build done

CMakeLists.txt

@@ -119,7 +119,8 @@ set(
   include/sv_mot.h
   include/sv_color_line.h
   include/sv_veri_det.h
-  include/sv_video_input.h
+  # include/sv_video_input.h
+  include/sv_camera.h
   include/sv_video_output.h
   include/sv_world.h
 )

include/sv_video_base.h

@@ -326,59 +326,59 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
+// enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
 
-class CameraBase {
-public:
-  CameraBase(CameraType type=CameraType::NONE, int id=0);
-  ~CameraBase();
-  void open(CameraType type=CameraType::WEBCAM, int id=0);
-  bool read(cv::Mat& image);
-  void release();
+// class CameraBase {
+// public:
+//   CameraBase(CameraType type=CameraType::NONE, int id=0);
+//   ~CameraBase();
+//   void open(CameraType type=CameraType::WEBCAM, int id=0);
+//   bool read(cv::Mat& image);
+//   void release();
   
-  int getW();
-  int getH();
-  int getFps();
-  std::string getIp();
-  int getPort();
-  double getBrightness();
-  double getContrast();
-  double getSaturation();
-  double getHue();
-  double getExposure();
-  bool isRunning();
-  void setWH(int width, int height);
-  void setFps(int fps);
-  void setIp(std::string ip);
-  void setPort(int port);
-  void setBrightness(double brightness);
-  void setContrast(double contrast);
-  void setSaturation(double saturation);
-  void setHue(double hue);
-  void setExposure(double exposure);
-protected:
-  virtual void openImpl();
-  void _run();
+//   int getW();
+//   int getH();
+//   int getFps();
+//   std::string getIp();
+//   int getPort();
+//   double getBrightness();
+//   double getContrast();
+//   double getSaturation();
+//   double getHue();
+//   double getExposure();
+//   bool isRunning();
+//   void setWH(int width, int height);
+//   void setFps(int fps);
+//   void setIp(std::string ip);
+//   void setPort(int port);
+//   void setBrightness(double brightness);
+//   void setContrast(double contrast);
+//   void setSaturation(double saturation);
+//   void setHue(double hue);
+//   void setExposure(double exposure);
+// protected:
+//   virtual void openImpl();
+//   void _run();
 
-  bool _is_running;
-  bool _is_updated;
-  std::thread _tt;
-  cv::VideoCapture _cap;
-  cv::Mat _frame;
-  CameraType _type;
-  int _camera_id;
+//   bool _is_running;
+//   bool _is_updated;
+//   std::thread _tt;
+//   cv::VideoCapture _cap;
+//   cv::Mat _frame;
+//   CameraType _type;
+//   int _camera_id;
   
-  int _width;
-  int _height;
-  int _fps;
-  std::string _ip;
-  int _port;
-  double _brightness;
-  double _contrast;
-  double _saturation;
-  double _hue;
-  double _exposure;
-};
+//   int _width;
+//   int _height;
+//   int _fps;
+//   std::string _ip;
+//   int _port;
+//   double _brightness;
+//   double _contrast;
+//   double _saturation;
+//   double _hue;
+//   double _exposure;
+// };
 
 
 void drawTargetsInFrame(

include/sv_video_input.h

@@ -1,3 +1,4 @@
+#if 0
 #ifndef __SV_VIDEO_INPUT__
 #define __SV_VIDEO_INPUT__
 
@@ -25,3 +26,4 @@ protected:
 
 }
 #endif
+#endif

samples/calib/calibrate_camera_charuco.cpp

@@ -39,6 +39,8 @@ the use of this software, even if advised of the possibility of such damage.
 #include <sv_world.h>
 #include "aruco_samples_utility.hpp"
 
+#include  "sv_camera.h"
+
 using namespace std;
 using namespace cv;
 
@@ -146,10 +148,14 @@ int main(int argc, char *argv[]) {
     }
 
     // VideoCapture inputVideo;
-    sv::Camera inputVideo;
+    sv::Camera inputVideo(c_type);
+    inputVideo.setIndex(camId);
+    inputVideo.setStream("192.168.144.64",554);
+
     inputVideo.setWH(imW, imH);
     inputVideo.setFps(fps);
-    inputVideo.open(c_type, camId);
+    
+    inputVideo.open();
   
     int waitTime = 10;
 

samples/demo/aruco_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,12 @@ int main(int argc, char *argv[]) {
   ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  
+  cap.setIndex(0);
+  cap.setWH(ad.image_width, ad.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -2,15 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {  
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   // cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)

samples/demo/color_line_detect.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 using namespace sv;
@@ -14,10 +15,11 @@ int main(int argc, char *argv[])
   cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cld.image_width, cld.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.open(); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/common_object_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,11 @@ int main(int argc, char *argv[]) {
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -48,10 +49,11 @@ int main(int argc, char *argv[]) {
 
 
   // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/ellipse_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,12 @@ int main(int argc, char *argv[]) {
   ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(ed.image_width, ed.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 #include <map>
+#include "sv_camera.h"
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
@@ -34,27 +35,6 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
-  // 实例化吊舱
-  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
-  gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 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::G1);
-
-  // 定义一个新的窗口，可在上面进行框选操作
-  cv::namedWindow(RGB_WINDOW);
-  // 设置窗口操作回调函数，该函数实现整个框选逻辑
-  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 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
@@ -63,6 +43,37 @@ int main(int argc, char *argv[])
   sv::CommonObjectDetector cod;
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
+  // 实例化吊舱
+  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
+  gimbal->open(GimableCallback);
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 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::G1);
+
+  // 定义一个新的窗口，可在上面进行框选操作
+  cv::namedWindow(RGB_WINDOW);
+  // 设置窗口操作回调函数，该函数实现整个框选逻辑
+  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
+
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_landing_marker_detection.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 // #include "gimbal_tools.hpp"
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -34,31 +35,39 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 { 
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 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
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   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
   gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64", 554);
+  cap.setWH(lmd.image_width, lmd.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open(); // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 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::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 圆形降落标志 检测器类
-  sv::LandingMarkerDetector lmd;
-  // 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
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -43,31 +44,40 @@ void onMouse(int event, int x, int y, int, void *);
 
 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(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   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
   gimbal->open(gimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 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::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 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(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -12,10 +12,12 @@ int main(int argc, char *argv[]) {
   lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
    // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(lmd.image_width, lmd.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -16,10 +17,12 @@ int main(int argc, char *argv[]) {
   mot.init(&cod);
   
    // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 // 定义窗口名称
@@ -33,10 +33,12 @@ int main(int argc, char *argv[]) {
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
   
  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(sot.image_width, sot.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_sender.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -12,10 +12,11 @@ int main(int argc, char *argv[]) {
   ad.loadCameraParams("/home/amov/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
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(ad.image_width, ad.image_height);
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 struct node
@@ -26,10 +26,11 @@ int main(int argc, char *argv[])
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_saving.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -12,10 +12,12 @@ int main(int argc, char *argv[]) {
   cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_streaming.cpp

@@ -2,15 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {
  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(1280, 720);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open();  // CameraID 0
 
   // 实例化视频推流类sv::VideoStreamer
   sv::VideoStreamer streamer;

samples/test/gimbal_test.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 #include <chrono>
+#include "sv_camera.h"
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
@@ -143,14 +144,20 @@ int main(int argc, char *argv[])
     std::cout << " pass... " << std::endl;
     std::cout << " start image test " << std::endl;
 
-    sv::Camera cap;
-    cap.setIp(argv[2]);
+    // 打开摄像头
+    sv::Camera cap(sv::CameraType::G1);
+    cap.setStream(argv[2], 554);
     cap.setWH(1280, 720);
     cap.setFps(30);
+    cap.open(); // CameraID 0
 
-    cap.open(sv::CameraType::G1);
+    // sv::Camera cap;
+    // cap.setIp(argv[2]);
+    // cap.setWH(1280, 720);
+    // cap.setFps(30);
+    // cap.open(sv::CameraType::G1);
 
-    if (!cap.isRunning())
+    if (!cap.isActive())
     {
         std::cout << " gimbal image error , failed !!!!!" << std::endl;
         return -1;

video_io/driver/sv_camera_G1.cpp

@@ -1,12 +1,12 @@
 /*
- * @Description: G1相机的具体功能实现
+ * @Description: 
  * @Author: L LC @amov
  * @Date: 2023-12-19 18:30:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 11:42:40
+ * @LastEditTime: 2023-12-21 17:56:47
  * @FilePath: /SpireCV/video_io/driver/sv_camera_G1.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 #include <fstream>
 
 class sv_camera_G1 : public sv_p::CameraBase
@@ -44,13 +44,6 @@ bool sv_camera_G1::setStream(const std::string &ip, uint16_t port)
   return ret;
 }
 
-// 合法的输入尺寸列表
-const static std::vector<uint32_t, uint32_t> imageSizeList[3] =
-    {
-        {1520, 2704},
-        {1080, 1920},
-        {720, 1280}};
-
 const static uint32_t imageHList[3] = {1520, 1080, 720};
 const static uint32_t imageWList[3] = {2704, 1920, 1280};
 

video_io/driver/sv_camera_GX40.cpp

@@ -3,10 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-12-19 18:30:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 17:27:22
+ * @LastEditTime: 2023-12-21 17:57:02
  * @FilePath: /SpireCV/video_io/driver/sv_camera_GX40.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 #include <fstream>
 
 class sv_camera_GX40 : public sv_p::CameraBase

video_io/driver/sv_camera_MC1.cpp

@@ -3,10 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-12-19 18:30:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 17:10:30
+ * @LastEditTime: 2023-12-21 17:57:07
  * @FilePath: /SpireCV/video_io/driver/sv_camera_MC1.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 #include <fstream>
 
 class sv_camera_MC1 : public sv_p::CameraBase

video_io/driver/sv_camera_V4L2s.cpp

@@ -3,10 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-12-21 10:45:50
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 11:26:43
+ * @LastEditTime: 2023-12-21 17:57:30
  * @FilePath: /SpireCV/video_io/driver/sv_camera_V4L2s.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 
 class sv_camera_V4L2 : public sv_p::CameraBase
 {

video_io/driver/sv_camera_file.cpp

@@ -3,10 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-12-21 11:30:40
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 11:43:08
+ * @LastEditTime: 2023-12-21 17:56:34
  * @FilePath: /SpireCV/video_io/driver/sv_camera_file.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 
 class sv_camera_FILE : public sv_p::CameraBase
 {

video_io/driver/sv_camera_mipi.cpp

@@ -1,12 +1,12 @@
 /*
- * @Description: G1相机的具体功能实现
+ * @Description: 
  * @Author: L LC @amov
  * @Date: 2023-12-19 18:30:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 14:40:30
+ * @LastEditTime: 2023-12-21 17:57:12
  * @FilePath: /SpireCV/video_io/driver/sv_camera_mipi.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 #include <fstream>
 
 class sv_camera_MIPI : public sv_p::CameraBase

video_io/driver/sv_camera_streaming.cpp

@@ -3,10 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-12-21 11:30:40
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-21 11:43:16
+ * @LastEditTime: 2023-12-21 17:57:22
  * @FilePath: /SpireCV/video_io/driver/sv_camera_streaming.cpp
  */
-#include "../sv_camera_privately.h"
+#include "sv_camera_privately.h"
 
 class sv_camera_Streaming : public sv_p::CameraBase
 {

video_io/sv_video_base.cpp

@@ -969,172 +969,172 @@ void VideoWriterBase::releaseImpl()
 }
 
 
-CameraBase::CameraBase(CameraType type, int id)
-{
-  this->_is_running = false;
-  this->_is_updated = false;
-  this->_type = type;
+// CameraBase::CameraBase(CameraType type, int id)
+// {
+//   this->_is_running = false;
+//   this->_is_updated = false;
+//   this->_type = type;
   
-  this->_width = -1;
-  this->_height = -1;
-  this->_fps = -1;
-  this->_ip = "192.168.2.64";
-  this->_port = -1;
-  this->_brightness = -1;
-  this->_contrast = -1;
-  this->_saturation = -1;
-  this->_hue = -1;
-  this->_exposure = -1;
+//   this->_width = -1;
+//   this->_height = -1;
+//   this->_fps = -1;
+//   this->_ip = "192.168.2.64";
+//   this->_port = -1;
+//   this->_brightness = -1;
+//   this->_contrast = -1;
+//   this->_saturation = -1;
+//   this->_hue = -1;
+//   this->_exposure = -1;
 
-  this->open(type, id);
-}
-CameraBase::~CameraBase()
-{
-  this->_is_running = false;
-  // this->_tt.join();
-}
-void CameraBase::setWH(int width, int height)
-{
-  this->_width = width;
-  this->_height = height;
-}
-void CameraBase::setFps(int fps)
-{
-  this->_fps = fps;
-}
-void CameraBase::setIp(std::string ip)
-{
-  this->_ip = ip;
-}
-void CameraBase::setPort(int port)
-{
-  this->_port = port;
-}
-void CameraBase::setBrightness(double brightness)
-{
-  this->_brightness = brightness;
-}
-void CameraBase::setContrast(double contrast)
-{
-  this->_contrast = contrast;
-}
-void CameraBase::setSaturation(double saturation)
-{
-  this->_saturation = saturation;
-}
-void CameraBase::setHue(double hue)
-{
-  this->_hue = hue;
-}
-void CameraBase::setExposure(double exposure)
-{
-  this->_exposure = exposure;
-}
+//   this->open(type, id);
+// }
+// CameraBase::~CameraBase()
+// {
+//   this->_is_running = false;
+//   // this->_tt.join();
+// }
+// void CameraBase::setWH(int width, int height)
+// {
+//   this->_width = width;
+//   this->_height = height;
+// }
+// void CameraBase::setFps(int fps)
+// {
+//   this->_fps = fps;
+// }
+// void CameraBase::setIp(std::string ip)
+// {
+//   this->_ip = ip;
+// }
+// void CameraBase::setPort(int port)
+// {
+//   this->_port = port;
+// }
+// void CameraBase::setBrightness(double brightness)
+// {
+//   this->_brightness = brightness;
+// }
+// void CameraBase::setContrast(double contrast)
+// {
+//   this->_contrast = contrast;
+// }
+// void CameraBase::setSaturation(double saturation)
+// {
+//   this->_saturation = saturation;
+// }
+// void CameraBase::setHue(double hue)
+// {
+//   this->_hue = hue;
+// }
+// void CameraBase::setExposure(double exposure)
+// {
+//   this->_exposure = exposure;
+// }
 
-int CameraBase::getW()
-{
-  return this->_width;
-}
-int CameraBase::getH()
-{
-  return this->_height;
-}
-int CameraBase::getFps()
-{
-  return this->_fps;
-}
-std::string CameraBase::getIp()
-{
-  return this->_ip;
-}
-int CameraBase::getPort()
-{
-  return this->_port;
-}
-double CameraBase::getBrightness()
-{
-  return this->_brightness;
-}
-double CameraBase::getContrast()
-{
-  return this->_contrast;
-}
-double CameraBase::getSaturation()
-{
-  return this->_saturation;
-}
-double CameraBase::getHue()
-{
-  return this->_hue;
-}
-double CameraBase::getExposure()
-{
-  return this->_exposure;
-}
-bool CameraBase::isRunning()
-{
-  return this->_is_running;
-}
+// int CameraBase::getW()
+// {
+//   return this->_width;
+// }
+// int CameraBase::getH()
+// {
+//   return this->_height;
+// }
+// int CameraBase::getFps()
+// {
+//   return this->_fps;
+// }
+// std::string CameraBase::getIp()
+// {
+//   return this->_ip;
+// }
+// int CameraBase::getPort()
+// {
+//   return this->_port;
+// }
+// double CameraBase::getBrightness()
+// {
+//   return this->_brightness;
+// }
+// double CameraBase::getContrast()
+// {
+//   return this->_contrast;
+// }
+// double CameraBase::getSaturation()
+// {
+//   return this->_saturation;
+// }
+// double CameraBase::getHue()
+// {
+//   return this->_hue;
+// }
+// double CameraBase::getExposure()
+// {
+//   return this->_exposure;
+// }
+// bool CameraBase::isRunning()
+// {
+//   return this->_is_running;
+// }
 
-void CameraBase::openImpl()
-{
+// void CameraBase::openImpl()
+// {
 
-}
-void CameraBase::open(CameraType type, int id)
-{
-  this->_type = type;
-  this->_camera_id = id;
+// }
+// void CameraBase::open(CameraType type, int id)
+// {
+//   this->_type = type;
+//   this->_camera_id = id;
 
-  openImpl();
+//   openImpl();
 
-  if (this->_cap.isOpened())
-  {
-    std::cout << "Camera opened!" << std::endl;
-    this->_is_running = true;
-    this->_tt = std::thread(&CameraBase::_run, this);
-    this->_tt.detach();
-  }
-  else if (type != CameraType::NONE)
-  {
-    std::cout << "Camera can NOT open!" << std::endl;
-  }
-}
-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));
-  }
-}
-bool CameraBase::read(cv::Mat& image)
-{
-  if (this->_type != CameraType::NONE)
-  {
-    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()
-{
-  _cap.release();
-}
+//   if (this->_cap.isOpened())
+//   {
+//     std::cout << "Camera opened!" << std::endl;
+//     this->_is_running = true;
+//     this->_tt = std::thread(&CameraBase::_run, this);
+//     this->_tt.detach();
+//   }
+//   else if (type != CameraType::NONE)
+//   {
+//     std::cout << "Camera can NOT open!" << std::endl;
+//   }
+// }
+// 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));
+//   }
+// }
+// bool CameraBase::read(cv::Mat& image)
+// {
+//   if (this->_type != CameraType::NONE)
+//   {
+//     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()
+// {
+//   _cap.release();
+// }
 
 
 

video_io/sv_video_input.cpp

@@ -1,3 +1,4 @@
+#if 0
 #include "sv_video_input.h"
 #include <cmath>
 #include <fstream>
@@ -130,3 +131,5 @@ void Camera::openImpl()
 }
 
 }
+
+#endif