build done

.gitignore

@@ -1,13 +1,6 @@
 # Distribution / packaging
 .Python
 build/
-models/
-confs/
-ZLM/
-ZLMediaKit/
-ffmpeg-4.2.5/
-nv-codec-headers/
-*.bz2
 develop-eggs/
 dist/
 eggs/
@@ -22,11 +15,6 @@ share/python-wheels/
 *.egg
 MANIFEST
 .idea/
-calib_webcam_1280x720.yaml
-calib_webcam_640x480.yaml
-sv_algorithm_params.json
-sv_algorithm_params_coco_1280.json
-sv_algorithm_params_coco_640.json
 
 # Prerequisites
 *.d

CMakeLists.txt

@@ -24,7 +24,6 @@ else()
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   elseif(PLATFORM STREQUAL "X86_INTEL")
     add_definitions(-DPLATFORM_X86_INTEL)
-    option(USE_INTEL "BUILD WITH INTEL." ON)
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   else()
     message(FATAL_ERROR "UNSUPPORTED PLATFORM!")
@@ -39,10 +38,6 @@ if(USE_CUDA)
   message(STATUS "CUDA: ON")
 endif()
 
-if(USE_INTEL)
-  add_definitions(-DWITH_INTEL)
-  message(STATUS "INTEL: ON")
-endif()
 
 if(USE_GSTREAMER)
   add_definitions(-DWITH_GSTREAMER)
@@ -77,9 +72,6 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
@@ -127,7 +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
 )
@@ -195,23 +188,7 @@ if(USE_CUDA)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
 
-if(USE_INTEL)
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-endif()
-
 if(USE_FFMPEG)
-  if(USE_INTEL)
-    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_intel/*.cpp)
-    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  elseif(USE_CUDA)
-    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_cuda/*.cpp)
-    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  endif()
   file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/*.cpp)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
@@ -255,22 +232,10 @@ if(USE_CUDA)  # PLATFORM_X86_CUDA & PLATFORM_JETSON
   target_link_libraries(SpireCVSeg sv_world)
 
 elseif(PLATFORM STREQUAL "X86_INTEL")  # Links to Intel-OpenVINO libraries here
-  # Intel-Openvino
-  include_directories(
-    PUBLIC /opt/intel/openvino_2022/runtime/include/
-    PUBLIC /opt/intel/openvino_2022/runtime/include/ie/
-  )
-  link_directories(
-    ${InferenceEngine_LIBRARIES}
-    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
-  )
-  
   add_library(sv_world SHARED ${spirecv_SRCS})
   target_link_libraries(
     sv_world ${OpenCV_LIBS} 
     sv_gimbal
-    ${InferenceEngine_LIBRARIES}
-    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
   )
 endif()
 
@@ -364,14 +329,12 @@ if(PLATFORM STREQUAL "JETSON")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
 @PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 link_directories(/usr/local/cuda/lib64)
 set(SV_INCLUDE_DIRS
   @SV_INSTALL_PREFIX@/include
   /usr/include/x86_64-linux-gnu
   /usr/local/cuda/include
   ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
   /usr/include/gstreamer-1.0
   /usr/local/include/gstreamer-1.0
   /usr/include/glib-2.0
@@ -390,7 +353,6 @@ elseif(PLATFORM STREQUAL "X86_CUDA")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
 @PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(fmt REQUIRED)
 link_directories(/usr/local/cuda/lib64)
 set(SV_INCLUDE_DIRS
@@ -398,7 +360,6 @@ set(SV_INCLUDE_DIRS
   /usr/include/x86_64-linux-gnu
   /usr/local/cuda/include
   ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
 )
 set(SV_LIBRARIES
   @SV_INSTALL_PREFIX@/lib/libsv_yoloplugins.so
@@ -413,13 +374,11 @@ elseif(PLATFORM STREQUAL "X86_INTEL")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
 @PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(fmt REQUIRED)
 set(SV_INCLUDE_DIRS
   @SV_INSTALL_PREFIX@/include
   /usr/include/x86_64-linux-gnu
   ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
 )
 set(SV_LIBRARIES
   @SV_INSTALL_PREFIX@/lib/libsv_world.so

README.en.md

@@ -38,9 +38,9 @@ SpireCV is an **real-time edge perception SDK** built for **intelligent unmanned
  - **Platform level**：
     - [x] X86 + Nvidia GPUs (10 series, 20 series, and 30 series graphics cards recommended)
     - [x] Jetson (AGX Orin/Xavier、Orin NX/Nano、Xavier NX)
-    - [x] Intel CPU
-    - [ ] HUAWEI Ascend (coming soon)
+    - [ ] Intel CPU (coming soon)
     - [ ] Rockchip (coming soon)
+    - [ ] HUAWEI Ascend (coming soon)
 
 ## Demos
  - **QR code detection**

README.md

@@ -38,9 +38,9 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
  - **平台层**：
     - [x] X86+Nvidia GPU（推荐10系、20系、30系显卡）
     - [x] Jetson（AGX Orin/Xavier、Orin NX/Nano、Xavier NX）
-    - [x] Intel CPU
-    - [ ] HUAWEI Ascend（推进中）
+    - [ ] Intel CPU（推进中）
     - [ ] Rockchip（推进中）
+    - [ ] HUAWEI Ascend（推进中）
 
 ## 功能展示
  - **二维码检测**

algorithm/common_det/cuda/common_det_cuda_impl.cpp

@@ -1,8 +1,6 @@
 #include "common_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
-#include <iostream>
-#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -364,51 +362,17 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   bool with_segmentation = base_->withSegmentation();
   double thrs_conf = base_->getThrsConf();
   double thrs_nms = base_->getThrsNms();
-  std::string model = base_->getModel();
-  int bs = base_->getBatchSize();
-  char bs_c[8];
-  sprintf(bs_c, "%d", bs);
-  std::string bs_s(bs_c);
 
   std::string engine_fn = get_home() + SV_MODEL_DIR + dataset + ".engine";
-  std::vector<std::string> files;
-  
-  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-" + dataset + "-yolov5" + model + "_b" + bs_s + "_c");
-  if (files.size() > 0)
-  {
-    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-    engine_fn = get_home() + SV_MODEL_DIR + files[0];
-  }
-
   if (input_w == 1280)
   {
-    files.clear();
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-" + dataset + "-yolov5" + model + "6_b" + bs_s + "_c");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      engine_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-    else
-    {
-      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
-    }
+    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
   }
   if (with_segmentation)
   {
     base_->setInputH(640);
     base_->setInputW(640);
-    files.clear();
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-" + dataset + "-yolov5" + model + "_seg_b" + bs_s + "_c");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      engine_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-    else
-    {
-      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
-    }
+    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
   }
   std::cout << "Load: " << engine_fn << std::endl;
   if (!is_file_exist(engine_fn))
@@ -450,5 +414,17 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   return false;
 }
 
+
+
+
+
+
+
+
+
+
+
+
+
 }
 

algorithm/common_det/intel/common_det_intel_impl.cpp

@@ -1,479 +0,0 @@
-#include "common_det_intel_impl.h"
-#include <cmath>
-#include <fstream>
-#include "sv_util.h"
-
-#define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
-
-namespace sv
-{
-
-#ifdef WITH_INTEL
-  using namespace cv;
-  using namespace std;
-  using namespace dnn;
-#endif
-
-  float sigmoid_function(float a)
-  {
-    float b = 1. / (1. + exp(-a));
-    return b;
-  }
-
-  cv::Mat letterbox(cv::Mat &img_, std::vector<float> &paddings)
-  {
-    std::vector<int> new_shape = {640, 640};
-
-    // Get current image shape [height, width]
-    int img_h = img_.rows;
-    int img_w = img_.cols;
-
-    // Compute scale ratio(new / old) and target resized shape
-    float scale = std::min(new_shape[1] * 1.0 / img_h, new_shape[0] * 1.0 / img_w);
-    int resize_h = int(round(img_h * scale));
-    int resize_w = int(round(img_w * scale));
-    paddings[0] = scale;
-
-    // Compute padding
-    int pad_h = new_shape[1] - resize_h;
-    int pad_w = new_shape[0] - resize_w;
-
-    // Resize and pad image while meeting stride-multiple constraints
-    cv::Mat resized_img;
-    cv::resize(img_, resized_img, cv::Size(resize_w, resize_h));
-
-    // divide padding into 2 sides
-    float half_h = pad_h * 1.0 / 2;
-    float half_w = pad_w * 1.0 / 2;
-    paddings[1] = half_h;
-    paddings[2] = half_w;
-
-    // Compute padding boarder
-    int top = int(round(half_h - 0.1));
-    int bottom = int(round(half_h + 0.1));
-    int left = int(round(half_w - 0.1));
-    int right = int(round(half_w + 0.1));
-
-    // Add border
-    cv::copyMakeBorder(resized_img, resized_img, top, bottom, left, right, 0, cv::Scalar(114, 114, 114));
-
-    return resized_img;
-  }
-
-  CommonObjectDetectorIntelImpl::CommonObjectDetectorIntelImpl()
-  {
-  }
-
-  CommonObjectDetectorIntelImpl::~CommonObjectDetectorIntelImpl()
-  {
-  }
-
-  void CommonObjectDetectorIntelImpl::intelDetect(
-      CommonObjectDetectorBase *base_,
-      cv::Mat img_,
-      std::vector<float> &boxes_x_,
-      std::vector<float> &boxes_y_,
-      std::vector<float> &boxes_w_,
-      std::vector<float> &boxes_h_,
-      std::vector<int> &boxes_label_,
-      std::vector<float> &boxes_score_,
-      std::vector<cv::Mat> &boxes_seg_,
-      bool input_4k_)
-  {
-#ifdef WITH_INTEL
-    int input_h = base_->getInputH();
-    int input_w = base_->getInputW();
-    bool with_segmentation = base_->withSegmentation();
-    double thrs_conf = base_->getThrsConf();
-    double thrs_nms = base_->getThrsNms();
-
-    if (with_segmentation)
-    {
-      std::vector<float> paddings(3); // scale, half_h, half_w
-      this->preprocess_img_seg(img_, paddings);
-
-      infer_request.start_async();
-      infer_request.wait();
-
-      // Postprocess
-      this->postprocess_img_seg(img_, paddings, boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, boxes_seg_, thrs_conf, thrs_nms);
-    }
-    else
-    {
-      // Preprocess
-      this->preprocess_img(img_);
-
-      // Run inference
-      infer_request.start_async();
-      infer_request.wait();
-
-      // Postprocess
-      this->postprocess_img(boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, thrs_conf, thrs_nms);
-    }
-
-#endif
-  }
-
-  bool CommonObjectDetectorIntelImpl::intelSetup(CommonObjectDetectorBase *base_, bool input_4k_)
-  {
-#ifdef WITH_INTEL
-    ov::Core core;
-    std::string dataset = base_->getDataset();
-    double thrs_conf = base_->getThrsConf();
-    double thrs_nms = base_->getThrsNms();
-    inpHeight = base_->getInputH();
-    inpWidth = base_->getInputW();
-    with_segmentation = base_->withSegmentation();
-    std::string model = base_->getModel();
-
-    std::string openvino_fn = get_home() + SV_MODEL_DIR + dataset + ".onnx";
-    std::vector<std::string> files;
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.onnx", "Int-" + dataset + "-yolov5" + model + "_c");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      openvino_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-
-    if (inpWidth == 1280)
-    {
-      files.clear();
-      _list_dir(get_home() + SV_MODEL_DIR, files, "-online.onnx", "Int-" + dataset + "-yolov5" + model + "6_c");
-      if (files.size() > 0)
-      {
-        std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-        openvino_fn = get_home() + SV_MODEL_DIR + files[0];
-      }
-      else
-      {
-        openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.onnx";
-      }
-    }
-    if (with_segmentation)
-    {
-      base_->setInputH(640);
-      base_->setInputW(640);
-      files.clear();
-      _list_dir(get_home() + SV_MODEL_DIR, files, "-online.onnx", "Int-" + dataset + "-yolov5" + model + "_seg_c");
-      if (files.size() > 0)
-      {
-        std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-        openvino_fn = get_home() + SV_MODEL_DIR + files[0];
-      }
-      else
-      {
-        openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.onnx";
-      }
-    }
-    std::cout << "Load: " << openvino_fn << std::endl;
-    if (!is_file_exist(openvino_fn))
-    {
-      throw std::runtime_error("SpireCV (104) Error loading the CommonObject OpenVINO model (File Not Exist)");
-    }
-
-    if (input_4k_ && with_segmentation)
-    {
-      throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
-    }
-
-    if (with_segmentation)
-    {
-      this->compiled_model = core.compile_model(openvino_fn, "GPU");
-      this->infer_request = compiled_model.create_infer_request();
-    }
-    else
-    {
-      std::shared_ptr<ov::Model> model_ = core.read_model(openvino_fn);
-      ov::preprocess::PrePostProcessor Pre_P = ov::preprocess::PrePostProcessor(model_);
-      Pre_P.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
-      Pre_P.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
-      Pre_P.input().model().set_layout("NCHW");
-      Pre_P.output().tensor().set_element_type(ov::element::f32);
-      model_ = Pre_P.build();
-      this->compiled_model = core.compile_model(model_, "GPU");
-      this->infer_request = compiled_model.create_infer_request();
-    }
-    return true;
-#endif
-    return false;
-  }
-
-  void CommonObjectDetectorIntelImpl::preprocess_img(cv::Mat &img_)
-  {
-#ifdef WITH_INTEL
-    float width = img_.cols;
-    float height = img_.rows;
-    cv::Size new_shape = cv::Size(inpHeight, inpWidth);
-    float r = float(new_shape.width / max(width, height));
-    int new_unpadW = int(round(width * r));
-    int new_unpadH = int(round(height * r));
-
-    cv::resize(img_, resize.resized_image, cv::Size(new_unpadW, new_unpadH), 0, 0, cv::INTER_AREA);
-    resize.resized_image = resize.resized_image;
-    resize.dw = new_shape.width - new_unpadW;
-    resize.dh = new_shape.height - new_unpadH;
-    cv::Scalar color = cv::Scalar(100, 100, 100);
-    cv::copyMakeBorder(resize.resized_image, resize.resized_image, 0, resize.dh, 0, resize.dw, cv::BORDER_CONSTANT, color);
-
-    this->rx = (float)img_.cols / (float)(resize.resized_image.cols - resize.dw);
-    this->ry = (float)img_.rows / (float)(resize.resized_image.rows - resize.dh);
-    if (with_segmentation)
-    {
-      cv::Mat blob = cv::dnn::blobFromImage(resize.resized_image, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
-      auto input_port = compiled_model.input();
-      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
-      infer_request.set_input_tensor(input_tensor);
-    }
-    else
-    {
-      float *input_data = (float *)resize.resized_image.data;
-      input_tensor = ov::Tensor(compiled_model.input().get_element_type(), compiled_model.input().get_shape(), input_data);
-      infer_request.set_input_tensor(input_tensor);
-    }
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::preprocess_img_seg(cv::Mat &img_, std::vector<float> &paddings)
-  {
-#ifdef WITH_INTEL
-    cv::Mat masked_img;
-    cv::Mat resized_img = letterbox(img_, paddings); // resize to (640,640) by letterbox
-    // BGR->RGB, u8(0-255)->f32(0.0-1.0), HWC->NCHW
-    cv::Mat blob = cv::dnn::blobFromImage(resized_img, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
-
-    // Get input port for model with one input
-    auto input_port = compiled_model.input();
-    // Create tensor from external memory
-    ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
-    // Set input tensor for model with one input
-    infer_request.set_input_tensor(input_tensor);
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::postprocess_img_seg(cv::Mat &img_,
-                                                          std::vector<float> &paddings,
-                                                          std::vector<float> &boxes_x_,
-                                                          std::vector<float> &boxes_y_,
-                                                          std::vector<float> &boxes_w_,
-                                                          std::vector<float> &boxes_h_,
-                                                          std::vector<int> &boxes_label_,
-                                                          std::vector<float> &boxes_score_,
-                                                          std::vector<cv::Mat> &boxes_seg_,
-                                                          double &thrs_conf,
-                                                          double &thrs_nms)
-  {
-#ifdef WITH_INTEL
-    const ov::Tensor &detect = infer_request.get_output_tensor(0);
-    ov::Shape detect_shape = detect.get_shape();
-    const ov::Tensor &proto = infer_request.get_output_tensor(1);
-    ov::Shape proto_shape = proto.get_shape();
-
-    cv::Mat detect_buffer(detect_shape[1], detect_shape[2], CV_32F, detect.data());
-    cv::Mat proto_buffer(proto_shape[1], proto_shape[2] * proto_shape[3], CV_32F, proto.data());
-
-    cv::RNG rng;
-    float conf_threshold = thrs_conf;
-    float nms_threshold = thrs_nms;
-    std::vector<cv::Rect> boxes;
-    std::vector<int> class_ids;
-    std::vector<float> class_scores;
-    std::vector<float> confidences;
-    std::vector<cv::Mat> masks;
-
-    float scale = paddings[0];
-    for (int i = 0; i < detect_buffer.rows; i++)
-    {
-      float confidence = detect_buffer.at<float>(i, 4);
-      if (confidence < conf_threshold)
-      {
-        continue;
-      }
-      cv::Mat classes_scores = detect_buffer.row(i).colRange(5, 85);
-      cv::Point class_id;
-      double score;
-      cv::minMaxLoc(classes_scores, NULL, &score, NULL, &class_id);
-
-      // class score: 0~1
-      if (score > 0.25)
-      {
-        cv::Mat mask = detect_buffer.row(i).colRange(85, 117);
-        float cx = detect_buffer.at<float>(i, 0);
-        float cy = detect_buffer.at<float>(i, 1);
-        float w = detect_buffer.at<float>(i, 2);
-        float h = detect_buffer.at<float>(i, 3);
-        int left = static_cast<int>((cx - 0.5 * w - paddings[2]) / scale);
-        int top = static_cast<int>((cy - 0.5 * h - paddings[1]) / scale);
-        int width = static_cast<int>(w / scale);
-        int height = static_cast<int>(h / scale);
-        cv::Rect box;
-        box.x = left;
-        box.y = top;
-        box.width = width;
-        box.height = height;
-
-        boxes.push_back(box);
-        class_ids.push_back(class_id.x);
-        class_scores.push_back(score);
-        confidences.push_back(confidence);
-        masks.push_back(mask);
-      }
-    }
-
-    // NMS
-    std::vector<int> indices;
-    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, indices);
-    // cv::Mat rgb_mask;
-    cv::Mat rgb_mask = cv::Mat::zeros(img_.size(), img_.type());
-
-    for (size_t i = 0; i < indices.size(); i++)
-    {
-      int index = indices[i];
-      int class_id = class_ids[index];
-      cv::Rect box = boxes[index];
-      int x1 = std::max(0, box.x);
-      int y1 = std::max(0, box.y);
-      int x2 = std::max(0, box.br().x);
-      int y2 = std::max(0, box.br().y);
-
-      cv::Mat m = masks[index] * proto_buffer;
-      for (int col = 0; col < m.cols; col++)
-      {
-        m.at<float>(0, col) = sigmoid_function(m.at<float>(0, col));
-      }
-      cv::Mat m1 = m.reshape(1, 160); // 1x25600 -> 160x160
-      int mx1 = std::max(0, int((x1 * scale + paddings[2]) * 0.25));
-      int mx2 = std::max(0, int((x2 * scale + paddings[2]) * 0.25));
-      int my1 = std::max(0, int((y1 * scale + paddings[1]) * 0.25));
-      int my2 = std::max(0, int((y2 * scale + paddings[1]) * 0.25));
-      cv::Mat mask_roi = m1(cv::Range(my1, my2), cv::Range(mx1, mx2));
-
-      cv::Mat rm, det_mask;
-      cv::resize(mask_roi, rm, cv::Size(x2 - x1, y2 - y1));
-      for (int r = 0; r < rm.rows; r++)
-      {
-        for (int c = 0; c < rm.cols; c++)
-        {
-          float pv = rm.at<float>(r, c);
-          if (pv > 0.5)
-          {
-            rm.at<float>(r, c) = 1.0;
-          }
-          else
-          {
-            rm.at<float>(r, c) = 0.0;
-          }
-        }
-      }
-
-      rm = rm * rng.uniform(0, 255);
-      rm.convertTo(det_mask, CV_8UC1);
-      if ((y1 + det_mask.rows) >= img_.rows)
-      {
-        y2 = img_.rows - 1;
-      }
-      if ((x1 + det_mask.cols) >= img_.cols)
-      {
-        x2 = img_.cols - 1;
-      }
-
-      cv::Mat mask = cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC1);
-      det_mask(cv::Range(0, y2 - y1), cv::Range(0, x2 - x1)).copyTo(mask(cv::Range(y1, y2), cv::Range(x1, x2)));
-      add(rgb_mask, cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255)), rgb_mask, mask);
-
-      boxes_x_.push_back(box.x);
-      boxes_y_.push_back(box.y);
-      boxes_w_.push_back(box.width);
-      boxes_h_.push_back(box.height);
-
-      boxes_label_.push_back((int)class_id);
-      boxes_score_.push_back(class_scores[index]);
-
-      cv::Mat mask_j = mask.clone();
-      boxes_seg_.push_back(mask_j);
-    }
-
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::postprocess_img(std::vector<float> &boxes_x_,
-                                                      std::vector<float> &boxes_y_,
-                                                      std::vector<float> &boxes_w_,
-                                                      std::vector<float> &boxes_h_,
-                                                      std::vector<int> &boxes_label_,
-                                                      std::vector<float> &boxes_score_,
-                                                      double &thrs_conf,
-                                                      double &thrs_nms)
-  {
-#ifdef WITH_INTEL
-    const ov::Tensor &output_tensor = infer_request.get_output_tensor();
-    ov::Shape output_shape = output_tensor.get_shape();
-    float *detections = output_tensor.data<float>();
-
-    std::vector<cv::Rect> boxes;
-    vector<int> class_ids;
-    vector<float> confidences;
-    for (int i = 0; i < output_shape[1]; i++)
-    {
-      float *detection = &detections[i * output_shape[2]];
-
-      float confidence = detection[4];
-      if (confidence >= thrs_conf)
-      {
-        float *classes_scores = &detection[5];
-        cv::Mat scores(1, output_shape[2] - 5, CV_32FC1, classes_scores);
-        cv::Point class_id;
-        double max_class_score;
-        cv::minMaxLoc(scores, 0, &max_class_score, 0, &class_id);
-        if (max_class_score > thrs_conf)
-        {
-          confidences.push_back(confidence);
-          class_ids.push_back(class_id.x);
-          float x = detection[0];
-          float y = detection[1];
-          float w = detection[2];
-          float h = detection[3];
-          float xmin = x - (w / 2);
-          float ymin = y - (h / 2);
-
-          boxes.push_back(cv::Rect(xmin, ymin, w, h));
-        }
-      }
-    }
-
-    std::vector<int> nms_result;
-    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, nms_result);
-
-    std::vector<Detection> output;
-    for (int i = 0; i < nms_result.size(); i++)
-    {
-      Detection result;
-      int idx = nms_result[i];
-      result.class_id = class_ids[idx];
-      result.confidence = confidences[idx];
-      result.box = boxes[idx];
-      output.push_back(result);
-    }
-
-    for (int i = 0; i < output.size(); i++)
-    {
-      auto detection = output[i];
-      auto box = detection.box;
-      auto classId = detection.class_id;
-      auto confidence = detection.confidence;
-
-      float xmax = box.x + box.width;
-      float ymax = box.y + box.height;
-
-      boxes_x_.push_back(this->rx * box.x);
-      boxes_y_.push_back(this->ry * box.y);
-      boxes_w_.push_back(this->rx * box.width);
-      boxes_h_.push_back(this->ry * box.height);
-
-      boxes_label_.push_back((int)detection.class_id);
-      boxes_score_.push_back(detection.confidence);
-    }
-#endif
-  }
-
-}

algorithm/common_det/intel/common_det_intel_impl.h

@@ -1,89 +0,0 @@
-#ifndef __SV_COMMON_DET_INTEL__
-#define __SV_COMMON_DET_INTEL__
-
-#include "sv_core.h"
-#include <string>
-#include <iostream>
-#include <opencv2/dnn.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/highgui.hpp>
-#include <string>
-#include <chrono>
-
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#endif
-
-struct Resize
-{
-  cv::Mat resized_image;
-  int dw;
-  int dh;
-};
-
-struct Detection
-{
-  int class_id;
-  float confidence;
-  cv::Rect box;
-};
-
-namespace sv
-{
-
-  class CommonObjectDetectorIntelImpl
-  {
-  public:
-    CommonObjectDetectorIntelImpl();
-    ~CommonObjectDetectorIntelImpl();
-
-    bool intelSetup(CommonObjectDetectorBase *base_, bool input_4k_);
-    void intelDetect(
-        CommonObjectDetectorBase *base_,
-        cv::Mat img_,
-        std::vector<float> &boxes_x_,
-        std::vector<float> &boxes_y_,
-        std::vector<float> &boxes_w_,
-        std::vector<float> &boxes_h_,
-        std::vector<int> &boxes_label_,
-        std::vector<float> &boxes_score_,
-        std::vector<cv::Mat> &boxes_seg_,
-        bool input_4k_);
-    void preprocess_img(cv::Mat &img_);
-    void preprocess_img_seg(cv::Mat &img_, std::vector<float> &paddings);
-    void postprocess_img_seg(cv::Mat &img_,
-                             std::vector<float> &paddings,
-                             std::vector<float> &boxes_x_,
-                             std::vector<float> &boxes_y_,
-                             std::vector<float> &boxes_w_,
-                             std::vector<float> &boxes_h_,
-                             std::vector<int> &boxes_label_,
-                             std::vector<float> &boxes_score_,
-                             std::vector<cv::Mat> &boxes_seg_,
-                             double &thrs_conf,
-                             double &thrs_nms);
-
-    void postprocess_img(std::vector<float> &boxes_x_,
-                         std::vector<float> &boxes_y_,
-                         std::vector<float> &boxes_w_,
-                         std::vector<float> &boxes_h_,
-                         std::vector<int> &boxes_label_,
-                         std::vector<float> &boxes_score_,
-                         double &thrs_conf,
-                         double &thrs_nms);
-
-#ifdef WITH_INTEL
-    int inpWidth;
-    int inpHeight;
-    bool with_segmentation;
-    float rx; // the width ratio of original image and resized image
-    float ry; // the height ratio of original image and resized image
-    Resize resize;
-    ov::Tensor input_tensor;
-    ov::InferRequest infer_request;
-    ov::CompiledModel compiled_model;
-#endif
-  };
-
-}
-#endif

algorithm/common_det/sv_common_det.cpp

@@ -8,10 +8,6 @@
 #include "common_det_cuda_impl.h"
 #endif
 
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#include "common_det_intel_impl.h"
-#endif
 
 namespace sv {
 
@@ -22,10 +18,6 @@ CommonObjectDetector::CommonObjectDetector(bool input_4k)
 #ifdef WITH_CUDA
   this->_cuda_impl = new CommonObjectDetectorCUDAImpl;
 #endif
-
-#ifdef WITH_INTEL
-  this->_intel_impl = new CommonObjectDetectorIntelImpl;
-#endif
 }
 CommonObjectDetector::~CommonObjectDetector()
 {
@@ -36,10 +28,6 @@ bool CommonObjectDetector::setupImpl()
 #ifdef WITH_CUDA
   return this->_cuda_impl->cudaSetup(this, this->_input_4k);
 #endif
-
-#ifdef WITH_INTEL
-  return this->_intel_impl->intelSetup(this, this->_input_4k);
-#endif
   return false;
 }
 
@@ -65,23 +53,14 @@ void CommonObjectDetector::detectImpl(
     boxes_label_,
     boxes_score_,
     boxes_seg_,
-    this->_input_4k);
-#endif
-
-#ifdef WITH_INTEL
-  this->_intel_impl->intelDetect(
-    this,
-    img_,
-    boxes_x_,
-    boxes_y_,
-    boxes_w_,
-    boxes_h_,
-    boxes_label_,
-    boxes_score_,
-    boxes_seg_,
-    this->_input_4k);
+    this->_input_4k
+  );
 #endif
 }
 
+
+
+
+
 }
 

algorithm/landing_det/cuda/landing_det_cuda_impl.cpp

@@ -1,7 +1,6 @@
 #include "landing_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
-#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -51,16 +50,6 @@ bool LandingMarkerDetectorCUDAImpl::cudaSetup()
 {
 #ifdef WITH_CUDA
   std::string trt_model_fn = get_home() + SV_MODEL_DIR + "LandingMarker.engine";
-  
-  std::vector<std::string> files;
-  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-LandingMarker-resnet34");
-  if (files.size() > 0)
-  {
-    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-    trt_model_fn = get_home() + SV_MODEL_DIR + files[0];
-  }
-  std::cout << "Load: " << trt_model_fn << std::endl;
-
   if (!is_file_exist(trt_model_fn))
   {
     throw std::runtime_error("SpireCV (104) Error loading the LandingMarker TensorRT model (File Not Exist)");

algorithm/landing_det/intel/landing_det_intel_impl.cpp

@@ -1,104 +0,0 @@
-#include "landing_det_intel_impl.h"
-#include <cmath>
-#include <fstream>
-#include "sv_util.h"
-
-#define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
-
-namespace sv
-{
-
-#ifdef WITH_INTEL
-  using namespace cv;
-  using namespace std;
-  using namespace dnn;
-#endif
-
-  LandingMarkerDetectorIntelImpl::LandingMarkerDetectorIntelImpl()
-  {
-  }
-
-  LandingMarkerDetectorIntelImpl::~LandingMarkerDetectorIntelImpl()
-  {
-  }
-
-  bool LandingMarkerDetectorIntelImpl::intelSetup()
-  {
-#ifdef WITH_INTEL
-    std::string onnx_model_fn = get_home() + SV_MODEL_DIR + "LandingMarker.onnx";
-    std::vector<std::string> files;
-    list_dir(get_home() + SV_MODEL_DIR, files, "-online.onnx", "Int-LandingMarker-resnet34");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      onnx_model_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-
-    if (!is_file_exist(onnx_model_fn))
-    {
-      throw std::runtime_error("SpireCV (104) Error loading the LandingMarker ONNX model (File Not Exist)");
-    }
-
-    // OpenVINO
-    ov::Core core;
-    std::shared_ptr<ov::Model> model = core.read_model(onnx_model_fn);
-    ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model);
-    ppp.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
-    ppp.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
-    ppp.input().model().set_layout("NCHW");
-    ppp.output().tensor().set_element_type(ov::element::f32);
-    model = ppp.build();
-    this->compiled_model = core.compile_model(model, "GPU");
-    this->infer_request = compiled_model.create_infer_request();
-
-    return true;
-#endif
-    return false;
-  }
-
-  void LandingMarkerDetectorIntelImpl::intelRoiCNN(
-      std::vector<cv::Mat> &input_rois_,
-      std::vector<int> &output_labels_)
-  {
-#ifdef WITH_INTEL
-    output_labels_.clear();
-
-    for (int i = 0; i < input_rois_.size(); i++)
-    {
-      cv::Mat e_roi = input_rois_[i];
-
-      // Get input port for model with one input
-      auto input_port = compiled_model.input();
-      // Create tensor from external memory
-      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), e_roi.ptr(0));
-      // Set input tensor for model with one input
-      infer_request.set_input_tensor(input_tensor);
-      //preprocess_img(e_roi);
-
-      // infer_request.infer();
-      infer_request.start_async();
-      infer_request.wait();
-
-      const ov::Tensor &output_tensor = infer_request.get_output_tensor();
-      ov::Shape output_shape = output_tensor.get_shape();
-      this->_p_prob = output_tensor.data<float>();
-
-      // Find max index
-      double max = 0;
-      int label = 0;
-      for (int i = 0; i < 11; ++i)
-      {
-        if (max < this->_p_prob[i])
-        {
-          max = this->_p_prob[i];
-          label = i;
-        }
-      }
-      output_labels_.push_back(label);
-    }
-
-#endif
-  }
-
-}

algorithm/landing_det/intel/landing_det_intel_impl.h

@@ -1,37 +0,0 @@
-#ifndef __SV_LANDING_DET_INTEL__
-#define __SV_LANDING_DET_INTEL__
-
-#include "sv_core.h"
-#include <opencv2/opencv.hpp>
-#include <opencv2/aruco.hpp>
-#include <opencv2/tracking.hpp>
-#include <string>
-#include <chrono>
-
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#endif
-
-namespace sv
-{
-  class LandingMarkerDetectorIntelImpl
-  {
-  public:
-    LandingMarkerDetectorIntelImpl();
-    ~LandingMarkerDetectorIntelImpl();
-
-    bool intelSetup();
-    void intelRoiCNN(
-        std::vector<cv::Mat> &input_rois_,
-        std::vector<int> &output_labels_);
-
-#ifdef WITH_INTEL
-    float *_p_prob;
-
-    ov::Tensor input_tensor;
-    ov::InferRequest infer_request;
-    ov::CompiledModel compiled_model;
-#endif
-  };
-}
-#endif

algorithm/landing_det/sv_landing_det.cpp

@@ -7,10 +7,6 @@
 #include "landing_det_cuda_impl.h"
 #endif
 
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#include "landing_det_intel_impl.h"
-#endif
 
 namespace sv {
 
@@ -20,10 +16,6 @@ LandingMarkerDetector::LandingMarkerDetector()
 #ifdef WITH_CUDA
   this->_cuda_impl = new LandingMarkerDetectorCUDAImpl;
 #endif
-
-#ifdef WITH_INTEL
-  this->_intel_impl = new LandingMarkerDetectorIntelImpl;
-#endif
 }
 LandingMarkerDetector::~LandingMarkerDetector()
 {
@@ -34,10 +26,6 @@ bool LandingMarkerDetector::setupImpl()
 #ifdef WITH_CUDA
   return this->_cuda_impl->cudaSetup();
 #endif
-
-#ifdef WITH_INTEL
-  return this->_intel_impl->intelSetup();
-#endif
   return false;
 }
 
@@ -52,13 +40,11 @@ void LandingMarkerDetector::roiCNN(
     output_labels_
   );
 #endif
-
-#ifdef WITH_INTEL
-  this->_intel_impl->intelRoiCNN(
-    input_rois_,
-    output_labels_
-  );
-#endif
-}
+}
+
+
+
+
+
 }
 

algorithm/sot/ocv470/sot_ocv470_impl.cpp

@@ -1,7 +1,6 @@
 #include "sot_ocv470_impl.h"
 #include <cmath>
 #include <fstream>
-#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -31,39 +30,9 @@ bool SingleObjectTrackerOCV470Impl::ocv470Setup(SingleObjectTrackerBase* base_)
   std::string net = get_home() + SV_MODEL_DIR + "dasiamrpn_model.onnx";
   std::string kernel_cls1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_cls1.onnx";
   std::string kernel_r1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_r1.onnx";
-  
-  std::vector<std::string> files1, files2, files3;
-  _list_dir(get_home() + SV_MODEL_DIR, files1, ".onnx", "Ocv-DaSiamRPN-Model-");
-  _list_dir(get_home() + SV_MODEL_DIR, files2, ".onnx", "Ocv-DaSiamRPN-Kernel-CLS1-");
-  _list_dir(get_home() + SV_MODEL_DIR, files3, ".onnx", "Ocv-DaSiamRPN-Kernel-R1-");
-  if (files1.size() > 0 && files2.size() > 0 && files3.size() > 0)
-  {
-    std::sort(files1.rbegin(), files1.rend(), _comp_str_lesser);
-    std::sort(files2.rbegin(), files2.rend(), _comp_str_lesser);
-    std::sort(files3.rbegin(), files3.rend(), _comp_str_lesser);
-    net = get_home() + SV_MODEL_DIR + files1[0];
-    kernel_cls1 = get_home() + SV_MODEL_DIR + files2[0];
-    kernel_r1 = get_home() + SV_MODEL_DIR + files3[0];
-  }
-  std::cout << "Load: " << net << std::endl;
-  std::cout << "Load: " << kernel_cls1 << std::endl;
-  std::cout << "Load: " << kernel_r1 << std::endl;
 
   std::string backbone = get_home() + SV_MODEL_DIR + "nanotrack_backbone_sim.onnx";
   std::string neckhead = get_home() + SV_MODEL_DIR + "nanotrack_head_sim.onnx";
-  
-  std::vector<std::string> files4, files5;
-  _list_dir(get_home() + SV_MODEL_DIR, files4, ".onnx", "Ocv-NanoTrack-Backbone-SIM-");
-  _list_dir(get_home() + SV_MODEL_DIR, files5, ".onnx", "Ocv-NanoTrack-Head-SIM-");
-  if (files4.size() > 0 && files5.size() > 0)
-  {
-    std::sort(files4.rbegin(), files4.rend(), _comp_str_lesser);
-    std::sort(files5.rbegin(), files5.rend(), _comp_str_lesser);
-    backbone = get_home() + SV_MODEL_DIR + files4[0];
-    neckhead = get_home() + SV_MODEL_DIR + files5[0];
-  }
-  std::cout << "Load: " << backbone << std::endl;
-  std::cout << "Load: " << neckhead << std::endl;
 
   try
   {

algorithm/sv_algorithm_base.cpp

@@ -32,7 +32,7 @@ CameraAlgorithm::CameraAlgorithm()
   // this->_allocator = NULL;
   this->_t0 = std::chrono::system_clock::now();
 
-  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "confs/sv_algorithm_params.json";
+  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "sv_algorithm_params.json";
   // std::cout << "CameraAlgorithm->alg_params_fn: " << this->alg_params_fn << std::endl;
   // if (_is_file_exist(params_fn))
   //   this->loadAlgorithmParams(params_fn);
@@ -80,12 +80,6 @@ ArucoDetector::ArucoDetector()
 }
 
 
-void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
-{
-  ids_ = this->_ids_need;
-  lengths_ = this->_lengths_need;
-}
-
 void ArucoDetector::_load()
 {
   JsonValue all_value;
@@ -916,14 +910,6 @@ void CommonObjectDetectorBase::setInputW(int w_)
 {
   this->_input_w = w_;
 }
-std::string CommonObjectDetectorBase::getModel()
-{
-  return this->_model;
-}
-int CommonObjectDetectorBase::getBatchSize()
-{
-  return this->_batch_size;
-}
 
 void CommonObjectDetectorBase::warmUp()
 {
@@ -1010,11 +996,6 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
       if (this->_with_segmentation)
       {
         cv::Mat mask_j = boxes_seg[j].clone();
-#ifdef WITH_INTEL
-        tgt.setMask(mask_j);
-#endif
-
-#ifdef WITH_CUDA
         int maskh = mask_j.rows, maskw = mask_j.cols;
         assert(maskh == maskw);
 
@@ -1044,7 +1025,6 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
         {
           tgt.setMask(mask_j);
         }
-#endif
       }
 
       tgts_.targets.push_back(tgt);
@@ -1090,8 +1070,6 @@ void CommonObjectDetectorBase::_load()
   this->_thrs_nms = 0.6;
   this->_thrs_conf = 0.4;
   this->_use_width_or_height = 0;
-  this->_batch_size = 1;
-  this->_model = "s";
   
   for (auto i : detector_params_value) {
 
@@ -1099,12 +1077,6 @@ void CommonObjectDetectorBase::_load()
       this->_dataset = i->value.toString();
       std::cout << "dataset: " << this->_dataset << std::endl;
     }
-    else if ("batchSize" == std::string(i->key)) {
-      this->_batch_size = i->value.toNumber();
-    }
-    else if ("model" == std::string(i->key)) {
-      this->_model = i->value.toString();
-    }
     else if ("inputSize" == std::string(i->key)) {
       // std::cout << "inputSize (old, new): " << this->_input_w << ", " << i->value.toNumber() << std::endl;
       this->_input_w = i->value.toNumber();

algorithm/veri/cuda/veri_det_cuda_impl.cpp

@@ -1,7 +1,6 @@
 #include "veri_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
-#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -76,16 +75,6 @@ namespace sv
   {
 #ifdef WITH_CUDA
     std::string trt_model_fn = get_home() + SV_MODEL_DIR + "veri.engine";
-    
-    std::vector<std::string> files;
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-VERI-mobilenet_v3");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      trt_model_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-    std::cout << "Load: " << trt_model_fn << std::endl;
-    
     if (!is_file_exist(trt_model_fn))
     {
       throw std::runtime_error("SpireCV (104) Error loading the VeriDetector TensorRT model (File Not Exist)");

algorithm/veri/intel/veri_det_intel_impl.cpp

@@ -1,112 +0,0 @@
-#include "veri_det_intel_impl.h"
-#include <cmath>
-#include <fstream>
-
-#define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
-
-#include <iostream>
-#include <cmath>
-int BAT = 1;
-float cosineSimilarity(float *vec1, float *vec2, int size)
-{
-  // 计算向量的点积
-  float dotProduct = 0.0f;
-  for (int i = 0; i < size; ++i)
-  {
-    dotProduct += vec1[i] * vec2[i];
-  }
-
-  // 计算向量的模长
-  float magnitudeVec1 = 0.0f;
-  float magnitudeVec2 = 0.0f;
-  for (int i = 0; i < size; ++i)
-  {
-    magnitudeVec1 += vec1[i] * vec1[i];
-    magnitudeVec2 += vec2[i] * vec2[i];
-  }
-  magnitudeVec1 = std::sqrt(magnitudeVec1);
-  magnitudeVec2 = std::sqrt(magnitudeVec2);
-
-  // 计算余弦相似性
-  float similarity = dotProduct / (magnitudeVec1 * magnitudeVec2);
-
-  return similarity;
-}
-
-namespace sv
-{
-#ifdef WITH_INTEL
-  using namespace cv;
-  using namespace std;
-  using namespace dnn;
-#endif
-
-  VeriDetectorIntelImpl::VeriDetectorIntelImpl()
-  {
-  }
-
-  VeriDetectorIntelImpl::~VeriDetectorIntelImpl()
-  {
-  }
-
-  bool VeriDetectorIntelImpl::intelSetup()
-  {
-#ifdef WITH_INTEL
-    std::string onnx_model_fn = get_home() + SV_MODEL_DIR + "veri.onnx";
-    if (!is_file_exist(onnx_model_fn))
-    {
-      throw std::runtime_error("SpireCV (104) Error loading the VeriDetector openVINO model (File Not Exist)");
-    }
-
-    // OpenVINO
-    ov::Core core;
-    this->compiled_model = core.compile_model(onnx_model_fn, "GPU");
-    this->infer_request = compiled_model.create_infer_request();
-
-    return true;
-#endif
-    return false;
-  }
-
-  void VeriDetectorIntelImpl::intelRoiCNN(
-      std::vector<cv::Mat> &input_rois_,
-      std::vector<float> &output_labels_)
-  {
-#ifdef WITH_INTEL
-
-    Mat blobs;
-    blobFromImages(input_rois_, blobs, 1 / 255.0, Size(224, 224), Scalar(0, 0, 0), true, true);
-
-    auto input_port = compiled_model.input();
-    ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blobs.ptr(0));
-
-    infer_request.infer();
-
-    const ov::Tensor &label_pre = infer_request.get_output_tensor(0);
-    this->_p_prob1 = label_pre.data<float>();
-
-    const ov::Tensor &proto_pre = infer_request.get_output_tensor(1);
-    this->_p_prob2 = proto_pre.data<float>();
-
-    // Find max index
-    double max = 0;
-    int label = 0;
-    for (int i = 0; i < 576; ++i)
-    {
-      if (max < this->_p_prob1[i])
-      {
-        max = this->_p_prob1[i];
-        label = i;
-      }
-    }
-
-    float similarity = cosineSimilarity(this->_p_prob2, this->_p_prob2 + 1280, 1280);
-    
-    output_labels_.push_back(label);
-    output_labels_.push_back(similarity);
-#endif
-  }
-
-
-}

algorithm/veri/intel/veri_det_intel_impl.h

@@ -1,41 +0,0 @@
-#ifndef __SV_VERI_DET_INTEL__
-#define __SV_VERI_DET_INTEL__
-
-#include "sv_core.h"
-#include <opencv2/opencv.hpp>
-#include <opencv2/aruco.hpp>
-#include <opencv2/tracking.hpp>
-#include <string>
-#include <chrono>
-
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#endif
-
-namespace sv
-{
-  class VeriDetectorIntelImpl
-  {
-  public:
-    VeriDetectorIntelImpl();
-    ~VeriDetectorIntelImpl();
-
-    bool intelSetup();
-    void intelRoiCNN(
-        std::vector<cv::Mat> &input_rois_,
-        std::vector<float> &output_labels_);
-
-#ifdef WITH_INTEL
-
-    float *_p_data;
-    float *_p_prob1;
-    float *_p_prob2;
-
-    ov::Tensor input_tensor;
-    ov::InferRequest infer_request;
-    ov::CompiledModel compiled_model;
-#endif
-  };
-
-}
-#endif

algorithm/veri/sv_veri_det.cpp

@@ -10,11 +10,6 @@
 #include "veri_det_cuda_impl.h"
 #endif
 
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#include "veri_det_intel_impl.h"
-#endif
-
 #define SV_ROOT_DIR "/SpireCV/"
 
 namespace sv
@@ -25,10 +20,6 @@ namespace sv
 #ifdef WITH_CUDA
     this->_cuda_impl = new VeriDetectorCUDAImpl;
 #endif
-
-#ifdef WITH_INTEL
-    this->_intel_impl = new VeriDetectorIntelImpl;
-#endif
   }
   VeriDetector::~VeriDetector()
   {
@@ -59,9 +50,6 @@ namespace sv
     return this->_cuda_impl->cudaSetup();
 #endif
   
-#ifdef WITH_INTEL
-    return this->_intel_impl->intelSetup();
-#endif
     return false;
   }
 
@@ -75,12 +63,6 @@ namespace sv
         input_rois_,
         output_labels_);
 #endif
-
-#ifdef WITH_INTEL
-    this->_intel_impl->intelRoiCNN(
-        input_rois_,
-        output_labels_);
-#endif
   }
 
   void VeriDetector::detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt)
@@ -112,23 +94,26 @@ namespace sv
     cv::Mat img_ground = cv::imread(img_ground_dir);
     cv::resize(img_ground, img_ground, cv::Size(224, 224));
     std::vector<cv::Mat> input_rois_ = {crop, img_ground};
-    
-    std::vector<float> output_labels;
-#ifdef WITH_CUDA
-    roiCNN(input_rois_, output_labels);
-#endif
 
-#ifdef WITH_INTEL
+#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();
+    // tgts_.setTimeNow();
+
     if (output_labels.size() > 0)
     {
+      // tgt.category_id = output_labels[0];
       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)
+    void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
   {
     cv::Scalar avgChans = mean(srcImg);
     cv::Size imgSz = srcImg.size();

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp

@@ -28,7 +28,6 @@ GX40GimbalDriver::GX40GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::
     targetPos[2] = 0;
 
     parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
-    upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()) - std::chrono::milliseconds(2000);
 }
 
 /**
@@ -108,8 +107,7 @@ uint32_t GX40GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payl
     // 惯导数据填充
     std::chrono::milliseconds nowTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     // over 1s GNSS has losed
-    if ((nowTs.count() - upDataTs.count()) < std::chrono::milliseconds(1500).count() &&
-        cmd == GX40::GIMBAL_CMD_NOP)
+    if ((nowTs.count() - upDataTs.count()) < std::chrono::milliseconds(1500).count())
     {
         primary->selfRoll = (int16_t)(-(carrierPos.roll / 0.01f));
         primary->selfPitch = (int16_t)(-(carrierPos.pitch / 0.01f));

include/sv_algorithm_base.h

@@ -46,7 +46,6 @@ class ArucoDetector : public CameraAlgorithm
 public:
   ArucoDetector();
   void detect(cv::Mat img_, TargetsInFrame& tgts_);
-  void getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_);
 private:
   void _load();
   bool _params_loaded;
@@ -140,8 +139,6 @@ public:
   double getThrsConf();
   int useWidthOrHeight();
   bool withSegmentation();
-  std::string getModel();
-  int getBatchSize();
 protected:
   virtual bool setupImpl();
   virtual void detectImpl(
@@ -168,8 +165,6 @@ protected:
   double _thrs_conf;
   int _use_width_or_height;
   bool _with_segmentation;
-  std::string _model;
-  int _batch_size;
 };
 
 

include/sv_camera.h

@@ -0,0 +1,79 @@
+#ifndef __SV_CAMERA__
+#define __SV_CAMERA__
+
+#include "opencv2/opencv.hpp"
+
+namespace sv
+{
+
+enum class CameraType : int
+{
+  // 未知相机
+  NONE = 0X00001000,
+  // 标准opencv框架下的相机
+  V4L2CAM = 0X00001001,  
+  WEBCAM = 0X00001002,
+  // 视频文件
+  VIDEOFILE = 0X00002001,
+  // 普通流媒体相机
+  STREAMING = 0X00004001,
+  // 普通的MIPI-CSI相机
+  MIPI = 0X00008001,
+  // 进行了传输优化适配的相机
+  G1 = 0X00010001,
+  Q10 = 0X00010002,
+  GX40 = 0X00010003,
+  MC1 = 0X00010004,
+  // 虚拟的相机设备 主要仿真接入
+  VIRTUAL = 0X00020001,
+};
+
+class Camera
+{
+private:
+  void *dev;
+
+public:
+  // 构建时根据相机类型实例化对应的相机类
+  // timeOut: 相机连接超时时间；超过该时间没有读取到新的帧，则认为相机失去连接 单位ms
+  Camera(CameraType type, int timeOut = 500);
+
+  // 基本配置 必须调用下述的一个接口后才能open
+  bool setStream(const std::string &ip, int port);
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+  // 基础功能
+  bool open(void);
+  bool read(cv::Mat &image);
+  bool readNoBlock(cv::Mat &image);
+  void release(void);
+
+  // 属性配置
+  void setWH(int width, int height);
+  void setFps(int fps);
+  void setBrightness(double brightness);
+  void setContrast(double contrast);
+  void setSaturation(double saturation);
+  void setHue(double hue);
+  void setExposure(double exposure);
+
+  // 获取属性
+  bool isActive(void);
+  CameraType getType(void);
+  std::string getName(void);
+
+  int getW(void);
+  int getH(void);
+  int getExpectFps(void);
+  double getFps(void);
+  double getBrightness(void);
+  double getContrast(void);
+  double getSaturation(void);
+  double getHue(void);
+  double getExposure(void);
+
+  ~Camera();
+};
+
+}
+#endif

include/sv_color_line.h

@@ -25,6 +25,7 @@ public:
   double line_location_a2;
 
   bool is_load_parameter;
+
   std::string line_color;
 
 protected:
@@ -39,4 +40,4 @@ protected:
   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
+#endif

include/sv_common_det.h

@@ -8,36 +8,33 @@
 #include <string>
 #include <chrono>
 
-namespace sv
-{
+
+namespace sv {
 
 class CommonObjectDetectorCUDAImpl;
-class CommonObjectDetectorIntelImpl;
-
 
 class CommonObjectDetector : public CommonObjectDetectorBase
 {
 public:
-  CommonObjectDetector(bool input_4k = false);
+  CommonObjectDetector(bool input_4k=false);
   ~CommonObjectDetector();
-
 protected:
   bool setupImpl();
   void detectImpl(
     cv::Mat img_,
-    std::vector<float> &boxes_x_,
-    std::vector<float> &boxes_y_,
-    std::vector<float> &boxes_w_,
-    std::vector<float> &boxes_h_,
-    std::vector<int> &boxes_label_,
-    std::vector<float> &boxes_score_,
-    std::vector<cv::Mat> &boxes_seg_);
-
-  CommonObjectDetectorCUDAImpl *_cuda_impl;
-  CommonObjectDetectorIntelImpl *_intel_impl;
+    std::vector<float>& boxes_x_,
+    std::vector<float>& boxes_y_,
+    std::vector<float>& boxes_w_,
+    std::vector<float>& boxes_h_,
+    std::vector<int>& boxes_label_,
+    std::vector<float>& boxes_score_,
+    std::vector<cv::Mat>& boxes_seg_
+  );
 
+  CommonObjectDetectorCUDAImpl* _cuda_impl;
   bool _input_4k;
 };
 
+
 }
 #endif

include/sv_landing_det.h

@@ -12,7 +12,6 @@
 namespace sv {
 
 class LandingMarkerDetectorCUDAImpl;
-class LandingMarkerDetectorIntelImpl;
 
 class LandingMarkerDetector : public LandingMarkerDetectorBase
 {
@@ -26,8 +25,7 @@ protected:
     std::vector<int>& output_labels_
   );
 
-  LandingMarkerDetectorCUDAImpl *_cuda_impl;
-  LandingMarkerDetectorIntelImpl *_intel_impl;
+  LandingMarkerDetectorCUDAImpl* _cuda_impl;
 };
 
 

include/sv_mot.h

@@ -8,8 +8,8 @@
 #include <opencv2/tracking.hpp>
 #include <string>
 #include <chrono>
-//#include <Eigen/Dense>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
+
 
 namespace sv {
 

include/sv_veri_det.h

@@ -11,34 +11,33 @@
 namespace sv
 {
 
-class VeriDetectorCUDAImpl;
-class VeriDetectorIntelImpl;
+  class VeriDetectorCUDAImpl;
 
-class VeriDetector : public LandingMarkerDetectorBase
-{
-public:
-  VeriDetector();
-  ~VeriDetector();
+  class VeriDetector : public LandingMarkerDetectorBase
+  {
+  public:
+    VeriDetector();
+    ~VeriDetector();
 
-  void detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt);
+    void detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt);
 
-protected:
-  void _load();
-  bool setupImpl();
-  void roiCNN(
-    std::vector<cv::Mat> &input_rois_,
-    std::vector<float> &output_labels_);
-  void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
+  protected:
+    void _load();
+    bool setupImpl();
+    void roiCNN(
+        std::vector<cv::Mat> &input_rois_,
+        std::vector<float> &output_labels_);
+    void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
 
-  std::string vehicle_id;
+    std::string vehicle_id;
     
-  // Save the target bounding box for each frame.
-  std::vector<float> targetSz = {0, 0};  // H and W of bounding box
-  std::vector<float> targetPos = {0, 0}; // center point of bounding box (x, y)
+      // Save the target bounding box for each frame.
+    std::vector<float> targetSz = {0, 0};  // H and W of bounding box
+    std::vector<float> targetPos = {0, 0}; // center point of bounding box (x, y)
 
-  VeriDetectorCUDAImpl *_cuda_impl;
-  VeriDetectorIntelImpl *_intel_impl;
-};
+
+    VeriDetectorCUDAImpl *_cuda_impl;
+  };
 
 }
 #endif

include/sv_video_base.h

@@ -128,7 +128,6 @@ public:
   
   bool getBox(Box& b);
   bool getAruco(int& id, std::vector<cv::Point2f> &corners);
-  bool getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs);
   bool getEllipse(double& xc_, double& yc_, double& a_, double& b_, double& rad_);
   std::string getJsonStr();
 
@@ -327,66 +326,59 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, V4L2CAM, MIPI, RTSP, VIDEO, G1, Q10, 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::V4L2CAM, 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();
-  std::string getFourcc();
-  bool isRunning();
-  void setFourcc(std::string fourcc);
-  void setWH(int width, int height);
-  void setFps(int fps);
-  void setIp(std::string ip);
-  void setRtspUrl(std::string rtsp_url);
-  void setVideoPath(std::string video_path);
-  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;
-  std::string _rtsp_url;
-  std::string _video_path;
-  int _port;
-  double _brightness;
-  double _contrast;
-  double _saturation;
-  double _hue;
-  double _exposure;
-  std::string _fourcc;
-};
+//   int _width;
+//   int _height;
+//   int _fps;
+//   std::string _ip;
+//   int _port;
+//   double _brightness;
+//   double _contrast;
+//   double _saturation;
+//   double _hue;
+//   double _exposure;
+// };
 
 
 void drawTargetsInFrame(
@@ -401,16 +393,6 @@ void drawTargetsInFrame(
   bool with_aruco=false,
   bool with_yaw=false
 );
-cv::Mat drawTargetsInFrame(
-  const cv::Mat img_,
-  const TargetsInFrame& tgts_,
-  const double scale,
-  bool with_all=true,
-  bool with_category=false,
-  bool with_tid=false,
-  bool with_seg=false,
-  bool with_box=false
-);
 std::string get_home();
 bool is_file_exist(std::string& fn);
 void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);

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

params/a-params/sv_algorithm_params.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_1280_wo_mask.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 1280,
-        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_640_w_mask.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_640_wo_mask.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_coco_1280.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 1280,
-        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_coco_640.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_csrt.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_kcf.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_nano.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

params/a-params/sv_algorithm_params_siamrpn.json

@@ -1,13 +1,11 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
-        "model": "s",
-        "batchSize": 1,
         "inputSize": 640,
-        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
+        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],

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/calib/create_marker.cpp

@@ -97,8 +97,7 @@ int main(int argc, char *argv[]) {
 
   if (landingPadUnit > 0) {
     Mat markerImgBIG = Mat::ones(landingPadUnit * 62, landingPadUnit * 62, CV_8UC1) * 255;
-    // markerId = 0;
-    markerId --;
+    markerId = 0;
     markerSize = landingPadUnit * 4;
     borderSize = landingPadUnit;
     int newSize = markerSize + borderSize * 2;
@@ -223,7 +222,7 @@ int main(int argc, char *argv[]) {
     markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
     markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10, landingPadUnit * 28, newSize, newSize)));
     
-    // markerId = 90;
+    markerId = 90;
     markerSize = landingPadUnit * 4 * 4;
     borderSize = landingPadUnit * 4;
     newSize = markerSize + borderSize * 2;

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;
 
@@ -9,14 +10,15 @@ 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/confs/calib_webcam_1280x720.yaml");
-  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  
+  cap.setIndex(0);
   cap.setWH(ad.image_width, ad.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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;
-  cap.setWH(1280, 720);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  // cap.setWH(640, 480);
+  // cap.setFps(30);
+  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;
@@ -11,14 +12,14 @@ int main(int argc, char *argv[])
   // 实例化 color line detection 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/confs/calib_webcam_1280x720.yaml");
-  cld.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cld.image_width, cld.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
+  // cap.setFps(30);
+  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;
 
@@ -9,14 +10,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 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
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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;
 
@@ -40,20 +41,19 @@ int main(int argc, char *argv[]) {
   // 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
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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;
 
@@ -9,14 +10,15 @@ int main(int argc, char *argv[]) {
   // 实例化 椭圆 检测器类
   sv::EllipseDetector ed;
   // 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
-  ed.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  ed.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(ed.image_width, ed.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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";
@@ -34,36 +35,44 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
+  // 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
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
+  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);
-  // 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(cod.image_width, cod.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
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
-  sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -258,4 +267,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

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;
 
@@ -33,33 +34,40 @@ 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/confs/calib_webcam_1280x720.yaml");
-  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -145,4 +153,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

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;
 
@@ -42,33 +43,41 @@ static const std::string RGB_WINDOW = "Image window";
 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/confs/calib_webcam_1280x720.yaml");
-  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -2,21 +2,22 @@
 #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[]) {
   // 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/confs/calib_webcam_1280x720.yaml");
-  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
+   // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(lmd.image_width, lmd.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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;
 
@@ -9,19 +10,19 @@ int main(int argc, char *argv[]) {
   // 实例化
   sv::CommonObjectDetector cod;
   // 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
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   sv::MultipleObjectTracker mot;
   // 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
-  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   mot.init(&cod);
   
-  // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(mot.image_width, mot.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+   // 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();  // 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
@@ -28,15 +28,17 @@ int main(int argc, char *argv[]) {
   // 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
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
-  // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(sot.image_width, sot.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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_receiver.cpp

@@ -5,7 +5,7 @@
 #include <stdio.h>
 #define SERV_PORT 20166
 
-
+typedef unsigned char byte;
 using namespace std;
 
 
@@ -23,9 +23,9 @@ int main(int argc, char *argv[]) {
 
 
   int upd_msg_len = 1024 * 6;  // max_objects = 100
-  unsigned char upd_msg[upd_msg_len];
+  byte upd_msg[upd_msg_len];
   int msg_queue_len = 1024 * 1024;  // 1M
-  unsigned char msg_queue[msg_queue_len];
+  byte msg_queue[msg_queue_len];
 
   int addr_len = sizeof(struct sockaddr_in);
   int start_index = 0, end_index = 0;
@@ -63,21 +63,21 @@ cout << n << ", " << start_index << ", " << end_index << endl;
           if (end_index - i >= ilen + 2 && msg_queue[i+ilen] == 0xFB && msg_queue[i+ilen+1] == 0xFD)
           {
             cout << "FOUND 0xFAFC & 0xFBFD" << endl;
-            unsigned char* msg_type = reinterpret_cast<unsigned char*>(&msg_queue[i+2]);
+            byte* msg_type = reinterpret_cast<byte*>(&msg_queue[i+2]);
             cout << "Type: " << (int) *msg_type << endl;
             unsigned short* year = reinterpret_cast<unsigned short*>(&msg_queue[i+7]);
-            unsigned char* month = reinterpret_cast<unsigned char*>(&msg_queue[i+9]);
-            unsigned char* day = reinterpret_cast<unsigned char*>(&msg_queue[i+10]);
-            unsigned char* hour = reinterpret_cast<unsigned char*>(&msg_queue[i+11]);
-            unsigned char* minute = reinterpret_cast<unsigned char*>(&msg_queue[i+12]);
-            unsigned char* second = reinterpret_cast<unsigned char*>(&msg_queue[i+13]);
+            byte* month = reinterpret_cast<byte*>(&msg_queue[i+9]);
+            byte* day = reinterpret_cast<byte*>(&msg_queue[i+10]);
+            byte* hour = reinterpret_cast<byte*>(&msg_queue[i+11]);
+            byte* minute = reinterpret_cast<byte*>(&msg_queue[i+12]);
+            byte* second = reinterpret_cast<byte*>(&msg_queue[i+13]);
             unsigned short* millisecond = reinterpret_cast<unsigned short*>(&msg_queue[i+14]);
             cout << "Time: " << *year << "-" << (int) *month << "-" << (int) *day << " " << (int) *hour << ":" << (int) *minute << ":" << (int) *second << " " << *millisecond << endl;
             
-            unsigned char* index_d1 = reinterpret_cast<unsigned char*>(&msg_queue[i+16]);
-            unsigned char* index_d2 = reinterpret_cast<unsigned char*>(&msg_queue[i+17]);
-            unsigned char* index_d3 = reinterpret_cast<unsigned char*>(&msg_queue[i+18]);
-            unsigned char* index_d4 = reinterpret_cast<unsigned char*>(&msg_queue[i+19]);
+            byte* index_d1 = reinterpret_cast<byte*>(&msg_queue[i+16]);
+            byte* index_d2 = reinterpret_cast<byte*>(&msg_queue[i+17]);
+            byte* index_d3 = reinterpret_cast<byte*>(&msg_queue[i+18]);
+            byte* index_d4 = reinterpret_cast<byte*>(&msg_queue[i+19]);
             int mp = i+20;
             if ((*index_d4) & 0x01 == 0x01)
             {
@@ -152,13 +152,13 @@ cout << n << ", " << start_index << ", " << end_index << endl;
             }
             for (int j=0; j<n_objects; j++)
             {
-              unsigned char* index_f1 = reinterpret_cast<unsigned char*>(&msg_queue[mp]);
+              byte* index_f1 = reinterpret_cast<byte*>(&msg_queue[mp]);
               mp++;
-              unsigned char* index_f2 = reinterpret_cast<unsigned char*>(&msg_queue[mp]);
+              byte* index_f2 = reinterpret_cast<byte*>(&msg_queue[mp]);
               mp++;
-              unsigned char* index_f3 = reinterpret_cast<unsigned char*>(&msg_queue[mp]);
+              byte* index_f3 = reinterpret_cast<byte*>(&msg_queue[mp]);
               mp++;
-              unsigned char* index_f4 = reinterpret_cast<unsigned char*>(&msg_queue[mp]);
+              byte* index_f4 = reinterpret_cast<byte*>(&msg_queue[mp]);
               mp++;
               if ((*index_f4) & 0x01 == 0x01 && (*index_f4) & 0x02 == 0x02)
               {

samples/demo/udp_detection_info_sender.cpp

@@ -2,20 +2,21 @@
 #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[]) {
   // 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_1280x720.yaml");
+  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
-  // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(ad.image_width, ad.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // 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
@@ -20,18 +20,17 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::VeriDetector veri;
   // 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
-  veri.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  veri.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
+ // 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::V4L2CAM, 0); // CameraID 0
+  // cap.setFps(30);
+  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

@@ -2,21 +2,22 @@
 #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[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 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
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+ // 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::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  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;
@@ -24,7 +25,7 @@ int main(int argc, char *argv[]) {
   // 实例化视频保存类
   sv::VideoWriter vw;
   // 设置保存路径"/home/amov/Videos"，保存图像尺寸（640，480），帧频25Hz，同步保存检测结果（.svj）
-  vw.setup(sv::get_home() + "/Videos", cv::Size(cod.image_width, cod.image_height), 25, true);
+  vw.setup("/home/amov/Videos", cv::Size(640, 480), 25, true);
 
   while (1)
   {
@@ -32,7 +33,7 @@ int main(int argc, char *argv[]) {
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
+    cv::resize(img, img, cv::Size(640, 480));
 
     // 执行通用目标检测
     cod.detect(img, tgts);

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
+ // 打开摄像头
+  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;

scripts/common/ffmpeg425-install.sh

@@ -17,7 +17,6 @@ cd nv-codec-headers
 git checkout n11.1.5.0
 sudo make install
 cd ..
-sudo rm -r nv-codec-headers
 
 wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
 tar -xjf ffmpeg-4.2.5.tar.bz2

scripts/common/models-downloading.sh

@@ -3,6 +3,12 @@
 root_dir=${HOME}"/SpireCV/models"
 root_server="https://download.amovlab.com/model"
 
+sv_params1=${HOME}"/SpireCV/sv_algorithm_params.json"
+sv_params2=${HOME}"/SpireCV/sv_algorithm_params_coco_640.json"
+sv_params3=${HOME}"/SpireCV/sv_algorithm_params_coco_1280.json"
+camera_params1=${HOME}"/SpireCV/calib_webcam_640x480.yaml"
+camera_params2=${HOME}"/SpireCV/calib_webcam_1280x720.yaml"
+
 coco_model1="COCO-yolov5s.wts"
 coco_model2="COCO-yolov5s6.wts"
 coco_model3="COCO-yolov5s-seg.wts"
@@ -40,6 +46,28 @@ if [ ! -d ${root_dir} ]; then
   mkdir -p ${root_dir}
 fi
 
+if [ ! -f ${sv_params1} ]; then
+  echo -e "\033[32m[INFO]: ${sv_params1} not exist, downloading ... \033[0m"
+  wget -O ${sv_params1} ${root_server}/install/a-params/sv_algorithm_params.json
+fi
+if [ ! -f ${sv_params2} ]; then
+  echo -e "\033[32m[INFO]: ${sv_params2} not exist, downloading ... \033[0m"
+  wget -O ${sv_params2} ${root_server}/install/a-params/sv_algorithm_params_coco_640.json
+fi
+if [ ! -f ${sv_params3} ]; then
+  echo -e "\033[32m[INFO]: ${sv_params3} not exist, downloading ... \033[0m"
+  wget -O ${sv_params3} ${root_server}/install/a-params/sv_algorithm_params_coco_1280.json
+fi
+
+if [ ! -f ${camera_params1} ]; then
+  echo -e "\033[32m[INFO]: ${camera_params1} not exist, downloading ... \033[0m"
+  wget -O ${camera_params1} ${root_server}/install/c-params/calib_webcam_640x480.yaml
+fi
+if [ ! -f ${camera_params2} ]; then
+  echo -e "\033[32m[INFO]: ${camera_params2} not exist, downloading ... \033[0m"
+  wget -O ${camera_params2} ${root_server}/install/c-params/calib_webcam_1280x720.yaml
+fi
+
 if [ ! -f ${coco_model1_fn} ]; then
   echo -e "\033[32m[INFO]: ${coco_model1_fn} not exist, downloading ... \033[0m"
   wget -O ${coco_model1_fn} ${root_server}/install/${coco_model1}

scripts/jetson/configs-downloading.sh

@@ -1,39 +0,0 @@
-#!/bin/bash -e
-
-root_dir=${HOME}"/SpireCV/models"
-root_server="https://download.amovlab.com/model"
-
-sv_params1=${HOME}"/SpireCV/sv_algorithm_params.json"
-sv_params2=${HOME}"/SpireCV/sv_algorithm_params_coco_640.json"
-sv_params3=${HOME}"/SpireCV/sv_algorithm_params_coco_1280.json"
-camera_params1=${HOME}"/SpireCV/calib_webcam_640x480.yaml"
-camera_params2=${HOME}"/SpireCV/calib_webcam_1280x720.yaml"
-
-
-if [ ! -d ${root_dir} ]; then
-  echo -e "\033[32m[INFO]: ${root_dir} not exist, creating it ... \033[0m"
-  mkdir -p ${root_dir}
-fi
-
-if [ ! -f ${sv_params1} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params1} not exist, downloading ... \033[0m"
-  wget -O ${sv_params1} ${root_server}/install/a-params/sv_algorithm_params.json
-fi
-if [ ! -f ${sv_params2} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params2} not exist, downloading ... \033[0m"
-  wget -O ${sv_params2} ${root_server}/install/a-params/sv_algorithm_params_coco_640.json
-fi
-if [ ! -f ${sv_params3} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params3} not exist, downloading ... \033[0m"
-  wget -O ${sv_params3} ${root_server}/install/a-params/sv_algorithm_params_coco_1280.json
-fi
-
-if [ ! -f ${camera_params1} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params1} not exist, downloading ... \033[0m"
-  wget -O ${camera_params1} ${root_server}/install/c-params/calib_webcam_640x480.yaml
-fi
-if [ ! -f ${camera_params2} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params2} not exist, downloading ... \033[0m"
-  wget -O ${camera_params2} ${root_server}/install/c-params/calib_webcam_1280x720.yaml
-fi
-

scripts/jetson/gst-install-orin.sh

@@ -1,24 +0,0 @@
-#!/bin/sh
-
-sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
-sudo apt install -y libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
-sudo apt install -y gstreamer1.0-plugins-good gstreamer1.0-plugins-bad 
-sudo apt install -y gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc
-sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
-sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
-sudo apt install -y gstreamer1.0-pulseaudio
-sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev v4l-utils
-
-sudo apt -y install autotools-dev automake m4 perl
-sudo apt -y install libtool
-autoreconf -ivf
-
-git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
-cd gst-rtsp-server-b18
-./autogen.sh
-make
-sudo make install
-cd ..
-sudo rm -r gst-rtsp-server-b18
-

scripts/jetson/gst-install.sh

@@ -1,20 +0,0 @@
-#!/bin/sh
-
-sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
-sudo apt install -y libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
-sudo apt install -y gstreamer1.0-plugins-good gstreamer1.0-plugins-bad 
-sudo apt install -y gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc
-sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
-sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
-sudo apt install -y gstreamer1.0-pulseaudio
-sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev v4l-utils
-
-git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
-cd gst-rtsp-server-b18
-./autogen.sh
-make
-sudo make install
-cd ..
-sudo rm -r gst-rtsp-server-b18
-

scripts/jetson/opencv470-install.sh

@@ -1,70 +0,0 @@
-#!/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
-
-current_dir=$(pwd)
-package_dir="."
-mkdir ~/opencv_build
-
-
-if [ ! -d ""$package_dir"" ];then
-  echo "\033[31m[ERROR]: $package_dir not exist!: \033[0m"
-  exit 1
-fi
-
-# sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-# sudo add-apt-repository "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe"
-sudo apt update
-sudo apt install -y build-essential
-sudo apt install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-
-sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32
-sudo apt update
-sudo apt install -y libjasper1 libjasper-dev
-
-sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
-sudo apt install -y libdc1394-22-dev
-sudo apt install -y libcurl4 build-essential pkg-config cmake libopenblas-dev libeigen3-dev \
-                    libtbb-dev libavcodec-dev libavformat-dev libgstreamer-plugins-base1.0-dev \
-                    libgstreamer1.0-dev libswscale-dev libgtk-3-dev libpng-dev libjpeg-dev \
-                    libcanberra-gtk-module libcanberra-gtk3-module
-
-
-echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_contrib-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_contrib-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_cache_x86-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_cache_x86-4.7.0.zip -d ~/opencv_build
-
-
-sudo rm opencv-4.7.0.zip
-sudo rm opencv_contrib-4.7.0.zip
-sudo rm opencv_cache_x86-4.7.0.zip
-
-cd ~/opencv_build/opencv-4.7.0
-mkdir .cache
-
-cp -r ~/opencv_build/opencv_cache_x86-4.7.0/* ~/opencv_build/opencv-4.7.0/.cache/
-
-mkdir build
-cd build
-
-cmake -D CMAKE_BUILD_TYPE=Release \
-      -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 ..
-
-make -j2
-sudo make install
-
-cd
-sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/jetson/opencv470-jetpack511-cuda-install.sh

@@ -5,7 +5,7 @@ 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-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,4 +52,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/jetson/opencv470-jetpack511-install.sh

@@ -5,7 +5,7 @@ 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-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,4 +52,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/model_sync.py

@@ -1,119 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding:utf-8 -*-
-import os
-import requests
-import argparse
-
-
-root_url = "https://download.amovlab.com/model/SpireCV-models/"
-model_list_url = root_url + "model-list.txt"
-root_path = os.path.expanduser("~") + "/SpireCV/models"
-print("MODEL PATH:", root_path)
-if not os.path.exists(root_path):
-    os.makedirs(root_path)
-list_file = os.path.join(root_path, "model-list.txt")
-
-
-def main():
-    parser = argparse.ArgumentParser(description="SpireCV Model SYNC")
-    parser.add_argument(
-        "-p", "--platform",
-        type=str,
-        required=True,
-        help="Supported Platforms: nv (Nvidia), int (Intel)",
-    )
-    args = parser.parse_args()
-
-    if args.platform in ['nv', 'nvidia', 'Nv', 'Nvidia']:
-        prefix = 'Nv'
-    elif args.platform in ['int', 'intel', 'Int', 'Intel']:
-        prefix = 'Int'
-    else:
-        raise Exception("Platform NOT Support!")
-
-    r = requests.get(model_list_url)
-    with open(list_file, "wb") as f:
-        f.write(r.content)
-
-    with open(list_file, 'r') as file:
-        lines = file.readlines()
-
-    need_switch = False
-    for line in lines:
-        line = line.strip()
-        if len(line) > 0:
-            model_file = os.path.join(root_path, line)
-            if not os.path.exists(model_file) and (line.startswith(prefix) or line.startswith('Ocv')):
-                print("[1] Downloading Model:", line, "...")
-                r = requests.get(root_url + line)
-                with open(model_file, "wb") as f:
-                    f.write(r.content)
-                need_switch = True
-
-            if os.path.exists(model_file):
-                print("[1] Model:", line, "EXIST!")
-                if line.startswith('Nv'):
-                    net = line.split('-')[2]
-                    if net.startswith("yolov5"):
-                        if len(net.split('_')) == 3:
-                            name, seg, ncls = net.split('_')
-                            engine_fn = os.path.splitext(model_file)[0].replace(net, name + "_" + seg + '_b1_' + ncls) + '.engine'
-                            online_fn = os.path.splitext(model_file)[0].replace(net, name + "_" + seg + '_b1_' + ncls) + '-online.engine'
-                        else:
-                            name, ncls = net.split('_')
-                            engine_fn = os.path.splitext(model_file)[0].replace(net, name + '_b1_' + ncls) + '.engine'
-                            online_fn = os.path.splitext(model_file)[0].replace(net, name + '_b1_' + ncls) + '-online.engine'
-                    else:
-                        engine_fn = os.path.splitext(model_file)[0] + '.engine'
-                        online_fn = os.path.splitext(model_file)[0] + '-online.engine'
-                    if not os.path.exists(engine_fn) and not os.path.exists(online_fn):
-                        if net.startswith("yolov5"):
-                            if len(net.split('_')) == 3:
-                                name, seg, ncls = net.split('_')
-                                cmd = "SpireCVSeg -s {} {} {} {}".format(
-                                    model_file, engine_fn, ncls[1:], name[6:]
-                                )
-                            else:
-                                name, ncls = net.split('_')
-                                cmd = "SpireCVDet -s {} {} {} {}".format(
-                                    model_file, engine_fn, ncls[1:], name[6:]
-                                )
-                        elif line.endswith("onnx"):
-                            cmd = ("/usr/src/tensorrt/bin/trtexec --explicitBatch --onnx={} "
-                                    "--saveEngine={} --fp16").format(
-                                model_file, engine_fn
-                            )
-                        print("  [2] Converting Model:", line, "->", engine_fn, "...")
-                        result = os.popen(cmd).read()
-                        need_switch = True
-                    else:
-                        print("  [2] Model Converting FINISH!")
-                    model_file = engine_fn
-
-                if not line.startswith('Ocv') and need_switch:
-                    ext = os.path.splitext(model_file)[1]
-                    fn_prefix = '-'.join(os.path.basename(model_file).split('-')[:3])
-                    file_names = os.listdir(root_path)
-                    selected = []
-                    for file_name in file_names:
-                        if file_name.startswith(fn_prefix) and file_name.endswith(ext):
-                            selected.append(file_name)
-                    if len(selected) > 0:
-                        for i, sel in enumerate(selected):
-                            if sel.endswith('-online' + ext):
-                                os.rename(
-                                    os.path.join(root_path, sel),
-                                    os.path.join(root_path, '-'.join(sel.split('-')[:4])) + ext
-                                )
-                                selected[i] = '-'.join(sel.split('-')[:4]) + ext
-                        selected.sort(reverse=True)
-                        os.rename(
-                            os.path.join(root_path, selected[0]),
-                            os.path.join(root_path, os.path.splitext(selected[0])[0] + "-online" + ext)
-                        )
-                        online_model = os.path.splitext(selected[0])[0] + "-online" + ext
-                        print("  [3] Model {} ONLINE *".format(online_model))
-
-
-if __name__ == "__main__":
-    main()

scripts/x86-cuda/configs-downloading.sh

@@ -1,39 +0,0 @@
-#!/bin/bash -e
-
-root_dir=${HOME}"/SpireCV/models"
-root_server="https://download.amovlab.com/model"
-
-sv_params1=${HOME}"/SpireCV/sv_algorithm_params.json"
-sv_params2=${HOME}"/SpireCV/sv_algorithm_params_coco_640.json"
-sv_params3=${HOME}"/SpireCV/sv_algorithm_params_coco_1280.json"
-camera_params1=${HOME}"/SpireCV/calib_webcam_640x480.yaml"
-camera_params2=${HOME}"/SpireCV/calib_webcam_1280x720.yaml"
-
-
-if [ ! -d ${root_dir} ]; then
-  echo -e "\033[32m[INFO]: ${root_dir} not exist, creating it ... \033[0m"
-  mkdir -p ${root_dir}
-fi
-
-if [ ! -f ${sv_params1} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params1} not exist, downloading ... \033[0m"
-  wget -O ${sv_params1} ${root_server}/install/a-params/sv_algorithm_params.json
-fi
-if [ ! -f ${sv_params2} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params2} not exist, downloading ... \033[0m"
-  wget -O ${sv_params2} ${root_server}/install/a-params/sv_algorithm_params_coco_640.json
-fi
-if [ ! -f ${sv_params3} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params3} not exist, downloading ... \033[0m"
-  wget -O ${sv_params3} ${root_server}/install/a-params/sv_algorithm_params_coco_1280.json
-fi
-
-if [ ! -f ${camera_params1} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params1} not exist, downloading ... \033[0m"
-  wget -O ${camera_params1} ${root_server}/install/c-params/calib_webcam_640x480.yaml
-fi
-if [ ! -f ${camera_params2} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params2} not exist, downloading ... \033[0m"
-  wget -O ${camera_params2} ${root_server}/install/c-params/calib_webcam_1280x720.yaml
-fi
-

scripts/x86-cuda/ffmpeg425-install.sh

@@ -1,66 +0,0 @@
-#!/bin/sh
-
-
-sudo apt install -y \
-build-essential yasm cmake libtool libc6 libc6-dev unzip wget libeigen3-dev libfmt-dev \
-libnuma1 libnuma-dev libx264-dev libx265-dev libfaac-dev libssl-dev v4l-utils
-
-current_dir=$(pwd)
-root_dir=${HOME}"/SpireCV"
-if [ ! -d ${root_dir} ]; then
-  echo -e "\033[32m[INFO]: ${root_dir} not exist, creating it ... \033[0m"
-  mkdir -p ${root_dir}
-fi
-cd ${root_dir}
-
-git clone https://gitee.com/jario-jin/nv-codec-headers.git
-cd nv-codec-headers
-git checkout n11.1.5.0
-sudo make install
-cd ..
-sudo rm -r nv-codec-headers
-
-wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
-tar -xjf ffmpeg-4.2.5.tar.bz2
-cd ffmpeg-4.2.5
-export PATH=$PATH:/usr/local/cuda/bin
-sed -i 's#_30#_75#' configure; sed -i 's#_30#_75#' configure
-./configure \
---enable-nonfree \
---enable-gpl \
---enable-shared \
---enable-ffmpeg \
---enable-ffplay \
---enable-ffprobe \
---enable-libx264 \
---enable-libx265 \
---enable-cuda-nvcc \
---enable-nvenc \
---enable-cuda \
---enable-cuvid \
---enable-libnpp \
---extra-libs="-lpthread -lm" \
---extra-cflags=-I/usr/local/cuda/include \
---extra-ldflags=-L/usr/local/cuda/lib64 
-make -j8
-sudo make install
-cd ..
-
-git clone https://gitee.com/jario-jin/ZLMediaKit.git
-cd ZLMediaKit
-git submodule update --init
-mkdir build
-cd build
-cmake ..
-make -j4
-cd ..
-cd ..
-
-mkdir ZLM
-cd ZLM
-cp ../ZLMediaKit/release/linux/Debug/MediaServer .
-cp ../ZLMediaKit/release/linux/Debug/config.ini .
-cd ..
-
-cd ${current_dir}
-

scripts/x86-cuda/ubuntu1804-cuda-cudnn-11-1.sh

@@ -1,95 +0,0 @@
-#!/bin/sh
-
-echo "\033[32m[INFO]:\033[0m Please enter the folder path of the installation package: "
-# package_dir="/home/jario/Downloads/nv"
-
-wget https://download.amovlab.com/model/install/x86-nvidia/cuda-repo-ubuntu1804-11-1-local_11.1.1-455.32.00-1_amd64.deb
-wget https://download.amovlab.com/model/install/x86-nvidia/cudnn-11.3-linux-x64-v8.2.1.32.tgz
-wget https://download.amovlab.com/model/install/x86-nvidia/nv-tensorrt-repo-ubuntu1804-cuda11.3-trt8.0.1.6-ga-20210626_1-1_amd64.deb
-wget https://download.amovlab.com/model/install/x86-nvidia/cuda-ubuntu1804.pin
-
-package_dir="."
-
-cuda_fn=$package_dir"/cuda-repo-ubuntu1804-11-1-local_11.1.1-455.32.00-1_amd64.deb"
-cudnn_fn=$package_dir"/cudnn-11.3-linux-x64-v8.2.1.32.tgz"
-tensorrt_fn=$package_dir"/nv-tensorrt-repo-ubuntu1804-cuda11.3-trt8.0.1.6-ga-20210626_1-1_amd64.deb"
-tmp_dir="/tmp"
-
-echo "\033[32m[INFO]: CUDA_PKG: \033[0m"$cuda_fn
-echo "\033[32m[INFO]: CUDNN_PKG: \033[0m"$cudnn_fn
-echo "\033[32m[INFO]: TENSORRT_PKG: \033[0m"$tensorrt_fn
-
-# 所有文件都存在时，才会继续执行脚本
-if [ ! -f "$cuda_fn" ]; then
-  echo "\033[31m[ERROR]: CUDA_PKG not exist!: \033[0m"
-  exit 1
-fi
-
-if [ ! -f "$cudnn_fn" ]; then
-  echo "\033[31m[ERROR]: CUDNN_PKG not exist!: \033[0m"
-  exit 1
-fi
-
-if [ ! -f "$tensorrt_fn" ]; then
-  echo "\033[31m[ERROR]: TENSORRT_PKG not exist!: \033[0m"
-  exit 1
-fi
-
-# 删除显卡驱动
-# sudo apt-get remove nvidia-*
-
-# 安装显卡驱动
-# echo "\033[32m[INFO]: Nvidia Driver installing ...\033[0m"
-# ubuntu-drivers devices
-# sudo ubuntu-drivers autoinstall
-
-# 删除已安装CUDA
-# --purge选项会将配置文件、数据库等删除
-# sudo apt-get autoremove --purge cuda
-# 查看安装了哪些cuda相关的库，可以用以下指令
-# sudo dpkg -l |grep cuda
-# sudo dpkg -P cuda-repo-ubuntu1804-10-2-local-10.2.89-440.33.01
-# sudo dpkg -P cuda-repo-ubuntu1804-11-1-local
-# sudo dpkg -P nv-tensorrt-repo-ubuntu1804-cuda10.2-trt8.0.1.6-ga-20210626
-# 这个key值是官网文档查到的，当然通过apt-key list也能查看
-# sudo apt-key list
-# sudo apt-key del 7fa2af80
-
-# 安装CUDA
-echo "\033[32m[INFO]: CUDA installing ...\033[0m"
-# wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
-sudo cp $package_dir/cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
-sudo dpkg -i $cuda_fn
-sudo apt-key add /var/cuda-repo-ubuntu1804-11-1-local/7fa2af80.pub
-sudo apt-get update
-sudo apt-get -y install cuda
-
-# 安装CUDNN
-echo "\033[32m[INFO]: CUDNN installing ...\033[0m"
-tar zxvf $cudnn_fn -C $tmp_dir
-sudo cp $tmp_dir/cuda/include/cudnn* /usr/local/cuda/include/
-sudo cp $tmp_dir/cuda/lib64/libcudnn* /usr/local/cuda/lib64/
-sudo chmod a+r /usr/local/cuda/include/cudnn* /usr/local/cuda/lib64/libcudnn*
-
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_ops_train.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_ops_train.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_adv_train.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_adv_train.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8
-sudo ln -sf /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8.2.1 /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8
-
-# 安装TensorRT
-sudo dpkg -i $tensorrt_fn
-sudo apt-key add /var/nv-tensorrt-repo-cuda11.3-trt8.0.1.6-ga-20210626/7fa2af80.pub
-sudo apt-get update
-sudo apt-get install tensorrt -y
-sudo apt-get install python3-libnvinfer-dev -y
-
-sudo rm $cuda_fn
-sudo rm $cudnn_fn
-sudo rm $tensorrt_fn
-sudo rm cuda-ubuntu1804.pin
-
-
-

scripts/x86-cuda/x86-opencv470-cuda-install.sh

@@ -5,7 +5,7 @@ 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
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -67,4 +67,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/x86-cuda/x86-opencv470-install.sh

@@ -5,7 +5,7 @@ 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
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -67,4 +67,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/x86-intel/configs-downloading.sh

@@ -1,39 +0,0 @@
-#!/bin/bash -e
-
-root_dir=${HOME}"/SpireCV/models"
-root_server="https://download.amovlab.com/model"
-
-sv_params1=${HOME}"/SpireCV/sv_algorithm_params.json"
-sv_params2=${HOME}"/SpireCV/sv_algorithm_params_coco_640.json"
-sv_params3=${HOME}"/SpireCV/sv_algorithm_params_coco_1280.json"
-camera_params1=${HOME}"/SpireCV/calib_webcam_640x480.yaml"
-camera_params2=${HOME}"/SpireCV/calib_webcam_1280x720.yaml"
-
-
-if [ ! -d ${root_dir} ]; then
-  echo -e "\033[32m[INFO]: ${root_dir} not exist, creating it ... \033[0m"
-  mkdir -p ${root_dir}
-fi
-
-if [ ! -f ${sv_params1} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params1} not exist, downloading ... \033[0m"
-  wget -O ${sv_params1} ${root_server}/install/a-params/sv_algorithm_params.json
-fi
-if [ ! -f ${sv_params2} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params2} not exist, downloading ... \033[0m"
-  wget -O ${sv_params2} ${root_server}/install/a-params/sv_algorithm_params_coco_640.json
-fi
-if [ ! -f ${sv_params3} ]; then
-  echo -e "\033[32m[INFO]: ${sv_params3} not exist, downloading ... \033[0m"
-  wget -O ${sv_params3} ${root_server}/install/a-params/sv_algorithm_params_coco_1280.json
-fi
-
-if [ ! -f ${camera_params1} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params1} not exist, downloading ... \033[0m"
-  wget -O ${camera_params1} ${root_server}/install/c-params/calib_webcam_640x480.yaml
-fi
-if [ ! -f ${camera_params2} ]; then
-  echo -e "\033[32m[INFO]: ${camera_params2} not exist, downloading ... \033[0m"
-  wget -O ${camera_params2} ${root_server}/install/c-params/calib_webcam_1280x720.yaml
-fi
-

scripts/x86-intel/ffmpeg-install.sh

@@ -1,26 +0,0 @@
-#!/bin/sh
-
-sudo apt install -y v4l-utils build-essential yasm cmake libtool libc6 libc6-dev unzip wget  libeigen3-dev libfmt-dev libnuma1 libnuma-dev libx264-dev libx265-dev libfaac-dev libssl-dev  v4l-utils
-wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
-tar -xjf ffmpeg-4.2.5.tar.bz2
-cd ffmpeg-4.2.5
-./configure \
---arch=x86_64 \
---disable-x86asm \
---enable-vaapi \
---enable-libmfx \
---enable-nonfree \
---enable-shared \
---enable-ffmpeg \
---enable-ffplay \
---enable-ffprobe \
---enable-libx264 \
---enable-libx265 \
---enable-gpl
-
-make -j8
-sudo make install
-cd ..
-sudo rm -r ffmpeg-4.2.5
-sudo rm ffmpeg-4.2.5.tar.bz2
-

scripts/x86-intel/libva-install.sh

@@ -1,6 +0,0 @@
-#!/bin/sh
-
-sudo apt-get install -y libmfx1 libmfx-tools libva-dev libmfx-dev intel-media-va-driver-non-free vainfo
-echo "export LIBVA_DRIVER_NAME=iHD" >> ~/.bashrc
-export LIBVA_DRIVER_NAME=iHD
-

scripts/x86-intel/opencl-vaapi-install.sh

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-curl -L https://repositories.intel.com/graphics/intel-graphics.key | sudo apt-key add -
-sudo apt-add-repository 'deb [arch=amd64] https://repositories.intel.com/graphics/ubuntu focal main'
-sudo apt-get update
-sudo apt-get install -y -q --no-install-recommends clinfo intel-opencl-icd intel-media-va-driver-non-free
-

scripts/x86-intel/opencv470-install.sh

@@ -1,70 +0,0 @@
-#!/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
-
-current_dir=$(pwd)
-package_dir="."
-mkdir ~/opencv_build
-
-
-if [ ! -d ""$package_dir"" ];then
-  echo "\033[31m[ERROR]: $package_dir not exist!: \033[0m"
-  exit 1
-fi
-
-# sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-# sudo add-apt-repository "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe"
-sudo apt update
-sudo apt install -y build-essential
-sudo apt install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-
-sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32
-sudo apt update
-sudo apt install -y libjasper1 libjasper-dev
-
-sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
-sudo apt install -y libdc1394-22-dev
-sudo apt install -y libcurl4 build-essential pkg-config cmake libopenblas-dev libeigen3-dev \
-                    libtbb-dev libavcodec-dev libavformat-dev libgstreamer-plugins-base1.0-dev \
-                    libgstreamer1.0-dev libswscale-dev libgtk-3-dev libpng-dev libjpeg-dev \
-                    libcanberra-gtk-module libcanberra-gtk3-module
-
-
-echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_contrib-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_contrib-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_cache_x86-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_cache_x86-4.7.0.zip -d ~/opencv_build
-
-
-sudo rm opencv-4.7.0.zip
-sudo rm opencv_contrib-4.7.0.zip
-sudo rm opencv_cache_x86-4.7.0.zip
-
-cd ~/opencv_build/opencv-4.7.0
-mkdir .cache
-
-cp -r ~/opencv_build/opencv_cache_x86-4.7.0/* ~/opencv_build/opencv-4.7.0/.cache/
-
-mkdir build
-cd build
-
-cmake -D CMAKE_BUILD_TYPE=Release \
-      -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 ..
-
-make -j2
-sudo make install
-
-cd
-sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/x86-intel/openvino-install.sh

@@ -1,20 +0,0 @@
-#!/bin/sh
-
-sudo mkdir /opt/intel
-
-current_dir=$(pwd)
-cd ${HOME}/Downloads
-
-curl -L https://storage.openvinotoolkit.org/repositories/openvino/packages/2022.3.1/linux/l_openvino_toolkit_ubuntu20_2022.3.1.9227.cf2c7da5689_x86_64.tgz --output openvino_2022.3.1.tgz
-tar -xf openvino_2022.3.1.tgz
-sudo mv l_openvino_toolkit_ubuntu20_2022.3.1.9227.cf2c7da5689_x86_64 /opt/intel/openvino_2022.3.1
-
-cd /opt/intel/openvino_2022.3.1
-sudo -E ./install_dependencies/install_openvino_dependencies.sh
-
-cd /opt/intel
-sudo ln -s openvino_2022.3.1 openvino_2022
-
-echo "source /opt/intel/openvino_2022/setupvars.sh" >> ~/.bashrc
-sh /opt/intel/openvino_2022/setupvars.sh
-cd ${current_dir}

scripts/x86-intel/zlm-server-install.sh

@@ -1,22 +0,0 @@
-#!/bin/sh
-
-
-current_dir=$(pwd)
-cd ${HOME}/SpireCV
-git clone https://gitee.com/jario-jin/ZLMediaKit.git
-cd ZLMediaKit
-git submodule update --init
-mkdir build
-cd build
-cmake ..
-make -j4
-cd ..
-cd ..
-
-mkdir ZLM
-cd ZLM
-cp ../ZLMediaKit/release/linux/Debug/MediaServer .
-cp ../ZLMediaKit/release/linux/Debug/config.ini .
-
-cd ${current_dir}
-

utils/gason.cpp

@@ -379,7 +379,7 @@ void _load_all_json(std::string json_fn, JsonValue& value, JsonAllocator& alloca
   }
   fin.close();
   // std::cout << json_str << std::endl;
-  char source[1024 * 256];  // 256K
+  char source[1024 * 1024];  // 1M
   char *endptr;
 
   strcpy(source, json_str.c_str());

utils/sv_util.cpp

@@ -6,10 +6,6 @@
 #include <ctime>
 #include <chrono>
 #include <fstream>
-#include <dirent.h>
-#include <opencv2/opencv.hpp>
-#include <unordered_map>
-
 
 using namespace std;
 
@@ -29,15 +25,6 @@ bool _is_file_exist(std::string& fn)
     return f.good();
 }
 
-bool _comp_str_greater(const std::string& a, const std::string& b)
-{
-    return a > b;
-}
-
-bool _comp_str_lesser(const std::string& a, const std::string& b)
-{
-    return a < b;
-}
 
 void _get_sys_time(TimeInfo& t_info)
 {
@@ -149,56 +136,4 @@ int _comp_str_idx(const std::string& in_str, const std::string* str_list, int le
     return -1;
 }
 
-
-void _list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs, std::string prefix, bool r) {
-    // assert(_endswith(dir, "/") || _endswith(dir, "\\"));
-
-    DIR *pdir;
-    struct dirent *ent;
-    string childpath;
-    string absolutepath;
-    pdir = opendir(dir.c_str());
-    assert(pdir != NULL);
-
-    vector<string> suffixd(0);
-    if (!suffixs.empty() && suffixs != "") {
-        suffixd = _split(suffixs, "|");
-    }
-
-    while ((ent = readdir(pdir)) != NULL) {
-        if (ent->d_type & DT_DIR) {
-            if (strcmp(ent->d_name, ".") == 0 || strcmp(ent->d_name, "..") == 0) {
-                continue;
-            }
-            if (r) { // If need to traverse subdirectories
-                childpath = dir + ent->d_name;
-                _list_dir(childpath, files);
-            }
-        }
-        else {
-            if (suffixd.size() > 0) {
-                bool can_push = false, cancan_push = true;
-                for (int i = 0; i < (int)suffixd.size(); i++) {
-                    if (_endswith(ent->d_name, suffixd[i]))
-                        can_push = true;
-                }
-                if (prefix.size() > 0) {
-                    if (!_startswith(ent->d_name, prefix))
-                        cancan_push = false;
-                }
-                if (can_push && cancan_push) {
-                    absolutepath = dir + ent->d_name;
-                    files.push_back(ent->d_name); // filepath
-                }
-            }
-            else {
-                absolutepath = dir + ent->d_name;
-                files.push_back(ent->d_name); // filepath
-            }
-        }
-    }
-    sort(files.begin(), files.end()); //sort names
-}
-
-
 }

utils/sv_util.h

@@ -24,13 +24,10 @@ bool _startswith(const std::string& str, const std::string& start);
 bool _endswith(const std::string& str, const std::string& end);
 std::string _trim(const std::string& str);
 int _comp_str_idx(const std::string& in_str, const std::string* str_list, int len);
-bool _comp_str_greater(const std::string& a, const std::string& b);
-bool _comp_str_lesser(const std::string& a, const std::string& b);
 
 /*************    file-related functions   ***************/
 std::string _get_home();
 bool _is_file_exist(std::string& fn);
-void _list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", std::string prefix="", bool r=false);
 
 }
 

video_io/driver/sv_camera_G1.cpp

@@ -0,0 +1,106 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:56:47
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_G1.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_G1 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+
+public:
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::G1; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+  sv_camera_G1(int timeOut);
+  ~sv_camera_G1();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_G1(timeOut);
+  }
+};
+
+sv_camera_G1::sv_camera_G1(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_G1::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    ret = true;
+  }
+  return ret;
+}
+
+const static uint32_t imageHList[3] = {1520, 1080, 720};
+const static uint32_t imageWList[3] = {2704, 1920, 1280};
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_G1::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://" << this->_ip << ":554/H264?W=";
+
+  // 判断尺寸是否合法 不合法则找最高画质进行缩放
+  uint8_t i;
+  for (i = 0; i < 3; i++)
+  {
+    if (imageHList[i] <= this->getH())
+    {
+      if (imageWList[i] <= this->getW())
+      {
+        break;
+      }
+    }
+  }
+
+  // 在范围内
+  if (i < 3)
+  {
+    pipeline << imageWList[i] << "&H=" << imageHList[i];
+  }
+  else
+  {
+    pipeline << imageWList[2] << "&H=" << imageHList[2];
+  }
+
+  pipeline << "&FPS=" << this->getExpectFps() << "&BR=4000000 latency=100 "
+           << "! application/x-rtp,media=video ! rtph264depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder enable-max-performancegst=1 \
+               ! nvvidconv ! video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#else
+  pipeline << "avdec_h264 ! videoscale ! video/x-raw"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#endif
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_GX40.cpp

@@ -0,0 +1,85 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:02
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_GX40.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_GX40 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+  uint16_t _port = 554;
+
+public:
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::GX40; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+  sv_camera_GX40(int timeOut);
+  ~sv_camera_GX40();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_GX40(timeOut);
+  }
+};
+
+sv_camera_GX40::sv_camera_GX40(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_GX40::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    this->_port = port;
+    ret = true;
+  }
+  return ret;
+}
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_GX40::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+           << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! "
+           << "rtph265depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder ! nvvidconv flip-method=4 ! ";
+#else
+  pipeline << "avdec_h265 ! videoscale ! ";
+#endif
+  pipeline << "video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH()
+           << " ";
+
+#ifndef PLATFORM_JETSON
+  pipeline << "! videoflip video-direction=4 ";
+#endif
+
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_MC1.cpp

@@ -0,0 +1,78 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:07
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_MC1.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MC1 : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+
+public:
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MC1; }
+
+  bool open(void);
+
+  sv_camera_MC1(int timeOut);
+  ~sv_camera_MC1();
+
+  static CameraBase *creat(int timeOut)
+  {
+#ifdef PLATFORM_JETSON
+    return new sv_camera_MC1(timeOut);
+#else
+    throw std::runtime_error("SpireCV (101) Camera not supported except allspark");
+    return nullptr;
+#endif
+  }
+};
+
+sv_camera_MC1::sv_camera_MC1(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MC1::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MC1::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "nvarguscamerasrc sensor-id=" << this->_index;
+
+  pipeline << " ! video/x-raw,video/x-raw(memory:NVMM),"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " nvvidconv flip-method=0 ! video/x-raw,format=(string)BGRx !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_V4L2s.cpp

@@ -0,0 +1,149 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 10:45:50
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:30
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_V4L2s.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_V4L2 : public sv_p::CameraBase
+{
+private:
+  int _index = -1;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::V4L2CAM; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_V4L2(int timeOut);
+  ~sv_camera_V4L2();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_V4L2(timeOut);
+  }
+};
+
+sv_camera_V4L2::sv_camera_V4L2(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_V4L2::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::open(void)
+{
+  bool ret = false;
+
+  if (this->_index >= 0)
+  {
+    ret = this->cap.open(this->_index, cv::CAP_V4L2);
+  }
+
+  if (!ret)
+  {
+    if (this->_name != "\0")
+    {
+      ret = this->cap.open(this->_name, cv::CAP_V4L2);
+    }
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}
+
+class sv_camera_WEBCAM : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::WEBCAM; }
+
+  sv_camera_WEBCAM(int timeOut);
+  ~sv_camera_WEBCAM();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_WEBCAM(timeOut);
+  }
+};
+
+sv_camera_WEBCAM::sv_camera_WEBCAM(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_Q10 : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::Q10; }
+
+  sv_camera_Q10(int timeOut);
+  ~sv_camera_Q10();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Q10(timeOut);
+  }
+};
+
+sv_camera_Q10::sv_camera_Q10(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_NONE : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::NONE; }
+
+  sv_camera_NONE(int timeOut);
+  ~sv_camera_NONE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_NONE(timeOut);
+  }
+};
+
+sv_camera_NONE::sv_camera_NONE(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}

video_io/driver/sv_camera_file.cpp

@@ -0,0 +1,79 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:56:34
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_file.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_FILE : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::VIDEOFILE; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+  bool read(cv::Mat &image)
+  {
+    return this->cap.read(image);
+  }
+  bool readNoBlock(cv::Mat &image)
+  {
+    return this->read(image);
+  }
+
+  sv_camera_FILE(int timeOut);
+  ~sv_camera_FILE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_FILE(timeOut);
+  }
+};
+
+sv_camera_FILE::sv_camera_FILE(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_FILE::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_FILE::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+  }
+
+  return ret;
+}
+
+

video_io/driver/sv_camera_mipi.cpp

@@ -0,0 +1,95 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:12
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_mipi.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MIPI : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MIPI; }
+  std::string getName(void) { return _name; }
+
+  bool open(void);
+
+  sv_camera_MIPI(int timeOut);
+  ~sv_camera_MIPI();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_MIPI(timeOut);
+  }
+};
+
+sv_camera_MIPI::sv_camera_MIPI(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MIPI::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_MIPI::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MIPI::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "v4l2src ";
+
+  if (this->_name != "\0")
+  {
+    pipeline << "device=" << this->_name << " !";
+  }
+  else if (this->_index != -2)
+  {
+    pipeline << "device-fd=" << this->_index << " !";
+  }
+
+  pipeline << " video/x-raw,format=(string)NV12,"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_streaming.cpp

@@ -0,0 +1,74 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:22
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_streaming.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_Streaming : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::STREAMING; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_Streaming(int timeOut);
+  ~sv_camera_Streaming();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Streaming(timeOut);
+  }
+};
+
+sv_camera_Streaming::sv_camera_Streaming(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_Streaming::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_Streaming::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}