merge master

2023-11-28 11:34:37 +08:00 · 2023-11-28 11:34:37 +08:00 · 36fc8eefef
parent e46c02cdf7 4e4a479b08
commit 36fc8eefef
10 changed files with 148 additions and 153 deletions
--- 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()
--- 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<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)
--- 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

--- 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:
--- 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);
--- 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);
--- 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
--- 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
--- 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)
--- a/video_io/sv_video_input.cpp
+++ b/video_io/sv_video_input.cpp
@ -5,18 +5,26 @@
 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);
@ -120,6 +128,6 @@ namespace sv
    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);
  }
-  }
+}

 }