build done

CMakeLists.txt

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

include/sv_camera.h

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

include/sv_video_base.h

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

include/sv_video_input.h

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

samples/calib/calibrate_camera_charuco.cpp

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

samples/demo/aruco_detection.cpp

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

samples/demo/camera_reading.cpp

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

samples/demo/color_line_detect.cpp

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

samples/demo/common_object_detection.cpp

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

samples/demo/detection_with_clicked_tracking.cpp

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

samples/demo/ellipse_detection.cpp

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

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 #include <map>
+#include "sv_camera.h"
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
@@ -34,27 +35,6 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
-  // 实例化吊舱
-  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
-  // 使用 /dev/ttyUSB0 作为控制串口
-  gimbal->setSerialPort("/dev/ttyUSB0");
-  // 以GimableCallback作为状态回调函数启用吊舱控制
-  gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
-  cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
-
-  // 定义一个新的窗口，可在上面进行框选操作
-  cv::namedWindow(RGB_WINDOW);
-  // 设置窗口操作回调函数，该函数实现整个框选逻辑
-  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
@@ -63,6 +43,37 @@ int main(int argc, char *argv[])
   sv::CommonObjectDetector cod;
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
+  // 实例化吊舱
+  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
+  // 使用 /dev/ttyUSB0 作为控制串口
+  gimbal->setSerialPort("/dev/ttyUSB0");
+  // 以GimableCallback作为状态回调函数启用吊舱控制
+  gimbal->open(GimableCallback);
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
+
+  // 定义一个新的窗口，可在上面进行框选操作
+  cv::namedWindow(RGB_WINDOW);
+  // 设置窗口操作回调函数，该函数实现整个框选逻辑
+  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
+
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_landing_marker_detection.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 // #include "gimbal_tools.hpp"
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -34,31 +35,39 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 { 
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64", 554);
+  cap.setWH(lmd.image_width, lmd.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open(); // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 圆形降落标志 检测器类
-  sv::LandingMarkerDetector lmd;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -43,31 +44,40 @@ void onMouse(int event, int x, int y, int, void *);
 
 int main(int argc, char *argv[])
 {  
+  // 实例化Aruco检测器类
+  sv::ArucoDetector ad;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以gimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(gimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化Aruco检测器类
-  sv::ArucoDetector ad;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -11,11 +11,13 @@ int main(int argc, char *argv[]) {
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+   // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(lmd.image_width, lmd.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -15,11 +16,13 @@ int main(int argc, char *argv[]) {
   mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   mot.init(&cod);
   
-  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+   // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 // 定义窗口名称
@@ -32,11 +32,13 @@ int main(int argc, char *argv[]) {
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
   
-  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(sot.image_width, sot.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_sender.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -11,11 +11,12 @@ int main(int argc, char *argv[]) {
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
-  // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(640, 480);
-  cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(ad.image_width, ad.image_height);
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 struct node
@@ -25,11 +25,12 @@ int main(int argc, char *argv[])
   sv::CommonObjectDetector cod;
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
-  // cap.setWH(640, 480);
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_saving.cpp

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

samples/demo/video_streaming.cpp

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

samples/test/gimbal_test.cpp

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

video_io/driver/sv_camera_G1.cpp

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

video_io/driver/sv_camera_GX40.cpp

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

video_io/driver/sv_camera_MC1.cpp

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

video_io/driver/sv_camera_V4L2s.cpp

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

video_io/driver/sv_camera_file.cpp

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

video_io/driver/sv_camera_mipi.cpp

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

video_io/driver/sv_camera_streaming.cpp

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

video_io/sv_camera.cpp

@@ -0,0 +1,192 @@
+#include "sv_camera_privately.h"
+#include "sv_camera.h"
+#include "driver/sv_camera_G1.cpp"
+#include "driver/sv_camera_V4L2s.cpp"
+#include "driver/sv_camera_file.cpp"
+#include "driver/sv_camera_streaming.cpp"
+#include "driver/sv_camera_mipi.cpp"
+#include "driver/sv_camera_MC1.cpp"
+#include "driver/sv_camera_GX40.cpp"
+
+#include <map>
+#include <iterator>
+
+sv_p::CameraBase *cameraCreatEmpty(int timeOut)
+{
+  throw std::runtime_error("SpireCV (101) Camera not supported");
+  return nullptr;
+}
+
+typedef sv_p::CameraBase *(*cameraCreat)(int timeOut);
+static std::map<sv::CameraType, cameraCreat> svCameraList =
+    {
+        {sv::CameraType::NONE, sv_camera_NONE::creat},
+        {sv::CameraType::WEBCAM, sv_camera_WEBCAM::creat},
+        {sv::CameraType::V4L2CAM, sv_camera_V4L2::creat},
+        {sv::CameraType::VIDEOFILE, sv_camera_FILE::creat},
+        {sv::CameraType::STREAMING, sv_camera_Streaming::creat},
+        {sv::CameraType::MIPI, sv_camera_MIPI::creat},
+        {sv::CameraType::G1, sv_camera_G1::creat},
+        {sv::CameraType::Q10, sv_camera_Q10::creat},
+        {sv::CameraType::GX40, sv_camera_GX40::creat},
+        {sv::CameraType::MC1, sv_camera_MC1::creat},
+        {sv::CameraType::VIRTUAL, cameraCreatEmpty}};
+
+static sv_p::CameraBase *svCreatCamera(sv::CameraType type, int timeOut)
+{
+  std::map<sv::CameraType, cameraCreat>::iterator temp = svCameraList.find(type);
+  if (temp != svCameraList.end())
+  {
+    return temp->second(timeOut);
+  }
+  return nullptr;
+}
+
+sv::Camera::Camera(CameraType type, int timeOut)
+{
+  this->dev = svCreatCamera(type, timeOut);
+}
+
+sv::Camera::~Camera()
+{
+  // 休眠50ms 以便能退出线程
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  delete (sv_p::CameraBase *)dev;
+}
+
+sv_p::CameraBase::~CameraBase()
+{
+  pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+  readThreadHandle = readThreadHandle == 0 ? 0 : pthread_cancel(readThreadHandle);
+  release();
+}
+
+bool sv::Camera::setStream(const std::string &ip, int port)
+{
+  return ((sv_p::CameraBase *)dev)->setStream(ip, port);
+}
+
+bool sv::Camera::setName(const std::string &name)
+{
+  return ((sv_p::CameraBase *)dev)->setName(name);
+}
+
+bool sv::Camera::setIndex(int index)
+{
+  return ((sv_p::CameraBase *)dev)->setIndex(index);
+}
+
+bool sv::Camera::open(void)
+{
+  return ((sv_p::CameraBase *)dev)->open();
+}
+
+bool sv::Camera::read(cv::Mat &image)
+{
+  return ((sv_p::CameraBase *)dev)->read(image);
+}
+
+bool sv::Camera::readNoBlock(cv::Mat &image)
+{
+  return ((sv_p::CameraBase *)dev)->readNoBlock(image);
+}
+
+void sv::Camera::release(void)
+{
+  ((sv_p::CameraBase *)dev)->release();
+}
+
+void sv::Camera::setWH(int width, int height)
+{
+  ((sv_p::CameraBase *)dev)->setWH(width, height);
+}
+
+void sv::Camera::setFps(int fps)
+{
+  ((sv_p::CameraBase *)dev)->setFps(fps);
+}
+
+void sv::Camera::setBrightness(double brightness)
+{
+  ((sv_p::CameraBase *)dev)->setBrightness(brightness);
+}
+
+void sv::Camera::setContrast(double contrast)
+{
+  ((sv_p::CameraBase *)dev)->setContrast(contrast);
+}
+
+void sv::Camera::setSaturation(double saturation)
+{
+  ((sv_p::CameraBase *)dev)->setSaturation(saturation);
+}
+
+void sv::Camera::setHue(double hue)
+{
+  ((sv_p::CameraBase *)dev)->setHue(hue);
+}
+
+void sv::Camera::setExposure(double exposure)
+{
+  ((sv_p::CameraBase *)dev)->setExposure(exposure);
+}
+
+bool sv::Camera::isActive(void)
+{
+  return ((sv_p::CameraBase *)dev)->isActive();
+}
+
+sv::CameraType sv::Camera::getType(void)
+{
+  return ((sv_p::CameraBase *)dev)->getType();
+}
+
+std::string sv::Camera::getName(void)
+{
+  return ((sv_p::CameraBase *)dev)->getName();
+}
+
+int sv::Camera::getW(void)
+{
+  return ((sv_p::CameraBase *)dev)->getW();
+}
+
+int sv::Camera::getH(void)
+{
+  return ((sv_p::CameraBase *)dev)->getH();
+}
+
+int sv::Camera::getExpectFps(void)
+{
+  return ((sv_p::CameraBase *)dev)->getExpectFps();
+}
+
+double sv::Camera::getFps(void)
+{
+  return ((sv_p::CameraBase *)dev)->getFps();
+}
+
+double sv::Camera::getBrightness(void)
+{
+  return ((sv_p::CameraBase *)dev)->getBrightness();
+}
+
+double sv::Camera::getContrast(void)
+{
+  return ((sv_p::CameraBase *)dev)->getContrast();
+}
+
+double sv::Camera::getSaturation(void)
+{
+  return ((sv_p::CameraBase *)dev)->getSaturation();
+}
+
+double sv::Camera::getHue(void)
+{
+  return ((sv_p::CameraBase *)dev)->getHue();
+}
+
+double sv::Camera::getExposure(void)
+{
+  return ((sv_p::CameraBase *)dev)->getExposure();
+}

video_io/sv_camera_def.cpp

@@ -0,0 +1,138 @@
+#include "sv_camera_privately.h"
+#include "iostream"
+
+sv_p::CameraBase::CameraBase(int timeOut)
+{
+  this->_timeOut = timeOut;
+}
+
+void sv_p::CameraBase::readThread(void)
+{
+  int count = 0;
+
+  while (this->cap.isOpened())
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    if (this->cap.grab())
+    {
+      std::lock_guard<std::mutex> locker(this->frameMutex);
+      this->cap.retrieve(this->imageBuff);
+      this->frameEmpty.notify_all();
+      isGot = true;
+
+      // 统计输入的瞬时帧率
+      this->fpsCurr = 1000.0f / count;
+      count = 0;
+    }
+    else
+    {
+      count++;
+      if (count > this->_timeOut)
+      {
+        // 超时则主动关闭相机
+        this->cap.release();
+      }
+    }
+  }
+  // 相机断开连接 记录事件后 退出线程
+  std::cout << "SpireCV (101) Camera has offline, check CAMERA!" << std::endl;
+}
+
+bool sv_p::CameraBase::read(cv::Mat &image)
+{
+  bool ret = false;
+  std::lock_guard<std::mutex> locker(this->frameMutex);
+  if (this->frameEmpty.wait_for(this->frameMutex, std::chrono::milliseconds(this->_timeOut)) == std::cv_status::no_timeout)
+  {
+    // 获取图像
+    this->imageBuff.copyTo(image);
+    ret = true;
+    isGot = false;
+  }
+  return ret;
+}
+
+bool sv_p::CameraBase::readNoBlock(cv::Mat &image)
+{
+  bool ret = false;
+  std::lock_guard<std::mutex> locker(this->frameMutex);
+  if (this->isGot)
+  {
+    // 该情况下read()不会阻塞
+    ret = this->read(image);
+  }
+  return ret;
+}
+
+#define PARAM_SET_CHECK(param, value) param = (value > 0 ? value : param)
+
+void sv_p::CameraBase::setWH(int width, int height)
+{
+  if (!this->cap.isOpened())
+  {
+    PARAM_SET_CHECK(this->_width, width);
+    PARAM_SET_CHECK(this->_height, height);
+  }
+}
+
+void sv_p::CameraBase::setFps(int fps)
+{
+  PARAM_SET_CHECK(this->_fps, fps);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_FPS, fps);
+  }
+}
+
+void sv_p::CameraBase::setBrightness(float brightness)
+{
+  PARAM_SET_CHECK(this->_brightness, brightness);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_BRIGHTNESS, brightness);
+  }
+}
+
+void sv_p::CameraBase::setContrast(float contrast)
+{
+  PARAM_SET_CHECK(this->_contrast, contrast);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_CONTRAST, contrast);
+  }
+}
+
+void sv_p::CameraBase::setSaturation(float saturation)
+{
+  PARAM_SET_CHECK(this->_saturation, saturation);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_SATURATION, saturation);
+  }
+}
+
+void sv_p::CameraBase::setHue(float hue)
+{
+  PARAM_SET_CHECK(this->_hue, hue);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_HUE, hue);
+  }
+}
+
+void sv_p::CameraBase::setExposure(float exposure)
+{
+  PARAM_SET_CHECK(this->_exposure, exposure);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_EXPOSURE, exposure);
+  }
+}
+
+void sv_p::CameraBase::release(void)
+{
+  if (this->cap.isOpened())
+  {
+    this->cap.release();
+  }
+}

video_io/sv_camera_privately.h

@@ -0,0 +1,83 @@
+#ifndef __SV_CAMERA_PRIVATELY__
+#define __SV_CAMERA_PRIVATELY__
+
+#include "opencv2/opencv.hpp"
+#include <stdint.h>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include "sv_camera.h"
+
+namespace sv_p 
+{
+
+class CameraBase
+{
+public:
+  // 图像的属性
+  int _width = 1280;
+  int _height = 720;
+  int _fps = 30;
+
+  float _brightness = -1;
+  float _contrast = -1;
+  float _saturation = -1;
+  float _hue = -1;
+  float _exposure = -1;
+
+  int _timeOut;
+  
+  // 内部状态
+  float fpsCurr = -1;
+  bool isGot = false;
+
+  // 内部变量
+  cv::Mat imageBuff;
+  std::mutex frameMutex;
+  std::condition_variable_any frameEmpty;
+  std::thread::native_handle_type readThreadHandle = 0;
+  cv::VideoCapture cap;
+  // 获取图像的线程 在这个线程中查询、提取图像
+  virtual void readThread(void);
+  // 属性设置的接口
+  virtual void setWH(int width, int height);
+  // 基本属性 至少实现1个
+  virtual bool setStream(const std::string &ip, uint16_t port) { return false; }
+  virtual bool setName(const std::string &name) { return false; }
+  virtual bool setIndex(int index) { return false; }
+
+  // 扩展属性设置 默认调用opencv的实现
+  virtual void setFps(int fps);
+  virtual void setBrightness(float brightness);
+  virtual void setContrast(float contrast);
+  virtual void setSaturation(float saturation);
+  virtual void setHue(float hue);
+  virtual void setExposure(float exposure);
+
+  // 属性获取的接口
+  virtual sv::CameraType getType(void) { return sv::CameraType::NONE; }
+  virtual std::string getName(void) { return "\0"; };
+
+  virtual bool isActive(void) { return (readThreadHandle == 0 ? false : true); }
+  int getW(void) { return _width; }
+  int getH(void) { return _height; }
+  int getExpectFps(void) { return _fps; }
+  float getFps(void) { return fpsCurr; }
+  float getBrightness(void) { return _brightness; }
+  float getContrast(void) { return _contrast; }
+  float getSaturation(void) { return _saturation; }
+  float getHue(void) { return _hue; }
+  float getExposure(void) { return _exposure; }
+
+  // 功能接口函数
+  virtual bool open(void) = 0;
+  virtual bool read(cv::Mat &image);
+  virtual bool readNoBlock(cv::Mat &image);
+  virtual void release(void);
+
+  CameraBase(int timeOut = 500);
+  ~CameraBase();
+};
+
+}
+#endif

video_io/sv_video_base.cpp

@@ -969,172 +969,172 @@ void VideoWriterBase::releaseImpl()
 }
 
 
-CameraBase::CameraBase(CameraType type, int id)
-{
-  this->_is_running = false;
-  this->_is_updated = false;
-  this->_type = type;
+// CameraBase::CameraBase(CameraType type, int id)
+// {
+//   this->_is_running = false;
+//   this->_is_updated = false;
+//   this->_type = type;
   
-  this->_width = -1;
-  this->_height = -1;
-  this->_fps = -1;
-  this->_ip = "192.168.2.64";
-  this->_port = -1;
-  this->_brightness = -1;
-  this->_contrast = -1;
-  this->_saturation = -1;
-  this->_hue = -1;
-  this->_exposure = -1;
+//   this->_width = -1;
+//   this->_height = -1;
+//   this->_fps = -1;
+//   this->_ip = "192.168.2.64";
+//   this->_port = -1;
+//   this->_brightness = -1;
+//   this->_contrast = -1;
+//   this->_saturation = -1;
+//   this->_hue = -1;
+//   this->_exposure = -1;
 
-  this->open(type, id);
-}
-CameraBase::~CameraBase()
-{
-  this->_is_running = false;
-  // this->_tt.join();
-}
-void CameraBase::setWH(int width, int height)
-{
-  this->_width = width;
-  this->_height = height;
-}
-void CameraBase::setFps(int fps)
-{
-  this->_fps = fps;
-}
-void CameraBase::setIp(std::string ip)
-{
-  this->_ip = ip;
-}
-void CameraBase::setPort(int port)
-{
-  this->_port = port;
-}
-void CameraBase::setBrightness(double brightness)
-{
-  this->_brightness = brightness;
-}
-void CameraBase::setContrast(double contrast)
-{
-  this->_contrast = contrast;
-}
-void CameraBase::setSaturation(double saturation)
-{
-  this->_saturation = saturation;
-}
-void CameraBase::setHue(double hue)
-{
-  this->_hue = hue;
-}
-void CameraBase::setExposure(double exposure)
-{
-  this->_exposure = exposure;
-}
+//   this->open(type, id);
+// }
+// CameraBase::~CameraBase()
+// {
+//   this->_is_running = false;
+//   // this->_tt.join();
+// }
+// void CameraBase::setWH(int width, int height)
+// {
+//   this->_width = width;
+//   this->_height = height;
+// }
+// void CameraBase::setFps(int fps)
+// {
+//   this->_fps = fps;
+// }
+// void CameraBase::setIp(std::string ip)
+// {
+//   this->_ip = ip;
+// }
+// void CameraBase::setPort(int port)
+// {
+//   this->_port = port;
+// }
+// void CameraBase::setBrightness(double brightness)
+// {
+//   this->_brightness = brightness;
+// }
+// void CameraBase::setContrast(double contrast)
+// {
+//   this->_contrast = contrast;
+// }
+// void CameraBase::setSaturation(double saturation)
+// {
+//   this->_saturation = saturation;
+// }
+// void CameraBase::setHue(double hue)
+// {
+//   this->_hue = hue;
+// }
+// void CameraBase::setExposure(double exposure)
+// {
+//   this->_exposure = exposure;
+// }
 
-int CameraBase::getW()
-{
-  return this->_width;
-}
-int CameraBase::getH()
-{
-  return this->_height;
-}
-int CameraBase::getFps()
-{
-  return this->_fps;
-}
-std::string CameraBase::getIp()
-{
-  return this->_ip;
-}
-int CameraBase::getPort()
-{
-  return this->_port;
-}
-double CameraBase::getBrightness()
-{
-  return this->_brightness;
-}
-double CameraBase::getContrast()
-{
-  return this->_contrast;
-}
-double CameraBase::getSaturation()
-{
-  return this->_saturation;
-}
-double CameraBase::getHue()
-{
-  return this->_hue;
-}
-double CameraBase::getExposure()
-{
-  return this->_exposure;
-}
-bool CameraBase::isRunning()
-{
-  return this->_is_running;
-}
+// int CameraBase::getW()
+// {
+//   return this->_width;
+// }
+// int CameraBase::getH()
+// {
+//   return this->_height;
+// }
+// int CameraBase::getFps()
+// {
+//   return this->_fps;
+// }
+// std::string CameraBase::getIp()
+// {
+//   return this->_ip;
+// }
+// int CameraBase::getPort()
+// {
+//   return this->_port;
+// }
+// double CameraBase::getBrightness()
+// {
+//   return this->_brightness;
+// }
+// double CameraBase::getContrast()
+// {
+//   return this->_contrast;
+// }
+// double CameraBase::getSaturation()
+// {
+//   return this->_saturation;
+// }
+// double CameraBase::getHue()
+// {
+//   return this->_hue;
+// }
+// double CameraBase::getExposure()
+// {
+//   return this->_exposure;
+// }
+// bool CameraBase::isRunning()
+// {
+//   return this->_is_running;
+// }
 
-void CameraBase::openImpl()
-{
+// void CameraBase::openImpl()
+// {
 
-}
-void CameraBase::open(CameraType type, int id)
-{
-  this->_type = type;
-  this->_camera_id = id;
+// }
+// void CameraBase::open(CameraType type, int id)
+// {
+//   this->_type = type;
+//   this->_camera_id = id;
 
-  openImpl();
+//   openImpl();
 
-  if (this->_cap.isOpened())
-  {
-    std::cout << "Camera opened!" << std::endl;
-    this->_is_running = true;
-    this->_tt = std::thread(&CameraBase::_run, this);
-    this->_tt.detach();
-  }
-  else if (type != CameraType::NONE)
-  {
-    std::cout << "Camera can NOT open!" << std::endl;
-  }
-}
-void CameraBase::_run()
-{
-  while (this->_is_running && this->_cap.isOpened())
-  {
-    this->_cap >> this->_frame;
-    this->_is_updated = true;
-    std::this_thread::sleep_for(std::chrono::milliseconds(2));
-  }
-}
-bool CameraBase::read(cv::Mat& image)
-{
-  if (this->_type != CameraType::NONE)
-  {
-    int n_try = 0;
-    while (n_try < 5000)
-    {
-      if (this->_is_updated)
-      {
-        this->_is_updated = false;
-        this->_frame.copyTo(image);
-        break;
-      }
-      std::this_thread::sleep_for(std::chrono::milliseconds(20));
-      n_try ++;
-    }
-  }
-  if (image.cols == 0 || image.rows == 0)
-  {
-    throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
-  }
-  return image.cols > 0 && image.rows > 0;
-}
-void CameraBase::release()
-{
-  _cap.release();
-}
+//   if (this->_cap.isOpened())
+//   {
+//     std::cout << "Camera opened!" << std::endl;
+//     this->_is_running = true;
+//     this->_tt = std::thread(&CameraBase::_run, this);
+//     this->_tt.detach();
+//   }
+//   else if (type != CameraType::NONE)
+//   {
+//     std::cout << "Camera can NOT open!" << std::endl;
+//   }
+// }
+// void CameraBase::_run()
+// {
+//   while (this->_is_running && this->_cap.isOpened())
+//   {
+//     this->_cap >> this->_frame;
+//     this->_is_updated = true;
+//     std::this_thread::sleep_for(std::chrono::milliseconds(2));
+//   }
+// }
+// bool CameraBase::read(cv::Mat& image)
+// {
+//   if (this->_type != CameraType::NONE)
+//   {
+//     int n_try = 0;
+//     while (n_try < 5000)
+//     {
+//       if (this->_is_updated)
+//       {
+//         this->_is_updated = false;
+//         this->_frame.copyTo(image);
+//         break;
+//       }
+//       std::this_thread::sleep_for(std::chrono::milliseconds(20));
+//       n_try ++;
+//     }
+//   }
+//   if (image.cols == 0 || image.rows == 0)
+//   {
+//     throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
+//   }
+//   return image.cols > 0 && image.rows > 0;
+// }
+// void CameraBase::release()
+// {
+//   _cap.release();
+// }
 
 
 

video_io/sv_video_input.cpp

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