add attitudeCorrection function

.gitignore

@@ -2,7 +2,7 @@
 .Python
 build/
 models/
-confs/
+# confs/
 ZLM/
 ZLMediaKit/
 ffmpeg-4.2.5/

algorithm/sv_algorithm_base.cpp

@@ -758,6 +758,19 @@ int SingleObjectTrackerBase::getTarget()
 {
   return this->_target;
 }
+//增加跟踪目标位置输出
+double SingleObjectTrackerBase::getObjectWs()
+{
+  return this->_object_ws;
+}
+double SingleObjectTrackerBase::getObjectHs()
+{
+  return this->_object_hs;
+}
+int SingleObjectTrackerBase::useWidthOrHeight()
+{
+  return this->_use_width_or_height;
+}
 
 void SingleObjectTrackerBase::warmUp()
 {
@@ -787,6 +800,8 @@ void SingleObjectTrackerBase::init(cv::Mat img_, const cv::Rect& bounding_box_)
 }
 void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
 {
+
+
   Rect rect;
   bool ok = trackImpl(img_, rect);
   
@@ -796,6 +811,10 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
   tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
   this->_t0 = std::chrono::system_clock::now();
   tgts_.setTimeNow();
+  double z = 0;
+  double x = 0;
+  double y = 0;
+
   
   if (ok)
   {
@@ -803,6 +822,26 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
     tgt.setBox(rect.x, rect.y, rect.x+rect.width, rect.y+rect.height, img_.cols, img_.rows);
     tgt.setTrackID(1);
     tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows);
+    int ow = int(round(rect.width));
+    int oh = int(round(rect.height));
+
+
+    
+
+    if (this->_use_width_or_height == 0)
+    {
+      double z = this->camera_matrix.at<double>(0, 0) * this->_object_ws / ow;
+      double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
+      double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
+      tgt.setPosition(x, y, z);
+    }
+    else if (this->_use_width_or_height == 1)
+    {
+      double z = this->camera_matrix.at<double>(1, 1) * this->_object_hs / oh;
+      double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
+      double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
+      tgt.setPosition(x, y, z);
+    }
     tgts_.targets.push_back(tgt);
   }
 
@@ -840,6 +879,18 @@ void SingleObjectTrackerBase::_load()
     else if ("target" == std::string(i->key)) {
       this->_target = i->value.toNumber();
     }
+    else if ("useWidthOrHeight" == std::string(i->key))
+    {
+      this->_use_width_or_height = i->value.toNumber();
+    }
+    else if ("sigleobjectW" == std::string(i->key))
+    {
+      this->_object_ws = i->value.toNumber();
+    }
+    else if ("sigleobjectH" == std::string(i->key))
+    {
+      this->_object_hs = i->value.toNumber();
+    }
   }
 
   setupImpl();
@@ -1158,14 +1209,5 @@ void CommonObjectDetectorBase::_load()
 
 
 
-
-
-
-
-
-
-
-
-
 }
 

confs/calib_219_1080.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Mon 19 Feb 2024 12:26:41 CST"
+image_width: 1920
+image_height: 1080
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.1499019538499235e+03, 0., 8.9571442596734767e+02, 0.,
+       1.1521262836695837e+03, 4.1676362109157282e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.2652765002575385e-01, 1.1930967472505005e-01,
+       1.1874516620581086e-03, -4.4657438605475813e-04,
+       -2.0542911771362624e-02 ]
+avg_reprojection_error: 1.2404343913457176e+00

confs/calib_219_480.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Mon 19 Feb 2024 09:47:20 CST"
+image_width: 640
+image_height: 480
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.9479472615087843e+02, 0., 3.1680548645658507e+02, 0.,
+       5.3258234195695456e+02, 2.2560303647955251e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.0654200332908565e-01, 8.5703751899094405e-02,
+       7.9399589635363447e-04, -2.2386130390877925e-04,
+       8.3664876215281108e-03 ]
+avg_reprojection_error: 3.5349928023572558e-01

confs/calib_219_720.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Mon 19 Feb 2024 10:54:42 CST"
+image_width: 1280
+image_height: 720
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 8.1366718040158514e+02, 0., 6.3675814156135323e+02, 0.,
+       8.1971372883272659e+02, 3.4681895215003095e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.4242823662593191e-01, 1.5751500244397093e-01,
+       -1.3264288102205965e-03, 1.2231724419136888e-03,
+       -4.2459124145250125e-02 ]
+avg_reprojection_error: 5.9403475506306169e-01

confs/calib_305_1080.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Tue 05 Mar 2024 00:16:05 CST"
+image_width: 1920
+image_height: 1080
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.0792305238523386e+03, 0., 9.6402699186014104e+02, 0.,
+       1.0789154594652043e+03, 5.2143171148859722e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.2399749923006838e-01, 1.4009707192270629e-01,
+       -5.0929293744069739e-04, 7.7449516370686658e-04,
+       -3.3041284237351247e-02 ]
+avg_reprojection_error: 4.8428655304348994e-01

confs/calib_305_480.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Tue 05 Mar 2024 00:09:28 CST"
+image_width: 640
+image_height: 480
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.5104728433883020e+02, 0., 3.2056231183068672e+02, 0.,
+       4.6752631853837141e+02, 2.3765446898850004e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.2042681898621755e-01, 1.3161967829089724e-01,
+       -2.5004100102887805e-04, 3.2425073118156353e-04,
+       -2.8315520843532581e-02 ]
+avg_reprojection_error: 2.9118844690529377e-01

confs/calib_305_720.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "2024年04月09日 星期二 17时16分01秒"
+image_width: 1280
+image_height: 720
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.5981810777030012e+02, 0., 6.3625030971425269e+02, 0.,
+       6.5921929597654923e+02, 3.5825666624930159e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -5.1997977213625930e-02, -1.8689595668025512e-03,
+       3.4576738666496700e-04, -1.8120564025011093e-03,
+       1.4197596521055530e-04 ]
+avg_reprojection_error: 2.2034927383015476e-01

confs/calib_305_720_old.yaml

@@ -0,0 +1,20 @@
+%YAML:1.0
+---
+calibration_time: "Tue 05 Mar 2024 00:28:04 CST"
+image_width: 1280
+image_height: 720
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.9634892550210350e+02, 0., 6.2891897989953964e+02, 0.,
+       6.9549429715646966e+02, 3.5944020158257149e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -3.3624079866383610e-01, 1.6372128751453890e-01,
+       -1.2684750265022919e-04, 8.4251208193061985e-04,
+       -4.7102080237572910e-02 ]
+avg_reprojection_error: 3.9725005915610290e-01

confs/calib_webcam_1280x720.yaml

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

confs/calib_webcam_1920x1080.yaml

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

confs/calib_webcam_640x480.yaml

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

confs/sv_algorithm_params.json

@@ -0,0 +1,197 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "CAR",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.6,
+        "useWidthOrHeight": 1,
+        "withSegmentation": false,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetCAR": {
+            "kk_car": [0.12, 0.105]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "nano",
+        "backend": 0,
+        "target": 0,
+        "useWidthOrHeight": 0,
+        "sigleobjectW": 0.12,
+        "sigleobjectH": 0.105,
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.134,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.051],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1, 
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_1280_wo_mask.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 1280,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": false,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_640_w_mask.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_640_wo_mask.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": false,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_coco_1280.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 1280,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": false,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_coco_640.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_csrt.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "csrt",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_kcf.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "kcf",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_nano.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "nano",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

confs/sv_algorithm_params_siamrpn.json

@@ -0,0 +1,194 @@
+{
+    "CommonObjectDetector": {
+        "dataset": "COCO",
+        "inputSize": 640,
+        "nmsThrs": 0.6,
+        "scoreThrs": 0.4,
+        "useWidthOrHeight": 1,
+        "withSegmentation": true,
+        "datasetPersonVehicle": {
+            "person": [0.5, 1.8],
+            "car": [4.1, 1.5],
+            "bus": [10, 3],
+            "truck": [-1, -1],
+            "bike": [-1, -1],
+            "train": [-1, -1],
+            "boat": [-1, -1],
+            "aeroplane": [-1, -1]
+        },
+        "datasetDrone": {
+            "drone": [0.4, 0.2]
+        },
+        "datasetCOCO": {
+            "person": [-1, -1],
+            "bicycle": [-1, -1],
+            "car": [-1, -1],
+            "motorcycle": [-1, -1],
+            "airplane": [-1, -1],
+            "bus": [-1, -1],
+            "train": [-1, -1],
+            "truck": [-1, -1],
+            "boat": [-1, -1],
+            "traffic light": [-1, -1],
+            "fire hydrant": [-1, -1],
+            "stop sign": [-1, -1],
+            "parking meter": [-1, -1],
+            "bench": [-1, -1],
+            "bird": [-1, -1],
+            "cat": [-1, -1],
+            "dog": [-1, -1],
+            "horse": [-1, -1],
+            "sheep": [-1, -1],
+            "cow": [-1, -1],
+            "elephant": [-1, -1],
+            "bear": [-1, -1],
+            "zebra": [-1, -1],
+            "giraffe": [-1, -1],
+            "backpack": [-1, -1],
+            "umbrella": [-1, -1],
+            "handbag": [-1, -1],
+            "tie": [-1, -1],
+            "suitcase": [-1, -1],
+            "frisbee": [-1, -1],
+            "skis": [-1, -1],
+            "snowboard": [-1, -1],
+            "sports ball": [-1, -1],
+            "kite": [-1, -1],
+            "baseball bat": [-1, -1],
+            "baseball glove": [-1, -1],
+            "skateboard": [-1, -1],
+            "surfboard": [-1, -1],
+            "tennis racket": [-1, -1],
+            "bottle": [-1, -1],
+            "wine glass": [-1, -1],
+            "cup": [-1, -1],
+            "fork": [-1, -1],
+            "knife": [-1, -1],
+            "spoon": [-1, -1],
+            "bowl": [-1, -1],
+            "banana": [-1, -1],
+            "apple": [-1, -1],
+            "sandwich": [-1, -1],
+            "orange": [-1, -1],
+            "broccoli": [-1, -1],
+            "carrot": [-1, -1],
+            "hot dog": [-1, -1],
+            "pizza": [-1, -1],
+            "donut": [-1, -1],
+            "cake": [-1, -1],
+            "chair": [-1, -1],
+            "couch": [-1, -1],
+            "potted plant": [-1, -1],
+            "bed": [-1, -1],
+            "dining table": [-1, -1],
+            "toilet": [-1, -1],
+            "tv": [-1, -1],
+            "laptop": [-1, -1],
+            "mouse": [-1, -1],
+            "remote": [-1, -1],
+            "keyboard": [-1, -1],
+            "cell phone": [-1, -1],
+            "microwave": [-1, -1],
+            "oven": [-1, -1],
+            "toaster": [-1, -1],
+            "sink": [-1, -1],
+            "refrigerator": [-1, -1],
+            "book": [-1, -1],
+            "clock": [-1, -1],
+            "vase": [-1, -1],
+            "scissors": [-1, -1],
+            "teddy bear": [-1, -1],
+            "hair drier": [-1, -1],
+            "toothbrush": [-1, -1]
+        }
+    },
+    "AutoFocusObjectDetector": {
+        "lock_thres": 5,
+        "unlock_thres": 5,
+        "lock_scale_init": 12.0,
+        "lock_scale": 8.0,
+        "categories_filter": [],
+        "keep_unlocked": false,
+        "use_square_region": false
+    },
+    "SingleObjectTracker": {
+        "algorithm": "siamrpn",
+        "backend": 0,
+        "target": 0
+    },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
+    "LandingMarkerDetector": {
+        "labels": ["x", "h"],
+        "maxCandidates": 5
+    },
+    "EllipseDetector": {
+        "radiusInMeter": 0.5,
+        "preProcessingGaussKernel": 5,
+        "preProcessingGaussSigma": 1.306,
+        "thPosition": 1.0,
+        "maxCenterDistance": 0.05,
+        "minEdgeLength": 9,
+        "minOrientedRectSide": 2.984,
+        "distanceToEllipseContour": 0.111,
+        "minScore": 0.511,
+        "minReliability": 0.470,
+        "ns": 22,
+        "percentNe": 0.946,
+        "T_CNC": 0.121,
+        "T_TCN_L": 0.468,
+        "T_TCN_P": 0.560,
+        "thRadius": 0.202
+    },
+    "ArucoDetector": {
+        "dictionaryId": 10,
+        "markerIds": [-1],
+        "markerLengths": [0.2],
+        "adaptiveThreshConstant": 7,
+        "adaptiveThreshWinSizeMax": 23,
+        "adaptiveThreshWinSizeMin": 3,
+        "adaptiveThreshWinSizeStep": 10, 
+        "aprilTagCriticalRad": 0.17453292519,
+        "aprilTagDeglitch": 0,
+        "aprilTagMaxLineFitMse": 10.0,
+        "aprilTagMaxNmaxima": 10,
+        "aprilTagMinClusterPixels": 5,
+        "aprilTagMinWhiteBlackDiff": 5,
+        "aprilTagQuadDecimate": 0.0,
+        "aprilTagQuadSigma": 0.0,
+        "cornerRefinementMaxIterations": 30,
+        "cornerRefinementMethod": 0,
+        "cornerRefinementMinAccuracy": 0.1,
+        "cornerRefinementWinSize": 5,
+        "detectInvertedMarker": false,
+        "errorCorrectionRate": 0.6,
+        "markerBorderBits": 1,
+        "maxErroneousBitsInBorderRate": 0.35,
+        "maxMarkerPerimeterRate": 4.0,
+        "minCornerDistanceRate": 0.05,
+        "minDistanceToBorder": 3,
+        "minMarkerDistanceRate": 0.05,
+        "minMarkerLengthRatioOriginalImg": 0,
+        "minMarkerPerimeterRate": 0.03,
+        "minOtsuStdDev": 5.0,
+        "minSideLengthCanonicalImg": 32,
+        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
+        "perspectiveRemovePixelPerCell": 4,
+        "polygonalApproxAccuracyRate": 0.03,
+        "useAruco3Detection": false
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7
+    }
+}

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -46,6 +46,7 @@ public:
     uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
     uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
     uint32_t setGimabalHome(void);
+    uint32_t setGimbalDownwardHome(void);
 
     uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
     uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
@@ -55,9 +56,11 @@ public:
     uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                 const AMOV_GIMBAL_VELOCITY_T &seppd,
                                 const AMOV_GIMBAL_VELOCITY_T &acc,
+                                float lng, float lat, float alt, uint32_t nState, float relAlt,
                                 void *extenData);
 
     uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+    uint32_t setDownwardShootingMode();
     uint32_t extensionFuntions(void *cmd);
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
     {

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

@@ -20,9 +20,9 @@
 uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     carrierStateMutex.lock();
-    targetPos[0] = (int16_t)(pos.roll / 0.01f);
+    targetPos[0] = (int16_t)(-pos.roll / 0.01f);
     targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
-    targetPos[2] = (int16_t)(pos.yaw / 0.01f);
+    targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
     carrierStateMutex.unlock();
     return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
 }
@@ -38,9 +38,9 @@ uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 uint32_t GX40GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     carrierStateMutex.lock();
-    targetPos[0] = (int16_t)(speed.roll / 0.1f);
+    targetPos[0] = (int16_t)(-speed.roll / 0.1f);
     targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
-    targetPos[2] = (int16_t)(speed.yaw / 0.1f);
+    targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
     carrierStateMutex.unlock();
 
     return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
@@ -65,6 +65,12 @@ uint32_t GX40GimbalDriver::setGimabalHome(void)
     return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
 }
 
+uint32_t GX40GimbalDriver::setGimbalDownwardHome(void)
+{
+    pack(GX40::GIMBAL_CMD_MODE_OVERLOCK, nullptr, 0);
+    return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
+}
+
 /**
  * The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
  * returns the packed command.
@@ -128,12 +134,21 @@ uint32_t GX40GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 uint32_t GX40GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                               const AMOV_GIMBAL_VELOCITY_T &seppd,
                                               const AMOV_GIMBAL_VELOCITY_T &acc,
+                                              float lng, float lat, float alt, uint32_t nState, float relAlt,
                                               void *extenData)
 {
     carrierStateMutex.lock();
     carrierPos = pos;
     carrierSpeed = seppd;
     carrierAcc = acc;
+
+    carrierGNSS.lng = lng / 1E-7;
+    carrierGNSS.lat = lat / 1E-7;
+    carrierGNSS.alt = alt / 1E-3;
+
+    carrierGNSS.relAlt = relAlt / 1E-3;
+    carrierGNSS.nState = nState;
+
     upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     carrierStateMutex.unlock();
     return sizeof(AMOV_GIMBAL_POS_T) + sizeof(AMOV_GIMBAL_VELOCITY_T) + sizeof(AMOV_GIMBAL_VELOCITY_T);
@@ -249,3 +264,8 @@ uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t
     carrierStateMutex.unlock();
     return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
 }
+
+uint32_t GX40GimbalDriver::setDownwardShootingMode()
+{
+    return pack(GX40::GIMBAL_CMD_MODE_OVERLOCK,nullptr,0);
+}

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -75,6 +75,7 @@ namespace amovGimbal
         uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
 
         uint32_t setGimabalHome(void);
+        uint32_t setGimbalDownwardHome(void);
         uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
@@ -82,11 +83,12 @@ namespace amovGimbal
         uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
         uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                     const AMOV_GIMBAL_VELOCITY_T &speed,
-                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                     const AMOV_GIMBAL_VELOCITY_T &seppd,
-                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        uint32_t setDownwardShootingMode();
         uint32_t extensionFuntions(void *cmd);
 
         // block functions

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h

@@ -40,6 +40,7 @@ extern "C"
                                            AMOV_GIMBAL_VELOCITY_T *speed,
                                            AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
     uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle);
+    uint32_t amovGimbalSetDownwardShootingMode(void* handle);
     uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle);
     void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle);
     void getGimbalType(char *type, void *handle);

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

@@ -80,6 +80,16 @@ uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
     return 0;
 }
 
+uint32_t amovGimbal::gimbal::setGimbalDownwardHome(void)
+{
+    return ((amovGimbalBase*)(this->devHandle))->setGimbalDownwardHome();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalDownwardHome()
+{
+    return 0;
+}
+
 uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);
@@ -132,28 +142,28 @@ uint32_t amovGimbal::IamovGimbalBase::setVideo(const AMOV_GIMBAL_VIDEO_T newStat
 
 uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                                 const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
-    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc, extenData);
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc,lng, lat, alt, nState, relAlt, extenData);
 }
 
 uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                                          const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     return 0;
 }
 
 uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                                 const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
-    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, extenData);
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                                          const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     return 0;
 }
@@ -168,6 +178,17 @@ uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float al
     return 0;
 }
 
+uint32_t amovGimbal::gimbal::setDownwardShootingMode()
+{
+    return ((amovGimbalBase*)(this->devHandle))->setDownwardShootingMode();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setDownwardShootingMode()
+{
+    return 0;
+}
+
+
 uint32_t amovGimbal::gimbal::extensionFuntions(void *cmd)
 {
     return ((amovGimbalBase *)(this->devHandle))->extensionFuntions(cmd);

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

@@ -66,6 +66,11 @@ uint32_t amovGimbalSetGimabalHome(void *handle)
     return ((amovGimbal::gimbal *)handle)->setGimabalHome();
 }
 
+uint32_t amovGimbalSetGimbalDownwardHome(void* handle)
+{
+    return ((amovGimbal::gimbal*)handle)->setGimbalDownwardHome();
+}
+
 uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
 {
     return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);
@@ -93,16 +98,16 @@ uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle)
 
 uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
                                        AMOV_GIMBAL_VELOCITY_T *speed,
-                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
 {
-    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, extenData);
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
                                        AMOV_GIMBAL_VELOCITY_T *speed,
-                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
 {
-    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, extenData);
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle)
@@ -110,6 +115,12 @@ uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState,
     return ((amovGimbal::gimbal *)handle)->setGNSSInfo(lng, lat, alt, nState, relAlt);
 }
 
+uint32_t amovGimbalSetDownwardShootingMode(void* handle)
+{
+    return ((amovGimbal::gimbal*)handle)->setDownwardShootingMode();
+}
+
+
 uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle)
 {
     return ((amovGimbal::gimbal *)handle)->extensionFuntions(cmd);

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -84,16 +84,19 @@ namespace amovGimbal
         virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
 
         virtual uint32_t setGimabalHome(void);
+        virtual uint32_t setGimbalDownwardHome(void);
         virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
         virtual uint32_t takePic(void);
         virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        virtual uint32_t setDownwardShootingMode();
         virtual uint32_t extensionFuntions(void *cmd);
 
+
         // block functions
         virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
         virtual bool setGimabalHomeBlock(void);

gimbal_ctrl/sv_gimbal.cpp

@@ -290,6 +290,12 @@ bool sv::Gimbal::setHome()
     }
 }
 
+void sv::Gimbal::setGimbalDownwardHome(void)
+{
+    amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
+    pdevTemp->setGimbalDownwardHome();
+}
+
 /**
  * This function sets the zoom level of a gimbal device and returns a boolean indicating success or
  * failure.
@@ -511,7 +517,7 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 }
 void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData)
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     AMOV_GIMBAL_QUATERNION_T temp_q;
@@ -529,12 +535,12 @@ void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
     temp_v2.y = acc.y;
     temp_v2.z = acc.z;
 
-    pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, extenData);
+    pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
 }
 
 void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData)
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     AMOV_GIMBAL_VELOCITY_T temp_v1, temp_v2;
@@ -551,9 +557,16 @@ void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
     temp_p.yaw = pos.yaw;
     temp_p.roll = pos.roll;
 
-    pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, extenData);
+    pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
 }
 
+void sv::Gimbal::setDownwardShootingMode()
+{
+    amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
+    pdevTemp->setDownwardShootingMode();
+}
+
+
 sv::Gimbal::~Gimbal()
 {
     removeIO(this);

include/sv_algorithm_base.h

@@ -105,6 +105,9 @@ public:
   std::string getAlgorithm();
   int getBackend();
   int getTarget();
+  double getObjectWs();
+  double getObjectHs();
+  int useWidthOrHeight();
 protected:
   virtual bool setupImpl();
   virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
@@ -114,6 +117,9 @@ protected:
   std::string _algorithm;
   int _backend;
   int _target;
+  int _use_width_or_height;
+  double _object_ws;
+  double _object_hs;
 };
 
 

include/sv_gimbal.h

@@ -181,6 +181,7 @@ namespace sv
 
     // Funtions
     bool setHome();
+    void setGimbalDownwardHome();
     bool setZoom(double x);
     bool setAutoZoom(int state);
     bool setAutoFocus(int state);
@@ -189,10 +190,12 @@ namespace sv
     int getVideoState();
     void attitudeCorrection(const GimbalQuaternionT &quaterion,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData);
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
     void attitudeCorrection(const GimbalPosT &pos,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData);
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
+
+    void setDownwardShootingMode();
 
     //! Set gimbal angles
     /*!

include/sv_video_base.h

@@ -411,6 +411,22 @@ cv::Mat drawTargetsInFrame(
   bool with_seg=false,
   bool with_box=false
 );
+int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY);
+
+void drawSpecificTargetsInFrame(
+  cv::Mat& img_,
+  const TargetsInFrame& tgts_,
+  int clicked_id,
+  bool with_all=true,
+  bool with_category=false,
+  bool with_tid=false,
+  bool with_seg=false,
+  bool with_box=false,
+  bool with_ell=false,
+  bool with_aruco=false,
+  bool with_yaw=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);

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -35,21 +35,24 @@ void gimbalNoTrack(void)
 int main(int argc, char *argv[])
 {
   // 实例化吊舱
-  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
+  gimbal = new sv::Gimbal(sv::GimbalType::GX40, 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);
+
+  gimbal->setDownwardShootingMode();
+
   // 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");
+  cap.setIp("192.168.144.108");
   // 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);
+  cap.open(sv::CameraType::GX40);
 
   // 定义一个新的窗口，可在上面进行框选操作
   cv::namedWindow(RGB_WINDOW);

video_io/sv_video_base.cpp

@@ -519,6 +519,128 @@ cv::Mat drawTargetsInFrame(
 }
 
 
+void drawSpecificTargetsInFrame(
+  cv::Mat& img_,
+  const TargetsInFrame& tgts_,
+  int clicked_id,
+  bool with_all,
+  bool with_category,
+  bool with_tid,
+  bool with_seg,
+  bool with_box,
+  bool with_ell,
+  bool with_aruco,
+  bool with_yaw
+)
+{
+
+
+  //std::cout<<"go in void function"<<std::endl;
+  if (tgts_.rois.size() > 0)
+  {
+    cv::Mat image_ret;
+    cv::addWeighted(img_, 0.5, cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC3), 0, 0, image_ret);
+    cv::Rect roi = cv::Rect(tgts_.rois[0].x1, tgts_.rois[0].y1, tgts_.rois[0].x2 - tgts_.rois[0].x1, tgts_.rois[0].y2 - tgts_.rois[0].y1);
+    img_(roi).copyTo(image_ret(roi));
+    image_ret.copyTo(img_);
+  }
+  std::vector<std::vector<cv::Point2f> > aruco_corners;
+  std::vector<int> aruco_ids;
+
+  //int i = 0;
+  //for (Target tgt : tgts_.targets)
+  for (int i=0; i<tgts_.targets.size(); i++)
+  {
+    //i++;
+    if (clicked_id != -1 && tgts_.targets[i].category_id != clicked_id) continue;
+
+
+
+
+    cv::circle(img_, cv::Point(int(tgts_.targets[i].cx * tgts_.width), int(tgts_.targets[i].cy * tgts_.height)), 4, cv::Scalar(0,255,0), 2);
+    if ((with_all || with_aruco) && tgts_.targets[i].has_aruco)
+    {
+      std::vector<cv::Point2f> a_corners;
+      int a_id;
+      if (((Target)tgts_.targets[i]).getAruco(a_id, a_corners))  { aruco_ids.push_back(a_id); aruco_corners.push_back(a_corners); }
+    }
+    if ((with_all || with_box) && tgts_.targets[i].has_box)
+    {
+      Box b;
+      ((Target)tgts_.targets[i]).getBox(b);
+      cv::rectangle(img_, cv::Rect(b.x1, b.y1, b.x2-b.x1+1, b.y2-b.y1+1), cv::Scalar(0,0,255), 1, 1, 0);
+      if ((with_all || with_category) && tgts_.targets[i].has_category)
+      {
+        cv::putText(img_, tgts_.targets[i].category, cv::Point(b.x1, b.y1-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
+      }
+      if ((with_all || with_tid) && tgts_.targets[i].has_tid)
+      {
+        char tmp[32];
+        sprintf(tmp, "TID: %d", tgts_.targets[i].tracked_id);
+        cv::putText(img_, tmp, cv::Point(b.x1, b.y1-14), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(0,0,255));
+      }
+    }
+    if ((with_all || with_ell) && tgts_.targets[i].has_ell)
+    {
+      double xc, yc, a, b, rad;
+      
+    }
+    if ((with_all || with_seg) && tgts_.targets[i].has_seg)
+    {
+
+      std::cout<<"here is mask "<<std::endl;
+      cv::Mat mask = ((Target)tgts_.targets[i]).getMask() * 255;
+      cv::threshold(mask, mask, 127, 255, cv::THRESH_BINARY);
+      mask.convertTo(mask, CV_8UC1);
+
+      cv::resize(mask, mask, cv::Size(1280,720));
+      std::vector<std::vector<cv::Point> > contours;
+      std::vector<cv::Vec4i> hierarchy;
+
+      cv::findContours(mask, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+      cv::Mat mask_disp = img_.clone();
+      cv::fillPoly(mask_disp, contours, cv::Scalar(255,255,255), cv::LINE_AA);
+      cv::polylines(img_, contours, true, cv::Scalar(255,255,255), 2, cv::LINE_AA);
+
+      double alpha = 0.6;
+      cv::addWeighted(img_, alpha, mask_disp, 1.0-alpha, 0, img_);
+    }
+    
+    if ((with_all || with_aruco) && aruco_ids.size() > 0)
+    {
+    cv::aruco::drawDetectedMarkers(img_, aruco_corners, aruco_ids);
+    }
+  }
+}
+
+
+int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY) {
+    std::set<std::pair<int, int>> distancesAndIDs; // 存储距离平方和对应的tracked_id
+    for (int i = 0; i < lastTgts.targets.size(); i++) {
+        int halfWidth = static_cast<int>((lastTgts.targets[i].w * lastTgts.width) / 2);
+        int halfHeight = static_cast<int>((lastTgts.targets[i].h * lastTgts.height) / 2);
+        int x = static_cast<int>(lastTgts.targets[i].cx * lastTgts.width);
+        int y = static_cast<int>(lastTgts.targets[i].cy * lastTgts.height);
+
+        int diffX = x - clickX;
+        int diffY = y - clickY;
+
+        if ((abs(diffX) < halfWidth) && (abs(diffY) < halfHeight)) {
+            int distanceSquared = diffX * diffX + diffY * diffY;
+            distancesAndIDs.insert({distanceSquared, lastTgts.targets[i].tracked_id});
+        }
+    }
+
+    if (!distancesAndIDs.empty()) {
+        // 返回距离最近的目标检测框的ID
+        return distancesAndIDs.begin()->second;
+    } else {
+        // 如果没有找到任何框，则返回-1
+        return -1;
+    }
+}
+
+
 std::string Target::getJsonStr()
 {
   std::string json_str = "{";
@@ -1349,6 +1471,4 @@ void VideoStreamerBase::releaseImpl()
 
 }
 
-
+}
-}
-