finish model manager v1

Signed-off-by: jario-jin <jariof@foxmail.com>

.gitignore

@@ -1,6 +1,13 @@
 # Distribution / packaging
 .Python
 build/
+models/
+confs/
+ZLM/
+ZLMediaKit/
+ffmpeg-4.2.5/
+nv-codec-headers/
+*.bz2
 develop-eggs/
 dist/
 eggs/
@@ -15,9 +22,11 @@ share/python-wheels/
 *.egg
 MANIFEST
 .idea/
-models/
-models-converting.sh
-models-downloading.sh
+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

@@ -24,6 +24,7 @@ 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!")
@@ -38,6 +39,10 @@ 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)
@@ -67,15 +72,20 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/IOs/serial/include
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/FIFO
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1
-  ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G2
+  ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f
+  ${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
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -116,6 +126,7 @@ set(
   include/sv_sot.h
   include/sv_mot.h
   include/sv_color_line.h
+  include/sv_veri_det.h
   include/sv_video_input.h
   include/sv_video_output.h
   include/sv_world.h
@@ -129,14 +140,16 @@ list(APPEND serial_SRCS gimbal_ctrl/IOs/serial/src/impl/unix.cc)
 list(APPEND serial_SRCS gimbal_ctrl/IOs/serial/src/impl/list_ports/list_ports_linux.cc)
 
 set(driver_SRCS
-  gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cc
+  gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
 )
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
-file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G2/*.cpp)
+file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
+file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40/*.cpp)
+list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 
@@ -155,6 +168,7 @@ set(spirecv_SRCS
   algorithm/ellipse_det/ellipse_detector.cpp
   algorithm/common_det/sv_common_det.cpp
   algorithm/landing_det/sv_landing_det.cpp
+  algorithm/veri/sv_veri_det.cpp
   algorithm/sot/sv_sot.cpp
   algorithm/mot/sv_mot.cpp
   algorithm/color_line/sv_color_line.cpp
@@ -177,9 +191,27 @@ if(USE_CUDA)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
   file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda/*.cpp)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda/*.cpp)
+  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()
@@ -223,10 +255,22 @@ 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()
 
@@ -263,6 +307,8 @@ add_executable(UdpDetectionInfoSender samples/demo/udp_detection_info_sender.cpp
 target_link_libraries(UdpDetectionInfoSender sv_world)
 add_executable(VideoSaving samples/demo/video_saving.cpp)
 target_link_libraries(VideoSaving sv_world)
+add_executable(VERI samples/demo/veri.cpp)
+target_link_libraries(VERI sv_world)
 add_executable(VideoStreaming samples/demo/video_streaming.cpp)
 target_link_libraries(VideoStreaming sv_world)
 add_executable(GimbalClickedTracking samples/demo/gimbal_detection_with_clicked_tracking.cpp)
@@ -271,20 +317,21 @@ add_executable(GimbalLandingMarkerDetection samples/demo/gimbal_landing_marker_d
 target_link_libraries(GimbalLandingMarkerDetection sv_world)
 add_executable(GimbalUdpDetectionInfoSender samples/demo/gimbal_udp_detection_info_sender.cpp)
 target_link_libraries(GimbalUdpDetectionInfoSender sv_world)
-add_executable(ArucoDetectionWithSingleObjectTracking samples/demo/aruco_detection_with_single_object_tracking.cpp)
-target_link_libraries(ArucoDetectionWithSingleObjectTracking sv_world)
-add_executable(CarDetectionWithTracking samples/demo/car_detection_with_tracking.cpp)
-target_link_libraries(CarDetectionWithTracking sv_world)
 
 add_executable(EvalFpsOnVideo samples/test/eval_fps_on_video.cpp)
 target_link_libraries(EvalFpsOnVideo sv_world)
 
+add_executable(GimbalTest samples/test/gimbal_test.cpp)
+target_link_libraries(GimbalTest sv_world)
+
 add_executable(EvalModelOnCocoVal samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp)
 target_link_libraries(EvalModelOnCocoVal sv_world)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
 add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
-target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
+target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world)
+add_executable(CreateMarker samples/calib/create_marker.cpp)
+target_link_libraries(CreateMarker ${OpenCV_LIBS})
 
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 if (NOT DEFINED SV_INSTALL_PREFIX)
@@ -303,7 +350,7 @@ if(USE_CUDA)
     RUNTIME DESTINATION bin
   )
 elseif(PLATFORM STREQUAL "X86_INTEL")
-  install(TARGETS sv_world
+  install(TARGETS sv_gimbal sv_world
     LIBRARY DESTINATION lib
   )
 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)
-    - [ ] Intel CPU (coming soon)
-    - [ ] Rockchip (coming soon)
+    - [x] Intel CPU
     - [ ] HUAWEI Ascend (coming soon)
+    - [ ] Rockchip (coming soon)
 
 ## Demos
  - **QR code detection**

README.md

@@ -12,7 +12,7 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
 
 ## 快速入门
 
- - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
+ - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)（[wolai版本](https://www.wolai.com/4qWFM6aZmtpQE6jj7hnNMW)）、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
     - 需掌握C++语言基础、CMake编译工具基础。
     - 需要掌握OpenCV视觉库基础，了解CUDA、OpenVINO、RKNN和CANN等计算库。
     - 需要了解ROS基本概念及基本操作。
@@ -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）
-    - [ ] Intel CPU（推进中）
-    - [ ] Rockchip（推进中）
+    - [x] Intel CPU
     - [ ] HUAWEI Ascend（推进中）
+    - [ ] Rockchip（推进中）
 
 ## 功能展示
  - **二维码检测**

algorithm/common_det/cuda/common_det_cuda_impl.cpp

@@ -1,6 +1,7 @@
 #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/"
@@ -103,7 +104,7 @@ void infer_seg(IExecutionContext& context, cudaStream_t& stream, void **buffers,
   CUDA_CHECK(cudaMemcpyAsync(output2, buffers[2], batchSize * kOutputSize2 * sizeof(float), cudaMemcpyDeviceToHost, stream));
   cudaStreamSynchronize(stream);
 }
-void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w, int batchsize) {
   assert(this->_engine->getNbBindings() == 2);
   // In order to bind the buffers, we need to know the names of the input and output tensors.
   // Note that indices are guaranteed to be less than IEngine::getNbBindings()
@@ -112,12 +113,12 @@ void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w) {
   assert(inputIndex == 0);
   assert(outputIndex == 1);
   // Create GPU buffers on device
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), kBatchSize * 3 * input_h * input_w * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), kBatchSize * kOutputSize * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), batchsize * 3 * input_h * input_w * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), batchsize * kOutputSize * sizeof(float)));
 
-  this->_cpu_output_buffer = new float[kBatchSize * kOutputSize];
+  this->_cpu_output_buffer = new float[batchsize * kOutputSize];
 }
-void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w, int batchsize) {
   assert(this->_engine->getNbBindings() == 3);
   // In order to bind the buffers, we need to know the names of the input and output tensors.
   // Note that indices are guaranteed to be less than IEngine::getNbBindings()
@@ -129,13 +130,13 @@ void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w
   assert(outputIndex2 == 2);
 
   // Create GPU buffers on device
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), kBatchSize * 3 * input_h * input_w * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), kBatchSize * kOutputSize1 * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[2]), kBatchSize * kOutputSize2 * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), batchsize * 3 * input_h * input_w * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), batchsize * kOutputSize1 * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[2]), batchsize * kOutputSize2 * sizeof(float)));
 
   // Alloc CPU buffers
-  this->_cpu_output_buffer1 = new float[kBatchSize * kOutputSize1];
-  this->_cpu_output_buffer2 = new float[kBatchSize * kOutputSize2];
+  this->_cpu_output_buffer1 = new float[batchsize * kOutputSize1];
+  this->_cpu_output_buffer2 = new float[batchsize * kOutputSize2];
 }
 void deserialize_engine(std::string& engine_name, IRuntime** runtime, ICudaEngine** engine, IExecutionContext** context) {
   std::ifstream file(engine_name, std::ios::binary);
@@ -172,7 +173,8 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   std::vector<float>& boxes_h_,
   std::vector<int>& boxes_label_,
   std::vector<float>& boxes_score_,
-  std::vector<cv::Mat>& boxes_seg_
+  std::vector<cv::Mat>& boxes_seg_,
+  bool input_4k_
 )
 {
 #ifdef WITH_CUDA
@@ -183,9 +185,51 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   double thrs_nms = base_->getThrsNms();
 
   std::vector<cv::Mat> img_batch;
-  img_batch.push_back(img_);
-  // Preprocess
-  cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], input_w, input_h, this->_stream);
+  if (input_4k_)
+  {
+    if (img_.cols == 3840 && img_.rows == 2160)
+    {
+      cv::Mat patch1, patch2, patch3, patch4, patch5, patch6;
+      
+      img_.colRange(200, 1480).rowRange(0, 1280).copyTo(patch1);
+      img_.colRange(1280, 2560).rowRange(0, 1280).copyTo(patch2);
+      img_.colRange(2360, 3640).rowRange(0, 1280).copyTo(patch3);
+      
+      img_.colRange(200, 1480).rowRange(880, 2160).copyTo(patch4);
+      img_.colRange(1280, 2560).rowRange(880, 2160).copyTo(patch5);
+      img_.colRange(2360, 3640).rowRange(880, 2160).copyTo(patch6);
+      
+      img_batch.push_back(patch1);
+      img_batch.push_back(patch2);
+      img_batch.push_back(patch3);
+      img_batch.push_back(patch4);
+      img_batch.push_back(patch5);
+      img_batch.push_back(patch6);
+    }
+    else
+    {
+      throw std::runtime_error("SpireCV (106) Input image is NOT 4K (3840 x 2160)!");
+    }
+    if (with_segmentation)
+    {
+      throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
+    }
+  }
+  else
+  {
+    img_batch.push_back(img_);
+  }
+  
+  if (input_4k_)
+  {
+    // Preprocess
+    cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], 1280, 1280, this->_stream);
+  }
+  else
+  {
+    // Preprocess
+    cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], input_w, input_h, this->_stream);
+  }
 
   // Run inference
   if (with_segmentation)
@@ -194,7 +238,14 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   }
   else
   {
-    infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, kBatchSize);
+    if (input_4k_)
+    {
+      infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, 6);
+    }
+    else
+    {
+      infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, kBatchSize);
+    }
   }
 
   // NMS
@@ -208,45 +259,102 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
     batch_nms(res_batch, this->_cpu_output_buffer, img_batch.size(), kOutputSize, thrs_conf, thrs_nms);
   }
 
-  std::vector<Detection> res = res_batch[0];
-  std::vector<cv::Mat> masks;
-  if (with_segmentation)
+
+  if (input_4k_)
   {
-    masks = process_mask(&(this->_cpu_output_buffer2[0]), kOutputSize2, res, input_h, input_w);
-  }
-
-
-
-  for (size_t j = 0; j < res.size(); j++) {
-    cv::Rect r = get_rect(img_, res[j].bbox, input_h, input_w);
-    if (r.x < 0) r.x = 0;
-    if (r.y < 0) r.y = 0;
-    if (r.x + r.width >= img_.cols)  r.width = img_.cols - r.x - 1;
-    if (r.y + r.height >= img_.rows) r.height = img_.rows - r.y - 1;
-    if (r.width > 5 && r.height > 5)
+    for (size_t k = 0; k < res_batch.size(); k++)
     {
-      // cv::rectangle(img_show, r, cv::Scalar(0, 0, 255), 2);
-      // cv::putText(img_show, vehiclenames[(int)res[j].class_id], cv::Point(r.x, r.y - 1), cv::FONT_HERSHEY_PLAIN, 2.2, cv::Scalar(0, 0, 255), 2);
-      boxes_x_.push_back(r.x);
-      boxes_y_.push_back(r.y);
-      boxes_w_.push_back(r.width);
-      boxes_h_.push_back(r.height);
-
-      boxes_label_.push_back((int)res[j].class_id);
-      boxes_score_.push_back(res[j].conf);
-
-      if (with_segmentation)
+      std::vector<Detection> res = res_batch[k];
+      for (size_t j = 0; j < res.size(); j++)
       {
-        cv::Mat mask_j = masks[j].clone();
-        boxes_seg_.push_back(mask_j);
+        cv::Rect r = get_rect(img_batch[k], res[j].bbox, 1280, 1280);
+        if (r.x < 0) r.x = 0;
+        if (r.y < 0) r.y = 0;
+        if (r.x + r.width >= 1280)  r.width = 1280 - r.x - 1;
+        if (r.y + r.height >= 1280) r.height = 1280 - r.y - 1;
+        if (r.width > 3 && r.height > 3)
+        {
+          if (0 == k)
+          {
+            boxes_x_.push_back(r.x + 200);
+            boxes_y_.push_back(r.y);
+          }
+          else if (1 == k)
+          {
+            boxes_x_.push_back(r.x + 1280);
+            boxes_y_.push_back(r.y);
+          }
+          else if (2 == k)
+          {
+            boxes_x_.push_back(r.x + 2360);
+            boxes_y_.push_back(r.y);
+          }
+          else if (3 == k)
+          {
+            boxes_x_.push_back(r.x + 200);
+            boxes_y_.push_back(r.y + 880);
+          }
+          else if (4 == k)
+          {
+            boxes_x_.push_back(r.x + 1280);
+            boxes_y_.push_back(r.y + 880);
+          }
+          else if (5 == k)
+          {
+            boxes_x_.push_back(r.x + 2360);
+            boxes_y_.push_back(r.y + 880);
+          }
+          boxes_w_.push_back(r.width);
+          boxes_h_.push_back(r.height);
+
+          boxes_label_.push_back((int)res[j].class_id);
+          boxes_score_.push_back(res[j].conf);
+        }
       }
     }
   }
+  else
+  {
+
+    std::vector<Detection> res = res_batch[0];
+    std::vector<cv::Mat> masks;
+    if (with_segmentation)
+    {
+      masks = process_mask(&(this->_cpu_output_buffer2[0]), kOutputSize2, res, input_h, input_w);
+    }
+
+    for (size_t j = 0; j < res.size(); j++)
+    {
+      cv::Rect r = get_rect(img_, res[j].bbox, input_h, input_w);
+      if (r.x < 0) r.x = 0;
+      if (r.y < 0) r.y = 0;
+      if (r.x + r.width >= img_.cols)  r.width = img_.cols - r.x - 1;
+      if (r.y + r.height >= img_.rows) r.height = img_.rows - r.y - 1;
+      if (r.width > 5 && r.height > 5)
+      {
+        // cv::rectangle(img_show, r, cv::Scalar(0, 0, 255), 2);
+        // cv::putText(img_show, vehiclenames[(int)res[j].class_id], cv::Point(r.x, r.y - 1), cv::FONT_HERSHEY_PLAIN, 2.2, cv::Scalar(0, 0, 255), 2);
+        boxes_x_.push_back(r.x);
+        boxes_y_.push_back(r.y);
+        boxes_w_.push_back(r.width);
+        boxes_h_.push_back(r.height);
+
+        boxes_label_.push_back((int)res[j].class_id);
+        boxes_score_.push_back(res[j].conf);
+
+        if (with_segmentation)
+        {
+          cv::Mat mask_j = masks[j].clone();
+          boxes_seg_.push_back(mask_j);
+        }
+      }
+    }
   
+  }
 #endif
 }
 
-bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
+bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bool input_4k_)
 {
 #ifdef WITH_CUDA
   std::string dataset = base_->getDataset();
@@ -257,21 +365,54 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
   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)
   {
-    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
+    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";
+    }
   }
   if (with_segmentation)
   {
     base_->setInputH(640);
     base_->setInputW(640);
-    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
+    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";
+    }
   }
   std::cout << "Load: " << engine_fn << std::endl;
   if (!is_file_exist(engine_fn))
   {
     throw std::runtime_error("SpireCV (104) Error loading the CommonObject TensorRT model (File Not Exist)");
   }
+  
+  if (input_4k_ && with_segmentation)
+  {
+    throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
+  }
 
   deserialize_engine(engine_fn, &this->_runtime, &this->_engine, &this->_context);
   CUDA_CHECK(cudaStreamCreate(&this->_stream));
@@ -282,12 +423,20 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
   if (with_segmentation)
   {
     // Prepare cpu and gpu buffers
-    this->_prepare_buffers_seg(input_h, input_w);
+    this->_prepare_buffers_seg(input_h, input_w, 1);
   }
   else
   {
-    // Prepare cpu and gpu buffers
-    this->_prepare_buffers(input_h, input_w);
+    if (input_4k_)
+    {
+      // Prepare cpu and gpu buffers
+      this->_prepare_buffers(input_h, input_w, 6);
+    }
+    else
+    {
+      // Prepare cpu and gpu buffers
+      this->_prepare_buffers(input_h, input_w, 1);
+    }
   }
   return true;
 #endif

algorithm/common_det/cuda/common_det_cuda_impl.h

@@ -26,7 +26,7 @@ public:
   CommonObjectDetectorCUDAImpl();
   ~CommonObjectDetectorCUDAImpl();
 
-  bool cudaSetup(CommonObjectDetectorBase* base_);
+  bool cudaSetup(CommonObjectDetectorBase* base_, bool input_4k_);
   void cudaDetect(
     CommonObjectDetectorBase* base_,
     cv::Mat img_,
@@ -36,12 +36,13 @@ public:
     std::vector<float>& boxes_h_,
     std::vector<int>& boxes_label_,
     std::vector<float>& boxes_score_,
-    std::vector<cv::Mat>& boxes_seg_
+    std::vector<cv::Mat>& boxes_seg_,
+    bool input_4k_
   );
 
 #ifdef WITH_CUDA
-  void _prepare_buffers_seg(int input_h, int input_w);
-  void _prepare_buffers(int input_h, int input_w);
+  void _prepare_buffers_seg(int input_h, int input_w, int batchsize);
+  void _prepare_buffers(int input_h, int input_w, int batchsize);
   nvinfer1::IExecutionContext* _context;
   nvinfer1::IRuntime* _runtime;
   nvinfer1::ICudaEngine* _engine;

algorithm/common_det/intel/common_det_intel_impl.cpp

@@ -0,0 +1,449 @@
+#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

@@ -0,0 +1,89 @@
+#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

@@ -8,15 +8,24 @@
 #include "common_det_cuda_impl.h"
 #endif
 
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#include "common_det_intel_impl.h"
+#endif
 
 namespace sv {
 
 
-CommonObjectDetector::CommonObjectDetector()
+CommonObjectDetector::CommonObjectDetector(bool input_4k)
 {
+  this->_input_4k = input_4k;
 #ifdef WITH_CUDA
   this->_cuda_impl = new CommonObjectDetectorCUDAImpl;
 #endif
+
+#ifdef WITH_INTEL
+  this->_intel_impl = new CommonObjectDetectorIntelImpl;
+#endif
 }
 CommonObjectDetector::~CommonObjectDetector()
 {
@@ -25,7 +34,11 @@ CommonObjectDetector::~CommonObjectDetector()
 bool CommonObjectDetector::setupImpl()
 {
 #ifdef WITH_CUDA
-  return this->_cuda_impl->cudaSetup(this);
+  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;
 }
@@ -51,14 +64,24 @@ void CommonObjectDetector::detectImpl(
     boxes_h_,
     boxes_label_,
     boxes_score_,
-    boxes_seg_
-  );
+    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);
 #endif
 }
 
-
-
-
-
 }
 

algorithm/landing_det/cuda/landing_det_cuda_impl.cpp

@@ -1,6 +1,7 @@
 #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/"
@@ -50,6 +51,16 @@ 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

@@ -0,0 +1,95 @@
+#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

@@ -0,0 +1,37 @@
+#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

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

algorithm/mot/sv_mot.cpp

@@ -1,6 +1,8 @@
 #include "sv_mot.h"
 #include <cmath>
 #include <fstream>
+#include <limits>
+#include <vector>
 #include "gason.h"
 #include "sv_util.h"
 
@@ -116,11 +118,11 @@ KalmanFilter::KalmanFilter()
     this->_F = MatrixXd::Identity(8, 8);
     for (int i=0; i<4; i++)
     {
-        this->_F(i,i+4) = 1;
+        this->_F(i,i+4) = 1.; //1
     }
     this->_H = MatrixXd::Identity(4, 8);
-    this->_std_weight_position = 1. / 20;
-    this->_std_weight_vel = 1. / 160;
+    this->_std_weight_position = 1. / 20; //1./20
+    this->_std_weight_vel = 1. / 160; //1./160
 }
 
 KalmanFilter::~KalmanFilter()
@@ -130,7 +132,9 @@ KalmanFilter::~KalmanFilter()
 pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4d &bbox)
 {
     Matrix<double,8,1> mean;
-    mean << bbox(0), bbox(1), bbox(2) / bbox(3), bbox(3), 0, 0, 0, 0;
+    Matrix<double,4,1> zero_vector;
+    zero_vector.setZero();
+    mean << bbox(0), bbox(1), (double)bbox(2) / (double)bbox(3), bbox(3), zero_vector;
     VectorXd stds(8);
     stds << 2 * this->_std_weight_position * mean(3), 2 * this->_std_weight_position * mean(3), 0.01, 2 * this->_std_weight_position * mean(3), \
         10 * this->_std_weight_vel * mean(3), 10 * this->_std_weight_vel * mean(3), 1e-5, 10 * this->_std_weight_vel * mean(3);
@@ -142,31 +146,43 @@ pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4
 
 pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::update(Matrix<double, 8, 1> mean, Matrix<double, 8, 8> covariances, sv::Box &box)
 {
-    MatrixXd R;
-    Vector4d stds;
-
-    stds << this->_std_weight_position * mean(3), this->_std_weight_position * mean(3), 0.1, this->_std_weight_position * mean(3);
-    MatrixXd squared = stds.array().square();
-    R = squared.asDiagonal();
-    MatrixXd S = this->_H * covariances * this->_H.transpose() + R;    
-
-    MatrixXd Kalman_gain = covariances * this->_H.transpose() * S.inverse();
     VectorXd measurement(4);
-    measurement << box.x1, box.y1, (box.x2-box.x1) / (box.y2-box.y1), box.y2-box.y1;
-    Matrix<double, 8, 1> new_mean = mean + Kalman_gain * (measurement - this->_H * mean);
-    Matrix<double, 8, 8> new_covariances = (MatrixXd::Identity(8, 8) - Kalman_gain * this->_H) * covariances;
-    return make_pair(new_mean, new_covariances);    
+    double a = (double)(box.x2-box.x1) / (double)(box.y2-box.y1);
+    measurement << box.x1+(box.x2-box.x1)/2, box.y1+(box.y2-box.y1)/2, a, box.y2-box.y1;
+    pair<Matrix<double, 4, 1>, Matrix<double, 4, 4> > projected = project(mean, covariances);
+    Matrix<double, 4, 1> projected_mean = projected.first;
+    Matrix<double, 4, 4> projected_cov = projected.second;
+
+    Eigen::LLT<Eigen::MatrixXd> chol_factor(projected_cov);
+    MatrixXd Kalman_gain = (chol_factor.solve((covariances * this->_H.transpose()).transpose())).transpose();
+    
+    VectorXd innovation = measurement - projected_mean;
+    Matrix<double, 8, 1> new_mean = mean + Kalman_gain *innovation;
+    Matrix<double, 8, 8> new_covariances = covariances - Kalman_gain * projected_cov * Kalman_gain.transpose();
+
+    return make_pair(new_mean, new_covariances);
 }
 
+pair<Matrix<double, 4, 1>, Matrix<double, 4, 4> > KalmanFilter::project(Matrix<double, 8, 1> mean, Matrix<double, 8, 8> covariances)
+{
+    VectorXd stds(4);
+    stds << this->_std_weight_position * mean(3), this->_std_weight_position * mean(3), 0.1, this->_std_weight_position * mean(3); 
+    MatrixXd squared = stds.array().square();
+    MatrixXd R = squared.asDiagonal();
+
+    Matrix<double, 4, 1>  pro_mean = this->_H * mean;
+    Matrix<double, 4, 4>  pro_covariances = this->_H * covariances * this->_H.transpose() + R;
+    return make_pair(pro_mean, pro_covariances);
+}
 pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::predict(Matrix<double, 8, 1> mean, Matrix<double, 8, 8> covariances)
 {
     VectorXd stds(8);
-    stds << this->_std_weight_position * mean(3), this->_std_weight_position * mean(3), 0.01, this->_std_weight_position * mean(3), \
-        this->_std_weight_vel * mean(3), this->_std_weight_vel * mean(3), 1e-5, this->_std_weight_vel * mean(3);
+    stds << this->_std_weight_position * mean(3), this->_std_weight_position * mean(3), 1e-2, this->_std_weight_position * mean(3), \
+        this->_std_weight_vel * mean(3), this->_std_weight_vel * mean(3), 1e-5, this->_std_weight_vel * mean(3); // a = 0.01
     MatrixXd squared = stds.array().square();
     MatrixXd Q = squared.asDiagonal();
     Matrix<double, 8, 1> pre_mean = this->_F * mean;
-    Matrix<double, 8, 8> pre_cov = this->_F * covariances * this->_F.transpose() + Q;
+    Matrix<double, 8, 8> pre_cov = this->_F * covariances * this->_F.transpose()+Q;//+Q
     return make_pair(pre_mean, pre_cov);
 }
 
@@ -178,7 +194,7 @@ SORT::~SORT()
 void SORT::update(TargetsInFrame& tgts)
 {
     sv::KalmanFilter kf;
-    if (! this->_tracklets.size())
+    if (! this->_tracklets.size() || tgts.targets.size() == 0)
     {
         Vector4d bbox;
         for (int i=0; i<tgts.targets.size(); i++)
@@ -187,34 +203,36 @@ void SORT::update(TargetsInFrame& tgts)
             tgts.targets[i].getBox(box);		
             Tracklet tracklet;
             tracklet.id = ++ this->_next_tracklet_id;
-            // cout << tracklet.id << endl;
             tgts.targets[i].tracked_id = this->_next_tracklet_id;
             tgts.targets[i].has_tid = true;
 
-            tracklet.bbox << box.x1, box.y1, box.x2-box.x1, box.y2-box.y1;  // x,y,w,h
+            tracklet.bbox << box.x1+(box.x2-box.x1)/2, box.y1+(box.y2-box.y1)/2, box.x2-box.x1, box.y2-box.y1;  // x,y,w,h; center(x,y)
+            
             tracklet.age = 0;
             tracklet.hits = 1;
             tracklet.misses = 0;
             tracklet.frame_id = tgts.frame_id;
+            tracklet.category_id = tgts.targets[i].category_id;
             tracklet.tentative = true;
+            
             // initate the motion
             pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.initiate(tracklet.bbox);
             tracklet.mean = motion.first;
             tracklet.covariance = motion.second;
-
+            
             this->_tracklets.push_back(tracklet);
         }
     }
     else
     {
+        // cout << "frame id:" << tgts.frame_id << endl;
         for (int i=0; i<tgts.targets.size(); i++)
         {
             tgts.targets[i].tracked_id = 0;
             tgts.targets[i].has_tid = true;
         }
 
-        array<int, 100> match_det;
-        match_det.fill(-1);
+        vector<int> match_det(tgts.targets.size(), -1);
         // predict the next state of each tracklet
         for (auto& tracklet : this->_tracklets)
         {
@@ -226,8 +244,6 @@ void SORT::update(TargetsInFrame& tgts)
         }
         
         // Match the detections to the existing tracklets 
-        // cout << "the num of targets: " << tgts.targets.size() << endl;
-        // cout << "the num of tracklets: " << this->_tracklets.size() << endl;
         vector<vector<double> > iouMatrix(this->_tracklets.size(), vector<double> (tgts.targets.size(), 0));
         for (int i=0; i<this->_tracklets.size(); i++)
         {
@@ -238,6 +254,7 @@ void SORT::update(TargetsInFrame& tgts)
                 iouMatrix[i][j] = this->_iou(this->_tracklets[i], box);
             }
         }
+        
         vector<pair<int, int> > matches = this->_hungarian(iouMatrix);
         for (auto& match : matches)
         {
@@ -245,50 +262,58 @@ void SORT::update(TargetsInFrame& tgts)
             int detectionIndex = match.second;
             if (trackletIndex >= 0 && detectionIndex >= 0)
             {
-                if (iouMatrix[match.first][match.second] >= _iou_threshold)  // iou_thrshold
+                if (iouMatrix[match.first][match.second] <= 1-_iou_threshold)  // iou_thrshold
                 {
                     sv::Box box;
                     tgts.targets[detectionIndex].getBox(box);
                     this->_tracklets[trackletIndex].age = 0;
                     this->_tracklets[trackletIndex].hits++;
                     this->_tracklets[trackletIndex].frame_id = tgts.frame_id;
-                    this->_tracklets[trackletIndex].bbox << box.x1, box.y1, box.x2-box.x1, box.y2-box.y1;
-
-                    auto[mean, covariance] = kf.update(this->_tracklets[trackletIndex].mean, this->_tracklets[trackletIndex].covariance, box);
-                    this->_tracklets[trackletIndex].mean = mean;
-                    this->_tracklets[trackletIndex].covariance = covariance;
-
+                    this->_tracklets[trackletIndex].bbox << box.x1+(box.x2-box.x1)/2, box.y1+(box.y2-box.y1)/2, box.x2-box.x1, box.y2-box.y1;
                     tgts.targets[detectionIndex].tracked_id = this->_tracklets[trackletIndex].id;
-                    match_det[detectionIndex] = detectionIndex;
+                    match_det[detectionIndex] = trackletIndex;
                 }
             }
         }
-        // create new tracklets for unmatched detections
+        std::vector <vector<double>> ().swap(iouMatrix);
         for (int i=0; i<tgts.targets.size(); i++)
         { 
+            // cout << "match_det: index: " << i << " value: " << match_det[i] << endl;
             if (match_det[i] == -1)
             {
+                // cout << "create new tracklet." << endl;
                 sv::Box box;
                 tgts.targets[i].getBox(box);
                 Tracklet tracklet;
                 tracklet.id = ++ this->_next_tracklet_id;
-                tracklet.bbox << box.x1, box.y1, box.x2-box.x1, box.y2-box.y1;
-
+                tracklet.bbox << box.x1+(box.x2-box.x1)/2, (double)(box.y1+(box.y2-box.y1)/2), box.x2-box.x1, box.y2-box.y1;
                 tracklet.age = 0;
                 tracklet.hits = 1;
                 tracklet.misses = 0;
                 tracklet.frame_id = tgts.frame_id;
+                tracklet.category_id = tgts.targets[i].category_id;
                 tracklet.tentative = true;
                 
-                auto[new_mean, new_covariance] = kf.initiate(tracklet.bbox);
-                tracklet.mean = new_mean;
-                tracklet.covariance = new_covariance;
-                
+                pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > new_motion = kf.initiate(tracklet.bbox);
+                tracklet.mean = new_motion.first;
+                tracklet.covariance = new_motion.second;
+
                 tgts.targets[i].tracked_id = this->_next_tracklet_id;
                 tgts.targets[i].has_tid = true;
                 this->_tracklets.push_back(tracklet);
             }
+            else
+            {
+                sv::Box box;
+                int track_id = match_det[i];
+                tgts.targets[i].getBox(box);
+                pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > updated = kf.update(this->_tracklets[track_id].mean, this->_tracklets[track_id].covariance, box);
+                this->_tracklets[track_id].mean = updated.first;
+                this->_tracklets[track_id].covariance = updated.second;
+            }
         }
+        
+        //sift tracklets
         for (auto& tracklet : this->_tracklets)
         {
             if (tracklet.hits >= _min_hits)
@@ -312,15 +337,16 @@ vector<Tracklet> SORT::getTracklets() const
 
 double SORT::_iou(Tracklet& tracklet, sv::Box& box)
 {
-    double trackletX1 = tracklet.bbox(0);
-    double trackletY1 = tracklet.bbox(1);
-    double trackletX2 = tracklet.bbox(0) + tracklet.bbox(2);
-    double trackletY2 = tracklet.bbox(1) + tracklet.bbox(3);
-
+    double trackletX1 = tracklet.bbox(0)-tracklet.bbox(2)/2;
+    double trackletY1 = tracklet.bbox(1)-tracklet.bbox(3)/2;
+    double trackletX2 = tracklet.bbox(0) + tracklet.bbox(2)/2;
+    double trackletY2 = tracklet.bbox(1) + tracklet.bbox(3)/2;
+    
     double detectionX1 = box.x1;
     double detectionY1 = box.y1;
     double detectionX2 = box.x2;
     double detectionY2 = box.y2;
+
     double intersectionX1 = max(trackletX1, detectionX1);
     double intersectionY1 = max(trackletY1, detectionY1);
     double intersectionX2 = min(trackletX2, detectionX2);
@@ -339,19 +365,55 @@ double SORT::_iou(Tracklet& tracklet, sv::Box& box)
     return iou;
 }
 
+// Function to find the minimum element in a vector
+double SORT::_findMin(const std::vector<double>& vec) {
+    double minVal = std::numeric_limits<double>::max();
+    for (double val : vec) {
+        if (val < minVal) {
+            minVal = val;
+        }
+    }
+    return minVal;
+}
+
+// Function to subtract the minimum value from each row of the cost matrix
+void SORT::_subtractMinFromRows(std::vector<std::vector<double>>& costMatrix) {
+    for (auto& row : costMatrix) {
+        double minVal = _findMin(row);
+        for (double& val : row) {
+            val -= minVal;
+        }
+    }
+}
+
+// Function to subtract the minimum value from each column of the cost matrix
+void SORT::_subtractMinFromCols(std::vector<std::vector<double>>& costMatrix) {
+    for (size_t col = 0; col < costMatrix[0].size(); ++col) {
+        double minVal = std::numeric_limits<double>::max();
+        for (size_t row = 0; row < costMatrix.size(); ++row) {
+            if (costMatrix[row][col] < minVal) {
+                minVal = costMatrix[row][col];
+            }
+        }
+        for (size_t row = 0; row < costMatrix.size(); ++row) {
+            costMatrix[row][col] -= minVal;
+        }
+    }
+}
+
+// Function to find a matching using the Hungarian algorithm
 vector<pair<int, int> > SORT::_hungarian(vector<vector<double> > costMatrix)
 {
-    int numRows = costMatrix.size();
-    int numCols = costMatrix[0].size();
+    size_t numRows = costMatrix.size();
+    size_t numCols = costMatrix[0].size();
 
+    //transpose the matrix if necessary
     const bool transposed = numCols > numRows;
-    // transpose the matrix if necessary
-    if (transposed)
-    {
-        vector<vector<double> > transposedMatrix(numCols, vector<double>(numRows));
-        for (int i=0; i<numRows; i++)
+    if (transposed) {
+        vector<vector<double>> transposedMatrix(numCols, vector<double>(numRows));
+        for (int i = 0; i < numRows; i++)
         {
-            for (int j=0; j<numCols; j++)
+            for (int j = 0; j < numCols; j++)
             {
                 transposedMatrix[j][i] = costMatrix[i][j];
             }
@@ -359,76 +421,58 @@ vector<pair<int, int> > SORT::_hungarian(vector<vector<double> > costMatrix)
         costMatrix = transposedMatrix;
         swap(numRows, numCols);
     }
-    vector<double>rowMin(numRows, numeric_limits<double>::infinity());
-    vector<double>colMin(numCols, numeric_limits<double>::infinity());
-    vector<int>rowMatch(numRows, -1);
-    vector<int>colMatch(numCols, -1);
-    vector<pair<int, int> > matches;
-    // step1: Subtract the row minimums from each row
-    for (int i=0; i<numRows; i++)
-    {
-        for (int j=0; j<numCols; j++)
-        {
-            rowMin[i] = min(rowMin[i], costMatrix[i][j]);
-        }
-        for (int j=0; j<numCols; j++)
-        {
-            costMatrix[i][j] -= rowMin[i];
-        }
-    }
-    // step2: substract the colcum minimums from each column
-    for (int j=0; j<numCols; j++)
-    {
-        for (int i=0; i<numRows; i++)
-        {
-            colMin[j] = min(colMin[j], costMatrix[i][j]);
-        }
-        for (int i=0; i<numRows; i++)
-        {
-            costMatrix[i][j] -= colMin[j];
-        }
-    }
-    // step3: find a maximal matching
-    for (int i=0; i<numRows; i++) 
-    {
-        vector<bool> visited(numCols, false);
-        this->_augment(costMatrix, i, rowMatch, colMatch, visited);
-    }
-    // step4: calculate the matches
-    matches.clear();
-    for (int j=0; j<numCols; j++)
-    {
-        matches.push_back(make_pair(colMatch[j], j));
-    }
-    if (transposed)
-    {
-        for (auto& match : matches)
-        {
-            swap(match.first, match.second);
-        }
-    }
-    return matches;
-}
+    // Determine the larger dimension for matching
+    size_t maxDim = std::max(numRows, numCols);
 
-bool SORT::_augment(const vector<vector<double> >& costMatrix, int row, vector<int>& rowMatch, vector<int>& colMatch, vector<bool>& visited) 
-{
-    int numCols = costMatrix[0].size();
-    for (int j=0; j<numCols; j++)
-    {
-        if (costMatrix[row][j] == 0 && !visited[j])
-        {
-            visited[j] = true;
-            if (colMatch[j] == -1 || this->_augment(costMatrix, colMatch[j], rowMatch, colMatch, visited))
-            {
-                rowMatch[row] = j;
-                colMatch[j] = row;
-                return true;
+    // Create a square cost matrix by padding with zeros if necessary
+    std::vector<std::vector<double>> squareMatrix(maxDim, std::vector<double>(maxDim, 0.0));
+    for (size_t row = 0; row < numRows; ++row) {
+        for (size_t col = 0; col < numCols; ++col) {
+            squareMatrix[row][col] = costMatrix[row][col];
+        }
+    }
+
+    // Subtract the minimum value from each row and column
+    _subtractMinFromRows(squareMatrix);
+    _subtractMinFromCols(squareMatrix);
+
+    // Initialize the assignment vectors with -1 values
+    std::vector<int> rowAssignment(maxDim, -1);
+    std::vector<int> colAssignment(maxDim, -1);
+
+    // Perform the matching
+    for (size_t row = 0; row < maxDim; ++row) {
+        std::vector<bool> visitedCols(maxDim, false);
+        for (size_t col = 0; col < maxDim; ++col) {
+            if (squareMatrix[row][col] == 0 && colAssignment[col] == -1) {
+                rowAssignment[row] = col;
+                colAssignment[col] = row;
+                break;
             }
         }
     }
-    return false;
-}
-
-
+
+    // Convert the assignment vectors to pair<int, int> format
+    std::vector<std::pair<int, int>> assignmentPairs;
+    for (size_t row = 0; row < numRows; ++row) {
+        int col = rowAssignment[row];
+        //if (col != -1) {
+          //  assignmentPairs.emplace_back(row, col);
+       // }
+        if (col != -1) {
+            if (col >= numCols) {
+                col = -1;
+            }
+            assignmentPairs.emplace_back(row, col);
+        }
+    }
+    if (transposed) {
+        for (auto& assignment : assignmentPairs)
+        {
+            swap(assignment.first, assignment.second);
+        }
+    }
+    return assignmentPairs;
+    }
 }
 

algorithm/sot/ocv470/sot_ocv470_impl.cpp

@@ -1,6 +1,7 @@
 #include "sot_ocv470_impl.h"
 #include <cmath>
 #include <fstream>
+#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -30,9 +31,39 @@ 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/veri/cuda/veri_det_cuda_impl.cpp

@@ -0,0 +1,200 @@
+#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/"
+
+#ifdef WITH_CUDA
+#include "yolov7/logging.h"
+#define TRTCHECK(status)                                 \
+  do                                                     \
+  {                                                      \
+    auto ret = (status);                                 \
+    if (ret != 0)                                        \
+    {                                                    \
+      std::cerr << "Cuda failure: " << ret << std::endl; \
+      abort();                                           \
+    }                                                    \
+  } while (0)
+
+#define DEVICE 0 // GPU id
+#define BATCH_SIZE 1
+
+#define MAX_IMAGE_INPUT_SIZE_THRESH 3000 * 3000 // ensure it exceed the maximum size in the input images !
+#endif
+
+#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
+{
+
+  using namespace cv;
+
+#ifdef WITH_CUDA
+  using namespace nvinfer1;
+  static Logger g_nvlogger;
+#endif
+
+  VeriDetectorCUDAImpl::VeriDetectorCUDAImpl()
+  {
+  }
+
+  VeriDetectorCUDAImpl::~VeriDetectorCUDAImpl()
+  {
+  }
+
+  bool VeriDetectorCUDAImpl::cudaSetup()
+  {
+#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)");
+    }
+    char *trt_model_stream{nullptr};
+    size_t trt_model_size{0};
+    try
+    {
+      std::ifstream file(trt_model_fn, std::ios::binary);
+      file.seekg(0, file.end);
+      trt_model_size = file.tellg();
+      file.seekg(0, file.beg);
+      trt_model_stream = new char[trt_model_size];
+      assert(trt_model_stream);
+      file.read(trt_model_stream, trt_model_size);
+      file.close();
+    }
+    catch (const std::runtime_error &e)
+    {
+      throw std::runtime_error("SpireCV (104) Error loading the TensorRT model!");
+    }
+
+    // TensorRT
+    IRuntime *runtime = nvinfer1::createInferRuntime(g_nvlogger);
+    assert(runtime != nullptr);
+    ICudaEngine *p_cu_engine = runtime->deserializeCudaEngine(trt_model_stream, trt_model_size);
+    assert(p_cu_engine != nullptr);
+    this->_trt_context = p_cu_engine->createExecutionContext();
+    assert(this->_trt_context != nullptr);
+
+    delete[] trt_model_stream;
+    const ICudaEngine &cu_engine = this->_trt_context->getEngine();
+    assert(cu_engine.getNbBindings() == 3);
+
+    this->_input_index = cu_engine.getBindingIndex("input");
+    this->_output_index1 = cu_engine.getBindingIndex("output");
+    this->_output_index2 = cu_engine.getBindingIndex("/head/layers.0/act/Mul_output_0");
+    TRTCHECK(cudaMalloc(&_p_buffers[this->_input_index], 2 * 3 * 224 * 224 * sizeof(float)));
+    TRTCHECK(cudaMalloc(&_p_buffers[this->_output_index1], 2 * 576 * sizeof(float)));
+    TRTCHECK(cudaMalloc(&_p_buffers[this->_output_index2], 2 * 1280 * sizeof(float)));
+    TRTCHECK(cudaStreamCreate(&_cu_stream));
+
+    auto input_dims = nvinfer1::Dims4{2, 3, 224, 224};
+    this->_trt_context->setBindingDimensions(this->_input_index, input_dims);
+
+    this->_p_data = new float[2 * 3 * 224 * 224];
+    this->_p_prob1 = new float[2 * 576];
+    this->_p_prob2 = new float[2 * 1280];
+    // Input
+    TRTCHECK(cudaMemcpyAsync(_p_buffers[this->_input_index], this->_p_data, 2 * 3 * 224 * 224 * sizeof(float), cudaMemcpyHostToDevice, this->_cu_stream));
+    // this->_trt_context->enqueue(1, _p_buffers, this->_cu_stream, nullptr);
+    this->_trt_context->enqueueV2(_p_buffers, this->_cu_stream, nullptr);
+    // Output
+    TRTCHECK(cudaMemcpyAsync(this->_p_prob1, _p_buffers[this->_output_index1], 2 * 576 * sizeof(float), cudaMemcpyDeviceToHost, this->_cu_stream));
+    TRTCHECK(cudaMemcpyAsync(this->_p_prob2, _p_buffers[this->_output_index2], 2 * 1280 * sizeof(float), cudaMemcpyDeviceToHost, this->_cu_stream));
+    cudaStreamSynchronize(this->_cu_stream);
+    return true;
+#endif
+    return false;
+  }
+
+  void VeriDetectorCUDAImpl::cudaRoiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<float> &output_labels_)
+  {
+#ifdef WITH_CUDA
+
+
+    for (int i = 0; i < 2; i++)
+    {
+      for (int row = 0; row < 224; ++row)
+      {
+        uchar *uc_pixel = input_rois_[i].data + row * input_rois_[i].step; // compute row id
+        for (int col = 0; col < 224; ++col)
+        {
+          // mean=[136.20, 141.50, 145.41], std=[44.77, 44.20, 44.30]
+          this->_p_data[col + row * 224 + 224 * 224 * 3 * i] = ((float)uc_pixel[0] - 136.20f) / 44.77f;
+          this->_p_data[col + row * 224 + 224 * 224  + 224 * 224 * 3 * i] = ((float)uc_pixel[1] - 141.50f) / 44.20f;
+          this->_p_data[col + row * 224 + 224 * 224 * 2  + 224 * 224 * 3 * i] = ((float)uc_pixel[2] - 145.41f) / 44.30f;
+          uc_pixel += 3;
+        }
+      }
+    }
+
+
+    // Input
+    TRTCHECK(cudaMemcpyAsync(_p_buffers[this->_input_index], this->_p_data, 2 * 3 * 224 * 224 * sizeof(float), cudaMemcpyHostToDevice, this->_cu_stream));
+    // this->_trt_context->enqueue(1, _p_buffers, this->_cu_stream, nullptr);
+    this->_trt_context->enqueueV2(_p_buffers, this->_cu_stream, nullptr);
+    // Output
+    TRTCHECK(cudaMemcpyAsync(this->_p_prob1, _p_buffers[this->_output_index1], 2 * 576 * sizeof(float), cudaMemcpyDeviceToHost, this->_cu_stream));
+    TRTCHECK(cudaMemcpyAsync(this->_p_prob2, _p_buffers[this->_output_index2], 2 * 1280 * sizeof(float), cudaMemcpyDeviceToHost, this->_cu_stream));
+    cudaStreamSynchronize(this->_cu_stream);
+
+    // 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/cuda/veri_det_cuda_impl.h

@@ -0,0 +1,50 @@
+#ifndef __SV_VERI_DET_CUDA__
+#define __SV_VERI_DET_CUDA__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+
+
+#ifdef WITH_CUDA
+#include <NvInfer.h>
+#include <cuda_runtime_api.h>
+#endif
+
+
+
+namespace sv {
+
+
+class VeriDetectorCUDAImpl
+{
+public:
+  VeriDetectorCUDAImpl();
+  ~VeriDetectorCUDAImpl();
+
+  bool cudaSetup();
+  void cudaRoiCNN(
+    std::vector<cv::Mat>& input_rois_,
+    std::vector<float>& output_labels_
+  );
+
+#ifdef WITH_CUDA
+  float *_p_data;
+  float *_p_prob1;
+  float *_p_prob2;
+  nvinfer1::IExecutionContext *_trt_context;
+  int _input_index;
+  int _output_index1;
+  int _output_index2;
+  void *_p_buffers[3];
+  cudaStream_t _cu_stream;
+#endif
+};
+
+
+}
+#endif

algorithm/veri/intel/veri_det_intel_impl.cpp

@@ -0,0 +1,112 @@
+#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

@@ -0,0 +1,41 @@
+#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

@@ -0,0 +1,168 @@
+#include "sv_veri_det.h"
+#include <cmath>
+#include <fstream>
+#include "gason.h"
+#include "sv_util.h"
+
+#ifdef WITH_CUDA
+#include <NvInfer.h>
+#include <cuda_runtime_api.h>
+#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
+{
+
+  VeriDetector::VeriDetector()
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl = new VeriDetectorCUDAImpl;
+#endif
+
+#ifdef WITH_INTEL
+    this->_intel_impl = new VeriDetectorIntelImpl;
+#endif
+  }
+  VeriDetector::~VeriDetector()
+  {
+  }
+
+  void VeriDetector::_load()
+  {
+    JsonValue all_value;
+    JsonAllocator allocator;
+    _load_all_json(this->alg_params_fn, all_value, allocator);
+
+    JsonValue veriliner_params_value;
+    _parser_algorithm_params("VeriDetector", all_value, veriliner_params_value);
+
+    for (auto i : veriliner_params_value)
+    {
+      if ("vehicle_ID" == std::string(i->key))
+      {
+        this->vehicle_id = i->value.toString();
+        std::cout << "vehicle_ID Load Sucess!" << std::endl;
+      }
+    }
+  }
+
+  bool VeriDetector::setupImpl()
+  {
+#ifdef WITH_CUDA
+    return this->_cuda_impl->cudaSetup();
+#endif
+  
+#ifdef WITH_INTEL
+    return this->_intel_impl->intelSetup();
+#endif
+    return false;
+  }
+
+
+  void VeriDetector::roiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<float> &output_labels_)
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl->cudaRoiCNN(
+        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)
+  {
+    if (!_params_loaded)
+    {
+      this->_load();
+      this->_loadLabels();
+      _params_loaded = true;
+    }
+
+    // convert Rect2d from left-up to center.
+    targetPos[0] = float(bounding_box_.x) + float(bounding_box_.width) * 0.5f;
+    targetPos[1] = float(bounding_box_.y) + float(bounding_box_.height) * 0.5f;
+
+    targetSz[0] = float(bounding_box_.width);
+    targetSz[1] = float(bounding_box_.height);
+
+    // Extent the bounding box.
+    float sumSz = targetSz[0] + targetSz[1];
+    float wExtent = targetSz[0] + 0.5 * (sumSz);
+    float hExtent = targetSz[1] + 0.5 * (sumSz);
+    int sz = int(cv::sqrt(wExtent * hExtent));
+
+    cv::Mat crop;
+    getSubwindow(crop, img_, sz, 224);
+
+    std::string img_ground_dir = get_home()  + SV_ROOT_DIR + this->vehicle_id;
+    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
+    roiCNN(input_rois_, output_labels);
+#endif
+   
+    if (output_labels.size() > 0)
+    {
+      tgt.sim_score = output_labels[1];
+    }
+  }
+
+  void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
+  {
+    cv::Scalar avgChans = mean(srcImg);
+    cv::Size imgSz = srcImg.size();
+    int c = (originalSz + 1) / 2;
+
+    int context_xmin = (int)(targetPos[0]) - c;
+    int context_xmax = context_xmin + originalSz - 1;
+    int context_ymin = (int)(targetPos[1]) - c;
+    int context_ymax = context_ymin + originalSz - 1;
+
+    int left_pad = std::max(0, -context_xmin);
+    int top_pad = std::max(0, -context_ymin);
+    int right_pad = std::max(0, context_xmax - imgSz.width + 1);
+    int bottom_pad = std::max(0, context_ymax - imgSz.height + 1);
+
+    context_xmin += left_pad;
+    context_xmax += left_pad;
+    context_ymin += top_pad;
+    context_ymax += top_pad;
+
+    cv::Mat cropImg;
+    if (left_pad == 0 && top_pad == 0 && right_pad == 0 && bottom_pad == 0)
+    {
+      // Crop image without padding.
+      cropImg = srcImg(cv::Rect(context_xmin, context_ymin,
+                                context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    else // Crop image with padding, and the padding value is avgChans
+    {
+      cv::Mat tmpMat;
+      cv::copyMakeBorder(srcImg, tmpMat, top_pad, bottom_pad, left_pad, right_pad, cv::BORDER_CONSTANT, avgChans);
+      cropImg = tmpMat(cv::Rect(context_xmin, context_ymin, context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    resize(cropImg, dstCrop, cv::Size(resizeSz, resizeSz));
+  }
+
+}

calib_webcam_1280x720.yaml

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

calib_webcam_640x480.yaml

@@ -1,20 +0,0 @@
-%YAML:1.0
----
-calibration_time: "2023年07月14日 星期五 16时39分17秒"
-image_width: 640
-image_height: 480
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 4.5099311307542973e+02, 0., 3.2898947972890943e+02, 0.,
-       6.0215873600107579e+02, 2.4195307609106428e+02, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 1.0737258446369682e-01, -1.2782122264046064e-01,
-       1.6844258609297487e-03, -6.6256775118868144e-04,
-       -3.5333889479158398e-01 ]
-avg_reprojection_error: 3.3968000452388564e-01

gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h

@@ -0,0 +1,38 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2022-10-27 18:10:06
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:30:27
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
+ */
+#ifndef AT10_GIMBAL_CRC32_H
+#define AT10_GIMBAL_CRC32_H
+
+namespace AT10
+{
+    static inline unsigned char CheckSum(unsigned char *pData, unsigned short Lenght)
+    {
+        unsigned short temp = 0;
+        unsigned short i = 0;
+        for (i = 0; i < Lenght; i++)
+        {
+            temp += pData[i];
+        }
+        return temp & 0XFF;
+    }
+
+    static inline unsigned char checkXOR(unsigned char *pData, unsigned char Lenght)
+    {
+        unsigned char temp = Lenght;
+        unsigned char i;
+        for (i = 1; i < Lenght - 1; i++)
+        {
+            temp ^= pData[i];
+        }
+        return temp;
+    }
+
+} // namespace name
+
+#endif

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp

@@ -0,0 +1,404 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2022-10-27 18:10:06
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:59
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
+ */
+#include "AT10_gimbal_driver.h"
+#include "AT10_gimbal_crc32.h"
+#include "string.h"
+
+/**
+ * The function creates a new instance of the g1GimbalDriver class, which is a subclass of the
+ * IamovGimbalBase class
+ *
+ * @param _IO The IOStreamBase object that will be used to communicate with the gimbal.
+ */
+AT10GimbalDriver::AT10GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
+{
+    rxQueue = new fifoRing(sizeof(AT10::GIMBAL_EXTEND_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(AT10::GIMBAL_EXTEND_FRAME_T), MAX_QUEUE_SIZE);
+
+    stdRxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
+    stdTxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
+    parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+}
+
+/**
+ * The function takes a command, a pointer to a payload, and the size of the payload. It then copies
+ * the payload into the tx buffer, calculates the checksum, and then calculates the CRC32 of the
+ * payload. It then copies the CRC32 into the tx buffer, and then copies the tx buffer into the txQueue
+ *
+ * @param uint32_t 4 bytes
+ * @param pPayload pointer to the data to be sent
+ * @param payloadSize the size of the payload
+ *
+ * @return The size of the data to be sent.
+ */
+uint32_t AT10GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize)
+{
+    uint32_t ret = 0;
+
+    if (cmd > 0XFF)
+    {
+        AT10::GIMBAL_EXTEND_FRAME_T txTemp;
+        txTemp.head = cmd;
+        memcpy(txTemp.data, pPayload, payloadSize);
+        payloadSize--;
+        txTemp.len = payloadSize;
+        if (txQueue->inCell(&txTemp))
+        {
+            ret = payloadSize + sizeof(uint32_t) + sizeof(uint8_t);
+        }
+    }
+    else
+    {
+        AT10::GIMBAL_STD_FRAME_T txTemp;
+        txTemp.head = AT10::GIMBAL_CMD_STD;
+        txTemp.len = payloadSize + 3;
+        txTemp.cmd = cmd;
+        memcpy(txTemp.data, pPayload, payloadSize);
+        txTemp.data[payloadSize] = AT10::checkXOR((uint8_t *)&txTemp.len, txTemp.len);
+        if (stdTxQueue->inCell(&txTemp))
+        {
+            ret = payloadSize + 6;
+        }
+    }
+
+    return ret;
+}
+
+void AT10GimbalDriver::convert(void *buf)
+{
+    AT10::GIMBAL_EXTEND_FRAME_T *temp;
+    temp = reinterpret_cast<AT10::GIMBAL_EXTEND_FRAME_T *>(buf);
+    switch (temp->head)
+    {
+    case AT10::GIMBAL_CMD_RCV_STATE:
+        std::cout << "Undefined old frame from AT10\r\n";
+        break;
+
+    case AT10::GIMBAL_CMD_STD:
+        AT10::GIMBAL_STD_FRAME_T *stdTemp;
+        stdTemp = reinterpret_cast<AT10::GIMBAL_STD_FRAME_T *>(buf);
+        switch (stdTemp->cmd)
+        {
+        case AT10::GIMBAL_CMD_STD_RCV_STATE:
+            AT10::GIMBAL_RCV_STD_STATE_MSG_T *tempRcv;
+            tempRcv = reinterpret_cast<AT10::GIMBAL_RCV_STD_STATE_MSG_T *>(((uint8_t *)buf) + AT10_STD_PAYLOAD_OFFSET);
+            mState.lock();
+
+            state.abs.roll = (amovGimbalTools::conversionBigLittle((uint16_t)(tempRcv->B1.roll & 0XFF0F)) * 0.043956043956044f) - 90.0f;
+            state.abs.yaw = (int16_t)amovGimbalTools::conversionBigLittle((uint16_t)tempRcv->B1.yaw) * 0.0054931640625f;
+            state.abs.pitch = (int16_t)amovGimbalTools::conversionBigLittle((uint16_t)tempRcv->B1.pitch) * 0.0054931640625f;
+
+            state.rel.yaw = state.abs.yaw;
+            state.rel.roll = state.abs.roll;
+            state.rel.pitch = state.abs.pitch;
+
+            state.fov.x = amovGimbalTools::conversionBigLittle(tempRcv->D1.fovX) * 0.1;
+            state.fov.y = amovGimbalTools::conversionBigLittle(tempRcv->D1.fovY) * 0.1;
+            if ((amovGimbalTools::conversionBigLittle(tempRcv->D1.camera) & 0X0003) == 0X01)
+            {
+                state.video = AMOV_GIMBAL_VIDEO_TAKE;
+            }
+            else
+            {
+                state.video = AMOV_GIMBAL_VIDEO_OFF;
+            }
+            updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
+                                      state.abs.roll, state.abs.pitch, state.abs.yaw,
+                                      state.fov.x, state.fov.y, updataCaller);
+            mState.unlock();
+            break;
+
+        case AT10::GIMBAL_CMD_STD_NOP:
+            break;
+
+        default:
+            std::cout << "Undefined std frame from AT10";
+            std::cout << std::endl;
+            break;
+        }
+        break;
+    default:
+        printf("\r\nUndefined frame from AT10,head:%08X", temp->head);
+        break;
+    }
+}
+
+/**
+ * It's a state machine that parses a serial stream of bytes into a struct
+ *
+ * @param uint8_t unsigned char
+ *
+ * @return A boolean value.
+ */
+bool AT10GimbalDriver::parser(IN uint8_t byte)
+{
+    bool state = false;
+    static uint8_t payloadLenghte = 0;
+    static uint8_t *pRx = nullptr;
+    uint8_t suncheck;
+
+    switch (parserState)
+    {
+    case AT10::GIMBAL_SERIAL_STATE_IDLE:
+        if (byte == ((AT10::GIMBAL_CMD_RCV_STATE & 0X000000FF) >> 0))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_EXT_HEAD1;
+        }
+        else if (byte == ((AT10::GIMBAL_CMD_STD & 0X0000FF00) >> 8))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_STD_HAED1;
+        }
+        break;
+
+    // STD msg
+    case AT10::GIMBAL_SERIAL_STATE_STD_HAED1:
+        if (byte == ((AT10::GIMBAL_CMD_STD & 0X00FF0000) >> 16))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_STD_HAED2;
+        }
+        else
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_STD_HAED2:
+        if (byte == ((AT10::GIMBAL_CMD_STD & 0XFF000000) >> 24))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_STD_LEN;
+        }
+        else
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_STD_LEN:
+        stdRx.len = byte;
+        payloadLenghte = (byte & 0X3F) - 3;
+        pRx = stdRx.data;
+        parserState = AT10::GIMBAL_SERIAL_STATE_STD_CMD;
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_STD_CMD:
+        stdRx.cmd = byte;
+        parserState = AT10::GIMBAL_SERIAL_STATE_STD_DATE;
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_STD_DATE:
+        *pRx = byte;
+        pRx++;
+        payloadLenghte--;
+        if (payloadLenghte == 0)
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_STD_CHECK;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_STD_CHECK:
+        stdRx.checkXOR = byte;
+        if (AT10::checkXOR((uint8_t *)&stdRx.len, (stdRx.len & 0X3F)) == byte)
+        {
+            state = true;
+            stdRxQueue->inCell(&stdRx);
+        }
+        else
+        {
+            memset(&stdRx, 0, sizeof(AT10::GIMBAL_STD_FRAME_T));
+        }
+        parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        payloadLenghte = 0;
+        pRx = nullptr;
+
+        break;
+
+    // EXT msg
+    case AT10::GIMBAL_SERIAL_STATE_EXT_HEAD1:
+        if (byte == ((AT10::GIMBAL_CMD_RCV_STATE & 0X0000FF00) >> 8))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_EXT_HEAD2;
+        }
+        else
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_EXT_HEAD2:
+        if (byte == ((AT10::GIMBAL_CMD_RCV_STATE & 0X00FF0000) >> 16))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_EXT_HEAD3;
+        }
+        else
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_EXT_HEAD3:
+        if (byte == ((AT10::GIMBAL_CMD_RCV_STATE & 0XFF000000) >> 24))
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_EXT_DATE;
+            payloadLenghte = sizeof(AT10::GIMBAL_RCV_POS_MSG_T);
+            pRx = extendRx.data;
+            extendRx.head = AT10::GIMBAL_CMD_RCV_STATE;
+        }
+        else
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_EXT_DATE:
+        *pRx = byte;
+        payloadLenghte--;
+        pRx++;
+        if (payloadLenghte == 0)
+        {
+            parserState = AT10::GIMBAL_SERIAL_STATE_EXT_CHECK;
+        }
+        break;
+
+    case AT10::GIMBAL_SERIAL_STATE_EXT_CHECK:
+        suncheck = AT10::CheckSum(extendRx.data, sizeof(AT10::GIMBAL_RCV_POS_MSG_T));
+        if (byte == suncheck)
+        {
+            state = true;
+            rxQueue->inCell(&extendRx);
+        }
+        else
+        {
+            memset(&extendRx, 0, sizeof(AT10::GIMBAL_EXTEND_FRAME_T));
+        }
+        parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        payloadLenghte = 0;
+        pRx = nullptr;
+        break;
+
+    default:
+        parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
+        memset(&extendRx, 0, sizeof(AT10::GIMBAL_EXTEND_FRAME_T));
+        memset(&stdRx, 0, sizeof(AT10::GIMBAL_STD_FRAME_T));
+        payloadLenghte = 0;
+        pRx = nullptr;
+        break;
+    }
+
+    return state;
+}
+
+void AT10GimbalDriver::sendHeart(void)
+{
+    uint8_t temp = 0X00;
+    while (1)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        pack(AT10::GIMBAL_CMD_STD_HEART, &temp, sizeof(temp));
+    }
+}
+
+void AT10GimbalDriver::sendStd(void)
+{
+    uint8_t tempBuffer[72];
+    while (1)
+    {
+        if (!IO->isBusy() && IO->isOpen())
+        {
+            bool state = false;
+
+            state = stdTxQueue->outCell(&tempBuffer);
+            if (state)
+            {
+                IO->outPutBytes((uint8_t *)&tempBuffer + 1,
+                                reinterpret_cast<AT10::GIMBAL_STD_FRAME_T *>(tempBuffer)->len + 3);
+            }
+        }
+    }
+}
+
+void AT10GimbalDriver::stackStart(void)
+{
+    if (!this->IO->isOpen())
+    {
+        this->IO->open();
+    }
+    std::thread sendHeartLoop(&AT10GimbalDriver::sendHeart, this);
+    std::thread sendStdLoop(&AT10GimbalDriver::sendStd, this);
+
+    this->sendThreadHanle = sendStdLoop.native_handle();
+    this->sendHreatThreadHandle = sendHeartLoop.native_handle();
+
+    sendHeartLoop.detach();
+    sendStdLoop.detach();
+}
+
+void AT10GimbalDriver::parserLoop(void)
+{
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
+
+    while (1)
+    {
+        getCount = IO->inPutBytes(temp);
+
+        for (i = 0; i < getCount; i++)
+        {
+            parser(temp[i]);
+        }
+    }
+}
+
+void AT10GimbalDriver::getStdRxPack(void)
+{
+    uint8_t tempBuffer[280];
+    while (1)
+    {
+        if (stdRxQueue->outCell(tempBuffer))
+        {
+            msgCustomCallback(tempBuffer, msgCaller);
+            convert(tempBuffer);
+        }
+    }
+}
+
+void AT10GimbalDriver::getExtRxPack(void)
+{
+    uint8_t tempBuffer[280];
+    while (1)
+    {
+        if (rxQueue->outCell(tempBuffer))
+        {
+            msgCustomCallback(tempBuffer, msgCaller);
+            convert(tempBuffer);
+        }
+    }
+}
+
+void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+{
+    this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
+
+    std::thread parser(&AT10GimbalDriver::parserLoop, this);
+    std::thread getStdRxPackLoop(&AT10GimbalDriver::getStdRxPack, this);
+    std::thread getExtRxPackLooP(&AT10GimbalDriver::getExtRxPack, this);
+
+    this->parserThreadHanle = parser.native_handle();
+    this->stackThreadHanle = getStdRxPackLoop.native_handle();
+    this->extStackThreadHandle = getExtRxPackLooP.native_handle();
+
+    parser.detach();
+    getStdRxPackLoop.detach();
+    getExtRxPackLooP.detach();
+}
+
+uint32_t AT10GimbalDriver::calPackLen(void *pack)
+{
+    return 0;
+}

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h

@@ -0,0 +1,88 @@
+/*
+ * @Description:    Q10f吊舱的驱动文件
+ * @Author: L LC @amov
+ * @Date: 2022-10-28 12:24:21
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
+ */
+#ifndef __AT10_DRIVER_H
+#define __AT10_DRIVER_H
+#include "../amov_gimbal_private.h"
+#include "AT10_gimbal_struct.h"
+#include <mutex>
+#include <malloc.h>
+#include <iostream>
+
+class AT10GimbalDriver : protected amovGimbal::amovGimbalBase
+{
+private:
+    AT10::GIMBAL_SERIAL_STATE_T parserState;
+    AT10::GIMBAL_EXTEND_FRAME_T extendRx;
+
+    AT10::GIMBAL_STD_FRAME_T stdRx;
+    fifoRing *stdRxQueue;
+    fifoRing *stdTxQueue;
+
+    // void send(void);
+
+    void stackStart(void);
+    void sendHeart(void);
+    void sendStd(void);
+
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+    void parserLoop(void);
+    void getExtRxPack(void);
+    void getStdRxPack(void);
+
+    std::thread::native_handle_type sendHreatThreadHandle;
+    std::thread::native_handle_type extStackThreadHandle;
+
+    bool parser(IN uint8_t byte);
+    void convert(void *buf);
+    uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
+    uint32_t calPackLen(void *pack);
+
+public:
+    // funtions
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalHome(void);
+
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+
+    uint32_t takePic(void);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+
+    uint32_t extensionFuntions(void *cmd);
+
+    // builds
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    {
+        return new AT10GimbalDriver(_IO);
+    }
+
+    AT10GimbalDriver(amovGimbal::IOStreamBase *_IO);
+    ~AT10GimbalDriver()
+    {
+        if (stdRxQueue != nullptr)
+        {
+            delete stdRxQueue;
+        }
+        if (stdTxQueue != nullptr)
+        {
+            delete stdTxQueue;
+        }
+        // set thread kill anytime
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        sendHreatThreadHandle = sendHreatThreadHandle == 0 ? 0 : pthread_cancel(sendHreatThreadHandle);
+        extStackThreadHandle = extStackThreadHandle == 0 ? 0 : pthread_cancel(extStackThreadHandle);
+    }
+};
+
+#endif

gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp

@@ -0,0 +1,208 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-03-02 10:00:52
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-27 16:27:18
+ * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_funtion.cpp
+ */
+#include "AT10_gimbal_driver.h"
+#include "AT10_gimbal_crc32.h"
+#include "string.h"
+#include "math.h"
+/**
+ * It sets the gimbal position.
+ *
+ * @param pos the position of the gimbal
+ *
+ * @return The return value is the number of bytes written to the buffer.
+ */
+uint32_t AT10GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    int16_t yaw, pitch;
+    AT10::GIMBAL_CMD_A1_MSG_T temp;
+    yaw = (int16_t)(pos.yaw / (360.0f / 65536.0f));
+    printf("\r\n %04X\r\n", yaw);
+    yaw = amovGimbalTools::conversionBigLittle((uint16_t)yaw);
+    pitch = (int16_t)(pos.pitch / (360.0f / 65536.0f));
+    pitch = amovGimbalTools::conversionBigLittle((uint16_t)pitch);
+    temp.cmd = 0x0B;
+    temp.param[0] = yaw;
+    temp.param[1] = pitch;
+    temp.param[2] = 0;
+    temp.param[3] = 0;
+    return pack(AT10::GIMBAL_CMD_STD_MOTOR, (uint8_t *)&temp, sizeof(AT10::GIMBAL_CMD_A1_MSG_T));
+}
+
+/**
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * G1::GIMBAL_SET_POS_MSG_T
+ *
+ * @param speed the speed of the gimbal
+ *
+ * @return The return value is the number of bytes written to the buffer.
+ */
+uint32_t AT10GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    int16_t speedYaw, speedPitch;
+    AT10::GIMBAL_CMD_A1_MSG_T temp;
+    speedYaw = (int16_t)(speed.yaw * 100);
+    printf("\r\n %04X\r\n", speedYaw);
+    speedYaw = amovGimbalTools::conversionBigLittle((uint16_t)speedYaw);
+    speedPitch = (int16_t)(speed.pitch * 100);
+    speedPitch = amovGimbalTools::conversionBigLittle((uint16_t)speedPitch);
+    temp.cmd = 0x01;
+    temp.param[0] = speedYaw;
+    temp.param[1] = speedPitch;
+    temp.param[2] = 0;
+    temp.param[3] = 0;
+    return pack(AT10::GIMBAL_CMD_STD_MOTOR, (uint8_t *)&temp, sizeof(AT10::GIMBAL_CMD_A1_MSG_T));
+}
+
+/**
+ * This function sets the gimbal's follow speed
+ *
+ * @param followSpeed the speed of the gimbal
+ *
+ * @return The return value is the number of bytes written to the buffer.
+ */
+uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+{
+    state.maxFollow.pitch = fabs(followSpeed.pitch * 100);
+    state.maxFollow.yaw = fabs(followSpeed.yaw * 100);
+    state.maxFollow.roll = fabs(followSpeed.roll * 100);
+    return 0;
+}
+
+/**
+ * This function sets the gimbal to its home position
+ *
+ * @return The return value is the number of bytes written to the buffer.
+ */
+uint32_t AT10GimbalDriver::setGimabalHome(void)
+{
+    AT10::GIMBAL_CMD_A1_MSG_T temp;
+    temp.cmd = 0x04;
+    temp.param[0] = 0;
+    temp.param[1] = 0;
+    temp.param[2] = 0;
+    temp.param[3] = 0;
+    return pack(AT10::GIMBAL_CMD_STD_MOTOR, (uint8_t *)&temp, sizeof(AT10::GIMBAL_CMD_A1_MSG_T));
+}
+
+/**
+ * It takes a picture.
+ *
+ * @return The return value is the number of bytes written to the serial port.
+ */
+uint32_t AT10GimbalDriver::takePic(void)
+{
+    uint16_t temp = 0x13 << 3;
+    uint16_t data = amovGimbalTools::conversionBigLittle(temp);
+
+    return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
+}
+
+/**
+ * The function sets the video state of the gimbal
+ *
+ * @param newState The new state of the video.
+ *
+ * @return The return value is the number of bytes written to the serial port.
+ */
+uint32_t AT10GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    uint16_t temp;
+    if (newState == AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
+    {
+        temp = 0x14 << 3;
+    }
+    else
+    {
+        temp = 0x15 << 3;
+    }
+
+    uint16_t data = amovGimbalTools::conversionBigLittle(temp);
+
+    return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
+}
+
+uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    if (targetRate == 0.0f)
+    {
+        uint16_t temp = 0;
+        switch (zoom)
+        {
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+            temp = 0X08 << 3;
+            break;
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+            temp = 0X09 << 3;
+            break;
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+            temp = 0X01 << 3;
+            break;
+        default:
+            break;
+        }
+        uint16_t data = amovGimbalTools::conversionBigLittle(temp);
+
+        return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
+    }
+    else
+    {
+        AT10::GIMBAL_CMD_C2_MSG_T temp;
+        temp.cmd = 0x53;
+        temp.param = targetRate * 10;
+        temp.param = amovGimbalTools::conversionBigLittle(temp.param);
+        return pack(AT10::GIMBAL_CMD_STD_CAMERA2, (uint8_t *)&temp, sizeof(AT10::GIMBAL_CMD_C2_MSG_T));
+    }
+}
+
+uint32_t AT10GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint16_t temp = 0;
+    switch (zoom)
+    {
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+        temp = 0X0B << 3;
+        break;
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+        temp = 0X0A << 3;
+        break;
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+        temp = 0X01 << 3;
+        break;
+    default:
+        break;
+    }
+    uint16_t data = amovGimbalTools::conversionBigLittle(temp);
+
+    return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
+}
+
+//
+/**
+ * The function `extensionFuntions` in the `AT10GimbalDriver` class takes a command as input, casts it
+ * to a specific type, and then packs the command and its parameters into a byte array.
+ *
+ * @param cmd The "cmd" parameter is a void pointer, which means it can point to any type of data. In
+ * this case, it is being cast to a pointer of type AT10::AT10_EXT_CMD_T using the reinterpret_cast
+ * operator.
+ *
+ * @return the result of the `pack` function, which is of type `uint32_t`.
+ */
+uint32_t AT10GimbalDriver::extensionFuntions(void *cmd)
+{
+    AT10::AT10_EXT_CMD_T *tempCMD;
+    tempCMD = reinterpret_cast<AT10::AT10_EXT_CMD_T *>(cmd);
+
+    return pack(tempCMD->cmd, (uint8_t *)tempCMD->param, tempCMD->paramLen);
+}
+
+// AT10_EXT_CMD_T infraredOpen ;
+// infraredOpen.cmd = AT10::GIMBAL_CMD_STD_CAMERA;
+// infraredOpen.param[0] = 0X02;
+// infraredOpen.param[1] = 0;
+// infraredOpen.paramLen = 2;

gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h

@@ -0,0 +1,174 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2022-10-27 18:10:07
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-08-25 19:32:59
+ * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_struct.h
+ */
+#ifndef AT10_GIMBAL_STRUCT_H
+#define AT10_GIMBAL_STRUCT_H
+
+#include <stdint.h>
+namespace AT10
+{
+#define AT10_MAX_GIMBAL_PAYLOAD 64
+#define AT10_EXT_PAYLOAD_OFFSET 4
+#define AT10_STD_PAYLOAD_OFFSET 6
+#define AT10_EXT_SCALE_FACTOR_ANGLE 0.02197f
+#define AT10_EXT_SCALE_FACTOR_SPEED 0.06103f
+
+    typedef enum
+    {
+        GIMBAL_CMD_STD_NOP = 0X00,
+        GIMBAL_CMD_STD_HEART = 0X10,
+        GIMBAL_CMD_STD_RCV_STATE = 0X40,
+        GIMBAL_CMD_STD_MOTOR = 0X1A,
+        GIMBAL_CMD_STD_CAMERA = 0X1C,
+        GIMBAL_CMD_STD_CAMERA2 = 0X2C,
+        GIMBAL_CMD_STD_MOTOR2 = 0X32,
+        GIMBAL_CMD_STD = 0XDCAA5500,
+        GIMBAL_CMD_RCV_STATE = 0X721A583E,
+        GIMBAL_CMD_SET_FEEDBACK_L = 0X143055AA,
+        GIMBAL_CMD_SET_FEEDBACK_H = 0X003155AA,
+        GIMBAL_CMD_OPEN_FEEDBACK = 0X3E003E3E,
+        GIMBAL_CMD_CLOSE_FEEDBACK = 0X3D003D3E,
+    } GIMBAL_CMD_T;
+
+    typedef enum
+    {
+        GIMBAL_SERIAL_STATE_IDLE,
+        GIMBAL_SERIAL_STATE_EXT_HEAD1,
+        GIMBAL_SERIAL_STATE_EXT_HEAD2,
+        GIMBAL_SERIAL_STATE_EXT_HEAD3,
+        GIMBAL_SERIAL_STATE_EXT_DATE,
+        GIMBAL_SERIAL_STATE_EXT_CHECK,
+        GIMBAL_SERIAL_STATE_STD_HAED1,
+        GIMBAL_SERIAL_STATE_STD_HAED2,
+        GIMBAL_SERIAL_STATE_STD_LEN,
+        GIMBAL_SERIAL_STATE_STD_CMD,
+        GIMBAL_SERIAL_STATE_STD_DATE,
+        GIMBAL_SERIAL_STATE_STD_CHECK,
+    } GIMBAL_SERIAL_STATE_T;
+
+#pragma pack(1)
+    typedef struct
+    {
+        uint8_t cmd;
+        uint8_t param[AT10_MAX_GIMBAL_PAYLOAD];
+        uint8_t paramLen;
+    } AT10_EXT_CMD_T;
+
+    typedef struct
+    {
+        uint32_t head;
+        uint8_t len;
+        uint8_t cmd;
+        uint8_t data[AT10_MAX_GIMBAL_PAYLOAD];
+        uint8_t checkXOR;
+    } GIMBAL_STD_FRAME_T;
+
+    typedef struct
+    {
+        uint32_t head;
+        uint8_t data[AT10_MAX_GIMBAL_PAYLOAD];
+        uint8_t checkSum;
+        uint8_t len;
+    } GIMBAL_EXTEND_FRAME_T;
+
+    typedef struct
+    {
+        uint16_t timeStamp;
+        int16_t rollIMUAngle;
+        int16_t pitchIMUAngle;
+        int16_t yawIMUAngle;
+        int16_t rollTAGAngle;
+        int16_t pitchTAGAngle;
+        int16_t yawTAGAngle;
+        int16_t rollTAGSpeed;
+        int16_t pitchTAGSpeed;
+        int16_t yawTAGSpeed;
+        int16_t rollStatorRotorAngle;
+        int16_t pitchStatorRotorAngle;
+        int16_t yawStatorRotorAngle;
+    } GIMBAL_RCV_POS_MSG_T;
+
+    typedef struct
+    {
+        uint8_t hight;
+        uint8_t reserve;
+        uint32_t lat;
+        uint32_t log;
+        int16_t alt;
+        uint32_t latTar;
+        uint32_t logTar;
+        int16_t altTar;
+    } GIMBAL_RCV_GPS_STATE_MSG_T;
+
+    typedef struct
+    {
+        int16_t roll;
+        int16_t yaw;
+        int16_t pitch;
+    } GIMBAL_RCV_MOTOR_STATE_MSG_T;
+
+    typedef struct
+    {
+        uint8_t mode;
+        uint8_t reserve;
+        uint16_t camera;
+        uint16_t distance;
+        uint16_t fovY;
+        uint16_t fovX;
+        uint16_t rate;
+    } GIMBAL_RCV_CAMERA_STATE_MSG_T;
+
+    typedef struct
+    {
+        GIMBAL_RCV_GPS_STATE_MSG_T T1;
+        uint8_t F1;
+        GIMBAL_RCV_MOTOR_STATE_MSG_T B1;
+        GIMBAL_RCV_CAMERA_STATE_MSG_T D1;
+    } GIMBAL_RCV_STD_STATE_MSG_T;
+
+    typedef struct
+    {
+        uint16_t param;
+    } GIMBAL_CMD_C1_MSG_T;
+
+    typedef struct
+    {
+        uint8_t cmd;
+        uint16_t param;
+    } GIMBAL_CMD_C2_MSG_T;
+
+    typedef struct
+    {
+        uint8_t cmd;
+        uint16_t param[4];
+    } GIMBAL_CMD_A1_MSG_T;
+
+    typedef struct
+    {
+        uint8_t cmd;
+        uint8_t reserve;
+        uint32_t param[3];
+    } GIMBAL_CMD_S1_MSG_T;
+
+    typedef struct
+    {
+        uint8_t param[3];
+    } GIMBAL_CMD_E1_MSG_T;
+
+    typedef struct
+    {
+        GIMBAL_CMD_A1_MSG_T a1;
+        GIMBAL_CMD_C1_MSG_T c1;
+        GIMBAL_CMD_E1_MSG_T e1;
+        GIMBAL_CMD_S1_MSG_T s1;
+    } GIMBAL_CMD_A1C1E1S1_MSG_T;
+
+#pragma pack()
+
+}
+#endif

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cc

@@ -1,212 +0,0 @@
-/*
- * @Description    :
- * @Author         : Aiyangsky
- * @Date           : 2022-08-26 21:42:10
- * @LastEditors    : Aiyangsky
- * @LastEditTime   : 2022-08-27 03:43:49
- * @FilePath       : \mavlink\src\route\Ring_Fifo.c
- */
-
-#include <string.h>
-
-#include "Ring_Fifo.h"
-
-/**
- * @description:
- * @param       {RING_FIFO_CB_T} *fifo                  fifo struct pointer
- * @param       {unsigned short} cell_size              sizeof(cell)
- * @param       {unsigned char} *buffer                 fifo buffer address
- * @param       {unsigned int} buffer_lenght            sizeof(buffer)
- * @return      {*}
- * @note       :
- */
-void Ring_Fifo_init(RING_FIFO_CB_T *fifo, unsigned short cell_size,
-                    unsigned char *buffer, unsigned int buffer_lenght)
-{
-    fifo->cell_size = cell_size;
-
-    fifo->start = buffer;
-    // Remainder is taken to avoid splicing in the output so as to improve the efficiency
-    fifo->end = buffer + buffer_lenght - (buffer_lenght % cell_size);
-    fifo->in = buffer;
-    fifo->out = buffer;
-    fifo->curr_number = 0;
-    fifo->max_number = buffer_lenght / cell_size;
-}
-
-/**
- * @description:                                        add a cell to fifo
- * @param       {RING_FIFO_CB_T} *fifo                  fifo struct pointer
- * @param       {void} *data                            cell data [in]
- * @return      {*}                                     Success or fail
- * @note       :                                        failed if without space
- */
-bool Ring_Fifo_in_cell(RING_FIFO_CB_T *fifo, void *data)
-{
-    unsigned char *next;
-    unsigned char *ptemp = fifo->in;
-    bool ret = false;
-
-    LOCK();
-
-    if (fifo->curr_number < fifo->max_number)
-    {
-        next = fifo->in + fifo->cell_size;
-        if (next >= fifo->end)
-        {
-            next = fifo->start;
-        }
-        fifo->in = next;
-        fifo->curr_number++;
-        memcpy(ptemp, data, fifo->cell_size);
-        ret = true;
-    }
-
-    UNLOCK();
-
-    return ret;
-}
-
-/**
- * @description:                                        add a series of cells to fifo
- * @param       {RING_FIFO_CB_T} *fifo
- * @param       {void} *data                            cells data [in]
- * @param       {unsigned short} number                 expect add number of cells
- * @return      {*}                                     number of successful add
- * @note       :
- */
-unsigned short Ring_Fifo_in_cells(RING_FIFO_CB_T *fifo, void *data, unsigned short number)
-{
-    // Number of remaining storable cells is described to simplify the calculation in the copying process.
-    unsigned short diff = fifo->max_number - fifo->curr_number;
-    unsigned short count_temp, count_temp_r;
-    unsigned char *next;
-    unsigned char *ptemp = fifo->in;
-    unsigned short ret;
-
-    LOCK();
-
-    if (diff > number)
-    {
-        ret = number;
-    }
-    else if (diff > 0 && diff < number)
-    {
-        ret = diff;
-    }
-    else
-    {
-        ret = 0;
-    }
-
-    count_temp = fifo->cell_size * ret;
-    next = fifo->in + count_temp;
-    // Moving the write pointer and the number of stored cells before
-    // copying data reduces the likelihood of multithreaded write conflicts.
-    fifo->curr_number += ret;
-
-    if (next < fifo->end)
-    {
-        fifo->in = next;
-        memcpy(ptemp, data, count_temp);
-    }
-    else
-    {
-        count_temp_r = fifo->end - fifo->in;
-        next = fifo->start + count_temp - count_temp_r;
-        fifo->in = next;
-        memcpy(ptemp, data, count_temp_r);
-        memcpy(fifo->start, ((unsigned char *)data) + count_temp_r, count_temp - count_temp_r);
-    }
-
-    UNLOCK();
-
-    return ret;
-}
-
-/**
- * @description:                                        output a cell
- * @param       {RING_FIFO_CB_T} *fifo
- * @param       {void} *data                            cell data [out]
- * @return      {*}                                     Success or fail
- * @note       :                                        fail if without cell
- */
-bool Ring_Fifo_out_cell(RING_FIFO_CB_T *fifo, void *data)
-{
-    unsigned char *next;
-    unsigned char *ptemp = fifo->out;
-    bool ret = false;
-
-    LOCK();
-
-    if (fifo->curr_number > 0)
-    {
-        next = fifo->out + fifo->cell_size;
-        if (next >= fifo->end)
-        {
-            next = fifo->start;
-        }
-        fifo->out = next;
-        fifo->curr_number--;
-        memcpy(data, ptemp, fifo->cell_size);
-        ret = true;
-    }
-
-    UNLOCK();
-
-    return ret;
-}
-
-/**
- * @description:                                        output a series of cells in fifo
- * @param       {RING_FIFO_CB_T} *fifo
- * @param       {void} *data                            cells data [out]
- * @param       {unsigned short} number                 expect out number of cells
- * @return      {*}                                     number of successful output
- * @note       :
- */
-unsigned short Ring_Fifo_out_cells(RING_FIFO_CB_T *fifo, void *data, unsigned short number)
-{
-    unsigned char *next;
-    unsigned char *ptemp = fifo->out;
-    unsigned short count_temp, count_temp_r;
-    unsigned short ret;
-
-    LOCK();
-
-    if (fifo->curr_number > number)
-    {
-        ret = number;
-    }
-    else if (fifo->curr_number < number && fifo->curr_number > 0)
-    {
-        ret = fifo->curr_number;
-    }
-    else
-    {
-        ret = 0;
-    }
-
-    count_temp = fifo->cell_size * ret;
-    next = fifo->out + count_temp;
-
-    fifo->curr_number -= ret;
-
-    if (next < fifo->end)
-    {
-        fifo->out = next;
-        memcpy(data, ptemp, count_temp);
-    }
-    else
-    {
-        count_temp_r = fifo->end - fifo->in;
-        next = fifo->start + count_temp - count_temp_r;
-        fifo->out = next;
-        memcpy(data, ptemp, count_temp_r);
-        memcpy(((unsigned char *)data) + count_temp_r, fifo->start, count_temp - count_temp_r);
-    }
-
-    UNLOCK();
-
-    return ret;
-}

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp

@@ -0,0 +1,228 @@
+/*
+ * @Description    :
+ * @Author         : Aiyangsky
+ * @Date           : 2022-08-26 21:42:10
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:47:34
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
+ */
+
+#include <string.h>
+
+#include "Ring_Fifo.h"
+
+/**
+ * The `fifoRing` constructor initializes the `cellSize`, `maxNumber`, `currNumber`, `start`, `in`,
+ * `out`, and `end` variables, and allocates memory for the `start` pointer.
+ *
+ * @param _cellSize The `_cellSize` parameter represents the size of each cell in the FIFO ring buffer.
+ * It determines the amount of memory allocated for each element in the buffer.
+ * @param _cellNum The parameter `_cellNum` represents the number of cells in the FIFO ring.
+ */
+fifoRing::fifoRing(unsigned short _cellSize, unsigned int _cellNum)
+{
+    cellSize = _cellSize;
+    maxNumber = _cellNum;
+    currNumber = 0;
+
+    start = nullptr;
+    start = (uint8_t *)malloc(_cellNum * _cellSize);
+    if (start == nullptr)
+    {
+        std::cout << "fifo malloc failed! size :" << (_cellNum * _cellSize) << std::endl;
+        exit(1);
+    }
+
+    memset(start, 0, _cellNum * _cellSize);
+
+    in = start;
+    out = start;
+    end = start + _cellNum * _cellSize;
+}
+
+/**
+ * The `inCell` function adds data to a FIFO ring buffer and returns true if successful.
+ *
+ * @param data A pointer to the data that needs to be stored in the FIFO ring.
+ *
+ * @return a boolean value.
+ */
+bool fifoRing::inCell(void *data)
+{
+    std::lock_guard<std::mutex> locker(fifoMutex);
+    unsigned char *next;
+    unsigned char *ptemp = in;
+    bool ret = false;
+
+    if (currNumber < maxNumber)
+    {
+        next = in + cellSize;
+        if (next >= end)
+        {
+            next = start;
+        }
+        in = next;
+        currNumber++;
+        memcpy(ptemp, data, cellSize);
+        ret = true;
+        notEmpty.notify_all();
+    }
+
+    return ret;
+}
+
+/**
+ * The `inCells` function is used to store data in a FIFO ring buffer, returning the number of cells
+ * successfully stored.
+ *
+ * @param data A pointer to the data that needs to be stored in the FIFO ring.
+ * @param number The parameter "number" represents the number of cells that the function should attempt
+ * to store in the FIFO ring.
+ *
+ * @return the number of cells that were successfully stored in the FIFO ring buffer.
+ */
+unsigned short fifoRing::inCells(void *data, unsigned short number)
+{
+    std::lock_guard<std::mutex> locker(fifoMutex);
+    // Number of remaining storable cells is described to simplify the calculation in the copying process.
+    unsigned short diff = maxNumber - currNumber;
+    unsigned short count_temp, count_temp_r;
+    unsigned char *next;
+    unsigned char *ptemp = in;
+    unsigned short ret;
+
+    if (diff > number)
+    {
+        ret = number;
+    }
+    else if (diff > 0 && diff < number)
+    {
+        ret = diff;
+    }
+    else
+    {
+        ret = 0;
+    }
+
+    count_temp = cellSize * ret;
+    next = in + count_temp;
+    // Moving the write pointer and the number of stored cells before
+    // copying data reduces the likelihood of multithreaded write conflicts.
+    currNumber += ret;
+
+    if (next < end)
+    {
+        in = next;
+        memcpy(ptemp, data, count_temp);
+    }
+    else
+    {
+        count_temp_r = end - in;
+        next = start + count_temp - count_temp_r;
+        in = next;
+        memcpy(ptemp, data, count_temp_r);
+        memcpy(start, ((unsigned char *)data) + count_temp_r, count_temp - count_temp_r);
+    }
+    if (ret > 0)
+    {
+        notEmpty.notify_all();
+    }
+
+    return ret;
+}
+
+/**
+ * The `outCell` function removes a cell from the FIFO ring buffer and copies its data to the provided
+ * memory location.
+ *
+ * @param data A pointer to the memory location where the data from the cell will be copied to.
+ *
+ * @return a boolean value. If a cell is successfully taken from the FIFO ring and the data is copied
+ * into the provided pointer, the function returns true. Otherwise, if the FIFO ring is empty and no
+ * cell can be taken, the function waits until a cell becomes available and then returns false.
+ */
+bool fifoRing::outCell(void *data)
+{
+    std::lock_guard<std::mutex> locker(fifoMutex);
+    unsigned char *next;
+    unsigned char *ptemp = out;
+    bool ret = false;
+
+    if (currNumber > 0)
+    {
+        next = out + cellSize;
+        if (next >= end)
+        {
+            next = start;
+        }
+        out = next;
+        currNumber--;
+        memcpy(data, ptemp, cellSize);
+        ret = true;
+    }
+    else
+    {
+        notEmpty.wait(fifoMutex);
+    }
+
+    return ret;
+}
+
+/**
+ * The `outCells` function retrieves a specified number of cells from a FIFO ring buffer and copies the
+ * data into a provided buffer.
+ *
+ * @param data A pointer to the memory location where the extracted data will be stored.
+ * @param number The parameter "number" represents the number of cells that should be read from the
+ * FIFO ring.
+ *
+ * @return the number of cells that were successfully read from the FIFO ring buffer.
+ */
+unsigned short fifoRing::outCells(void *data, unsigned short number)
+{
+    std::lock_guard<std::mutex> locker(fifoMutex);
+
+    unsigned char *next;
+    unsigned char *ptemp = out;
+    unsigned short count_temp, count_temp_r;
+    unsigned short ret;
+
+    if (currNumber > number)
+    {
+        ret = number;
+    }
+    else if (currNumber < number && currNumber > 0)
+    {
+        ret = currNumber;
+    }
+    else
+    {
+        ret = 0;
+    }
+
+    count_temp = cellSize * ret;
+    next = out + count_temp;
+
+    currNumber -= ret;
+
+    if (next < end)
+    {
+        out = next;
+        memcpy(data, ptemp, count_temp);
+    }
+    else
+    {
+        count_temp_r = end - in;
+        next = start + count_temp - count_temp_r;
+        out = next;
+        memcpy(data, ptemp, count_temp_r);
+        memcpy(((unsigned char *)data) + count_temp_r, start, count_temp - count_temp_r);
+    }
+
+    if (ret == 0)
+    {
+        notEmpty.wait(fifoMutex);
+    }
+
+    return ret;
+}

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h

@@ -3,45 +3,47 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:02
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-03 16:12:37
- * @FilePath: \host\gimbal-sdk-multi-platform\src\FIFO\Ring_Fifo.h
+ * @LastEditTime: 2023-11-28 11:47:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
  */
 
 #ifndef RING_FIFO_H
 #define RING_FIFO_H
 
-#include "stdbool.h"
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <iostream>
 
-#ifdef __cplusplus
-extern "C"
+class fifoRing
 {
-#endif
+private:
+    unsigned char *start;
+    unsigned char *in;
+    unsigned char *out;
+    unsigned char *end;
 
-#define LOCK()
-#define UNLOCK()
+    unsigned short currNumber;
+    unsigned short maxNumber;
+    unsigned short cellSize;
 
-    typedef struct
+    std::mutex fifoMutex;
+    std::condition_variable_any notEmpty;
+
+public:
+    fifoRing(unsigned short _cellSize, unsigned int _cellNum);
+    ~fifoRing()
     {
-        unsigned char *start;
-        unsigned char *in;
-        unsigned char *out;
-        unsigned char *end;
+        if (start != nullptr)
+        {
+            free(start);
+        }
+    }
 
-        unsigned short curr_number;
-        unsigned short max_number;
-        unsigned short cell_size;
-    } RING_FIFO_CB_T;
-
-    void Ring_Fifo_init(RING_FIFO_CB_T *fifo, unsigned short cell_size,
-                        unsigned char *buffer, unsigned int buffer_lenght);
-    bool Ring_Fifo_in_cell(RING_FIFO_CB_T *fifo, void *data);
-    unsigned short Ring_Fifo_in_cells(RING_FIFO_CB_T *fifo, void *data, unsigned short number);
-    bool Ring_Fifo_out_cell(RING_FIFO_CB_T *fifo, void *data);
-    unsigned short Ring_Fifo_out_cells(RING_FIFO_CB_T *fifo, void *data, unsigned short number);
-
-
-#ifdef __cplusplus
-}
-#endif
+    bool inCell(void *data);
+    unsigned short inCells(void *data, unsigned short number);
+    bool outCell(void *data);
+    unsigned short outCells(void *data, unsigned short number);
+};
 
 #endif

gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2022-10-28 14:10:02
- * @FilePath: \amov-gimbal-sdk\src\G1\g1_gimbal_crc32.h
+ * @LastEditTime: 2023-12-05 16:30:13
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
  */
 #ifndef G1_GIMBAL_CRC32_H
 #define G1_GIMBAL_CRC32_H

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 10:12:46
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.cpp
+ * @LastEditTime: 2023-12-05 17:22:57
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
@@ -16,27 +16,10 @@
  *
  * @param _IO The IOStreamBase object that will be used to communicate with the gimbal.
  */
-g1GimbalDriver::g1GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(_IO)
+g1GimbalDriver::g1GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
 {
-    memset(&rxQueue, 0, sizeof(RING_FIFO_CB_T));
-    memset(&txQueue, 0, sizeof(RING_FIFO_CB_T));
-
-    rxBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(G1::GIMBAL_FRAME_T));
-    if (rxBuffer == NULL)
-    {
-        std::cout << "Receive buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-    txBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(G1::GIMBAL_FRAME_T));
-    if (txBuffer == NULL)
-    {
-        free(rxBuffer);
-        std::cout << "Send buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-
-    Ring_Fifo_init(&rxQueue, sizeof(G1::GIMBAL_FRAME_T), rxBuffer, MAX_QUEUE_SIZE * sizeof(G1::GIMBAL_FRAME_T));
-    Ring_Fifo_init(&txQueue, sizeof(G1::GIMBAL_FRAME_T), txBuffer, MAX_QUEUE_SIZE * sizeof(G1::GIMBAL_FRAME_T));
+    rxQueue = new fifoRing(sizeof(G1::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(G1::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
 
     parserState = G1::GIMBAL_SERIAL_STATE_IDLE;
 }
@@ -66,32 +49,14 @@ uint32_t g1GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloa
     txTemp.crc.u32 = G1::CRC32Software(txTemp.payload, payloadSize);
     memcpy(txTemp.payload + payloadSize, txTemp.crc.u8, sizeof(uint32_t));
 
-    txMutex.lock();
-    if (Ring_Fifo_in_cell(&txQueue, &txTemp))
+    if (txQueue->inCell(&txTemp))
     {
         ret = txTemp.lenght + G1_PAYLOAD_OFFSET + sizeof(uint32_t);
     }
-    txMutex.unlock();
 
     return ret;
 }
 
-/**
- * > This function is used to get a packet from the receive queue
- *
- * @param void This is the type of data that will be stored in the queue.
- *
- * @return A boolean value.
- */
-bool g1GimbalDriver::getRxPack(OUT void *pack)
-{
-    bool state = false;
-    rxMutex.lock();
-    state = Ring_Fifo_out_cell(&rxQueue, pack);
-    rxMutex.unlock();
-    return state;
-}
-
 void g1GimbalDriver::convert(void *buf)
 {
     G1::GIMBAL_FRAME_T *temp;
@@ -110,7 +75,7 @@ void g1GimbalDriver::convert(void *buf)
         state.rel.pitch = tempPos->HALL_pitch * G1_SCALE_FACTOR;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
         break;
 
@@ -125,32 +90,9 @@ void g1GimbalDriver::convert(void *buf)
     }
 }
 
-/**
- * The function is called by the main thread to send a command to the gimbal.
- *
- * The function first checks to see if the serial port is busy and if it is open. If it is not busy and
- * it is open, the function locks the txMutex and then checks to see if there is a command in the
- * txQueue. If there is a command in the txQueue, the function copies the command to the tx buffer and
- * then unlocks the txMutex. The function then sends the command to the gimbal.
- *
- * The txQueue is a ring buffer that holds commands that are waiting to be sent to the gimbal. The
- * txQueue is a ring buffer because the gimbal can only process one command at a time. If the gimbal is
- * busy processing a command, the command will be placed in the txQueue and sent to the gimbal when the
- * gimbal is ready to receive the command.
- */
-void g1GimbalDriver::send(void)
+uint32_t g1GimbalDriver::calPackLen(void *pack)
 {
-    if (!IO->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-        txMutex.lock();
-        state = Ring_Fifo_out_cell(&txQueue, &tx);
-        txMutex.unlock();
-        if (state)
-        {
-            IO->outPutBytes((uint8_t *)&tx, tx.lenght + G1_PAYLOAD_OFFSET + sizeof(uint32_t));
-        }
-    }
+    return ((G1::GIMBAL_FRAME_T *)pack)->lenght + G1_PAYLOAD_OFFSET + sizeof(uint32_t);
 }
 
 /**
@@ -225,9 +167,7 @@ bool g1GimbalDriver::parser(IN uint8_t byte)
             if (*((uint32_t *)(pRx - sizeof(uint32_t))) == G1::CRC32Software(rx.payload, rx.lenght))
             {
                 state = true;
-                rxMutex.lock();
-                Ring_Fifo_in_cell(&rxQueue, &rx);
-                rxMutex.unlock();
+                rxQueue->inCell(&rx);
             }
             else
             {

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h

@@ -3,66 +3,57 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-13 12:29:17
- * @FilePath: \gimbal-sdk-multi-platform\src\G1\g1_gimbal_driver.h
+ * @LastEditTime: 2023-12-05 16:29:58
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __G1_DRIVER_H
+#define __G1_DRIVER_H
+
+#include "../amov_gimbal_private.h"
 #include "g1_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __G1_DRIVER_H
-#define __G1_DRIVER_H
-
-extern "C"
-{
-#include "Ring_Fifo.h"
-}
-
-class g1GimbalDriver : protected amovGimbal::IamovGimbalBase
+class g1GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
     G1::GIMBAL_CMD_PARSER_STATE_T parserState;
     G1::GIMBAL_FRAME_T rx;
-    G1::GIMBAL_FRAME_T tx;
 
-    std::mutex rxMutex;
-    uint8_t *rxBuffer;
-    RING_FIFO_CB_T rxQueue;
-    std::mutex txMutex;
-    uint8_t *txBuffer;
-    RING_FIFO_CB_T txQueue;
-
-    bool parser(IN uint8_t byte);
-    void send(void);
-
-    void convert(void *buf);
     uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
-    bool getRxPack(OUT void *pack);
+    bool parser(IN uint8_t byte);
+    void convert(void *buf);
+    uint32_t calPackLen(void *pack);
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
+                                void *extenData);
+
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
+                                void *extenData);
+    uint32_t extensionFuntions(void *cmd);
 
     // builds
-    static amovGimbal::IamovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
     {
         return new g1GimbalDriver(_IO);
     }
 
     g1GimbalDriver(amovGimbal::IOStreamBase *_IO);
-    ~g1GimbalDriver()
-    {
-        free(rxBuffer);
-        free(txBuffer);
-    }
 };
 
 #endif

gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp

@@ -3,12 +3,13 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-17 18:29:33
- * @FilePath: \gimbal-sdk-multi-platform\src\G1\g1_gimbal_funtion.cpp
+ * @LastEditTime: 2023-12-05 16:29:51
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
 #include "string.h"
+#include <math.h>
 
 /**
  * It sets the gimbal position.
@@ -17,7 +18,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t g1GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_ANGLE;
@@ -31,14 +32,14 @@ uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
 }
 
 /**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t g1GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_SPEED;
@@ -58,7 +59,7 @@ uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &sp
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t g1GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / G1_SCALE_FACTOR;
     state.maxFollow.roll = followSpeed.roll / G1_SCALE_FACTOR;
@@ -83,7 +84,7 @@ uint32_t g1GimbalDriver::setGimabalHome(void)
 
 /**
  * It takes a picture.
- * 
+ *
  * @return The return value is the number of bytes written to the serial port.
  */
 uint32_t g1GimbalDriver::takePic(void)
@@ -94,25 +95,129 @@ uint32_t g1GimbalDriver::takePic(void)
 
 /**
  * The function sets the video state of the gimbal
- * 
+ *
  * @param newState The new state of the video.
- * 
+ *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t g1GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t temp = G1::GIMBAL_CMD_CAMERA_REC;
 
     mState.lock();
-    if(state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
     else
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     mState.unlock();
 
     return pack(G1::GIMBAL_CMD_CAMERA, &temp, sizeof(uint8_t));
 }
+
+/**
+ * The function `attitudeCorrection` takes in quaternion, velocity, acceleration, and external data,
+ * and returns a packed message.
+ *
+ * @param quaterion The "quaterion" parameter is a structure of type "AMOV_GIMBAL_QUATERNION_T" which
+ * contains the following fields:
+ * @param speed The "speed" parameter is of type `AMOV_GIMBAL_VELOCITY_T` and represents
+ * the velocity of the gimbal. It contains three components: `x`, `y`, and `z`, which represent the
+ * velocity in the respective axes.
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * acceleration of the gimbal in three dimensions (x, y, z).
+ * @param extenData The extenData parameter is a void pointer that can be used to pass additional data
+ * to the attitudeCorrection function. In this case, it is being cast to a float pointer and then
+ * accessed as an array. The first element of the array is assigned to the temp.yawSetPoint variable,
+ * and
+ *
+ * @return a uint32_t value.
+ */
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                            const AMOV_GIMBAL_VELOCITY_T &speed,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
+                                            void *extenData)
+{
+    G1::GIMBAL_ATT_CORR_MSG_T temp;
+    temp.q[0] = quaterion.q0;
+    temp.q[1] = quaterion.q1;
+    temp.q[2] = quaterion.q2;
+    temp.q[3] = quaterion.q3;
+
+    temp.acc[0] = acc.x;
+    temp.acc[1] = acc.y;
+    temp.acc[2] = acc.z;
+
+    temp.yawSetPoint = ((float *)extenData)[0];
+    temp.yawSpeedSetPoint = ((float *)extenData)[1];
+
+    return pack(G1::GIMBAL_CMD_SET_STATE, reinterpret_cast<uint8_t *>(&temp), sizeof(G1::GIMBAL_ATT_CORR_MSG_T));
+}
+
+/**
+ * The function `attitudeCorrection` calculates the attitude correction for a gimbal based on the given
+ * position, velocity, and acceleration values.
+ *
+ * @param pos The "pos" parameter is of type AMOV_GIMBAL_POS_T and represents the current
+ * position of the gimbal. It contains the pitch, roll, and yaw angles of the gimbal.
+ * @param seppd seppd stands for "Separate Pointing Device" and it represents the velocity of the
+ * gimbal in terms of pitch, roll, and yaw. It is of type `AMOV_GIMBAL_VELOCITY_T` which
+ * likely contains three float values for pitch,
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * acceleration of the gimbal in three dimensions (x, y, z).
+ * @param extenData The `extenData` parameter is a void pointer that can be used to pass additional
+ * data to the `attitudeCorrection` function. In this code snippet, it is assumed that `extenData` is a
+ * pointer to a float array with two elements.
+ *
+ * @return a uint32_t value.
+ */
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                            const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
+                                            void *extenData)
+{
+    G1::GIMBAL_ATT_CORR_MSG_T temp;
+
+    float pitch = pos.pitch * 0.5f;
+    float roll = pos.roll * 0.5f;
+    float yaw = pos.yaw * 0.5f;
+
+    temp.q[0] = cosf(pitch) * cosf(roll) * cosf(yaw) +
+                sinf(pitch) * sinf(roll) * sinf(yaw);
+    temp.q[1] = cosf(pitch) * sinf(roll) * cosf(yaw) -
+                sinf(pitch) * cosf(roll) * sinf(yaw);
+    temp.q[2] = sinf(pitch) * cosf(roll) * cosf(yaw) +
+                cosf(pitch) * sinf(roll) * sinf(yaw);
+    temp.q[3] = cosf(pitch) * sinf(roll) * sinf(yaw) -
+                sinf(pitch) * cosf(roll) * cosf(yaw);
+
+    temp.acc[0] = acc.x;
+    temp.acc[1] = acc.y;
+    temp.acc[2] = acc.z;
+
+    temp.yawSetPoint = ((float *)extenData)[0];
+    temp.yawSpeedSetPoint = ((float *)extenData)[1];
+
+    return pack(G1::GIMBAL_CMD_SET_STATE, reinterpret_cast<uint8_t *>(&temp), sizeof(G1::GIMBAL_ATT_CORR_MSG_T));
+}
+
+/**
+ * The function `extensionFuntions` in the `g1GimbalDriver` class takes a void pointer `cmd`, casts it
+ * to a `G1::GIMBAL_STD_MSG_T` pointer, and returns the result of calling the `pack` function with the
+ * `cmd`'s `cmd`, `data`, and `len` members as arguments.
+ * 
+ * @param cmd The "cmd" parameter is a void pointer, which means it can point to any type of data. In
+ * this case, it is being cast to a G1::GIMBAL_STD_MSG_T pointer using reinterpret_cast.
+ * 
+ * @return the result of the `pack` function, which is of type `uint32_t`.
+ */
+uint32_t g1GimbalDriver::extensionFuntions(void *cmd)
+{
+    G1::GIMBAL_STD_MSG_T *tempCmd;
+
+    tempCmd = reinterpret_cast<G1::GIMBAL_STD_MSG_T *>(cmd);
+    return pack(tempCmd->cmd, tempCmd->data, tempCmd->len);
+}

gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-17 18:12:57
- * @FilePath: \gimbal-sdk-multi-platform\src\G1\g1_gimbal_struct.h
+ * @LastEditTime: 2023-12-05 16:29:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
  */
 #ifndef G1_GIMBAL_STRUCT_H
 #define G1_GIMBAL_STRUCT_H
@@ -20,6 +20,7 @@ namespace G1
 
     typedef enum
     {
+        GIMBAL_CMD_SET_STATE = 0X01,
         GIMBAL_CMD_SET_POS = 0X85,
         GIMBAL_CMD_CAMERA = 0X86,
         GIMBAL_CMD_RCV_POS = 0X87
@@ -85,6 +86,22 @@ namespace G1
         int16_t HALL_yaw;
     } GIMBAL_RCV_POS_MSG_T;
 
+    typedef struct
+    {
+        float q[4];
+        float acc[3];
+        float yawSetPoint;
+        float yawSpeedSetPoint;
+    } GIMBAL_ATT_CORR_MSG_T;
+
+
+    typedef struct 
+    {
+        uint8_t cmd;
+        uint8_t data[256];
+        uint8_t len;
+    }GIMBAL_STD_MSG_T;
+    
 #pragma pack()
 
 }

gimbal_ctrl/driver/src/G2/g2_gimbal_crc.h

@@ -1,166 +0,0 @@
-
-#ifndef __G2_GIMBAL_CHECK_H
-#define __G2_GIMBAL_CHECK_H
-
-namespace G2
-{
-#include "stdint.h"
-
-    const uint16_t crc16_tab[256] = {
-        0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
-        0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
-        0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
-        0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
-        0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
-        0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
-        0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
-        0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
-        0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
-        0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
-        0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
-        0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
-        0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
-        0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
-        0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
-        0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
-        0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
-        0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
-        0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
-        0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
-        0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
-        0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
-        0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
-        0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
-        0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
-        0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
-        0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
-        0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
-        0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
-        0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
-        0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
-        0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0};
-
-    /**
-     * "For each byte in the data, shift the CRC register left by 8 bits, XOR the CRC register with the CRC
-     * table value for the byte, and then shift the CRC register right by 8 bits."
-     *
-     * The CRC table is a 256-byte array of 16-bit values.  The index into the table is the byte value.
-     * The value in the table is the CRC value for that byte.  The CRC table is generated by the following
-     * function:
-     *
-     * @param data pointer to the data to be checked
-     * @param len the length of the data to be checked
-     *
-     * @return The CRC value.
-     * @note 16 bit CRC with polynomial x^16+x^12+x^5+1
-     */
-    static inline uint16_t checkCrc16(uint8_t *pData, uint32_t len)
-    {
-        uint16_t crc = 0XFFFF;
-        uint32_t idx = 0;
-
-        for (idx = 0; idx < len; idx++)
-        {
-            crc = crc16_tab[((crc >> 8) ^ pData[idx]) & 0xFF] ^ (crc << 8);
-        }
-        return crc;
-    }
-
-    const unsigned int Crc32Table[256] = {
-        0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B,
-        0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
-        0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7,
-        0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
-        0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3,
-        0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
-        0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF,
-        0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
-        0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB,
-        0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
-        0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0,
-        0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
-        0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4,
-        0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
-        0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08,
-        0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
-        0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC,
-        0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
-        0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050,
-        0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
-        0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34,
-        0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
-        0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1,
-        0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
-        0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5,
-        0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
-        0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9,
-        0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
-        0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD,
-        0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
-        0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71,
-        0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
-        0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2,
-        0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
-        0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E,
-        0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
-        0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A,
-        0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
-        0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676,
-        0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
-        0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662,
-        0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
-        0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4};
-
-    /**
-     * For each byte in the input data, XOR the current CRC value with the byte, then shift the CRC value
-     * left 8 bits, and XOR the CRC value with the CRC table value for the byte
-     *
-     * @param pData pointer to the data to be CRC'd
-     * @param Length The length of the data to be CRC'd.
-     *
-     * @return The CRC32 value of the data.
-     */
-    static inline uint32_t checkCRC32(uint8_t *pData, uint32_t Length)
-    {
-        unsigned int nReg;
-        unsigned int nTemp = 0;
-        unsigned short i, n;
-
-        nReg = 0xFFFFFFFF;
-        for (n = 0; n < Length; n++)
-        {
-            nReg ^= (unsigned int)pData[n];
-
-            for (i = 0; i < 4; i++)
-            {
-                nTemp = Crc32Table[(unsigned char)((nReg >> 24) & 0xff)];
-                nReg <<= 8;
-                nReg ^= nTemp;
-            }
-        }
-        return nReg;
-    }
-
-    /**
-     * It takes a pointer to an array of bytes and the length of the array, and returns the sum of the
-     * bytes in the array
-     *
-     * @param pData The data to be calculated
-     * @param Lenght The length of the data to be sent.
-     *
-     * @return The sum of the bytes in the array.
-     */
-    static inline unsigned char CheckSum(unsigned char *pData, unsigned short Lenght)
-    {
-        unsigned short temp = 0;
-        unsigned short i = 0;
-        for (i = 0; i < Lenght; i++)
-        {
-            temp += pData[i];
-        }
-        return temp & 0XFF;
-    }
-
-}
-
-#endif

gimbal_ctrl/driver/src/G2/g2_gimbal_driver.cpp

@@ -1,243 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2023-03-01 10:12:58
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-11 17:33:42
- * @FilePath: /gimbal-sdk-multi-platform/src/G2/g2_gimbal_driver.cpp
- */
-
-#include "g2_gimbal_driver.h"
-#include "g2_gimbal_crc.h"
-#include "string.h"
-
-/**
- * The function creates a new instance of the g2GimbalDriver class, which is a subclass of the
- * IamovGimbalBase class
- *
- * @param _IO The IOStreamBase class that is used to communicate with the gimbal.
- */
-g2GimbalDriver::g2GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(_IO)
-{
-    memset(&rxQueue, 0, sizeof(RING_FIFO_CB_T));
-    memset(&txQueue, 0, sizeof(RING_FIFO_CB_T));
-
-    rxBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(G2::GIMBAL_FRAME_T));
-    if (rxBuffer == NULL)
-    {
-        std::cout << "Receive buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-    txBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(G2::GIMBAL_FRAME_T));
-    if (txBuffer == NULL)
-    {
-        free(rxBuffer);
-        std::cout << "Send buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-
-    Ring_Fifo_init(&rxQueue, sizeof(G2::GIMBAL_FRAME_T), rxBuffer, MAX_QUEUE_SIZE * sizeof(G2::GIMBAL_FRAME_T));
-    Ring_Fifo_init(&txQueue, sizeof(G2::GIMBAL_FRAME_T), txBuffer, MAX_QUEUE_SIZE * sizeof(G2::GIMBAL_FRAME_T));
-
-    parserState = G2::GIMBAL_SERIAL_STATE_IDEL;
-}
-
-/**
- * It takes a command, a pointer to a payload, and the size of the payload, and then it puts the
- * command, the payload, and the CRC into a ring buffer
- *
- * @param uint32_t 4 bytes
- * @param pPayload pointer to the data to be sent
- * @param payloadSize the size of the payload in bytes
- *
- * @return The number of bytes in the packet.
- */
-uint32_t g2GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize)
-{
-    uint32_t ret = 0;
-    G2::GIMBAL_FRAME_T txTemp;
-
-    txTemp.head = G2_SERIAL_HEAD;
-    txTemp.version = G2_SERIAL_VERSION;
-    txTemp.len = payloadSize;
-    txTemp.command = cmd;
-    txTemp.source = self;
-    txTemp.target = remote;
-    memcpy(txTemp.data, pPayload, payloadSize);
-    txTemp.crc.f16 = G2::checkCrc16((uint8_t *)&txTemp, txTemp.len + G2_PAYLOAD_OFFSET);
-    memcpy(txTemp.data + payloadSize, txTemp.crc.f8, sizeof(uint16_t));
-
-    txMutex.lock();
-    if (Ring_Fifo_in_cell(&txQueue, &txTemp))
-    {
-        ret = txTemp.len + G2_PAYLOAD_OFFSET + sizeof(uint16_t);
-    }
-    txMutex.unlock();
-
-    return ret;
-}
-
-/**
- * > This function is used to get a packet from the receive queue
- *
- * @param void This is the type of data that will be stored in the queue.
- *
- * @return A boolean value.
- */
-bool g2GimbalDriver::getRxPack(OUT void *pack)
-{
-    bool state = false;
-    rxMutex.lock();
-    state = Ring_Fifo_out_cell(&rxQueue, pack);
-    rxMutex.unlock();
-    return state;
-}
-
-/**
- * The function takes a pointer to a buffer, casts it to a pointer to a G2::GIMBAL_FRAME_T, and then
- * checks the command field of the frame. If the command is G2::IAP_COMMAND_BLOCK_END, it locks the
- * mutex, and then unlocks it. Otherwise, it prints out the contents of the buffer
- *
- * @param buf pointer to the data received from the gimbal
- */
-void g2GimbalDriver::convert(void *buf)
-{
-    G2::GIMBAL_FRAME_T *temp;
-    temp = reinterpret_cast<G2::GIMBAL_FRAME_T *>(buf);
-    switch (temp->command)
-    {
-    case G2::IAP_COMMAND_BLOCK_END:
-        mState.lock();
-        updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
-                                  state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
-        mState.unlock();
-        break;
-
-    default:
-        std::cout << "Undefined frame from G2 : ";
-        for (uint16_t i = 0; i < temp->len + G2_PAYLOAD_OFFSET + sizeof(uint32_t); i++)
-        {
-            printf("%02X ", ((uint8_t *)buf)[i]);
-        }
-        std::cout << std::endl;
-        break;
-    }
-}
-
-/**
- * If the serial port is not busy and is open, then lock the txMutex, get the next byte from the
- * txQueue, unlock the txMutex, and send the byte
- */
-void g2GimbalDriver::send(void)
-{
-    if (!IO->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-        txMutex.lock();
-        state = Ring_Fifo_out_cell(&txQueue, &tx);
-        txMutex.unlock();
-        if (state)
-        {
-            IO->outPutBytes((uint8_t *)&tx, tx.len + G2_PAYLOAD_OFFSET + sizeof(uint16_t));
-        }
-    }
-}
-
-/**
- * The function is called every time a byte is received from the serial port. It parses the byte and
- * stores it in a buffer. When the buffer is full, it checks the CRC and if it's correct, it stores the
- * buffer in a queue
- *
- * @param uint8_t unsigned char
- *
- * @return The parser function is returning a boolean value.
- */
-bool g2GimbalDriver::parser(IN uint8_t byte)
-{
-    bool state = false;
-    static uint8_t payloadLenghte = 0;
-    static uint8_t *pRx = NULL;
-
-    switch (parserState)
-    {
-    case G2::GIMBAL_SERIAL_STATE_IDEL:
-        if (byte == G2_SERIAL_HEAD)
-        {
-            rx.head = byte;
-            parserState = G2::GIMBAL_SERIAL_STATE_HEAD_RCV;
-        }
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_HEAD_RCV:
-        if (byte == G2_SERIAL_VERSION)
-        {
-            rx.version = byte;
-            parserState = G2::GIMBAL_SERIAL_STATE_VERSION_RCV;
-        }
-        else
-        {
-            rx.head = 0;
-            parserState = G2::GIMBAL_SERIAL_STATE_IDEL;
-        }
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_VERSION_RCV:
-        rx.target = byte;
-        parserState = G2::GIMBAL_SERIAL_STATE_TARGET_RCV;
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_TARGET_RCV:
-        rx.source = byte;
-        parserState = G2::GIMBAL_SERIAL_STATE_SOURCE_RCV;
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_SOURCE_RCV:
-        rx.len = byte;
-        parserState = G2::GIMBAL_SERIAL_STATE_LENGHT_RCV;
-        pRx = rx.data;
-        payloadLenghte = byte;
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_LENGHT_RCV:
-        rx.command = byte;
-        parserState = G2::GIMBAL_SERIAL_STATE_DATA_RCV;
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_DATA_RCV:
-        *pRx = byte;
-        payloadLenghte--;
-        if (payloadLenghte == 0)
-        {
-            parserState = G2::GIMBAL_SERIAL_STATE_CRC_RCV1;
-        }
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_CRC_RCV1:
-        rx.crc.f8[1] = byte;
-        parserState = G2::GIMBAL_SERIAL_STATE_END;
-        break;
-
-    case G2::GIMBAL_SERIAL_STATE_END:
-        rx.crc.f8[0] = byte;
-
-        if (rx.crc.f16 == G2::checkCrc16((uint8_t *)&rx, G2_PAYLOAD_OFFSET + rx.len))
-        {
-            state = true;
-            rxMutex.lock();
-            Ring_Fifo_in_cell(&rxQueue, &rx);
-            rxMutex.unlock();
-        }
-        else
-        {
-            memset(&rx, 0, sizeof(G2::GIMBAL_FRAME_T));
-        }
-        parserState = G2::GIMBAL_SERIAL_STATE_IDEL;
-        break;
-
-    default:
-        parserState = G2::GIMBAL_SERIAL_STATE_IDEL;
-        break;
-    }
-    return state;
-}

gimbal_ctrl/driver/src/G2/g2_gimbal_driver.h

@@ -1,76 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2023-03-01 10:02:24
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-13 12:29:33
- * @FilePath: \gimbal-sdk-multi-platform\src\G2\g2_gimbal_driver.h
- */
-#include "../amov_gimbal.h"
-#include "g2_gimbal_struct.h"
-#include <mutex>
-#include <malloc.h>
-#include <iostream>
-
-#ifndef __G2_DRIVER_H
-#define __G2_DRIVER_H
-
-extern "C"
-{
-#include "Ring_Fifo.h"
-}
-
-class g2GimbalDriver : protected amovGimbal::IamovGimbalBase
-{
-private:
-    G2::GIMBAL_CMD_PARSER_STATE_T parserState;
-    G2::GIMBAL_FRAME_T rx;
-    G2::GIMBAL_FRAME_T tx;
-
-    std::mutex rxMutex;
-    uint8_t *rxBuffer;
-    RING_FIFO_CB_T rxQueue;
-    std::mutex txMutex;
-    uint8_t *txBuffer;
-    RING_FIFO_CB_T txQueue;
-
-    uint8_t self;
-    uint8_t remote;
-
-    bool parser(IN uint8_t byte);
-    void send(void);
-
-    void convert(void *buf);
-    uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
-    bool getRxPack(OUT void *pack);
-
-public:
-    void nodeSet(SET uint32_t _self, SET uint32_t _remote)
-    {
-        self = _self;
-        remote = _remote;
-    }
-
-    // funtion
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
-    uint32_t setGimabalHome(void);
-
-    uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
-
-    static amovGimbal::IamovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
-    {
-        return new g2GimbalDriver(_IO);
-    }
-
-    g2GimbalDriver(amovGimbal::IOStreamBase *_IO);
-    ~g2GimbalDriver()
-    {
-        free(rxBuffer);
-        free(txBuffer);
-    }
-};
-
-#endif

gimbal_ctrl/driver/src/G2/g2_gimbal_funtion.cpp

@@ -1,81 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2023-03-13 11:58:54
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-13 12:31:58
- * @FilePath: \gimbal-sdk-multi-platform\src\G2\g2_gimbal_funtion.cpp
- */
-#include "g2_gimbal_driver.h"
-#include "g2_gimbal_crc.h"
-#include "string.h"
-
-/**
- * It sets the gimbal position.
- *
- * @param pos the position of the gimbal
- *
- * @return The return value is the number of bytes written to the buffer.
- */
-uint32_t g2GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
-{
-    return 0;
-}
-
-/**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
- * G1::GIMBAL_SET_POS_MSG_T
- *
- * @param speed the speed of the gimbal
- *
- * @return The return value is the number of bytes written to the buffer.
- */
-uint32_t g2GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
-{
-    return 0;
-}
-
-/**
- * This function sets the gimbal's follow speed
- *
- * @param followSpeed the speed of the gimbal
- *
- * @return The return value is the number of bytes written to the buffer.
- */
-uint32_t g2GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
-{
-    return 0;
-}
-
-/**
- * This function sets the gimbal to its home position
- *
- * @return The return value is the number of bytes written to the buffer.
- */
-uint32_t g2GimbalDriver::setGimabalHome(void)
-{
-    return 0;
-}
-
-/**
- * It takes a picture.
- *
- * @return The return value is the number of bytes written to the serial port.
- */
-uint32_t g2GimbalDriver::takePic(void)
-{
-    return 0;
-}
-
-/**
- * The function sets the video state of the gimbal
- *
- * @param newState The new state of the video.
- *
- * @return The return value is the number of bytes written to the serial port.
- */
-uint32_t g2GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
-{
-
-    return 0;
-}

gimbal_ctrl/driver/src/G2/g2_gimbal_struct.h

@@ -1,81 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2023-03-01 09:21:57
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 10:13:23
- * @FilePath: /gimbal-sdk-multi-platform/src/G2/g2_gimbal_struct.h
- */
-
-#ifndef G2_GIMBAL_STRUCT_H
-#define G2_GIMBAL_STRUCT_H
-
-#include <stdint.h>
-
-namespace G2
-{
-
-#define G2_MAX_GIMBAL_PAYLOAD 64
-#define G2_PAYLOAD_OFFSET 6
-#define G2_SCALE_FACTOR 0.01f
-#define G2_SERIAL_HEAD 0XAF
-#define G2_SERIAL_VERSION 0X02
-
-    typedef enum
-    {
-        IAP_COMMAND_JUMP = 80,
-        IAP_COMMAND_FLASH_ERASE,
-        IAP_COMMAND_BOLCK_INFO,
-        IAP_COMMAND_BLOCK_WRITE,
-        IAP_COMMAND_SOFT_INFO,
-        IAP_COMMAND_HARDWARE_INFO,
-        IAP_COMMAND_BLOCK_START,
-        IAP_COMMAND_BLOCK_END = 117,
-    } GIMBAL_CMD_T;
-
-    typedef enum
-    {
-        IAP_STATE_FAILD = 0,
-        IAP_STATE_SUCCEED,
-        IAP_STATE_READY,
-        IAP_STATE_FIRMWARE_BROKE,
-        IAP_STATE_JUMP_FAILD,
-        IAP_STATE_ADDR_ERR,
-        IAP_STATE_CRC_ERR,
-        IAP_STATE_WRITE_ERR,
-        IAP_STATE_WRITE_TIMEOUT,
-    } GIMBAL_IAP_STATE_T;
-
-    typedef enum
-    {
-        GIMBAL_SERIAL_STATE_IDEL = 0,
-        GIMBAL_SERIAL_STATE_HEAD_RCV,
-        GIMBAL_SERIAL_STATE_VERSION_RCV,
-        GIMBAL_SERIAL_STATE_TARGET_RCV,
-        GIMBAL_SERIAL_STATE_SOURCE_RCV,
-        GIMBAL_SERIAL_STATE_LENGHT_RCV,
-        GIMBAL_SERIAL_STATE_DATA_RCV,
-        GIMBAL_SERIAL_STATE_CRC_RCV1,
-        GIMBAL_SERIAL_STATE_END,
-    } GIMBAL_CMD_PARSER_STATE_T;
-
-#pragma pack(1)
-    typedef struct
-    {
-        uint8_t head;
-        uint8_t version;
-        uint8_t target;
-        uint8_t source;
-        uint8_t len;
-        uint8_t command;
-        uint8_t data[G2_MAX_GIMBAL_PAYLOAD];
-        union
-        {
-            uint8_t f8[2];
-            uint16_t f16;
-        } crc;
-    } GIMBAL_FRAME_T;
-#pragma pack(0)
-
-}
-#endif

gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h

@@ -0,0 +1,41 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:33:07
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:29:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h
+ */
+#ifndef GX40_GIMBAL_CRC16_H
+#define GX40_GIMBAL_CRC16_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+    const static uint16_t crc16Tab[16] = {
+        0x0000, 0x1021, 0x2042, 0x3063,
+        0x4084, 0x50a5, 0x60c6, 0x70e7,
+        0x8108, 0x9129, 0xa14a, 0xb16b,
+        0xc18c, 0xd1ad, 0xe1ce, 0xf1ef};
+
+    static inline uint16_t CalculateCrc16(const uint8_t *ptr, uint8_t len)
+    {
+        uint16_t crc = 0;
+        uint8_t temp;
+
+        while (len-- != 0)
+        {
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr >> 4)];
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr & 0x0F)];
+            ptr++;
+        }
+        crc = (crc >> 8) | (crc << 8);
+        return (crc);
+    }
+}
+#endif

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp

@@ -0,0 +1,302 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:28
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+#include "GX40_gimbal_crc16.h"
+#include <math.h>
+
+/**
+ * The above function is a constructor for the GX40GimbalDriver class in C++, which initializes member
+ * variables and sets the parser state to idle.
+ *
+ * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase. It is used to communicate
+ * with the gimbal device.
+ */
+GX40GimbalDriver::GX40GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
+{
+    rxQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+
+    parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+}
+
+/**
+ * The function `nopSend` continuously sends a "no operation" command to a GX40 gimbal driver.
+ */
+void GX40GimbalDriver::nopSend(void)
+{
+    while (1)
+    {
+        // 50Hz
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        pack(GX40::GIMBAL_CMD_NOP, nullptr, 0);
+    }
+}
+
+/**
+ * The function `parserStart` initializes the gimbal driver by setting the callback function, creating
+ * two threads for the main loop and sending NOP commands, and detaching the threads.
+ *
+ * @param callback The parameter "callback" is of type "amovGimbal::pStateInvoke", which is a function
+ * pointer type. It is used to specify a callback function that will be invoked when the gimbal state
+ * is updated.
+ */
+void GX40GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+{
+    this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
+
+    std::thread mainLoop(&GX40GimbalDriver::mainLoop, this);
+    std::thread sendNop(&GX40GimbalDriver::nopSend, this);
+
+    this->stackThreadHanle = mainLoop.native_handle();
+    this->nopSendThreadHandle = sendNop.native_handle();
+
+    mainLoop.detach();
+    sendNop.detach();
+}
+
+/**
+ * The function `pack` in the `GX40GimbalDriver` class is responsible for packing data into a frame for
+ * transmission.
+ *
+ * @param uint32_t The parameter `cmd` is an unsigned 32-bit integer representing the command.
+ * @param pPayload The `pPayload` parameter is a pointer to the payload data that needs to be packed.
+ * It is of type `uint8_t*`, which means it is a pointer to an array of unsigned 8-bit integers. The
+ * payload data is stored in this array.
+ * @param payloadSize The parameter `payloadSize` represents the size of the payload data in bytes. It
+ * is used to determine the size of the payload data that needs to be packed into the `temp` structure.
+ *
+ * @return a uint32_t value, which is stored in the variable "ret".
+ */
+uint32_t GX40GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize)
+{
+    uint32_t ret = 0;
+    GX40::GIMBAL_FRAME_T temp;
+    memset(&temp, 0, sizeof(GX40::GIMBAL_FRAME_T));
+    GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *primary = (GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *)temp.primaryData;
+    carrierStateMutex.lock();
+
+    primary->state = 0X00;
+    // 姿态数据&指令数据填充
+    primary->roll = targetPos[0];
+    primary->pitch = targetPos[1];
+    primary->yaw = targetPos[2];
+
+    primary->state |= (0X01 << 2);
+
+    temp.otherData[0] = cmd;
+    memcpy(temp.otherData + 1, pPayload, payloadSize);
+
+    // 固定字节填充
+    temp.head.u16 = XF_SEND_HEAD;
+    temp.version = 0X01;
+    primary->secondaryFlag = 0X01;
+    temp.lenght.u16 = 69 + payloadSize + 1 + 2;
+
+    // 惯导数据填充
+    std::chrono::milliseconds nowTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    // over 1s GNSS has losed
+    if ((nowTs.count() - upDataTs.count()) < std::chrono::milliseconds(1500).count())
+    {
+        primary->selfRoll = (int16_t)(-(carrierPos.roll / 0.01f));
+        primary->selfPitch = (int16_t)(-(carrierPos.pitch / 0.01f));
+        primary->selfYaw = (int16_t)(carrierPos.yaw / 0.01f);
+        primary->accE = (int16_t)(carrierAcc.y / 0.01f);
+        primary->accN = (int16_t)(carrierAcc.x / 0.01f);
+        primary->accUp = (int16_t)(carrierAcc.z / 0.01f);
+        primary->speedE = (int16_t)(carrierSpeed.y / 0.01f);
+        primary->speedN = (int16_t)(carrierSpeed.x / 0.01f);
+        primary->speedUp = (int16_t)(carrierSpeed.z / 0.01f);
+
+        carrierGNSS.GPSweeks = ((nowTs.count() / 1000) - 315964800) / 604800;
+        carrierGNSS.GPSms = nowTs.count() - (carrierGNSS.GPSweeks * 604800000);
+
+        memcpy(temp.secondaryData, &carrierGNSS, sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T));
+
+        primary->state |= (0X01 << 0);
+    }
+    else
+    {
+        primary->state &= (~(0X01 << 0));
+    }
+
+    carrierStateMutex.unlock();
+
+    // 校验
+    *(uint16_t *)(&temp.otherData[payloadSize + 1]) = GX40::CalculateCrc16((uint8_t *)&temp, 69 + 1 + payloadSize);
+
+    // 添加至发送队列
+    if (txQueue->inCell(&temp))
+    {
+        ret = temp.lenght.u16;
+    }
+    return ret;
+}
+
+/**
+ * The function `convert` takes a buffer and extracts data from it to update the state of a gimbal
+ * driver.
+ *
+ * @param buf The `buf` parameter is a void pointer that points to a buffer containing data that needs
+ * to be converted.
+ */
+void GX40GimbalDriver::convert(void *buf)
+{
+    GX40::GIMBAL_FRAME_T *temp;
+    GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *primary;
+    GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *secondary;
+    temp = reinterpret_cast<GX40::GIMBAL_FRAME_T *>(buf);
+    primary = (GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *)temp->primaryData;
+    secondary = (GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *)temp->secondaryData;
+
+    mState.lock();
+    this->state.workMode = (AMOV_GIMBAL_SERVO_MODE_T)primary->workMode;
+    this->state.cameraFlag = (AMOV_GIMBAL_CAMERA_FLAG_T)primary->state;
+    // 应该需要再解算一下，才能出具体的框架角度
+    this->state.rel.yaw = -(primary->motorYaw * XF_ANGLE_DPI);
+    this->state.rel.yaw = this->state.rel.yaw < -180.0f ? this->state.rel.yaw + 360.0f : this->state.rel.yaw;
+    this->state.rel.pitch = -(primary->motorPitch * XF_ANGLE_DPI);
+    this->state.rel.roll = -(primary->motorRoll * XF_ANGLE_DPI);
+
+    this->state.abs.yaw = -(primary->yaw * XF_ANGLE_DPI);
+    this->state.abs.yaw = this->state.abs.yaw < -180.0f ? this->state.abs.yaw + 360.0f : this->state.abs.yaw;
+
+    this->state.abs.pitch = -(primary->pitch * XF_ANGLE_DPI);
+    this->state.abs.roll = -(primary->roll * XF_ANGLE_DPI);
+
+    this->state.relSpeed.yaw = -(primary->speedYaw * XF_ANGLE_DPI);
+    this->state.relSpeed.pitch = -(primary->speedPitch * XF_ANGLE_DPI);
+    this->state.relSpeed.roll = -(primary->speedRoll * XF_ANGLE_DPI);
+
+    // 近似值 不准
+    this->state.fov.x = secondary->camera1Zoom * 0.1f;
+    this->state.fov.x = 60.2f / this->state.fov.x;
+    this->state.fov.y = secondary->camera1Zoom * 0.1f;
+    this->state.fov.y = 36.1f / this->state.fov.y;
+
+    updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
+                              state.abs.roll, state.abs.pitch, state.abs.yaw,
+                              state.fov.x, state.fov.y, updataCaller);
+
+    mState.unlock();
+}
+
+/**
+ * The function calculates the total length of a data packet by adding the length of the payload to the
+ * size of a uint16_t.
+ *
+ * @param pack The parameter "pack" is a void pointer, which means it can point to any type of data. In
+ * this case, it is expected to point to a structure of type "GX40::GIMBAL_FRAME_T".
+ *
+ * @return the sum of the length of the gimbal frame and the size of a uint16_t.
+ */
+uint32_t GX40GimbalDriver::calPackLen(void *pack)
+{
+    return ((GX40::GIMBAL_FRAME_T *)pack)->lenght.u16;
+}
+/**
+ * The function `parser` is used to parse incoming data frames in a specific format and returns a
+ * boolean value indicating whether the parsing was successful or not.
+ *
+ * @param uint8_t The parameter `byte` is of type `uint8_t`, which is an unsigned 8-bit integer. It is
+ * used to store a single byte of data that is being parsed by the `GX40GimbalDriver::parser` function.
+ *
+ * @return a boolean value, either true or false.
+ */
+bool GX40GimbalDriver::parser(IN uint8_t byte)
+{
+    bool state = false;
+    static uint8_t payloadLenght = 0;
+    static uint8_t *pRx = nullptr;
+
+    switch (parserState)
+    {
+    case GX40::GIMBAL_FRAME_PARSER_STATE_IDLE:
+        if (byte == ((XF_RCV_HEAD >> 8) & 0XFF))
+        {
+            rx.head.u8[0] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_HEAD;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_HEAD:
+        if (byte == ((XF_RCV_HEAD >> 0) & 0XFF))
+        {
+            rx.head.u8[1] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN1;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN1:
+        rx.lenght.u8[0] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN2;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN2:
+        rx.lenght.u8[1] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_VERSION;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_VERSION:
+        if (byte == XF_VERSION)
+        {
+            rx.version = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD;
+            pRx = rx.primaryData;
+            payloadLenght = rx.lenght.u16 - 5;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+            rx.lenght.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD:
+        *pRx = byte;
+        payloadLenght--;
+        pRx++;
+        if (payloadLenght <= 0)
+        {
+            if (*(uint16_t *)(pRx - sizeof(uint16_t)) == GX40::CalculateCrc16((uint8_t *)&rx, rx.lenght.u16 - 2))
+            {
+                state = true;
+                rxQueue->inCell(&rx);
+            }
+            else
+            {
+                memset(&rx, 0, sizeof(GX40::GIMBAL_FRAME_T));
+            }
+
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            pRx = nullptr;
+            payloadLenght = 0;
+        }
+        break;
+
+    default:
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+        pRx = nullptr;
+        payloadLenght = 0;
+        break;
+    }
+
+    return state;
+}

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -0,0 +1,86 @@
+
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:05
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
+ */
+#ifndef __GX40_DRIVER_H
+#define __GX40_DRIVER_H
+#include "../amov_gimbal_private.h"
+#include "GX40_gimbal_struct.h"
+#include <mutex>
+#include <malloc.h>
+#include <iostream>
+#include <chrono>
+#include <time.h>
+
+class GX40GimbalDriver : public amovGimbal::amovGimbalBase
+{
+    GX40::GIMBAL_FRAME_PARSER_STATE_T parserState;
+    GX40::GIMBAL_FRAME_T rx;
+
+    std::chrono::milliseconds upDataTs;
+    std::mutex carrierStateMutex;
+
+    int16_t targetPos[3];
+
+    AMOV_GIMBAL_POS_T carrierPos;
+    AMOV_GIMBAL_VELOCITY_T carrierSpeed;
+    AMOV_GIMBAL_VELOCITY_T carrierAcc;
+    GX40::GIMBAL_SECONDARY_MASTER_FRAME_T carrierGNSS;
+
+    std::thread::native_handle_type nopSendThreadHandle;
+    void nopSend(void);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+public:
+    uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
+    bool parser(IN uint8_t byte);
+    void convert(void *buf);
+    uint32_t calPackLen(void *pack);
+
+    // funtions
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalHome(void);
+
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+
+    uint32_t takePic(void);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
+                                void *extenData);
+
+    uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+    uint32_t extensionFuntions(void *cmd);
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    {
+        return new GX40GimbalDriver(_IO);
+    }
+    GX40GimbalDriver(amovGimbal::IOStreamBase *_IO);
+    ~GX40GimbalDriver()
+    {
+        if (txQueue != nullptr)
+        {
+            delete txQueue;
+        }
+        if (rxQueue != nullptr)
+        {
+            delete rxQueue;
+        }
+
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        nopSendThreadHandle = nopSendThreadHandle == 0 ? 0 : pthread_cancel(nopSendThreadHandle);
+    }
+};
+
+#endif

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

@@ -0,0 +1,251 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-02 17:50:26
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:29:13
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+
+/**
+ * The function sets the target position of a gimbal based on the input roll, pitch, and yaw values.
+ *
+ * @param pos The parameter "pos" is of type "AMOV_GIMBAL_POS_T". It is a structure that
+ * contains the roll, pitch, and yaw values of the gimbal position.
+ *
+ * @return a packed value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-pos.roll / 0.01f);
+    targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
+    targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
+    carrierStateMutex.unlock();
+    return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal speed based on the provided roll, pitch, and yaw values.
+ *
+ * @param speed The parameter "speed" is of type "AMOV_GIMBAL_POS_T". It is a structure
+ * that contains the roll, pitch, and yaw values of the gimbal speed.
+ *
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-speed.roll / 0.1f);
+    targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
+    targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
+    carrierStateMutex.unlock();
+
+    return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal's home position to (0, 0, 0) and sends a command to the gimbal to go to
+ * the home position.
+ *
+ * @return the result of the pack() function call with the arguments GX40::GIMBAL_CMD_HOME, nullptr, and
+ * 0.
+ */
+uint32_t GX40GimbalDriver::setGimabalHome(void)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+    carrierStateMutex.unlock();
+
+    pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
+    return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
+}
+
+/**
+ * The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
+ * returns the packed command.
+ *
+ * @return a uint32_t value.
+ */
+uint32_t GX40GimbalDriver::takePic(void)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `setVideo` toggles the video state of a gimbal driver and returns a packed command.
+ *
+ * @param newState The parameter `newState` is of type `AMOV_GIMBAL_VIDEO_T`, which is an
+ * enumeration representing the state of the video in the gimbal. It can have two possible values:
+ *
+ * @return the result of the `pack` function, which is a `uint32_t` value.
+ */
+uint32_t GX40GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    uint8_t temp = 0X01;
+
+    mState.lock();
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
+    {
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
+    }
+    else
+    {
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
+    }
+    mState.unlock();
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `attitudeCorrection` updates the state of a gimbal driver with position, velocity, and
+ * acceleration data.
+ *
+ * @param pos The "pos" parameter is of type "AMOV_GIMBAL_POS_T" and represents the current
+ * position of the gimbal. It likely contains information such as the pitch, yaw, and roll angles of
+ * the gimbal.
+ * @param seppd The parameter `seppd` stands for "Separate Pointing Device" and represents the velocity
+ * of the gimbal in separate axes (e.g., pitch, yaw, roll). It is of type
+ * `AMOV_GIMBAL_VELOCITY_T`.
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * acceleration of the gimbal.
+ * @param extenData The extenData parameter is a pointer to additional data that can be passed to the
+ * attitudeCorrection function. It can be used to provide any extra information or context that may be
+ * needed for the attitude correction calculation. The specific type and structure of the extenData is
+ * not provided in the code snippet,
+ *
+ * @return the size of the data being passed as arguments. The size is calculated by adding the sizes
+ * of the three types: sizeof(AMOV_GIMBAL_POS_T),
+ * sizeof(AMOV_GIMBAL_VELOCITY_T), and sizeof(AMOV_GIMBAL_VELOCITY_T).
+ */
+uint32_t GX40GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                              const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                              const AMOV_GIMBAL_VELOCITY_T &acc,
+                                              void *extenData)
+{
+    carrierStateMutex.lock();
+    carrierPos = pos;
+    carrierSpeed = seppd;
+    carrierAcc = acc;
+    upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    carrierStateMutex.unlock();
+    return sizeof(AMOV_GIMBAL_POS_T) + sizeof(AMOV_GIMBAL_VELOCITY_T) + sizeof(AMOV_GIMBAL_VELOCITY_T);
+}
+
+/**
+ * The function `extensionFuntions` takes a command as input, converts it to a specific format, and
+ * returns a 32-bit unsigned integer.
+ *
+ * @param cmd The parameter "cmd" is a void pointer, which means it can point to any type of data. In
+ * this case, it is being cast to a uint8_t pointer, which means it is expected to point to an array of
+ * uint8_t (8-bit unsigned integers).
+ *
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::extensionFuntions(void *cmd)
+{
+    uint8_t *temp = (uint8_t *)cmd;
+    return pack(temp[0], &temp[2], temp[1]);
+}
+
+/**
+ * The function `setGimbalZoom` in the `GX40GimbalDriver` class sets the zoom level of a gimbal based on
+ * the specified zoom type and target rate.
+ *
+ * @param zoom The "zoom" parameter is of type AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type. It represents the zoom action to be performed on the gimbal. The possible values for this
+ * parameter are:
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal. It is used to control the zoom functionality of the gimbal.
+ *
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp[4];
+    uint8_t len = 0;
+    temp[1] = 0X01;
+    if (targetRate == 0.0f)
+    {
+        len = 1;
+        switch (zoom)
+        {
+        case AMOV_GIMBAL_ZOOM_IN:
+            temp[0] = GX40::GIMBAL_CMD_ZOMM_IN;
+            break;
+        case AMOV_GIMBAL_ZOOM_OUT:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_OUT;
+            break;
+        case AMOV_GIMBAL_ZOOM_STOP:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_STOP;
+            break;
+        }
+    }
+    else
+    {
+        len = 3;
+        temp[0] = GX40::GIMBAL_CMD_ZOOM;
+        int16_t targetTemp = (int16_t)(-targetRate / 0.1f);
+        temp[2] = (targetTemp >> 0) & 0XFF;
+        temp[3] = (targetTemp >> 8) & 0XFF;
+    }
+
+    return pack(temp[0], &temp[1], len);
+}
+
+/**
+ * The function "setGimbalFocus" sets the focus of a gimbal by specifying the zoom level and target
+ * rate.
+ *
+ * @param zoom The zoom parameter is of type AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type representing different zoom levels for the gimbal. It is used to specify the desired zoom level
+ * for the gimbal focus.
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal.
+ *
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_FOCUE, &temp, 1);
+}
+
+/**
+ * The function sets the GNSS information in the carrierGNSS struct and returns the size of the struct.
+ *
+ * @param lng The "lng" parameter represents the longitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param lat The "lat" parameter represents the latitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param alt The "alt" parameter represents the altitude value in meters.
+ * @param nState The parameter "nState" represents the state of the GNSS (Global Navigation Satellite
+ * System) information. It is of type uint32_t, which means it is an unsigned 32-bit integer. The
+ * specific values and their meanings for the "nState" parameter are not provided in the code snippet
+ * @param relAlt Relative altitude of the carrier (in meters)
+ *
+ * @return the size of the structure GX40::GIMBAL_SECONDARY_MASTER_FRAME_T.
+ */
+uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    carrierStateMutex.lock();
+    carrierGNSS.head = 0X01;
+
+    carrierGNSS.lng = lng / 1E-7;
+    carrierGNSS.lat = lat / 1E-7;
+    carrierGNSS.alt = alt / 1E-3;
+
+    carrierGNSS.relAlt = relAlt / 1E-3;
+    carrierGNSS.nState = nState;
+
+    carrierStateMutex.unlock();
+    return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
+}

gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h

@@ -0,0 +1,154 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:28:54
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h
+ */
+#ifndef GX40_GIMBAL_STRUCT_H
+#define GX40_GIMBAL_STRUCT_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+#define XF_SEND_HEAD 0XE5A8
+#define XF_RCV_HEAD 0X8A5E
+#define XF_VERSION 0X00
+#define XF_ANGLE_DPI 0.01f
+
+    typedef enum
+    {
+        GIMBAL_FRAME_PARSER_STATE_IDLE,
+        GIMBAL_FRAME_PARSER_STATE_HEAD,
+        GIMBAL_FRAME_PARSER_STATE_LEN1,
+        GIMBAL_FRAME_PARSER_STATE_LEN2,
+        GIMBAL_FRAME_PARSER_STATE_VERSION,
+        GIMBAL_FRAME_PARSER_STATE_PAYLOAD,
+    } GIMBAL_FRAME_PARSER_STATE_T;
+
+    typedef enum
+    {
+        GIMBAL_CMD_NOP = 0X00,
+        GIMBAL_CMD_CAL = 0X01,
+        GIMBAL_CMD_HOME = 0X03,
+        GIMBAL_CMD_MODE_FPV = 0X10,
+        GIMBAL_CMD_MODE_LOCK = 0X11,
+        GIMBAL_CMD_MODE_FOLLOW = 0X12,
+        GIMBAL_CMD_MODE_OVERLOCK = 0X13,
+        GIMBAL_CMD_MODE_EULER = 0X14,
+        GIMBAL_CMD_MODE_WATCH_POS = 0X15,
+        GIMBAL_CMD_MODE_WATCH = 0X16,
+        GIMBAL_CMD_MODE_TRACK = 0X17,
+        GIMBAL_CMD_MODE_MOVE = 0X1A,
+        GIMBAL_CMD_MODE_MOVE_TRACK = 0X1B,
+        GIMBAL_CMD_TAKEPIC = 0X20,
+        GIMBAL_CMD_TAKEVIDEO = 0X21,
+        GIMBAL_CMD_ZOOM_OUT = 0X22,
+        GIMBAL_CMD_ZOMM_IN = 0X23,
+        GIMBAL_CMD_ZOOM_STOP = 0X24,
+        GIMBAL_CMD_ZOOM = 0X25,
+        GIMBAL_CMD_FOCUE = 0X26,
+        GIMBAL_CMD_VIDEO_MODE = 0X2A,
+        GIMBAL_CMD_NIGHT = 0X2B,
+        GIMBAL_CMD_OSD = 0X73,
+        GIMBAL_CMD_FIX_MODE = 0X74,
+        GIMBAL_CMD_LIGHT = 0X80,
+        GIMBAL_CMD_TAKE_DISTANCE = 0X81,
+    } GIMBAL_CMD_T;
+
+#pragma pack(1)
+
+    typedef struct
+    {
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } head;
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } lenght;
+        uint8_t version;
+        uint8_t primaryData[32];
+        uint8_t secondaryData[32];
+        uint8_t otherData[32];
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } crc16;
+    } GIMBAL_FRAME_T;
+
+    typedef struct
+    {
+        int16_t roll;
+        int16_t pitch;
+        int16_t yaw;
+        uint8_t state;
+        int16_t selfRoll;
+        int16_t selfPitch;
+        uint16_t selfYaw;
+        int16_t accN;
+        int16_t accE;
+        int16_t accUp;
+        int16_t speedN;
+        int16_t speedE;
+        int16_t speedUp;
+        uint8_t secondaryFlag;
+        uint8_t reserve[6];
+    } GIMBAL_PRIMARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t workMode;
+        uint16_t state;
+        int16_t offsetX;
+        int16_t offsetY;
+        uint16_t motorRoll;
+        uint16_t motorPitch;
+        uint16_t motorYaw;
+        int16_t roll;
+        int16_t pitch;
+        uint16_t yaw;
+        int16_t speedRoll;
+        int16_t speedPitch;
+        int16_t speedYaw;
+        uint8_t reserve[7];
+    } GIMBAL_PRIMARY_SLAVE_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        int32_t lng;
+        int32_t lat;
+        int32_t alt;
+        uint8_t nState;
+        uint32_t GPSms;
+        int32_t GPSweeks;
+        int32_t relAlt;
+        uint8_t reserve[8];
+    } GIMBAL_SECONDARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        uint8_t versionHW;
+        uint8_t versionSoft;
+        uint8_t type;
+        uint16_t error;
+        int32_t targetDistance;
+        int32_t targetLng;
+        int32_t targetLat;
+        int32_t targetAlt;
+        uint16_t camera1Zoom;
+        uint16_t camera2Zoom;
+        uint8_t reserve[6];
+    } GIMBAL_SECONDARY_SLAVE_FRAME_T;
+#pragma pack()
+}
+
+#endif

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h

@@ -3,12 +3,11 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-23 17:24:23
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_crc32.h
+ * @LastEditTime: 2023-12-05 16:28:29
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
  */
 #ifndef Q10F_GIMBAL_CRC32_H
 #define Q10F_GIMBAL_CRC32_H
-
 namespace Q10f
 {
     static inline unsigned char CheckSum(unsigned char *pData, unsigned short Lenght)

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-11 17:29:58
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.cpp
+ * @LastEditTime: 2023-12-05 17:23:15
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -16,27 +16,10 @@
  *
  * @param _IO The IOStreamBase object that will be used to communicate with the gimbal.
  */
-Q10fGimbalDriver::Q10fGimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(_IO)
+Q10fGimbalDriver::Q10fGimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
 {
-    memset(&rxQueue, 0, sizeof(RING_FIFO_CB_T));
-    memset(&txQueue, 0, sizeof(RING_FIFO_CB_T));
-
-    rxBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(Q10f::GIMBAL_FRAME_T));
-    if (rxBuffer == NULL)
-    {
-        std::cout << "Receive buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-    txBuffer = (uint8_t *)malloc(MAX_QUEUE_SIZE * sizeof(Q10f::GIMBAL_FRAME_T));
-    if (txBuffer == NULL)
-    {
-        free(rxBuffer);
-        std::cout << "Send buffer creation failed! Size : " << MAX_QUEUE_SIZE << std::endl;
-        exit(1);
-    }
-
-    Ring_Fifo_init(&rxQueue, sizeof(Q10f::GIMBAL_FRAME_T), rxBuffer, MAX_QUEUE_SIZE * sizeof(Q10f::GIMBAL_FRAME_T));
-    Ring_Fifo_init(&txQueue, sizeof(Q10f::GIMBAL_FRAME_T), txBuffer, MAX_QUEUE_SIZE * sizeof(Q10f::GIMBAL_FRAME_T));
+    rxQueue = new fifoRing(sizeof(Q10f::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(Q10f::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
 
     parserState = Q10f::GIMBAL_SERIAL_STATE_IDLE;
 
@@ -77,32 +60,14 @@ uint32_t Q10fGimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payl
     }
     txTemp.len = payloadSize;
 
-    txMutex.lock();
-    if (Ring_Fifo_in_cell(&txQueue, &txTemp))
+    if (txQueue->inCell(&txTemp))
     {
         ret = payloadSize + sizeof(uint32_t) + sizeof(uint8_t);
     }
-    txMutex.unlock();
 
     return ret;
 }
 
-/**
- * > This function is used to get a packet from the receive queue
- *
- * @param void This is the type of data that will be stored in the queue.
- *
- * @return A boolean value.
- */
-bool Q10fGimbalDriver::getRxPack(OUT void *pack)
-{
-    bool state = false;
-    rxMutex.lock();
-    state = Ring_Fifo_out_cell(&rxQueue, pack);
-    rxMutex.unlock();
-    return state;
-}
-
 void Q10fGimbalDriver::convert(void *buf)
 {
     Q10f::GIMBAL_FRAME_T *temp;
@@ -116,12 +81,12 @@ void Q10fGimbalDriver::convert(void *buf)
         state.abs.yaw = tempPos->yawIMUAngle * Q10F_SCALE_FACTOR_ANGLE;
         state.abs.roll = tempPos->rollIMUAngle * Q10F_SCALE_FACTOR_ANGLE;
         state.abs.pitch = tempPos->pitchIMUAngle * Q10F_SCALE_FACTOR_ANGLE;
-        state.rel.yaw = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
+        state.rel.yaw = tempPos->yawStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
         state.rel.roll = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
         state.rel.pitch = tempPos->pitchStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
 
         break;
@@ -136,32 +101,9 @@ void Q10fGimbalDriver::convert(void *buf)
     }
 }
 
-/**
- * The function is called by the main thread to send a command to the gimbal.
- *
- * The function first checks to see if the serial port is busy and if it is open. If it is not busy and
- * it is open, the function locks the txMutex and then checks to see if there is a command in the
- * txQueue. If there is a command in the txQueue, the function copies the command to the tx buffer and
- * then unlocks the txMutex. The function then sends the command to the gimbal.
- *
- * The txQueue is a ring buffer that holds commands that are waiting to be sent to the gimbal. The
- * txQueue is a ring buffer because the gimbal can only process one command at a time. If the gimbal is
- * busy processing a command, the command will be placed in the txQueue and sent to the gimbal when the
- * gimbal is ready to receive the command.
- */
-void Q10fGimbalDriver::send(void)
+uint32_t Q10fGimbalDriver::calPackLen(void *pack)
 {
-    if (!IO->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-        txMutex.lock();
-        state = Ring_Fifo_out_cell(&txQueue, &tx);
-        txMutex.unlock();
-        if (state)
-        {
-            IO->outPutBytes((uint8_t *)&tx, tx.len + Q10F_PAYLOAD_OFFSET + sizeof(uint8_t));
-        }
-    }
+    return ((Q10f::GIMBAL_FRAME_T *)pack)->len + Q10F_PAYLOAD_OFFSET + sizeof(uint8_t);
 }
 
 /**
@@ -238,9 +180,7 @@ bool Q10fGimbalDriver::parser(IN uint8_t byte)
         if (byte == suncheck)
         {
             state = true;
-            rxMutex.lock();
-            Ring_Fifo_in_cell(&rxQueue, &rx);
-            rxMutex.unlock();
+            rxQueue->inCell(&rx);
         }
         else
         {

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h

@@ -3,69 +3,49 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-28 17:01:00
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.h
+ * @LastEditTime: 2023-12-05 16:27:45
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __Q10F_DRIVER_H
+#define __Q10F_DRIVER_H
+
+#include "../amov_gimbal_private.h"
 #include "Q10f_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __Q10F_DRIVER_H
-#define __Q10F_DRIVER_H
-
-extern "C"
-{
-#include "Ring_Fifo.h"
-}
-
-class Q10fGimbalDriver : protected amovGimbal::IamovGimbalBase
+class Q10fGimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
     Q10f::GIMBAL_SERIAL_STATE_T parserState;
     Q10f::GIMBAL_FRAME_T rx;
-    Q10f::GIMBAL_FRAME_T tx;
-
-    std::mutex rxMutex;
-    uint8_t *rxBuffer;
-    RING_FIFO_CB_T rxQueue;
-    std::mutex txMutex;
-    uint8_t *txBuffer;
-    RING_FIFO_CB_T txQueue;
 
     bool parser(IN uint8_t byte);
-    void send(void);
-
     void convert(void *buf);
     uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
-    bool getRxPack(OUT void *pack);
+    uint32_t calPackLen(void *pack);
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
     // builds
-    static amovGimbal::IamovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
     {
         return new Q10fGimbalDriver(_IO);
     }
 
     Q10fGimbalDriver(amovGimbal::IOStreamBase *_IO);
-    ~Q10fGimbalDriver()
-    {
-        free(rxBuffer);
-        free(txBuffer);
-    }
 };
 
 #endif

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-29 11:47:18
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_funtion.cpp
+ * @LastEditTime: 2023-12-05 16:27:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t Q10fGimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_ANGLE_SPEED;
@@ -41,7 +41,7 @@ uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t Q10fGimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_SPEED;
@@ -64,7 +64,7 @@ uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / 0.1220740379f;
     state.maxFollow.roll = followSpeed.roll / 0.1220740379f;
@@ -108,25 +108,25 @@ uint32_t Q10fGimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t Q10fGimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t Q10fGimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t cmd[2] = {0X01, 0XFF};
 
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_TAKE)
     {
         cmd[0] = 0X02;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     else
     {
         cmd[0] = 0X03;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
 
     return pack(Q10f::GIMBAL_CMD_CAMERA, (uint8_t *)cmd, sizeof(cmd));
 }
 
-uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[5] = {0X00, 0X00, 0X00, 0X00, 0XFF};
     if (targetRate == 0.0f)
@@ -134,13 +134,13 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
         cmd[1] = 0XFF;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_IN:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_OUT:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_STOP:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
             break;
         default:
@@ -159,18 +159,18 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t Q10fGimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[2] = {0X00, 0XFF};
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_IN:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_OUT:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_STOP:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
         break;
     default:

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-28 18:15:47
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_struct.h
+ * @LastEditTime: 2023-12-05 16:27:27
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
  */
 #ifndef Q10F_GIMBAL_STRUCT_H
 #define Q10F_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -0,0 +1,111 @@
+/*
+ * @Description:    External interface of amov gimbals
+ * @Author: L LC @amov
+ * @Date: 2022-10-27 18:34:26
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:37:09
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h
+ */
+
+#ifndef AMOV_GIMBAL_H
+#define AMOV_GIMBAL_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <iostream>
+
+#include "amov_gimbal_struct.h"
+
+namespace amovGimbal
+{
+#define IN
+#define OUT
+#define SET
+
+#ifndef MAX_QUEUE_SIZE
+#define MAX_QUEUE_SIZE 100
+#endif
+
+    static inline void idleCallback(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                    double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                    double fovX, double fovY, void *caller)
+    {
+    }
+    static inline void idleMsgCallback(void *msg, void *caller)
+    {
+    }
+
+    // Control data input and output
+    class IOStreamBase
+    {
+    public:
+        IOStreamBase() {}
+        virtual ~IOStreamBase() {}
+
+        virtual bool open() = 0;
+        virtual bool close() = 0;
+        virtual bool isOpen() = 0;
+        virtual bool isBusy() = 0;
+        // These two functions need to be thread-safe
+        virtual uint32_t inPutBytes(IN uint8_t *byte) = 0;
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght) = 0;
+    };
+
+    class gimbal
+    {
+    private:
+        std::string typeName;
+        // Instantiated device handle
+        void *devHandle;
+
+    public:
+        static void inBytesCallback(uint8_t *pData, uint32_t len, gimbal *handle);
+        // Protocol stack function items
+        void startStack(void);
+        void parserAuto(pAmovGimbalStateInvoke callback = idleCallback, void *caller = nullptr);
+        void setParserCallback(pAmovGimbalStateInvoke callback, void *caller = nullptr);
+        void setMsgCallback(pAmovGimbalMsgInvoke callback, void *caller = nullptr);
+        void setRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *caller = nullptr);
+        void setSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *caller = nullptr);
+        AMOV_GIMBAL_STATE_T getGimabalState(void);
+
+        // non-block functions
+        uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+        uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+        uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
+        uint32_t setGimabalHome(void);
+        uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
+        uint32_t takePic(void);
+        uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+        uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                    const AMOV_GIMBAL_VELOCITY_T &speed,
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                    const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        uint32_t extensionFuntions(void *cmd);
+
+        // block functions
+        bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        bool setGimabalHomeBlock(void);
+        bool setGimbalZoomBlock(float targetRate);
+        bool takePicBlock(void);
+        bool calibrationBlock(void);
+
+        std::string name()
+        {
+            return typeName;
+        }
+
+        gimbal(const std::string &type, IOStreamBase *_IO,
+               uint32_t _self = 0x02, uint32_t _remote = 0X80);
+
+        ~gimbal();
+    };
+
+}
+#endif

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h

@@ -0,0 +1,55 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 16:01:22
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 11:35:58
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h
+ */
+#ifndef AMOV_GIMBAL_C_H
+#define AMOV_GIMBAL_C_H
+
+#include <stdint.h>
+#include "amov_gimbal_struct.h"
+
+extern "C"
+{
+    // initialization funtions
+    void amovGimbalCreat(char *type, uint32_t selfId, uint32_t gimbalId, void *handle);
+    void amovGimbalInBytesCallback(uint8_t *pData, uint32_t len, void *handle);
+    void amovGimbalSetRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *handle, void *caller);
+    void amovGimbalSetSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *handle, void *caller);
+    void amovGimbalChangeStateCallback(pAmovGimbalStateInvoke callback, void *handle, void *caller);
+    void amovGimbalSetMsgCallback(pAmovGimbalMsgInvoke callback, void *handle, void *caller);
+    void amovGimbalStart(pAmovGimbalStateInvoke callback, void *handle, void *caller);
+
+    // non-block functions
+    uint32_t amovGimbalSetGimabalPos(AMOV_GIMBAL_POS_T *pos, void *handle);
+    uint32_t amovGimbalSetGimabalSpeed(AMOV_GIMBAL_POS_T *speed, void *handle);
+    uint32_t amovGimbalSetGimabalFollowSpeed(AMOV_GIMBAL_POS_T *followSpeed, void *handle);
+    uint32_t amovGimbalSetGimabalHome(void *handle);
+    uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle);
+    uint32_t amovGimbalSetGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle);
+    uint32_t amovGimbalSetGimbalROI(AMOV_GIMBAL_ROI_T *area, void *handle);
+    uint32_t amovGimbalTakePic(void *handle);
+    uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle);
+    uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
+                                           AMOV_GIMBAL_VELOCITY_T *speed,
+                                           AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
+    uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
+                                           AMOV_GIMBAL_VELOCITY_T *speed,
+                                           AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
+    uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle);
+    uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle);
+    void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle);
+    void getGimbalType(char *type, void *handle);
+
+    // block functions
+    bool amovGimbalSetGimbalPosBlock(AMOV_GIMBAL_POS_T *pos, void *handle);
+    bool amovGimbalSetGimabalHomeBlock(void *handle);
+    bool amovGimbalSetGimbalZoomBlock(float targetRate, void *handle);
+    bool amovGimbalTakePicBlock(void *handle);
+    bool amovGimbalCalibrationBlock(void *handle);
+}
+
+#endif

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_struct.h

@@ -0,0 +1,102 @@
+/*
+ * @Description: Common Data Structures of gimbal
+ * @Author: L LC @amov
+ * @Date: 2022-10-31 11:56:43
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:03:02
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_struct.h
+ */
+
+#include <stdint.h>
+
+#ifndef __AMOV_GIMABL_STRUCT_H
+#define __AMOV_GIMABL_STRUCT_H
+
+typedef void (*pAmovGimbalStateInvoke)(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                       double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                       double fovX, double fovY, void *caller);
+typedef void (*pAmovGimbalMsgInvoke)(void *msg, void *caller);
+typedef uint32_t (*pAmovGimbalInputBytesInvoke)(uint8_t *pData, void *caller);
+typedef uint32_t (*pAmovGimbalOutputBytesInvoke)(uint8_t *pData, uint32_t len, void *caller);
+
+typedef enum
+{
+    AMOV_GIMBAL_SERVO_MODE_FPV = 0X10,
+    AMOV_GIMBAL_SERVO_MODE_LOCK = 0X11,
+    AMOV_GIMBAL_SERVO_MODE_FOLLOW = 0X12,
+    AMOV_GIMBAL_SERVO_MODE_OVERLOOK = 0X13,
+    AMOV_GIMBAL_SERVO_MODE_EULER = 0X14,
+    AMOV_GIMBAL_SERVO_MODE_WATCH = 0X16,
+    AMOV_GIMBAL_SERVO_MODE_TRACK = 0X17,
+} AMOV_GIMBAL_SERVO_MODE_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_CAMERA_FLAG_INVERSION = 0X1000,
+    AMOV_GIMBAL_CAMERA_FLAG_IR = 0X0200,
+    AMOV_GIMBAL_CAMERA_FLAG_RF = 0X0100,
+    AMOV_GIMBAL_CAMERA_FLAG_LOCK = 0X0001,
+} AMOV_GIMBAL_CAMERA_FLAG_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_VIDEO_TAKE,
+    AMOV_GIMBAL_VIDEO_OFF
+} AMOV_GIMBAL_VIDEO_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_ZOOM_IN,
+    AMOV_GIMBAL_ZOOM_OUT,
+    AMOV_GIMBAL_ZOOM_STOP
+} AMOV_GIMBAL_ZOOM_T;
+
+typedef struct
+{
+    double yaw;
+    double roll;
+    double pitch;
+} AMOV_GIMBAL_POS_T;
+
+typedef struct
+{
+    double x;
+    double y;
+} AMOV_GIMBAL_FOV_T;
+
+typedef struct
+{
+    AMOV_GIMBAL_SERVO_MODE_T workMode;
+    AMOV_GIMBAL_CAMERA_FLAG_T cameraFlag;
+    AMOV_GIMBAL_VIDEO_T video;
+    AMOV_GIMBAL_POS_T abs;
+    AMOV_GIMBAL_POS_T rel;
+    AMOV_GIMBAL_POS_T relSpeed;
+    AMOV_GIMBAL_POS_T maxFollow;
+    AMOV_GIMBAL_FOV_T fov;
+} AMOV_GIMBAL_STATE_T;
+
+typedef struct
+{
+    uint32_t centreX;
+    uint32_t centreY;
+    uint32_t hight;
+    uint32_t width;
+} AMOV_GIMBAL_ROI_T;
+
+typedef struct
+{
+    double q0;
+    double q1;
+    double q2;
+    double q3;
+} AMOV_GIMBAL_QUATERNION_T;
+
+typedef struct
+{
+    double x; // or N
+    double y; // or E
+    double z; // or UP
+} AMOV_GIMBAL_VELOCITY_T;
+
+#endif

gimbal_ctrl/driver/src/amov_gimabl.cpp

@@ -1,239 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2022-10-28 11:54:11
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-11 18:13:25
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimabl.cpp
- */
-
-#include "amov_gimbal.h"
-#include "g1_gimbal_driver.h"
-#include "g2_gimbal_driver.h"
-#include "Q10f_gimbal_driver.h"
-
-#include <iostream>
-#include <thread>
-#include <map>
-#include <iterator>
-
-#define MAX_PACK_SIZE 280
-typedef enum
-{
-    AMOV_GIMBAL_TYPE_NULL,
-    AMOV_GIMBAL_TYPE_G1 = 1,
-    AMOV_GIMBAL_TYPE_G2,
-    AMOV_GIMBAL_TYPE_Q10,
-} AMOV_GIMBAL_TYPE_T;
-
-namespace amovGimbal
-{
-    typedef amovGimbal::IamovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
-    typedef std::map<std::string, createCallback> callbackMap;
-    std::map<std::string, AMOV_GIMBAL_TYPE_T> amovGimbalTypeList =
-        {
-            {"G1", AMOV_GIMBAL_TYPE_G1},
-            {"G2", AMOV_GIMBAL_TYPE_G2},
-            {"Q10f", AMOV_GIMBAL_TYPE_Q10}};
-
-    callbackMap amovGimbals =
-        {
-            {"G1", g1GimbalDriver::creat},
-            {"G2", g2GimbalDriver::creat},
-            {"Q10f", Q10fGimbalDriver::creat}};
-}
-
-/* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
-// Factory used to create the gimbal instance
-class amovGimbalCreator
-{
-public:
-    static amovGimbal::IamovGimbalBase *createAmovGimbal(const std::string &type, amovGimbal::IOStreamBase *_IO)
-    {
-        amovGimbal::callbackMap::iterator temp = amovGimbal::amovGimbals.find(type);
-
-        if (temp != amovGimbal::amovGimbals.end())
-        {
-            return (temp->second)(_IO);
-        }
-        std::cout << type << " is Unsupported device type!" << std::endl;
-        return NULL;
-    }
-
-private:
-    amovGimbalCreator()
-    {
-    }
-    static amovGimbalCreator *pInstance;
-    static amovGimbalCreator *getInstance()
-    {
-        if (pInstance == NULL)
-        {
-            pInstance = new amovGimbalCreator();
-        }
-        return pInstance;
-    }
-
-    ~amovGimbalCreator();
-};
-
-/**
- * "If the input byte is available, then parse it."
- *
- * The function is a loop that runs forever. It calls the IO->inPutByte() function to get a byte from
- * the serial port. If the byte is available, then it calls the parser() function to parse the byte
- */
-void amovGimbal::IamovGimbalBase::parserLoop(void)
-{
-    uint8_t temp;
-
-    while (1)
-    {
-        if (IO->inPutByte(&temp))
-        {
-            parser(temp);
-        }
-    }
-}
-
-void amovGimbal::IamovGimbalBase::sendLoop(void)
-{
-    while (1)
-    {
-        send();
-    }
-}
-
-void amovGimbal::IamovGimbalBase::mainLoop(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    while (1)
-    {
-        if (getRxPack(tempBuffer))
-        {
-            convert(tempBuffer);
-        }
-    }
-}
-
-/**
- * It starts two threads, one for reading data from the serial port and one for sending data to the
- * serial port
- */
-void amovGimbal::IamovGimbalBase::startStack(void)
-{
-    if (!IO->isOpen())
-    {
-        IO->open();
-    }
-
-    std::thread mainLoop(&IamovGimbalBase::parserLoop, this);
-    std::thread sendLoop(&IamovGimbalBase::sendLoop, this);
-    mainLoop.detach();
-    sendLoop.detach();
-}
-
-/**
- * The function creates a thread that runs the mainLoop function
- */
-void amovGimbal::IamovGimbalBase::parserAuto(pStateInvoke callback)
-{
-    this->updateGimbalStateCallback = callback;
-    std::thread mainLoop(&IamovGimbalBase::mainLoop, this);
-    mainLoop.detach();
-}
-
-amovGimbal::AMOV_GIMBAL_STATE_T amovGimbal::IamovGimbalBase::getGimabalState(void)
-{
-    mState.lock();
-    AMOV_GIMBAL_STATE_T temp = state;
-    mState.unlock();
-    return temp;
-}
-
-amovGimbal::IamovGimbalBase::~IamovGimbalBase()
-{
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    IO->close();
-}
-
-/**
- * Default implementation of interface functions, not pure virtual functions for ease of extension.
- */
-void amovGimbal::IamovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
-{
-    return;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalROI(const amovGimbal::AMOV_GIMBAL_ROI_T area)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::takePic(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
-{
-    return 0;
-}
-
-/**
- * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
- * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
- *
- * @param type the type of the device, which is the same as the name of the class
- * @param _IO The IOStreamBase object that is used to communicate with the device.
- * @param _self the node ID of the device
- * @param _remote the node ID of the remote device
- */
-amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
-                           uint32_t _self, uint32_t _remote)
-{
-    typeName = type;
-    IO = _IO;
-
-    dev = amovGimbalCreator::createAmovGimbal(typeName, IO);
-
-    dev->nodeSet(_self, _remote);
-}
-
-amovGimbal::gimbal::~gimbal()
-{
-    // 先干掉请求线程
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    delete dev;
-}

gimbal_ctrl/driver/src/amov_gimbal.h

@@ -1,118 +0,0 @@
-/*
- * @Description:    External interface of amov gimbals
- * @Author: L LC @amov
- * @Date: 2022-10-27 18:34:26
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:42:05
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/driver/src/amov_gimbal.h
- */
-
-#ifndef AMOV_GIMBAL_H
-#define AMOV_GIMBAL_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <iostream>
-
-#include <thread>
-#include <unistd.h>
-#include <mutex>
-
-#include "amov_gimbal_struct.h"
-
-#define MAX_QUEUE_SIZE 50
-
-namespace amovGimbal
-{
-#define IN
-#define OUT
-#define SET
-
-    static inline void idleCallback(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                    double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                    double &fovX, double &fovY)
-    {
-    }
-
-    // Control data input and output
-    class IOStreamBase
-    {
-    public:
-        IOStreamBase() {}
-        virtual ~IOStreamBase() {}
-
-        virtual bool open() = 0;
-        virtual bool close() = 0;
-        virtual bool isOpen() = 0;
-        virtual bool isBusy() = 0;
-        // These two functions need to be thread-safe
-        virtual bool inPutByte(IN uint8_t *byte) = 0;
-        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght) = 0;
-    };
-
-    class IamovGimbalBase
-    {
-    protected:
-        AMOV_GIMBAL_STATE_T state;
-        std::mutex mState;
-        IOStreamBase *IO;
-        pStateInvoke updateGimbalStateCallback;
-
-        virtual bool parser(IN uint8_t byte) = 0;
-        virtual void send(void) = 0;
-        virtual void convert(void *buf) = 0;
-        virtual uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize) = 0;
-        virtual bool getRxPack(OUT void *pack) = 0;
-
-        void parserLoop(void);
-        void sendLoop(void);
-        void mainLoop(void);
-
-    public:
-        IamovGimbalBase(SET IOStreamBase *_IO)
-        {
-            IO = _IO;
-        }
-        virtual ~IamovGimbalBase();
-
-        void setParserCallback(pStateInvoke callback)
-        {
-            this->updateGimbalStateCallback = callback;
-        }
-
-        // Protocol stack function items
-        virtual void startStack(void);
-        virtual void parserAuto(pStateInvoke callback = idleCallback);
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
-
-        // functions
-        virtual AMOV_GIMBAL_STATE_T getGimabalState(void);
-        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
-        virtual uint32_t setGimabalHome(void);
-        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
-        virtual uint32_t takePic(void);
-        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
-    };
-
-    class gimbal
-    {
-    private:
-        std::string typeName;
-        IOStreamBase *IO;
-
-    public:
-        IamovGimbalBase *dev;
-        std::string name()
-        {
-            return typeName;
-        }
-        gimbal(const std::string &type, IOStreamBase *_IO,
-               uint32_t _self = 0x02, uint32_t _remote = 0X80);
-        ~gimbal();
-    };
-}
-#endif

gimbal_ctrl/driver/src/amov_gimbal_factory.cpp

@@ -0,0 +1,90 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 15:48:47
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:27:10
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_factory.cpp
+ */
+
+#include "amov_gimbal_private.h"
+#include "g1_gimbal_driver.h"
+#include "Q10f_gimbal_driver.h"
+#include "AT10_gimbal_driver.h"
+#include "GX40_gimbal_driver.h"
+
+#include <map>
+#include <iterator>
+
+namespace amovGimbalFactory
+{
+    typedef amovGimbal::amovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
+    typedef std::map<std::string, createCallback> callbackMap;
+
+    callbackMap amovGimbals =
+        {
+            {"G1", g1GimbalDriver::creat},
+            {"Q10f", Q10fGimbalDriver::creat},
+            {"AT10", AT10GimbalDriver::creat},
+            {"GX40", GX40GimbalDriver::creat}};
+
+    /* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
+    // Factory used to create the gimbal instance
+    class amovGimbalCreator
+    {
+    public:
+        static amovGimbal::amovGimbalBase *createAmovGimbal(const std::string &type, amovGimbal::IOStreamBase *_IO)
+        {
+            callbackMap::iterator temp = amovGimbals.find(type);
+
+            if (temp != amovGimbals.end())
+            {
+                return (temp->second)(_IO);
+            }
+            std::cout << type << " is Unsupported device type!" << std::endl;
+            return NULL;
+        }
+
+    private:
+        amovGimbalCreator()
+        {
+        }
+        static amovGimbalCreator *pInstance;
+        static amovGimbalCreator *getInstance()
+        {
+            if (pInstance == NULL)
+            {
+                pInstance = new amovGimbalCreator();
+            }
+            return pInstance;
+        }
+
+        ~amovGimbalCreator();
+    };
+} // namespace amovGimbalFactory
+
+/**
+ * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
+ * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
+ *
+ * @param type the type of the device, which is the same as the name of the class
+ * @param _IO The IOStreamBase object that is used to communicate with the device.
+ * @param _self the node ID of the device
+ * @param _remote the node ID of the remote device
+ */
+amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
+                           uint32_t _self, uint32_t _remote)
+{
+    typeName = type;
+
+    devHandle = amovGimbalFactory::amovGimbalCreator::createAmovGimbal(typeName, _IO);
+
+    ((amovGimbalBase *)(devHandle))->nodeSet(_self, _remote);
+}
+
+amovGimbal::gimbal::~gimbal()
+{
+    // 先干掉请求线程
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    delete ((amovGimbalBase *)(devHandle));
+}

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

@@ -0,0 +1,229 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 16:00:28
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:18:34
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp
+ */
+#include "amov_gimbal_private.h"
+
+// must realize
+void amovGimbal::gimbal::startStack(void)
+{
+    ((amovGimbalBase *)(this->devHandle))->stackStart();
+}
+
+void amovGimbal::gimbal::parserAuto(pAmovGimbalStateInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->parserStart(callback, caller);
+}
+
+void amovGimbal::gimbal::setParserCallback(pAmovGimbalStateInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->updateGimbalStateCallback = callback;
+    ((amovGimbalBase *)(this->devHandle))->updataCaller = caller;
+}
+
+void amovGimbal::gimbal::setMsgCallback(pAmovGimbalMsgInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->msgCustomCallback = callback;
+    ((amovGimbalBase *)(this->devHandle))->msgCaller = caller;
+}
+
+AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
+{
+    ((amovGimbalBase *)(this->devHandle))->mState.lock();
+    AMOV_GIMBAL_STATE_T temp = ((amovGimbalBase *)(this->devHandle))->state;
+    ((amovGimbalBase *)(this->devHandle))->mState.unlock();
+    return temp;
+}
+
+// gimbal funtions maybe realize
+uint32_t amovGimbal::gimbal::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalPos(pos);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalSpeed(speed);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalFollowSpeed(followSpeed);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalHome(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalHome();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalFocus(zoom, targetRate);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalROI(const AMOV_GIMBAL_ROI_T area)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalROI(area);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalROI(const AMOV_GIMBAL_ROI_T area)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::takePic(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->takePic();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::takePic(void)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setVideo(newState);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc, extenData);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                                         const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, extenData);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                                         const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGNSSInfo(lng, lat, alt, nState, relAlt);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::extensionFuntions(void *cmd)
+{
+    return ((amovGimbalBase *)(this->devHandle))->extensionFuntions(cmd);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
+{
+    return 0;
+}
+
+bool amovGimbal::gimbal::setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalPosBlock(pos);
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::setGimabalHomeBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalHomeBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::setGimabalHomeBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::setGimbalZoomBlock(float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalZoomBlock(targetRate);
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalZoomBlock(float targetRate)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::takePicBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->takePicBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::takePicBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::calibrationBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->calibrationBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::calibrationBlock(void)
+{
+    return false;
+}

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

@@ -0,0 +1,152 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-27 12:28:32
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 11:36:30
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp
+ */
+#include "amov_gimbal_private.h"
+#include <string>
+
+void amovGimbalSetRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setRcvBytes(callbaclk, caller);
+}
+
+void amovGimbalSetSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setSendBytes(callbaclk, caller);
+}
+
+void amovGimbalInBytesCallback(uint8_t *pData, uint32_t len, void *handle)
+{
+    amovGimbal::gimbal::inBytesCallback(pData, len, (amovGimbal::gimbal *)handle);
+}
+
+void amovGimbalCreat(char *type, uint32_t selfId, uint32_t gimbalId, void *handle)
+{
+    std::string strType = type;
+    handle = new amovGimbal::gimbal(strType, nullptr, selfId, gimbalId);
+}
+
+void amovGimbalStart(pAmovGimbalStateInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->startStack();
+    ((amovGimbal::gimbal *)handle)->parserAuto(callback, caller);
+}
+
+void amovGimbalChangeStateCallback(pAmovGimbalStateInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setParserCallback(callback, caller);
+}
+
+void amovGimbalSetMsgCallback(pAmovGimbalMsgInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setMsgCallback(callback, caller);
+}
+
+uint32_t amovGimbalSetGimabalPos(AMOV_GIMBAL_POS_T *pos, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalPos(*pos);
+}
+
+uint32_t amovGimbalSetGimabalSpeed(AMOV_GIMBAL_POS_T *speed, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalSpeed(*speed);
+}
+
+uint32_t amovGimbalSetGimabalFollowSpeed(AMOV_GIMBAL_POS_T *followSpeed, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalFollowSpeed(*followSpeed);
+}
+
+uint32_t amovGimbalSetGimabalHome(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalHome();
+}
+
+uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);
+}
+
+uint32_t amovGimbalSetGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalFocus(zoom, targetRate);
+}
+
+uint32_t amovGimbalSetGimbalROI(AMOV_GIMBAL_ROI_T *area, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalROI(*area);
+}
+
+uint32_t amovGimbalTakePic(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->takePic();
+}
+
+uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setVideo(newState);
+}
+
+uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
+                                       AMOV_GIMBAL_VELOCITY_T *speed,
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, extenData);
+}
+
+uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
+                                       AMOV_GIMBAL_VELOCITY_T *speed,
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, extenData);
+}
+
+uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGNSSInfo(lng, lat, alt, nState, relAlt);
+}
+
+uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->extensionFuntions(cmd);
+}
+
+void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle)
+{
+    *state = ((amovGimbal::gimbal *)handle)->getGimabalState();
+}
+
+void getGimbalType(char *type, void *handle)
+{
+    std::string temp = ((amovGimbal::gimbal *)handle)->name();
+    temp.copy(type, temp.size(), 0);
+}
+
+bool amovGimbalSetGimbalPosBlock(AMOV_GIMBAL_POS_T *pos, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalPosBlock(*pos);
+}
+
+bool amovGimbalSetGimabalHomeBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalHomeBlock();
+}
+
+bool amovGimbalSetGimbalZoomBlock(float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalZoomBlock(targetRate);
+}
+
+bool amovGimbalTakePicBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->takePicBlock();
+}
+
+bool amovGimbalCalibrationBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->calibrationBlock();
+}

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -0,0 +1,131 @@
+/*
+ * @Description    :
+ * @Author         : Aiyangsky
+ * @Date           : 2023-05-13 10:39:20
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:18:06
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_private.h
+ */
+#ifndef __AMOV_GIMABL_PRIVATE_H
+#define __AMOV_GIMABL_PRIVATE_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <iostream>
+#include <thread>
+#include <unistd.h>
+#include <mutex>
+
+#include "amovGimbal/amov_gimbal.h"
+#include "amovGimbal/amov_gimbal_c.h"
+
+#include "Ring_Fifo.h"
+#include "amov_tool.h"
+namespace amovGimbal
+{
+    class PamovGimbalBase
+    {
+    public:
+        AMOV_GIMBAL_STATE_T state;
+        std::mutex mState;
+
+        // IO类
+        IOStreamBase *IO = nullptr;
+        // 适用于C的函数指针
+        void *inBytesCaller = nullptr;
+        pAmovGimbalInputBytesInvoke inBytes = nullptr;
+        void *outBytesCaller = nullptr;
+        pAmovGimbalOutputBytesInvoke outBytes = nullptr;
+
+        void *updataCaller = nullptr;
+        pAmovGimbalStateInvoke updateGimbalStateCallback;
+        void *msgCaller = nullptr;
+        pAmovGimbalMsgInvoke msgCustomCallback = idleMsgCallback;
+
+        fifoRing *rxQueue;
+        fifoRing *txQueue;
+
+        std::thread::native_handle_type parserThreadHanle = 0;
+        std::thread::native_handle_type sendThreadHanle = 0;
+        std::thread::native_handle_type stackThreadHanle = 0;
+
+        PamovGimbalBase(IOStreamBase *_IO)
+        {
+            IO = _IO;
+        }
+        virtual ~PamovGimbalBase()
+        {
+            if (txQueue != nullptr)
+            {
+                delete txQueue;
+            }
+            if (rxQueue != nullptr)
+            {
+                delete rxQueue;
+            }
+            // set thread kill anytime
+            pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+            parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+            sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+            stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        }
+    };
+
+    // Device interface
+    class IamovGimbalBase
+    {
+    public:
+        IamovGimbalBase() {}
+        virtual ~IamovGimbalBase() {}
+
+        // non-block functions
+        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
+        virtual uint32_t setGimabalHome(void);
+        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
+        virtual uint32_t takePic(void);
+        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        virtual uint32_t extensionFuntions(void *cmd);
+
+        // block functions
+        virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        virtual bool setGimabalHomeBlock(void);
+        virtual bool setGimbalZoomBlock(float targetRate);
+        virtual bool takePicBlock(void);
+        virtual bool calibrationBlock(void);
+    };
+
+    class amovGimbalBase : public IamovGimbalBase, public PamovGimbalBase
+    {
+    public:
+        virtual uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize) = 0;
+        virtual bool parser(IN uint8_t byte) = 0;
+        virtual void convert(void *buf) = 0;
+        virtual uint32_t calPackLen(void *pack) = 0;
+
+        virtual void send(void);
+        virtual bool getRxPack(OUT void *pack);
+
+        virtual void parserLoop(void);
+        virtual void sendLoop(void);
+        virtual void mainLoop(void);
+
+        virtual void stackStart(void);
+        virtual void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
+
+    public:
+        amovGimbalBase(IOStreamBase *_IO);
+        virtual ~amovGimbalBase();
+    };
+}
+
+#endif

gimbal_ctrl/driver/src/amov_gimbal_realize.cpp

@@ -0,0 +1,197 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 15:55:37
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:19:19
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_realize.cpp
+ */
+
+#include "amov_gimbal_private.h"
+
+#include <thread>
+
+#define MAX_PACK_SIZE 280
+
+/**
+ * This is a constructor for the amovGimbalBase class that initializes its parent classes with an
+ * IOStreamBase object.
+ *
+ * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase, which is the base class
+ * for input/output streams used by the amovGimbal class. This parameter is passed to the constructor
+ * of amovGimbalBase, which is a derived class of I
+ */
+amovGimbal::amovGimbalBase::amovGimbalBase(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(), amovGimbal::PamovGimbalBase(_IO)
+{
+}
+
+/**
+ * The function is a destructor that sleeps for 50 milliseconds and closes an IO object.
+ */
+amovGimbal::amovGimbalBase::~amovGimbalBase()
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    IO->close();
+}
+
+/**
+ * This function retrieves a packet from a ring buffer queue and returns a boolean value indicating
+ * whether the operation was successful or not.
+ *
+ * @param void void is a keyword in C++ that represents the absence of a type. In this function, it is
+ * used to indicate that the function does not return any value.
+ *
+ * @return a boolean value, which indicates whether or not a data packet was successfully retrieved
+ * from a ring buffer queue.
+ */
+bool amovGimbal::amovGimbalBase::getRxPack(OUT void *pack)
+{
+    bool state = false;
+    state = rxQueue->outCell(pack);
+    return state;
+}
+
+/**
+ * This function sends data from a buffer to an output device if it is not busy and open.
+ */
+void amovGimbal::amovGimbalBase::send(void)
+{
+    uint8_t tempBuffer[MAX_PACK_SIZE];
+
+    if (IO == nullptr)
+    {
+        while (1)
+        {
+            if (txQueue->outCell(&tempBuffer))
+            {
+                this->outBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer), outBytesCaller);
+            }
+        }
+    }
+    else
+    {
+        while (1)
+        {
+            if (!IO->isBusy() && IO->isOpen())
+            {
+                if (txQueue->outCell(&tempBuffer))
+                {
+                    IO->outPutBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer));
+                }
+            }
+        }
+    }
+}
+
+/**
+ * "If the input byte is available, then parse it."
+ *
+ * The function is a loop that runs forever. It calls the IO->inPutByte() function to get a byte from
+ * the serial port. If the byte is available, then it calls the parser() function to parse the byte
+ */
+void amovGimbal::amovGimbalBase::parserLoop(void)
+{
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
+    if (IO == nullptr)
+    {
+        while (1)
+        {
+            getCount = inBytes(temp, inBytesCaller);
+
+            for (i = 0; i < getCount; i++)
+            {
+                parser(temp[i]);
+            }
+        }
+    }
+    else
+    {
+        while (1)
+        {
+            getCount = IO->inPutBytes(temp);
+
+            for (i = 0; i < getCount; i++)
+            {
+                parser(temp[i]);
+            }
+        }
+    }
+}
+
+void amovGimbal::amovGimbalBase::sendLoop(void)
+{
+    send();
+}
+
+void amovGimbal::amovGimbalBase::mainLoop(void)
+{
+    uint8_t tempBuffer[MAX_PACK_SIZE];
+
+    while (1)
+    {
+        if (getRxPack(tempBuffer))
+        {
+            msgCustomCallback(tempBuffer, msgCaller);
+            convert(tempBuffer);
+        }
+    }
+}
+
+void amovGimbal::amovGimbalBase::stackStart(void)
+{
+    if (!this->IO->isOpen() && this->IO != nullptr)
+    {
+        this->IO->open();
+    }
+
+    // 当且仅当需要库主动查询时才启用解析器线程
+    if (inBytes != nullptr || this->IO != nullptr)
+    {
+        std::thread parserLoop(&amovGimbalBase::parserLoop, this);
+        this->parserThreadHanle = parserLoop.native_handle();
+        parserLoop.detach();
+    }
+
+    std::thread sendLoop(&amovGimbalBase::sendLoop, this);
+    this->sendThreadHanle = sendLoop.native_handle();
+    sendLoop.detach();
+}
+
+void amovGimbal::amovGimbalBase::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+{
+    this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
+
+    std::thread mainLoop(&amovGimbalBase::mainLoop, this);
+
+    this->stackThreadHanle = mainLoop.native_handle();
+
+    mainLoop.detach();
+}
+
+void amovGimbal::amovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
+{
+    return;
+}
+
+void amovGimbal::gimbal::setRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *caller)
+{
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->inBytes = callbaclk;
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->inBytesCaller = caller;
+}
+
+void amovGimbal::gimbal::setSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *caller)
+{
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->outBytes = callbaclk;
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->outBytesCaller = caller;
+}
+
+void amovGimbal::gimbal::inBytesCallback(uint8_t *pData, uint32_t len, gimbal *handle)
+{
+    uint32_t i = 0;
+    for (i = 0; i < len; i++)
+    {
+        ((amovGimbalBase *)((handle)->devHandle))->parser(pData[i]);
+    }
+}

gimbal_ctrl/driver/src/amov_gimbal_struct.h

@@ -1,74 +0,0 @@
-/*
- * @Description: Common Data Structures of gimbal
- * @Author: L LC @amov
- * @Date: 2022-10-31 11:56:43
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 10:12:33
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_struct.h
- */
-
-#include <stdint.h>
-
-#ifndef  __AMOV_GIMABL_STRUCT_H
-#define  __AMOV_GIMABL_STRUCT_H
-
-namespace amovGimbal
-{
-    typedef void (*pStateInvoke)(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                 double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                 double &fovX, double &fovY);
-
-    typedef enum
-    {
-        AMOV_GIMBAL_MODE_LOCK,
-        AMOV_GIMBAL_MODE_NULOCK,
-    } AMOV_GIMBAL_MODE_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_VIDEO_TAKE,
-        AMOV_GIMBAL_VIDEO_OFF
-    } AMOV_GIMBAL_VIDEO_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_ZOOM_IN,
-        AMOV_GIMBAL_ZOOM_OUT,
-        AMOV_GIMBAL_ZOOM_STOP
-    } AMOV_GIMBAL_ZOOM_T;
-
-    typedef struct
-    {
-        double yaw;
-        double roll;
-        double pitch;
-    } AMOV_GIMBAL_POS_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-    }AMOV_GIMBAL_FOV_T;
-    
-
-    typedef struct
-    {
-        AMOV_GIMBAL_MODE_T workMode;
-        AMOV_GIMBAL_VIDEO_T video;
-        AMOV_GIMBAL_POS_T abs;
-        AMOV_GIMBAL_POS_T rel;
-        AMOV_GIMBAL_POS_T maxFollow;
-        AMOV_GIMBAL_FOV_T fov;
-    } AMOV_GIMBAL_STATE_T;
-
-    typedef struct
-    {
-        uint32_t centreX;
-        uint32_t centreY;
-        uint32_t hight;
-        uint32_t width;
-    } AMOV_GIMBAL_ROI_T;
-
-} // namespace amovGimbal
-
-#endif

gimbal_ctrl/driver/src/amov_tool.h

@@ -0,0 +1,32 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-07-31 18:30:33
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:26:05
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_tool.h
+ */
+
+#ifndef __AMOVGIMABL_TOOL_H
+#define __AMOVGIMABL_TOOL_H
+namespace amovGimbalTools
+{
+    static inline unsigned short conversionBigLittle(unsigned short value)
+    {
+        unsigned short temp = 0;
+        temp |= ((value >> 8) & 0X00FF);
+        temp |= ((value << 8) & 0XFF00);
+        return temp;
+    }
+
+    static inline unsigned int conversionBigLittle(unsigned int value)
+    {
+        unsigned int temp = 0;
+        temp |= ((value << 24) & 0XFF000000);
+        temp |= ((value << 8) & 0X00FF0000);
+        temp |= ((value >> 8) & 0X0000FF00);
+        temp |= ((value << 24) & 0X000000FF);
+        return temp;
+    }
+}
+#endif

gimbal_ctrl/sv_gimbal.cpp

@@ -3,11 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:37:42
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal.cpp
+ * @LastEditTime: 2023-12-05 17:33:29
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal.cpp
  */
-#include "amov_gimbal.h"
-#include "amov_gimbal_struct.h"
+#include "amovGimbal/amov_gimbal.h"
 
 #include "sv_gimbal.h"
 #include "sv_gimbal_io.hpp"
@@ -15,6 +14,52 @@
 #include <iostream>
 #include <string>
 #include <thread>
+namespace sv
+{
+    std::map<std::string, void *> Gimbal::IOList;
+    std::mutex Gimbal::IOListMutex;
+
+    typedef struct
+    {
+        std::string name;
+        GimbalLink supportLink;
+    } gimbalTrait;
+
+    std::map<GimbalType, gimbalTrait> gimbaltypeList =
+        {
+            {GimbalType::G1, {"G1", GimbalLink::SERIAL}},
+            {GimbalType::Q10f, {"Q10f", GimbalLink::SERIAL}},
+            {GimbalType::AT10, {"AT10", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP}},
+            {GimbalType::GX40, {"GX40", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP | GimbalLink::ETHERNET_UDP}}};
+
+    /**
+     * The function `svGimbalType2Str` converts a `GimbalType` enum value to its corresponding string
+     * representation.
+     *
+     * @return a reference to a string.
+     */
+    std::string &svGimbalType2Str(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
+        if (temp != gimbaltypeList.end())
+        {
+            return (temp->second).name;
+        }
+        throw "Error: Unsupported gimbal device type!!!!";
+        exit(-1);
+    }
+
+    GimbalLink &svGimbalTypeFindLinkType(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
+        if (temp != gimbaltypeList.end())
+        {
+            return (temp->second).supportLink;
+        }
+        throw "Error: Unsupported gimbal device type!!!!";
+        exit(-1);
+    }
+}
 
 /**
  * This function sets the serial port for a Gimbal object.
@@ -78,17 +123,29 @@ void sv::Gimbal::setNetIp(const std::string &ip)
 }
 
 /**
- * This function sets the network port for a Gimbal object in C++.
+ * The function sets the TCP network port for the Gimbal object.
  *
- * @param port The "port" parameter is an integer value that represents the network port number that
- * the Gimbal object will use for communication. This function sets the value of the "m_net_port"
- * member variable of the Gimbal object to the value passed in as the "port" parameter.
+ * @param port The parameter "port" is an integer that represents the TCP network port number.
  */
-void sv::Gimbal::setNetPort(const int &port)
+void sv::Gimbal::setTcpNetPort(const int &port)
 {
     this->m_net_port = port;
 }
 
+/**
+ * The function sets the UDP network ports for receiving and sending data.
+ *
+ * @param recvPort The recvPort parameter is the port number that the Gimbal object will use to receive
+ * UDP packets.
+ * @param sendPort The sendPort parameter is the port number used for sending data over UDP (User
+ * Datagram Protocol) network communication.
+ */
+void sv::Gimbal::setUdpNetPort(const int &recvPort, const int &sendPort)
+{
+    this->m_net_recv_port = recvPort;
+    this->m_net_send_port = sendPort;
+}
+
 /**
  * The function sets a parser callback for a gimbal device.
  *
@@ -99,7 +156,85 @@ void sv::Gimbal::setNetPort(const int &port)
 void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    pdevTemp->dev->setParserCallback(callback);
+    m_callback = callback;
+    pdevTemp->setParserCallback(sv::Gimbal::gimbalUpdataCallback, this);
+}
+
+/**
+ * The function `sv::Gimbal::creatIO` creates an IO object based on the specified gimbal type and link
+ * type, and returns a pointer to the created object.
+ *
+ * @param dev The "dev" parameter is a pointer to an object of type "sv::Gimbal". It is used to access
+ * the member variables of the Gimbal object, such as "m_serial_port", "m_serial_baud_rate",
+ * "m_serial_timeout", etc. These variables store information about
+ *
+ * @return a void pointer.
+ */
+void *sv::Gimbal::creatIO(sv::Gimbal *dev)
+{
+    IOListMutex.lock();
+    std::map<std::string, void *>::iterator list = IOList.find(dev->m_serial_port);
+    std::pair<std::string, void *> key("NULL", nullptr);
+    GimbalLink link = svGimbalTypeFindLinkType(dev->m_gimbal_type);
+
+    if ((dev->m_gimbal_link & svGimbalTypeFindLinkType(dev->m_gimbal_type)) == GimbalLink::NONE)
+    {
+        throw std::runtime_error("gimbal Unsupported linktype !!!");
+    }
+
+    if (list == IOList.end())
+    {
+        if (dev->m_gimbal_link == GimbalLink::SERIAL)
+        {
+            UART *ser;
+            ser = new UART(dev->m_serial_port,
+                           (uint32_t)dev->m_serial_baud_rate,
+                           serial::Timeout::simpleTimeout(dev->m_serial_timeout),
+                           (serial::bytesize_t)dev->m_serial_byte_size,
+                           (serial::parity_t)dev->m_serial_parity,
+                           (serial::stopbits_t)dev->m_serial_stopbits,
+                           (serial::flowcontrol_t)dev->m_serial_flowcontrol);
+            key.first = dev->m_serial_port;
+            key.second = (void *)ser;
+            IOList.insert(key);
+        }
+        else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_TCP)
+        {
+            TCPClient *tcp;
+            tcp = new TCPClient(dev->m_net_ip, dev->m_net_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)tcp;
+            IOList.insert(key);
+        }
+        else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_UDP)
+        {
+            UDP *udp;
+            udp = new UDP(dev->m_net_ip, dev->m_net_recv_port, dev->m_net_send_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)udp;
+            IOList.insert(key);
+        }
+    }
+    else
+    {
+        std::cout << "Error: gimbal IO has opened!!!" << std::endl;
+    }
+    IOListMutex.unlock();
+
+    return key.second;
+}
+
+/**
+ * The function removes a Gimbal device from the IOList.
+ *
+ * @param dev dev is a pointer to an object of type sv::Gimbal.
+ */
+void sv::Gimbal::removeIO(sv::Gimbal *dev)
+{
+    IOListMutex.lock();
+    IOList.erase(dev->m_serial_port);
+
+    IOListMutex.unlock();
 }
 
 /**
@@ -115,53 +250,24 @@ void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
  */
 bool sv::Gimbal::open(PStateInvoke callback)
 {
-    if (this->m_gimbal_link == GimbalLink::SERIAL)
-    {
-        this->IO = new UART(this->m_serial_port,
-                            (uint32_t)this->m_serial_baud_rate,
-                            serial::Timeout::simpleTimeout(this->m_serial_timeout),
-                            (serial::bytesize_t)this->m_serial_byte_size,
-                            (serial::parity_t)this->m_serial_parity,
-                            (serial::stopbits_t)this->m_serial_stopbits,
-                            (serial::flowcontrol_t)this->m_serial_flowcontrol);
-    }
-    // Subsequent additions
-    else if (this->m_gimbal_link == sv::GimbalLink::ETHERNET_TCP)
-    {
-        return false;
-    }
-    else if (this->m_gimbal_link == sv::GimbalLink::ETHERNET_UDP)
-    {
-        return false;
-    }
-    else
-    {
-        throw "Error: Unsupported communication interface class!!!";
-        return false;
-    }
-    std::string driverName;
-    switch (this->m_gimbal_type)
-    {
-    case sv::GimbalType::G1:
-        driverName = "G1";
-        break;
-    case sv::GimbalType::Q10f:
-        driverName = "Q10f";
-        break;
+    bool ret = false;
 
-    default:
-        throw "Error: Unsupported driver!!!";
-        return false;
-        break;
+    this->IO = creatIO(this);
+
+    if (this->IO != nullptr)
+    {
+        std::string driverName;
+        driverName = sv::svGimbalType2Str(this->m_gimbal_type);
+        this->dev = new amovGimbal::gimbal(driverName, (amovGimbal::IOStreamBase *)this->IO);
+        amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
+        pdevTemp->startStack();
+        m_callback = callback;
+        pdevTemp->parserAuto(sv::Gimbal::gimbalUpdataCallback, this);
+
+        ret = true;
     }
-    this->dev = new amovGimbal::gimbal(driverName, (amovGimbal::IOStreamBase *)this->IO);
 
-    amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-
-    pdevTemp->dev->startStack();
-    pdevTemp->dev->parserAuto(callback);
-
-    return true;
+    return ret;
 }
 
 /**
@@ -174,7 +280,7 @@ bool sv::Gimbal::open(PStateInvoke callback)
 bool sv::Gimbal::setHome()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    if (pdevTemp->dev->setGimabalHome() > 0)
+    if (pdevTemp->setGimabalHome() > 0)
     {
         return true;
     }
@@ -203,7 +309,7 @@ bool sv::Gimbal::setZoom(double x)
         return false;
     }
 
-    if (pdevTemp->dev->setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_STOP, x) > 0)
+    if (pdevTemp->setGimbalZoom(AMOV_GIMBAL_ZOOM_STOP, x) > 0)
     {
         return true;
     }
@@ -227,7 +333,7 @@ bool sv::Gimbal::setAutoZoom(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalZoom((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalZoom((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -253,7 +359,7 @@ bool sv::Gimbal::setAutoFocus(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalFocus((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalFocus((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -273,7 +379,7 @@ bool sv::Gimbal::takePhoto()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->takePic() > 0)
+    if (pdevTemp->takePic() > 0)
     {
         return true;
     }
@@ -297,21 +403,21 @@ bool sv::Gimbal::takeVideo(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_VIDEO_T newState;
+    AMOV_GIMBAL_VIDEO_T newState;
     switch (state)
     {
     case 0:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     case 1:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        newState = AMOV_GIMBAL_VIDEO_TAKE;
         break;
     default:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     }
 
-    if (pdevTemp->dev->setVideo(newState) > 0)
+    if (pdevTemp->setVideo(newState) > 0)
     {
         return true;
     }
@@ -332,13 +438,13 @@ int sv::Gimbal::getVideoState()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     int ret;
-    amovGimbal::AMOV_GIMBAL_STATE_T state;
-    state = pdevTemp->dev->getGimabalState();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    AMOV_GIMBAL_STATE_T state;
+    state = pdevTemp->getGimabalState();
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
         ret = 1;
     }
-    else if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_OFF)
+    else if (state.video == AMOV_GIMBAL_VIDEO_OFF)
     {
         ret = 0;
     }
@@ -366,7 +472,7 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
 
     if (pitch_rate == 0.0f)
         pitch_rate = 360;
@@ -378,11 +484,11 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalFollowSpeed(temp);
+    pdevTemp->setGimabalFollowSpeed(temp);
     temp.pitch = pitch;
     temp.roll = roll;
     temp.yaw = yaw;
-    pdevTemp->dev->setGimabalPos(temp);
+    pdevTemp->setGimabalPos(temp);
 }
 
 /**
@@ -397,15 +503,16 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalSpeed(temp);
+    pdevTemp->setGimabalSpeed(temp);
 }
 
 sv::Gimbal::~Gimbal()
 {
+    removeIO(this);
     delete (amovGimbal::gimbal *)this->dev;
     delete (amovGimbal::IOStreamBase *)this->IO;
 }

gimbal_ctrl/sv_gimbal_io.hpp

@@ -3,65 +3,236 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 12:22:09
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-13 10:17:21
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal_io.hpp
+ * @LastEditTime: 2023-12-05 17:38:59
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal_io.hpp
  */
 #ifndef __SV_GIMABL_IO_H
 #define __SV_GIMABL_IO_H
 
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
 #include "serial/serial.h"
 
-class UART : public amovGimbal::IOStreamBase
+#include <string.h>
+#include <stdio.h>
+#if defined(_WIN32)
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#endif
+
+#if defined(__linux__)
+#include <arpa/inet.h>
+#endif
+
+#include <unistd.h>
+namespace sv
 {
-private:
-    serial::Serial *ser;
+    class UART : public amovGimbal::IOStreamBase
+    {
+    private:
+        serial::Serial *ser;
 
-public:
-    virtual bool open()
-    {
-        ser->open();
-        return true;
-    }
-    virtual bool close()
-    {
-        ser->close();
-        return true;
-    }
-    virtual bool isOpen()
-    {
-        return ser->isOpen();
-    }
-    virtual bool isBusy()
-    {
-        return false;
-    }
+    public:
+        virtual bool open()
+        {
+            ser->open();
+            return true;
+        }
+        virtual bool close()
+        {
+            ser->close();
+            return true;
+        }
+        virtual bool isOpen()
+        {
+            return ser->isOpen();
+        }
+        virtual bool isBusy()
+        {
+            return false;
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            if (ser->read(byte, 1))
+            {
+                return 1;
+            }
+            return 0;
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return ser->write(byte, lenght);
+        }
+        UART(const std::string &port, uint32_t baudrate, serial::Timeout timeout,
+             serial::bytesize_t bytesize, serial::parity_t parity, serial::stopbits_t stopbits,
+             serial::flowcontrol_t flowcontrol)
+        {
+            ser = new serial::Serial(port, baudrate, timeout, bytesize, parity, stopbits, flowcontrol);
+        }
+        ~UART()
+        {
+            ser->close();
+        }
+    };
 
-    virtual bool inPutByte(IN uint8_t *byte)
+    int scoketClose(int scoket)
     {
-        if (ser->read(byte, 1))
+#if defined(_WIN32)
+        return closesocket(scoket);
+#endif
+#if defined(__linux__)
+        return close(scoket);
+#endif
+    }
+    class TCPClient : public amovGimbal::IOStreamBase
+    {
+    private:
+        int scoketFd;
+        sockaddr_in scoketAddr;
+
+    public:
+        virtual bool open()
         {
             return true;
         }
-        return false;
-    }
+        virtual bool close()
+        {
+            sv::scoketClose(scoketFd);
+            return true;
+        }
+        virtual bool isOpen()
+        {
+            return true;
+        }
+        virtual bool isBusy()
+        {
+            return false;
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            return recv(scoketFd, (char *)byte, 65536, 0);
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return send(scoketFd, (const char *)byte, lenght, 0);
+        }
 
-    virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
-    {
-        return ser->write(byte, lenght);
-    }
+        TCPClient(const std::string &addr, const uint16_t port)
+        {
+            if ((scoketFd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
+            {
+                throw std::runtime_error("scoket creat failed");
+            }
+            memset(&scoketAddr, 0, sizeof(scoketAddr));
+            scoketAddr.sin_family = AF_INET;
+            scoketAddr.sin_addr.s_addr = inet_addr(addr.c_str());
 
-    UART(const std::string &port, uint32_t baudrate, serial::Timeout timeout,
-         serial::bytesize_t bytesize, serial::parity_t parity, serial::stopbits_t stopbits,
-         serial::flowcontrol_t flowcontrol)
+            if (scoketAddr.sin_addr.s_addr == INADDR_NONE ||
+                scoketAddr.sin_addr.s_addr == INADDR_ANY)
+            {
+                sv::scoketClose(scoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+            scoketAddr.sin_port = htons(port);
+
+            if (connect(scoketFd, (struct sockaddr *)&scoketAddr, sizeof(scoketAddr)) != 0)
+            {
+                sv::scoketClose(scoketFd);
+
+                throw std::runtime_error("scoket connect failed !");
+            }
+        }
+        ~TCPClient()
+        {
+            close();
+        }
+    };
+
+    class UDP : public amovGimbal::IOStreamBase
     {
-        ser = new serial::Serial(port, baudrate, timeout, bytesize, parity, stopbits, flowcontrol);
-    }
-    ~UART()
-    {
-        ser->close();
-        delete ser;
-    }
-};
+    private:
+        int rcvScoketFd, sendScoketFd;
+        sockaddr_in rcvScoketAddr, sendScoketAddr;
+
+    public:
+        virtual bool open()
+        {
+            return true;
+        }
+        virtual bool close()
+        {
+            sv::scoketClose(rcvScoketFd);
+            sv::scoketClose(sendScoketFd);
+            return true;
+        }
+        virtual bool isOpen()
+        {
+            return true;
+        }
+        virtual bool isBusy()
+        {
+            return false;
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            sockaddr_in remoteAddr;
+            int len = sizeof(remoteAddr);
+
+            return recvfrom(rcvScoketFd, (char *)byte, 65536, 0,
+                            (struct sockaddr *)&remoteAddr, reinterpret_cast<socklen_t *>(&len));
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return sendto(sendScoketFd, (const char *)byte, lenght, 0,
+                          (struct sockaddr *)&sendScoketAddr, sizeof(sendScoketAddr));
+        }
+
+        UDP(const std::string &remoteAddr, const uint16_t rcvPort, uint16_t sendPort)
+        {
+            if ((rcvScoketFd = socket(AF_INET, SOCK_DGRAM, 0)) == -1 ||
+                (sendScoketFd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
+            {
+                sv::scoketClose(rcvScoketFd);
+                sv::scoketClose(sendScoketFd);
+                throw std::runtime_error("scoket creat failed");
+            }
+            memset(&rcvScoketAddr, 0, sizeof(rcvScoketAddr));
+            memset(&sendScoketAddr, 0, sizeof(sendScoketAddr));
+            sendScoketAddr.sin_family = AF_INET;
+            sendScoketAddr.sin_addr.s_addr = inet_addr(remoteAddr.c_str());
+            sendScoketAddr.sin_port = htons(sendPort);
+
+            if (sendScoketAddr.sin_addr.s_addr == INADDR_NONE ||
+                sendScoketAddr.sin_addr.s_addr == INADDR_ANY)
+            {
+                sv::scoketClose(sendScoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+
+            rcvScoketAddr.sin_family = AF_INET;
+            rcvScoketAddr.sin_addr.s_addr = INADDR_ANY;
+            rcvScoketAddr.sin_port = htons(rcvPort);
+
+            if (rcvScoketAddr.sin_addr.s_addr == INADDR_NONE)
+            {
+                sv::scoketClose(rcvScoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+
+            if (bind(rcvScoketFd, (struct sockaddr *)&rcvScoketAddr, sizeof(rcvScoketAddr)) == -1)
+            {
+                sv::scoketClose(rcvScoketFd);
+
+                throw std::runtime_error("scoket bind failed !");
+            }
+        }
+        ~UDP()
+        {
+            close();
+        }
+    };
+}
 
 #endif

include/sv_algorithm_base.h

@@ -46,6 +46,7 @@ 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;
@@ -104,10 +105,6 @@ public:
   std::string getAlgorithm();
   int getBackend();
   int getTarget();
-  double getObjectWs();
-  double getObjectHs();
-  int useWidthOrHeight();
-
 protected:
   virtual bool setupImpl();
   virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
@@ -117,9 +114,6 @@ protected:
   std::string _algorithm;
   int _backend;
   int _target;
-  int _use_width_or_height;
-  double _object_ws;
-  double _object_hs;
 };
 
 

include/sv_color_line.h

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

@@ -8,32 +8,36 @@
 #include <string>
 #include <chrono>
 
-
-namespace sv {
+namespace sv
+{
 
 class CommonObjectDetectorCUDAImpl;
+class CommonObjectDetectorIntelImpl;
+
 
 class CommonObjectDetector : public CommonObjectDetectorBase
 {
 public:
-  CommonObjectDetector();
+  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_
-  );
+    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;
+  CommonObjectDetectorCUDAImpl *_cuda_impl;
+  CommonObjectDetectorIntelImpl *_intel_impl;
+
+  bool _input_4k;
 };
 
-
 }
 #endif

include/sv_gimbal.h

@@ -3,13 +3,17 @@
  * @Author: jario-jin @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:49:27
- * @FilePath: /spirecv-gimbal-sdk/include/sv_gimbal.h
+ * @LastEditTime: 2023-12-05 17:25:40
+ * @FilePath: /SpireCV/include/sv_gimbal.h
  */
 #ifndef __SV_GIMBAL__
 #define __SV_GIMBAL__
 
 #include <string>
+#include <map>
+#include <iterator>
+#include <thread>
+#include <mutex>
 
 namespace sv
 {
@@ -21,15 +25,28 @@ namespace sv
   enum class GimbalType
   {
     G1,
-    Q10f
+    Q10f,
+    AT10,
+    GX40,
   };
-  enum class GimbalLink
+  enum class GimbalLink : int
   {
-    SERIAL,
-    ETHERNET_TCP,
-    ETHERNET_UDP
+    NONE = 0x00,
+    SERIAL = 0x01,
+    ETHERNET_TCP = 0x02,
+    ETHERNET_UDP = 0x04,
   };
 
+  constexpr GimbalLink operator|(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) | static_cast<int>(b));
+  }
+
+  constexpr GimbalLink operator&(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) & static_cast<int>(b));
+  }
+
   enum class GimablSerialByteSize
   {
     FIVE_BYTES = 5,
@@ -78,6 +95,7 @@ namespace sv
     // Device pointers
     void *dev;
     void *IO;
+    PStateInvoke m_callback;
 
     // Generic serial interface parameters list & default parameters
     std::string m_serial_port = "/dev/ttyUSB0";
@@ -89,12 +107,26 @@ namespace sv
     int m_serial_timeout = 500;
 
     // Ethernet interface parameters list & default parameters
-    std::string m_net_ip = "192.168.2.64";
-    int m_net_port = 9090;
+    std::string m_net_ip = "192.168.144.121";
+    int m_net_port = 2332;
+    int m_net_recv_port = 2338;
+    int m_net_send_port = 2337;
 
     GimbalType m_gimbal_type;
     GimbalLink m_gimbal_link;
 
+    static std::map<std::string, void *> IOList;
+    static std::mutex IOListMutex;
+    static void *creatIO(Gimbal *dev);
+    static void removeIO(Gimbal *dev);
+
+    static void gimbalUpdataCallback(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                     double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                     double fovX, double fovY, void *handle)
+    {
+      ((Gimbal *)(handle))->m_callback(frameAngleRoll, frameAnglePitch, frameAngleYaw, imuAngleRoll, imuAnglePitch, imuAngleYaw, fovX, fovY);
+    }
+
   public:
     //! Constructor
     /*!
@@ -116,7 +148,10 @@ namespace sv
 
     // set Ethernet interface parameters
     void setNetIp(const std::string &ip);
-    void setNetPort(const int &port);
+    // set tcp port
+    void setTcpNetPort(const int &port);
+    // set udp port
+    void setUdpNetPort(const int &recvPort, const int &sendPort);
 
     // Create a device instance
     void setStateCallback(PStateInvoke callback);

include/sv_landing_det.h

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

include/sv_mot.h

@@ -56,6 +56,7 @@ public:
     int hits;
     int misses;
     int frame_id = 0;
+    int category_id;
     bool tentative;
     std::vector<double> features;
     Eigen::Matrix<double, 8, 1> mean;
@@ -70,6 +71,7 @@ public:
     std::pair<Eigen::Matrix<double, 8, 1>, Eigen::Matrix<double, 8, 8> > initiate(Eigen::Vector4d &bbox);
     std::pair<Eigen::Matrix<double, 8, 1>, Eigen::Matrix<double, 8, 8> > update(Eigen::Matrix<double, 8, 1> mean, Eigen::Matrix<double, 8, 8> covariances, Box &box);
     std::pair<Eigen::Matrix<double, 8, 1>, Eigen::Matrix<double, 8, 8> > predict(Eigen::Matrix<double, 8, 1> mean, Eigen::Matrix<double, 8, 8> covariances);
+    std::pair<Eigen::Matrix<double, 4, 1>, Eigen::Matrix<double, 4, 4> > project(Eigen::Matrix<double, 8, 1> mean, Eigen::Matrix<double, 8, 8> covariances);
 private:
     Eigen::Matrix<double, 8, 8> _F;
     Eigen::Matrix<double, 4, 8> _H;
@@ -88,7 +90,10 @@ public:
 private:
     double _iou(Tracklet &tracklet, Box &box);
     std::vector<std::pair<int,int>> _hungarian(std::vector<std::vector<double>> costMatrix);
-    bool _augment(const std::vector<std::vector<double>>& costMatrix, int row, std::vector<int>& rowMatch, std::vector<int>& colMatch, std::vector<bool>& visited);
+    double _findMin(const std::vector<double>& vec);
+    void _subtractMinFromRows(std::vector<std::vector<double>>& costMatrix);
+    void _subtractMinFromCols(std::vector<std::vector<double>>& costMatrix);
+    //bool _augment(const std::vector<std::vector<double>>& costMatrix, int row, std::vector<int>& rowMatch, std::vector<int>& colMatch, std::vector<bool>& visited);
 
     double _iou_threshold;
     int _max_age;

include/sv_veri_det.h

@@ -0,0 +1,44 @@
+#ifndef __SV_VERI_DET__
+#define __SV_VERI_DET__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+namespace sv
+{
+
+class VeriDetectorCUDAImpl;
+class VeriDetectorIntelImpl;
+
+class VeriDetector : public LandingMarkerDetectorBase
+{
+public:
+  VeriDetector();
+  ~VeriDetector();
+
+  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);
+
+  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)
+
+  VeriDetectorCUDAImpl *_cuda_impl;
+  VeriDetectorIntelImpl *_intel_impl;
+};
+
+}
+#endif

include/sv_video_base.h

@@ -90,6 +90,9 @@ public:
   double los_ay;
   //! The angle of the target in the image coordinate system,  (unit: degree) [-180, 180].
   double yaw_a;
+  
+  //! Similarity, Confidence, (0, 1]
+  double sim_score;
 
   //! Whether the height&width of the target can be obtained.
   bool has_hw;
@@ -125,6 +128,7 @@ 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();
 
@@ -323,13 +327,13 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI};
+enum class CameraType {NONE, WEBCAM, V4L2CAM, MIPI, RTSP, VIDEO, G1, Q10, GX40};
 
 class CameraBase {
 public:
   CameraBase(CameraType type=CameraType::NONE, int id=0);
   ~CameraBase();
-  void open(CameraType type=CameraType::WEBCAM, int id=0);
+  void open(CameraType type=CameraType::V4L2CAM, int id=0);
   bool read(cv::Mat& image);
   void release();
   
@@ -343,10 +347,14 @@ public:
   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);
@@ -369,12 +377,15 @@ protected:
   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;
 };
 
 
@@ -390,6 +401,16 @@ 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_world.h

@@ -7,6 +7,7 @@
 #include "sv_sot.h"
 #include "sv_mot.h"
 #include "sv_color_line.h"
+#include "sv_veri_det.h"
 #include "sv_video_input.h"
 #include "sv_video_output.h"
 

samples/SpireCVDet.cpp

@@ -18,9 +18,9 @@ const static int kInputH_HD = 1280;
 const static int kInputW_HD = 1280;
 const static int kOutputSize = kMaxNumOutputBbox * sizeof(Detection) / sizeof(float) + 1;
 
-bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bool& is_p6, float& gd, float& gw, std::string& img_dir, int& n_classes) {
+bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bool& is_p6, float& gd, float& gw, std::string& img_dir, int& n_classes, int& n_batch) {
   if (argc < 4) return false;
-  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 8)) {
+  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 7 || argc == 8)) {
     wts = std::string(argv[2]);
     engine = std::string(argv[3]);
     n_classes = atoi(argv[4]);
@@ -51,6 +51,9 @@ bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bo
     if (net.size() == 2 && net[1] == '6') {
       is_p6 = true;
     }
+    if (argc == 7) {
+      n_batch = atoi(argv[6]);
+    }
   } else {
     return false;
   }
@@ -99,18 +102,20 @@ int main(int argc, char** argv) {
   float gd = 0.0f, gw = 0.0f;
   std::string img_dir;
   int n_classes;
+  int n_batch = 1;
 
-  if (!parse_args(argc, argv, wts_name, engine_name, is_p6, gd, gw, img_dir, n_classes)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, is_p6, gd, gw, img_dir, n_classes, n_batch)) {
     std::cerr << "arguments not right!" << std::endl;
     std::cerr << "./SpireCVDet -s [.wts] [.engine] n_classes [n/s/m/l/x/n6/s6/m6/l6/x6 or c/c6 gd gw]  // serialize model to plan file" << std::endl;
     // std::cerr << "./SpireCVDet -d [.engine] ../images  // deserialize plan file and run inference" << std::endl;
     return -1;
   }
   std::cout << "n_classes: " << n_classes << std::endl;
+  std::cout << "max_batch: " << n_batch << std::endl;
 
   // Create a model using the API directly and serialize it to a file
   if (!wts_name.empty()) {
-    serialize_engine(kBatchSize, is_p6, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(n_batch, is_p6, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/SpireCVSeg.cpp

@@ -18,44 +18,47 @@ const static int kInputW = 640;
 const static int kOutputSize1 = kMaxNumOutputBbox * sizeof(Detection) / sizeof(float) + 1;
 const static int kOutputSize2 = 32 * (kInputH / 4) * (kInputW / 4);
 
-bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, float& gd, float& gw, std::string& img_dir, std::string& labels_filename, int& n_classes) {
-    if (argc < 4) return false;
-    if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 8)) {
-        wts = std::string(argv[2]);
-        engine = std::string(argv[3]);
-        n_classes = atoi(argv[4]);
-        if (n_classes < 1)
-          return false;
-        auto net = std::string(argv[5]);
-        if (net[0] == 'n') {
-            gd = 0.33;
-            gw = 0.25;
-        } else if (net[0] == 's') {
-            gd = 0.33;
-            gw = 0.50;
-        } else if (net[0] == 'm') {
-            gd = 0.67;
-            gw = 0.75;
-        } else if (net[0] == 'l') {
-            gd = 1.0;
-            gw = 1.0;
-        } else if (net[0] == 'x') {
-            gd = 1.33;
-            gw = 1.25;
-        } else if (net[0] == 'c' && argc == 8) {
-            gd = atof(argv[6]);
-            gw = atof(argv[7]);
-        } else {
-            return false;
-        }
-    } else if (std::string(argv[1]) == "-d" && argc == 5) {
-        engine = std::string(argv[2]);
-        img_dir = std::string(argv[3]);
-        labels_filename = std::string(argv[4]);
+bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, float& gd, float& gw, std::string& img_dir, std::string& labels_filename, int& n_classes, int& n_batch) {
+  if (argc < 4) return false;
+  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 7 || argc == 8)) {
+    wts = std::string(argv[2]);
+    engine = std::string(argv[3]);
+    n_classes = atoi(argv[4]);
+    if (n_classes < 1)
+      return false;
+    auto net = std::string(argv[5]);
+    if (net[0] == 'n') {
+      gd = 0.33;
+      gw = 0.25;
+    } else if (net[0] == 's') {
+      gd = 0.33;
+      gw = 0.50;
+    } else if (net[0] == 'm') {
+      gd = 0.67;
+      gw = 0.75;
+    } else if (net[0] == 'l') {
+      gd = 1.0;
+      gw = 1.0;
+    } else if (net[0] == 'x') {
+      gd = 1.33;
+      gw = 1.25;
+    } else if (net[0] == 'c' && argc == 8) {
+      gd = atof(argv[6]);
+      gw = atof(argv[7]);
     } else {
-        return false;
+      return false;
     }
-    return true;
+    if (argc == 7) {
+      n_batch = atoi(argv[6]);
+    }
+  } else if (std::string(argv[1]) == "-d" && argc == 5) {
+    engine = std::string(argv[2]);
+    img_dir = std::string(argv[3]);
+    labels_filename = std::string(argv[4]);
+  } else {
+    return false;
+  }
+  return true;
 }
 
 
@@ -98,19 +101,21 @@ int main(int argc, char** argv) {
   std::string labels_filename = "";
   float gd = 0.0f, gw = 0.0f;
   int n_classes;
+  int n_batch = 1;
 
   std::string img_dir;
-  if (!parse_args(argc, argv, wts_name, engine_name, gd, gw, img_dir, labels_filename, n_classes)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, gd, gw, img_dir, labels_filename, n_classes, n_batch)) {
     std::cerr << "arguments not right!" << std::endl;
     std::cerr << "./SpireCVSeg -s [.wts] [.engine] n_classes [n/s/m/l/x or c gd gw]  // serialize model to plan file" << std::endl;
     // std::cerr << "./SpireCVSeg -d [.engine] ../images coco.txt  // deserialize plan file, read the labels file and run inference" << std::endl;
     return -1;
   }
   std::cout << "n_classes: " << n_classes << std::endl;
+  std::cout << "max_batch: " << n_batch << std::endl;
 
   // Create a model using the API directly and serialize it to a file
   if (!wts_name.empty()) {
-    serialize_engine(kBatchSize, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(n_batch, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/calib/calibrate_camera_charuco.cpp

@@ -36,6 +36,7 @@ the use of this software, even if advised of the possibility of such damage.
 #include <opencv2/imgproc.hpp>
 #include <vector>
 #include <iostream>
+#include <sv_world.h>
 #include "aruco_samples_utility.hpp"
 
 using namespace std;
@@ -58,7 +59,10 @@ const char* keys  =
         "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
         "{cd       |       | Input file with custom dictionary }"
         "{@outfile |<none> | Output file with calibrated camera parameters }"
-        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{imh      |       | Camera Image Height }"
+        "{imw      |       | Camera Image Width }"
+        "{fps      |       | Camera FPS }"
+        "{tp       |       | 1:WEBCAM, 2:V4L2CAM, 3:G1, 4:Q10, 5:MIPI, 6:GX40 }"
         "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
         "{dp       |       | File of marker detector parameters }"
         "{rs       | false | Apply refind strategy }"
@@ -107,31 +111,47 @@ int main(int argc, char *argv[]) {
 
     bool refindStrategy = parser.get<bool>("rs");
     int camId = parser.get<int>("ci");
-    String video;
+    int imW = 800;
+    int imH = 600;
+    int fps = 30;
+    int tp = 1;
 
-    if(parser.has("v")) {
-        video = parser.get<String>("v");
+    if(parser.has("imh")) {
+        imH = parser.get<int>("imh");
     }
+    if(parser.has("imw")) {
+        imW = parser.get<int>("imw");
+    }
+    if(parser.has("fps")) {
+        fps = parser.get<int>("fps");
+    }
+    if(parser.has("tp")) {
+        tp = parser.get<int>("tp");
+    }
+    sv::CameraType c_type = sv::CameraType::WEBCAM;
+    if (2 == tp)
+      c_type = sv::CameraType::V4L2CAM;
+    else if (3 == tp)
+      c_type = sv::CameraType::G1;
+    else if (4 == tp)
+      c_type = sv::CameraType::Q10;
+    else if (5 == tp)
+      c_type = sv::CameraType::MIPI;
+    else if (6 == tp)
+      c_type = sv::CameraType::GX40;
 
     if(!parser.check()) {
         parser.printErrors();
         return 0;
     }
 
-    VideoCapture inputVideo;
-   
-   
-    int waitTime;
-    if(!video.empty()) {
-        inputVideo.open(video);
-        waitTime = 0;
-    } else {
-        inputVideo.open(camId);
-        waitTime = 10;
-    }
-    
+    // VideoCapture inputVideo;
+    sv::Camera inputVideo;
+    inputVideo.setWH(imW, imH);
+    inputVideo.setFps(fps);
+    inputVideo.open(c_type, camId);
   
-    
+    int waitTime = 10;
 
     aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
     if (parser.has("d")) {
@@ -161,11 +181,9 @@ int main(int argc, char *argv[]) {
     vector< Mat > allImgs;
     Size imgSize;
 
-    while(inputVideo.grab()) {
+    while(1) {
         Mat image, imageCopy;
-        inputVideo.retrieve(image);
-        cv::resize(image, image, cv::Size(640, 480));
-       
+        inputVideo.read(image);
 
         vector< int > ids;
         vector< vector< Point2f > > corners, rejected;

samples/calib/create_marker.cpp

@@ -0,0 +1,256 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace cv;
+
+namespace {
+const char* about = "Create an ArUco marker image";
+
+//! [aruco_create_markers_keys]
+const char* keys  =
+    "{@outfile |<none> | Output image }"
+    "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+    "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+    "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+    "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+    "{cd       |       | Input file with custom dictionary }"
+    "{id       |       | Marker id in the dictionary }"
+    "{ms       | 200   | Marker size in pixels }"
+    "{bs       | 50    | Border size in pixels }"
+    "{lp       | 50    | Landing Pad Unit in pixels }"
+    "{bb       | 1     | Number of bits in marker borders }"
+    "{si       | false | show generated image }";
+}
+//! [aruco_create_markers_keys]
+
+
+Mat create_marker_with_borders(aruco::Dictionary& dictionary, int markerId, int markerSize, int borderBits, int borderSize) {
+  Mat tmpImg;
+  aruco::generateImageMarker(dictionary, markerId, markerSize, tmpImg, borderBits);
+  Mat tmpImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
+  tmpImg.copyTo(tmpImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
+  tmpImg = tmpImgCopy;
+  return tmpImg;
+}
+
+
+int main(int argc, char *argv[]) {
+  CommandLineParser parser(argc, argv, keys);
+  parser.about(about);
+
+  if(argc < 4) {
+    parser.printMessage();
+    return 0;
+  }
+
+  int markerId = parser.get<int>("id");
+  int borderBits = parser.get<int>("bb");
+  int markerSize = parser.get<int>("ms");
+  bool showImage = parser.get<bool>("si");
+
+  int borderSize = 0;
+  if (parser.has("bs")) {
+    borderSize = parser.get<int>("bs");
+  }
+  int landingPadUnit = 0;
+  if (parser.has("lp")) {
+    landingPadUnit = parser.get<int>("lp");
+    borderSize = landingPadUnit;
+    borderBits = 1;
+    markerSize = landingPadUnit * 4;
+  }
+
+  String out = parser.get<String>(0);
+
+  if(!parser.check()) {
+    parser.printErrors();
+    return 0;
+  }
+
+  aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
+  if (parser.has("d")) {
+    int dictionaryId = parser.get<int>("d");
+    dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
+  }
+  else if (parser.has("cd")) {
+    FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
+    bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
+    if(!readOk) {
+      std::cerr << "Invalid dictionary file" << std::endl;
+      return 0;
+    }
+  }
+  else {
+    std::cerr << "Dictionary not specified" << std::endl;
+    return 0;
+  }
+
+  Mat markerImg;
+  aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);
+  if (borderSize > 0) {
+    Mat markerImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
+    markerImg.copyTo(markerImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
+    markerImg = markerImgCopy;
+  }
+
+  if (landingPadUnit > 0) {
+    Mat markerImgBIG = Mat::ones(landingPadUnit * 62, landingPadUnit * 62, CV_8UC1) * 255;
+    // markerId = 0;
+    markerId --;
+    markerSize = landingPadUnit * 4;
+    borderSize = landingPadUnit;
+    int newSize = markerSize + borderSize * 2;
+
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18 + i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46 + i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 5 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 18 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 46 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 51 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 38 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 10 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 23, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 33, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 33, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 23, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 18, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 38, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 51, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 10, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 46, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10, landingPadUnit * 28, newSize, newSize)));
+    
+    // markerId = 90;
+    markerSize = landingPadUnit * 4 * 4;
+    borderSize = landingPadUnit * 4;
+    newSize = markerSize + borderSize * 2;
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
+
+    markerImg = Mat::ones(landingPadUnit * 64, landingPadUnit * 64, CV_8UC1) * 255;
+    markerImgBIG.copyTo(markerImg(Rect(landingPadUnit, landingPadUnit, landingPadUnit * 62, landingPadUnit * 62)));
+  }
+
+  if(showImage) {
+    imshow("marker", markerImg);
+    waitKey(0);
+  }
+
+  imwrite(out, markerImg);
+
+  return 0;
+}
+

samples/demo/aruco_detection.cpp

@@ -9,13 +9,14 @@ 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");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 2);  // CameraID 0
+  cap.setWH(ad.image_width, ad.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // 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/aruco_detection_with_single_object_tracking.cpp

@@ -1,173 +0,0 @@
-
-#include <iostream>
-#include <string>
-// 包含SpireCV SDK头文件
-#include <sv_world.h>
-
-using namespace std;
-
-// 定义窗口名称
-static const std::string RGB_WINDOW = "Image window";
-// 框选到的矩形
-cv::Rect rect_sel;
-// 框选起始点
-cv::Point pt_origin;
-// 是否按下左键
-bool b_clicked = false;
-// 是否得到一个新的框选区域
-bool b_renew_ROI = false;
-// 是否开始跟踪
-bool b_begin_TRACK = false;
-// 实现框选逻辑的回调函数
-void onMouse(int event, int x, int y, int, void*);
-
-int main(int argc, char *argv[]) {
-  // 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/calib_webcam_640x480.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
-  
-  // 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_640x480.yaml");
-
-  // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(640, 480);
-  cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 2);  // 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;
-  int frame_id = 0;
-  while (1)
-  {
-    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-    sv::TargetsInFrame tgts(frame_id++);
-    // 读取一帧图像到img
-    cap.read(img);
-    cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-
-    // 开始 单目标跟踪 逻辑
-    // 是否有新的目标被手动框选
-    if (b_renew_ROI)
-    {
-      // 拿新的框选区域 来 初始化跟踪器
-      sot.init(img, rect_sel);
-      // std::cout << rect_sel << std::endl;
-      // 重置框选标志
-      b_renew_ROI = false;
-      // 开始跟踪
-      b_begin_TRACK = true;
-    }
-    else if (b_begin_TRACK)
-    {
-      // 以前一帧的结果继续跟踪
-      sot.track(img, tgts);
-
-      // 执行Aruco二维码检测
-      ad.detect(img, tgts);
-
-      // 可视化检测结果，叠加到img上
-      sv::drawTargetsInFrame(img, tgts);
-
-      // 控制台打印 单目标跟踪 结果
-      printf("Frame-[%d]\n", frame_id);
-      // 打印当前检测的FPS
-      printf("  FPS = %.2f\n", tgts.fps);
-      // 打印当前相机的视场角（degree）
-      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-      // 打印当前输入图像的像素宽度和高度
-      printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
-      if (tgts.targets.size() > 0)
-      {
-        printf("Frame-[%d]\n", frame_id);
-        // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]，以及cx，cy的像素值
-        printf("  Tracking Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-          tgts.targets[0].cx, tgts.targets[0].cy,
-          int(tgts.targets[0].cx * tgts.width),
-          int(tgts.targets[0].cy * tgts.height));
-        // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]，以及w，h的像素值
-        printf("  Tracking Size (w, h) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-          tgts.targets[0].w, tgts.targets[0].h,
-          int(tgts.targets[0].w * tgts.width),
-          int(tgts.targets[0].h * tgts.height));
-        // 打印 跟踪目标 的视线角，跟相机视场相关
-        printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-         
-          for (int i=0; i<tgts.targets.size(); i++)
-      {
-        printf("Frame-[%d], Aruco-[%d]\n", frame_id, i);
-        // 打印每个二维码的中心位置，cx，cy的值域为[0, 1]，以及cx，cy的像素值
-        printf("  Aruco Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-          tgts.targets[i].cx, tgts.targets[i].cy,
-          int(tgts.targets[i].cx * tgts.width),
-          int(tgts.targets[i].cy * tgts.height));
-        // 打印每个二维码的外接矩形框的宽度、高度，w，h的值域为(0, 1]，以及w，h的像素值
-        printf("  Aruco Size (w, h) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-          tgts.targets[i].w, tgts.targets[i].h,
-          int(tgts.targets[i].w * tgts.width),
-          int(tgts.targets[i].h * tgts.height));
-        // 打印每个二维码的方位角，值域为[-180, 180]
-        printf("  Aruco Yaw-angle = %.2f\n", tgts.targets[i].yaw_a);
-        // 打印每个二维码的类别，字符串类型，"aruco-?"
-        printf("  Aruco Category = %s\n", tgts.targets[i].category.c_str());
-        // 打印每个二维码的ID号
-        printf("  Aruco Tracked-ID = %d\n", tgts.targets[i].tracked_id);
-        // 打印每个二维码的视线角，跟相机视场相关
-        printf("  Aruco Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
-        // 打印每个二维码的3D位置（在相机坐标系下），跟二维码实际边长、相机参数相关
-        printf("  Aruco Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-      }
-      }
-
-    }
-    
-    // 显示检测结果img
-    cv::imshow(RGB_WINDOW, img);
-    cv::waitKey(1);
-  }
-
-  return 0;
-}
-
-void onMouse(int event, int x, int y, int, void*)
-{
-  if (b_clicked)
-  {
-    // 更新框选区域坐标
-    rect_sel.x = MIN(pt_origin.x, x);        
-    rect_sel.y = MIN(pt_origin.y, y);
-    rect_sel.width = abs(x - pt_origin.x);   
-    rect_sel.height = abs(y - pt_origin.y);
-  }
-  // 左键按下
-  if (event == cv::EVENT_LBUTTONDOWN)
-  {
-    b_begin_TRACK = false;  
-    b_clicked = true; 
-    pt_origin = cv::Point(x, y);       
-    rect_sel = cv::Rect(x, y, 0, 0);  
-  }
-  // 左键松开
-  else if (event == cv::EVENT_LBUTTONUP)
-  {
-    // 框选区域需要大于8x8像素
-    if (rect_sel.width * rect_sel.height < 64)
-    {
-      ;
-    }
-    else
-    {
-      b_clicked = false;
-      b_renew_ROI = true;    
-    } 
-  }
-}

samples/demo/camera_reading.cpp

@@ -10,7 +10,7 @@ int main(int argc, char *argv[]) {
   sv::Camera cap;
   cap.setWH(1280, 720);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 2);  // CameraID 0
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)
@@ -20,8 +20,9 @@ int main(int argc, char *argv[]) {
 
     // 显示img
     cv::imshow("img", img);
-    cv::waitKey(1);
+    cv::waitKey(10);
   }
 
   return 0;
 }
+

samples/demo/car_detection_with_tracking.cpp

@@ -1,193 +0,0 @@
-#include <iostream>
-#include <string>
-// 包含SpireCV SDK头文件
-#include <sv_world.h>
-
-using namespace std;
-
-// 定义窗口名称
-static const std::string RGB_WINDOW = "Image window";
-// 框选到的矩形
-cv::Rect rect_sel;
-// 框选起始点
-cv::Point pt_origin;
-
-// 是否得到一个新的框选区域
-bool b_renew_ROI = false;
-// 是否开始跟踪
-bool b_begin_TRACK = false;
-// 实现框选逻辑的回调函数
-void onMouse(int event, int x, int y, int, void*);
-
-
-struct node {
-  double x,y;
-};
-node p1,p2,p3,p4;
-node p;
-double getCross(node p1, node p2, node p) {
-  return (p2.x-p1.x)*(p.y-p1.y)-(p.x-p1.x)*(p2.y-p1.y);
-}
-bool b_clicked =false;
-bool detect_tracking =true;
-
-
-int main(int argc, char *argv[]) {
-  // 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/calib_webcam_640x480.yaml");
-
-
-  sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-
-
-  // 打开摄像头
-  sv::Camera cap;
-  cap.setWH(640, 480);
-  cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 2);  // 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;
-  int frame_id = 0;
-  while (1)
-  {
-    if (detect_tracking == true) {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      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));
-
-      // 执行通用目标检测
-      cod.detect(img, tgts);
-
-      // 可视化检测结果，叠加到img上
-      sv::drawTargetsInFrame(img, tgts);
-
-      // 控制台打印通用目标检测结果
-      printf("Frame-[%d]\n", frame_id);
-      // 打印当前检测的FPS
-      printf("  FPS = %.2f\n", tgts.fps);
-      // 打印当前相机的视场角（degree）
-      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-      for (int i=0; i<tgts.targets.size(); i++)
-      {
-        printf("Frame-[%d], Object-[%d]\n", frame_id, i);
-        // 打印每个目标的中心位置，cx，cy的值域为[0, 1] 
-        printf("  Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
-        // 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1] 
-        printf("  Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
-        // 打印每个目标的置信度
-        printf("  Object Score = %.3f\n", tgts.targets[i].score);
-        // 打印每个目标的类别，字符串类型
-        printf("  Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
-        // 打印每个目标的视线角，跟相机视场相关
-        printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
-        // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
-        printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-        p1.x = tgts.targets[i].cx * tgts.width  - tgts.targets[i].w * tgts.width  / 2;
-        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p2.x = tgts.targets[i].cx * tgts.width  + tgts.targets[i].w * tgts.width  / 2;
-        p2.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p4.x = tgts.targets[i].cx * tgts.width  - tgts.targets[i].w * tgts.width  / 2;
-        p4.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p3.x = tgts.targets[i].cx * tgts.width  + tgts.targets[i].w * tgts.width  / 2;
-        p3.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p.x = pt_origin.x;
-        p.y = pt_origin.y;
-        std::cout << "p.x " << p.x << "\t" << "p.y " << p.y << std::endl;
-        if (getCross(p1, p2, p) * getCross(p3, p4, p) >= 0 && getCross(p2, p3, p) * getCross(p4, p1, p) >= 0) {
-          b_begin_TRACK = false;  
-          detect_tracking = false;
-          // pt_origin = cv::Point(nor_x, nor_p_y); 
-          // std::cout << "pt_origin  " <<nor_x<<"/t"<<nor_p_y<< std::endl;      
-          rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);  
-          // std::cout << rect_sel << std::endl;
-          b_renew_ROI = true;
-          frame_id = 0;
-          printf("rect_sel Yes\n");
-        }
-        else {
-          printf("rect_sel No\n");
-        }
-      }
-    }
-    else {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
-      cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-      // 开始 单目标跟踪 逻辑
-      // 是否有新的目标被手动框选
-      if (b_renew_ROI)
-      {
-        // 拿新的框选区域 来 初始化跟踪器
-        sot.init(img, rect_sel);
-        // std::cout << rect_sel << std::endl;
-        // 重置框选标志
-        b_renew_ROI = false;
-        // 开始跟踪
-        b_begin_TRACK = true;
-      }
-      else if (b_begin_TRACK)
-      {
-        // 以前一帧的结果继续跟踪
-        sot.track(img, tgts);
-        // 可视化检测结果，叠加到img上
-        sv::drawTargetsInFrame(img, tgts);
-        // 控制台打印 单目标跟踪 结果
-        printf("Frame-[%d]\n", frame_id);
-        // 打印当前检测的FPS
-        printf("  FPS = %.2f\n", tgts.fps);
-        // 打印当前相机的视场角（degree）
-        printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-        if (tgts.targets.size() > 0)
-        {
-          printf("Frame-[%d]\n", frame_id);
-          // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1] 
-          printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-          // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1] 
-          printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-          // 打印 跟踪目标 的视线角，跟相机视场相关
-          printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-        }
-      }
-    }//end of tracking     
-    // 显示检测结果img
-    cv::imshow(RGB_WINDOW, img);
-    cv::waitKey(1);
-  }
-  return 0;
-}
-
-void onMouse(int event, int x, int y, int, void*)
-{
-  if (b_clicked)
-  {
-    // 更新框选区域坐标
-    pt_origin.x = 0;
-    pt_origin.y = 0;
-  }
-  // 左键按下
-  if (event == cv::EVENT_LBUTTONDOWN)
-  {
-    detect_tracking = true;
-    pt_origin = cv::Point(x, y);  
-  }
-
-  else if (event == cv::EVENT_RBUTTONDOWN)
-  {
-    detect_tracking = true;
-    b_renew_ROI = false;
-    b_begin_TRACK = false;
-    b_clicked = true;
-  }
-}

samples/demo/color_line_detect.cpp

@@ -11,13 +11,14 @@ 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/calib_webcam_640x480.yaml");
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cld.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.setWH(cld.image_width, cld.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // 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

@@ -9,13 +9,14 @@ 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/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
-  cap.setFps(60);
-  cap.open(sv::CameraType::WEBCAM, 2);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -65,7 +66,7 @@ int main(int argc, char *argv[]) {
     
     // 显示检测结果img
     cv::imshow("img", img);
-    cv::waitKey(1);
+    cv::waitKey(10);
   }
 
   return 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -40,19 +40,21 @@ 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/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/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 2);  // CameraID 0
-  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // 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/ellipse_detection.cpp

@@ -9,13 +9,14 @@ 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/calib_webcam_640x480.yaml");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ed.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
+  cap.setWH(ed.image_width, ed.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -63,7 +64,7 @@ int main(int argc, char *argv[]) {
     
     // 显示检测结果img
     cv::imshow("img", img);
-    cv::waitKey(1);
+    cv::waitKey(10);
   }
 
   return 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -2,35 +2,16 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
-using namespace std;
+#include <map>
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
-// 框选到的矩形
-cv::Rect rect_sel;
-// 框选起始点
-cv::Point pt_origin;
 
-// 是否得到一个新的框选区域
-bool b_renew_ROI = false;
-// 是否开始跟踪
-bool b_begin_TRACK = false;
 // 实现框选逻辑的回调函数
 void onMouse(int event, int x, int y, int, void *);
-
-struct node
-{
-  double x, y;
-};
-node p1, p2, p3, p4;
-node p;
-double getCross(node p1, node p2, node p)
-{
-  return (p2.x - p1.x) * (p.y - p1.y) - (p.x - p1.x) * (p2.y - p1.y);
-}
-bool b_clicked = false;
-bool detect_tracking = true;
+bool isTarck = false;
+bool isStartTarck = false;
+int clickX = -1, clickY = -1;
 
 // 定义吊舱
 sv::Gimbal *gimbal;
@@ -77,33 +58,93 @@ 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/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/calib_webcam_640x480.yaml");
+  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;
   int frame_id = 0;
+  sv::TargetsInFrame lastTgts(frame_id);
   while (1)
   {
-    if (detect_tracking == true)
+    // 如果位标非法 则不能进行任何形式的追踪
+    if (clickX == -1 || clickY == -1)
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
+      isStartTarck = false;
+      isTarck = false;
+    }
+
+    if (isStartTarck && !isTarck)
+    {
+      // 使用上一帧结果初始化追踪器
+      std::map<int, cv::Rect> inBoxList;
+
+      // 计算点击事件是否位于每个目标框内
+      for (int i = 0; i < lastTgts.targets.size(); i++)
+      {
+        int halfWidht = (lastTgts.targets[i].w * lastTgts.width) / 2;
+        int halfHeight = (lastTgts.targets[i].h * lastTgts.height) / 2;
+        int x = lastTgts.targets[i].cx * lastTgts.width;
+        int y = lastTgts.targets[i].cy * lastTgts.height;
+
+        int diffX = x - clickX;
+        int diffY = y - clickY;
+
+        if ((abs(diffX) < halfWidht) && (abs(diffY) < halfHeight))
+        {
+          std::pair<int, cv::Rect> point;
+          point.first = diffX * diffX + diffY * diffY;
+          point.second = cv::Rect(x - halfWidht, y - halfHeight, halfWidht * 2, halfHeight * 2);
+          inBoxList.insert(point);
+        }
+      }
+
+      // 取离中心点最近的目标进行跟踪
+      int min = 0X7FFFFFFF;
+      cv::Rect sel;
+      for (auto i = inBoxList.begin(); i != inBoxList.end(); i++)
+      {
+        if (i->first < min)
+        {
+          min = i->first;
+          sel = i->second;
+        }
+      }
+
+      // min被赋值则存在一个目标框与点击的点重合
+      if (min != 0X7FFFFFFF)
+      {
+        sot.init(img, sel);
+        isTarck = true;
+        printf("rect_sel Yes\n");
+      }
+      else
+      {
+        isTarck = false;
+        printf("rect_sel No\n");
+      }
+
+      isStartTarck = false;
+    }
+
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像
+    cap.read(img);
+
+    if (!isTarck)
+    {
+      // 缩放图像尺寸用于适配检测器
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-      // 执行通用目标检测
+      // 进行通用目标检测
       cod.detect(img, tgts);
-
       gimbalNoTrack();
 
-      // 可视化检测结果，叠加到img上
-      sv::drawTargetsInFrame(img, tgts);
-
-      // 控制台打印通用目标检测结果
+      // 向控制台输出检测结果
       printf("Frame-[%d]\n", frame_id);
       // 打印当前检测的FPS
       printf("  FPS = %.2f\n", tgts.fps);
@@ -124,109 +165,78 @@ int main(int argc, char *argv[])
         printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
         // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
         printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p2.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p2.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p4.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p4.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p3.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p3.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p.x = pt_origin.x;
-        p.y = pt_origin.y;
-        std::cout << "p.x " << p.x << "\t"
-                  << "p.y " << p.y << std::endl;
-        if (getCross(p1, p2, p) * getCross(p3, p4, p) >= 0 && getCross(p2, p3, p) * getCross(p4, p1, p) >= 0)
-        {
-          b_begin_TRACK = false;
-          detect_tracking = false;
-          // pt_origin = cv::Point(nor_x, nor_p_y);
-          // std::cout << "pt_origin  " <<nor_x<<"/t"<<nor_p_y<< std::endl;
-          rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
-          // std::cout << rect_sel << std::endl;
-          b_renew_ROI = true;
-          frame_id = 0;
-          printf("rect_sel Yes\n");
-        }
-        else
-        {
-          printf("rect_sel No\n");
-        }
       }
     }
     else
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
+      // 缩放图像尺寸用于适配追踪器
       cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-      // 开始 单目标跟踪 逻辑
-      // 是否有新的目标被手动框选
-      if (b_renew_ROI)
-      {
-        // 拿新的框选区域 来 初始化跟踪器
-        sot.init(img, rect_sel);
-        // std::cout << rect_sel << std::endl;
-        // 重置框选标志
-        b_renew_ROI = false;
-        // 开始跟踪
-        b_begin_TRACK = true;
-      }
-      else if (b_begin_TRACK)
-      {
-        // 以前一帧的结果继续跟踪
-        sot.track(img, tgts);
-        gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
 
-        // 可视化检测结果，叠加到img上
-        sv::drawTargetsInFrame(img, tgts);
-        // 控制台打印 单目标跟踪 结果
+      // 图像追踪
+      sot.track(img, tgts);
+
+      // 吊舱追踪
+      gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
+
+      // 向控制台输出追踪结果
+      printf("Frame-[%d]\n", frame_id);
+      // 打印当前检测的FPS
+      printf("  FPS = %.2f\n", tgts.fps);
+      // 打印当前相机的视场角（degree）
+      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+      if (tgts.targets.size() > 0)
+      {
         printf("Frame-[%d]\n", frame_id);
-        // 打印当前检测的FPS
-        printf("  FPS = %.2f\n", tgts.fps);
-        // 打印当前相机的视场角（degree）
-        printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-        if (tgts.targets.size() > 0)
-        {
-          printf("Frame-[%d]\n", frame_id);
-          // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
-          printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-          // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-          printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-          // 打印 跟踪目标 的视线角，跟相机视场相关
-          printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-        }
+        // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
+        printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
+        // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+        printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
+        // 打印 跟踪目标 的视线角，跟相机视场相关
+        printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
       }
-    } // end of tracking
+    }
+
+    // 叠加目标框至原始图像
+    sv::drawTargetsInFrame(img, tgts);
     // 显示检测结果img
     cv::imshow(RGB_WINDOW, img);
     cv::waitKey(10);
+
+    lastTgts = tgts;
   }
+
   return 0;
 }
 
 void onMouse(int event, int x, int y, int, void *)
 {
-  if (b_clicked)
+  // 左键点击 进入追踪模式
+  if (event == cv::MouseEventTypes::EVENT_LBUTTONDOWN)
   {
-    // 更新框选区域坐标
-    pt_origin.x = 0;
-    pt_origin.y = 0;
+    if (!isTarck && !isStartTarck)
+    {
+      clickX = x;
+      clickY = y;
+      isStartTarck = true;
+    }
   }
-  // 左键按下
-  if (event == cv::EVENT_LBUTTONDOWN)
+  // 右键点击 退出追踪模式
+  else if (event == cv::MouseEventTypes::EVENT_RBUTTONDOWN)
   {
-    detect_tracking = true;
-    pt_origin = cv::Point(x, y);
+    if (isTarck)
+    {
+      clickX = -1;
+      clickY = -1;
+      isTarck = false;
+    }
   }
-
-  else if (event == cv::EVENT_RBUTTONDOWN)
+  // 中键点击 归中（仅非追踪模式下有效）
+  else if (event == cv::MouseEventTypes::EVENT_MBUTTONDOWN)
   {
-    detect_tracking = true;
-    b_renew_ROI = false;
-    b_begin_TRACK = false;
-    b_clicked = true;
+    if (!isTarck)
+    {
+      gimbal->setHome();
+    }
   }
 }
 
@@ -248,4 +258,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_landing_marker_detection.cpp

@@ -58,7 +58,8 @@ 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");
+  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;
@@ -144,4 +145,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -7,8 +7,8 @@ using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
-                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
@@ -67,7 +67,8 @@ 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_640x480.yaml");
+  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
@@ -80,6 +81,8 @@ int main(int argc, char *argv[])
     // 读取一帧图像到img
     cap.read(img);
 
+    // std::cout << img.type() <<  std::endl;
+
     // 执行Aruco二维码检测
     ad.detect(img, tgts);
 

samples/demo/landing_marker_detection.cpp

@@ -9,13 +9,14 @@ 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_640x480.yaml");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(lmd.image_width, lmd.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // 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

@@ -9,17 +9,19 @@ 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/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   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/calib_webcam_640x480.yaml");
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   mot.init(&cod);
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(mot.image_width, mot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // 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

@@ -28,15 +28,15 @@ 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;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(sot.image_width, sot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // 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;
@@ -92,8 +92,6 @@ int main(int argc, char *argv[]) {
           int(tgts.targets[0].h * tgts.height));
         // 打印 跟踪目标 的视线角，跟相机视场相关
         printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-         // 打印每个二维码的3D位置（在相机坐标系下），跟二维码实际边长、相机参数相关
-        printf("  Tracking Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[0].px, tgts.targets[0].py, tgts.targets[0].pz);
       }
 
     }

samples/demo/udp_detection_info_receiver_by_airborne.cpp

@@ -0,0 +1,140 @@
+#include <iostream>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include <string.h>
+
+#define PORT 12346       // UDP端口号
+
+// 枚举定义消息类型
+enum MessageType {
+    TIMESTAMP = 0x00,
+    CLICK_COORDINATES = 0x01,
+    TARGET_BOX_COORDINATES = 0x02,
+    CLICK_COORDINATES_FRAME_ID = 0x03,
+    TARGET_BOX_COORDINATES_FRAME_ID = 0x04
+};
+
+// 定义消息结构体
+#pragma pack(1) // 使用1字节对齐方式
+struct Message {
+    unsigned char header[2];   // 帧头
+    unsigned char type;        // 消息类型
+    unsigned char reserved;    // 保留字段
+    unsigned int requestID;    // 请求ID
+    unsigned int dataLength;   // 数据长度
+    unsigned char* data;       // 数据段
+};
+#pragma pack() // 恢复默认对齐方式
+
+// 解析时间戳消息
+void parseTimestampMessage(unsigned char* data) {
+    unsigned short year = ntohs(*reinterpret_cast<unsigned short*>(data));
+    unsigned char month = *(data + 2);
+    unsigned char day = *(data + 3);
+    unsigned char hour = *(data + 4);
+    unsigned char minute = *(data + 5);
+    unsigned char second = *(data + 6);
+    unsigned short millisecond = ntohs(*reinterpret_cast<unsigned short*>(data + 7));
+
+    std::cout << "Timestamp: " << static_cast<int>(year) << "-" << static_cast<int>(month)
+              << "-" << static_cast<int>(day) << " " << static_cast<int>(hour) << ":"
+              << static_cast<int>(minute) << ":" << static_cast<int>(second) << "."
+              << static_cast<int>(millisecond) << std::endl;
+}
+
+// 解析点击坐标消息
+void parseClickCoordinatesMessage(unsigned char* data) {
+    float x = *reinterpret_cast<float*>(data);
+    float y = *reinterpret_cast<float*>(data + 4);
+
+    std::cout << "Click coordinates: (" << x << ", " << y << ")" << std::endl;
+}
+
+// 解析目标框坐标消息
+void parseTargetBoxCoordinatesMessage(unsigned char* data) {
+    float x1 = *reinterpret_cast<float*>(data);
+    float y1 = *reinterpret_cast<float*>(data + 4);
+    float x2 = *reinterpret_cast<float*>(data + 8);
+    float y2 = *reinterpret_cast<float*>(data + 12);
+
+    std::cout << "Target box coordinates: (" << x1 << ", " << y1 << ") - ("
+              << x2 << ", " << y2 << ")" << std::endl;
+}
+
+// 解析UDP数据包
+void parseUDPData(unsigned char* buffer, int length) {
+    if (length < 13) {
+        std::cout << "Invalid UDP data format" << std::endl;
+        return;
+    }
+
+    Message message;
+    memcpy(&message, buffer, sizeof(Message));
+
+    // 解析消息类型
+    MessageType messageType = static_cast<MessageType>(message.type);
+
+    // 根据消息类型处理数据
+    switch (messageType) {
+        case TIMESTAMP:
+            if (length != 9) {
+                std::cout << "Invalid timestamp message length" << std::endl;
+                return;
+            }
+            parseTimestampMessage(message.data);
+            break;
+        case CLICK_COORDINATES:
+            if (length != 13) {
+                std::cout << "Invalid click coordinates message length" << std::endl;
+                return;
+            }
+            parseClickCoordinatesMessage(message.data);
+            break;
+        case TARGET_BOX_COORDINATES:
+            if (length != 21) {
+                std::cout << "Invalid target box coordinates message length" << std::endl;
+                return;
+            }
+            parseTargetBoxCoordinatesMessage(message.data);
+            break;
+        default:
+            std::cout << "Unsupported message type" << std::endl;
+            break;
+    }
+}
+
+int main() {
+    int sockfd;
+    struct sockaddr_in servaddr, cliaddr;
+    unsigned char buffer[4096];
+
+    // 创建UDP套接字
+    sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+
+    memset(&servaddr, 0, sizeof(servaddr));
+    memset(&cliaddr, 0, sizeof(cliaddr));
+
+    servaddr.sin_family = AF_INET;
+    servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+    servaddr.sin_port = htons(PORT);
+
+    // 绑定UDP套接字到端口
+    bind(sockfd, (const struct sockaddr*)&servaddr, sizeof(servaddr));
+
+    while (true) {
+        socklen_t len = sizeof(cliaddr);
+
+        // 接收UDP数据包
+        ssize_t n = recvfrom(sockfd, buffer, sizeof(buffer), MSG_WAITALL,
+                             (struct sockaddr*)&cliaddr, &len);
+
+        // 解析UDP数据包
+        parseUDPData(buffer, n);
+    }
+
+    close(sockfd);
+
+    return 0;
+}

samples/demo/udp_detection_info_sender.cpp

@@ -9,13 +9,13 @@ 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_640x480.yaml");
+  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_1280x720.yaml");
   
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -0,0 +1,91 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+
+struct node
+{
+  double x, y;
+};
+
+node p1;
+
+// 框选到的矩形
+cv::Rect rect_sel;
+
+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");
+
+  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");
+
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
+  // 实例化OpenCV的Mat类，用于内存单帧图像
+  cv::Mat img;
+  int frame_id = 0;
+  while (1)
+  {
+
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    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));
+
+    // 执行通用目标检测
+    cod.detect(img, tgts);
+
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+
+    // 控制台打印通用目标检测结果
+    printf("Frame-[%d]\n", frame_id);
+    // 打印当前检测的FPS
+    printf("  FPS = %.2f\n", tgts.fps);
+    // 打印当前相机的视场角（degree）
+    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    for (int i = 0; i < tgts.targets.size(); i++)
+    {
+      printf("Frame-[%d], Object-[%d]\n", frame_id, i);
+      // 打印每个目标的中心位置，cx，cy的值域为[0, 1]
+      printf("  Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
+      // 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+      printf("  Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
+      // 打印每个目标的置信度
+      printf("  Object Score = %.3f\n", tgts.targets[i].score);
+      // 打印每个目标的类别，字符串类型
+      printf("  Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
+      // 打印每个目标的视线角，跟相机视场相关
+      printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+      // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
+      printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
+
+      if (tgts.targets[i].category_id == 2)
+      {
+        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+        rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
+        veri.detect(img, rect_sel, tgts.targets[i]);
+        // 打印每个目标的CosineSimilarity
+        printf("  CosineSimilarity Score = %.3f\n", tgts.targets[i].sim_score);
+      }
+    }
+
+    // 显示检测结果img
+    cv::imshow("img", img);
+    cv::waitKey(10);
+  }
+  return 0;
+}

samples/demo/video_saving.cpp

@@ -9,13 +9,14 @@ 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("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -23,7 +24,7 @@ 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("/home/amov/Videos", cv::Size(640, 480), 25, true);
+  vw.setup(sv::get_home() + "/Videos", cv::Size(cod.image_width, cod.image_height), 25, true);
 
   while (1)
   {
@@ -31,7 +32,7 @@ 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(640, 480));
+    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
     // 执行通用目标检测
     cod.detect(img, tgts);

samples/test/gimbal_test.cpp

@@ -0,0 +1,178 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+#include <chrono>
+
+// yaw roll pitch
+double gimbalEulerAngle[3];
+bool revFlag = false;
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
+                     double &fov_x, double &fov_y)
+{
+    revFlag = true;
+    gimbalEulerAngle[0] = imu_ang_r;
+    gimbalEulerAngle[1] = imu_ang_p;
+    gimbalEulerAngle[2] = frame_ang_y;
+}
+
+int main(int argc, char *argv[])
+{
+    std::cout << "start " << argv[0] << " ...." << std::endl;
+
+    if (argc != 3)
+    {
+        std::cout << "param error" << std::endl;
+        return -1;
+    }
+
+    sv::Gimbal gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
+
+    gimbal.setSerialPort(argv[1]);
+    if (!gimbal.open(gimableCallback))
+    {
+        std::cout << "IO open error" << std::endl;
+        return -1;
+    }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    if (!revFlag)
+    {
+        std::cout << "IO error,without data.failed !!!!!" << std::endl;
+        return -1;
+    }
+
+    std::cout << " start set home test " << std::endl;
+    gimbal.setHome();
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    for (uint8_t i = 0; i < 2; i++)
+    {
+        if (fabs(gimbalEulerAngle[i]) > 0.1f)
+        {
+            std::cout << " gimbal set home error , failed !!!!!" << std::endl;
+            std::cout << "YRP:" << gimbalEulerAngle[0] << std::endl
+                      << gimbalEulerAngle[1] << std::endl
+                      << gimbalEulerAngle[2] << std::endl;
+            return -1;
+        }
+    }
+    if (fabs(gimbalEulerAngle[2]) > 3.0f)
+    {
+        std::cout << " gimbal set angle error , failed !!!!!" << std::endl;
+        std::cout << "YRP:" << gimbalEulerAngle[0] << std::endl
+                  << gimbalEulerAngle[1] << std::endl
+                  << gimbalEulerAngle[2] << std::endl;
+        return -1;
+    }
+
+    std::cout << " pass... " << std::endl;
+    std::cout << " start set angle 1 test " << std::endl;
+
+    double angleSet[3] = {30, 90, 45};
+    gimbal.setAngleEuler(angleSet[0], angleSet[1], angleSet[2], 0, 0, 0);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    for (uint8_t i = 0; i < 3; i++)
+    {
+        if (fabs(gimbalEulerAngle[i] - angleSet[i]) > 1.0f)
+        {
+            std::cout << " gimbal set angle error , failed !!!!!" << std::endl;
+            std::cout << "YRP:" << gimbalEulerAngle[0] << std::endl
+                      << gimbalEulerAngle[1] << std::endl
+                      << gimbalEulerAngle[2] << std::endl;
+            return -1;
+        }
+    }
+
+    std::cout << " pass... " << std::endl;
+    std::cout << " start set angle 2 test " << std::endl;
+
+    angleSet[0] = -angleSet[0];
+    angleSet[1] = -30;
+    angleSet[2] = -angleSet[2];
+    gimbal.setAngleEuler(angleSet[0], angleSet[1], angleSet[2], 0, 0, 0);
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    for (uint8_t i = 0; i < 3; i++)
+    {
+        if (fabs(gimbalEulerAngle[i] - angleSet[i]) > 1.0f)
+        {
+            std::cout << " gimbal set angle error , failed !!!!!" << std::endl;
+            std::cout << "YRP:" << gimbalEulerAngle[0] << std::endl
+                      << gimbalEulerAngle[1] << std::endl
+                      << gimbalEulerAngle[2] << std::endl;
+            return -1;
+        }
+    }
+
+    std::cout << " pass... " << std::endl;
+    std::cout << " start set angle rate test " << std::endl;
+
+    gimbal.setHome();
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    angleSet[0] = 20;
+    angleSet[1] = 20;
+    angleSet[2] = 20;
+
+    for (uint8_t i = 0; i < 51; i++)
+    {
+        gimbal.setAngleRateEuler(angleSet[0], angleSet[1], angleSet[2]);
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+    }
+
+    gimbal.setAngleRateEuler(0, 0, 0);
+    std::this_thread::sleep_for(std::chrono::milliseconds(20));
+    for (uint8_t i = 0; i < 3; i++)
+    {
+        if (fabs(gimbalEulerAngle[i] - angleSet[i]) > 0.7f)
+        {
+            std::cout << " gimbal set angle rate error , failed !!!!!" << std::endl;
+            std::cout << "YRP:" << gimbalEulerAngle[0] << std::endl
+                      << gimbalEulerAngle[1] << std::endl
+                      << gimbalEulerAngle[2] << std::endl;
+            return -1;
+        }
+    }
+
+    gimbal.setHome();
+    std::cout << " pass... " << std::endl;
+    std::cout << " start image test " << std::endl;
+
+    sv::Camera cap;
+    cap.setIp(argv[2]);
+    cap.setWH(1280, 720);
+    cap.setFps(30);
+
+    cap.open(sv::CameraType::G1);
+
+    if (!cap.isRunning())
+    {
+        std::cout << " gimbal image error , failed !!!!!" << std::endl;
+        return -1;
+    }
+
+    cv::Mat img;
+    uint16_t count = 0;
+
+    for (uint16_t i = 0; i < 300; i++)
+    {
+        if (cap.read(img))
+        {
+            count++;
+            if (count > 10)
+            {
+                std::cout << " pass... " << std::endl;
+                return 0;
+            }
+        }
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+    std::cout << " gimbal image error , failed !!!!!" << std::endl;
+    return -1;
+}

scripts/common/configs-downloading.sh

@@ -0,0 +1,39 @@
+#!/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/common/ffmpeg425-install.sh

@@ -2,7 +2,7 @@
 
 
 sudo apt install -y \
-build-essential yasm cmake libtool libc6 libc6-dev unzip wget libfmt-dev \
+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
 
 root_dir=${HOME}"/SpireCV"
@@ -17,6 +17,7 @@ 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