diff --git a/CMakeLists.txt b/CMakeLists.txt index 25aca72..2f0ed43 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -312,7 +312,7 @@ if(USE_CUDA) RUNTIME DESTINATION bin ) elseif(PLATFORM STREQUAL "X86_INTEL") - install(TARGETS sv_world + install(TARGETS sv_gimbal sv_world LIBRARY DESTINATION lib ) endif() diff --git a/algorithm/veri/sv_veri_det.cpp b/algorithm/veri/sv_veri_det.cpp index bf12630..17cba0d 100644 --- a/algorithm/veri/sv_veri_det.cpp +++ b/algorithm/veri/sv_veri_det.cpp @@ -17,7 +17,9 @@ namespace sv VeriDetector::VeriDetector() { +#ifdef WITH_CUDA this->_cuda_impl = new VeriDetectorCUDAImpl; +#endif } VeriDetector::~VeriDetector() { @@ -96,7 +98,7 @@ namespace sv #ifdef WITH_CUDA std::vector output_labels; roiCNN(input_rois_, output_labels); -#endif + // auto t1 = std::chrono::system_clock::now(); // tgts_.setFPS(1000.0 / std::chrono::duration_cast(t1 - this->_t0).count()); // this->_t0 = std::chrono::system_clock::now(); @@ -108,6 +110,7 @@ namespace sv tgt.sim_score = output_labels[1]; // tgts_.targets.push_back(tgt); } +#endif } void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz) diff --git a/build_on_x86_cuda.sh b/build_on_x86_cuda.sh index d7591c0..bd0ed42 100755 --- a/build_on_x86_cuda.sh +++ b/build_on_x86_cuda.sh @@ -1,9 +1,17 @@ #!/bin/bash -e +### + # @Description: + # @Author: L LC @amov + # @Date: 2023-11-21 16:10:38 + # @LastEditors: L LC @amov + # @LastEditTime: 2023-11-28 11:27:13 + # @FilePath: /SpireCV/build_on_x86_cuda.sh +### rm -rf build mkdir build cd build cmake .. -DPLATFORM=X86_CUDA -make -j +make -j4 sudo make install diff --git a/include/sv_video_base.h b/include/sv_video_base.h index 40eb265..55e1519 100644 --- a/include/sv_video_base.h +++ b/include/sv_video_base.h @@ -326,7 +326,7 @@ protected: }; -enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI, GX40}; +enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40}; class CameraBase { public: diff --git a/samples/demo/gimbal_detection_with_clicked_tracking.cpp b/samples/demo/gimbal_detection_with_clicked_tracking.cpp index d6b924b..f220831 100644 --- a/samples/demo/gimbal_detection_with_clicked_tracking.cpp +++ b/samples/demo/gimbal_detection_with_clicked_tracking.cpp @@ -54,7 +54,7 @@ void gimbalNoTrack(void) int main(int argc, char *argv[]) { // 实例化吊舱 - gimbal = new sv::Gimbal(sv::GimbalType::GX40, sv::GimbalLink::SERIAL); + gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL); // 使用 /dev/ttyUSB0 作为控制串口 gimbal->setSerialPort("/dev/ttyUSB0"); // 以GimableCallback作为状态回调函数启用吊舱控制 @@ -62,13 +62,13 @@ int main(int argc, char *argv[]) // 定义相机 sv::Camera cap; // 设置相机流媒体地址为 192.168.2.64 - cap.setIp("192.168.144.108"); + cap.setIp("192.168.2.64"); // 设置获取画面分辨率为720P cap.setWH(1280, 720); // 设置视频帧率为30帧 cap.setFps(30); // 开启相机 - cap.open(sv::CameraType::GX40); + cap.open(sv::CameraType::G1); // 定义一个新的窗口，可在上面进行框选操作 cv::namedWindow(RGB_WINDOW); diff --git a/samples/demo/gimbal_udp_detection_info_sender.cpp b/samples/demo/gimbal_udp_detection_info_sender.cpp index 0d826df..b7efabb 100644 --- a/samples/demo/gimbal_udp_detection_info_sender.cpp +++ b/samples/demo/gimbal_udp_detection_info_sender.cpp @@ -14,14 +14,14 @@ void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang static int count = 0; if (count == 25) { - // std::cout << "GIMBAL_CMD_RCV_POS" << std::endl; - // std::cout << "=============================================" << std::endl; - // std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl; - // std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl; - // std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl; - // std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl; - // std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl; - // std::cout << "GYRO_pitch:" << imu_ang_p << " " << std::endl; + std::cout << "GIMBAL_CMD_RCV_POS" << std::endl; + std::cout << "=============================================" << std::endl; + std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl; + std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl; + std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl; + std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl; + std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl; + std::cout << "GYRO_pitch:" << imu_ang_p << " " << std::endl; count = 0; } @@ -44,7 +44,7 @@ void onMouse(int event, int x, int y, int, void *); int main(int argc, char *argv[]) { // 实例化吊舱 - gimbal = new sv::Gimbal(sv::GimbalType::GX40, sv::GimbalLink::SERIAL); + gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL); // 使用 /dev/ttyUSB0 作为控制串口 gimbal->setSerialPort("/dev/ttyUSB0"); // 以gimableCallback作为状态回调函数启用吊舱控制 @@ -52,13 +52,13 @@ int main(int argc, char *argv[]) // 定义相机 sv::Camera cap; // 设置相机流媒体地址为 192.168.2.64 - cap.setIp("192.168.144.108"); + cap.setIp("192.168.2.64"); // 设置获取画面分辨率为720P - // cap.setWH(1280, 720); + cap.setWH(1280, 720); // // 设置视频帧率为30帧 - // cap.setFps(30); + cap.setFps(30); // 开启相机 - cap.open(sv::CameraType::GX40); + cap.open(sv::CameraType::G1); // 定义一个窗口 才可以在上面操作 cv::namedWindow(RGB_WINDOW); diff --git a/scripts/x86-cuda/x86-opencv470-cuda-install.sh b/scripts/x86-cuda/x86-opencv470-cuda-install.sh index 8917d9a..8535a11 100755 --- a/scripts/x86-cuda/x86-opencv470-cuda-install.sh +++ b/scripts/x86-cuda/x86-opencv470-cuda-install.sh @@ -1,6 +1,5 @@ #!/bin/sh - wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip wget https://download.amovlab.com/model/deps/opencv_cache_x86-4.7.0.zip @@ -60,20 +59,9 @@ cmake -D CMAKE_BUILD_TYPE=Release \ -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda \ -D OPENCV_ENABLE_NONFREE=ON \ -D CMAKE_INSTALL_PREFIX=/usr/local \ - -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules .. \ - -D CMAKE_VERBOSE_MAKEFILE=ON \ - -D ENABLE_CXX11=ON \ - -D BUILD_TESTS=OFF \ - -D WITH_GSTREAMER=ON \ - -D OPENCV_GENERATE_PKGCONFIG=ON \ - -D ENABLE_FAST_MATH=ON \ - -D CUDA_FAST_MATH=ON \ - -D BUILD_opencv_python3=ON \ - -D PYTHON3_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so \ - -D PYTHON3_NUMPY_INCLUDE_DIRS=/home/aiyangsky/.local/lib/python3.8/site-packages/numpy/core/include \ - -D PYTHON3_PACKAGES_PATH=/usr/lib/python3/dist-packages + -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules .. -make -j +make -j2 sudo make install cd diff --git a/scripts/x86-cuda/x86-opencv470-install.sh b/scripts/x86-cuda/x86-opencv470-install.sh index 00ab5cb..e065991 100755 --- a/scripts/x86-cuda/x86-opencv470-install.sh +++ b/scripts/x86-cuda/x86-opencv470-install.sh @@ -58,24 +58,12 @@ sudo apt-get install -y libcurl4 build-essential pkg-config cmake libopenblas-de libcanberra-gtk-module libcanberra-gtk3-module cmake -D CMAKE_BUILD_TYPE=Release \ - -D CMAKE_VERBOSE_MAKEFILE=ON \ - -D ENABLE_CXX11=ON \ - -D BUILD_TESTS=OFF \ - -D WITH_GSTREAMER=ON \ - -D OPENCV_GENERATE_PKGCONFIG=ON \ - -D ENABLE_FAST_MATH=ON \ - -D CUDA_FAST_MATH=ON \ - -D WITH_CUBLAS=ON \ - -D WITH_CUDA=ON \ + -D WITH_CUDA=OFF \ -D OPENCV_ENABLE_NONFREE=ON \ -D CMAKE_INSTALL_PREFIX=/usr/local \ - -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules .. \ - -D BUILD_opencv_python3=ON \ - -D PYTHON3_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so \ - -D PYTHON3_NUMPY_INCLUDE_DIRS=/home/aiyangsky/.local/lib/python3.8/site-packages/numpy/core/include \ - -D PYTHON3_PACKAGES_PATH=/usr/lib/python3/dist-packages + -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules .. -make -j +make -j2 sudo make install cd diff --git a/video_io/sv_video_base.cpp b/video_io/sv_video_base.cpp index 3e4d974..3a78973 100644 --- a/video_io/sv_video_base.cpp +++ b/video_io/sv_video_base.cpp @@ -1110,7 +1110,7 @@ void CameraBase::_run() } bool CameraBase::read(cv::Mat& image) { - if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1 || this->_type == CameraType::MIPI || this->_type == CameraType::GX40) + if (this->_type != CameraType::NONE) { int n_try = 0; while (n_try < 5000) diff --git a/video_io/sv_video_input.cpp b/video_io/sv_video_input.cpp index 1a3c6ae..01c3e04 100644 --- a/video_io/sv_video_input.cpp +++ b/video_io/sv_video_input.cpp @@ -5,121 +5,129 @@ namespace sv { - Camera::Camera() - { - } - Camera::~Camera() - { - } +Camera::Camera() +{ +} +Camera::~Camera() +{ +} - void Camera::openImpl() + +void Camera::openImpl() +{ + if (this->_type == CameraType::WEBCAM || this->_type == CameraType::V4L2CAM) { + if (this->_type == CameraType::V4L2CAM) + { + this->_cap.open(this->_camera_id, cv::CAP_V4L2); + } if (this->_type == CameraType::WEBCAM) { this->_cap.open(this->_camera_id); - if (this->_width > 0 && this->_height > 0) - { - this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width); - this->_cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->_height); - } - if (this->_fps > 0) - { - this->_cap.set(cv::CAP_PROP_FPS, this->_fps); - } - if (this->_brightness > 0) - { - this->_cap.set(cv::CAP_PROP_BRIGHTNESS, this->_brightness); - } - if (this->_contrast > 0) - { - this->_cap.set(cv::CAP_PROP_CONTRAST, this->_contrast); - } - if (this->_saturation > 0) - { - this->_cap.set(cv::CAP_PROP_SATURATION, this->_saturation); - } - if (this->_hue > 0) - { - this->_cap.set(cv::CAP_PROP_HUE, this->_hue); - } - if (this->_exposure > 0) - { - this->_cap.set(cv::CAP_PROP_EXPOSURE, this->_exposure); - } } - else if (this->_type == CameraType::G1) + if (this->_width > 0 && this->_height > 0) { - char pipe[512]; - if (this->_width <= 0 || this->_height <= 0) - { - this->_width = 1280; - this->_height = 720; - } - if (this->_port <= 0) - { - this->_port = 554; - } - if (this->_fps <= 0) - { - this->_fps = 30; - } - -#ifdef PLATFORM_X86_CUDA - sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps); - this->_cap.open(pipe); -#endif -#ifdef PLATFORM_JETSON - sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps); - this->_cap.open(pipe, cv::CAP_GSTREAMER); -#endif + this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width); + this->_cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->_height); } - else if (this->_type == CameraType::GX40) + if (this->_fps > 0) { - std::ostringstream camera_url; - if (this->_width <= 0 || this->_height <= 0) - { - this->_width = 1280; - this->_height = 720; - } - if (this->_port <= 0) - { - this->_port = 554; - } -#ifdef PLATFORM_X86_CUDA - camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port - << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \ - rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width - << ",height=(int)" << this->_height << " ! videoflip video-direction=4 ! videoconvert ! video/x-raw,format=(string)BGR ! \ - appsink sync=false"; - this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER); -#endif -#ifdef PLATFORM_JETSON - camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port - << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! \ - application/x-rtp,media=video ! rtph265depay ! parsebin ! \ - nvv4l2decoder ! nvvidconv flip-method=4 ! \ - video/x-raw,format=(string)BGRx,width=(int)" - << this->_width << ",height=(int)" << this->_height << " ! videoconvert ! video/x-raw,format=(string)BGR ! \ - appsink sync=false"; - this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER); -#endif + this->_cap.set(cv::CAP_PROP_FPS, this->_fps); } - else if (this->_type == CameraType::MIPI) + if (this->_brightness > 0) { - char pipe[512]; - if (this->_width <= 0 || this->_height <= 0) - { - this->_width = 1280; - this->_height = 720; - } - if (this->_fps <= 0) - { - this->_fps = 30; - } - - sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height); - this->_cap.open(pipe, cv::CAP_GSTREAMER); + this->_cap.set(cv::CAP_PROP_BRIGHTNESS, this->_brightness); + } + if (this->_contrast > 0) + { + this->_cap.set(cv::CAP_PROP_CONTRAST, this->_contrast); + } + if (this->_saturation > 0) + { + this->_cap.set(cv::CAP_PROP_SATURATION, this->_saturation); + } + if (this->_hue > 0) + { + this->_cap.set(cv::CAP_PROP_HUE, this->_hue); + } + if (this->_exposure > 0) + { + this->_cap.set(cv::CAP_PROP_EXPOSURE, this->_exposure); } } + else if (this->_type == CameraType::G1) + { + char pipe[512]; + if (this->_width <= 0 || this->_height <= 0) + { + this->_width = 1280; + this->_height = 720; + } + if (this->_port <= 0) + { + this->_port = 554; + } + if (this->_fps <= 0) + { + this->_fps = 30; + } + +#ifdef PLATFORM_X86_CUDA + sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps); + this->_cap.open(pipe); +#endif +#ifdef PLATFORM_JETSON + sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps); + this->_cap.open(pipe, cv::CAP_GSTREAMER); +#endif + } + else if (this->_type == CameraType::GX40) + { + std::ostringstream camera_url; + if (this->_width <= 0 || this->_height <= 0) + { + this->_width = 1280; + this->_height = 720; + } + if (this->_port <= 0) + { + this->_port = 554; + } +#ifdef PLATFORM_X86_CUDA + camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port + << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \ + rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width + << ",height=(int)" << this->_height << " ! videoflip video-direction=4 ! videoconvert ! video/x-raw,format=(string)BGR ! \ + appsink sync=false"; + this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER); +#endif +#ifdef PLATFORM_JETSON + camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port + << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! \ + application/x-rtp,media=video ! rtph265depay ! parsebin ! \ + nvv4l2decoder ! nvvidconv flip-method=4 ! \ + video/x-raw,format=(string)BGRx,width=(int)" + << this->_width << ",height=(int)" << this->_height << " ! videoconvert ! video/x-raw,format=(string)BGR ! \ + appsink sync=false"; + this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER); +#endif + } + else if (this->_type == CameraType::MIPI) + { + char pipe[512]; + if (this->_width <= 0 || this->_height <= 0) + { + this->_width = 1280; + this->_height = 720; + } + if (this->_fps <= 0) + { + this->_fps = 30; + } + + sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height); + this->_cap.open(pipe, cv::CAP_GSTREAMER); + } +} }