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Pre Merge pull request !20 from AiYangSky/llc

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AiYangSky 2023-10-14 08:19:41 +00:00 committed by Gitee
parent 9a9bc43882 0d3ba503e4
commit e9972e88f8
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GPG Key ID: 173E9B9CA92EEF8F
4 changed files with 89 additions and 16 deletions
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3
CMakeLists.txt
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@ -285,6 +285,9 @@ target_link_libraries(EvalFpsOnVideo sv_world)
add_executable(GimbalTest samples/test/gimbal_test.cpp)
target_link_libraries(GimbalTest sv_world)
add_executable(CameraTest samples/test/camera_fps_test.cpp)
target_link_libraries(CameraTest sv_world)
add_executable(EvalModelOnCocoVal samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp)
target_link_libraries(EvalModelOnCocoVal sv_world)

12
include/sv_video_base.h
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@ -12,6 +12,9 @@
#include <arpa/inet.h>
#include <netinet/in.h> // for sockaddr_in
#include <mutex>
#include <condition_variable>
#define SV_RAD2DEG 57.2957795
// #define X86_PLATFORM
// #define JETSON_PLATFORM
@ -358,7 +361,15 @@ protected:
void _run();
bool _is_running;
// new mutex
std::mutex _frame_mutex;
std::condition_variable_any _frame_empty;
//old flag
bool _is_updated;
std::thread _tt;
cv::VideoCapture _cap;
cv::Mat _frame;
@ -397,3 +408,4 @@ void list_dir(std::string dir, std::vector<std::string>& files, std::string suff
}
#endif

29
samples/test/camera_fps_test.cpp Normal file
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@ -0,0 +1,29 @@
#include <sv_world.h>
#include <iostream>
#include <string>
#include <chrono>
int main(int argc, char *argv[])
{
sv::Camera cap;
cap.setIp(argv[1]);
cap.setWH(1280, 720);
cap.setFps(120);
cap.open(sv::CameraType::G1);
cv::Mat img;
while (1)
{
auto time1 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
for (uint16_t i = 0; i < 120; i++)
{
cap.read(img);
}
auto time2 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
auto Ts = time2 - time1;
std::cout << "read 120 count;Ts = " << Ts / (1000) << "us" << std::endl;
std::cout << "average FPS = " << (1000 * 1000 * 1000) / (Ts / 120) << std::endl;
}
}

61
video_io/sv_video_base.cpp
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@ -1103,33 +1103,62 @@ void CameraBase::_run()
{
while (this->_is_running && this->_cap.isOpened())
{
this->_cap >> this->_frame;
this->_is_updated = true;
std::this_thread::sleep_for(std::chrono::milliseconds(2));
// this->_cap >> this->_frame;
// this->_is_updated = true;
// std::this_thread::sleep_for(std::chrono::milliseconds(2));
if(this->_cap.grab())
{
std::lock_guard<std::mutex> locker(this->_frame_mutex);
this->_cap.retrieve(this->_frame);
this->_frame_empty.notify_all();
}
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
}
bool CameraBase::read(cv::Mat& image)
{
bool ret = false;
if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1 || this->_type == CameraType::MIPI)
{
int n_try = 0;
while (n_try < 5000)
static int falseCount=0;
std::lock_guard<std::mutex> locker(this->_frame_mutex);
if(this->_frame_empty.wait_for(this->_frame_mutex,std::chrono::milliseconds(10)) == std::cv_status::timeout)
{
if (this->_is_updated)
falseCount ++;
if(falseCount >= 1000)
{
this->_is_updated = false;
this->_frame.copyTo(image);
break;
throw std::runtime_error("SpireCV (101) Camera has offline, check CAMERA!");
}
std::this_thread::sleep_for(std::chrono::milliseconds(20));
n_try ++;
}
else{
falseCount = 0;
}
this->_frame.copyTo(image);
ret = true;
}
if (image.cols == 0 || image.rows == 0)
{
throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
}
return image.cols > 0 && image.rows > 0;
return ret;
// if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1 || this->_type == CameraType::MIPI)
// {
// int n_try = 0;
// while (n_try < 5000)
// {
// if (this->_is_updated)
// {
// this->_is_updated = false;
// this->_frame.copyTo(image);
// break;
// }
// std::this_thread::sleep_for(std::chrono::milliseconds(20));
// n_try ++;
// }
// }
// if (image.cols == 0 || image.rows == 0)
// {
// throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
// }
// return image.cols > 0 && image.rows > 0;
}
void CameraBase::release()
{