build done

.gitignore

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

CMakeLists.txt

@@ -24,7 +24,6 @@ else()
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   elseif(PLATFORM STREQUAL "X86_INTEL")
     add_definitions(-DPLATFORM_X86_INTEL)
-    option(USE_INTEL "BUILD WITH INTEL." ON)
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   else()
     message(FATAL_ERROR "UNSUPPORTED PLATFORM!")
@@ -39,10 +38,6 @@ if(USE_CUDA)
   message(STATUS "CUDA: ON")
 endif()
 
-if(USE_INTEL)
-  add_definitions(-DWITH_INTEL)
-  message(STATUS "INTEL: ON")
-endif()
 
 if(USE_GSTREAMER)
   add_definitions(-DWITH_GSTREAMER)
@@ -77,9 +72,6 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
@@ -127,7 +119,8 @@ set(
   include/sv_mot.h
   include/sv_color_line.h
   include/sv_veri_det.h
-  include/sv_video_input.h
+  # include/sv_video_input.h
+  include/sv_camera.h
   include/sv_video_output.h
   include/sv_world.h
 )
@@ -195,23 +188,7 @@ if(USE_CUDA)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
 
-if(USE_INTEL)
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel/*.cpp)
-  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-endif()
-
 if(USE_FFMPEG)
-  if(USE_INTEL)
-    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_intel/*.cpp)
-    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  elseif(USE_CUDA)
-    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_cuda/*.cpp)
-    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
-  endif()
   file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/*.cpp)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
@@ -255,22 +232,10 @@ if(USE_CUDA)  # PLATFORM_X86_CUDA & PLATFORM_JETSON
   target_link_libraries(SpireCVSeg sv_world)
 
 elseif(PLATFORM STREQUAL "X86_INTEL")  # Links to Intel-OpenVINO libraries here
-  # Intel-Openvino
-  include_directories(
-    PUBLIC /opt/intel/openvino_2022/runtime/include/
-    PUBLIC /opt/intel/openvino_2022/runtime/include/ie/
-  )
-  link_directories(
-    ${InferenceEngine_LIBRARIES}
-    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
-  )
-  
   add_library(sv_world SHARED ${spirecv_SRCS})
   target_link_libraries(
     sv_world ${OpenCV_LIBS} 
     sv_gimbal
-    ${InferenceEngine_LIBRARIES}
-    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
   )
 endif()
 

README.en.md

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

README.md

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

algorithm/common_det/cuda/common_det_cuda_impl.cpp

@@ -1,7 +1,6 @@
 #include "common_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
-#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -365,43 +364,15 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   double thrs_nms = base_->getThrsNms();
 
   std::string engine_fn = get_home() + SV_MODEL_DIR + dataset + ".engine";
-  std::vector<std::string> files;
-  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s-");
-  if (files.size() > 0)
-  {
-    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-    engine_fn = get_home() + SV_MODEL_DIR + files[0];
-  }
-
   if (input_w == 1280)
   {
-    files.clear();
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s6-");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      engine_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-    else
-    {
-      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
-    }
+    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
   }
   if (with_segmentation)
   {
     base_->setInputH(640);
     base_->setInputW(640);
-    files.clear();
-    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s-seg-");
-    if (files.size() > 0)
-    {
-      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
-      engine_fn = get_home() + SV_MODEL_DIR + files[0];
-    }
-    else
-    {
-      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
-    }
+    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
   }
   std::cout << "Load: " << engine_fn << std::endl;
   if (!is_file_exist(engine_fn))

algorithm/common_det/intel/common_det_intel_impl.cpp

@@ -1,449 +0,0 @@
-#include "common_det_intel_impl.h"
-#include <cmath>
-#include <fstream>
-
-#define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
-
-namespace sv
-{
-
-#ifdef WITH_INTEL
-  using namespace cv;
-  using namespace std;
-  using namespace dnn;
-#endif
-
-  float sigmoid_function(float a)
-  {
-    float b = 1. / (1. + exp(-a));
-    return b;
-  }
-
-  cv::Mat letterbox(cv::Mat &img_, std::vector<float> &paddings)
-  {
-    std::vector<int> new_shape = {640, 640};
-
-    // Get current image shape [height, width]
-    int img_h = img_.rows;
-    int img_w = img_.cols;
-
-    // Compute scale ratio(new / old) and target resized shape
-    float scale = std::min(new_shape[1] * 1.0 / img_h, new_shape[0] * 1.0 / img_w);
-    int resize_h = int(round(img_h * scale));
-    int resize_w = int(round(img_w * scale));
-    paddings[0] = scale;
-
-    // Compute padding
-    int pad_h = new_shape[1] - resize_h;
-    int pad_w = new_shape[0] - resize_w;
-
-    // Resize and pad image while meeting stride-multiple constraints
-    cv::Mat resized_img;
-    cv::resize(img_, resized_img, cv::Size(resize_w, resize_h));
-
-    // divide padding into 2 sides
-    float half_h = pad_h * 1.0 / 2;
-    float half_w = pad_w * 1.0 / 2;
-    paddings[1] = half_h;
-    paddings[2] = half_w;
-
-    // Compute padding boarder
-    int top = int(round(half_h - 0.1));
-    int bottom = int(round(half_h + 0.1));
-    int left = int(round(half_w - 0.1));
-    int right = int(round(half_w + 0.1));
-
-    // Add border
-    cv::copyMakeBorder(resized_img, resized_img, top, bottom, left, right, 0, cv::Scalar(114, 114, 114));
-
-    return resized_img;
-  }
-
-  CommonObjectDetectorIntelImpl::CommonObjectDetectorIntelImpl()
-  {
-  }
-
-  CommonObjectDetectorIntelImpl::~CommonObjectDetectorIntelImpl()
-  {
-  }
-
-  void CommonObjectDetectorIntelImpl::intelDetect(
-      CommonObjectDetectorBase *base_,
-      cv::Mat img_,
-      std::vector<float> &boxes_x_,
-      std::vector<float> &boxes_y_,
-      std::vector<float> &boxes_w_,
-      std::vector<float> &boxes_h_,
-      std::vector<int> &boxes_label_,
-      std::vector<float> &boxes_score_,
-      std::vector<cv::Mat> &boxes_seg_,
-      bool input_4k_)
-  {
-#ifdef WITH_INTEL
-    int input_h = base_->getInputH();
-    int input_w = base_->getInputW();
-    bool with_segmentation = base_->withSegmentation();
-    double thrs_conf = base_->getThrsConf();
-    double thrs_nms = base_->getThrsNms();
-
-    if (with_segmentation)
-    {
-      std::vector<float> paddings(3); // scale, half_h, half_w
-      this->preprocess_img_seg(img_, paddings);
-
-      infer_request.start_async();
-      infer_request.wait();
-
-      // Postprocess
-      this->postprocess_img_seg(img_, paddings, boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, boxes_seg_, thrs_conf, thrs_nms);
-    }
-    else
-    {
-      // Preprocess
-      this->preprocess_img(img_);
-
-      // Run inference
-      infer_request.start_async();
-      infer_request.wait();
-
-      // Postprocess
-      this->postprocess_img(boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, thrs_conf, thrs_nms);
-    }
-
-#endif
-  }
-
-  bool CommonObjectDetectorIntelImpl::intelSetup(CommonObjectDetectorBase *base_, bool input_4k_)
-  {
-#ifdef WITH_INTEL
-    ov::Core core;
-    std::string dataset = base_->getDataset();
-    double thrs_conf = base_->getThrsConf();
-    double thrs_nms = base_->getThrsNms();
-    inpHeight = base_->getInputH();
-    inpWidth = base_->getInputW();
-    with_segmentation = base_->withSegmentation();
-
-    std::string openvino_fn = get_home() + SV_MODEL_DIR + dataset + ".onnx";
-    if (inpWidth == 1280)
-    {
-      openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.onnx";
-    }
-    if (with_segmentation)
-    {
-      base_->setInputH(640);
-      base_->setInputW(640);
-      openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.onnx";
-    }
-    std::cout << "Load: " << openvino_fn << std::endl;
-    if (!is_file_exist(openvino_fn))
-    {
-      throw std::runtime_error("SpireCV (104) Error loading the CommonObject OpenVINO model (File Not Exist)");
-    }
-
-    if (input_4k_ && with_segmentation)
-    {
-      throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
-    }
-
-    if (with_segmentation)
-    {
-      this->compiled_model = core.compile_model(openvino_fn, "GPU");
-      this->infer_request = compiled_model.create_infer_request();
-    }
-    else
-    {
-      std::shared_ptr<ov::Model> model_ = core.read_model(openvino_fn);
-      ov::preprocess::PrePostProcessor Pre_P = ov::preprocess::PrePostProcessor(model_);
-      Pre_P.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
-      Pre_P.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
-      Pre_P.input().model().set_layout("NCHW");
-      Pre_P.output().tensor().set_element_type(ov::element::f32);
-      model_ = Pre_P.build();
-      this->compiled_model = core.compile_model(model_, "GPU");
-      this->infer_request = compiled_model.create_infer_request();
-    }
-    return true;
-#endif
-    return false;
-  }
-
-  void CommonObjectDetectorIntelImpl::preprocess_img(cv::Mat &img_)
-  {
-#ifdef WITH_INTEL
-    float width = img_.cols;
-    float height = img_.rows;
-    cv::Size new_shape = cv::Size(inpHeight, inpWidth);
-    float r = float(new_shape.width / max(width, height));
-    int new_unpadW = int(round(width * r));
-    int new_unpadH = int(round(height * r));
-
-    cv::resize(img_, resize.resized_image, cv::Size(new_unpadW, new_unpadH), 0, 0, cv::INTER_AREA);
-    resize.resized_image = resize.resized_image;
-    resize.dw = new_shape.width - new_unpadW;
-    resize.dh = new_shape.height - new_unpadH;
-    cv::Scalar color = cv::Scalar(100, 100, 100);
-    cv::copyMakeBorder(resize.resized_image, resize.resized_image, 0, resize.dh, 0, resize.dw, cv::BORDER_CONSTANT, color);
-
-    this->rx = (float)img_.cols / (float)(resize.resized_image.cols - resize.dw);
-    this->ry = (float)img_.rows / (float)(resize.resized_image.rows - resize.dh);
-    if (with_segmentation)
-    {
-      cv::Mat blob = cv::dnn::blobFromImage(resize.resized_image, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
-      auto input_port = compiled_model.input();
-      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
-      infer_request.set_input_tensor(input_tensor);
-    }
-    else
-    {
-      float *input_data = (float *)resize.resized_image.data;
-      input_tensor = ov::Tensor(compiled_model.input().get_element_type(), compiled_model.input().get_shape(), input_data);
-      infer_request.set_input_tensor(input_tensor);
-    }
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::preprocess_img_seg(cv::Mat &img_, std::vector<float> &paddings)
-  {
-#ifdef WITH_INTEL
-    cv::Mat masked_img;
-    cv::Mat resized_img = letterbox(img_, paddings); // resize to (640,640) by letterbox
-    // BGR->RGB, u8(0-255)->f32(0.0-1.0), HWC->NCHW
-    cv::Mat blob = cv::dnn::blobFromImage(resized_img, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
-
-    // Get input port for model with one input
-    auto input_port = compiled_model.input();
-    // Create tensor from external memory
-    ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
-    // Set input tensor for model with one input
-    infer_request.set_input_tensor(input_tensor);
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::postprocess_img_seg(cv::Mat &img_,
-                                                          std::vector<float> &paddings,
-                                                          std::vector<float> &boxes_x_,
-                                                          std::vector<float> &boxes_y_,
-                                                          std::vector<float> &boxes_w_,
-                                                          std::vector<float> &boxes_h_,
-                                                          std::vector<int> &boxes_label_,
-                                                          std::vector<float> &boxes_score_,
-                                                          std::vector<cv::Mat> &boxes_seg_,
-                                                          double &thrs_conf,
-                                                          double &thrs_nms)
-  {
-#ifdef WITH_INTEL
-    const ov::Tensor &detect = infer_request.get_output_tensor(0);
-    ov::Shape detect_shape = detect.get_shape();
-    const ov::Tensor &proto = infer_request.get_output_tensor(1);
-    ov::Shape proto_shape = proto.get_shape();
-
-    cv::Mat detect_buffer(detect_shape[1], detect_shape[2], CV_32F, detect.data());
-    cv::Mat proto_buffer(proto_shape[1], proto_shape[2] * proto_shape[3], CV_32F, proto.data());
-
-    cv::RNG rng;
-    float conf_threshold = thrs_conf;
-    float nms_threshold = thrs_nms;
-    std::vector<cv::Rect> boxes;
-    std::vector<int> class_ids;
-    std::vector<float> class_scores;
-    std::vector<float> confidences;
-    std::vector<cv::Mat> masks;
-
-    float scale = paddings[0];
-    for (int i = 0; i < detect_buffer.rows; i++)
-    {
-      float confidence = detect_buffer.at<float>(i, 4);
-      if (confidence < conf_threshold)
-      {
-        continue;
-      }
-      cv::Mat classes_scores = detect_buffer.row(i).colRange(5, 85);
-      cv::Point class_id;
-      double score;
-      cv::minMaxLoc(classes_scores, NULL, &score, NULL, &class_id);
-
-      // class score: 0~1
-      if (score > 0.25)
-      {
-        cv::Mat mask = detect_buffer.row(i).colRange(85, 117);
-        float cx = detect_buffer.at<float>(i, 0);
-        float cy = detect_buffer.at<float>(i, 1);
-        float w = detect_buffer.at<float>(i, 2);
-        float h = detect_buffer.at<float>(i, 3);
-        int left = static_cast<int>((cx - 0.5 * w - paddings[2]) / scale);
-        int top = static_cast<int>((cy - 0.5 * h - paddings[1]) / scale);
-        int width = static_cast<int>(w / scale);
-        int height = static_cast<int>(h / scale);
-        cv::Rect box;
-        box.x = left;
-        box.y = top;
-        box.width = width;
-        box.height = height;
-
-        boxes.push_back(box);
-        class_ids.push_back(class_id.x);
-        class_scores.push_back(score);
-        confidences.push_back(confidence);
-        masks.push_back(mask);
-      }
-    }
-
-    // NMS
-    std::vector<int> indices;
-    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, indices);
-    // cv::Mat rgb_mask;
-    cv::Mat rgb_mask = cv::Mat::zeros(img_.size(), img_.type());
-
-    for (size_t i = 0; i < indices.size(); i++)
-    {
-      int index = indices[i];
-      int class_id = class_ids[index];
-      cv::Rect box = boxes[index];
-      int x1 = std::max(0, box.x);
-      int y1 = std::max(0, box.y);
-      int x2 = std::max(0, box.br().x);
-      int y2 = std::max(0, box.br().y);
-
-      cv::Mat m = masks[index] * proto_buffer;
-      for (int col = 0; col < m.cols; col++)
-      {
-        m.at<float>(0, col) = sigmoid_function(m.at<float>(0, col));
-      }
-      cv::Mat m1 = m.reshape(1, 160); // 1x25600 -> 160x160
-      int mx1 = std::max(0, int((x1 * scale + paddings[2]) * 0.25));
-      int mx2 = std::max(0, int((x2 * scale + paddings[2]) * 0.25));
-      int my1 = std::max(0, int((y1 * scale + paddings[1]) * 0.25));
-      int my2 = std::max(0, int((y2 * scale + paddings[1]) * 0.25));
-      cv::Mat mask_roi = m1(cv::Range(my1, my2), cv::Range(mx1, mx2));
-
-      cv::Mat rm, det_mask;
-      cv::resize(mask_roi, rm, cv::Size(x2 - x1, y2 - y1));
-      for (int r = 0; r < rm.rows; r++)
-      {
-        for (int c = 0; c < rm.cols; c++)
-        {
-          float pv = rm.at<float>(r, c);
-          if (pv > 0.5)
-          {
-            rm.at<float>(r, c) = 1.0;
-          }
-          else
-          {
-            rm.at<float>(r, c) = 0.0;
-          }
-        }
-      }
-
-      rm = rm * rng.uniform(0, 255);
-      rm.convertTo(det_mask, CV_8UC1);
-      if ((y1 + det_mask.rows) >= img_.rows)
-      {
-        y2 = img_.rows - 1;
-      }
-      if ((x1 + det_mask.cols) >= img_.cols)
-      {
-        x2 = img_.cols - 1;
-      }
-
-      cv::Mat mask = cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC1);
-      det_mask(cv::Range(0, y2 - y1), cv::Range(0, x2 - x1)).copyTo(mask(cv::Range(y1, y2), cv::Range(x1, x2)));
-      add(rgb_mask, cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255)), rgb_mask, mask);
-
-      boxes_x_.push_back(box.x);
-      boxes_y_.push_back(box.y);
-      boxes_w_.push_back(box.width);
-      boxes_h_.push_back(box.height);
-
-      boxes_label_.push_back((int)class_id);
-      boxes_score_.push_back(class_scores[index]);
-
-      cv::Mat mask_j = mask.clone();
-      boxes_seg_.push_back(mask_j);
-    }
-
-#endif
-  }
-
-  void CommonObjectDetectorIntelImpl::postprocess_img(std::vector<float> &boxes_x_,
-                                                      std::vector<float> &boxes_y_,
-                                                      std::vector<float> &boxes_w_,
-                                                      std::vector<float> &boxes_h_,
-                                                      std::vector<int> &boxes_label_,
-                                                      std::vector<float> &boxes_score_,
-                                                      double &thrs_conf,
-                                                      double &thrs_nms)
-  {
-#ifdef WITH_INTEL
-    const ov::Tensor &output_tensor = infer_request.get_output_tensor();
-    ov::Shape output_shape = output_tensor.get_shape();
-    float *detections = output_tensor.data<float>();
-
-    std::vector<cv::Rect> boxes;
-    vector<int> class_ids;
-    vector<float> confidences;
-    for (int i = 0; i < output_shape[1]; i++)
-    {
-      float *detection = &detections[i * output_shape[2]];
-
-      float confidence = detection[4];
-      if (confidence >= thrs_conf)
-      {
-        float *classes_scores = &detection[5];
-        cv::Mat scores(1, output_shape[2] - 5, CV_32FC1, classes_scores);
-        cv::Point class_id;
-        double max_class_score;
-        cv::minMaxLoc(scores, 0, &max_class_score, 0, &class_id);
-        if (max_class_score > thrs_conf)
-        {
-          confidences.push_back(confidence);
-          class_ids.push_back(class_id.x);
-          float x = detection[0];
-          float y = detection[1];
-          float w = detection[2];
-          float h = detection[3];
-          float xmin = x - (w / 2);
-          float ymin = y - (h / 2);
-
-          boxes.push_back(cv::Rect(xmin, ymin, w, h));
-        }
-      }
-    }
-
-    std::vector<int> nms_result;
-    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, nms_result);
-
-    std::vector<Detection> output;
-    for (int i = 0; i < nms_result.size(); i++)
-    {
-      Detection result;
-      int idx = nms_result[i];
-      result.class_id = class_ids[idx];
-      result.confidence = confidences[idx];
-      result.box = boxes[idx];
-      output.push_back(result);
-    }
-
-    for (int i = 0; i < output.size(); i++)
-    {
-      auto detection = output[i];
-      auto box = detection.box;
-      auto classId = detection.class_id;
-      auto confidence = detection.confidence;
-
-      float xmax = box.x + box.width;
-      float ymax = box.y + box.height;
-
-      boxes_x_.push_back(this->rx * box.x);
-      boxes_y_.push_back(this->ry * box.y);
-      boxes_w_.push_back(this->rx * box.width);
-      boxes_h_.push_back(this->ry * box.height);
-
-      boxes_label_.push_back((int)detection.class_id);
-      boxes_score_.push_back(detection.confidence);
-    }
-#endif
-  }
-
-}

algorithm/common_det/intel/common_det_intel_impl.h

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

algorithm/common_det/sv_common_det.cpp

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

algorithm/landing_det/cuda/landing_det_cuda_impl.cpp

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

algorithm/landing_det/intel/landing_det_intel_impl.cpp

@@ -1,95 +0,0 @@
-#include "landing_det_intel_impl.h"
-#include <cmath>
-#include <fstream>
-
-#define SV_MODEL_DIR "/SpireCV/models/"
-#define SV_ROOT_DIR "/SpireCV/"
-
-namespace sv
-{
-
-#ifdef WITH_INTEL
-  using namespace cv;
-  using namespace std;
-  using namespace dnn;
-#endif
-
-  LandingMarkerDetectorIntelImpl::LandingMarkerDetectorIntelImpl()
-  {
-  }
-
-  LandingMarkerDetectorIntelImpl::~LandingMarkerDetectorIntelImpl()
-  {
-  }
-
-  bool LandingMarkerDetectorIntelImpl::intelSetup()
-  {
-#ifdef WITH_INTEL
-    std::string onnx_model_fn = get_home() + SV_MODEL_DIR + "LandingMarker.onnx";
-    if (!is_file_exist(onnx_model_fn))
-    {
-      throw std::runtime_error("SpireCV (104) Error loading the LandingMarker ONNX model (File Not Exist)");
-    }
-
-    // OpenVINO
-    ov::Core core;
-    std::shared_ptr<ov::Model> model = core.read_model(onnx_model_fn);
-    ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model);
-    ppp.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
-    ppp.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
-    ppp.input().model().set_layout("NCHW");
-    ppp.output().tensor().set_element_type(ov::element::f32);
-    model = ppp.build();
-    this->compiled_model = core.compile_model(model, "GPU");
-    this->infer_request = compiled_model.create_infer_request();
-
-    return true;
-#endif
-    return false;
-  }
-
-  void LandingMarkerDetectorIntelImpl::intelRoiCNN(
-      std::vector<cv::Mat> &input_rois_,
-      std::vector<int> &output_labels_)
-  {
-#ifdef WITH_INTEL
-    output_labels_.clear();
-
-    for (int i = 0; i < input_rois_.size(); i++)
-    {
-      cv::Mat e_roi = input_rois_[i];
-
-      // Get input port for model with one input
-      auto input_port = compiled_model.input();
-      // Create tensor from external memory
-      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), e_roi.ptr(0));
-      // Set input tensor for model with one input
-      infer_request.set_input_tensor(input_tensor);
-      //preprocess_img(e_roi);
-
-      // infer_request.infer();
-      infer_request.start_async();
-      infer_request.wait();
-
-      const ov::Tensor &output_tensor = infer_request.get_output_tensor();
-      ov::Shape output_shape = output_tensor.get_shape();
-      this->_p_prob = output_tensor.data<float>();
-
-      // Find max index
-      double max = 0;
-      int label = 0;
-      for (int i = 0; i < 11; ++i)
-      {
-        if (max < this->_p_prob[i])
-        {
-          max = this->_p_prob[i];
-          label = i;
-        }
-      }
-      output_labels_.push_back(label);
-    }
-
-#endif
-  }
-
-}

algorithm/landing_det/intel/landing_det_intel_impl.h

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

algorithm/landing_det/sv_landing_det.cpp

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

algorithm/sot/ocv470/sot_ocv470_impl.cpp

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

algorithm/sv_algorithm_base.cpp

@@ -32,7 +32,7 @@ CameraAlgorithm::CameraAlgorithm()
   // this->_allocator = NULL;
   this->_t0 = std::chrono::system_clock::now();
 
-  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "params/a-params/sv_algorithm_params.json";
+  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "sv_algorithm_params.json";
   // std::cout << "CameraAlgorithm->alg_params_fn: " << this->alg_params_fn << std::endl;
   // if (_is_file_exist(params_fn))
   //   this->loadAlgorithmParams(params_fn);
@@ -80,12 +80,6 @@ ArucoDetector::ArucoDetector()
 }
 
 
-void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
-{
-  ids_ = this->_ids_need;
-  lengths_ = this->_lengths_need;
-}
-
 void ArucoDetector::_load()
 {
   JsonValue all_value;
@@ -1002,11 +996,6 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
       if (this->_with_segmentation)
       {
         cv::Mat mask_j = boxes_seg[j].clone();
-#ifdef WITH_INTEL
-        tgt.setMask(mask_j);
-#endif
-
-#ifdef WITH_CUDA
         int maskh = mask_j.rows, maskw = mask_j.cols;
         assert(maskh == maskw);
 
@@ -1036,7 +1025,6 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
         {
           tgt.setMask(mask_j);
         }
-#endif
       }
 
       tgts_.targets.push_back(tgt);

algorithm/veri/cuda/veri_det_cuda_impl.cpp

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

algorithm/veri/intel/veri_det_intel_impl.cpp

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

algorithm/veri/intel/veri_det_intel_impl.h

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

algorithm/veri/sv_veri_det.cpp

@@ -10,11 +10,6 @@
 #include "veri_det_cuda_impl.h"
 #endif
 
-#ifdef WITH_INTEL
-#include <openvino/openvino.hpp>
-#include "veri_det_intel_impl.h"
-#endif
-
 #define SV_ROOT_DIR "/SpireCV/"
 
 namespace sv
@@ -25,10 +20,6 @@ namespace sv
 #ifdef WITH_CUDA
     this->_cuda_impl = new VeriDetectorCUDAImpl;
 #endif
-
-#ifdef WITH_INTEL
-    this->_intel_impl = new VeriDetectorIntelImpl;
-#endif
   }
   VeriDetector::~VeriDetector()
   {
@@ -59,9 +50,6 @@ namespace sv
     return this->_cuda_impl->cudaSetup();
 #endif
   
-#ifdef WITH_INTEL
-    return this->_intel_impl->intelSetup();
-#endif
     return false;
   }
 
@@ -75,12 +63,6 @@ namespace sv
         input_rois_,
         output_labels_);
 #endif
-
-#ifdef WITH_INTEL
-    this->_intel_impl->intelRoiCNN(
-        input_rois_,
-        output_labels_);
-#endif
   }
 
   void VeriDetector::detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt)
@@ -112,23 +94,26 @@ namespace sv
     cv::Mat img_ground = cv::imread(img_ground_dir);
     cv::resize(img_ground, img_ground, cv::Size(224, 224));
     std::vector<cv::Mat> input_rois_ = {crop, img_ground};
-    
-    std::vector<float> output_labels;
-#ifdef WITH_CUDA
-    roiCNN(input_rois_, output_labels);
-#endif
 
-#ifdef WITH_INTEL
+#ifdef WITH_CUDA
+    std::vector<float> output_labels;
     roiCNN(input_rois_, output_labels);
-#endif
-   
+
+    // auto t1 = std::chrono::system_clock::now();
+    // tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
+    // this->_t0 = std::chrono::system_clock::now();
+    // tgts_.setTimeNow();
+
     if (output_labels.size() > 0)
     {
+      // tgt.category_id = output_labels[0];
       tgt.sim_score = output_labels[1];
+      // tgts_.targets.push_back(tgt);
     }
+#endif
   }
 
-  void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
+    void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
   {
     cv::Scalar avgChans = mean(srcImg);
     cv::Size imgSz = srcImg.size();

include/sv_algorithm_base.h

@@ -46,7 +46,6 @@ class ArucoDetector : public CameraAlgorithm
 public:
   ArucoDetector();
   void detect(cv::Mat img_, TargetsInFrame& tgts_);
-  void getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_);
 private:
   void _load();
   bool _params_loaded;

include/sv_camera.h

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

include/sv_color_line.h

@@ -25,6 +25,7 @@ public:
   double line_location_a2;
 
   bool is_load_parameter;
+
   std::string line_color;
 
 protected:
@@ -39,4 +40,4 @@ protected:
   void seg(cv::Mat line_area_, cv::Mat line_area_a1_, cv::Mat line_area_a2_, std::string line_color_, cv::Point &center_, int &area_, cv::Point &center_a1_, cv::Point &center_a2_);
 };
 }
-#endif
+#endif

include/sv_common_det.h

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

include/sv_landing_det.h

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

include/sv_veri_det.h

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

include/sv_video_base.h

@@ -128,7 +128,6 @@ public:
   
   bool getBox(Box& b);
   bool getAruco(int& id, std::vector<cv::Point2f> &corners);
-  bool getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs);
   bool getEllipse(double& xc_, double& yc_, double& a_, double& b_, double& rad_);
   std::string getJsonStr();
 
@@ -327,66 +326,59 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, V4L2CAM, MIPI, RTSP, VIDEO, G1, Q10, GX40};
+// enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
 
-class CameraBase {
-public:
-  CameraBase(CameraType type=CameraType::NONE, int id=0);
-  ~CameraBase();
-  void open(CameraType type=CameraType::V4L2CAM, int id=0);
-  bool read(cv::Mat& image);
-  void release();
+// class CameraBase {
+// public:
+//   CameraBase(CameraType type=CameraType::NONE, int id=0);
+//   ~CameraBase();
+//   void open(CameraType type=CameraType::WEBCAM, int id=0);
+//   bool read(cv::Mat& image);
+//   void release();
   
-  int getW();
-  int getH();
-  int getFps();
-  std::string getIp();
-  int getPort();
-  double getBrightness();
-  double getContrast();
-  double getSaturation();
-  double getHue();
-  double getExposure();
-  std::string getFourcc();
-  bool isRunning();
-  void setFourcc(std::string fourcc);
-  void setWH(int width, int height);
-  void setFps(int fps);
-  void setIp(std::string ip);
-  void setRtspUrl(std::string rtsp_url);
-  void setVideoPath(std::string video_path);
-  void setPort(int port);
-  void setBrightness(double brightness);
-  void setContrast(double contrast);
-  void setSaturation(double saturation);
-  void setHue(double hue);
-  void setExposure(double exposure);
-protected:
-  virtual void openImpl();
-  void _run();
+//   int getW();
+//   int getH();
+//   int getFps();
+//   std::string getIp();
+//   int getPort();
+//   double getBrightness();
+//   double getContrast();
+//   double getSaturation();
+//   double getHue();
+//   double getExposure();
+//   bool isRunning();
+//   void setWH(int width, int height);
+//   void setFps(int fps);
+//   void setIp(std::string ip);
+//   void setPort(int port);
+//   void setBrightness(double brightness);
+//   void setContrast(double contrast);
+//   void setSaturation(double saturation);
+//   void setHue(double hue);
+//   void setExposure(double exposure);
+// protected:
+//   virtual void openImpl();
+//   void _run();
 
-  bool _is_running;
-  bool _is_updated;
-  std::thread _tt;
-  cv::VideoCapture _cap;
-  cv::Mat _frame;
-  CameraType _type;
-  int _camera_id;
+//   bool _is_running;
+//   bool _is_updated;
+//   std::thread _tt;
+//   cv::VideoCapture _cap;
+//   cv::Mat _frame;
+//   CameraType _type;
+//   int _camera_id;
   
-  int _width;
-  int _height;
-  int _fps;
-  std::string _ip;
-  std::string _rtsp_url;
-  std::string _video_path;
-  int _port;
-  double _brightness;
-  double _contrast;
-  double _saturation;
-  double _hue;
-  double _exposure;
-  std::string _fourcc;
-};
+//   int _width;
+//   int _height;
+//   int _fps;
+//   std::string _ip;
+//   int _port;
+//   double _brightness;
+//   double _contrast;
+//   double _saturation;
+//   double _hue;
+//   double _exposure;
+// };
 
 
 void drawTargetsInFrame(
@@ -401,16 +393,6 @@ void drawTargetsInFrame(
   bool with_aruco=false,
   bool with_yaw=false
 );
-cv::Mat drawTargetsInFrame(
-  const cv::Mat img_,
-  const TargetsInFrame& tgts_,
-  const double scale,
-  bool with_all=true,
-  bool with_category=false,
-  bool with_tid=false,
-  bool with_seg=false,
-  bool with_box=false
-);
 std::string get_home();
 bool is_file_exist(std::string& fn);
 void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);

include/sv_video_input.h

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

samples/calib/calibrate_camera_charuco.cpp

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

samples/calib/create_marker.cpp

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

samples/demo/aruco_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -9,14 +10,15 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  
+  cap.setIndex(0);
   cap.setWH(ad.image_width, ad.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -2,15 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {  
   // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(1280, 720);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  // cap.setWH(640, 480);
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)

samples/demo/color_line_detect.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 using namespace sv;
@@ -11,14 +12,14 @@ int main(int argc, char *argv[])
   // 实例化 color line detection 检测器类
   sv::ColorLineDetector cld;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cld.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cld.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cld.image_width, cld.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
+  // cap.setFps(30);
+  cap.open(); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/common_object_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -9,14 +10,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -40,20 +41,19 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/ellipse_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -9,14 +10,15 @@ int main(int argc, char *argv[]) {
   // 实例化 椭圆 检测器类
   sv::EllipseDetector ed;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ed.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  ed.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(ed.image_width, ed.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 #include <map>
+#include "sv_camera.h"
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
@@ -34,36 +35,44 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
+  // 实例化 框选目标跟踪类
+  sv::SingleObjectTracker sot;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
+  sv::CommonObjectDetector cod;
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(cod.image_width, cod.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个新的窗口，可在上面进行框选操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现整个框选逻辑
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 框选目标跟踪类
-  sv::SingleObjectTracker sot;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
-  sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -258,4 +267,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_landing_marker_detection.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 // #include "gimbal_tools.hpp"
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -33,33 +34,40 @@ void gimbalNoTrack(void)
 }
 
 int main(int argc, char *argv[])
-{
+{ 
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64", 554);
+  cap.setWH(lmd.image_width, lmd.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open(); // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 圆形降落标志 检测器类
-  sv::LandingMarkerDetector lmd;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -145,4 +153,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -42,33 +43,41 @@ static const std::string RGB_WINDOW = "Image window";
 void onMouse(int event, int x, int y, int, void *);
 
 int main(int argc, char *argv[])
-{
+{  
+  // 实例化Aruco检测器类
+  sv::ArucoDetector ad;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以gimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(gimableCallback);
-  // 定义相机
-  sv::Camera cap;
-  // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
-  // 设置获取画面分辨率为720P
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
+
+  // 打开摄像头
+  sv::Camera cap(sv::CameraType::G1);
+  cap.setStream("192.168.2.64",554);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open();  // CameraID 0
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化Aruco检测器类
-  sv::ArucoDetector ad;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/landing_marker_detection.cpp

@@ -2,21 +2,22 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
   // 实例化 圆形降落标志 检测器类
   sv::LandingMarkerDetector lmd;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
+   // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(lmd.image_width, lmd.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -9,19 +10,19 @@ int main(int argc, char *argv[]) {
   // 实例化
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   sv::MultipleObjectTracker mot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   mot.init(&cod);
   
-  // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(mot.image_width, mot.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+   // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 // 定义窗口名称
@@ -28,15 +28,17 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
-  // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(sot.image_width, sot.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
+
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_sender.cpp

@@ -2,20 +2,21 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_1280x720.yaml");
+  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
-  // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(ad.image_width, ad.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 struct node
@@ -20,18 +20,17 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::VeriDetector veri;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  veri.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  veri.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_saving.cpp

@@ -2,21 +2,22 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
-  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -24,7 +25,7 @@ int main(int argc, char *argv[]) {
   // 实例化视频保存类
   sv::VideoWriter vw;
   // 设置保存路径"/home/amov/Videos"，保存图像尺寸（640，480），帧频25Hz，同步保存检测结果（.svj）
-  vw.setup(sv::get_home() + "/Videos", cv::Size(cod.image_width, cod.image_height), 25, true);
+  vw.setup("/home/amov/Videos", cv::Size(640, 480), 25, true);
 
   while (1)
   {
@@ -32,7 +33,7 @@ int main(int argc, char *argv[]) {
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
+    cv::resize(img, img, cv::Size(640, 480));
 
     // 执行通用目标检测
     cod.detect(img, tgts);

samples/demo/video_streaming.cpp

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

samples/test/gimbal_test.cpp

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

scripts/common/ffmpeg425-install.sh

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

scripts/common/models-downloading.sh

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

scripts/jetson/configs-downloading.sh

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

scripts/jetson/gst-install-orin.sh

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

scripts/jetson/gst-install.sh

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

scripts/jetson/opencv470-install.sh

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

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

@@ -5,7 +5,7 @@ wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_cache-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,4 +52,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/jetson/opencv470-jetpack511-install.sh

@@ -5,7 +5,7 @@ wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_cache-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,4 +52,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/x86-cuda/configs-downloading.sh

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

scripts/x86-cuda/ffmpeg425-install.sh

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

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

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

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

@@ -5,7 +5,7 @@ wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_cache_x86-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -67,4 +67,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

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

@@ -5,7 +5,7 @@ wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
 wget https://download.amovlab.com/model/deps/opencv_cache_x86-4.7.0.zip
 
-current_dir=$(pwd)
+
 package_dir="."
 mkdir ~/opencv_build
 
@@ -67,4 +67,3 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
-cd ${current_dir}

scripts/x86-intel/configs-downloading.sh

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

scripts/x86-intel/ffmpeg-install.sh

@@ -1,26 +0,0 @@
-#!/bin/sh
-
-sudo apt install -y v4l-utils
-wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
-tar -xjf ffmpeg-4.2.5.tar.bz2
-cd ffmpeg-4.2.5
-./configure \
---arch=x86_64 \
---disable-x86asm \
---enable-vaapi \
---enable-libmfx \
---enable-nonfree \
---enable-shared \
---enable-ffmpeg \
---enable-ffplay \
---enable-ffprobe \
---enable-libx264 \
---enable-libx265 \
---enable-gpl
-
-make -j8
-sudo make install
-cd ..
-sudo rm -r ffmpeg-4.2.5
-sudo rm ffmpeg-4.2.5.tar.bz2
-

scripts/x86-intel/libva-install.sh

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

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

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

scripts/x86-intel/opencv470-install.sh

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

scripts/x86-intel/openvino-install.sh

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

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

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

utils/gason.cpp

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

utils/sv_util.cpp

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

utils/sv_util.h

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

video_io/driver/sv_camera_G1.cpp

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

video_io/driver/sv_camera_GX40.cpp

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

video_io/driver/sv_camera_MC1.cpp

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

video_io/driver/sv_camera_V4L2s.cpp

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

video_io/driver/sv_camera_file.cpp

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

video_io/driver/sv_camera_mipi.cpp

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

video_io/driver/sv_camera_streaming.cpp

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

video_io/ffmpeg/x86_intel/bs_common.h

@@ -1,50 +0,0 @@
-#pragma once
-#include <string>
-#include <vector>
-#include <chrono>
-
-// 获取当前系统启动以来的毫秒数
-static int64_t getCurTime()
-{
-    // tv_sec (s) tv_nsec (ns-纳秒)
-    struct timespec now;
-    clock_gettime(CLOCK_MONOTONIC, &now);
-    return (now.tv_sec * 1000 + now.tv_nsec / 1000000);
-}
-
-
-
-struct VideoFrame
-{
-public:
-    enum VideoFrameType
-    {
-        BGR = 0,
-        RGB ,
-        YUV420P,
-
-    };
-    // VideoFrame(VideoFrameType type, int width, int height,int size)
-    VideoFrame(VideoFrameType type, int width, int height)
-    {
-        this->type = type;
-        this->width = width;
-        this->height = height;
-        this->size = width*height*3;
-        this->data = new uint8_t[this->size];
-    }
-    ~VideoFrame()
-    {
-        delete[] this->data;
-        this->data = nullptr;
-    }
-
-    VideoFrameType type;
-    int size;
-    int width;
-    int height;
-    uint8_t *data;
-};
-
-
-

video_io/ffmpeg/x86_intel/bs_push_streamer.cpp

@@ -1,635 +0,0 @@
-#include "bs_push_streamer.h"
-
-/*
-amov_rtsp
-2914e3c44737811096c5e1797fe5373d12fcdd39
-*/
-
-// char av_error[AV_ERROR_MAX_STRING_SIZE] = { 0 };
-// #define av_err2str(errnum) av_make_error_string(av_error, AV_ERROR_MAX_STRING_SIZE, errnum)
-
-BsPushStreamer::BsPushStreamer()
-{
-}
-
-BsPushStreamer::~BsPushStreamer()
-{
-    mThread->join();
-    mThread = nullptr;
-}
-
-static int set_hwframe_ctx(AVCodecContext *ctx, AVBufferRef *hw_device_ctx, int width, int height)
-{
-    AVBufferRef *hw_frames_ref;
-    AVHWFramesContext *frames_ctx = NULL;
-    int err = 0;
-
-    if (!(hw_frames_ref = av_hwframe_ctx_alloc(hw_device_ctx)))
-    {
-        fprintf(stderr, "Failed to create VAAPI frame context.\n");
-        return -1;
-    }
-    frames_ctx = (AVHWFramesContext *)(hw_frames_ref->data);
-    frames_ctx->format = AV_PIX_FMT_VAAPI;
-    frames_ctx->sw_format = AV_PIX_FMT_NV12;
-    frames_ctx->width = width;
-    frames_ctx->height = height;
-    frames_ctx->initial_pool_size = 20;
-    if ((err = av_hwframe_ctx_init(hw_frames_ref)) < 0)
-    {
-        // fprintf(stderr, "Failed to initialize VAAPI frame context."
-        //         "Error code: %s\n",av_err2str(err));
-        av_buffer_unref(&hw_frames_ref);
-        return err;
-    }
-    ctx->hw_frames_ctx = av_buffer_ref(hw_frames_ref);
-    if (!ctx->hw_frames_ctx)
-        err = AVERROR(ENOMEM);
-
-    av_buffer_unref(&hw_frames_ref);
-    return err;
-}
-
-bool BsPushStreamer::setup(std::string name, int width, int height, int fps, std::string encoder, int bitrate = 4)
-{
-    if (!connect(name, width, height, fps, encoder, bitrate))
-    {
-        std::cout << "BsPushStreamer::setup error\n";
-        return false;
-    }
-
-    mVideoFrame = new VideoFrame(VideoFrame::BGR, width, height);
-    // std::cout << "BsStreamer::setup Success!\n";
-    start();
-    return true;
-}
-
-void BsPushStreamer::start()
-{
-    mThread = new std::thread(BsPushStreamer::encodeVideoAndWriteStreamThread, this);
-    mThread->native_handle();
-    push_running = true;
-}
-
-bool BsPushStreamer::connect(std::string name, int width, int height, int fps, std::string encoder, int bitrate)
-{
-    // 初始化上下文
-    if (avformat_alloc_output_context2(&mFmtCtx, NULL, "rtsp", name.c_str()) < 0)
-    {
-        std::cout << "avformat_alloc_output_context2 error\n";
-        return false;
-    }
-
-    // 初始化视频编码器
-    // AVCodec *videoCodec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    // AVCodec *videoCodec = avcodec_find_encoder_by_name("h264_nvenc");
-    err = av_hwdevice_ctx_create(&hw_device_ctx, AV_HWDEVICE_TYPE_VAAPI,
-                                 NULL, NULL, 0);
-
-    AVCodec *videoCodec = avcodec_find_encoder_by_name(encoder.c_str());
-    if (!videoCodec)
-    {
-        // std::cout << fmt::format("Using encoder:[{}] error!\n", encoder);
-        videoCodec = avcodec_find_encoder(AV_CODEC_ID_H264);
-
-        if (!videoCodec)
-        {
-            std::cout << "avcodec_alloc_context3 error";
-            return false;
-        }
-        std::cout << "Using default H264 encoder!\n";
-    }
-
-    mVideoCodecCtx = avcodec_alloc_context3(videoCodec);
-    if (!mVideoCodecCtx)
-    {
-        std::cout << "avcodec_alloc_context3 error";
-        return false;
-    }
-
-    // 压缩视频bit位大小 300kB
-    int bit_rate = bitrate * 1024 * 1024 * 8;
-
-    // CBR：Constant BitRate - 固定比特率
-    mVideoCodecCtx->flags |= AV_CODEC_FLAG_QSCALE;
-    mVideoCodecCtx->bit_rate = bit_rate;
-    mVideoCodecCtx->rc_min_rate = bit_rate;
-    mVideoCodecCtx->rc_max_rate = bit_rate;
-    mVideoCodecCtx->bit_rate_tolerance = bit_rate;
-
-    mVideoCodecCtx->codec_id = videoCodec->id;
-    // 不支持AV_PIX_FMT_BGR24直接进行编码
-    mVideoCodecCtx->pix_fmt = AV_PIX_FMT_VAAPI;
-    mVideoCodecCtx->codec_type = AVMEDIA_TYPE_VIDEO;
-    mVideoCodecCtx->width = width;
-    mVideoCodecCtx->height = height;
-    mVideoCodecCtx->time_base = {1, fps};
-    mVideoCodecCtx->framerate = {fps, 1};
-    mVideoCodecCtx->gop_size = 12;
-    mVideoCodecCtx->max_b_frames = 0;
-    mVideoCodecCtx->thread_count = 1;
-    mVideoCodecCtx->sample_aspect_ratio = (AVRational){1, 1};
-
-    // 手动设置PPS
-    // unsigned char sps_pps[] = {
-    //     0x00, 0x00, 0x01, 0x67, 0x42, 0x00, 0x2a, 0x96, 0x35, 0x40, 0xf0, 0x04,
-    //     0x4f, 0xcb, 0x37, 0x01, 0x01, 0x01, 0x40, 0x00, 0x01, 0xc2, 0x00, 0x00, 0x57,
-    //     0xe4, 0x01, 0x00, 0x00, 0x00, 0x01, 0x68, 0xce, 0x3c, 0x80, 0x00
-    // };
-
-    AVDictionary *video_codec_options = NULL;
-    av_dict_set(&video_codec_options, "profile", "main", 0);
-    // av_dict_set(&video_codec_options, "preset", "superfast", 0);
-    av_dict_set(&video_codec_options, "tune", "fastdecode", 0);
-    if ((err = set_hwframe_ctx(mVideoCodecCtx, hw_device_ctx, width, height)) < 0)
-    {
-        std::cout << "set_hwframe_ctx error\n";
-        return false;
-    }
-
-    if (avcodec_open2(mVideoCodecCtx, videoCodec, &video_codec_options) < 0)
-    {
-        std::cout << "avcodec_open2 error\n";
-        return false;
-    }
-
-    mVideoStream = avformat_new_stream(mFmtCtx, videoCodec);
-    if (!mVideoStream)
-    {
-        std::cout << "avformat_new_stream error\n";
-        return false;
-    }
-    mVideoStream->id = mFmtCtx->nb_streams - 1;
-    // stream的time_base参数非常重要，它表示将现实中的一秒钟分为多少个时间基, 在下面调用avformat_write_header时自动完成
-    avcodec_parameters_from_context(mVideoStream->codecpar, mVideoCodecCtx);
-    mVideoIndex = mVideoStream->id;
-
-    // open output url
-    av_dump_format(mFmtCtx, 0, name.c_str(), 1);
-    if (!(mFmtCtx->oformat->flags & AVFMT_NOFILE))
-    {
-        int ret = avio_open(&mFmtCtx->pb, name.c_str(), AVIO_FLAG_WRITE);
-        if (ret < 0)
-        {
-            // std::cout << fmt::format("avio_open error url: {}\n", name.c_str());
-            // std::cout << fmt::format("ret = {} : {}\n", ret, av_err2str(ret));
-            // std::cout << fmt::format("ret = {}\n", ret);
-            return false;
-        }
-    }
-
-    AVDictionary *fmt_options = NULL;
-    av_dict_set(&fmt_options, "bufsize", "1024", 0);
-    av_dict_set(&fmt_options, "rw_timeout", "30000000", 0); // 设置rtmp/http-flv连接超时（单位 us）
-    av_dict_set(&fmt_options, "stimeout", "30000000", 0);   // 设置rtsp连接超时（单位 us）
-    av_dict_set(&fmt_options, "rtsp_transport", "tcp", 0);
-
-    mFmtCtx->video_codec_id = mFmtCtx->oformat->video_codec;
-    mFmtCtx->audio_codec_id = mFmtCtx->oformat->audio_codec;
-
-    // 调用该函数会将所有stream的time_base，自动设置一个值，通常是1/90000或1/1000，这表示一秒钟表示的时间基长度
-    if (avformat_write_header(mFmtCtx, &fmt_options) < 0)
-    {
-        std::cout << "avformat_write_header error\n";
-        return false;
-    }
-
-    return true;
-}
-
-void BsPushStreamer::encodeVideoAndWriteStreamThread(void *arg)
-{
-    // PushExecutor *executor = (PushExecutor *)arg;
-    BsPushStreamer *mBsPushStreamer = (BsPushStreamer *)arg;
-    int width = mBsPushStreamer->mVideoFrame->width;
-    int height = mBsPushStreamer->mVideoFrame->height;
-
-    // 未编码的视频帧（bgr格式）
-    // VideoFrame *videoFrame = NULL;
-    // 未编码视频帧队列当前长度
-    // int videoFrameQSize = 0;
-    AVFrame *hw_frame = NULL;
-    AVFrame *frame_nv12 = av_frame_alloc();
-    frame_nv12->format = AV_PIX_FMT_NV12;
-    frame_nv12->width = width;
-    frame_nv12->height = height;
-
-    int frame_nv12_buff_size = av_image_get_buffer_size(AV_PIX_FMT_NV12, width, height, 1);
-    uint8_t *frame_nv12_buff = (uint8_t *)av_malloc(frame_nv12_buff_size);
-    av_image_fill_arrays(
-        frame_nv12->data, frame_nv12->linesize,
-        frame_nv12_buff,
-        AV_PIX_FMT_NV12,
-        width, height, 1);
-
-    if (!(hw_frame = av_frame_alloc()))
-    {
-        std::cout << "Error while av_frame_alloc().\n";
-    }
-    if (av_hwframe_get_buffer(mBsPushStreamer->mVideoCodecCtx->hw_frames_ctx, hw_frame, 0) < 0)
-    {
-        std::cout << "Error while av_hwframe_get_buffer.\n";
-    }
-    if (!hw_frame->hw_frames_ctx)
-    {
-        std::cout << "Error while hw_frames_ctx.\n";
-    }
-
-    // 编码后的视频帧
-    AVPacket *pkt = av_packet_alloc();
-    int64_t encodeSuccessCount = 0;
-    int64_t frameCount = 0;
-
-    int64_t t1 = 0;
-    int64_t t2 = 0;
-    int ret = -1;
-
-    auto cnt_time = std::chrono::system_clock::now().time_since_epoch();
-    auto last_update_time = std::chrono::system_clock::now().time_since_epoch();
-
-    while (mBsPushStreamer->push_running)
-    {
-        // if (mBsPushStreamer->getVideoFrame(videoFrame, videoFrameQSize))
-        if (mBsPushStreamer->nd_push_frame)
-        {
-            mBsPushStreamer->nd_push_frame = false;
-            // frame_bgr 转  frame_nv12
-            //mBsPushStreamer->bgr24ToYuv420p(mBsPushStreamer->mVideoFrame->data, width, height, frame_nv12_buff);
-            mBsPushStreamer->Rgb2NV12(mBsPushStreamer->mVideoFrame->data, 3, width, height, frame_nv12_buff);
-
-            frame_nv12->pts = frame_nv12->pkt_dts = av_rescale_q_rnd(
-                frameCount,
-                mBsPushStreamer->mVideoCodecCtx->time_base,
-                mBsPushStreamer->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            frame_nv12->pkt_duration = av_rescale_q_rnd(
-                1,
-                mBsPushStreamer->mVideoCodecCtx->time_base,
-                mBsPushStreamer->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            frame_nv12->pkt_pos = -1;
-
-                 hw_frame->pts = hw_frame->pkt_dts = av_rescale_q_rnd(
-                frameCount,
-                mBsPushStreamer->mVideoCodecCtx->time_base,
-                mBsPushStreamer->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            hw_frame->pkt_duration = av_rescale_q_rnd(
-                1,
-                mBsPushStreamer->mVideoCodecCtx->time_base,
-                mBsPushStreamer->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            hw_frame->pkt_pos = -1;
-
-            if (av_hwframe_transfer_data(hw_frame, frame_nv12, 0) < 0)
-            {
-                std::cout << "Error while transferring frame data to surface.\n";
-            }
-
-            t1 = getCurTime();
-            ret = avcodec_send_frame(mBsPushStreamer->mVideoCodecCtx, hw_frame);
-            if (ret >= 0)
-            {
-                ret = avcodec_receive_packet(mBsPushStreamer->mVideoCodecCtx, pkt);
-                if (ret >= 0)
-                {
-                    t2 = getCurTime();
-                    encodeSuccessCount++;
-
-                    // 如果实际推流的是flv文件，不会执行里面的fix_packet_pts
-                    if (pkt->pts == AV_NOPTS_VALUE)
-                    {
-                        std::cout << "pkt->pts == AV_NOPTS_VALUE\n";
-                    }
-                    pkt->stream_index = mBsPushStreamer->mVideoIndex;
-
-                    pkt->pos = -1;
-                    pkt->duration = frame_nv12->pkt_duration;
-
-                    ret = mBsPushStreamer->writePkt(pkt);
-                    if (ret < 0)
-                    {
-                        // std::cout << fmt::format("writePkt : ret = {}\n", ret);
-                    }
-                }
-                else
-                {
-                    // std::cout << fmt::format("avcodec_receive_packet error : ret = {}\n", ret);
-                }
-            }
-            else
-            {
-                // std::cout << fmt::format("avcodec_send_frame error : ret = {}\n", ret);
-            }
-
-            frameCount++;
-        }
-        else
-        {
-            std::this_thread::sleep_for(std::chrono::milliseconds(5));
-        }
-    }
-    // std::cout << fmt::format("push_running is false!\n");
-    // std::cout << fmt::format("end stream!\n");
-
-    // av_write_trailer(mFmtCtx);  //写文件尾
-
-    av_packet_unref(pkt);
-    pkt = NULL;
-
-    av_free(frame_nv12_buff);
-    frame_nv12_buff = NULL;
-
-    av_frame_free(&frame_nv12);
-    av_frame_unref(hw_frame);
-    frame_nv12 = NULL;
-    hw_frame = NULL;
-}
-
-int BsPushStreamer::writePkt(AVPacket *pkt)
-{
-    mWritePkt_mtx.lock();
-    int ret = av_write_frame(mFmtCtx, pkt);
-    mWritePkt_mtx.unlock();
-
-    return ret;
-}
-
-bool BsPushStreamer::getVideoFrame(VideoFrame *&frame, int &frameQSize)
-{
-    mRGB_VideoFrameQ_mtx.lock();
-
-    if (!mRGB_VideoFrameQ.empty())
-    {
-        frame = mRGB_VideoFrameQ.front();
-        mRGB_VideoFrameQ.pop();
-        frameQSize = mRGB_VideoFrameQ.size();
-        mRGB_VideoFrameQ_mtx.unlock();
-        return true;
-    }
-    else
-    {
-        frameQSize = 0;
-        mRGB_VideoFrameQ_mtx.unlock();
-        return false;
-    }
-}
-
-// void BsPushStreamer::pushVideoFrame(unsigned char *data, int width,int height)
-void BsPushStreamer::stream(cv::Mat &image)
-{
-
-    int size = image.cols * image.rows * image.channels();
-   //VideoFrame *frame = new VideoFrame(VideoFrame::BGR, image.cols, image.rows);
-    cv::Mat bgr = cv::Mat::zeros(image.size(), CV_8UC3);
-    cv::cvtColor(image, bgr, cv::COLOR_BGR2RGB);
-
-    memcpy(mVideoFrame->data, bgr.data, size);
-
-    mRGB_VideoFrameQ_mtx.lock();
-    nd_push_frame = true;
-    // mRGB_VideoFrameQ.push(frame);
-    mRGB_VideoFrameQ_mtx.unlock();
-}
-
-bool BsPushStreamer::videoFrameQisEmpty()
-{
-    return mRGB_VideoFrameQ.empty();
-}
-
-unsigned char BsPushStreamer::clipValue(unsigned char x, unsigned char min_val, unsigned char max_val)
-{
-    if (x > max_val)
-    {
-        return max_val;
-    }
-    else if (x < min_val)
-    {
-        return min_val;
-    }
-    else
-    {
-        return x;
-    }
-}
-
-bool BsPushStreamer::bgr24ToYuv420p(unsigned char *bgrBuf, int w, int h, unsigned char *yuvBuf)
-{
-
-    unsigned char *ptrY, *ptrU, *ptrV, *ptrRGB;
-    memset(yuvBuf, 0, w * h * 3 / 2);
-    ptrY = yuvBuf;
-    ptrU = yuvBuf + w * h;
-    ptrV = ptrU + (w * h * 1 / 4);
-    unsigned char y, u, v, r, g, b;
-
-    for (int j = 0; j < h; ++j)
-    {
-
-        ptrRGB = bgrBuf + w * j * 3;
-        for (int i = 0; i < w; i++)
-        {
-            b = *(ptrRGB++);
-            g = *(ptrRGB++);
-            r = *(ptrRGB++);
-
-            y = (unsigned char)((66 * r + 129 * g + 25 * b + 128) >> 8) + 16;
-            u = (unsigned char)((-38 * r - 74 * g + 112 * b + 128) >> 8) + 128;
-            v = (unsigned char)((112 * r - 94 * g - 18 * b + 128) >> 8) + 128;
-            *(ptrY++) = clipValue(y, 0, 255);
-            if (j % 2 == 0 && i % 2 == 0)
-            {
-                *(ptrU++) = clipValue(u, 0, 255);
-            }
-            else
-            {
-                if (i % 2 == 0)
-                {
-                    *(ptrV++) = clipValue(v, 0, 255);
-                }
-            }
-        }
-    }
-    return true;
-}
-
-// https://software.intel.com/en-us/node/503873
-// YCbCr Color Model:
-//     The YCbCr color space is used for component digital video and was developed as part of the ITU-R BT.601 Recommendation. YCbCr is a scaled and offset version of the YUV color space.
-//     The Intel IPP functions use the following basic equations [Jack01] to convert between R'G'B' in the range 0-255 and Y'Cb'Cr' (this notation means that all components are derived from gamma-corrected R'G'B'):
-//     Y' = 0.257*R' + 0.504*G' + 0.098*B' + 16
-//     Cb' = -0.148*R' - 0.291*G' + 0.439*B' + 128
-//     Cr' = 0.439*R' - 0.368*G' - 0.071*B' + 128
-
-// Y' = 0.257*R' + 0.504*G' + 0.098*B' + 16
-static float Rgb2Y(float r0, float g0, float b0)
-{
-    float y0 = 0.257f * r0 + 0.504f * g0 + 0.098f * b0 + 16.0f;
-    return y0;
-}
-
-// U equals Cb'
-// Cb' = -0.148*R' - 0.291*G' + 0.439*B' + 128
-static float Rgb2U(float r0, float g0, float b0)
-{
-    float u0 = -0.148f * r0 - 0.291f * g0 + 0.439f * b0 + 128.0f;
-    return u0;
-}
-
-// V equals Cr'
-// Cr' = 0.439*R' - 0.368*G' - 0.071*B' + 128
-static float Rgb2V(float r0, float g0, float b0)
-{
-    float v0 = 0.439f * r0 - 0.368f * g0 - 0.071f * b0 + 128.0f;
-    return v0;
-}
-
-// Convert two rows from RGB to two Y rows, and one row of interleaved U,V.
-// I0 and I1 points two sequential source rows.
-// I0 -> rgbrgbrgbrgbrgbrgb...
-// I1 -> rgbrgbrgbrgbrgbrgb...
-// Y0 and Y1 points two sequential destination rows of Y plane.
-// Y0 -> yyyyyy
-// Y1 -> yyyyyy
-// UV0 points destination rows of interleaved UV plane.
-// UV0 -> uvuvuv
-static void Rgb2NV12TwoRows(const unsigned char I0[],
-                            const unsigned char I1[],
-                            int step,
-                            const int image_width,
-                            unsigned char Y0[],
-                            unsigned char Y1[],
-                            unsigned char UV0[])
-{
-    int x; // Column index
-
-    // Process 4 source pixels per iteration (2 pixels of row I0 and 2 pixels of row I1).
-    for (x = 0; x < image_width; x += 2)
-    {
-        // Load R,G,B elements from first row (and convert to float).
-        float r00 = (float)I0[x * step + 0];
-        float g00 = (float)I0[x * step + 1];
-        float b00 = (float)I0[x * step + 2];
-
-        // Load next R,G,B elements from first row (and convert to float).
-        float r01 = (float)I0[x * step + step + 0];
-        float g01 = (float)I0[x * step + step + 1];
-        float b01 = (float)I0[x * step + step + 2];
-
-        // Load R,G,B elements from second row (and convert to float).
-        float r10 = (float)I1[x * step + 0];
-        float g10 = (float)I1[x * step + 1];
-        float b10 = (float)I1[x * step + 2];
-
-        // Load next R,G,B elements from second row (and convert to float).
-        float r11 = (float)I1[x * step + step + 0];
-        float g11 = (float)I1[x * step + step + 1];
-        float b11 = (float)I1[x * step + step + 2];
-
-        // Calculate 4 Y elements.
-        float y00 = Rgb2Y(r00, g00, b00);
-        float y01 = Rgb2Y(r01, g01, b01);
-        float y10 = Rgb2Y(r10, g10, b10);
-        float y11 = Rgb2Y(r11, g11, b11);
-
-        // Calculate 4 U elements.
-        float u00 = Rgb2U(r00, g00, b00);
-        float u01 = Rgb2U(r01, g01, b01);
-        float u10 = Rgb2U(r10, g10, b10);
-        float u11 = Rgb2U(r11, g11, b11);
-
-        // Calculate 4 V elements.
-        float v00 = Rgb2V(r00, g00, b00);
-        float v01 = Rgb2V(r01, g01, b01);
-        float v10 = Rgb2V(r10, g10, b10);
-        float v11 = Rgb2V(r11, g11, b11);
-
-        // Calculate destination U element: average of 2x2 "original" U elements.
-        float u0 = (u00 + u01 + u10 + u11) * 0.25f;
-
-        // Calculate destination V element: average of 2x2 "original" V elements.
-        float v0 = (v00 + v01 + v10 + v11) * 0.25f;
-
-        // Store 4 Y elements (two in first row and two in second row).
-        Y0[x + 0] = (unsigned char)(y00 + 0.5f);
-        Y0[x + 1] = (unsigned char)(y01 + 0.5f);
-        Y1[x + 0] = (unsigned char)(y10 + 0.5f);
-        Y1[x + 1] = (unsigned char)(y11 + 0.5f);
-
-        // Store destination U element.
-        UV0[x + 0] = (unsigned char)(u0 + 0.5f);
-
-        // Store destination V element (next to stored U element).
-        UV0[x + 1] = (unsigned char)(v0 + 0.5f);
-    }
-}
-
-// Convert image I from pixel ordered RGB to NV12 format.
-// I - Input image in pixel ordered RGB format
-// image_width - Number of columns of I
-// image_height - Number of rows of I
-// J - Destination "image" in NV12 format.
-
-// I is pixel ordered RGB color format (size in bytes is image_width*image_height*3):
-// RGBRGBRGBRGBRGBRGB
-// RGBRGBRGBRGBRGBRGB
-// RGBRGBRGBRGBRGBRGB
-// RGBRGBRGBRGBRGBRGB
-//
-// J is in NV12 format (size in bytes is image_width*image_height*3/2):
-// YYYYYY
-// YYYYYY
-// UVUVUV
-// Each element of destination U is average of 2x2 "original" U elements
-// Each element of destination V is average of 2x2 "original" V elements
-//
-// Limitations:
-// 1. image_width must be a multiple of 2.
-// 2. image_height must be a multiple of 2.
-// 3. I and J must be two separate arrays (in place computation is not supported).
-void BsPushStreamer::Rgb2NV12(const unsigned char I[], int step,
-                              const int image_width,
-                              const int image_height,
-                              unsigned char J[])
-{
-    // In NV12 format, UV plane starts below Y plane.
-    unsigned char *UV = &J[image_width * image_height];
-
-    // I0 and I1 points two sequential source rows.
-    const unsigned char *I0; // I0 -> rgbrgbrgbrgbrgbrgb...
-    const unsigned char *I1; // I1 -> rgbrgbrgbrgbrgbrgb...
-
-    // Y0 and Y1 points two sequential destination rows of Y plane.
-    unsigned char *Y0; // Y0 -> yyyyyy
-    unsigned char *Y1; // Y1 -> yyyyyy
-
-    // UV0 points destination rows of interleaved UV plane.
-    unsigned char *UV0; // UV0 -> uvuvuv
-
-    int y; // Row index
-
-    // In each iteration: process two rows of Y plane, and one row of interleaved UV plane.
-    for (y = 0; y < image_height; y += 2)
-    {
-        I0 = &I[y * image_width * step]; // Input row width is image_width*3 bytes (each pixel is R,G,B).
-        I1 = &I[(y + 1) * image_width * step];
-
-        Y0 = &J[y * image_width]; // Output Y row width is image_width bytes (one Y element per pixel).
-        Y1 = &J[(y + 1) * image_width];
-
-        UV0 = &UV[(y / 2) * image_width]; // Output UV row - width is same as Y row width.
-
-        // Process two source rows into: Two Y destination row, and one destination interleaved U,V row.
-        Rgb2NV12TwoRows(I0,
-                        I1,
-                        step,
-                        image_width,
-                        Y0,
-                        Y1,
-                        UV0);
-    }
-}

video_io/ffmpeg/x86_intel/bs_push_streamer.h

@@ -1,88 +0,0 @@
-#pragma once
-
-#include <iostream>
-#include <thread>
-#include <chrono>
-
-// #include <fmt/core.h>
-// #include <glog/logging.h>
-
-#include <queue>
-#include <mutex>
-extern "C"
-{
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-#include <libavutil/imgutils.h>
-// #include <libavutil/error.h>
-#include <libswresample/swresample.h>
-
-#include <libavutil/pixdesc.h>
-#include <libavutil/hwcontext.h>
-}
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/opencv.hpp>
-#include "bs_common.h"
-
-using namespace cv;
-
-class BsPushStreamer
-{
-public:
-    BsPushStreamer();
-    ~BsPushStreamer();
-
-    // 用于初始化视频推流，仅调用一次
-    bool setup(std::string name, int width, int height, int fps, std::string encoder, int bitrate);
-    // 推流一帧图像，在循环中被调用
-    void stream(cv::Mat &image);
-
-    // 连接流媒体服务器
-    bool connect(std::string name, int width, int height, int fps, std::string encoder, int bitrate);
-    void start();
-    void stop() { push_running = false; };
-
-    // 编码视频帧并推流
-    static void encodeVideoAndWriteStreamThread(void *arg);
-
-    bool videoFrameQisEmpty();
-
-    int writePkt(AVPacket *pkt);
-
-    // 上下文
-    AVFormatContext *mFmtCtx = nullptr;
-    // 视频帧
-    AVCodecContext *mVideoCodecCtx = NULL;
-    AVStream *mVideoStream = NULL;
-
-    VideoFrame *mVideoFrame = NULL;
-    AVBufferRef *hw_device_ctx = NULL;
-
-    int err;
-
-    int mVideoIndex = -1;
-
-    // YAML::Node yaml_cfg;
-
-private:
-    // 从mRGB_VideoFrameQ里面获取RGBframe
-    bool getVideoFrame(VideoFrame *&frame, int &frameQSize);
-
-    // bgr24转yuv420p
-    unsigned char clipValue(unsigned char x, unsigned char min_val, unsigned char max_val);
-    bool bgr24ToYuv420p(unsigned char *bgrBuf, int w, int h, unsigned char *yuvBuf);
-    void Rgb2NV12(const unsigned char I[], int step, const int image_width, const int image_height, unsigned char J[]);
-
-    bool push_running = false;
-    bool nd_push_frame = false;
-
-    // 视频帧
-    std::queue<VideoFrame *> mRGB_VideoFrameQ;
-    std::mutex mRGB_VideoFrameQ_mtx;
-
-    // 推流锁
-    std::mutex mWritePkt_mtx;
-    std::thread *mThread;
-};

video_io/ffmpeg/x86_intel/bs_video_saver.cpp

@@ -1,655 +0,0 @@
-#include "bs_video_saver.h"
-
-/*
-amov_rtsp
-53248e16cc899903cf296df468977c60d7d73aa7
-*/
-BsVideoSaver::BsVideoSaver()
-{
-}
-
-BsVideoSaver::~BsVideoSaver()
-{
-}
-
-static int set_hwframe_ctx(AVCodecContext *ctx, AVBufferRef *hw_device_ctx, int width, int height)
-{
-    AVBufferRef *hw_frames_ref;
-    AVHWFramesContext *frames_ctx = NULL;
-    int err = 0;
-
-    if (!(hw_frames_ref = av_hwframe_ctx_alloc(hw_device_ctx)))
-    {
-        fprintf(stderr, "Failed to create VAAPI frame context.\n");
-        return -1;
-    }
-    frames_ctx = (AVHWFramesContext *)(hw_frames_ref->data);
-    frames_ctx->format = AV_PIX_FMT_VAAPI;
-    frames_ctx->sw_format = AV_PIX_FMT_NV12;
-    frames_ctx->width = width;
-    frames_ctx->height = height;
-    frames_ctx->initial_pool_size = 20;
-    if ((err = av_hwframe_ctx_init(hw_frames_ref)) < 0)
-    {
-        // fprintf(stderr, "Failed to initialize VAAPI frame context."
-        //         "Error code: %s\n",av_err2str(err));
-        av_buffer_unref(&hw_frames_ref);
-        return err;
-    }
-    ctx->hw_frames_ctx = av_buffer_ref(hw_frames_ref);
-    if (!ctx->hw_frames_ctx)
-        err = AVERROR(ENOMEM);
-
-    av_buffer_unref(&hw_frames_ref);
-    return err;
-}
-
-bool BsVideoSaver::setup(std::string name, int width, int height, int fps, std::string encoder, int bitrate = 4)
-{
-    // 重置状态然后初始化
-    this->width = width;
-    this->height = height;
-
-    // 线程停止
-    if (mThread != nullptr)
-    {
-        this->stop();
-    }
-
-    // 编码器重置
-    if (mVideoCodecCtx != NULL)
-    {
-        avcodec_free_context(&mVideoCodecCtx);
-    }
-
-    if (!this->init(name, width, height, fps, encoder, bitrate))
-    {
-        std::cout << "BsVideoSaver::setup error\n";
-        return false;
-    }
-
-    std::cout << "BsStreamer::setup Success!\n";
-    start();
-    return true;
-}
-
-void BsVideoSaver::start()
-{
-    mThread = new std::thread(BsVideoSaver::encodeVideoAndSaveThread, this);
-    mThread->native_handle();
-    push_running = true;
-}
-
-void BsVideoSaver::stop()
-{
-    if (mThread != nullptr)
-    {
-        push_running = false;
-        mThread->join();
-        mThread = nullptr;
-    }
-}
-
-bool BsVideoSaver::init(std::string name, int width, int height, int fps, std::string encoder, int bitrate)
-{
-    // 初始化上下文
-    if (avformat_alloc_output_context2(&mFmtCtx, NULL, NULL, name.c_str()) < 0)
-    {
-        std::cout << "avformat_alloc_output_context2 error\n";
-        return false;
-    }
-
-    // 初始化视频编码器
-    // AVCodec *videoCodec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    // AVCodec *videoCodec = avcodec_find_encoder_by_name("h264_nvenc");
-    err = av_hwdevice_ctx_create(&hw_device_ctx, AV_HWDEVICE_TYPE_VAAPI,
-                                 NULL, NULL, 0);
-
-    AVCodec *videoCodec = avcodec_find_encoder_by_name(encoder.c_str());
-    if (!videoCodec)
-    {
-        // std::cout << fmt::format("Using encoder:[{}] error!\n", encoder);
-        videoCodec = avcodec_find_encoder(AV_CODEC_ID_H264);
-
-        if (!videoCodec)
-        {
-            std::cout << "avcodec_alloc_context3 error";
-            return false;
-        }
-
-        std::cout << "Using default H264 encoder!\n";
-    }
-
-    mVideoCodecCtx = avcodec_alloc_context3(videoCodec);
-    if (!mVideoCodecCtx)
-    {
-        std::cout << "avcodec_alloc_context3 error";
-        return false;
-    }
-
-    // 压缩视频bit位大小 300kB
-    int bit_rate = bitrate * 1024 * 1024 * 8;
-
-    // CBR：Constant BitRate - 固定比特率
-    mVideoCodecCtx->flags |= AV_CODEC_FLAG_QSCALE;
-    mVideoCodecCtx->bit_rate = bit_rate;
-    mVideoCodecCtx->rc_min_rate = bit_rate;
-    mVideoCodecCtx->rc_max_rate = bit_rate;
-    mVideoCodecCtx->bit_rate_tolerance = bit_rate;
-
-    mVideoCodecCtx->codec_id = videoCodec->id;
-    // 不支持AV_PIX_FMT_BGR24直接进行编码
-    mVideoCodecCtx->pix_fmt = AV_PIX_FMT_VAAPI;
-    mVideoCodecCtx->codec_type = AVMEDIA_TYPE_VIDEO;
-    mVideoCodecCtx->width = width;
-    mVideoCodecCtx->height = height;
-    mVideoCodecCtx->time_base = {1, fps};
-    mVideoCodecCtx->framerate = {fps, 1};
-    mVideoCodecCtx->gop_size = 12;
-    mVideoCodecCtx->max_b_frames = 0;
-    mVideoCodecCtx->thread_count = 1;
-    // mVideoCodecCtx->sample_aspect_ratio = (AVRational){1, 1};
-
-    AVDictionary *video_codec_options = NULL;
-    av_dict_set(&video_codec_options, "profile", "main", 0);
-    // av_dict_set(&video_codec_options, "preset", "superfast", 0);
-    av_dict_set(&video_codec_options, "tune", "fastdecode", 0);
-    if ((err = set_hwframe_ctx(mVideoCodecCtx, hw_device_ctx, width, height)) < 0)
-    {
-        std::cout << "set_hwframe_ctx error\n";
-        return false;
-    }
-
-    if (avcodec_open2(mVideoCodecCtx, videoCodec, &video_codec_options) < 0)
-    {
-        std::cout << "avcodec_open2 error\n";
-        return false;
-    }
-
-    mVideoStream = avformat_new_stream(mFmtCtx, videoCodec);
-    if (!mVideoStream)
-    {
-        std::cout << "avformat_new_stream error\n";
-        return false;
-    }
-    mVideoStream->id = mFmtCtx->nb_streams - 1;
-    // stream的time_base参数非常重要，它表示将现实中的一秒钟分为多少个时间基, 在下面调用avformat_write_header时自动完成
-    avcodec_parameters_from_context(mVideoStream->codecpar, mVideoCodecCtx);
-    mVideoIndex = mVideoStream->id;
-
-    // open output url
-    av_dump_format(mFmtCtx, 0, name.c_str(), 1);
-    if (!(mFmtCtx->oformat->flags & AVFMT_NOFILE))
-    {
-        int ret = avio_open(&mFmtCtx->pb, name.c_str(), AVIO_FLAG_WRITE);
-        if (ret < 0)
-        {
-            // std::cout << fmt::format("avio_open error url: {}\n", name.c_str());
-            // std::cout << fmt::format("ret = {} : {}\n", ret, av_err2str(ret));
-            // std::cout << fmt::format("ret = {}\n", ret);
-            return false;
-        }
-    }
-
-    AVDictionary *fmt_options = NULL;
-    av_dict_set(&fmt_options, "bufsize", "1024", 0);
-
-    mFmtCtx->video_codec_id = mFmtCtx->oformat->video_codec;
-    mFmtCtx->audio_codec_id = mFmtCtx->oformat->audio_codec;
-
-    // 调用该函数会将所有stream的time_base，自动设置一个值，通常是1/90000或1/1000，这表示一秒钟表示的时间基长度
-    if (avformat_write_header(mFmtCtx, &fmt_options) < 0)
-    {
-        std::cout << "avformat_write_header error\n";
-        return false;
-    }
-
-    return true;
-}
-
-void BsVideoSaver::encodeVideoAndSaveThread(void *arg)
-{
-    // PushExecutor *executor = (PushExecutor *)arg;
-    BsVideoSaver *mBsVideoSaver = (BsVideoSaver *)arg;
-    int width = mBsVideoSaver->width;
-    int height = mBsVideoSaver->height;
-
-    // 未编码的视频帧（bgr格式）
-    VideoFrame *videoFrame = NULL;
-    // 未编码视频帧队列当前长度
-    int videoFrameQSize = 0;
-
-    AVFrame *hw_frame = NULL;
-    AVFrame *frame_nv12 = av_frame_alloc();
-    frame_nv12->format = AV_PIX_FMT_NV12;
-    frame_nv12->width = width;
-    frame_nv12->height = height;
-
-    int frame_nv12_buff_size = av_image_get_buffer_size(AV_PIX_FMT_NV12, width, height, 1);
-    uint8_t *frame_nv12_buff = (uint8_t *)av_malloc(frame_nv12_buff_size);
-    av_image_fill_arrays(
-        frame_nv12->data, frame_nv12->linesize,
-        frame_nv12_buff,
-        AV_PIX_FMT_NV12,
-        width, height, 1);
-
-    /* read data into software frame, and transfer them into hw frame */
-    // sw_frame->width = width;
-    // sw_frame->height = height;
-    // sw_frame->format = AV_PIX_FMT_NV12;
-
-    if (!(hw_frame = av_frame_alloc()))
-    {
-        std::cout << "Error while av_frame_alloc().\n";
-    }
-    if (av_hwframe_get_buffer(mBsVideoSaver->mVideoCodecCtx->hw_frames_ctx, hw_frame, 0) < 0)
-    {
-        std::cout << "Error while av_hwframe_get_buffer.\n";
-    }
-    if (!hw_frame->hw_frames_ctx)
-    {
-        std::cout << "Error while hw_frames_ctx.\n";
-    }
-
-    // 编码后的视频帧
-    AVPacket *pkt = av_packet_alloc();
-    int64_t encodeSuccessCount = 0;
-    int64_t frameCount = 0;
-
-    int64_t t1 = 0;
-    int64_t t2 = 0;
-    int ret = -1;
-
-    while (mBsVideoSaver->push_running)
-    {
-        if (mBsVideoSaver->getVideoFrame(videoFrame, videoFrameQSize))
-        {
-
-            // frame_bgr 转  frame_nv12
-            //mBsVideoSaver->bgr24ToYuv420p(videoFrame->data, width, height, frame_nv12_buff);
-            mBsVideoSaver->Rgb2NV12(videoFrame->data, 3, width, height, frame_nv12_buff);
-            // RGB2YUV_NV12(videoFrame->data, frame_nv12_buff, width, height );
-
-            frame_nv12->pts = frame_nv12->pkt_dts = av_rescale_q_rnd(
-                frameCount,
-                mBsVideoSaver->mVideoCodecCtx->time_base,
-                mBsVideoSaver->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            frame_nv12->pkt_duration = av_rescale_q_rnd(
-                1,
-                mBsVideoSaver->mVideoCodecCtx->time_base,
-                mBsVideoSaver->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            frame_nv12->pkt_pos = frameCount;
-
-            hw_frame->pts = hw_frame->pkt_dts = av_rescale_q_rnd(
-                frameCount,
-                mBsVideoSaver->mVideoCodecCtx->time_base,
-                mBsVideoSaver->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            hw_frame->pkt_duration = av_rescale_q_rnd(
-                1,
-                mBsVideoSaver->mVideoCodecCtx->time_base,
-                mBsVideoSaver->mVideoStream->time_base,
-                (AVRounding)(AV_ROUND_NEAR_INF | AV_ROUND_PASS_MINMAX));
-
-            hw_frame->pkt_pos = frameCount;
-
-            if (av_hwframe_transfer_data(hw_frame, frame_nv12, 0) < 0)
-            {
-                std::cout << "Error while transferring frame data to surface.\n";
-            }
-
-            t1 = getCurTime();
-            ret = avcodec_send_frame(mBsVideoSaver->mVideoCodecCtx, hw_frame);
-            if (ret >= 0)
-            {
-                ret = avcodec_receive_packet(mBsVideoSaver->mVideoCodecCtx, pkt);
-                if (ret >= 0)
-                {
-                    t2 = getCurTime();
-                    encodeSuccessCount++;
-
-                    pkt->stream_index = mBsVideoSaver->mVideoIndex;
-
-                    pkt->pos = frameCount;
-                    pkt->duration = frame_nv12->pkt_duration;
-
-                    ret = mBsVideoSaver->writePkt(pkt);
-
-                    if (ret < 0)
-                    {
-                        // std::cout << fmt::format("writePkt : ret = {}\n", ret);
-                    }
-                }
-                else
-                {
-                    // std::cout << fmt::format("avcodec_receive_packet error : ret = {}\n", ret);
-                }
-            }
-            else
-            {
-                // std::cout << fmt::format("avcodec_send_frame error : ret = {}\n", ret);
-            }
-
-            frameCount++;
-
-            // 释放资源
-            delete videoFrame;
-            videoFrame = NULL;
-        }
-        else
-        {
-            std::this_thread::sleep_for(std::chrono::milliseconds(1));
-        }
-    }
-    // std::cout << fmt::format("push_running is false!\n");
-    // std::cout << fmt::format("end stream!\n");
-
-    // 写文件尾
-    av_write_trailer(mBsVideoSaver->mFmtCtx);
-
-    av_packet_unref(pkt);
-    pkt = NULL;
-
-    av_free(frame_nv12_buff);
-    frame_nv12_buff = NULL;
-
-    av_frame_free(&frame_nv12);
-    av_frame_free(&hw_frame);
-    // av_frame_unref(frame_nv12);
-    frame_nv12 = NULL;
-}
-
-int BsVideoSaver::writePkt(AVPacket *pkt)
-{
-    mWritePkt_mtx.lock();
-    int ret = av_write_frame(mFmtCtx, pkt);
-    mWritePkt_mtx.unlock();
-
-    return ret;
-}
-
-bool BsVideoSaver::getVideoFrame(VideoFrame *&frame, int &frameQSize)
-{
-
-    mRGB_VideoFrameQ_mtx.lock();
-
-    if (!mRGB_VideoFrameQ.empty())
-    {
-        frame = mRGB_VideoFrameQ.front();
-        mRGB_VideoFrameQ.pop();
-        frameQSize = mRGB_VideoFrameQ.size();
-        mRGB_VideoFrameQ_mtx.unlock();
-        return true;
-    }
-    else
-    {
-        frameQSize = 0;
-        mRGB_VideoFrameQ_mtx.unlock();
-        return false;
-    }
-}
-
-void BsVideoSaver::write(cv::Mat &image)
-{
-
-    int size = image.cols * image.rows * image.channels();
-    VideoFrame *frame = new VideoFrame(VideoFrame::BGR, image.cols, image.rows);
-    cv::Mat bgr = cv::Mat::zeros(image.size(), CV_8UC3);
-    cv::cvtColor(image, bgr, cv::COLOR_BGR2RGB);
-
-    memcpy(frame->data, bgr.data, size);
-
-    mRGB_VideoFrameQ_mtx.lock();
-    mRGB_VideoFrameQ.push(frame);
-    mRGB_VideoFrameQ_mtx.unlock();
-}
-
-bool BsVideoSaver::videoFrameQisEmpty()
-{
-    return mRGB_VideoFrameQ.empty();
-}
-
-unsigned char BsVideoSaver::clipValue(unsigned char x, unsigned char min_val, unsigned char max_val)
-{
-    if (x > max_val)
-    {
-        return max_val;
-    }
-    else if (x < min_val)
-    {
-        return min_val;
-    }
-    else
-    {
-        return x;
-    }
-}
-
-bool BsVideoSaver::bgr24ToYuv420p(unsigned char *bgrBuf, int w, int h, unsigned char *yuvBuf)
-{
-
-    unsigned char *ptrY, *ptrU, *ptrV, *ptrRGB;
-    memset(yuvBuf, 0, w * h * 3 / 2);
-    ptrY = yuvBuf;
-    ptrU = yuvBuf + w * h;
-    ptrV = ptrU + (w * h * 1 / 4);
-    unsigned char y, u, v, r, g, b;
-
-    for (int j = 0; j < h; ++j)
-    {
-
-        ptrRGB = bgrBuf + w * j * 3;
-        for (int i = 0; i < w; i++)
-        {
-            b = *(ptrRGB++);
-            g = *(ptrRGB++);
-            r = *(ptrRGB++);
-
-            y = (unsigned char)((66 * r + 129 * g + 25 * b + 128) >> 8) + 16;
-            u = (unsigned char)((-38 * r - 74 * g + 112 * b + 128) >> 8) + 128;
-            v = (unsigned char)((112 * r - 94 * g - 18 * b + 128) >> 8) + 128;
-            *(ptrY++) = clipValue(y, 0, 255);
-            if (j % 2 == 0 && i % 2 == 0)
-            {
-                *(ptrU++) = clipValue(u, 0, 255);
-            }
-            else
-            {
-                if (i % 2 == 0)
-                {
-                    *(ptrV++) = clipValue(v, 0, 255);
-                }
-            }
-        }
-    }
-    return true;
-}
-
-
- 
-//https://software.intel.com/en-us/node/503873
-//YCbCr Color Model:
-//    The YCbCr color space is used for component digital video and was developed as part of the ITU-R BT.601 Recommendation. YCbCr is a scaled and offset version of the YUV color space.
-//    The Intel IPP functions use the following basic equations [Jack01] to convert between R'G'B' in the range 0-255 and Y'Cb'Cr' (this notation means that all components are derived from gamma-corrected R'G'B'):
-//    Y' = 0.257*R' + 0.504*G' + 0.098*B' + 16
-//    Cb' = -0.148*R' - 0.291*G' + 0.439*B' + 128
-//    Cr' = 0.439*R' - 0.368*G' - 0.071*B' + 128
- 
- 
-//Y' = 0.257*R' + 0.504*G' + 0.098*B' + 16
-static float Rgb2Y(float r0, float g0, float b0)
-{
-    float y0 = 0.257f*r0 + 0.504f*g0 + 0.098f*b0 + 16.0f;
-    return y0;
-}
- 
-//U equals Cb'
-//Cb' = -0.148*R' - 0.291*G' + 0.439*B' + 128
-static float Rgb2U(float r0, float g0, float b0)
-{
-    float u0 = -0.148f*r0 - 0.291f*g0 + 0.439f*b0 + 128.0f;
-    return u0;
-}
- 
-//V equals Cr'
-//Cr' = 0.439*R' - 0.368*G' - 0.071*B' + 128
-static float Rgb2V(float r0, float g0, float b0)
-{
-    float v0 = 0.439f*r0 - 0.368f*g0 - 0.071f*b0 + 128.0f;
-    return v0;
-}
- 
-//Convert two rows from RGB to two Y rows, and one row of interleaved U,V.
-//I0 and I1 points two sequential source rows.
-//I0 -> rgbrgbrgbrgbrgbrgb...
-//I1 -> rgbrgbrgbrgbrgbrgb...
-//Y0 and Y1 points two sequential destination rows of Y plane.
-//Y0 -> yyyyyy
-//Y1 -> yyyyyy
-//UV0 points destination rows of interleaved UV plane.
-//UV0 -> uvuvuv
-static void Rgb2NV12TwoRows(const unsigned char I0[],
-                            const unsigned char I1[],
-                            int step,
-                            const int image_width,
-                            unsigned char Y0[],
-                            unsigned char Y1[],
-                            unsigned char UV0[])
-{
-    int x;  //Column index
- 
-    //Process 4 source pixels per iteration (2 pixels of row I0 and 2 pixels of row I1).
-    for (x = 0; x < image_width; x += 2)
-    {
-        //Load R,G,B elements from first row (and convert to float).
-        float r00 = (float)I0[x*step + 0];
-        float g00 = (float)I0[x*step + 1];
-        float b00 = (float)I0[x*step + 2];
- 
-        //Load next R,G,B elements from first row (and convert to float).
-        float r01 = (float)I0[x*step + step+0];
-        float g01 = (float)I0[x*step + step+1];
-        float b01 = (float)I0[x*step + step+2];
- 
-        //Load R,G,B elements from second row (and convert to float).
-        float r10 = (float)I1[x*step + 0];
-        float g10 = (float)I1[x*step + 1];
-        float b10 = (float)I1[x*step + 2];
- 
-        //Load next R,G,B elements from second row (and convert to float).
-        float r11 = (float)I1[x*step + step+0];
-        float g11 = (float)I1[x*step + step+1];
-        float b11 = (float)I1[x*step + step+2];
- 
-        //Calculate 4 Y elements.
-        float y00 = Rgb2Y(r00, g00, b00);
-        float y01 = Rgb2Y(r01, g01, b01);
-        float y10 = Rgb2Y(r10, g10, b10);
-        float y11 = Rgb2Y(r11, g11, b11);
- 
-        //Calculate 4 U elements.
-        float u00 = Rgb2U(r00, g00, b00);
-        float u01 = Rgb2U(r01, g01, b01);
-        float u10 = Rgb2U(r10, g10, b10);
-        float u11 = Rgb2U(r11, g11, b11);
- 
-        //Calculate 4 V elements.
-        float v00 = Rgb2V(r00, g00, b00);
-        float v01 = Rgb2V(r01, g01, b01);
-        float v10 = Rgb2V(r10, g10, b10);
-        float v11 = Rgb2V(r11, g11, b11);
- 
-        //Calculate destination U element: average of 2x2 "original" U elements.
-        float u0 = (u00 + u01 + u10 + u11)*0.25f;
- 
-        //Calculate destination V element: average of 2x2 "original" V elements.
-        float v0 = (v00 + v01 + v10 + v11)*0.25f;
- 
-        //Store 4 Y elements (two in first row and two in second row).
-        Y0[x + 0]    = (unsigned char)(y00 + 0.5f);
-        Y0[x + 1]    = (unsigned char)(y01 + 0.5f);
-        Y1[x + 0]    = (unsigned char)(y10 + 0.5f);
-        Y1[x + 1]    = (unsigned char)(y11 + 0.5f);
- 
-        //Store destination U element.
-        UV0[x + 0]    = (unsigned char)(u0 + 0.5f);
- 
-        //Store destination V element (next to stored U element).
-        UV0[x + 1]    = (unsigned char)(v0 + 0.5f);
-    }
-}
- 
- 
-//Convert image I from pixel ordered RGB to NV12 format.
-//I - Input image in pixel ordered RGB format
-//image_width - Number of columns of I
-//image_height - Number of rows of I
-//J - Destination "image" in NV12 format.
- 
-//I is pixel ordered RGB color format (size in bytes is image_width*image_height*3):
-//RGBRGBRGBRGBRGBRGB
-//RGBRGBRGBRGBRGBRGB
-//RGBRGBRGBRGBRGBRGB
-//RGBRGBRGBRGBRGBRGB
-//
-//J is in NV12 format (size in bytes is image_width*image_height*3/2):
-//YYYYYY
-//YYYYYY
-//UVUVUV
-//Each element of destination U is average of 2x2 "original" U elements
-//Each element of destination V is average of 2x2 "original" V elements
-//
-//Limitations:
-//1. image_width must be a multiple of 2.
-//2. image_height must be a multiple of 2.
-//3. I and J must be two separate arrays (in place computation is not supported). 
-void BsVideoSaver::Rgb2NV12(const unsigned char I[], int step,
-              const int image_width, 
-              const int image_height,
-              unsigned char J[])
-{
-    //In NV12 format, UV plane starts below Y plane.
-    unsigned char *UV = &J[image_width*image_height];
- 
-    //I0 and I1 points two sequential source rows.
-    const unsigned char *I0;  //I0 -> rgbrgbrgbrgbrgbrgb...
-    const unsigned char *I1;  //I1 -> rgbrgbrgbrgbrgbrgb...
- 
-    //Y0 and Y1 points two sequential destination rows of Y plane.
-    unsigned char *Y0;    //Y0 -> yyyyyy
-    unsigned char *Y1;    //Y1 -> yyyyyy
- 
-    //UV0 points destination rows of interleaved UV plane.
-    unsigned char *UV0; //UV0 -> uvuvuv
- 
-    int y;  //Row index
- 
-    //In each iteration: process two rows of Y plane, and one row of interleaved UV plane.
-    for (y = 0; y < image_height; y += 2)
-    {
-        I0 = &I[y*image_width*step];        //Input row width is image_width*3 bytes (each pixel is R,G,B).
-        I1 = &I[(y+1)*image_width*step];
- 
-        Y0 = &J[y*image_width];            //Output Y row width is image_width bytes (one Y element per pixel).
-        Y1 = &J[(y+1)*image_width];
- 
-        UV0 = &UV[(y/2)*image_width];    //Output UV row - width is same as Y row width.
- 
-        //Process two source rows into: Two Y destination row, and one destination interleaved U,V row.
-        Rgb2NV12TwoRows(I0,
-                        I1,
-                        step,
-                        image_width,
-                        Y0,
-                        Y1,
-                        UV0);
-    }
-}
- 
- 
- 

video_io/ffmpeg/x86_intel/bs_video_saver.h

@@ -1,101 +0,0 @@
-#pragma once
-
-#include <iostream>
-#include <thread>         
-#include <chrono> 
-
-
-#include <fmt/core.h>
-// #include <glog/logging.h>
-
-#include <queue>
-#include <mutex>
-extern "C"
-{
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-#include <libavutil/imgutils.h>
-// #include <libavutil/error.h>
-#include <libswresample/swresample.h>
-
-#include <libavutil/pixdesc.h>
-#include <libavutil/hwcontext.h>
-}
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/opencv.hpp>
-#include "bs_common.h"
-
-using namespace cv;
-class BsVideoSaver
-{
-public:
-    BsVideoSaver();
-    ~BsVideoSaver();
-
-    // 用于初始化视频推流，仅调用一次
-    bool setup(std::string name, int width, int height, int fps, std::string encoder, int bitrate);
-    // 推流一帧图像，在循环中被调用
-    void write(cv::Mat& image);
-
-
-    // 连接流媒体服务器
-    bool init(std::string name, int width, int height, int fps, std::string encoder, int bitrate);
-    void start();
-    void stop();
-
-    // 编码视频帧并推流
-    static void encodeVideoAndSaveThread(void* arg); 
-
-    bool videoFrameQisEmpty();
-
-    int writePkt(AVPacket *pkt);
-
-
-    // 上下文
-    AVFormatContext *mFmtCtx = nullptr;
-    // 视频帧
-    AVCodecContext *mVideoCodecCtx = NULL;
-    AVStream *mVideoStream = NULL;
-
-    AVBufferRef *hw_device_ctx = NULL;
-
-    int err;
-
-
-    int mVideoIndex = -1;
-
-
-private:
-
-    // 从mRGB_VideoFrameQ里面获取RGBframe
-    bool getVideoFrame(VideoFrame *&frame, int &frameQSize); 
-
-
-    // bgr24转yuv420p
-    unsigned char clipValue(unsigned char x, unsigned char min_val, unsigned char max_val);
-    bool bgr24ToYuv420p(unsigned char *bgrBuf, int w, int h, unsigned char *yuvBuf);
-    void Rgb2NV12(const unsigned char I[], int step, const int image_width, const int image_height, unsigned char J[]);
-    // void RGB2YUV_NV12(uint8_t* rgbBufIn, uint8_t* yuvBufOut, int nWidth, int nHeight);
-
-    int width = -1;
-    int height = -1;
-
-    
-
-
-    bool push_running = false;
-    bool nd_push_frame = false;
-
-    // 视频帧
-    std::queue<VideoFrame *> mRGB_VideoFrameQ;
-    std::mutex mRGB_VideoFrameQ_mtx;
-
-
-    // 推流锁
-    std::mutex mWritePkt_mtx;
-    std::thread* mThread = nullptr;
-
-
-};

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

@@ -454,71 +454,6 @@ void drawTargetsInFrame(
   }
 }
 
-
-cv::Mat drawTargetsInFrame(
-  const cv::Mat img_,
-  const TargetsInFrame& tgts_,
-  const double scale,
-  bool with_all,
-  bool with_category,
-  bool with_tid,
-  bool with_seg,
-  bool with_box
-)
-{
-  cv::Mat img_show;
-  cv::resize(img_, img_show, cv::Size(0, 0), scale, scale);
-  if (tgts_.rois.size() > 0)
-  {
-    cv::Mat image_ret;
-    cv::addWeighted(img_show, 0.5, cv::Mat::zeros(cv::Size(img_show.cols, img_show.rows), CV_8UC3), 0, 0, image_ret);
-    cv::Rect roi = cv::Rect((int)(tgts_.rois[0].x1*scale), (int)(tgts_.rois[0].y1*scale), (int)((tgts_.rois[0].x2 - tgts_.rois[0].x1)*scale), (int)((tgts_.rois[0].y2 - tgts_.rois[0].y1)*scale));
-    img_show(roi).copyTo(image_ret(roi));
-    image_ret.copyTo(img_show);
-  }
-
-  for (Target tgt : tgts_.targets)
-  {
-    cv::circle(img_show, cv::Point(int(tgt.cx * tgts_.width * scale), int(tgt.cy * tgts_.height * scale)), 4, cv::Scalar(0,255,0), 2);
-    if ((with_all || with_box) && tgt.has_box)
-    {
-      Box b;
-      tgt.getBox(b);
-      cv::rectangle(img_show, cv::Rect((int)(b.x1 * scale), (int)(b.y1 * scale), (int)((b.x2-b.x1+1)*scale), (int)((b.y2-b.y1+1)*scale)), cv::Scalar(0,0,255), 1, 1, 0);
-      if ((with_all || with_category) && tgt.has_category)
-      {
-        cv::putText(img_show, tgt.category, cv::Point((int)(b.x1*scale), (int)(b.y1*scale)-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
-      }
-      if ((with_all || with_tid) && tgt.has_tid)
-      {
-        char tmp[32];
-        sprintf(tmp, "TID: %d", tgt.tracked_id);
-        cv::putText(img_show, tmp, cv::Point((int)(b.x1*scale), (int)(b.y1*scale)-14), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(0,0,255));
-      }
-    }
-    if ((with_all || with_seg) && tgt.has_seg)
-    {
-      cv::Mat mask = tgt.getMask() * 255;
-      cv::threshold(mask, mask, 127, 255, cv::THRESH_BINARY);
-      mask.convertTo(mask, CV_8UC1);
-
-      cv::resize(mask, mask, cv::Size(img_show.cols, img_show.rows));
-      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_show.clone();
-      cv::fillPoly(mask_disp, contours, cv::Scalar(255,255,255), cv::LINE_AA);
-      cv::polylines(img_show, contours, true, cv::Scalar(255,255,255), 2, cv::LINE_AA);
-
-      double alpha = 0.6;
-      cv::addWeighted(img_show, alpha, mask_disp, 1.0-alpha, 0, img_show);
-    }
-  }
-  return img_show;
-}
-
-
 std::string Target::getJsonStr()
 {
   std::string json_str = "{";
@@ -653,15 +588,6 @@ bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners)
   return this->has_aruco;
 }
 
-bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs)
-{
-  id = this->_a_id;
-  corners = this->_a_corners;
-  rvecs = this->_a_rvecs;
-  tvecs = this->_a_tvecs;
-  return this->has_aruco;
-}
-
 bool Target::getBox(Box& b)
 {
   b = this->_b_box;
@@ -1043,192 +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->_fourcc = "MJPG";
+//   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();
-}
-std::string CameraBase::getFourcc()
-{
-  return this->_fourcc;
-}
-void CameraBase::setFourcc(std::string fourcc)
-{
-  this->_fourcc = fourcc;
-}
-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::setRtspUrl(std::string rtsp_url)
-{
-  this->_rtsp_url = rtsp_url;
-}
-void CameraBase::setVideoPath(std::string video_path)
-{
-  this->_video_path = video_path;
-}
-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())
-  {
-    if (this->_type != CameraType::VIDEO || this->_is_updated == false)
-    {
-      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->_frame.copyTo(image);
-        this->_is_updated = false;
-        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>
@@ -24,11 +25,6 @@ void Camera::openImpl()
     {
       this->_cap.open(this->_camera_id);
     }
-    if (_fourcc.size() >= 4)
-    {
-      const char *fourcc_cstr = _fourcc.c_str();
-      this->_cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc(fourcc_cstr[0], fourcc_cstr[1], fourcc_cstr[2], fourcc_cstr[3]));
-    }
     if (this->_width > 0 && this->_height > 0)
     {
       this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);
@@ -76,21 +72,14 @@ void Camera::openImpl()
       this->_fps = 30;
     }
 
-#if defined(PLATFORM_X86_CUDA) || defined(PLATFORM_X86_INTEL)
-    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! \
-                   application/x-rtp,media=video ! rtph264depay ! parsebin ! avdec_h264 ! \
-                   videoconvert ! appsink sync=false", 
-                   this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
+#ifdef PLATFORM_X86_CUDA
+    sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
+    this->_cap.open(pipe);
 #endif
 #ifdef PLATFORM_JETSON
-    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! \
-                   application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! \
-                   nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", 
-                   this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
-#endif
-
-    // printf("%s\r\n",pipe);
+    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
+#endif
   }
   else if (this->_type == CameraType::GX40)
   {
@@ -104,7 +93,7 @@ void Camera::openImpl()
     {
       this->_port = 554;
     }
-#if defined(PLATFORM_X86_CUDA) || defined(PLATFORM_X86_INTEL)
+#ifdef PLATFORM_X86_CUDA
     camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
                << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \
                rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width
@@ -136,45 +125,11 @@ void Camera::openImpl()
       this->_fps = 30;
     }
 
-    sprintf(pipe, "nvarguscamerasrc sensor-id=%d ee-mode=0 tnr-mode=0 aeantibanding=0 wbmode=0 ! \
-                   video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! \
-                   nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink",
-                   this->_camera_id, this->_width, this->_height, this->_fps);
+    sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
   }
-  else if (this->_type == CameraType::RTSP)
-  {
-    char pipe[512];
-    if (this->_width <= 0 || this->_height <= 0)
-    {
-      this->_width = 1280;
-      this->_height = 720;
-    }
-    if (this->_port <= 0)
-    {
-      this->_port = 554;
-    }
-    if (this->_fps <= 0)
-    {
-      this->_fps = 30;
-    }
-
-#if defined(PLATFORM_X86_CUDA) || defined(PLATFORM_X86_INTEL)
-    sprintf(pipe, "rtspsrc location=%s?W=%d&H=%d&FPS=%d latency=100 ! \
-                   application/x-rtp,media=video ! rtph264depay ! parsebin ! avdec_h264 ! \
-                   videoconvert ! appsink sync=false", 
-                   this->_rtsp_url.c_str(), this->_width, this->_height, this->_fps);
-    this->_cap.open(pipe, cv::CAP_GSTREAMER);
-#endif
-#ifdef PLATFORM_JETSON
-    sprintf(pipe, "rtspsrc location=%s?W=%d&H=%d&FPS=%d latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_rtsp_url.c_str(), this->_width, this->_height, this->_fps);
-    this->_cap.open(pipe, cv::CAP_GSTREAMER);
-#endif
-  }
-  else if (this->_type == CameraType::VIDEO)
-  {
-    this->_cap.open(this->_video_path);
-  }
 }
 
 }
+
+#endif

video_io/sv_video_output.cpp

@@ -6,13 +6,8 @@
 #include "writer_gstreamer_impl.h"
 #endif
 #ifdef WITH_FFMPEG
-#if defined(PLATFORM_X86_CUDA)
-#include "x86_cuda/bs_push_streamer.h"
-#include "x86_cuda/bs_video_saver.h"
-#elif defined(PLATFORM_X86_INTEL)
-#include "x86_intel/bs_push_streamer.h"
-#include "x86_intel/bs_video_saver.h"
-#endif
+#include "bs_push_streamer.h"
+#include "bs_video_saver.h"
 #endif
 
 
@@ -42,10 +37,10 @@ bool VideoWriter::setupImpl(std::string file_name_)
   return this->_gstreamer_impl->gstreamerSetup(this, file_name_);
 #endif
 #ifdef WITH_FFMPEG
-#if defined(PLATFORM_X86_CUDA)
+#ifdef PLATFORM_X86_CUDA
   std::string enc = "h264_nvenc";
-#elif defined(PLATFORM_X86_INTEL)
-  std::string enc = "h264_vaapi";
+#else
+  std::string enc = "";
 #endif
   return this->_ffmpeg_impl->setup(file_path + file_name_ + ".avi", img_sz.width, img_sz.height, (int)fps, enc, 4);
 #endif
@@ -110,10 +105,10 @@ bool VideoStreamer::setupImpl()
 #endif
 #ifdef WITH_FFMPEG
   std::string rtsp_url = "rtsp://127.0.0.1/live" + url;
-#if defined(PLATFORM_X86_CUDA)
+#ifdef PLATFORM_X86_CUDA
   std::string enc = "h264_nvenc";
-#elif defined(PLATFORM_X86_INTEL)
-  std::string enc = "h264_vaapi";
+#else
+  std::string enc = "";
 #endif
   return this->_ffmpeg_impl->setup(rtsp_url, img_sz.width, img_sz.height, 24, enc, bitrate);
 #endif