.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)
@@ -69,14 +74,20 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1
   ${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/mot/sort
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/mot/bytetrack
   ${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/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -139,6 +150,8 @@ file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10/
 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})
 
@@ -171,6 +184,10 @@ file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/utils/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/mot/sort/*.cpp)
+list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/mot/bytetrack/*.cpp)
+list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 
 if(USE_CUDA)
   list(APPEND spirecv_SRCS algorithm/common_det/cuda/yolov7/preprocess.cu)
@@ -184,7 +201,23 @@ if(USE_CUDA)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
 
+if(USE_INTEL)
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+endif()
+
 if(USE_FFMPEG)
+  if(USE_INTEL)
+    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_intel/*.cpp)
+    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  elseif(USE_CUDA)
+    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_cuda/*.cpp)
+    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  endif()
   file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/*.cpp)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
@@ -228,10 +261,22 @@ 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()
 
@@ -260,6 +305,8 @@ add_executable(SingleObjectTracking samples/demo/single_object_tracking.cpp)
 target_link_libraries(SingleObjectTracking sv_world)
 add_executable(MultipleObjectTracking samples/demo/multiple_object_tracking.cpp)
 target_link_libraries(MultipleObjectTracking sv_world)
+add_executable(EvalMOTMetric samples/demo/eval_MOT_metric.cpp)
+target_link_libraries(EvalMOTMetric -lstdc++fs sv_world)
 add_executable(ColorLineDetection samples/demo/color_line_detect.cpp)
 target_link_libraries(ColorLineDetection sv_world)
 add_executable(UdpDetectionInfoReceiver samples/demo/udp_detection_info_receiver.cpp)
@@ -290,7 +337,9 @@ 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)
@@ -309,7 +358,7 @@ 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 +1,8 @@
 #include "common_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
+#include <iostream>
+#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -103,7 +105,7 @@ 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 +114,12 @@ 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 +131,13 @@ 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 +174,8 @@ 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 +186,51 @@ 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 +239,14 @@ 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 +260,102 @@ 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();
@@ -255,23 +364,62 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
   bool with_segmentation = base_->withSegmentation();
   double thrs_conf = base_->getThrsConf();
   double thrs_nms = base_->getThrsNms();
+  std::string model = base_->getModel();
+  int bs = base_->getBatchSize();
+  char bs_c[8];
+  sprintf(bs_c, "%d", bs);
+  std::string bs_s(bs_c);
 
   std::string engine_fn = get_home() + SV_MODEL_DIR + dataset + ".engine";
+  std::vector<std::string> files;
+  
+  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-" + dataset + "-yolov5" + model + "_b" + bs_s + "_c");
+  if (files.size() > 0)
+  {
+    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+    engine_fn = get_home() + SV_MODEL_DIR + files[0];
+  }
+
   if (input_w == 1280)
   {
-    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
+    files.clear();
+    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-" + dataset + "-yolov5" + model + "6_b" + bs_s + "_c");
+    if (files.size() > 0)
+    {
+      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+      engine_fn = get_home() + SV_MODEL_DIR + files[0];
+    }
+    else
+    {
+      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
+    }
   }
   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", "Nv-" + dataset + "-yolov5" + model + "_seg_b" + bs_s + "_c");
+    if (files.size() > 0)
+    {
+      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+      engine_fn = get_home() + SV_MODEL_DIR + files[0];
+    }
+    else
+    {
+      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
+    }
   }
   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));
@@ -282,29 +430,25 @@ 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
   return false;
 }
 
-
-
-
-
-
-
-
-
-
-
-
-
 }
 

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

algorithm/common_det/intel/common_det_intel_impl.h

@@ -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", "Nv-LandingMarker-resnet34");
+  if (files.size() > 0)
+  {
+    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+    trt_model_fn = get_home() + SV_MODEL_DIR + files[0];
+  }
+  std::cout << "Load: " << trt_model_fn << std::endl;
+
   if (!is_file_exist(trt_model_fn))
   {
     throw std::runtime_error("SpireCV (104) Error loading the LandingMarker TensorRT model (File Not Exist)");

algorithm/landing_det/intel/landing_det_intel_impl.cpp

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

algorithm/landing_det/intel/landing_det_intel_impl.h

@@ -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/bytetrack/BYTETracker.cpp

@@ -0,0 +1,262 @@
+
+#include "BYTETracker.h"
+#include <fstream>
+
+namespace sv
+{
+
+	BYTETracker::BYTETracker(int frame_rate, int track_buffer)
+	{
+		track_thresh = 0.5;
+		high_thresh = 0.6;
+		match_thresh = 0.8;
+
+		frame_id = 0;
+		max_time_lost = int(frame_rate / 30.0 * track_buffer);
+	}
+
+	BYTETracker::~BYTETracker()
+	{
+	}
+
+	void BYTETracker::update(TargetsInFrame &tgts)
+	{
+		////////////////// Step 1: Get detections //////////////////
+		this->frame_id++;
+		std::vector<STrack> activated_stracks;
+		std::vector<STrack> refind_stracks;
+		std::vector<STrack> removed_stracks;
+		std::vector<STrack> lost_stracks;
+		std::vector<STrack> detections;
+		std::vector<STrack> detections_low;
+
+		std::vector<STrack> detections_cp;
+		std::vector<STrack> tracked_stracks_swap;
+		std::vector<STrack> resa, resb;
+		std::vector<STrack> output_stracks;
+
+		std::vector<STrack *> unconfirmed;
+		std::vector<STrack *> tracked_stracks;
+		std::vector<STrack *> strack_pool;
+		std::vector<STrack *> r_tracked_stracks;
+
+		if (tgts.targets.size() > 0)
+		{
+			for (int i = 0; i < tgts.targets.size(); i++)
+			{
+
+				tgts.targets[i].tracked_id = 0;
+				tgts.targets[i].has_tid = true;
+
+				std::vector<float> tlbr_;
+				tlbr_.resize(4);
+				tlbr_[0] = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+				tlbr_[1] = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+				tlbr_[2] = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
+				tlbr_[3] = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
+
+				float score = tgts.targets[i].score;
+
+				STrack strack(STrack::tlbr_to_tlwh(tlbr_), score);
+				if (score >= track_thresh)
+				{
+					detections.push_back(strack);
+				}
+				else
+				{
+					detections_low.push_back(strack);
+				}
+			}
+		}
+
+		// Add newly detected tracklets to tracked_stracks
+		for (int i = 0; i < this->tracked_stracks.size(); i++)
+		{
+			if (!this->tracked_stracks[i].is_activated)
+				unconfirmed.push_back(&this->tracked_stracks[i]);
+			else
+				tracked_stracks.push_back(&this->tracked_stracks[i]);
+		}
+
+		////////////////// Step 2: First association, with IoU //////////////////
+		strack_pool = joint_stracks(tracked_stracks, this->lost_stracks);
+		STrack::multi_predict(strack_pool, this->kalman_filter);
+
+		std::vector<std::vector<float>> dists;
+		int dist_size = 0, dist_size_size = 0;
+		dists = iou_distance(strack_pool, detections, dist_size, dist_size_size);
+
+		std::vector<std::vector<int>> matches;
+		std::vector<int> u_track, u_detection;
+		linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection);
+
+		for (int i = 0; i < matches.size(); i++)
+		{
+			STrack *track = strack_pool[matches[i][0]];
+			STrack *det = &detections[matches[i][1]];
+			if (track->state == TrackState::Tracked)
+			{
+				track->update(*det, this->frame_id);
+				activated_stracks.push_back(*track);
+			}
+			else
+			{
+				track->re_activate(*det, this->frame_id, false);
+				refind_stracks.push_back(*track);
+			}
+		}
+
+		////////////////// Step 3: Second association, using low score dets //////////////////
+		for (int i = 0; i < u_detection.size(); i++)
+		{
+			detections_cp.push_back(detections[u_detection[i]]);
+		}
+		detections.clear();
+		detections.assign(detections_low.begin(), detections_low.end());
+
+		for (int i = 0; i < u_track.size(); i++)
+		{
+			if (strack_pool[u_track[i]]->state == TrackState::Tracked)
+			{
+				r_tracked_stracks.push_back(strack_pool[u_track[i]]);
+			}
+		}
+
+		dists.clear();
+		dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size);
+
+		matches.clear();
+		u_track.clear();
+		u_detection.clear();
+		linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection);
+
+		for (int i = 0; i < matches.size(); i++)
+		{
+			STrack *track = r_tracked_stracks[matches[i][0]];
+			STrack *det = &detections[matches[i][1]];
+			if (track->state == TrackState::Tracked)
+			{
+				track->update(*det, this->frame_id);
+				activated_stracks.push_back(*track);
+			}
+			else
+			{
+				track->re_activate(*det, this->frame_id, false);
+				refind_stracks.push_back(*track);
+			}
+		}
+
+		for (int i = 0; i < u_track.size(); i++)
+		{
+			STrack *track = r_tracked_stracks[u_track[i]];
+			if (track->state != TrackState::Lost)
+			{
+				track->mark_lost();
+				lost_stracks.push_back(*track);
+			}
+		}
+
+		// Deal with unconfirmed tracks, usually tracks with only one beginning frame
+		detections.clear();
+		detections.assign(detections_cp.begin(), detections_cp.end());
+
+		dists.clear();
+		dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size);
+
+		matches.clear();
+		std::vector<int> u_unconfirmed;
+		u_detection.clear();
+		linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection);
+
+		for (int i = 0; i < matches.size(); i++)
+		{
+			unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id);
+			activated_stracks.push_back(*unconfirmed[matches[i][0]]);
+		}
+
+		for (int i = 0; i < u_unconfirmed.size(); i++)
+		{
+			STrack *track = unconfirmed[u_unconfirmed[i]];
+			track->mark_removed();
+			removed_stracks.push_back(*track);
+		}
+
+		////////////////// Step 4: Init new stracks //////////////////
+		for (int i = 0; i < u_detection.size(); i++)
+		{
+			STrack *track = &detections[u_detection[i]];
+			if (track->score < this->high_thresh)
+				continue;
+			track->activate(this->kalman_filter, this->frame_id);
+			activated_stracks.push_back(*track);
+		}
+
+		////////////////// Step 5: Update state //////////////////
+		for (int i = 0; i < this->lost_stracks.size(); i++)
+		{
+			if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost)
+			{
+				this->lost_stracks[i].mark_removed();
+				removed_stracks.push_back(this->lost_stracks[i]);
+			}
+		}
+
+		for (int i = 0; i < this->tracked_stracks.size(); i++)
+		{
+			if (this->tracked_stracks[i].state == TrackState::Tracked)
+			{
+				tracked_stracks_swap.push_back(this->tracked_stracks[i]);
+			}
+		}
+		this->tracked_stracks.clear();
+		this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end());
+
+		this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks);
+		this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks);
+
+		// std::cout << activated_stracks.size() << std::endl;
+
+		this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks);
+		for (int i = 0; i < lost_stracks.size(); i++)
+		{
+			this->lost_stracks.push_back(lost_stracks[i]);
+		}
+
+		this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks);
+		for (int i = 0; i < removed_stracks.size(); i++)
+		{
+			this->removed_stracks.push_back(removed_stracks[i]);
+		}
+
+		remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks);
+
+		this->tracked_stracks.clear();
+		this->tracked_stracks.assign(resa.begin(), resa.end());
+		this->lost_stracks.clear();
+		this->lost_stracks.assign(resb.begin(), resb.end());
+
+		for (int i = 0; i < this->tracked_stracks.size(); i++)
+		{
+			if (this->tracked_stracks[i].is_activated)
+			{
+				output_stracks.push_back(this->tracked_stracks[i]);
+			}
+		}
+
+		tgts.targets.clear();
+
+		for (unsigned long i = 0; i < output_stracks.size(); i++)
+		{
+			std::vector<float> tlwh = output_stracks[i].tlwh;
+			bool vertical = tlwh[2] / tlwh[3] > 1.6;
+
+			if (tlwh[2] * tlwh[3] > 20 && !vertical)
+			{
+				Target tgt;
+				tgt.setBox(tlwh[0], tlwh[1], tlwh[0] + tlwh[2], tlwh[1] + tlwh[3], tgts.width, tgts.height);
+				tgt.setTrackID(output_stracks[i].track_id);
+				tgts.targets.push_back(tgt);
+			}
+		}
+	}
+}

algorithm/mot/bytetrack/BYTETracker.h

@@ -0,0 +1,56 @@
+#ifndef __SV_BYTETrack__
+#define __SV_BYTETrack__
+
+#include "sv_core.h"
+#include "STrack.h"
+
+class detect_result
+{
+public:
+    int classId;
+    float confidence;
+    cv::Rect_<float> box;
+};
+
+namespace sv {
+
+class BYTETracker
+{
+public:
+	BYTETracker(int frame_rate = 30, int track_buffer = 30);
+	~BYTETracker();
+
+	void  update(TargetsInFrame &tgts);
+    cv::Scalar get_color(int idx);
+
+private:
+	 std::vector<STrack*> joint_stracks( std::vector<STrack*> &tlista,  std::vector<STrack> &tlistb);
+	 std::vector<STrack> joint_stracks( std::vector<STrack> &tlista,  std::vector<STrack> &tlistb);
+
+	 std::vector<STrack> sub_stracks( std::vector<STrack> &tlista,  std::vector<STrack> &tlistb);
+	void remove_duplicate_stracks( std::vector<STrack> &resa,  std::vector<STrack> &resb,  std::vector<STrack> &stracksa,  std::vector<STrack> &stracksb);
+
+	void linear_assignment( std::vector< std::vector<float> > &cost_matrix, int cost_matrix_size, int cost_matrix_size_size, float thresh,
+		 std::vector< std::vector<int> > &matches,  std::vector<int> &unmatched_a,  std::vector<int> &unmatched_b);
+	 std::vector< std::vector<float> > iou_distance( std::vector<STrack*> &atracks,  std::vector<STrack> &btracks, int &dist_size, int &dist_size_size);
+	 std::vector< std::vector<float> > iou_distance( std::vector<STrack> &atracks,  std::vector<STrack> &btracks);
+	 std::vector< std::vector<float> > ious( std::vector< std::vector<float> > &atlbrs,  std::vector< std::vector<float> > &btlbrs);
+
+	double lapjv(const  std::vector< std::vector<float> > &cost,  std::vector<int> &rowsol,  std::vector<int> &colsol, 
+		bool extend_cost = false, float cost_limit = LONG_MAX, bool return_cost = true);
+
+private:
+
+	float track_thresh;
+	float high_thresh;
+	float match_thresh;
+	int frame_id;
+	int max_time_lost;
+
+	std::vector<STrack> tracked_stracks;
+	std::vector<STrack> lost_stracks;
+	std::vector<STrack> removed_stracks;
+	byte_kalman::ByteKalmanFilter kalman_filter;
+};
+}
+#endif

algorithm/mot/bytetrack/BytekalmanFilter.cpp

@@ -0,0 +1,152 @@
+#include "BytekalmanFilter.h"
+#include <Eigen/Cholesky>
+
+namespace byte_kalman
+{
+	const double ByteKalmanFilter::chi2inv95[10] = {
+	0,
+	3.8415,
+	5.9915,
+	7.8147,
+	9.4877,
+	11.070,
+	12.592,
+	14.067,
+	15.507,
+	16.919
+	};
+	ByteKalmanFilter::ByteKalmanFilter()
+	{
+		int ndim = 4;
+		double dt = 1.;
+
+		_motion_mat = Eigen::MatrixXf::Identity(8, 8);
+		for (int i = 0; i < ndim; i++) {
+			_motion_mat(i, ndim + i) = dt;
+		}
+		_update_mat = Eigen::MatrixXf::Identity(4, 8);
+
+		this->_std_weight_position = 1. / 20;
+		this->_std_weight_velocity = 1. / 160;
+	}
+
+	KAL_DATA ByteKalmanFilter::initiate(const DETECTBOX &measurement)
+	{
+		DETECTBOX mean_pos = measurement;
+		DETECTBOX mean_vel;
+		for (int i = 0; i < 4; i++) mean_vel(i) = 0;
+
+		KAL_MEAN mean;
+		for (int i = 0; i < 8; i++) {
+			if (i < 4) mean(i) = mean_pos(i);
+			else mean(i) = mean_vel(i - 4);
+		}
+
+		KAL_MEAN std;
+		std(0) = 2 * _std_weight_position * measurement[3];
+		std(1) = 2 * _std_weight_position * measurement[3];
+		std(2) = 1e-2;
+		std(3) = 2 * _std_weight_position * measurement[3];
+		std(4) = 10 * _std_weight_velocity * measurement[3];
+		std(5) = 10 * _std_weight_velocity * measurement[3];
+		std(6) = 1e-5;
+		std(7) = 10 * _std_weight_velocity * measurement[3];
+
+		KAL_MEAN tmp = std.array().square();
+		KAL_COVA var = tmp.asDiagonal();
+		return std::make_pair(mean, var);
+	}
+
+	void ByteKalmanFilter::predict(KAL_MEAN &mean, KAL_COVA &covariance)
+	{
+		//revise the data;
+		DETECTBOX std_pos;
+		std_pos << _std_weight_position * mean(3),
+			_std_weight_position * mean(3),
+			1e-2,
+			_std_weight_position * mean(3);
+		DETECTBOX std_vel;
+		std_vel << _std_weight_velocity * mean(3),
+			_std_weight_velocity * mean(3),
+			1e-5,
+			_std_weight_velocity * mean(3);
+		KAL_MEAN tmp;
+		tmp.block<1, 4>(0, 0) = std_pos;
+		tmp.block<1, 4>(0, 4) = std_vel;
+		tmp = tmp.array().square();
+		KAL_COVA motion_cov = tmp.asDiagonal();
+		KAL_MEAN mean1 = this->_motion_mat * mean.transpose();
+		KAL_COVA covariance1 = this->_motion_mat * covariance *(_motion_mat.transpose());
+		covariance1 += motion_cov;
+
+		mean = mean1;
+		covariance = covariance1;
+	}
+
+	KAL_HDATA ByteKalmanFilter::project(const KAL_MEAN &mean, const KAL_COVA &covariance)
+	{
+		DETECTBOX std;
+		std << _std_weight_position * mean(3), _std_weight_position * mean(3),
+			1e-1, _std_weight_position * mean(3);
+		KAL_HMEAN mean1 = _update_mat * mean.transpose();
+		KAL_HCOVA covariance1 = _update_mat * covariance * (_update_mat.transpose());
+		Eigen::Matrix<float, 4, 4> diag = std.asDiagonal();
+		diag = diag.array().square().matrix();
+		covariance1 += diag;
+		//    covariance1.diagonal() << diag;
+		return std::make_pair(mean1, covariance1);
+	}
+
+	KAL_DATA
+		ByteKalmanFilter::update(
+			const KAL_MEAN &mean,
+			const KAL_COVA &covariance,
+			const DETECTBOX &measurement)
+	{
+		KAL_HDATA pa = project(mean, covariance);
+		KAL_HMEAN projected_mean = pa.first;
+		KAL_HCOVA projected_cov = pa.second;
+
+		//chol_factor, lower =
+		//scipy.linalg.cho_factor(projected_cov, lower=True, check_finite=False)
+		//kalmain_gain =
+		//scipy.linalg.cho_solve((cho_factor, lower),
+		//np.dot(covariance, self._upadte_mat.T).T,
+		//check_finite=False).T
+		Eigen::Matrix<float, 4, 8> B = (covariance * (_update_mat.transpose())).transpose();
+		Eigen::Matrix<float, 8, 4> kalman_gain = (projected_cov.llt().solve(B)).transpose(); // eg.8x4
+		Eigen::Matrix<float, 1, 4> innovation = measurement - projected_mean; //eg.1x4
+		auto tmp = innovation * (kalman_gain.transpose());
+		KAL_MEAN new_mean = (mean.array() + tmp.array()).matrix();
+		KAL_COVA new_covariance = covariance - kalman_gain * projected_cov*(kalman_gain.transpose());
+		return std::make_pair(new_mean, new_covariance);
+	}
+
+	Eigen::Matrix<float, 1, -1>
+		ByteKalmanFilter::gating_distance(
+			const KAL_MEAN &mean,
+			const KAL_COVA &covariance,
+			const std::vector<DETECTBOX> &measurements,
+			bool only_position)
+	{
+		KAL_HDATA pa = this->project(mean, covariance);
+		if (only_position) {
+			printf("not implement!");
+			exit(0);
+		}
+		KAL_HMEAN mean1 = pa.first;
+		KAL_HCOVA covariance1 = pa.second;
+
+		//    Eigen::Matrix<float, -1, 4, Eigen::RowMajor> d(size, 4);
+		DETECTBOXSS d(measurements.size(), 4);
+		int pos = 0;
+		for (DETECTBOX box : measurements) {
+			d.row(pos++) = box - mean1;
+		}
+		Eigen::Matrix<float, -1, -1, Eigen::RowMajor> factor = covariance1.llt().matrixL();
+		Eigen::Matrix<float, -1, -1> z = factor.triangularView<Eigen::Lower>().solve<Eigen::OnTheRight>(d).transpose();
+		auto zz = ((z.array())*(z.array())).matrix();
+		auto square_maha = zz.colwise().sum();
+		return square_maha;
+	}
+}

algorithm/mot/bytetrack/BytekalmanFilter.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "dataType.h"
+
+namespace byte_kalman
+{
+	class ByteKalmanFilter
+	{
+	public:
+		static const double chi2inv95[10];
+		ByteKalmanFilter();
+		KAL_DATA initiate(const DETECTBOX& measurement);
+		void predict(KAL_MEAN& mean, KAL_COVA& covariance);
+		KAL_HDATA project(const KAL_MEAN& mean, const KAL_COVA& covariance);
+		KAL_DATA update(const KAL_MEAN& mean,
+			const KAL_COVA& covariance,
+			const DETECTBOX& measurement);
+
+		Eigen::Matrix<float, 1, -1> gating_distance(
+			const KAL_MEAN& mean,
+			const KAL_COVA& covariance,
+			const std::vector<DETECTBOX>& measurements,
+			bool only_position = false);
+
+	private:
+		Eigen::Matrix<float, 8, 8, Eigen::RowMajor> _motion_mat;
+		Eigen::Matrix<float, 4, 8, Eigen::RowMajor> _update_mat;
+		float _std_weight_position;
+		float _std_weight_velocity;
+	};
+}

algorithm/mot/bytetrack/STrack.cpp

@@ -0,0 +1,192 @@
+#include "STrack.h"
+
+STrack::STrack( std::vector<float> tlwh_, float score)
+{
+	_tlwh.resize(4);
+	_tlwh.assign(tlwh_.begin(), tlwh_.end());
+
+	is_activated = false;
+	track_id = 0;
+	state = TrackState::New;
+	
+	tlwh.resize(4);
+	tlbr.resize(4);
+
+	static_tlwh();
+	static_tlbr();
+	frame_id = 0;
+	tracklet_len = 0;
+	this->score = score;
+	start_frame = 0;
+}
+
+STrack::~STrack()
+{
+}
+
+void STrack::activate(byte_kalman::ByteKalmanFilter &kalman_filter, int frame_id)
+{
+	this->kalman_filter = kalman_filter;
+	this->track_id = this->next_id();
+
+	 std::vector<float> _tlwh_tmp(4);
+	_tlwh_tmp[0] = this->_tlwh[0];
+	_tlwh_tmp[1] = this->_tlwh[1];
+	_tlwh_tmp[2] = this->_tlwh[2];
+	_tlwh_tmp[3] = this->_tlwh[3];
+	 std::vector<float> xyah = tlwh_to_xyah(_tlwh_tmp);
+	DETECTBOX xyah_box;
+	xyah_box[0] = xyah[0];
+	xyah_box[1] = xyah[1];
+	xyah_box[2] = xyah[2];
+	xyah_box[3] = xyah[3];
+	auto mc = this->kalman_filter.initiate(xyah_box);
+	this->mean = mc.first;
+	this->covariance = mc.second;
+
+	static_tlwh();
+	static_tlbr();
+
+	this->tracklet_len = 0;
+	this->state = TrackState::Tracked;
+	if (frame_id == 1)
+	{
+		this->is_activated = true;
+	}
+	//this->is_activated = true;
+	this->frame_id = frame_id;
+	this->start_frame = frame_id;
+}
+
+void STrack::re_activate(STrack &new_track, int frame_id, bool new_id)
+{
+	 std::vector<float> xyah = tlwh_to_xyah(new_track.tlwh);
+	DETECTBOX xyah_box;
+	xyah_box[0] = xyah[0];
+	xyah_box[1] = xyah[1];
+	xyah_box[2] = xyah[2];
+	xyah_box[3] = xyah[3];
+	auto mc = this->kalman_filter.update(this->mean, this->covariance, xyah_box);
+	this->mean = mc.first;
+	this->covariance = mc.second;
+
+	static_tlwh();
+	static_tlbr();
+
+	this->tracklet_len = 0;
+	this->state = TrackState::Tracked;
+	this->is_activated = true;
+	this->frame_id = frame_id;
+	this->score = new_track.score;
+	if (new_id)
+		this->track_id = next_id();
+}
+
+void STrack::update(STrack &new_track, int frame_id)
+{
+	this->frame_id = frame_id;
+	this->tracklet_len++;
+
+	 std::vector<float> xyah = tlwh_to_xyah(new_track.tlwh);
+	DETECTBOX xyah_box;
+	xyah_box[0] = xyah[0];
+	xyah_box[1] = xyah[1];
+	xyah_box[2] = xyah[2];
+	xyah_box[3] = xyah[3];
+
+	auto mc = this->kalman_filter.update(this->mean, this->covariance, xyah_box);
+	this->mean = mc.first;
+	this->covariance = mc.second;
+
+	static_tlwh();
+	static_tlbr();
+
+	this->state = TrackState::Tracked;
+	this->is_activated = true;
+
+	this->score = new_track.score;
+}
+
+void STrack::static_tlwh()
+{
+	if (this->state == TrackState::New)
+	{
+		tlwh[0] = _tlwh[0];
+		tlwh[1] = _tlwh[1];
+		tlwh[2] = _tlwh[2];
+		tlwh[3] = _tlwh[3];
+		return;
+	}
+
+	tlwh[0] = mean[0];
+	tlwh[1] = mean[1];
+	tlwh[2] = mean[2];
+	tlwh[3] = mean[3];
+
+	tlwh[2] *= tlwh[3];
+	tlwh[0] -= tlwh[2] / 2;
+	tlwh[1] -= tlwh[3] / 2;
+}
+
+void STrack::static_tlbr()
+{
+	tlbr.clear();
+	tlbr.assign(tlwh.begin(), tlwh.end());
+	tlbr[2] += tlbr[0];
+	tlbr[3] += tlbr[1];
+}
+
+ std::vector<float> STrack::tlwh_to_xyah( std::vector<float> tlwh_tmp)
+{
+	 std::vector<float> tlwh_output = tlwh_tmp;
+	tlwh_output[0] += tlwh_output[2] / 2;
+	tlwh_output[1] += tlwh_output[3] / 2;
+	tlwh_output[2] /= tlwh_output[3];
+	return tlwh_output;
+}
+
+ std::vector<float> STrack::to_xyah()
+{
+	return tlwh_to_xyah(tlwh);
+}
+
+ std::vector<float> STrack::tlbr_to_tlwh( std::vector<float> &tlbr)
+{
+	tlbr[2] -= tlbr[0];
+	tlbr[3] -= tlbr[1];
+	return tlbr;
+}
+
+void STrack::mark_lost()
+{
+	state = TrackState::Lost;
+}
+
+void STrack::mark_removed()
+{
+	state = TrackState::Removed;
+}
+
+int STrack::next_id()
+{
+	static int _count = 0;
+	_count++;
+	return _count;
+}
+
+int STrack::end_frame()
+{
+	return this->frame_id;
+}
+
+void STrack::multi_predict( std::vector<STrack*> &stracks, byte_kalman::ByteKalmanFilter &kalman_filter)
+{
+	for (int i = 0; i < stracks.size(); i++)
+	{
+		if (stracks[i]->state != TrackState::Tracked)
+		{
+			stracks[i]->mean[7] = 0;
+		}
+		kalman_filter.predict(stracks[i]->mean, stracks[i]->covariance);
+	}
+}

algorithm/mot/bytetrack/STrack.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <opencv2/opencv.hpp>
+#include "BytekalmanFilter.h"
+
+enum TrackState { New = 0, Tracked, Lost, Removed };
+
+class STrack
+{
+public:
+	STrack( std::vector<float> tlwh_, float score);
+	~STrack();
+
+	 std::vector<float> static tlbr_to_tlwh( std::vector<float> &tlbr);
+	void static multi_predict( std::vector<STrack*> &stracks, byte_kalman::ByteKalmanFilter &kalman_filter);
+	void static_tlwh();
+	void static_tlbr();
+	 std::vector<float> tlwh_to_xyah( std::vector<float> tlwh_tmp);
+	 std::vector<float> to_xyah();
+	void mark_lost();
+	void mark_removed();
+	int next_id();
+	int end_frame();
+	
+	void activate(byte_kalman::ByteKalmanFilter &kalman_filter, int frame_id);
+	void re_activate(STrack &new_track, int frame_id, bool new_id = false);
+	void update(STrack &new_track, int frame_id);
+
+public:
+	bool is_activated;
+	int track_id;
+	int state;
+
+	 std::vector<float> _tlwh;
+	 std::vector<float> tlwh;
+	 std::vector<float> tlbr;
+	int frame_id;
+	int tracklet_len;
+	int start_frame;
+
+	KAL_MEAN mean;
+	KAL_COVA covariance;
+	float score;
+
+private:
+	byte_kalman::ByteKalmanFilter kalman_filter;
+};

algorithm/mot/bytetrack/dataType.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <cstddef>
+#include <vector>
+
+#include <Eigen/Core>
+#include <Eigen/Dense>
+
+
+
+typedef Eigen::Matrix<float, 1, 4, Eigen::RowMajor> DETECTBOX;
+typedef Eigen::Matrix<float, -1, 4, Eigen::RowMajor> DETECTBOXSS;
+
+
+//Kalmanfilter
+typedef Eigen::Matrix<float, 8, 8, Eigen::RowMajor> KAL_FILTER;
+typedef Eigen::Matrix<float, 1, 8, Eigen::RowMajor> KAL_MEAN;
+typedef Eigen::Matrix<float, 8, 8, Eigen::RowMajor> KAL_COVA;
+typedef Eigen::Matrix<float, 1, 4, Eigen::RowMajor> KAL_HMEAN;
+typedef Eigen::Matrix<float, 4, 4, Eigen::RowMajor> KAL_HCOVA;
+using KAL_DATA = std::pair<KAL_MEAN, KAL_COVA>;
+using KAL_HDATA = std::pair<KAL_HMEAN, KAL_HCOVA>;
+
+
+
+
+

algorithm/mot/bytetrack/lapjv.cpp

@@ -0,0 +1,343 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "lapjv.h"
+
+/** Column-reduction and reduction transfer for a dense cost matrix.
+ */
+int_t _ccrrt_dense(const uint_t n, cost_t *cost[],
+	int_t *free_rows, int_t *x, int_t *y, cost_t *v)
+{
+	int_t n_free_rows;
+	boolean *unique;
+
+	for (uint_t i = 0; i < n; i++) {
+		x[i] = -1;
+		v[i] = LARGE;
+		y[i] = 0;
+	}
+	for (uint_t i = 0; i < n; i++) {
+		for (uint_t j = 0; j < n; j++) {
+			const cost_t c = cost[i][j];
+			if (c < v[j]) {
+				v[j] = c;
+				y[j] = i;
+			}
+			PRINTF("i=%d, j=%d, c[i,j]=%f, v[j]=%f y[j]=%d\n", i, j, c, v[j], y[j]);
+		}
+	}
+	PRINT_COST_ARRAY(v, n);
+	PRINT_INDEX_ARRAY(y, n);
+	NEW(unique, boolean, n);
+	memset(unique, TRUE, n);
+	{
+		int_t j = n;
+		do {
+			j--;
+			const int_t i = y[j];
+			if (x[i] < 0) {
+				x[i] = j;
+			}
+			else {
+				unique[i] = FALSE;
+				y[j] = -1;
+			}
+		} while (j > 0);
+	}
+	n_free_rows = 0;
+	for (uint_t i = 0; i < n; i++) {
+		if (x[i] < 0) {
+			free_rows[n_free_rows++] = i;
+		}
+		else if (unique[i]) {
+			const int_t j = x[i];
+			cost_t min = LARGE;
+			for (uint_t j2 = 0; j2 < n; j2++) {
+				if (j2 == (uint_t)j) {
+					continue;
+				}
+				const cost_t c = cost[i][j2] - v[j2];
+				if (c < min) {
+					min = c;
+				}
+			}
+			PRINTF("v[%d] = %f - %f\n", j, v[j], min);
+			v[j] -= min;
+		}
+	}
+	FREE(unique);
+	return n_free_rows;
+}
+
+
+/** Augmenting row reduction for a dense cost matrix.
+ */
+int_t _carr_dense(
+	const uint_t n, cost_t *cost[],
+	const uint_t n_free_rows,
+	int_t *free_rows, int_t *x, int_t *y, cost_t *v)
+{
+	uint_t current = 0;
+	int_t new_free_rows = 0;
+	uint_t rr_cnt = 0;
+	PRINT_INDEX_ARRAY(x, n);
+	PRINT_INDEX_ARRAY(y, n);
+	PRINT_COST_ARRAY(v, n);
+	PRINT_INDEX_ARRAY(free_rows, n_free_rows);
+	while (current < n_free_rows) {
+		int_t i0;
+		int_t j1, j2;
+		cost_t v1, v2, v1_new;
+		boolean v1_lowers;
+
+		rr_cnt++;
+		PRINTF("current = %d rr_cnt = %d\n", current, rr_cnt);
+		const int_t free_i = free_rows[current++];
+		j1 = 0;
+		v1 = cost[free_i][0] - v[0];
+		j2 = -1;
+		v2 = LARGE;
+		for (uint_t j = 1; j < n; j++) {
+			PRINTF("%d = %f %d = %f\n", j1, v1, j2, v2);
+			const cost_t c = cost[free_i][j] - v[j];
+			if (c < v2) {
+				if (c >= v1) {
+					v2 = c;
+					j2 = j;
+				}
+				else {
+					v2 = v1;
+					v1 = c;
+					j2 = j1;
+					j1 = j;
+				}
+			}
+		}
+		i0 = y[j1];
+		v1_new = v[j1] - (v2 - v1);
+		v1_lowers = v1_new < v[j1];
+		PRINTF("%d %d 1=%d,%f 2=%d,%f v1'=%f(%d,%g) \n", free_i, i0, j1, v1, j2, v2, v1_new, v1_lowers, v[j1] - v1_new);
+		if (rr_cnt < current * n) {
+			if (v1_lowers) {
+				v[j1] = v1_new;
+			}
+			else if (i0 >= 0 && j2 >= 0) {
+				j1 = j2;
+				i0 = y[j2];
+			}
+			if (i0 >= 0) {
+				if (v1_lowers) {
+					free_rows[--current] = i0;
+				}
+				else {
+					free_rows[new_free_rows++] = i0;
+				}
+			}
+		}
+		else {
+			PRINTF("rr_cnt=%d >= %d (current=%d * n=%d)\n", rr_cnt, current * n, current, n);
+			if (i0 >= 0) {
+				free_rows[new_free_rows++] = i0;
+			}
+		}
+		x[free_i] = j1;
+		y[j1] = free_i;
+	}
+	return new_free_rows;
+}
+
+
+/** Find columns with minimum d[j] and put them on the SCAN list.
+ */
+uint_t _find_dense(const uint_t n, uint_t lo, cost_t *d, int_t *cols, int_t *y)
+{
+	uint_t hi = lo + 1;
+	cost_t mind = d[cols[lo]];
+	for (uint_t k = hi; k < n; k++) {
+		int_t j = cols[k];
+		if (d[j] <= mind) {
+			if (d[j] < mind) {
+				hi = lo;
+				mind = d[j];
+			}
+			cols[k] = cols[hi];
+			cols[hi++] = j;
+		}
+	}
+	return hi;
+}
+
+
+// Scan all columns in TODO starting from arbitrary column in SCAN
+// and try to decrease d of the TODO columns using the SCAN column.
+int_t _scan_dense(const uint_t n, cost_t *cost[],
+	uint_t *plo, uint_t*phi,
+	cost_t *d, int_t *cols, int_t *pred,
+	int_t *y, cost_t *v)
+{
+	uint_t lo = *plo;
+	uint_t hi = *phi;
+	cost_t h, cred_ij;
+
+	while (lo != hi) {
+		int_t j = cols[lo++];
+		const int_t i = y[j];
+		const cost_t mind = d[j];
+		h = cost[i][j] - v[j] - mind;
+		PRINTF("i=%d j=%d h=%f\n", i, j, h);
+		// For all columns in TODO
+		for (uint_t k = hi; k < n; k++) {
+			j = cols[k];
+			cred_ij = cost[i][j] - v[j] - h;
+			if (cred_ij < d[j]) {
+				d[j] = cred_ij;
+				pred[j] = i;
+				if (cred_ij == mind) {
+					if (y[j] < 0) {
+						return j;
+					}
+					cols[k] = cols[hi];
+					cols[hi++] = j;
+				}
+			}
+		}
+	}
+	*plo = lo;
+	*phi = hi;
+	return -1;
+}
+
+
+/** Single iteration of modified Dijkstra shortest path algorithm as explained in the JV paper.
+ *
+ * This is a dense matrix version.
+ *
+ * \return The closest free column index.
+ */
+int_t find_path_dense(
+	const uint_t n, cost_t *cost[],
+	const int_t start_i,
+	int_t *y, cost_t *v,
+	int_t *pred)
+{
+	uint_t lo = 0, hi = 0;
+	int_t final_j = -1;
+	uint_t n_ready = 0;
+	int_t *cols;
+	cost_t *d;
+
+	NEW(cols, int_t, n);
+	NEW(d, cost_t, n);
+
+	for (uint_t i = 0; i < n; i++) {
+		cols[i] = i;
+		pred[i] = start_i;
+		d[i] = cost[start_i][i] - v[i];
+	}
+	PRINT_COST_ARRAY(d, n);
+	while (final_j == -1) {
+		// No columns left on the SCAN list.
+		if (lo == hi) {
+			PRINTF("%d..%d -> find\n", lo, hi);
+			n_ready = lo;
+			hi = _find_dense(n, lo, d, cols, y);
+			PRINTF("check %d..%d\n", lo, hi);
+			PRINT_INDEX_ARRAY(cols, n);
+			for (uint_t k = lo; k < hi; k++) {
+				const int_t j = cols[k];
+				if (y[j] < 0) {
+					final_j = j;
+				}
+			}
+		}
+		if (final_j == -1) {
+			PRINTF("%d..%d -> scan\n", lo, hi);
+			final_j = _scan_dense(
+				n, cost, &lo, &hi, d, cols, pred, y, v);
+			PRINT_COST_ARRAY(d, n);
+			PRINT_INDEX_ARRAY(cols, n);
+			PRINT_INDEX_ARRAY(pred, n);
+		}
+	}
+
+	PRINTF("found final_j=%d\n", final_j);
+	PRINT_INDEX_ARRAY(cols, n);
+	{
+		const cost_t mind = d[cols[lo]];
+		for (uint_t k = 0; k < n_ready; k++) {
+			const int_t j = cols[k];
+			v[j] += d[j] - mind;
+		}
+	}
+
+	FREE(cols);
+	FREE(d);
+
+	return final_j;
+}
+
+
+/** Augment for a dense cost matrix.
+ */
+int_t _ca_dense(
+	const uint_t n, cost_t *cost[],
+	const uint_t n_free_rows,
+	int_t *free_rows, int_t *x, int_t *y, cost_t *v)
+{
+	int_t *pred;
+
+	NEW(pred, int_t, n);
+
+	for (int_t *pfree_i = free_rows; pfree_i < free_rows + n_free_rows; pfree_i++) {
+		int_t i = -1, j;
+		uint_t k = 0;
+
+		PRINTF("looking at free_i=%d\n", *pfree_i);
+		j = find_path_dense(n, cost, *pfree_i, y, v, pred);
+		ASSERT(j >= 0);
+		ASSERT(j < n);
+		while (i != *pfree_i) {
+			PRINTF("augment %d\n", j);
+			PRINT_INDEX_ARRAY(pred, n);
+			i = pred[j];
+			PRINTF("y[%d]=%d -> %d\n", j, y[j], i);
+			y[j] = i;
+			PRINT_INDEX_ARRAY(x, n);
+			SWAP_INDICES(j, x[i]);
+			k++;
+			if (k >= n) {
+				ASSERT(FALSE);
+			}
+		}
+	}
+	FREE(pred);
+	return 0;
+}
+
+
+/** Solve dense sparse LAP.
+ */
+int lapjv_internal(
+	const uint_t n, cost_t *cost[],
+	int_t *x, int_t *y)
+{
+	int ret;
+	int_t *free_rows;
+	cost_t *v;
+
+	NEW(free_rows, int_t, n);
+	NEW(v, cost_t, n);
+	ret = _ccrrt_dense(n, cost, free_rows, x, y, v);
+	int i = 0;
+	while (ret > 0 && i < 2) {
+		ret = _carr_dense(n, cost, ret, free_rows, x, y, v);
+		i++;
+	}
+	if (ret > 0) {
+		ret = _ca_dense(n, cost, ret, free_rows, x, y, v);
+	}
+	FREE(v);
+	FREE(free_rows);
+	return ret;
+}

algorithm/mot/bytetrack/lapjv.h

@@ -0,0 +1,63 @@
+#ifndef LAPJV_H
+#define LAPJV_H
+
+#define LARGE 1000000
+
+#if !defined TRUE
+#define TRUE 1
+#endif
+#if !defined FALSE
+#define FALSE 0
+#endif
+
+#define NEW(x, t, n) if ((x = (t *)malloc(sizeof(t) * (n))) == 0) { return -1; }
+#define FREE(x) if (x != 0) { free(x); x = 0; }
+#define SWAP_INDICES(a, b) { int_t _temp_index = a; a = b; b = _temp_index; }
+
+#if 0
+#include <assert.h>
+#define ASSERT(cond) assert(cond)
+#define PRINTF(fmt, ...) printf(fmt, ##__VA_ARGS__)
+#define PRINT_COST_ARRAY(a, n) \
+    while (1) { \
+        printf(#a" = ["); \
+        if ((n) > 0) { \
+            printf("%f", (a)[0]); \
+            for (uint_t j = 1; j < n; j++) { \
+                printf(", %f", (a)[j]); \
+            } \
+        } \
+        printf("]\n"); \
+        break; \
+    }
+#define PRINT_INDEX_ARRAY(a, n) \
+    while (1) { \
+        printf(#a" = ["); \
+        if ((n) > 0) { \
+            printf("%d", (a)[0]); \
+            for (uint_t j = 1; j < n; j++) { \
+                printf(", %d", (a)[j]); \
+            } \
+        } \
+        printf("]\n"); \
+        break; \
+    }
+#else
+#define ASSERT(cond)
+#define PRINTF(fmt, ...)
+#define PRINT_COST_ARRAY(a, n)
+#define PRINT_INDEX_ARRAY(a, n)
+#endif
+
+
+typedef signed int int_t;
+typedef unsigned int uint_t;
+typedef double cost_t;
+typedef char boolean;
+typedef enum fp_t { FP_1 = 1, FP_2 = 2, FP_DYNAMIC = 3 } fp_t;
+
+extern int_t lapjv_internal(
+	const uint_t n, cost_t *cost[],
+	int_t *x, int_t *y);
+
+#endif // LAPJV_H

algorithm/mot/bytetrack/utils.cpp

@@ -0,0 +1,432 @@
+#include "BYTETracker.h"
+#include "lapjv.h"
+
+namespace sv {
+
+std::vector<STrack*> BYTETracker::joint_stracks( std::vector<STrack*> &tlista,  std::vector<STrack> &tlistb)
+{
+    std::map<int, int> exists;
+    std::vector<STrack*> res;
+    for (int i = 0; i < tlista.size(); i++)
+    {
+        exists.insert(std::pair<int, int>(tlista[i]->track_id, 1));
+        res.push_back(tlista[i]);
+    }
+    for (int i = 0; i < tlistb.size(); i++)
+    {
+        int tid = tlistb[i].track_id;
+        if (!exists[tid] || exists.count(tid) == 0)
+        {
+            exists[tid] = 1;
+            res.push_back(&tlistb[i]);
+        }
+    }
+    return res;
+}
+
+std::vector<STrack> BYTETracker::joint_stracks( std::vector<STrack> &tlista,  std::vector<STrack> &tlistb)
+{
+    std::map<int, int> exists;
+    std::vector<STrack> res;
+    for (int i = 0; i < tlista.size(); i++)
+    {
+        exists.insert(std::pair<int, int>(tlista[i].track_id, 1));
+        res.push_back(tlista[i]);
+    }
+    for (int i = 0; i < tlistb.size(); i++)
+    {
+        int tid = tlistb[i].track_id;
+        if (!exists[tid] || exists.count(tid) == 0)
+        {
+            exists[tid] = 1;
+            res.push_back(tlistb[i]);
+        }
+    }
+    return res;
+}
+
+std::vector<STrack> BYTETracker::sub_stracks( std::vector<STrack> &tlista,  std::vector<STrack> &tlistb)
+{
+    std::map<int, STrack> stracks;
+    for (int i = 0; i < tlista.size(); i++)
+    {
+        stracks.insert(std::pair<int, STrack>(tlista[i].track_id, tlista[i]));
+    }
+    for (int i = 0; i < tlistb.size(); i++)
+    {
+        int tid = tlistb[i].track_id;
+        if (stracks.count(tid) != 0)
+        {
+            stracks.erase(tid);
+        }
+    }
+
+    std::vector<STrack> res;
+    std::map<int, STrack>::iterator  it;
+    for (it = stracks.begin(); it != stracks.end(); ++it)
+    {
+        res.push_back(it->second);
+    }
+
+    return res;
+}
+
+void BYTETracker::remove_duplicate_stracks( std::vector<STrack> &resa,  std::vector<STrack> &resb,  std::vector<STrack> &stracksa,  std::vector<STrack> &stracksb)
+{
+    std::vector< std::vector<float> > pdist = iou_distance(stracksa, stracksb);
+    std::vector<std::pair<int, int> > pairs;
+    for (int i = 0; i < pdist.size(); i++)
+    {
+        for (int j = 0; j < pdist[i].size(); j++)
+        {
+            if (pdist[i][j] < 0.15)
+            {
+                pairs.push_back(std::pair<int, int>(i, j));
+            }
+        }
+    }
+
+    std::vector<int> dupa, dupb;
+    for (int i = 0; i < pairs.size(); i++)
+    {
+        int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame;
+        int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame;
+        if (timep > timeq)
+            dupb.push_back(pairs[i].second);
+        else
+            dupa.push_back(pairs[i].first);
+    }
+
+    for (int i = 0; i < stracksa.size(); i++)
+    {
+        std::vector<int>::iterator iter = find(dupa.begin(), dupa.end(), i);
+        if (iter == dupa.end())
+        {
+            resa.push_back(stracksa[i]);
+        }
+    }
+
+    for (int i = 0; i < stracksb.size(); i++)
+    {
+        std::vector<int>::iterator iter = find(dupb.begin(), dupb.end(), i);
+        if (iter == dupb.end())
+        {
+            resb.push_back(stracksb[i]);
+        }
+    }
+}
+
+void BYTETracker::linear_assignment( std::vector< std::vector<float> > &cost_matrix, int cost_matrix_size, int cost_matrix_size_size, float thresh,
+                                     std::vector< std::vector<int> > &matches,  std::vector<int> &unmatched_a,  std::vector<int> &unmatched_b)
+{
+    if (cost_matrix.size() == 0)
+    {
+        for (int i = 0; i < cost_matrix_size; i++)
+        {
+            unmatched_a.push_back(i);
+        }
+        for (int i = 0; i < cost_matrix_size_size; i++)
+        {
+            unmatched_b.push_back(i);
+        }
+        return;
+    }
+
+    std::vector<int> rowsol;  std::vector<int> colsol;
+    float c = lapjv(cost_matrix, rowsol, colsol, true, thresh);
+    for (int i = 0; i < rowsol.size(); i++)
+    {
+        if (rowsol[i] >= 0)
+        {
+            std::vector<int> match;
+            match.push_back(i);
+            match.push_back(rowsol[i]);
+            matches.push_back(match);
+        }
+        else
+        {
+            unmatched_a.push_back(i);
+        }
+    }
+
+    for (int i = 0; i < colsol.size(); i++)
+    {
+        if (colsol[i] < 0)
+        {
+            unmatched_b.push_back(i);
+        }
+    }
+}
+
+std::vector< std::vector<float> > BYTETracker::ious( std::vector< std::vector<float> > &atlbrs,  std::vector< std::vector<float> > &btlbrs)
+{
+    std::vector< std::vector<float> > ious;
+    if (atlbrs.size()*btlbrs.size() == 0)
+        return ious;
+
+    ious.resize(atlbrs.size());
+    for (int i = 0; i < ious.size(); i++)
+    {
+        ious[i].resize(btlbrs.size());
+    }
+
+    //bbox_ious
+    for (int k = 0; k < btlbrs.size(); k++)
+    {
+        std::vector<float> ious_tmp;
+        float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1)*(btlbrs[k][3] - btlbrs[k][1] + 1);
+        for (int n = 0; n < atlbrs.size(); n++)
+        {
+            float iw = cv::min(atlbrs[n][2], btlbrs[k][2]) - cv::max(atlbrs[n][0], btlbrs[k][0]) + 1;
+            if (iw > 0)
+            {
+                float ih = cv::min(atlbrs[n][3], btlbrs[k][3]) - cv::max(atlbrs[n][1], btlbrs[k][1]) + 1;
+                if(ih > 0)
+                {
+                    float ua = (atlbrs[n][2] - atlbrs[n][0] + 1)*(atlbrs[n][3] - atlbrs[n][1] + 1) + box_area - iw * ih;
+                    ious[n][k] = iw * ih / ua;
+                }
+                else
+                {
+                    ious[n][k] = 0.0;
+                }
+            }
+            else
+            {
+                ious[n][k] = 0.0;
+            }
+        }
+    }
+
+    return ious;
+}
+
+std::vector< std::vector<float> > BYTETracker::iou_distance( std::vector<STrack*> &atracks,  std::vector<STrack> &btracks, int &dist_size, int &dist_size_size)
+{
+    std::vector< std::vector<float> > cost_matrix;
+    if (atracks.size() * btracks.size() == 0)
+    {
+        dist_size = atracks.size();
+        dist_size_size = btracks.size();
+        return cost_matrix;
+    }
+    std::vector< std::vector<float> > atlbrs, btlbrs;
+    for (int i = 0; i < atracks.size(); i++)
+    {
+        atlbrs.push_back(atracks[i]->tlbr);
+    }
+    for (int i = 0; i < btracks.size(); i++)
+    {
+        btlbrs.push_back(btracks[i].tlbr);
+    }
+
+    dist_size = atracks.size();
+    dist_size_size = btracks.size();
+
+    std::vector< std::vector<float> > _ious = ious(atlbrs, btlbrs);
+
+    for (int i = 0; i < _ious.size();i++)
+    {
+        std::vector<float> _iou;
+        for (int j = 0; j < _ious[i].size(); j++)
+        {
+            _iou.push_back(1 - _ious[i][j]);
+        }
+        cost_matrix.push_back(_iou);
+    }
+
+    return cost_matrix;
+}
+
+std::vector< std::vector<float> > BYTETracker::iou_distance( std::vector<STrack> &atracks,  std::vector<STrack> &btracks)
+{
+    std::vector< std::vector<float> > atlbrs, btlbrs;
+    for (int i = 0; i < atracks.size(); i++)
+    {
+        atlbrs.push_back(atracks[i].tlbr);
+    }
+    for (int i = 0; i < btracks.size(); i++)
+    {
+        btlbrs.push_back(btracks[i].tlbr);
+    }
+
+    std::vector< std::vector<float> > _ious = ious(atlbrs, btlbrs);
+    std::vector< std::vector<float> > cost_matrix;
+    for (int i = 0; i < _ious.size(); i++)
+    {
+        std::vector<float> _iou;
+        for (int j = 0; j < _ious[i].size(); j++)
+        {
+            _iou.push_back(1 - _ious[i][j]);
+        }
+        cost_matrix.push_back(_iou);
+    }
+
+    return cost_matrix;
+}
+
+double BYTETracker::lapjv(const  std::vector< std::vector<float> > &cost,  std::vector<int> &rowsol,  std::vector<int> &colsol,
+                          bool extend_cost, float cost_limit, bool return_cost)
+{
+    std::vector< std::vector<float> > cost_c;
+    cost_c.assign(cost.begin(), cost.end());
+
+    std::vector< std::vector<float> > cost_c_extended;
+
+    int n_rows = cost.size();
+    int n_cols = cost[0].size();
+    rowsol.resize(n_rows);
+    colsol.resize(n_cols);
+
+    int n = 0;
+    if (n_rows == n_cols)
+    {
+        n = n_rows;
+    }
+    else
+    {
+        if (!extend_cost)
+        {
+            std::cout << "set extend_cost=True" << std::endl;
+            system("pause");
+            exit(0);
+        }
+    }
+
+    if (extend_cost || cost_limit < LONG_MAX)
+    {
+        n = n_rows + n_cols;
+        cost_c_extended.resize(n);
+        for (int i = 0; i < cost_c_extended.size(); i++)
+            cost_c_extended[i].resize(n);
+
+        if (cost_limit < LONG_MAX)
+        {
+            for (int i = 0; i < cost_c_extended.size(); i++)
+            {
+                for (int j = 0; j < cost_c_extended[i].size(); j++)
+                {
+                    cost_c_extended[i][j] = cost_limit / 2.0;
+                }
+            }
+        }
+        else
+        {
+            float cost_max = -1;
+            for (int i = 0; i < cost_c.size(); i++)
+            {
+                for (int j = 0; j < cost_c[i].size(); j++)
+                {
+                    if (cost_c[i][j] > cost_max)
+                        cost_max = cost_c[i][j];
+                }
+            }
+            for (int i = 0; i < cost_c_extended.size(); i++)
+            {
+                for (int j = 0; j < cost_c_extended[i].size(); j++)
+                {
+                    cost_c_extended[i][j] = cost_max + 1;
+                }
+            }
+        }
+
+        for (int i = n_rows; i < cost_c_extended.size(); i++)
+        {
+            for (int j = n_cols; j < cost_c_extended[i].size(); j++)
+            {
+                cost_c_extended[i][j] = 0;
+            }
+        }
+        for (int i = 0; i < n_rows; i++)
+        {
+            for (int j = 0; j < n_cols; j++)
+            {
+                cost_c_extended[i][j] = cost_c[i][j];
+            }
+        }
+
+        cost_c.clear();
+        cost_c.assign(cost_c_extended.begin(), cost_c_extended.end());
+    }
+
+    double **cost_ptr;
+    cost_ptr = new double *[sizeof(double *) * n];
+    for (int i = 0; i < n; i++)
+        cost_ptr[i] = new double[sizeof(double) * n];
+
+    for (int i = 0; i < n; i++)
+    {
+        for (int j = 0; j < n; j++)
+        {
+            cost_ptr[i][j] = cost_c[i][j];
+        }
+    }
+
+    int* x_c = new int[sizeof(int) * n];
+    int *y_c = new int[sizeof(int) * n];
+
+    int ret = lapjv_internal(n, cost_ptr, x_c, y_c);
+    if (ret != 0)
+    {
+        std::cout << "Calculate Wrong!" << std::endl;
+        system("pause");
+        exit(0);
+    }
+
+    double opt = 0.0;
+
+    if (n != n_rows)
+    {
+        for (int i = 0; i < n; i++)
+        {
+            if (x_c[i] >= n_cols)
+                x_c[i] = -1;
+            if (y_c[i] >= n_rows)
+                y_c[i] = -1;
+        }
+        for (int i = 0; i < n_rows; i++)
+        {
+            rowsol[i] = x_c[i];
+        }
+        for (int i = 0; i < n_cols; i++)
+        {
+            colsol[i] = y_c[i];
+        }
+
+        if (return_cost)
+        {
+            for (int i = 0; i < rowsol.size(); i++)
+            {
+                if (rowsol[i] != -1)
+                {
+                    //cout << i << "\t" << rowsol[i] << "\t" << cost_ptr[i][rowsol[i]] << endl;
+                    opt += cost_ptr[i][rowsol[i]];
+                }
+            }
+        }
+    }
+    else if (return_cost)
+    {
+        for (int i = 0; i < rowsol.size(); i++)
+        {
+            opt += cost_ptr[i][rowsol[i]];
+        }
+    }
+
+    for (int i = 0; i < n; i++)
+    {
+        delete[]cost_ptr[i];
+    }
+    delete[]cost_ptr;
+    delete[]x_c;
+    delete[]y_c;
+
+    return opt;
+}
+
+cv::Scalar BYTETracker::get_color(int idx)
+{
+    idx += 3;
+    return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255);
+}
+}

algorithm/mot/sort/sort.cpp

@@ -0,0 +1,377 @@
+#include "sort.h"
+#include <cmath>
+#include <fstream>
+#include <limits>
+#include <vector>
+#include "gason.h"
+#include "sv_util.h"
+
+using namespace std;
+using namespace Eigen;
+
+namespace sv {
+
+
+KalmanFilter::KalmanFilter()
+{
+    this->_chi2inv95 << 3.8415, 5.9915, 7.8147, 9.4877, 11.070, 12.592, 14.067, 15.507, 16.919;
+    this->_F = MatrixXd::Identity(8, 8);
+    for (int i=0; i<4; i++)
+    {
+        this->_F(i,i+4) = 1.; //1
+    }
+    this->_H = MatrixXd::Identity(4, 8);
+    this->_std_weight_position = 1. / 20; //1./20
+    this->_std_weight_vel = 1. / 160; //1./160
+}
+
+KalmanFilter::~KalmanFilter()
+{
+}
+
+pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4d &bbox)
+{
+    Matrix<double,8,1> mean;
+    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);
+    MatrixXd squared = stds.array().square();
+    Matrix<double, 8, 8> covariances;
+    covariances = squared.asDiagonal();
+    return make_pair(mean, covariances);
+}
+
+pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::update(Matrix<double, 8, 1> mean, Matrix<double, 8, 8> covariances, sv::Box &box)
+{
+    VectorXd measurement(4);
+    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), 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;//+Q
+    return make_pair(pre_mean, pre_cov);
+}
+
+
+SORT::~SORT()
+{
+}
+
+void SORT::update(TargetsInFrame& tgts)
+{
+    KalmanFilter kf;
+    if (! this->_tracklets.size() || tgts.targets.size() == 0)
+    {
+        Vector4d bbox;
+        for (int i=0; i<tgts.targets.size(); i++)
+        {
+            sv::Box box;
+            tgts.targets[i].getBox(box);		
+            Tracklet tracklet;
+            tracklet.id = ++ this->_next_tracklet_id;
+            tgts.targets[i].tracked_id = this->_next_tracklet_id;
+            tgts.targets[i].has_tid = true;
+
+            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;
+            if (tgts.frame_id == 0)
+            {
+                tracklet.tentative = false;
+            }
+            else
+            {
+                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
+    {
+        for (int i=0; i<tgts.targets.size(); i++)
+        {
+            tgts.targets[i].tracked_id = 0;
+            tgts.targets[i].has_tid = true;
+        }
+
+        vector<int> match_det(tgts.targets.size(), -1);
+        // predict the next state of each tracklet
+        for (auto& tracklet : this->_tracklets)
+        {
+            tracklet.age++;
+            pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.predict(tracklet.mean, tracklet.covariance);
+            tracklet.bbox << motion.first(0), motion.first(1), motion.first(2) * motion.first(3), motion.first(3);
+            tracklet.mean = motion.first;
+            tracklet.covariance = motion.second;    
+        }
+
+        // Match the detections to the existing tracklets 
+        vector<vector<double> > iouMatrix(this->_tracklets.size(), vector<double> (tgts.targets.size(), 0));
+        for (int i=0; i<this->_tracklets.size(); i++)
+        {
+            for (int j=0; j<tgts.targets.size(); j++)
+            {
+                sv::Box box;
+                tgts.targets[j].getBox(box);
+                iouMatrix[i][j] = this->_iou(this->_tracklets[i], box);
+            }
+        }
+        
+        vector<pair<int, int> > matches = this->_hungarian(iouMatrix);
+        for (auto& match : matches)
+        {
+            int trackletIndex = match.first;
+            int detectionIndex = match.second;
+            if (trackletIndex >= 0 && detectionIndex >= 0)
+            {
+                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.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] = trackletIndex;
+                }
+            }
+        }
+        std::vector <vector<double>> ().swap(iouMatrix);
+        for (int i=0; i<tgts.targets.size(); i++)
+        { 
+            if (match_det[i] == -1)
+            {
+                sv::Box box;
+                tgts.targets[i].getBox(box);
+                Tracklet tracklet;
+                tracklet.id = ++ this->_next_tracklet_id;
+                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; // c_x, c_y, w, h
+                tracklet.age = 0;
+                tracklet.hits = 1;
+                tracklet.frame_id = tgts.frame_id;
+                tracklet.category_id = tgts.targets[i].category_id;
+                tracklet.tentative = true;
+                
+                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)
+            {
+                tracklet.tentative = false;
+            }
+            if ((tgts.frame_id-tracklet.frame_id <= _max_age) && !(tracklet.tentative && tracklet.frame_id != tgts.frame_id))
+            {
+                _new_tracklets.push_back(tracklet);
+            } 
+        }
+        _tracklets = _new_tracklets;
+        std::vector <Tracklet> ().swap(_new_tracklets);
+    }
+}
+
+vector<Tracklet> SORT::getTracklets() const
+{
+    return this->_tracklets;
+}
+
+double SORT::_iou(Tracklet& tracklet, sv::Box& box)
+{
+    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);
+    double intersectionY2 = min(trackletY2, detectionY2);
+
+    double w = (intersectionX2-intersectionX1 > 0.0) ? (intersectionX2-intersectionX1) : 0.0;
+    double h = (intersectionY2-intersectionY1 > 0.0) ? (intersectionY2-intersectionY1) : 0.0;
+    double intersectionArea = w * h;
+
+    double trackletArea = tracklet.bbox(2) * tracklet.bbox(3);
+
+    double detectionArea = (box.x2-box.x1) * (box.y2-box.y1);
+    double unionArea = trackletArea + detectionArea - intersectionArea;
+    double iou = (1 - intersectionArea / unionArea * 1.0);
+
+    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)
+{
+    size_t numRows = costMatrix.size();
+    size_t numCols = costMatrix[0].size();
+
+    //transpose the matrix if necessary
+    const bool transposed = numCols > numRows;
+    if (transposed) {
+        vector<vector<double>> transposedMatrix(numCols, vector<double>(numRows));
+        for (int i = 0; i < numRows; i++)
+        {
+            for (int j = 0; j < numCols; j++)
+            {
+                transposedMatrix[j][i] = costMatrix[i][j];
+            }
+        }
+        costMatrix = transposedMatrix;
+        swap(numRows, numCols);
+    }
+    // Determine the larger dimension for matching
+    size_t maxDim = std::max(numRows, numCols);
+
+    // 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;
+            }
+        }
+    }
+
+    // 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) {
+            if (col >= numCols) {
+                col = -1;
+            }
+            assignmentPairs.emplace_back(row, col);
+        }
+    }
+    if (transposed) {
+        for (auto& assignment : assignmentPairs)
+        {
+            swap(assignment.first, assignment.second);
+        }
+    }
+    return assignmentPairs;
+    }
+}
+

algorithm/mot/sort/sort.h

@@ -0,0 +1,77 @@
+#ifndef __SV_SORT__
+#define __SV_SORT__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+#include <Eigen/Dense>
+
+
+namespace sv {
+
+
+
+// define the tracklet struct to store the tracked objects.
+struct Tracklet
+{
+/* data */
+public:
+    Eigen::Vector4d bbox;  // double x, y, w, h;
+    int id = 0;
+    int age;
+    int hits;
+    int misses;
+    int frame_id = 0;
+    int category_id;
+    bool tentative;
+    std::vector<double> features;
+    Eigen::Matrix<double, 8, 1> mean;
+    Eigen::Matrix<double, 8, 8> covariance;
+};
+
+
+class KalmanFilter {
+public:
+    KalmanFilter();
+    ~KalmanFilter();
+    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;
+    Eigen::Matrix<double, 9, 1> _chi2inv95;
+    double _std_weight_position;
+    double _std_weight_vel;
+};
+
+
+class SORT {
+public:
+    SORT(double iou_threshold, int max_age, int min_hits): _iou_threshold(iou_threshold), _max_age(max_age), _min_hits(min_hits), _next_tracklet_id(0) {};
+    ~SORT();
+    void update(TargetsInFrame &tgts);
+    std::vector<Tracklet> getTracklets() const;
+private:
+    double _iou(Tracklet &tracklet, Box &box);
+    std::vector<std::pair<int,int>> _hungarian(std::vector<std::vector<double>> costMatrix);
+    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;
+    int _min_hits;
+    int _next_tracklet_id;
+    std::vector <Tracklet> _tracklets;
+    std::vector <Tracklet> _new_tracklets;
+};
+
+
+}
+#endif

algorithm/mot/sv_mot.cpp

@@ -5,6 +5,8 @@
 #include <vector>
 #include "gason.h"
 #include "sv_util.h"
+#include "sort.h"
+#include "BYTETracker.h"
 
 using namespace std;
 using namespace Eigen;
@@ -16,15 +18,22 @@ MultipleObjectTracker::MultipleObjectTracker()
 {
     this->_params_loaded = false;
     this->_sort_impl = NULL;
+    this->_bytetrack_impl = NULL;
 }
 MultipleObjectTracker::~MultipleObjectTracker()
 {
     if (this->_sort_impl)
         delete this->_sort_impl;
+    else if (this->_bytetrack_impl)
+        delete this->_bytetrack_impl;
 }
 
-void MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
+sv::TargetsInFrame MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
 {
+    sv::TargetsInFrame person_tgts(tgts_.frame_id);
+    person_tgts.width = img_.size().width;
+    person_tgts.height = img_.size().height;
+
     if (!this->_params_loaded)
     {
         this->_load();
@@ -33,8 +42,28 @@ void MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
     if ("sort" == this->_algorithm && this->_sort_impl)
     {
         this->_detector->detect(img_, tgts_);
-        this->_sort_impl->update(tgts_);
+        for (auto target : tgts_.targets)
+        {
+            if (target.category_id == 0)
+            {
+                person_tgts.targets.push_back(target);
+            }
+        }
+        this->_sort_impl->update(person_tgts);
     }
+    else if ("bytetrack" == this->_algorithm && this->_bytetrack_impl)
+    {
+        this->_detector->detect(img_, tgts_);
+        for (auto target : tgts_.targets)
+        {
+            if (target.category_id == 0)
+            {
+                person_tgts.targets.push_back(target);
+            }
+        }
+        this->_bytetrack_impl->update(person_tgts);
+    }
+    return person_tgts;
 }
 
 void MultipleObjectTracker::init(CommonObjectDetector* detector_)
@@ -48,6 +77,10 @@ void MultipleObjectTracker::init(CommonObjectDetector* detector_)
     {
         this->_sort_impl = new SORT(this->_iou_thres, this->_max_age, this->_min_hits);
     }
+    else if("bytetrack" == this->_algorithm)
+    {
+        this->_bytetrack_impl = new BYTETracker(this->_frame_rate, this->_track_buffer);
+    }
     this->_detector = detector_;
 }
 
@@ -71,7 +104,7 @@ void MultipleObjectTracker::_load()
             else
                 this->_with_reid = false;
             
-            std::cout << "with_reid: " << this->_with_reid << std::endl;
+            //std::cout << "with_reid: " << this->_with_reid << std::endl;
         }
         else if ("reid_input_size" == std::string(i->key) && i->value.getTag() == JSON_ARRAY) {
             int jcnt = 0;
@@ -84,395 +117,39 @@ void MultipleObjectTracker::_load()
                 }
                 jcnt += 1;
             }
-            std::cout << "reid_input_w: " << this->_reid_input_w << std::endl;
-            std::cout << "reid_input_h: " << this->_reid_input_h << std::endl;
+            //std::cout << "reid_input_w: " << this->_reid_input_w << std::endl;
+            //std::cout << "reid_input_h: " << this->_reid_input_h << std::endl;
         }
         else if ("reid_num_samples" == std::string(i->key)) {
             this->_reid_num_samples = i->value.toNumber();
-            std::cout << "reid_num_samples: " << this->_reid_num_samples << std::endl;
+            //std::cout << "reid_num_samples: " << this->_reid_num_samples << std::endl;
         }
         else if ("reid_match_thres" == std::string(i->key)) {
             this->_reid_match_thres = i->value.toNumber();
-            std::cout << "reid_match_thres: " << this->_reid_match_thres << std::endl;
+            //std::cout << "reid_match_thres: " << this->_reid_match_thres << std::endl;
         }
         else if ("iou_thres" == std::string(i->key)) {
             this->_iou_thres = i->value.toNumber();
-            std::cout << "iou_thres: " << this->_iou_thres << std::endl;
+            //std::cout << "iou_thres: " << this->_iou_thres << std::endl;
         }
         else if ("max_age" == std::string(i->key)) {
             this->_max_age = i->value.toNumber();
-            std::cout << "max_age: " << this->_max_age << std::endl;
+            //std::cout << "max_age: " << this->_max_age << std::endl;
         }
         else if ("min_hits" == std::string(i->key)) {
             this->_min_hits = i->value.toNumber();
-            std::cout << "min_hits: " << this->_min_hits << std::endl;
+            //std::cout << "min_hits: " << this->_min_hits << std::endl;
+        }
+        else if ("frame_rate" == std::string(i->key)) {
+            this->_frame_rate = i->value.toNumber();
+            //std::cout << "max_age: " << this->_max_age << std::endl;
+        }
+        else if ("track_buffer" == std::string(i->key)) {
+            this->_track_buffer = i->value.toNumber();
+            //std::cout << "min_hits: " << this->_min_hits << std::endl;
         }
     }
 }
 
-
-
-KalmanFilter::KalmanFilter()
-{
-    this->_chi2inv95 << 3.8415, 5.9915, 7.8147, 9.4877, 11.070, 12.592, 14.067, 15.507, 16.919;
-    this->_F = MatrixXd::Identity(8, 8);
-    for (int i=0; i<4; i++)
-    {
-        this->_F(i,i+4) = 1.; //1
-    }
-    this->_H = MatrixXd::Identity(4, 8);
-    this->_std_weight_position = 1. / 20; //1./20
-    this->_std_weight_vel = 1. / 160; //1./160
-}
-
-KalmanFilter::~KalmanFilter()
-{
-}
-
-pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4d &bbox)
-{
-    Matrix<double,8,1> mean;
-    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);
-    MatrixXd squared = stds.array().square();
-    Matrix<double, 8, 8> covariances;
-    covariances = squared.asDiagonal();
-    return make_pair(mean, covariances);
-}
-
-pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::update(Matrix<double, 8, 1> mean, Matrix<double, 8, 8> covariances, sv::Box &box)
-{
-    VectorXd measurement(4);
-    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), 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;//+Q
-    return make_pair(pre_mean, pre_cov);
-}
-
-
-SORT::~SORT()
-{
-}
-
-void SORT::update(TargetsInFrame& tgts)
-{
-    sv::KalmanFilter kf;
-    if (! this->_tracklets.size() || tgts.targets.size() == 0)
-    {
-        Vector4d bbox;
-        for (int i=0; i<tgts.targets.size(); i++)
-        {
-            sv::Box box;
-            tgts.targets[i].getBox(box);		
-            Tracklet tracklet;
-            tracklet.id = ++ this->_next_tracklet_id;
-            tgts.targets[i].tracked_id = this->_next_tracklet_id;
-            tgts.targets[i].has_tid = true;
-
-            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;
-        }
-
-        vector<int> match_det(tgts.targets.size(), -1);
-        // predict the next state of each tracklet
-        for (auto& tracklet : this->_tracklets)
-        {
-            tracklet.age++;
-            pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.predict(tracklet.mean, tracklet.covariance);
-            tracklet.bbox << motion.first(0), motion.first(1), motion.first(2) * motion.first(3), motion.first(3);
-            tracklet.mean = motion.first;
-            tracklet.covariance = motion.second;    
-        }
-        
-        // Match the detections to the existing tracklets 
-        vector<vector<double> > iouMatrix(this->_tracklets.size(), vector<double> (tgts.targets.size(), 0));
-        for (int i=0; i<this->_tracklets.size(); i++)
-        {
-            for (int j=0; j<tgts.targets.size(); j++)
-            {
-                sv::Box box;
-                tgts.targets[j].getBox(box);
-                iouMatrix[i][j] = this->_iou(this->_tracklets[i], box);
-            }
-        }
-        
-        vector<pair<int, int> > matches = this->_hungarian(iouMatrix);
-        for (auto& match : matches)
-        {
-            int trackletIndex = match.first;
-            int detectionIndex = match.second;
-            if (trackletIndex >= 0 && detectionIndex >= 0)
-            {
-                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.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] = trackletIndex;
-                }
-            }
-        }
-        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.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;
-                
-                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)
-            {
-                tracklet.tentative = false;
-            }
-            if ((tgts.frame_id-tracklet.frame_id <= _max_age) || (!tracklet.tentative && tracklet.frame_id == tgts.frame_id))
-            {
-                _new_tracklets.push_back(tracklet);
-            } 
-        }
-        _tracklets = _new_tracklets;
-        std::vector <Tracklet> ().swap(_new_tracklets);
-    }
-}
-
-vector<Tracklet> SORT::getTracklets() const
-{
-    return this->_tracklets;
-}
-
-double SORT::_iou(Tracklet& tracklet, sv::Box& box)
-{
-    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);
-    double intersectionY2 = min(trackletY2, detectionY2);
-
-    double w = (intersectionX2-intersectionX1 > 0.0) ? (intersectionX2-intersectionX1) : 0.0;
-    double h = (intersectionY2-intersectionY1 > 0.0) ? (intersectionY2-intersectionY1) : 0.0;
-    double intersectionArea = w * h;
-
-    double trackletArea = tracklet.bbox(2) * tracklet.bbox(3);
-
-    double detectionArea = (box.x2-box.x1) * (box.y2-box.y1);
-    double unionArea = trackletArea + detectionArea - intersectionArea;
-    double iou = (1 - intersectionArea / unionArea * 1.0);
-
-    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)
-{
-    size_t numRows = costMatrix.size();
-    size_t numCols = costMatrix[0].size();
-
-    //transpose the matrix if necessary
-    const bool transposed = numCols > numRows;
-    if (transposed) {
-        vector<vector<double>> transposedMatrix(numCols, vector<double>(numRows));
-        for (int i = 0; i < numRows; i++)
-        {
-            for (int j = 0; j < numCols; j++)
-            {
-                transposedMatrix[j][i] = costMatrix[i][j];
-            }
-        }
-        costMatrix = transposedMatrix;
-        swap(numRows, numCols);
-    }
-    // Determine the larger dimension for matching
-    size_t maxDim = std::max(numRows, numCols);
-
-    // 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;
-            }
-        }
-    }
-
-    // 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/"
@@ -30,17 +31,47 @@ bool SingleObjectTrackerOCV470Impl::ocv470Setup(SingleObjectTrackerBase* base_)
   std::string net = get_home() + SV_MODEL_DIR + "dasiamrpn_model.onnx";
   std::string kernel_cls1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_cls1.onnx";
   std::string kernel_r1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_r1.onnx";
+  
+  std::vector<std::string> files1, files2, files3;
+  _list_dir(get_home() + SV_MODEL_DIR, files1, ".onnx", "Ocv-DaSiamRPN-Model-");
+  _list_dir(get_home() + SV_MODEL_DIR, files2, ".onnx", "Ocv-DaSiamRPN-Kernel-CLS1-");
+  _list_dir(get_home() + SV_MODEL_DIR, files3, ".onnx", "Ocv-DaSiamRPN-Kernel-R1-");
+  if (files1.size() > 0 && files2.size() > 0 && files3.size() > 0)
+  {
+    std::sort(files1.rbegin(), files1.rend(), _comp_str_lesser);
+    std::sort(files2.rbegin(), files2.rend(), _comp_str_lesser);
+    std::sort(files3.rbegin(), files3.rend(), _comp_str_lesser);
+    net = get_home() + SV_MODEL_DIR + files1[0];
+    kernel_cls1 = get_home() + SV_MODEL_DIR + files2[0];
+    kernel_r1 = get_home() + SV_MODEL_DIR + files3[0];
+  }
+  std::cout << "Load: " << net << std::endl;
+  std::cout << "Load: " << kernel_cls1 << std::endl;
+  std::cout << "Load: " << kernel_r1 << std::endl;
 
   std::string backbone = get_home() + SV_MODEL_DIR + "nanotrack_backbone_sim.onnx";
   std::string neckhead = get_home() + SV_MODEL_DIR + "nanotrack_head_sim.onnx";
+  
+  std::vector<std::string> files4, files5;
+  _list_dir(get_home() + SV_MODEL_DIR, files4, ".onnx", "Ocv-NanoTrack-Backbone-SIM-");
+  _list_dir(get_home() + SV_MODEL_DIR, files5, ".onnx", "Ocv-NanoTrack-Head-SIM-");
+  if (files4.size() > 0 && files5.size() > 0)
+  {
+    std::sort(files4.rbegin(), files4.rend(), _comp_str_lesser);
+    std::sort(files5.rbegin(), files5.rend(), _comp_str_lesser);
+    backbone = get_home() + SV_MODEL_DIR + files4[0];
+    neckhead = get_home() + SV_MODEL_DIR + files5[0];
+  }
+  std::cout << "Load: " << backbone << std::endl;
+  std::cout << "Load: " << neckhead << std::endl;
 
   try
   {
     TrackerNano::Params nano_params;
     nano_params.backbone = samples::findFile(backbone);
     nano_params.neckhead = samples::findFile(neckhead);
-    nano_params.backend = cv::dnn::DNN_BACKEND_CUDA;
-    nano_params.target = cv::dnn::DNN_TARGET_CUDA;
+    nano_params.backend = this->_backend;
+    nano_params.target = this->_target;
 
     _nano = TrackerNano::create(nano_params);
   }

algorithm/veri/cuda/veri_det_cuda_impl.cpp

@@ -1,6 +1,7 @@
 #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/"
@@ -74,10 +75,20 @@ namespace sv
   bool VeriDetectorCUDAImpl::cudaSetup()
   {
 #ifdef WITH_CUDA
-    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "model.engine";
+    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "veri.engine";
+    
+    std::vector<std::string> files;
+    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "Nv-VERI-mobilenet_v3");
+    if (files.size() > 0)
+    {
+      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+      trt_model_fn = get_home() + SV_MODEL_DIR + files[0];
+    }
+    std::cout << "Load: " << trt_model_fn << std::endl;
+    
     if (!is_file_exist(trt_model_fn))
     {
-      throw std::runtime_error("SpireCV (104) Error loading the VERI TensorRT model (File Not Exist)");
+      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};
@@ -107,7 +118,7 @@ namespace sv
 
     delete[] trt_model_stream;
     const ICudaEngine &cu_engine = this->_trt_context->getEngine();
-    assert(cu_engine.getNbBindings() == 2);
+    assert(cu_engine.getNbBindings() == 3);
 
     this->_input_index = cu_engine.getBindingIndex("input");
     this->_output_index1 = cu_engine.getBindingIndex("output");
@@ -123,7 +134,6 @@ namespace sv
     this->_p_data = new float[2 * 3 * 224 * 224];
     this->_p_prob1 = new float[2 * 576];
     this->_p_prob2 = new float[2 * 1280];
-    this->_p_prob3 = 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);
@@ -139,11 +149,12 @@ namespace sv
 
   void VeriDetectorCUDAImpl::cudaRoiCNN(
       std::vector<cv::Mat> &input_rois_,
-      std::vector<int> &output_labels_)
+      std::vector<float> &output_labels_)
   {
 #ifdef WITH_CUDA
 
-    for (int i = 0; i < 2; ++i)
+
+    for (int i = 0; i < 2; i++)
     {
       for (int row = 0; row < 224; ++row)
       {
@@ -151,14 +162,15 @@ namespace sv
         for (int col = 0; col < 224; ++col)
         {
           // mean=[136.20, 141.50, 145.41], std=[44.77, 44.20, 44.30]
-          this->_p_data[224 * 224 * 3 * i + col + row * 224] = ((float)uc_pixel[0] - 136.20f) / 44.77f;
-          this->_p_data[224 * 224 * 3 * i + col + row * 224 + 224 * 224] = ((float)uc_pixel[1] - 141.50f) / 44.20f;
-          this->_p_data[224 * 224 * 3 * i + col + row * 224 + 224 * 224 * 2] = ((float)uc_pixel[2] - 145.41f) / 44.30f;
+          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);
@@ -180,10 +192,9 @@ namespace sv
       }
     }
 
-    // 计算两个数组的余弦相似性
-    float similarity = cosineSimilarity(_p_prob2, _p_prob2 + 1280, 1280);
-    std::cout << "余弦相似性: " << similarity << std::endl;
-    std::cout << "VERI LABEL: " << label << std::endl;
+    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

@@ -29,14 +29,13 @@ public:
   bool cudaSetup();
   void cudaRoiCNN(
     std::vector<cv::Mat>& input_rois_,
-    std::vector<int>& output_labels_
+    std::vector<float>& output_labels_
   );
 
 #ifdef WITH_CUDA
   float *_p_data;
   float *_p_prob1;
   float *_p_prob2;
-  float *_p_prob3;
   nvinfer1::IExecutionContext *_trt_context;
   int _input_index;
   int _output_index1;

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

@@ -1,61 +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
 
-
-namespace sv {
-
-
-VeriDetector::VeriDetector()
-{
-  this->_cuda_impl = new VeriDetectorCUDAImpl;
-}
-VeriDetector::~VeriDetector()
-{
-}
-
-bool VeriDetector::setupImpl()
-{
-#ifdef WITH_CUDA
-  return this->_cuda_impl->cudaSetup();
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#include "veri_det_intel_impl.h"
 #endif
-  return false;
-}
 
-void VeriDetector::roiCNN(
-  std::vector<cv::Mat>& input_rois_,
-  std::vector<int>& output_labels_
-)
+#define SV_ROOT_DIR "/SpireCV/"
+
+namespace sv
 {
-#ifdef WITH_CUDA
-  this->_cuda_impl->cudaRoiCNN(
-    input_rois_,
-    output_labels_
-  );
-#endif
-}
 
-
-
-void VeriDetector::detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame& tgts_)
-{
-  if (!_params_loaded)
+  VeriDetector::VeriDetector()
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl = new VeriDetectorCUDAImpl;
+#endif
+
+#ifdef WITH_INTEL
+    this->_intel_impl = new VeriDetectorIntelImpl;
+#endif
+  }
+  VeriDetector::~VeriDetector()
   {
-    this->_load();
-    this->_loadLabels();
-    _params_loaded = true;
   }
 
-  std::vector<cv::Mat> e_roi = {img1_, img2_};
+  void VeriDetector::_load()
+  {
+    JsonValue all_value;
+    JsonAllocator allocator;
+    _load_all_json(this->alg_params_fn, all_value, allocator);
 
-  std::vector<int> output_labels;
-  roiCNN(e_roi, output_labels);
-}
+    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

@@ -1,17 +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: [ 919.698486328125, 0.0, 638.8856201171875, 0.0, 920.1767578125, 370.9995422363281, 0.0, 0.0, 1.0]
-distortion_coefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 0, 0, 0, 0, 0]
-avg_reprojection_error: 0

calib_webcam_1920x1080.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: 1920
-image_height: 1080
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
-       7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
-       5.5342063671841328e-03, 2.2214393775334758e-04,
-       1.7127431916651392e+00 ]
-avg_reprojection_error: 2.8342964851391211e-01

calib_webcam_640x480.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: 640
-image_height: 480
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
-       7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
-       5.5342063671841328e-03, 2.2214393775334758e-04,
-       1.7127431916651392e+00 ]
-avg_reprojection_error: 2.8342964851391211e-01

gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:53:43
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_crc32.h
+ * @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

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:39:56
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.cpp
+ * @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"
@@ -24,13 +24,6 @@ AT10GimbalDriver::AT10GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::
     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;
-
-    // Initialize and enable attitude data return (50Hz)
-    // uint8_t cmd = 0XFF;
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_H, &cmd, 1);
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_L, &cmd, 1);
-    // cmd = 0X00;
-    // pack(AT10::GIMBAL_CMD_OPEN_FEEDBACK, &cmd, 1);
 }
 
 /**
@@ -84,21 +77,7 @@ void AT10GimbalDriver::convert(void *buf)
     switch (temp->head)
     {
     case AT10::GIMBAL_CMD_RCV_STATE:
-        std::cout << "Undefined old frame from AT10";
-        // AT10::GIMBAL_RCV_POS_MSG_T *tempPos;
-        // tempPos = reinterpret_cast<AT10::GIMBAL_RCV_POS_MSG_T *>(((uint8_t *)buf) + AT10_EXT_PAYLOAD_OFFSET);
-        // mState.lock();
-        // state.abs.yaw = tempPos->yawIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.roll = tempPos->rollIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.pitch = tempPos->pitchIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.rel.yaw = tempPos->yawStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.roll = tempPos->rollStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.pitch = tempPos->pitchStatorRotorAngle * AT10_EXT_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);
-        // mState.unlock();
-
+        std::cout << "Undefined old frame from AT10\r\n";
         break;
 
     case AT10::GIMBAL_CMD_STD:
@@ -123,15 +102,15 @@ void AT10GimbalDriver::convert(void *buf)
             state.fov.y = amovGimbalTools::conversionBigLittle(tempRcv->D1.fovY) * 0.1;
             if ((amovGimbalTools::conversionBigLittle(tempRcv->D1.camera) & 0X0003) == 0X01)
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+                state.video = AMOV_GIMBAL_VIDEO_TAKE;
             }
             else
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+                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);
+                                      state.fov.x, state.fov.y, updataCaller);
             mState.unlock();
             break;
 
@@ -316,21 +295,9 @@ bool AT10GimbalDriver::parser(IN uint8_t byte)
 
 void AT10GimbalDriver::sendHeart(void)
 {
-    // uint8_t tempBuffer[72];
     uint8_t temp = 0X00;
     while (1)
     {
-        // if (!IO->isBusy() && IO->isOpen())
-        // {
-        //     bool state = false;
-
-        //     state = txQueue->outCell(&tempBuffer);
-        //     if (state)
-        //     {
-        //         IO->outPutBytes((uint8_t *)&tempBuffer,
-        //                         reinterpret_cast<AT10::GIMBAL_EXTEND_FRAME_T *>(tempBuffer)->len + AT10_EXT_PAYLOAD_OFFSET + sizeof(uint8_t));
-        //     }
-        // }
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         pack(AT10::GIMBAL_CMD_STD_HEART, &temp, sizeof(temp));
     }
@@ -363,19 +330,26 @@ void AT10GimbalDriver::stackStart(void)
     }
     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;
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
 
     while (1)
     {
-        if (IO->inPutByte(&temp))
+        getCount = IO->inPutBytes(temp);
+
+        for (i = 0; i < getCount; i++)
         {
-            parser(temp);
+            parser(temp[i]);
         }
     }
 }
@@ -387,7 +361,7 @@ void AT10GimbalDriver::getStdRxPack(void)
     {
         if (stdRxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
@@ -400,20 +374,25 @@ void AT10GimbalDriver::getExtRxPack(void)
     {
         if (rxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
 }
 
-void AT10GimbalDriver::parserStart(amovGimbal::pStateInvoke callback)
+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();

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h

@@ -3,19 +3,17 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:28:55
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.h
+ * @LastEditTime: 2023-12-06 10:27:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
  */
-#include "../amov_gimbal.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>
 
-#ifndef __AT10_DRIVER_H
-#define __AT10_DRIVER_H
-
 class AT10GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -32,12 +30,13 @@ private:
     void sendHeart(void);
     void sendStd(void);
 
-    void parserStart(amovGimbal::pStateInvoke callback);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
     void parserLoop(void);
     void getExtRxPack(void);
     void getStdRxPack(void);
 
-    // bool getRxPack(OUT void *pack);
+    std::thread::native_handle_type sendHreatThreadHandle;
+    std::thread::native_handle_type extStackThreadHandle;
 
     bool parser(IN uint8_t byte);
     void convert(void *buf);
@@ -46,18 +45,18 @@ private:
 
 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);
 
-    uint32_t extensionFuntions(void* cmd);
+    uint32_t extensionFuntions(void *cmd);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
@@ -76,6 +75,13 @@ public:
         {
             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);
     }
 };
 

gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp

@@ -3,7 +3,7 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:56:15
+ * @LastEditTime: 2023-11-27 16:27:18
  * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_funtion.cpp
  */
 #include "AT10_gimbal_driver.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t AT10GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     int16_t yaw, pitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -35,14 +35,14 @@ uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
 }
 
 /**
- * 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 AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t AT10GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     int16_t speedYaw, speedPitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -66,7 +66,7 @@ uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = fabs(followSpeed.pitch * 100);
     state.maxFollow.yaw = fabs(followSpeed.yaw * 100);
@@ -110,10 +110,10 @@ uint32_t AT10GimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t AT10GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint16_t temp;
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
     {
         temp = 0x14 << 3;
     }
@@ -127,20 +127,20 @@ uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newSta
     return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
 }
 
-uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     if (targetRate == 0.0f)
     {
         uint16_t temp = 0;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
             temp = 0X08 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
             temp = 0X09 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
             temp = 0X01 << 3;
             break;
         default:
@@ -160,18 +160,18 @@ uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t AT10GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint16_t temp = 0;
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
         temp = 0X0B << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
         temp = 0X0A << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
         temp = 0X01 << 3;
         break;
     default:

gimbal_ctrl/driver/src/CMakeLists.txt

@@ -1,36 +0,0 @@
-add_library(AMOV_Gimbal ${LIB_FLAG})
-
-SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb -fPIC")
-SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -fPIC")
-
-add_definitions(
-    -DMAX_QUEUE_SIZE=100
-)
-
-add_subdirectory(FIFO)
-########## add types of gimbal ##############
-add_subdirectory(G1)
-add_subdirectory(G2)
-add_subdirectory(Q10f)
-add_subdirectory(AT10)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(AMOV_Gimbal
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_link_libraries(AMOV_Gimbal
-    PRIVATE
-    Gimabl_G1
-    Gimabl_G2
-    Gimabl_Q10f
-    Gimabl_AT10
-)
-
-target_include_directories(AMOV_Gimbal
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-

gimbal_ctrl/driver/src/FIFO/CMakeLists.txt

@@ -1,13 +0,0 @@
-add_library(FIFO)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(FIFO
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_include_directories(FIFO
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:10
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-21 16:10:16
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.cpp
+ * @LastEditTime: 2023-11-28 11:47:34
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
  */
 
 #include <string.h>

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:02
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:22:46
- * @FilePath: /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

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: 2023-09-07 11:01:25
- * @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"
@@ -75,7 +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;
 

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 02:31:19
- * @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
-
 class g1GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,22 +28,22 @@ private:
 
 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 amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+    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 amovGimbal::AMOV_GIMBAL_POS_T &pos,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+    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);
 

gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:50:30
- * @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"
@@ -18,7 +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;
@@ -32,14 +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;
@@ -59,7 +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;
@@ -100,18 +100,18 @@ uint32_t g1GimbalDriver::takePic(void)
  *
  * @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();
 
@@ -124,10 +124,10 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @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 `amovGimbal::AMOV_GIMBAL_VELOCITY_T` and represents
+ * @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 "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @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
@@ -136,9 +136,9 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+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;
@@ -161,12 +161,12 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  * 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 amovGimbal::AMOV_GIMBAL_POS_T and represents the current
+ * @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 `amovGimbal::AMOV_GIMBAL_VELOCITY_T` which
+ * 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 "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @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
@@ -174,9 +174,9 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+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;

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: 2023-09-07 10:45:13
- * @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

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 +1,304 @@
+/*
+ * @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;
+    upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()) - std::chrono::milliseconds(2000);
+}
+
+/**
+ * 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() &&
+        cmd == GX40::GIMBAL_CMD_NOP)
+    {
+        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: 2023-07-24 12:03:44
- * @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"
@@ -86,7 +86,7 @@ void Q10fGimbalDriver::convert(void *buf)
         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;

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @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
-
 class Q10fGimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,16 +28,16 @@ private:
 
 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::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)

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: 2023-07-24 14:22:57
- * @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: 2023-07-24 11:51:59
- * @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_gimbal.cpp

@@ -1,328 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2022-10-28 11:54:11
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-17 11:57:11
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.cpp
- */
-
-// #include "amov_gimbal.h"
-#include "amov_gimbal_private.h"
-#include "g1_gimbal_driver.h"
-#include "Q10f_gimbal_driver.h"
-#include "AT10_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_AT10,
-} AMOV_GIMBAL_TYPE_T;
-
-namespace amovGimbal
-{
-    typedef amovGimbal::amovGimbalBase *(*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},
-            {"Q10f", AMOV_GIMBAL_TYPE_Q10},
-            {"AT10", AMOV_GIMBAL_TYPE_AT10}};
-
-    callbackMap amovGimbals =
-        {
-            {"G1", g1GimbalDriver::creat},
-            {"Q10f", Q10fGimbalDriver::creat},
-            {"AT10", AT10GimbalDriver::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)
-    {
-        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();
-};
-
-/**
- * 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->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-
-        state = txQueue->outCell(&tempBuffer);
-
-        if (state)
-        {
-            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;
-
-    while (1)
-    {
-        if (IO->inPutByte(&temp))
-        {
-            parser(temp);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::sendLoop(void)
-{
-    while (1)
-    {
-        send();
-    }
-}
-
-void amovGimbal::amovGimbalBase::mainLoop(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    while (1)
-    {
-        if (getRxPack(tempBuffer))
-        {
-            msgCustomCallback(tempBuffer);
-            convert(tempBuffer);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::stackStart(void)
-{
-    if (!this->IO->isOpen())
-    {
-        this->IO->open();
-    }
-    std::thread parserLoop(&amovGimbalBase::parserLoop, this);
-    std::thread sendLoop(&amovGimbalBase::sendLoop, this);
-    parserLoop.detach();
-    sendLoop.detach();
-}
-/**
- * It starts two threads, one for reading data from the serial port and one for sending data to the
- * serial port
- */
-void amovGimbal::gimbal::startStack(void)
-{
-    ((amovGimbalBase *)(this->dev))->stackStart();
-}
-
-void amovGimbal::gimbal::setParserCallback(amovGimbal::pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->updateGimbalStateCallback = callback;
-}
-
-void amovGimbal::amovGimbalBase::parserStart(pStateInvoke callback)
-{
-    this->updateGimbalStateCallback = callback;
-
-    std::thread mainLoop(&amovGimbalBase::mainLoop, this);
-
-    mainLoop.detach();
-}
-/**
- * The function creates a thread that runs the mainLoop function
- */
-void amovGimbal::gimbal::parserAuto(pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->parserStart(callback);
-}
-
-void amovGimbal::gimbal::setMsgCallback(pMsgInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->msgCustomCallback = callback;
-}
-
-amovGimbal::AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
-{
-    ((amovGimbalBase *)(this->dev))->mState.lock();
-    AMOV_GIMBAL_STATE_T temp = ((amovGimbalBase *)(this->dev))->state;
-    ((amovGimbalBase *)(this->dev))->mState.unlock();
-    return temp;
-}
-
-/**
- * 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;
-}
-
-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::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
-{
-    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

@@ -1,101 +0,0 @@
-/*
- * @Description:    External interface of amov gimbals
- * @Author: L LC @amov
- * @Date: 2022-10-27 18:34:26
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:28
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.h
- */
-
-#ifndef AMOV_GIMBAL_H
-#define AMOV_GIMBAL_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <iostream>
-
-#include "amov_gimbal_struct.h"
-
-#define MAX_QUEUE_SIZE 100
-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)
-    {
-    }
-    static inline void idleMsgCallback(void *)
-    {
-    }
-
-
-    // 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;
-    };
-
-    // Device interface
-    class IamovGimbalBase
-    {
-    public:
-        IamovGimbalBase() {}
-        virtual ~IamovGimbalBase() {}
-        // functions
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
-        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 extensionFuntions(void *cmd);
-    };
-
-    class gimbal
-    {
-    private:
-        std::string typeName;
-        IOStreamBase *IO;
-
-    public:
-        // Instantiated device handle
-        IamovGimbalBase *dev;
-
-        // Protocol stack function items
-        void startStack(void);
-        void parserAuto(pStateInvoke callback = idleCallback);
-        void setParserCallback(pStateInvoke callback);
-        void setMsgCallback(pMsgInvoke callback);
-
-        AMOV_GIMBAL_STATE_T getGimabalState(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/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

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2023-05-13 10:39:20
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:30:53
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_private.h
+ * @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
@@ -12,12 +12,12 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <iostream>
-
 #include <thread>
 #include <unistd.h>
 #include <mutex>
 
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
+#include "amovGimbal/amov_gimbal_c.h"
 
 #include "Ring_Fifo.h"
 #include "amov_tool.h"
@@ -28,14 +28,28 @@ namespace amovGimbal
     public:
         AMOV_GIMBAL_STATE_T state;
         std::mutex mState;
-        IOStreamBase *IO;
-        pStateInvoke updateGimbalStateCallback;
-        pMsgInvoke msgCustomCallback = idleMsgCallback;
+
+        // 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;
 
-        PamovGimbalBase(SET IOStreamBase *_IO)
+        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;
         }
@@ -49,9 +63,45 @@ namespace amovGimbal
             {
                 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:
@@ -68,7 +118,9 @@ namespace amovGimbal
         virtual void mainLoop(void);
 
         virtual void stackStart(void);
-        virtual void parserStart(amovGimbal::pStateInvoke callback);
+        virtual void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
 
     public:
         amovGimbalBase(IOStreamBase *_IO);

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

@@ -1,89 +0,0 @@
-/*
- * @Description: Common Data Structures of gimbal
- * @Author: L LC @amov
- * @Date: 2022-10-31 11:56:43
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:46
- * @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 void (*pMsgInvoke)(void *msg);
-
-    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;
-
-    typedef struct
-    {
-        double q0;
-        double q1;
-        double q2;
-        double q3;
-    } AMOV_GIMBAL_QUATERNION_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-        double z;
-    } AMOV_GIMBAL_VELOCITY_T;
-
-} // namespace amovGimbal
-
-#endif

gimbal_ctrl/driver/src/amov_tool.h

@@ -3,10 +3,12 @@
  * @Author: L LC @amov
  * @Date: 2023-07-31 18:30:33
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-31 18:55:18
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_tool.h
+ * @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)
@@ -27,3 +29,4 @@ namespace amovGimbalTools
         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"
@@ -20,18 +19,42 @@ namespace sv
     std::map<std::string, void *> Gimbal::IOList;
     std::mutex Gimbal::IOListMutex;
 
-    std::map<GimbalType, std::string> gimbaltypeList =
-        {
-            {GimbalType::G1, "G1"},
-            {GimbalType::Q10f, "Q10f"},
-            {GimbalType::AT10, "AT10"}};
-
-    std::string &cvGimbalType2Str(const GimbalType &type)
+    typedef struct
     {
-        std::map<GimbalType, std::string>::iterator temp = gimbaltypeList.find(type);
+        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);
+            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);
@@ -100,17 +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.
  *
@@ -121,25 +156,31 @@ void sv::Gimbal::setNetPort(const int &port)
 void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    pdevTemp->setParserCallback(callback);
+    m_callback = callback;
+    pdevTemp->setParserCallback(sv::Gimbal::gimbalUpdataCallback, this);
 }
 
 /**
- * The function `creatIO` creates an IO object for a gimbal device and adds it to a list of IO objects
- * if it doesn't already exist.
+ * 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 A pointer to an instance of the `Gimbal` class.
- * @param IO The parameter "IO" is a pointer to an object that represents the input/output (IO) device
- * for the gimbal. It is used to establish a connection with the gimbal and perform communication
- * operations.
+ * @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 boolean value.
+ * @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())
     {
@@ -159,20 +200,35 @@ void *sv::Gimbal::creatIO(sv::Gimbal *dev)
         }
         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;
-        }
+    }
+    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();
@@ -180,6 +236,7 @@ void sv::Gimbal::removeIO(sv::Gimbal *dev)
 
     IOListMutex.unlock();
 }
+
 /**
  * The function opens a communication interface with a gimbal device and sets up a parser to handle
  * incoming data.
@@ -196,14 +253,16 @@ bool sv::Gimbal::open(PStateInvoke callback)
     bool ret = false;
 
     this->IO = creatIO(this);
+
     if (this->IO != nullptr)
     {
         std::string driverName;
-        driverName = sv::cvGimbalType2Str(this->m_gimbal_type);
+        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();
-        pdevTemp->parserAuto(callback);
+        m_callback = callback;
+        pdevTemp->parserAuto(sv::Gimbal::gimbalUpdataCallback, this);
 
         ret = true;
     }
@@ -221,7 +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;
     }
@@ -250,7 +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;
     }
@@ -274,7 +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;
     }
@@ -300,7 +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;
     }
@@ -320,7 +379,7 @@ bool sv::Gimbal::takePhoto()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->takePic() > 0)
+    if (pdevTemp->takePic() > 0)
     {
         return true;
     }
@@ -344,21 +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;
     }
@@ -379,13 +438,13 @@ int sv::Gimbal::getVideoState()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     int ret;
-    amovGimbal::AMOV_GIMBAL_STATE_T state;
+    AMOV_GIMBAL_STATE_T state;
     state = pdevTemp->getGimabalState();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    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;
     }
@@ -413,7 +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;
@@ -425,11 +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);
 }
 
 /**
@@ -444,11 +503,55 @@ 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);
+}
+void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
+                                    const GimbalVelocityT &speed,
+                                    const GimbalVelocityT &acc, void *extenData)
+{
+    amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
+    AMOV_GIMBAL_QUATERNION_T temp_q;
+    temp_q.q0 = quaterion.q0;
+    temp_q.q1 = quaterion.q1;
+    temp_q.q2 = quaterion.q2;
+    temp_q.q3 = quaterion.q3;
+
+    AMOV_GIMBAL_VELOCITY_T temp_v1, temp_v2;
+    temp_v1.x = speed.x;
+    temp_v1.y = speed.y;
+    temp_v1.z = speed.z;
+
+    temp_v2.x = acc.x;
+    temp_v2.y = acc.y;
+    temp_v2.z = acc.z;
+
+    pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, extenData);
+}
+
+void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
+                                    const GimbalVelocityT &speed,
+                                    const GimbalVelocityT &acc, void *extenData)
+{
+    amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
+    AMOV_GIMBAL_VELOCITY_T temp_v1, temp_v2;
+    temp_v1.x = speed.x;
+    temp_v1.y = speed.y;
+    temp_v1.z = speed.z;
+
+    temp_v2.x = acc.x;
+    temp_v2.y = acc.y;
+    temp_v2.z = acc.z;
+
+    AMOV_GIMBAL_POS_T temp_p;
+    temp_p.pitch = pos.pitch;
+    temp_p.yaw = pos.yaw;
+    temp_p.roll = pos.roll;
+
+    pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, extenData);
 }
 
 sv::Gimbal::~Gimbal()

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;
 };
 
 
@@ -146,6 +140,8 @@ public:
   double getThrsConf();
   int useWidthOrHeight();
   bool withSegmentation();
+  std::string getModel();
+  int getBatchSize();
 protected:
   virtual bool setupImpl();
   virtual void detectImpl(
@@ -172,9 +168,10 @@ protected:
   double _thrs_conf;
   int _use_width_or_height;
   bool _with_segmentation;
+  std::string _model;
+  int _batch_size;
 };
 
 
 }
 #endif
-

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

@@ -3,8 +3,8 @@
  * @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__
@@ -27,14 +27,26 @@ namespace sv
     G1,
     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,
@@ -66,6 +78,28 @@ namespace sv
     FLOWCONTROL_HARDWARE = 2,
   };
 
+  typedef struct
+  {
+    double q0;
+    double q1;
+    double q2;
+    double q3;
+  } GimbalQuaternionT;
+
+  typedef struct
+  {
+    double x; // or N
+    double y; // or E
+    double z; // or UP
+  } GimbalVelocityT;
+
+  typedef struct
+  {
+    double yaw;
+    double roll;
+    double pitch;
+  } GimbalPosT;
+
   static inline void emptyCallback(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
                                    double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
                                    double &fovX, double &fovY)
@@ -83,6 +117,7 @@ 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";
@@ -94,8 +129,10 @@ 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;
@@ -104,6 +141,14 @@ namespace sv
     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
     /*!
@@ -125,7 +170,10 @@ 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);
@@ -139,6 +187,12 @@ namespace sv
     bool takePhoto();
     bool takeVideo(int state);
     int getVideoState();
+    void attitudeCorrection(const GimbalQuaternionT &quaterion,
+                                    const GimbalVelocityT &speed,
+                                    const GimbalVelocityT &acc, void *extenData);
+    void attitudeCorrection(const GimbalPosT &pos,
+                                    const GimbalVelocityT &speed,
+                                    const GimbalVelocityT &acc, void *extenData);
 
     //! Set gimbal angles
     /*!

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

@@ -15,7 +15,7 @@ namespace sv {
 
 
 class SORT;
-
+class BYTETracker;
 
 class MultipleObjectTracker : public CameraAlgorithm
 {
@@ -24,7 +24,7 @@ public:
     ~MultipleObjectTracker();
 
     void init(CommonObjectDetector* detector_);
-    void track(cv::Mat img_, TargetsInFrame& tgts_);
+    sv::TargetsInFrame track(cv::Mat img_, TargetsInFrame& tgts_);
 
 private:
     void _load();
@@ -39,70 +39,12 @@ private:
     double _iou_thres;
     int _max_age;
     int _min_hits;
+    int _frame_rate;
+    int _track_buffer;
     
     SORT* _sort_impl;
+    BYTETracker* _bytetrack_impl;
     CommonObjectDetector* _detector;
 };
-
-
-// define the tracklet struct to store the tracked objects.
-struct Tracklet
-{
-/* data */
-public:
-    Eigen::Vector4d bbox;  // double x, y, w, h;
-    int id = 0;
-    int age;
-    int hits;
-    int misses;
-    int frame_id = 0;
-    int category_id;
-    bool tentative;
-    std::vector<double> features;
-    Eigen::Matrix<double, 8, 1> mean;
-    Eigen::Matrix<double, 8, 8> covariance;
-};
-
-
-class KalmanFilter {
-public:
-    KalmanFilter();
-    ~KalmanFilter();
-    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;
-    Eigen::Matrix<double, 9, 1> _chi2inv95;
-    double _std_weight_position;
-    double _std_weight_vel;
-};
-
-
-class SORT {
-public:
-    SORT(double iou_threshold, int max_age, int min_hits): _iou_threshold(iou_threshold), _max_age(max_age), _min_hits(min_hits), _next_tracklet_id(0) {};
-    ~SORT();
-    void update(TargetsInFrame &tgts);
-    std::vector<Tracklet> getTracklets() const;
-private:
-    double _iou(Tracklet &tracklet, Box &box);
-    std::vector<std::pair<int,int>> _hungarian(std::vector<std::vector<double>> costMatrix);
-    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;
-    int _min_hits;
-    int _next_tracklet_id;
-    std::vector <Tracklet> _tracklets;
-    std::vector <Tracklet> _new_tracklets;
-};
-
-
 }
 #endif

include/sv_veri_det.h

@@ -8,10 +8,11 @@
 #include <string>
 #include <chrono>
 
-
-namespace sv {
+namespace sv
+{
 
 class VeriDetectorCUDAImpl;
+class VeriDetectorIntelImpl;
 
 class VeriDetector : public LandingMarkerDetectorBase
 {
@@ -19,18 +20,25 @@ public:
   VeriDetector();
   ~VeriDetector();
 
-  void detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame &tgts_);
+  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<int>& output_labels_
-  );
+    std::vector<cv::Mat> &input_rois_,
+    std::vector<float> &output_labels_);
+  void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
 
-  VeriDetectorCUDAImpl* _cuda_impl;
+  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

@@ -12,9 +12,6 @@
 #include <arpa/inet.h>
 #include <netinet/in.h>  // for sockaddr_in
 
-#include <mutex>
-#include <condition_variable>
-
 #define SV_RAD2DEG 57.2957795
 // #define X86_PLATFORM
 // #define JETSON_PLATFORM
@@ -93,6 +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;
@@ -128,6 +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();
 
@@ -326,13 +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();
   
@@ -346,10 +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);
@@ -361,15 +366,7 @@ protected:
   void _run();
 
   bool _is_running;
-
-// new mutex
-  std::mutex _frame_mutex;
-  std::condition_variable_any _frame_empty;
-
-//old flag
   bool _is_updated;
-
-
   std::thread _tt;
   cv::VideoCapture _cap;
   cv::Mat _frame;
@@ -380,18 +377,21 @@ 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;
 };
 
+
 void drawTargetsInFrame(
   cv::Mat& img_,
   const TargetsInFrame& tgts_,
-  int aruco_track_id,
   bool with_all=true,
   bool with_category=false,
   bool with_tid=false,
@@ -401,20 +401,15 @@ void drawTargetsInFrame(
   bool with_aruco=false,
   bool with_yaw=false
 );
-
-
-
-void drawTargetsInFrame(
-  cv::Mat& img_,
+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,
-  bool with_ell=false,
-  bool with_aruco=false,
-  bool with_yaw=false
+  bool with_box=false
 );
 std::string get_home();
 bool is_file_exist(std::string& fn);
@@ -423,4 +418,3 @@ void list_dir(std::string dir, std::vector<std::string>& files, std::string suff
 
 }
 #endif
-

params/a-params/sv_algorithm_params.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["h"],

params/a-params/sv_algorithm_params_1280_wo_mask.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 1280,
+        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_640_w_mask.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -123,8 +125,9 @@
         "reid_num_samples": 10,
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
-        "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_640_wo_mask.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_coco_1280.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 1280,
+        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_coco_640.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": false,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_csrt.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_kcf.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_nano.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],

params/a-params/sv_algorithm_params_siamrpn.json

@@ -1,11 +1,13 @@
 {
     "CommonObjectDetector": {
         "dataset": "COCO",
+        "model": "s",
+        "batchSize": 1,
         "inputSize": 640,
+        "withSegmentation": true,
         "nmsThrs": 0.6,
         "scoreThrs": 0.4,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -124,7 +126,9 @@
         "reid_match_thres": 2.0,
         "iou_thres": 0.5,
         "max_age": 10,
-        "min_hits": 3
+        "min_hits": 3,
+        "frame_rate": 30,
+        "track_buffer": 30
     },
     "LandingMarkerDetector": {
         "labels": ["x", "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 }"
@@ -107,28 +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 {
-    	char pipe[512];
-    	sprintf(pipe, "rtsp://192.168.2.64:554/H264?W=1280&H=720&FPS=30&BR=4000000");
-        inputVideo.open(pipe);
-        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")) {
@@ -158,9 +181,9 @@ int main(int argc, char *argv[]) {
     vector< Mat > allImgs;
     Size imgSize;
 
-    while(inputVideo.grab()) {
+    while(1) {
         Mat image, imageCopy;
-        inputVideo.retrieve(image);
+        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(1280, 720);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 4);  // 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;

samples/demo/camera_reading.cpp

@@ -8,9 +8,9 @@ using namespace std;
 int main(int argc, char *argv[]) {  
   // 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(1280, 720);
+  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;
   while (1)

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(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;

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_1280x720.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_1280x720.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(1280, 720);
+  cap.setWH(cod.image_width, cod.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
-  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
+  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;