color_line的x_方向反正切值，跟相机视场相关
       printf("  Color Line detect Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
-    
     }
 
     // 显示检测结果img
     cv::imshow("img", img);
     cv::waitKey(10);
-
   }
 
- 
   return 0;
 }
-
- 
-

samples/demo/common_object_detection.cpp

@@ -9,7 +9,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
   
   // 打开摄像头
   sv::Camera cap;

samples/demo/detection_with_clicked_tracking.cpp

@@ -40,11 +40,11 @@ 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/params/c-params/calib_webcam_640x480.yaml");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/params/c-params/calib_webcam_640x480.yaml");
 
 
   // 打开摄像头

samples/demo/ellipse_detection.cpp

@@ -9,7 +9,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
   
   // 打开摄像头
   sv::Camera cap;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -77,10 +77,10 @@ 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/params/c-params/calib_webcam_640x480.yaml");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/params/c-params/calib_webcam_640x480.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/gimbal_landing_marker_detection.cpp

@@ -58,7 +58,7 @@ 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/params/c-params/calib_webcam_1280x720.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -67,7 +67,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -9,7 +9,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
 
   // 打开摄像头
   sv::Camera cap;

samples/demo/single_object_tracking.cpp

@@ -28,16 +28,16 @@ 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/params/c-params/calib_webcam_640x480.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  // sot.loadCameraParams(sv::get_home() + "/SpireCV/params/c-params/calib_webcam_1280x720.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
+  // sot.loadCameraParams(sv::get_home() + "/SpireCV/params/c-params/calib_webcam_1920x1080.yaml");
   
   // 打开摄像头
   sv::Camera cap;
   // cap.setWH(640, 480);
   // cap.setFps(30);
   cap.open(sv::CameraType::WEBCAM, 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;
   int frame_id = 0;

samples/demo/udp_detection_info_sender.cpp

@@ -9,7 +9,7 @@ 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/params/c-params/calib_webcam_640x480.yaml");
   
   // 打开摄像头
   sv::Camera cap;

samples/demo/video_saving.cpp

@@ -9,7 +9,7 @@ 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("/home/amov/SpireCV/params/c-params/calib_webcam_640x480.yaml");
   
   // 打开摄像头
   sv::Camera cap;