fix video file read

algorithm/sv_algorithm_base.cpp

@@ -80,6 +80,12 @@ ArucoDetector::ArucoDetector()
 }
 
 
+void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
+{
+  ids_ = this->_ids_need;
+  lengths_ = this->_lengths_need;
+}
+
 void ArucoDetector::_load()
 {
   JsonValue all_value;

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;

include/sv_video_base.h

@@ -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();
 
@@ -326,7 +327,7 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
+enum class CameraType {NONE, WEBCAM, V4L2CAM, MIPI, RTSP, VIDEO, G1, Q10, GX40};
 
 class CameraBase {
 public:
@@ -350,6 +351,8 @@ public:
   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);
@@ -372,6 +375,8 @@ protected:
   int _height;
   int _fps;
   std::string _ip;
+  std::string _rtsp_url;
+  std::string _video_path;
   int _port;
   double _brightness;
   double _contrast;
@@ -393,6 +398,16 @@ void drawTargetsInFrame(
   bool with_aruco=false,
   bool with_yaw=false
 );
+cv::Mat drawTargetsInFrame(
+  const cv::Mat img_,
+  const TargetsInFrame& tgts_,
+  const double scale,
+  bool with_all=true,
+  bool with_category=false,
+  bool with_tid=false,
+  bool with_seg=false,
+  bool with_box=false
+);
 std::string get_home();
 bool is_file_exist(std::string& fn);
 void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);

samples/calib/create_marker.cpp

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

video_io/sv_video_base.cpp

@@ -454,6 +454,71 @@ void drawTargetsInFrame(
   }
 }
 
+
+cv::Mat drawTargetsInFrame(
+  const cv::Mat img_,
+  const TargetsInFrame& tgts_,
+  const double scale,
+  bool with_all,
+  bool with_category,
+  bool with_tid,
+  bool with_seg,
+  bool with_box
+)
+{
+  cv::Mat img_show;
+  cv::resize(img_, img_show, cv::Size(0, 0), scale, scale);
+  if (tgts_.rois.size() > 0)
+  {
+    cv::Mat image_ret;
+    cv::addWeighted(img_show, 0.5, cv::Mat::zeros(cv::Size(img_show.cols, img_show.rows), CV_8UC3), 0, 0, image_ret);
+    cv::Rect roi = cv::Rect((int)(tgts_.rois[0].x1*scale), (int)(tgts_.rois[0].y1*scale), (int)((tgts_.rois[0].x2 - tgts_.rois[0].x1)*scale), (int)((tgts_.rois[0].y2 - tgts_.rois[0].y1)*scale));
+    img_show(roi).copyTo(image_ret(roi));
+    image_ret.copyTo(img_show);
+  }
+
+  for (Target tgt : tgts_.targets)
+  {
+    cv::circle(img_show, cv::Point(int(tgt.cx * tgts_.width * scale), int(tgt.cy * tgts_.height * scale)), 4, cv::Scalar(0,255,0), 2);
+    if ((with_all || with_box) && tgt.has_box)
+    {
+      Box b;
+      tgt.getBox(b);
+      cv::rectangle(img_show, cv::Rect((int)(b.x1 * scale), (int)(b.y1 * scale), (int)((b.x2-b.x1+1)*scale), (int)((b.y2-b.y1+1)*scale)), cv::Scalar(0,0,255), 1, 1, 0);
+      if ((with_all || with_category) && tgt.has_category)
+      {
+        cv::putText(img_show, tgt.category, cv::Point((int)(b.x1*scale), (int)(b.y1*scale)-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
+      }
+      if ((with_all || with_tid) && tgt.has_tid)
+      {
+        char tmp[32];
+        sprintf(tmp, "TID: %d", tgt.tracked_id);
+        cv::putText(img_show, tmp, cv::Point((int)(b.x1*scale), (int)(b.y1*scale)-14), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(0,0,255));
+      }
+    }
+    if ((with_all || with_seg) && tgt.has_seg)
+    {
+      cv::Mat mask = tgt.getMask() * 255;
+      cv::threshold(mask, mask, 127, 255, cv::THRESH_BINARY);
+      mask.convertTo(mask, CV_8UC1);
+
+      cv::resize(mask, mask, cv::Size(img_show.cols, img_show.rows));
+      std::vector<std::vector<cv::Point> > contours;
+      std::vector<cv::Vec4i> hierarchy;
+
+      cv::findContours(mask, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+      cv::Mat mask_disp = img_show.clone();
+      cv::fillPoly(mask_disp, contours, cv::Scalar(255,255,255), cv::LINE_AA);
+      cv::polylines(img_show, contours, true, cv::Scalar(255,255,255), 2, cv::LINE_AA);
+
+      double alpha = 0.6;
+      cv::addWeighted(img_show, alpha, mask_disp, 1.0-alpha, 0, img_show);
+    }
+  }
+  return img_show;
+}
+
+
 std::string Target::getJsonStr()
 {
   std::string json_str = "{";
@@ -588,6 +653,15 @@ bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners)
   return this->has_aruco;
 }
 
+bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs)
+{
+  id = this->_a_id;
+  corners = this->_a_corners;
+  rvecs = this->_a_rvecs;
+  tvecs = this->_a_tvecs;
+  return this->has_aruco;
+}
+
 bool Target::getBox(Box& b)
 {
   b = this->_b_box;
@@ -1006,6 +1080,14 @@ void CameraBase::setIp(std::string ip)
 {
   this->_ip = ip;
 }
+void CameraBase::setRtspUrl(std::string rtsp_url)
+{
+  this->_rtsp_url = rtsp_url;
+}
+void CameraBase::setVideoPath(std::string video_path)
+{
+  this->_video_path = video_path;
+}
 void CameraBase::setPort(int port)
 {
   this->_port = port;
@@ -1090,9 +1172,12 @@ void CameraBase::open(CameraType type, int id)
   if (this->_cap.isOpened())
   {
     std::cout << "Camera opened!" << std::endl;
-    this->_is_running = true;
-    this->_tt = std::thread(&CameraBase::_run, this);
-    this->_tt.detach();
+    if(type != CameraType::VIDEO)
+    {
+      this->_is_running = true;
+      this->_tt = std::thread(&CameraBase::_run, this);
+      this->_tt.detach();
+    }
   }
   else if (type != CameraType::NONE)
   {
@@ -1112,19 +1197,26 @@ bool CameraBase::read(cv::Mat& image)
 {
   if (this->_type != CameraType::NONE)
   {
-    int n_try = 0;
-    while (n_try < 5000)
+    if(this->_type == CameraType::VIDEO)
     {
-      if (this->_is_updated)
-      {
-        this->_is_updated = false;
-        this->_frame.copyTo(image);
-        break;
-      }
-      std::this_thread::sleep_for(std::chrono::milliseconds(20));
-      n_try ++;
+      this->_cap >> image;
     }
-  }
+  else
+    {
+      int n_try = 0;
+      while (n_try < 5000)
+      {
+        if (this->_is_updated)
+        {
+          this->_is_updated = false;
+          this->_frame.copyTo(image);
+          break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        n_try ++;
+      }
+    }
+  } 
   if (image.cols == 0 || image.rows == 0)
   {
     throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");

video_io/sv_video_input.cpp

@@ -19,6 +19,7 @@ void Camera::openImpl()
     if (this->_type == CameraType::V4L2CAM)
     {
       this->_cap.open(this->_camera_id, cv::CAP_V4L2);
+      // this->_cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', 'U', 'Y', 'V'));
     }
     if (this->_type == CameraType::WEBCAM)
     {
@@ -71,14 +72,19 @@ void Camera::openImpl()
       this->_fps = 30;
     }
 
-#ifdef PLATFORM_X86_CUDA
-    sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
-    this->_cap.open(pipe);
-#endif
 #ifdef PLATFORM_JETSON
-    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
-    this->_cap.open(pipe, cv::CAP_GSTREAMER);
+    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! \
+                   application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! \
+                   nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", 
+                   this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
+#else
+    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! \
+                   application/x-rtp,media=video ! rtph264depay ! parsebin ! avdec_h264 ! \
+                   videoconvert ! appsink sync=false", 
+                   this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
 #endif
+    printf("%s\r\n",pipe);
+    this->_cap.open(pipe, cv::CAP_GSTREAMER);
   }
   else if (this->_type == CameraType::GX40)
   {
@@ -127,6 +133,36 @@ void Camera::openImpl()
     sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
   }
+  else if (this->_type == CameraType::RTSP)
+  {
+    char pipe[512];
+    if (this->_width <= 0 || this->_height <= 0)
+    {
+      this->_width = 1280;
+      this->_height = 720;
+    }
+    if (this->_port <= 0)
+    {
+      this->_port = 554;
+    }
+    if (this->_fps <= 0)
+    {
+      this->_fps = 30;
+    }
+
+#ifdef PLATFORM_X86_CUDA
+    sprintf(pipe, "%s?W=%d&H=%d&FPS=%d", this->_rtsp_url.c_str(), this->_width, this->_height, this->_fps);
+    this->_cap.open(pipe);
+#endif
+#ifdef PLATFORM_JETSON
+    sprintf(pipe, "rtspsrc location=%s?W=%d&H=%d&FPS=%d latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_rtsp_url.c_str(), this->_width, this->_height, this->_fps);
+    this->_cap.open(pipe, cv::CAP_GSTREAMER);
+#endif
+  }
+  else if (this->_type == CameraType::VIDEO)
+  {
+    this->_cap.open(this->_video_path);
+  }
 }
 
 }