add color line detection and supplementary files

CMakeLists.txt

@@ -69,6 +69,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
@@ -108,6 +109,7 @@ set(
   include/sv_common_det.h
   include/sv_landing_det.h
   include/sv_tracking.h
+  include/sv_color_line.h
   include/sv_video_input.h
   include/sv_video_output.h
   include/sv_world.h
@@ -148,10 +150,13 @@ set(spirecv_SRCS
   algorithm/common_det/sv_common_det.cpp
   algorithm/landing_det/sv_landing_det.cpp
   algorithm/tracking/sv_tracking.cpp
+  algorithm/color_line/sv_color_line.cpp
 )
 
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line/*.cpp)
+list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/utils/*.cpp)
@@ -237,7 +242,7 @@ elseif(PLATFORM STREQUAL "X86_CPU")
   endif()
 endif()
 
-
+#demo
 add_executable(ArucoDetection samples/demo/aruco_detection.cpp)
 target_link_libraries(ArucoDetection sv_world)
 add_executable(CameraReading samples/demo/camera_reading.cpp)
@@ -252,6 +257,8 @@ add_executable(LandingMarkerDetection samples/demo/landing_marker_detection.cpp)
 target_link_libraries(LandingMarkerDetection sv_world)
 add_executable(SingleObjectTracking samples/demo/single_object_tracking.cpp)
 target_link_libraries(SingleObjectTracking sv_world)
+add_executable(ColorLineDetection samples/demo/color_line_detect.cpp)
+target_link_libraries(ColorLineDetection sv_world)
 add_executable(UdpDetectionInfoReceiver samples/demo/udp_detection_info_receiver.cpp)
 target_link_libraries(UdpDetectionInfoReceiver sv_world)
 add_executable(UdpDetectionInfoSender samples/demo/udp_detection_info_sender.cpp)
@@ -260,12 +267,17 @@ add_executable(VideoSaving samples/demo/video_saving.cpp)
 target_link_libraries(VideoSaving sv_world)
 add_executable(VideoStreaming samples/demo/video_streaming.cpp)
 target_link_libraries(VideoStreaming sv_world)
+add_executable(GimbalClickedTracking samples/demo/gimbal_detection_with_clicked_tracking.cpp)
+target_link_libraries(GimbalClickedTracking sv_world)
+add_executable(GimbalLandingMarkerDetection samples/demo/gimbal_landing_marker_detection.cpp)
+target_link_libraries(GimbalLandingMarkerDetection sv_world)
+add_executable(GimbalUdpDetectionInfoSender samples/demo/gimbal_udp_detection_info_sender.cpp)
+target_link_libraries(GimbalUdpDetectionInfoSender sv_world)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
 add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
 target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
 
-
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 if (NOT DEFINED SV_INSTALL_PREFIX)
   set(SV_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})

README.md

@@ -10,7 +10,7 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
 
 ## 快速入门
 
- - 安装及使用：[SpireCV使用手册](https://wiki.amovlab.com/public/spirecv-wiki/)
+ - 安装及使用：[SpireCV使用手册](https://www.wolai.com/4qWFM6aZmtpQE6jj7hnNMW)
     - 需掌握C++语言基础、CMake编译工具基础。
     - 需要掌握OpenCV视觉库基础，了解CUDA、OpenVINO、RKNN和CANN等计算库。
     - 需要了解ROS基本概念及基本操作。

algorithm/color_line/sv_color_line.cpp

@@ -0,0 +1,252 @@
+#include "sv_color_line.h"
+#include "gason.h"
+#include "sv_util.h"
+#include <cmath>
+#include <fstream>
+
+
+namespace sv {
+ColorLineDetector::ColorLineDetector()
+{
+    this->is_load_parameter = false;
+}
+
+ColorLineDetector::~ColorLineDetector()
+{
+}
+
+void ColorLineDetector::_load()
+{
+  JsonValue all_value;
+  JsonAllocator allocator;
+  _load_all_json(this->alg_params_fn, all_value, allocator);
+
+  JsonValue colorliner_params_value;
+  _parser_algorithm_params("ColorLineDetector", all_value, colorliner_params_value);
+  
+  for (auto i : colorliner_params_value) {
+  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)) {
+      this->line_location = i->value.toNumber();
+    }
+  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)) {
+      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) {
+  
+    int h = frame.rows;
+    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());
+
+    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());
+    cy_a1 = l1;
+
+    l1 = int(h * (1 - line_location_a2 - 0.05));
+    l2 = int(h * (1 - line_location_a2));
+    cy_a2 = l1;
+    line_area_a2 = frame(cv::Range(l1, l2), cv::Range::all());
+}
+
+float ColorLineDetector::cnt_area(std::vector<cv::Point> 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) {
+    int hmin, smin, vmin, hmax, smax, vmax;
+    if (_line_color == "black") {
+        hmin = 0;
+        smin = 0;
+        vmin = 0;
+        hmax = 180;
+        smax = 255;
+        vmax = 46;
+    }
+    else if (_line_color == "red") {
+        hmin = 0;
+        smin = 43;
+        vmin = 46;
+        hmax = 10;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "yellow") {
+        hmin = 26;
+        smin = 43;
+        vmin = 46;
+        hmax = 34;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "green") {
+        hmin = 35;
+        smin = 43;
+        vmin = 46;
+        hmax = 77;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "blue") {
+        hmin = 100;
+        smin = 43;
+        vmin = 46;
+        hmax = 124;
+        smax = 255;
+        vmax = 255;
+    }
+    else {
+        hmin = 0;
+        smin = 0;
+        vmin = 0;
+        hmax = 180;
+        smax = 255;
+        vmax = 46;
+    }
+
+    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::Mat kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
+    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);
+   
+    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);});
+        area = cnt_area(contours[0]);
+        center = cv::Point(cx, cy);
+    }
+
+    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);
+
+    //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);
+
+    std::vector<std::vector<cv::Point>> contours_a1;
+    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;
+        center_a1 = cv::Point(cx - half_w, cy - half_h);
+    }
+
+    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);
+    
+    kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
+    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);
+
+    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;
+        center_a2 = cv::Point(cx - half_w, cy - half_h);
+    }
+}
+
+void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
+{
+
+  if(!this->is_load_parameter)
+  {
+    _load();
+
+    this->is_load_parameter = true;
+  }
+  int area_n = -1;
+  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);   
+  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);                             
+      double angle = (cxcy_n.x - this->camera_matrix.at<double>(0, 2)) / this->camera_matrix.at<double>(0, 2) * atan((double)(area_base.rows / 2) / this->fov_x);            
+      pose.x = angle;
+      pose.y = 1.0;
+  }
+  else
+  {
+      cv::Point cxcy__n(0, 0), center_a1__n(0, 0), center_a2__n(0, 0);
+      seg(area_base, area_base_a1, area_base_a2, line_color, cxcy__n, area_n = 0, center_a1__n, center_a2__n);
+      if (area_n > 0)
+      {
+        circle(area_base, cv::Point(cxcy_n.x, cxcy_n.y), 4, cv::Scalar(0, 0, 255), -1);
+        double angle = (cxcy_n.x - this->camera_matrix.at<double>(0, 2)) / this->camera_matrix.at<double>(0, 2) * atan((double)(area_base.rows / 2) / this->fov_x);
+        pose.x = angle;
+        pose.y = 1.0;
+        pose.z = 0.0;
+       
+      }
+  }
+
+  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;
+    tgt.los_ax = pose.x;
+    if(cxcy_n.x !=0 || cxcy_n.y !=0)
+    {
+        tgt.cx = cxcy_n.x;
+        tgt.cy = cxcy_n.y;
+    }
+    else if(center_a1_n.x != 0 || center_a1_n.y != 0)
+    {
+        tgt.cx = center_a1_n.x;
+        tgt.cy = center_a1_n.y;
+    }    
+     else if(center_a2_n.x != 0 || center_a2_n.y != 0)
+    {
+        tgt.cx = center_a2_n.x;
+        tgt.cy = center_a2_n.y;
+    }  
+    
+    tgts_.targets.push_back(tgt);
+  }
+
+
+}
+
+}
+

include/sv_color_line.h

@@ -0,0 +1,48 @@
+#ifndef __SV_COLOR_LINE__
+#define __SV_COLOR_LINE__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <string>
+#include <chrono>
+
+
+
+namespace sv {
+
+class ColorLineDetector : public CameraAlgorithm
+{
+public:
+  ColorLineDetector();
+  ~ColorLineDetector();
+
+  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;
+  double line_location_a1;
+  double line_location_a2;
+
+  bool is_load_parameter;
+
+  std::string line_color;
+
+  void _load();
+  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 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

include/sv_world.h

@@ -5,6 +5,7 @@
 #include "sv_common_det.h"
 #include "sv_landing_det.h"
 #include "sv_tracking.h"
+#include "sv_color_line.h"
 #include "sv_video_input.h"
 #include "sv_video_output.h"
 

params/a-params/sv_algorithm_params.json

@@ -0,0 +1,185 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "nano",
+        "backend": 0,
+        "target": 0
+    },
+    "LandingMarkerDetector": {
+        "labels": ["h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7,
+    
+    }
+}

params/c-params/calib_webcam_1280x720.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "2021年01月12日 星期二 18时08分01秒"
+image_width: 1280
+image_height: 720
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
+       7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
+       5.5342063671841328e-03, 2.2214393775334758e-04,
+       1.7127431916651392e+00 ]
+avg_reprojection_error: 2.8342964851391211e-01

params/c-params/calib_webcam_1920x1080.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "2021年01月12日 星期二 18时08分01秒"
+image_width: 1920
+image_height: 1080
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
+       7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
+       5.5342063671841328e-03, 2.2214393775334758e-04,
+       1.7127431916651392e+00 ]
+avg_reprojection_error: 2.8342964851391211e-01

params/c-params/calib_webcam_640x480.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "2021年01月12日 星期二 18时08分01秒"
+image_width: 640
+image_height: 480
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
+       7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
+       5.5342063671841328e-03, 2.2214393775334758e-04,
+       1.7127431916651392e+00 ]
+avg_reprojection_error: 2.8342964851391211e-01

samples/demo/color_line_detect.cpp

@@ -0,0 +1,69 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+using namespace sv;
+
+
+
+int main(int argc, char *argv[]) {
+  // 实例化 圆形降落标志 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");
+  
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(640, 480);
+  //cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  // 实例化OpenCV的Mat类，用于内存单帧图像
+  cv::Mat img;
+  int frame_id = 0;
+  while (1)
+  {
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像到img
+    cap.read(img);
+    cv::resize(img, img, cv::Size(cld.image_width, cld.image_height));
+
+    // 执行 降落标志 检测
+    cld.detect(img, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+
+    // 控制台打印 降落标志 检测结果
+    printf("Frame-[%d]\n", frame_id);
+    // 打印当前检测的FPS
+    printf("  FPS = %.2f\n", tgts.fps);
+    // 打印当前相机的视场角（degree）
+    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    // 打印当前输入图像的像素宽度和高度
+    printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
+    for (int i=0; i<tgts.targets.size(); i++)
+    {
+    
+      // 打印每个 color_line 的中心位置，cx，cy的值域为[0, 1]，以及cx，cy的像素值
+      printf("  Color Line detect Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
+        tgts.targets[i].cx, tgts.targets[i].cy);
+
+      // 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/gimbal_detection_with_clicked_tracking.cpp

@@ -92,7 +92,7 @@ int main(int argc, char *argv[])
       // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
       sv::TargetsInFrame tgts(frame_id++);
       // 读取一帧图像到img
-      gimbal.cap.read(img);
+      cap.read(img);
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
       // 执行通用目标检测
@@ -159,7 +159,7 @@ int main(int argc, char *argv[])
       // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
       sv::TargetsInFrame tgts(frame_id++);
       // 读取一帧图像到img
-      gimbal.cap.read(img);
+      cap.read(img);
       cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
       // 开始 单目标跟踪 逻辑
       // 是否有新的目标被手动框选

samples/demo/gimbal_landing_marker_detection.cpp

@@ -68,7 +68,7 @@ int main(int argc, char *argv[])
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
-    gimbal.cap.read(img);
+    cap.read(img);
     cv::resize(img, img, cv::Size(lmd.image_width, lmd.image_height));
 
     // 执行 降落标志 检测
@@ -117,12 +117,12 @@ void onMouse(int event, int x, int y, int, void *)
 {
   if (event == cv::EVENT_LBUTTONDOWN)
   {
-    gimbal.gimbal->setAngleRateEuler(0, 0.02 * (y - 720 / 2), 0.02 * (x - 1280 / 2));
+    gimbal->setAngleRateEuler(0, 0.02 * (y - 720 / 2), 0.02 * (x - 1280 / 2));
   }
   if (event == cv::EVENT_RBUTTONDOWN)
   {
     gimbalNoTrack();
-    gimbal.gimbal->setHome();
+    gimbal->setHome();
   }
 }
 

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -47,8 +47,8 @@ int main(int argc, char *argv[])
   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
+  // 以gimableCallback作为状态回调函数启用吊舱控制
-  gimbal->open(GimableCallback);
+  gimbal->open(gimableCallback);
   // 定义相机
   sv::Camera cap;
   // 设置相机流媒体地址为 192.168.2.64
@@ -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("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像
@@ -78,7 +78,7 @@ int main(int argc, char *argv[])
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
-    gimbal->cap.read(img);
+    cap.read(img);
 
     // 执行Aruco二维码检测
     ad.detect(img, tgts);
@@ -88,18 +88,9 @@ int main(int argc, char *argv[])
     tgts.pod_roll = gimbalEulerAngle[1];
     tgts.pod_yaw = gimbalEulerAngle[0];
 
-    tgts.has_uav_pos = true;
+    tgts.has_uav_pos = false;
-    tgts.longitude = 1.1234567;
+    tgts.has_uav_vel = false;
-    tgts.latitude = 2.2345678;
+    tgts.has_ill = false;
-    tgts.altitude = 3.3456789;
-
-    tgts.has_uav_vel = true;
-    tgts.uav_vx = 4;
-    tgts.uav_vy = 5;
-    tgts.uav_vz = 6;
-
-    tgts.has_ill = true;
-    tgts.illumination = 7;
 
     // www.write(img, tgts);
     udp.send(tgts);
@@ -118,10 +109,10 @@ void onMouse(int event, int x, int y, int, void *)
 {
   if (event == cv::EVENT_LBUTTONDOWN)
   {
-    gimbal->gimbal->setAngleRateEuler(0, 0.02 * (y - 720 / 2), 0.02 * (x - 1280 / 2));
+    gimbal->setAngleRateEuler(0, 0.02 * (y - 720 / 2), 0.02 * (x - 1280 / 2));
   }
   if (event == cv::EVENT_RBUTTONDOWN)
   {
-    gimbal->gimbal->setHome();
+    gimbal->setHome();
   }
 }

scripts/common/ffmpeg425-install.sh

@@ -12,7 +12,6 @@ if [ ! -d ${root_dir} ]; then
 fi
 cd ${root_dir}
 
-
 git clone https://gitee.com/jario-jin/nv-codec-headers.git
 cd nv-codec-headers
 git checkout n11.1.5.0