add x86-intel in cmake & testcase-fps

CMakeLists.txt

@@ -22,6 +22,8 @@ else()
     add_definitions(-DPLATFORM_X86_CUDA)
     option(USE_CUDA "BUILD WITH CUDA." ON)
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
+  elseif(PLATFORM STREQUAL "X86_INTEL")
+    option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   else()
     message(FATAL_ERROR "UNSUPPORTED PLATFORM!")
   endif()
@@ -228,7 +230,7 @@ if(USE_CUDA)
   cuda_add_executable(SpireCVSeg samples/SpireCVSeg.cpp ${YOLO_SRCS})
   target_link_libraries(SpireCVSeg sv_world)
 
-elseif(PLATFORM STREQUAL "X86_CPU")
+elseif(PLATFORM STREQUAL "X86_INTEL")
   add_library(sv_world SHARED ${spirecv_SRCS})
   target_link_libraries(
     sv_world ${OpenCV_LIBS} 
@@ -274,6 +276,9 @@ target_link_libraries(GimbalLandingMarkerDetection sv_world)
 add_executable(GimbalUdpDetectionInfoSender samples/demo/gimbal_udp_detection_info_sender.cpp)
 target_link_libraries(GimbalUdpDetectionInfoSender sv_world)
 
+add_executable(EvalFpsOnVideo samples/test/eval_fps_on_video.cpp)
+target_link_libraries(EvalFpsOnVideo 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})
@@ -294,7 +299,7 @@ if(USE_CUDA)
   install(TARGETS SpireCVDet SpireCVSeg
     RUNTIME DESTINATION bin
   )
-elseif(PLATFORM STREQUAL "X86_CPU")
+elseif(PLATFORM STREQUAL "X86_INTEL")
   install(TARGETS sv_world
     LIBRARY DESTINATION lib
   )
@@ -350,7 +355,7 @@ set(SV_LIBRARIES
   @FFMPEG_LIBS@ fmt
 )
 ]])
-elseif(PLATFORM STREQUAL "X86_CPU")
+elseif(PLATFORM STREQUAL "X86_INTEL")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
 @PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)

algorithm/common_det/sv_common_det.cpp

@@ -14,7 +14,9 @@ namespace sv {
 
 CommonObjectDetector::CommonObjectDetector()
 {
+#ifdef WITH_CUDA
   this->_cuda_impl = new CommonObjectDetectorCUDAImpl;
+#endif
 }
 CommonObjectDetector::~CommonObjectDetector()
 {

algorithm/landing_det/sv_landing_det.cpp

@@ -13,7 +13,9 @@ namespace sv {
 
 LandingMarkerDetector::LandingMarkerDetector()
 {
+#ifdef WITH_CUDA
   this->_cuda_impl = new LandingMarkerDetectorCUDAImpl;
+#endif
 }
 LandingMarkerDetector::~LandingMarkerDetector()
 {

build_on_x86_intel.sh

@@ -0,0 +1,9 @@
+#!/bin/bash -e
+
+rm -rf build
+mkdir build
+cd build 
+cmake .. -DPLATFORM=X86_INTEL
+make -j4
+sudo make install
+

samples/test/eval_fps_on_video.cpp

@@ -0,0 +1,171 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+#include <chrono>
+
+using namespace std;
+
+int main(int argc, char *argv[]) {
+  if (argc != 4) return false;
+  std::string video_fn = std::string(argv[1]);
+  std::string camera_yaml_fn = std::string(argv[2]);
+  std::string algorithm = std::string(argv[3]);
+  // 1: ArucoDetector
+  // 2: LandingMarkerDetector
+  // 3: EllipseDetector
+  // 41: CommonObjectDetector 640 without mask
+  // 42: CommonObjectDetector 1280 without mask
+  // 43: CommonObjectDetector 640 with mask
+  // 51: SingleObjectTracker CSRT
+  // 52: SingleObjectTracker KCF
+  // 53: SingleObjectTracker SiamPRN
+  // 54: SingleObjectTracker Nano
+
+  cv::VideoCapture cap(video_fn);
+  int fcount = cap.get(cv::CAP_PROP_FRAME_COUNT);
+  fcount = std::min(5000, fcount);
+  
+  cv::Mat img;
+  std::vector<cv::Mat> imgs;
+  int frame_id = 0;
+  for (int i=0; i<fcount; i++)
+  {
+    cap.read(img);
+    imgs.push_back(img.clone());
+    frame_id ++;
+  }
+  
+  // 实例化Aruco检测器类
+  sv::ArucoDetector ad;
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 实例化 椭圆 检测器类
+  sv::EllipseDetector ed;
+  // 实例化 通用目标 检测器类
+  sv::CommonObjectDetector cod;
+  // 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
+  ad.loadCameraParams(camera_yaml_fn);
+  lmd.loadCameraParams(camera_yaml_fn);
+  ed.loadCameraParams(camera_yaml_fn);
+  cod.loadCameraParams(camera_yaml_fn);
+  sot.loadCameraParams(camera_yaml_fn);
+  if ("51" == algorithm)
+    sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_csrt.json");
+  else if (("52" == algorithm))
+    sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_kcf.json");
+  else if (("53" == algorithm))
+    sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_siamrpn.json");
+  else if (("54" == algorithm))
+    sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_nano.json");
+    
+  if ("41" == algorithm)
+    cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_640_wo_mask.json");
+  else if (("42" == algorithm))
+    cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_1280_wo_mask.json");
+  else if (("43" == algorithm))
+    cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/sv_algorithm_params_640_w_mask.json");
+  
+  for (int i=0; i<10; i++)
+  {
+    img = imgs[0];
+    cv::resize(img, img, cv::Size(ad.image_width, ad.image_height));
+    
+    sv::TargetsInFrame tgts(i + 1);
+
+    // 执行Aruco二维码检测
+    if ("1" == algorithm)
+    ad.detect(img, tgts);
+    if ("2" == algorithm)
+    lmd.detect(img, tgts);
+    if ("3" == algorithm)
+    ed.detect(img, tgts);
+    if ("41" == algorithm || "42" == algorithm || "43" == algorithm)
+    cod.detect(img, tgts);
+    if ("51" == algorithm || "52" == algorithm || "53" == algorithm || "54" == algorithm)
+    {
+      if (0 == i)
+      {
+        if (sot.image_width == 1920)
+          sot.init(img, cv::Rect(1155, 493, 268, 442));
+        else if (sot.image_width == 1280)
+          sot.init(img, cv::Rect(784, 278, 191, 276));
+        else // 640
+          sot.init(img, cv::Rect(309, 137, 81, 238));
+      }
+      else
+      {
+        sot.track(img, tgts);
+      }
+    }
+  }
+  
+  auto start = std::chrono::system_clock::now();
+  for (int i=0; i<fcount; i++)
+  {
+    img = imgs[i];
+    cv::resize(img, img, cv::Size(ad.image_width, ad.image_height));
+    
+    sv::TargetsInFrame tgts(i + 1);
+    
+    
+    // 执行Aruco二维码检测
+    if ("1" == algorithm)
+    ad.detect(img, tgts);
+    if ("2" == algorithm)
+    lmd.detect(img, tgts);
+    if ("3" == algorithm)
+    ed.detect(img, tgts);
+    if ("41" == algorithm || "42" == algorithm || "43" == algorithm)
+    cod.detect(img, tgts);
+    if ("51" == algorithm || "52" == algorithm || "53" == algorithm || "54" == algorithm)
+    {
+      if (0 == i)
+      {
+        if (sot.image_width == 1920)
+          sot.init(img, cv::Rect(1155, 493, 268, 442));
+        else if (sot.image_width == 1280)
+          sot.init(img, cv::Rect(784, 278, 191, 276));
+        else // 640
+          sot.init(img, cv::Rect(309, 137, 81, 238));
+      }
+      else
+      {
+        sot.track(img, tgts);
+      }
+    }
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+
+    //cv::imshow("img", img);
+    //cv::waitKey(10);
+  }
+  auto end = std::chrono::system_clock::now();
+  
+  if ("1" == algorithm)
+  std::cout << "Aruco [" << camera_yaml_fn << "]" << std::endl;
+  if ("2" == algorithm)
+  std::cout << "Landing [" << camera_yaml_fn << "]" << std::endl;
+  if ("3" == algorithm)
+  std::cout << "Ellipse [" << camera_yaml_fn << "]" << std::endl;
+  if ("41" == algorithm)
+  std::cout << "CommonDetector 640 WO Mask [" << camera_yaml_fn << "]" << std::endl;
+  if ("42" == algorithm)
+  std::cout << "CommonDetector 1280 WO Mask [" << camera_yaml_fn << "]" << std::endl;
+  if ("43" == algorithm)
+  std::cout << "CommonDetector 640 W Mask [" << camera_yaml_fn << "]" << std::endl;
+  if ("51" == algorithm)
+  std::cout << "Tracking CSRT [" << camera_yaml_fn << "]" << std::endl;
+  if ("52" == algorithm)
+  std::cout << "Tracking KCF [" << camera_yaml_fn << "]" << std::endl;
+  if ("53" == algorithm)
+  std::cout << "Tracking SiamPRN [" << camera_yaml_fn << "]" << std::endl;
+  if ("54" == algorithm)
+  std::cout << "Tracking Nano [" << camera_yaml_fn << "]" << std::endl;
+  std::cout << "FPS: " << fcount / (std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() / 1000. + 1e-4) << std::endl;
+  
+
+  return 0;
+}

scripts/test/test_fps.sh

@@ -0,0 +1,45 @@
+#!/bin/bash -e
+
+if [ ! -d build ]; then
+  mkdir build
+fi
+
+cd build 
+
+cmake ..
+make -j
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 51
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 51
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 51
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 52
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 52
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 52
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 54
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 54
+./EvalFpsOnVideo ${HOME}/SpireCV/test/tracking_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 54
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 41
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 41
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 41
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 42
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 42
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 42
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 43
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 43
+./EvalFpsOnVideo ${HOME}/SpireCV/test/drone_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 43
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/aruco_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 1
+./EvalFpsOnVideo ${HOME}/SpireCV/test/aruco_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 1
+./EvalFpsOnVideo ${HOME}/SpireCV/test/aruco_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1920x1080.yaml 1
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/landing_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 2
+./EvalFpsOnVideo ${HOME}/SpireCV/test/landing_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 2
+
+./EvalFpsOnVideo ${HOME}/SpireCV/test/ellipse_640x480.mp4 ${HOME}/SpireCV/calib_webcam_640x480.yaml 3
+./EvalFpsOnVideo ${HOME}/SpireCV/test/ellipse_1280x720.mp4 ${HOME}/SpireCV/calib_webcam_1280x720.yaml 3
+