merge master

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()

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<float> output_labels;
     roiCNN(input_rois_, output_labels);
-#endif
+
     // 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();
@@ -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)

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
 

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:

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);

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 << "GIMBAL_CMD_RCV_POS" << std::endl;
-    // std::cout << "=============================================" << std::endl;
+    std::cout << "=============================================" << std::endl;
-    // std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl;
+    std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl;
-    // std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl;
+    std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl;
-    // std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl;
+    std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl;
-    // std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl;
+    std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl;
-    // std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl;
+    std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl;
-    // std::cout << "GYRO_pitch:" << imu_ang_p << " " << 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);

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 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
 
-make -j
+make -j2
 sudo make install
 
 cd

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 WITH_CUDA=OFF \
-      -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 OPENCV_ENABLE_NONFREE=ON \
       -D CMAKE_INSTALL_PREFIX=/usr/local \
-      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules .. \
+      -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
 
-make -j
+make -j2
 sudo make install
 
 cd

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)

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];
+      this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);
-      if (this->_width <= 0 || this->_height <= 0)
+      this->_cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->_height);
-      {
-        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)
+    if (this->_fps > 0)
     {
-      std::ostringstream camera_url;
+      this->_cap.set(cv::CAP_PROP_FPS, this->_fps);
-      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)
+    if (this->_brightness > 0)
     {
-      char pipe[512];
+      this->_cap.set(cv::CAP_PROP_BRIGHTNESS, this->_brightness);
-      if (this->_width <= 0 || this->_height <= 0)
+    }
-      {
+    if (this->_contrast > 0)
-        this->_width = 1280;
+    {
-        this->_height = 720;
+      this->_cap.set(cv::CAP_PROP_CONTRAST, this->_contrast);
-      }
+    }
-      if (this->_fps <= 0)
+    if (this->_saturation > 0)
-      {
+    {
-        this->_fps = 30;
+      this->_cap.set(cv::CAP_PROP_SATURATION, this->_saturation);
-      }
+    }
-
+    if (this->_hue > 0)
-      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_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);
+  }
+}
 
 }