update.

CMakeLists.txt

@@ -69,7 +69,6 @@ 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/cuda
@@ -77,7 +76,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
+    ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -119,8 +118,7 @@ set(
   include/sv_mot.h
   include/sv_color_line.h
   include/sv_veri_det.h
-  # include/sv_video_input.h
-  include/sv_camera.h
+  include/sv_video_input.h
   include/sv_video_output.h
   include/sv_world.h
 )
@@ -141,8 +139,6 @@ 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})
 
@@ -294,9 +290,7 @@ 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} sv_world)
-add_executable(CreateMarker samples/calib/create_marker.cpp)
-target_link_libraries(CreateMarker ${OpenCV_LIBS})
+target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
 
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 if (NOT DEFINED SV_INSTALL_PREFIX)
@@ -315,7 +309,7 @@ if(USE_CUDA)
     RUNTIME DESTINATION bin
   )
 elseif(PLATFORM STREQUAL "X86_INTEL")
-  install(TARGETS sv_gimbal sv_world
+  install(TARGETS sv_world
     LIBRARY DESTINATION lib
   )
 endif()

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/#/)（[wolai版本](https://www.wolai.com/4qWFM6aZmtpQE6jj7hnNMW)）、[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/#/)、[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。

algorithm/common_det/cuda/common_det_cuda_impl.cpp

@@ -103,7 +103,7 @@ 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, int batchsize) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w) {
   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 +112,12 @@ void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w, in
   assert(inputIndex == 0);
   assert(outputIndex == 1);
   // Create GPU buffers on device
-  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)));
+  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)));
 
-  this->_cpu_output_buffer = new float[batchsize * kOutputSize];
+  this->_cpu_output_buffer = new float[kBatchSize * kOutputSize];
 }
-void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w, int batchsize) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w) {
   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 +129,13 @@ 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]), 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)));
+  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)));
 
   // Alloc CPU buffers
-  this->_cpu_output_buffer1 = new float[batchsize * kOutputSize1];
-  this->_cpu_output_buffer2 = new float[batchsize * kOutputSize2];
+  this->_cpu_output_buffer1 = new float[kBatchSize * kOutputSize1];
+  this->_cpu_output_buffer2 = new float[kBatchSize * kOutputSize2];
 }
 void deserialize_engine(std::string& engine_name, IRuntime** runtime, ICudaEngine** engine, IExecutionContext** context) {
   std::ifstream file(engine_name, std::ios::binary);
@@ -172,8 +172,7 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   std::vector<float>& boxes_h_,
   std::vector<int>& boxes_label_,
   std::vector<float>& boxes_score_,
-  std::vector<cv::Mat>& boxes_seg_,
-  bool input_4k_
+  std::vector<cv::Mat>& boxes_seg_
 )
 {
 #ifdef WITH_CUDA
@@ -184,51 +183,9 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   double thrs_nms = base_->getThrsNms();
 
   std::vector<cv::Mat> img_batch;
-  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);
-  }
+  img_batch.push_back(img_);
+  // Preprocess
+  cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], input_w, input_h, this->_stream);
 
   // Run inference
   if (with_segmentation)
@@ -237,14 +194,7 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   }
   else
   {
-    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);
-    }
+    infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, kBatchSize);
   }
 
   // NMS
@@ -258,102 +208,45 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
     batch_nms(res_batch, this->_cpu_output_buffer, img_batch.size(), kOutputSize, thrs_conf, thrs_nms);
   }
 
-
-  if (input_4k_)
+  std::vector<Detection> res = res_batch[0];
+  std::vector<cv::Mat> masks;
+  if (with_segmentation)
   {
-    for (size_t k = 0; k < res_batch.size(); k++)
-    {
-      std::vector<Detection> res = res_batch[k];
-      for (size_t j = 0; j < res.size(); 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);
+    masks = process_mask(&(this->_cpu_output_buffer2[0]), kOutputSize2, res, input_h, input_w);
+  }
 
-          boxes_label_.push_back((int)res[j].class_id);
-          boxes_score_.push_back(res[j].conf);
-        }
+
+
+  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);
       }
     }
   }
-  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 input_4k_)
+bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
 {
 #ifdef WITH_CUDA
   std::string dataset = base_->getDataset();
@@ -379,11 +272,6 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   {
     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));
@@ -394,20 +282,12 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   if (with_segmentation)
   {
     // Prepare cpu and gpu buffers
-    this->_prepare_buffers_seg(input_h, input_w, 1);
+    this->_prepare_buffers_seg(input_h, input_w);
   }
   else
   {
-    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);
-    }
+    // Prepare cpu and gpu buffers
+    this->_prepare_buffers(input_h, input_w);
   }
   return true;
 #endif

algorithm/common_det/cuda/common_det_cuda_impl.h

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

algorithm/common_det/sv_common_det.cpp

@@ -12,9 +12,8 @@
 namespace sv {
 
 
-CommonObjectDetector::CommonObjectDetector(bool input_4k)
+CommonObjectDetector::CommonObjectDetector()
 {
-  this->_input_4k = input_4k;
 #ifdef WITH_CUDA
   this->_cuda_impl = new CommonObjectDetectorCUDAImpl;
 #endif
@@ -26,7 +25,7 @@ CommonObjectDetector::~CommonObjectDetector()
 bool CommonObjectDetector::setupImpl()
 {
 #ifdef WITH_CUDA
-  return this->_cuda_impl->cudaSetup(this, this->_input_4k);
+  return this->_cuda_impl->cudaSetup(this);
 #endif
   return false;
 }
@@ -52,8 +51,7 @@ void CommonObjectDetector::detectImpl(
     boxes_h_,
     boxes_label_,
     boxes_score_,
-    boxes_seg_,
-    this->_input_4k
+    boxes_seg_
   );
 #endif
 }

algorithm/sot/ocv470/sot_ocv470_impl.cpp

@@ -39,8 +39,8 @@ bool SingleObjectTrackerOCV470Impl::ocv470Setup(SingleObjectTrackerBase* base_)
     TrackerNano::Params nano_params;
     nano_params.backbone = samples::findFile(backbone);
     nano_params.neckhead = samples::findFile(neckhead);
-    nano_params.backend = this->_backend;
-    nano_params.target = this->_target;
+    nano_params.backend = cv::dnn::DNN_BACKEND_CUDA;
+    nano_params.target = cv::dnn::DNN_TARGET_CUDA;
 
     _nano = TrackerNano::create(nano_params);
   }

algorithm/veri/cuda/veri_det_cuda_impl.cpp

@@ -74,10 +74,10 @@ namespace sv
   bool VeriDetectorCUDAImpl::cudaSetup()
   {
 #ifdef WITH_CUDA
-    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "veri.engine";
+    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "model.engine";
     if (!is_file_exist(trt_model_fn))
     {
-      throw std::runtime_error("SpireCV (104) Error loading the VeriDetector TensorRT model (File Not Exist)");
+      throw std::runtime_error("SpireCV (104) Error loading the VERI TensorRT model (File Not Exist)");
     }
     char *trt_model_stream{nullptr};
     size_t trt_model_size{0};
@@ -107,7 +107,7 @@ namespace sv
 
     delete[] trt_model_stream;
     const ICudaEngine &cu_engine = this->_trt_context->getEngine();
-    assert(cu_engine.getNbBindings() == 3);
+    assert(cu_engine.getNbBindings() == 2);
 
     this->_input_index = cu_engine.getBindingIndex("input");
     this->_output_index1 = cu_engine.getBindingIndex("output");
@@ -123,6 +123,7 @@ 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);
@@ -138,12 +139,11 @@ namespace sv
 
   void VeriDetectorCUDAImpl::cudaRoiCNN(
       std::vector<cv::Mat> &input_rois_,
-      std::vector<float> &output_labels_)
+      std::vector<int> &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)
       {
@@ -151,15 +151,14 @@ 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[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;
+          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;
           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);
@@ -181,9 +180,10 @@ namespace sv
       }
     }
 
-    float similarity = cosineSimilarity(this->_p_prob2, this->_p_prob2 + 1280, 1280);
-    output_labels_.push_back(label);
-    output_labels_.push_back(similarity);
+    // 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;
   }
 #endif
 }

algorithm/veri/cuda/veri_det_cuda_impl.h

@@ -29,13 +29,14 @@ public:
   bool cudaSetup();
   void cudaRoiCNN(
     std::vector<cv::Mat>& input_rois_,
-    std::vector<float>& output_labels_
+    std::vector<int>& 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/sv_veri_det.cpp

@@ -1,153 +1,61 @@
 #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
 
-#define SV_ROOT_DIR "/SpireCV/"
 
-namespace sv
+namespace sv {
+
+
+VeriDetector::VeriDetector()
 {
+  this->_cuda_impl = new VeriDetectorCUDAImpl;
+}
+VeriDetector::~VeriDetector()
+{
+}
 
-  VeriDetector::VeriDetector()
-  {
+bool VeriDetector::setupImpl()
+{
 #ifdef WITH_CUDA
-    this->_cuda_impl = new VeriDetectorCUDAImpl;
+  return this->_cuda_impl->cudaSetup();
 #endif
-  }
-  VeriDetector::~VeriDetector()
-  {
-  }
+  return false;
+}
 
-  void VeriDetector::_load()
-  {
-    JsonValue all_value;
-    JsonAllocator allocator;
-    _load_all_json(this->alg_params_fn, all_value, allocator);
-
-    JsonValue veriliner_params_value;
-    _parser_algorithm_params("VeriDetector", all_value, veriliner_params_value);
-
-    for (auto i : veriliner_params_value)
-    {
-      if ("vehicle_ID" == std::string(i->key))
-      {
-        this->vehicle_id = i->value.toString();
-        std::cout << "vehicle_ID Load Sucess!" << std::endl;
-      }
-    }
-  }
-
-  bool VeriDetector::setupImpl()
-  {
+void VeriDetector::roiCNN(
+  std::vector<cv::Mat>& input_rois_,
+  std::vector<int>& output_labels_
+)
+{
 #ifdef WITH_CUDA
-    return this->_cuda_impl->cudaSetup();
+  this->_cuda_impl->cudaRoiCNN(
+    input_rois_,
+    output_labels_
+  );
 #endif
-  
-    return false;
-  }
+}
 
 
-  void VeriDetector::roiCNN(
-      std::vector<cv::Mat> &input_rois_,
-      std::vector<float> &output_labels_)
+
+void VeriDetector::detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame& tgts_)
+{
+  if (!_params_loaded)
   {
-#ifdef WITH_CUDA
-    this->_cuda_impl->cudaRoiCNN(
-        input_rois_,
-        output_labels_);
-#endif
+    this->_load();
+    this->_loadLabels();
+    _params_loaded = true;
   }
 
-  void VeriDetector::detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt)
-  {
-    if (!_params_loaded)
-    {
-      this->_load();
-      this->_loadLabels();
-      _params_loaded = true;
-    }
+  std::vector<cv::Mat> e_roi = {img1_, img2_};
 
-    // 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};
-
-#ifdef WITH_CUDA
-    std::vector<float> output_labels;
-    roiCNN(input_rois_, output_labels);
-
-    // auto t1 = std::chrono::system_clock::now();
-    // tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
-    // this->_t0 = std::chrono::system_clock::now();
-    // tgts_.setTimeNow();
-
-    if (output_labels.size() > 0)
-    {
-      // tgt.category_id = output_labels[0];
-      tgt.sim_score = output_labels[1];
-      // tgts_.targets.push_back(tgt);
-    }
-#endif
-  }
-
-    void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
-  {
-    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));
-  }
+  std::vector<int> output_labels;
+  roiCNN(e_roi, output_labels);
+}
 
 }
+

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: 2023-12-05 16:30:27
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
+ * @LastEditTime: 2023-08-16 21:53:43
+ * @FilePath: /gimbal-sdk-multi-platform/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: 2023-12-06 10:27:59
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
+ * @LastEditTime: 2023-08-25 19:39:56
+ * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.cpp
  */
 #include "AT10_gimbal_driver.h"
 #include "AT10_gimbal_crc32.h"
@@ -24,6 +24,13 @@ 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);
 }
 
 /**
@@ -77,7 +84,21 @@ void AT10GimbalDriver::convert(void *buf)
     switch (temp->head)
     {
     case AT10::GIMBAL_CMD_RCV_STATE:
-        std::cout << "Undefined old frame from AT10\r\n";
+        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();
+
         break;
 
     case AT10::GIMBAL_CMD_STD:
@@ -102,15 +123,15 @@ 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 = AMOV_GIMBAL_VIDEO_TAKE;
+                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
             }
             else
             {
-                state.video = AMOV_GIMBAL_VIDEO_OFF;
+                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
             }
             updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                       state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                      state.fov.x, state.fov.y, updataCaller);
+                                      state.fov.x, state.fov.y);
             mState.unlock();
             break;
 
@@ -295,9 +316,21 @@ 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));
     }
@@ -330,26 +363,19 @@ 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[65536];
-    uint32_t i = 0, getCount = 0;
+    uint8_t temp;
 
     while (1)
     {
-        getCount = IO->inPutBytes(temp);
-
-        for (i = 0; i < getCount; i++)
+        if (IO->inPutByte(&temp))
         {
-            parser(temp[i]);
+            parser(temp);
         }
     }
 }
@@ -361,7 +387,7 @@ void AT10GimbalDriver::getStdRxPack(void)
     {
         if (stdRxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer, msgCaller);
+            msgCustomCallback(tempBuffer);
             convert(tempBuffer);
         }
     }
@@ -374,25 +400,20 @@ void AT10GimbalDriver::getExtRxPack(void)
     {
         if (rxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer, msgCaller);
+            msgCustomCallback(tempBuffer);
             convert(tempBuffer);
         }
     }
 }
 
-void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+void AT10GimbalDriver::parserStart(amovGimbal::pStateInvoke callback)
 {
     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

@@ -3,17 +3,19 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-06 10:27:48
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
+ * @LastEditTime: 2023-08-25 19:28:55
+ * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.h
  */
-#ifndef __AT10_DRIVER_H
-#define __AT10_DRIVER_H
+#include "../amov_gimbal.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:
@@ -30,13 +32,12 @@ private:
     void sendHeart(void);
     void sendStd(void);
 
-    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+    void parserStart(amovGimbal::pStateInvoke callback);
     void parserLoop(void);
     void getExtRxPack(void);
     void getStdRxPack(void);
 
-    std::thread::native_handle_type sendHreatThreadHandle;
-    std::thread::native_handle_type extStackThreadHandle;
+    // bool getRxPack(OUT void *pack);
 
     bool parser(IN uint8_t byte);
     void convert(void *buf);
@@ -45,18 +46,18 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    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 takePic(void);
-    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
 
-    uint32_t extensionFuntions(void *cmd);
+    uint32_t extensionFuntions(void* cmd);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
@@ -75,13 +76,6 @@ 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: 2023-11-27 16:27:18
+ * @LastEditTime: 2023-09-07 10:56:15
  * @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 AMOV_GIMBAL_POS_T &pos)
+uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::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 AMOV_GIMBAL_POS_T &pos)
 }
 
 /**
- * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::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 AMOV_GIMBAL_POS_T &speed)
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const amovGimbal::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 AMOV_GIMBAL_VIDEO_T newState)
+uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
 {
     uint16_t temp;
-    if (newState == AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
     {
         temp = 0x14 << 3;
     }
@@ -127,20 +127,20 @@ uint32_t AT10GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
     return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
 }
 
-uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     if (targetRate == 0.0f)
     {
         uint16_t temp = 0;
         switch (zoom)
         {
-        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
             temp = 0X08 << 3;
             break;
-        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
             temp = 0X09 << 3;
             break;
-        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
             temp = 0X01 << 3;
             break;
         default:
@@ -160,18 +160,18 @@ uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRa
     }
 }
 
-uint32_t AT10GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint16_t temp = 0;
     switch (zoom)
     {
-    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
         temp = 0X0B << 3;
         break;
-    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
         temp = 0X0A << 3;
         break;
-    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
         temp = 0X01 << 3;
         break;
     default:

gimbal_ctrl/driver/src/CMakeLists.txt

@@ -0,0 +1,36 @@
+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

@@ -0,0 +1,13 @@
+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: 2023-11-28 11:47:34
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
+ * @LastEditTime: 2023-07-21 16:10:16
+ * @FilePath: /gimbal-sdk-multi-platform/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: 2023-11-28 11:47:39
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
+ * @LastEditTime: 2023-08-16 21:22:46
+ * @FilePath: /gimbal-sdk-multi-platform/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: 2023-12-05 16:30:13
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
+ * @LastEditTime: 2022-10-28 14:10:02
+ * @FilePath: \amov-gimbal-sdk\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: 2023-12-05 17:22:57
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
+ * @LastEditTime: 2023-09-07 11:01:25
+ * @FilePath: /gimbal-sdk-multi-platform/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, updataCaller);
+                                  state.fov.x, state.fov.y);
         mState.unlock();
         break;
 

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h

@@ -3,18 +3,19 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:29:58
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
+ * @LastEditTime: 2023-09-07 02:31:19
+ * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.h
  */
-#ifndef __G1_DRIVER_H
-#define __G1_DRIVER_H
-
+#include "../amov_gimbal.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:
@@ -28,22 +29,22 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const amovGimbal::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,
+    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
+                                const amovGimbal::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,
+    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
+                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const amovGimbal::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: 2023-12-05 16:29:51
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
+ * @LastEditTime: 2023-09-07 10:50:30
+ * @FilePath: /gimbal-sdk-multi-platform/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 AMOV_GIMBAL_POS_T &pos)
+uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::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 AMOV_GIMBAL_POS_T &pos)
 }
 
 /**
- * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::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 AMOV_GIMBAL_POS_T &speed)
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t g1GimbalDriver::setGimabalFollowSpeed(const amovGimbal::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 AMOV_GIMBAL_VIDEO_T newState)
+uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t temp = G1::GIMBAL_CMD_CAMERA_REC;
 
     mState.lock();
-    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
     {
-        state.video = AMOV_GIMBAL_VIDEO_OFF;
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
     }
     else
     {
-        state.video = AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
     }
     mState.unlock();
 
@@ -124,10 +124,10 @@ uint32_t g1GimbalDriver::setVideo(const 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 `AMOV_GIMBAL_VELOCITY_T` and represents
+ * @param speed The "speed" parameter is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` and represents
  * the velocity of the gimbal. It contains three components: `x`, `y`, and `z`, which represent the
  * velocity in the respective axes.
- * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "amovGimbal::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 AMOV_GIMBAL_VIDEO_T newState)
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                            const AMOV_GIMBAL_VELOCITY_T &speed,
-                                            const AMOV_GIMBAL_VELOCITY_T &acc,
+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,
                                             void *extenData)
 {
     G1::GIMBAL_ATT_CORR_MSG_T temp;
@@ -161,12 +161,12 @@ uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quat
  * The function `attitudeCorrection` calculates the attitude correction for a gimbal based on the given
  * position, velocity, and acceleration values.
  *
- * @param pos The "pos" parameter is of type AMOV_GIMBAL_POS_T and represents the current
+ * @param pos The "pos" parameter is of type amovGimbal::AMOV_GIMBAL_POS_T and represents the current
  * position of the gimbal. It contains the pitch, roll, and yaw angles of the gimbal.
  * @param seppd seppd stands for "Separate Pointing Device" and it represents the velocity of the
- * gimbal in terms of pitch, roll, and yaw. It is of type `AMOV_GIMBAL_VELOCITY_T` which
+ * gimbal in terms of pitch, roll, and yaw. It is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` which
  * likely contains three float values for pitch,
- * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "amovGimbal::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 AMOV_GIMBAL_QUATERNION_T &quat
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
-                                            const AMOV_GIMBAL_VELOCITY_T &seppd,
-                                            const AMOV_GIMBAL_VELOCITY_T &acc,
+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,
                                             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: 2023-12-05 16:29:48
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
+ * @LastEditTime: 2023-09-07 10:45:13
+ * @FilePath: /gimbal-sdk-multi-platform/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

@@ -1,41 +0,0 @@
-/*
- * @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

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

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -1,86 +0,0 @@
-
-/*
- * @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

@@ -1,251 +0,0 @@
-/*
- * @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

@@ -1,154 +0,0 @@
-/*
- * @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

@@ -3,11 +3,12 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:28:29
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
+ * @LastEditTime: 2023-03-23 17:24:23
+ * @FilePath: /gimbal-sdk-multi-platform/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: 2023-12-05 17:23:15
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
+ * @LastEditTime: 2023-07-24 12:03:44
+ * @FilePath: /gimbal-sdk-multi-platform/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, updataCaller);
+                                  state.fov.x, state.fov.y);
         mState.unlock();
 
         break;

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h

@@ -3,18 +3,19 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:27:45
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
+ * @LastEditTime: 2023-03-28 17:01:00
+ * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.h
  */
-#ifndef __Q10F_DRIVER_H
-#define __Q10F_DRIVER_H
-
+#include "../amov_gimbal.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:
@@ -28,16 +29,16 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    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 takePic(void);
-    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const amovGimbal::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: 2023-12-05 16:27:39
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
+ * @LastEditTime: 2023-07-24 14:22:57
+ * @FilePath: /gimbal-sdk-multi-platform/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 AMOV_GIMBAL_POS_T &pos)
+uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::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 AMOV_GIMBAL_POS_T &pos)
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::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 AMOV_GIMBAL_POS_T &speed)
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const amovGimbal::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 AMOV_GIMBAL_VIDEO_T newState)
+uint32_t Q10fGimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t cmd[2] = {0X01, 0XFF};
 
-    if (newState == AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
     {
         cmd[0] = 0X02;
-        state.video = AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
     }
     else
     {
         cmd[0] = 0X03;
-        state.video = AMOV_GIMBAL_VIDEO_OFF;
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
     }
 
     return pack(Q10f::GIMBAL_CMD_CAMERA, (uint8_t *)cmd, sizeof(cmd));
 }
 
-uint32_t Q10fGimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::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(AMOV_GIMBAL_ZOOM_T zoom, float targetRa
         cmd[1] = 0XFF;
         switch (zoom)
         {
-        case AMOV_GIMBAL_ZOOM_IN:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
             break;
-        case AMOV_GIMBAL_ZOOM_OUT:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
             break;
-        case AMOV_GIMBAL_ZOOM_STOP:
+        case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
             break;
         default:
@@ -159,18 +159,18 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRa
     }
 }
 
-uint32_t Q10fGimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[2] = {0X00, 0XFF};
     switch (zoom)
     {
-    case AMOV_GIMBAL_ZOOM_IN:
+    case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
         break;
-    case AMOV_GIMBAL_ZOOM_OUT:
+    case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
         break;
-    case AMOV_GIMBAL_ZOOM_STOP:
+    case amovGimbal::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: 2023-12-05 16:27:27
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
+ * @LastEditTime: 2023-07-24 11:51:59
+ * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_struct.h
  */
 #ifndef Q10F_GIMBAL_STRUCT_H
 #define Q10F_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -1,111 +0,0 @@
-/*
- * @Description:    External interface of amov gimbals
- * @Author: L LC @amov
- * @Date: 2022-10-27 18:34:26
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 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

@@ -1,55 +0,0 @@
-/*
- * @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

@@ -1,102 +0,0 @@
-/*
- * @Description: Common Data Structures of gimbal
- * @Author: L LC @amov
- * @Date: 2022-10-31 11:56:43
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 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

@@ -0,0 +1,328 @@
+/*
+ * @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

@@ -0,0 +1,101 @@
+/*
+ * @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

@@ -1,90 +0,0 @@
-/*
- * @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

@@ -1,229 +0,0 @@
-/*
- * @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

@@ -1,152 +0,0 @@
-/*
- * @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: 2023-12-05 17:18:06
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_private.h
+ * @LastEditTime: 2023-08-16 22:30:53
+ * @FilePath: /gimbal-sdk-multi-platform/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 "amovGimbal/amov_gimbal.h"
-#include "amovGimbal/amov_gimbal_c.h"
+#include "amov_gimbal.h"
 
 #include "Ring_Fifo.h"
 #include "amov_tool.h"
@@ -28,28 +28,14 @@ namespace amovGimbal
     public:
         AMOV_GIMBAL_STATE_T state;
         std::mutex mState;
-
-        // IO类
-        IOStreamBase *IO = nullptr;
-        // 适用于C的函数指针
-        void *inBytesCaller = nullptr;
-        pAmovGimbalInputBytesInvoke inBytes = nullptr;
-        void *outBytesCaller = nullptr;
-        pAmovGimbalOutputBytesInvoke outBytes = nullptr;
-
-        void *updataCaller = nullptr;
-        pAmovGimbalStateInvoke updateGimbalStateCallback;
-        void *msgCaller = nullptr;
-        pAmovGimbalMsgInvoke msgCustomCallback = idleMsgCallback;
+        IOStreamBase *IO;
+        pStateInvoke updateGimbalStateCallback;
+        pMsgInvoke msgCustomCallback = idleMsgCallback;
 
         fifoRing *rxQueue;
         fifoRing *txQueue;
 
-        std::thread::native_handle_type parserThreadHanle = 0;
-        std::thread::native_handle_type sendThreadHanle = 0;
-        std::thread::native_handle_type stackThreadHanle = 0;
-
-        PamovGimbalBase(IOStreamBase *_IO)
+        PamovGimbalBase(SET IOStreamBase *_IO)
         {
             IO = _IO;
         }
@@ -63,45 +49,9 @@ 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:
@@ -118,9 +68,7 @@ namespace amovGimbal
         virtual void mainLoop(void);
 
         virtual void stackStart(void);
-        virtual void parserStart(pAmovGimbalStateInvoke callback, void *caller);
-
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
+        virtual void parserStart(amovGimbal::pStateInvoke callback);
 
     public:
         amovGimbalBase(IOStreamBase *_IO);

gimbal_ctrl/driver/src/amov_gimbal_realize.cpp

@@ -1,197 +0,0 @@
-/*
- * @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

@@ -0,0 +1,89 @@
+/*
+ * @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

@@ -3,12 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-07-31 18:30:33
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:26:05
- * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_tool.h
+ * @LastEditTime: 2023-07-31 18:55:18
+ * @FilePath: /gimbal-sdk-multi-platform/src/amov_tool.h
  */
 
-#ifndef __AMOVGIMABL_TOOL_H
-#define __AMOVGIMABL_TOOL_H
 namespace amovGimbalTools
 {
     static inline unsigned short conversionBigLittle(unsigned short value)
@@ -29,4 +27,3 @@ namespace amovGimbalTools
         return temp;
     }
 }
-#endif

gimbal_ctrl/sv_gimbal.cpp

@@ -3,10 +3,11 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 17:33:29
- * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal.cpp
+ * @LastEditTime: 2023-04-18 11:37:42
+ * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal.cpp
  */
-#include "amovGimbal/amov_gimbal.h"
+#include "amov_gimbal.h"
+#include "amov_gimbal_struct.h"
 
 #include "sv_gimbal.h"
 #include "sv_gimbal_io.hpp"
@@ -19,42 +20,18 @@ namespace sv
     std::map<std::string, void *> Gimbal::IOList;
     std::mutex Gimbal::IOListMutex;
 
-    typedef struct
-    {
-        std::string name;
-        GimbalLink supportLink;
-    } gimbalTrait;
-
-    std::map<GimbalType, gimbalTrait> gimbaltypeList =
+    std::map<GimbalType, std::string> 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}}};
+            {GimbalType::G1, "G1"},
+            {GimbalType::Q10f, "Q10f"},
+            {GimbalType::AT10, "AT10"}};
 
-    /**
-     * 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::string &cvGimbalType2Str(const GimbalType &type)
     {
-        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
+        std::map<GimbalType, std::string>::iterator temp = gimbaltypeList.find(type);
         if (temp != gimbaltypeList.end())
         {
-            return (temp->second).name;
-        }
-        throw "Error: Unsupported gimbal device type!!!!";
-        exit(-1);
-    }
-
-    GimbalLink &svGimbalTypeFindLinkType(const GimbalType &type)
-    {
-        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
-        if (temp != gimbaltypeList.end())
-        {
-            return (temp->second).supportLink;
+            return (temp->second);
         }
         throw "Error: Unsupported gimbal device type!!!!";
         exit(-1);
@@ -123,29 +100,17 @@ void sv::Gimbal::setNetIp(const std::string &ip)
 }
 
 /**
- * The function sets the TCP network port for the Gimbal object.
+ * This function sets the network port for a Gimbal object in C++.
  *
- * @param port The parameter "port" is an integer that represents the TCP network port number.
+ * @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.
  */
-void sv::Gimbal::setTcpNetPort(const int &port)
+void sv::Gimbal::setNetPort(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.
  *
@@ -156,31 +121,25 @@ void sv::Gimbal::setUdpNetPort(const int &recvPort, const int &sendPort)
 void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    m_callback = callback;
-    pdevTemp->setParserCallback(sv::Gimbal::gimbalUpdataCallback, this);
+    pdevTemp->setParserCallback(callback);
 }
 
 /**
- * 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.
+ * 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.
  *
- * @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
+ * @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.
  *
- * @return a void pointer.
+ * @return a boolean value.
  */
 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())
     {
@@ -200,35 +159,20 @@ 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();
@@ -236,7 +180,6 @@ 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.
@@ -253,16 +196,14 @@ bool sv::Gimbal::open(PStateInvoke callback)
     bool ret = false;
 
     this->IO = creatIO(this);
-
     if (this->IO != nullptr)
     {
         std::string driverName;
-        driverName = sv::svGimbalType2Str(this->m_gimbal_type);
+        driverName = sv::cvGimbalType2Str(this->m_gimbal_type);
         this->dev = new amovGimbal::gimbal(driverName, (amovGimbal::IOStreamBase *)this->IO);
         amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
         pdevTemp->startStack();
-        m_callback = callback;
-        pdevTemp->parserAuto(sv::Gimbal::gimbalUpdataCallback, this);
+        pdevTemp->parserAuto(callback);
 
         ret = true;
     }
@@ -280,7 +221,7 @@ bool sv::Gimbal::open(PStateInvoke callback)
 bool sv::Gimbal::setHome()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    if (pdevTemp->setGimabalHome() > 0)
+    if (pdevTemp->dev->setGimabalHome() > 0)
     {
         return true;
     }
@@ -309,7 +250,7 @@ bool sv::Gimbal::setZoom(double x)
         return false;
     }
 
-    if (pdevTemp->setGimbalZoom(AMOV_GIMBAL_ZOOM_STOP, x) > 0)
+    if (pdevTemp->dev->setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_STOP, x) > 0)
     {
         return true;
     }
@@ -333,7 +274,7 @@ bool sv::Gimbal::setAutoZoom(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->setGimbalZoom((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->dev->setGimbalZoom((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -359,7 +300,7 @@ bool sv::Gimbal::setAutoFocus(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->setGimbalFocus((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->dev->setGimbalFocus((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -379,7 +320,7 @@ bool sv::Gimbal::takePhoto()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->takePic() > 0)
+    if (pdevTemp->dev->takePic() > 0)
     {
         return true;
     }
@@ -403,21 +344,21 @@ bool sv::Gimbal::takeVideo(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    AMOV_GIMBAL_VIDEO_T newState;
+    amovGimbal::AMOV_GIMBAL_VIDEO_T newState;
     switch (state)
     {
     case 0:
-        newState = AMOV_GIMBAL_VIDEO_OFF;
+        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
         break;
     case 1:
-        newState = AMOV_GIMBAL_VIDEO_TAKE;
+        newState = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
         break;
     default:
-        newState = AMOV_GIMBAL_VIDEO_OFF;
+        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
         break;
     }
 
-    if (pdevTemp->setVideo(newState) > 0)
+    if (pdevTemp->dev->setVideo(newState) > 0)
     {
         return true;
     }
@@ -438,13 +379,13 @@ int sv::Gimbal::getVideoState()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     int ret;
-    AMOV_GIMBAL_STATE_T state;
+    amovGimbal::AMOV_GIMBAL_STATE_T state;
     state = pdevTemp->getGimabalState();
-    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
     {
         ret = 1;
     }
-    else if (state.video == AMOV_GIMBAL_VIDEO_OFF)
+    else if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_OFF)
     {
         ret = 0;
     }
@@ -472,7 +413,7 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    AMOV_GIMBAL_POS_T temp;
+    amovGimbal::AMOV_GIMBAL_POS_T temp;
 
     if (pitch_rate == 0.0f)
         pitch_rate = 360;
@@ -484,11 +425,11 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->setGimabalFollowSpeed(temp);
+    pdevTemp->dev->setGimabalFollowSpeed(temp);
     temp.pitch = pitch;
     temp.roll = roll;
     temp.yaw = yaw;
-    pdevTemp->setGimabalPos(temp);
+    pdevTemp->dev->setGimabalPos(temp);
 }
 
 /**
@@ -503,11 +444,11 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    AMOV_GIMBAL_POS_T temp;
+    amovGimbal::AMOV_GIMBAL_POS_T temp;
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->setGimabalSpeed(temp);
+    pdevTemp->dev->setGimabalSpeed(temp);
 }
 
 sv::Gimbal::~Gimbal()

gimbal_ctrl/sv_gimbal_io.hpp

@@ -3,236 +3,65 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 12:22:09
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 17:38:59
- * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal_io.hpp
+ * @LastEditTime: 2023-04-13 10:17:21
+ * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal_io.hpp
  */
 #ifndef __SV_GIMABL_IO_H
 #define __SV_GIMABL_IO_H
 
-#include "amovGimbal/amov_gimbal.h"
+#include "amov_gimbal.h"
 #include "serial/serial.h"
 
-#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
+class UART : public amovGimbal::IOStreamBase
 {
-    class UART : public amovGimbal::IOStreamBase
-    {
-    private:
-        serial::Serial *ser;
+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;
-        }
-        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();
-        }
-    };
-
-    int scoketClose(int scoket)
+public:
+    virtual bool open()
     {
-#if defined(_WIN32)
-        return closesocket(scoket);
-#endif
-#if defined(__linux__)
-        return close(scoket);
-#endif
+        ser->open();
+        return true;
     }
-    class TCPClient : public amovGimbal::IOStreamBase
+    virtual bool close()
     {
-    private:
-        int scoketFd;
-        sockaddr_in scoketAddr;
-
-    public:
-        virtual bool open()
-        {
-            return true;
-        }
-        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);
-        }
-
-        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());
-
-            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->close();
+        return true;
+    }
+    virtual bool isOpen()
     {
-    private:
-        int rcvScoketFd, sendScoketFd;
-        sockaddr_in rcvScoketAddr, sendScoketAddr;
+        return ser->isOpen();
+    }
+    virtual bool isBusy()
+    {
+        return false;
+    }
 
-    public:
-        virtual bool open()
+    virtual bool inPutByte(IN uint8_t *byte)
+    {
+        if (ser->read(byte, 1))
         {
             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 false;
+    }
 
-            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));
-        }
+    virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+    {
+        return ser->write(byte, lenght);
+    }
 
-        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();
-        }
-    };
-}
+    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();
+        delete ser;
+    }
+};
 
 #endif

include/sv_algorithm_base.h

@@ -104,6 +104,10 @@ 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_);
@@ -113,6 +117,9 @@ protected:
   std::string _algorithm;
   int _backend;
   int _target;
+  int _use_width_or_height;
+  double _object_ws;
+  double _object_hs;
 };
 
 
@@ -170,3 +177,4 @@ protected:
 
 }
 #endif
+

include/sv_camera.h

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

include/sv_common_det.h

@@ -16,7 +16,7 @@ class CommonObjectDetectorCUDAImpl;
 class CommonObjectDetector : public CommonObjectDetectorBase
 {
 public:
-  CommonObjectDetector(bool input_4k=false);
+  CommonObjectDetector();
   ~CommonObjectDetector();
 protected:
   bool setupImpl();
@@ -32,7 +32,6 @@ protected:
   );
 
   CommonObjectDetectorCUDAImpl* _cuda_impl;
-  bool _input_4k;
 };
 
 

include/sv_gimbal.h

@@ -3,8 +3,8 @@
  * @Author: jario-jin @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 17:25:40
- * @FilePath: /SpireCV/include/sv_gimbal.h
+ * @LastEditTime: 2023-04-18 11:49:27
+ * @FilePath: /spirecv-gimbal-sdk/include/sv_gimbal.h
  */
 #ifndef __SV_GIMBAL__
 #define __SV_GIMBAL__
@@ -27,26 +27,14 @@ namespace sv
     G1,
     Q10f,
     AT10,
-    GX40,
   };
-  enum class GimbalLink : int
+  enum class GimbalLink
   {
-    NONE = 0x00,
-    SERIAL = 0x01,
-    ETHERNET_TCP = 0x02,
-    ETHERNET_UDP = 0x04,
+    SERIAL,
+    ETHERNET_TCP,
+    ETHERNET_UDP
   };
 
-  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,
@@ -95,7 +83,6 @@ 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";
@@ -107,10 +94,8 @@ namespace sv
     int m_serial_timeout = 500;
 
     // Ethernet interface parameters list & default parameters
-    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;
+    std::string m_net_ip = "192.168.2.64";
+    int m_net_port = 9090;
 
     GimbalType m_gimbal_type;
     GimbalLink m_gimbal_link;
@@ -119,14 +104,6 @@ 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
     /*!
@@ -148,10 +125,7 @@ namespace sv
 
     // set Ethernet interface parameters
     void setNetIp(const std::string &ip);
-    // set tcp port
-    void setTcpNetPort(const int &port);
-    // set udp port
-    void setUdpNetPort(const int &recvPort, const int &sendPort);
+    void setNetPort(const int &port);
 
     // Create a device instance
     void setStateCallback(PStateInvoke callback);

include/sv_veri_det.h

@@ -8,36 +8,29 @@
 #include <string>
 #include <chrono>
 
-namespace sv
+
+namespace sv {
+
+class VeriDetectorCUDAImpl;
+
+class VeriDetector : public LandingMarkerDetectorBase
 {
+public:
+  VeriDetector();
+  ~VeriDetector();
 
-  class VeriDetectorCUDAImpl;
+  void detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame &tgts_);
 
-  class VeriDetector : public LandingMarkerDetectorBase
-  {
-  public:
-    VeriDetector();
-    ~VeriDetector();
+protected:
+  bool setupImpl();
+  void roiCNN(
+    std::vector<cv::Mat>& input_rois_,
+    std::vector<int>& output_labels_
+  );
 
-    void detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt);
+  VeriDetectorCUDAImpl* _cuda_impl;
+};
 
-  protected:
-    void _load();
-    bool setupImpl();
-    void roiCNN(
-        std::vector<cv::Mat> &input_rois_,
-        std::vector<float> &output_labels_);
-    void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
-
-    std::string vehicle_id;
-    
-      // Save the target bounding box for each frame.
-    std::vector<float> targetSz = {0, 0};  // H and W of bounding box
-    std::vector<float> targetPos = {0, 0}; // center point of bounding box (x, y)
-
-
-    VeriDetectorCUDAImpl *_cuda_impl;
-  };
 
 }
 #endif

include/sv_video_base.h

@@ -12,6 +12,9 @@
 #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
@@ -90,9 +93,6 @@ 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;
@@ -326,59 +326,82 @@ protected:
 };
 
 
-// enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
+enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI};
 
-// class CameraBase {
-// public:
-//   CameraBase(CameraType type=CameraType::NONE, int id=0);
-//   ~CameraBase();
-//   void open(CameraType type=CameraType::WEBCAM, int id=0);
-//   bool read(cv::Mat& image);
-//   void release();
+class CameraBase {
+public:
+  CameraBase(CameraType type=CameraType::NONE, int id=0);
+  ~CameraBase();
+  void open(CameraType type=CameraType::WEBCAM, int id=0);
+  bool read(cv::Mat& image);
+  void release();
   
-//   int getW();
-//   int getH();
-//   int getFps();
-//   std::string getIp();
-//   int getPort();
-//   double getBrightness();
-//   double getContrast();
-//   double getSaturation();
-//   double getHue();
-//   double getExposure();
-//   bool isRunning();
-//   void setWH(int width, int height);
-//   void setFps(int fps);
-//   void setIp(std::string ip);
-//   void setPort(int port);
-//   void setBrightness(double brightness);
-//   void setContrast(double contrast);
-//   void setSaturation(double saturation);
-//   void setHue(double hue);
-//   void setExposure(double exposure);
-// protected:
-//   virtual void openImpl();
-//   void _run();
+  int getW();
+  int getH();
+  int getFps();
+  std::string getIp();
+  int getPort();
+  double getBrightness();
+  double getContrast();
+  double getSaturation();
+  double getHue();
+  double getExposure();
+  bool isRunning();
+  void setWH(int width, int height);
+  void setFps(int fps);
+  void setIp(std::string ip);
+  void setPort(int port);
+  void setBrightness(double brightness);
+  void setContrast(double contrast);
+  void setSaturation(double saturation);
+  void setHue(double hue);
+  void setExposure(double exposure);
+protected:
+  virtual void openImpl();
+  void _run();
 
-//   bool _is_running;
-//   bool _is_updated;
-//   std::thread _tt;
-//   cv::VideoCapture _cap;
-//   cv::Mat _frame;
-//   CameraType _type;
-//   int _camera_id;
+  bool _is_running;
+
+// 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;
+  CameraType _type;
+  int _camera_id;
   
-//   int _width;
-//   int _height;
-//   int _fps;
-//   std::string _ip;
-//   int _port;
-//   double _brightness;
-//   double _contrast;
-//   double _saturation;
-//   double _hue;
-//   double _exposure;
-// };
+  int _width;
+  int _height;
+  int _fps;
+  std::string _ip;
+  int _port;
+  double _brightness;
+  double _contrast;
+  double _saturation;
+  double _hue;
+  double _exposure;
+};
+
+void drawTargetsInFrame(
+  cv::Mat& img_,
+  const TargetsInFrame& tgts_,
+  int aruco_track_id,
+  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
+);
+
 
 
 void drawTargetsInFrame(
@@ -400,3 +423,4 @@ void list_dir(std::string dir, std::vector<std::string>& files, std::string suff
 
 }
 #endif
+

include/sv_video_input.h

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

params/a-params/sv_algorithm_params.json

@@ -1,11 +1,11 @@
 {
     "CommonObjectDetector": {
-        "dataset": "COCO",
+        "dataset": "CAR",
         "inputSize": 640,
         "nmsThrs": 0.6,
-        "scoreThrs": 0.4,
+        "scoreThrs": 0.6,
         "useWidthOrHeight": 1,
-        "withSegmentation": true,
+        "withSegmentation": false,
         "datasetPersonVehicle": {
             "person": [0.5, 1.8],
             "car": [4.1, 1.5],
@@ -19,6 +19,9 @@
         "datasetDrone": {
             "drone": [0.4, 0.2]
         },
+        "datasetCAR": {
+            "car": [0.12, 0.1]
+        },
         "datasetCOCO": {
             "person": [-1, -1],
             "bicycle": [-1, -1],
@@ -114,7 +117,10 @@
     "SingleObjectTracker": {
         "algorithm": "nano",
         "backend": 0,
-        "target": 0
+        "target": 0,
+        "useWidthOrHeight": 0,
+        "sigleobjectW":0.126,
+        "sigleobjectH":-1
     },
     "MultipleObjectTracker": {
         "algorithm": "sort",
@@ -151,7 +157,7 @@
     "ArucoDetector": {
         "dictionaryId": 10,
         "markerIds": [-1],
-        "markerLengths": [0.2],
+        "markerLengths": [0.17],
         "adaptiveThreshConstant": 7,
         "adaptiveThreshWinSizeMax": 23,
         "adaptiveThreshWinSizeMin": 3,

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, int& n_batch) {
+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) {
   if (argc < 4) return false;
-  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 7 || argc == 8)) {
+  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]);
@@ -51,9 +51,6 @@ 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;
   }
@@ -102,20 +99,18 @@ 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, n_batch)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, is_p6, gd, gw, img_dir, n_classes)) {
     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(n_batch, is_p6, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(kBatchSize, is_p6, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/SpireCVSeg.cpp

@@ -18,47 +18,44 @@ 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, 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]);
+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]);
     } else {
-      return false;
+        return false;
     }
-    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;
+    return true;
 }
 
 
@@ -101,21 +98,19 @@ 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, n_batch)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, gd, gw, img_dir, labels_filename, n_classes)) {
     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(n_batch, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(kBatchSize, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/calib/calibrate_camera_charuco.cpp

@@ -36,11 +36,8 @@ 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"
 
-#include  "sv_camera.h"
-
 using namespace std;
 using namespace cv;
 
@@ -61,10 +58,7 @@ 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 }"
-        "{imh      |       | Camera Image Height }"
-        "{imw      |       | Camera Image Width }"
-        "{fps      |       | Camera FPS }"
-        "{tp       |       | 1:WEBCAM, 2:V4L2CAM, 3:G1, 4:Q10, 5:MIPI, 6:GX40 }"
+        "{v        |       | Input from video file, if ommited, input comes from camera }"
         "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
         "{dp       |       | File of marker detector parameters }"
         "{rs       | false | Apply refind strategy }"
@@ -113,51 +107,28 @@ int main(int argc, char *argv[]) {
 
     bool refindStrategy = parser.get<bool>("rs");
     int camId = parser.get<int>("ci");
-    int imW = 800;
-    int imH = 600;
-    int fps = 30;
-    int tp = 1;
+    String video;
 
-    if(parser.has("imh")) {
-        imH = parser.get<int>("imh");
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
     }
-    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;
-    sv::Camera inputVideo(c_type);
-    inputVideo.setIndex(camId);
-    inputVideo.setStream("192.168.144.64",554);
-
-    inputVideo.setWH(imW, imH);
-    inputVideo.setFps(fps);
-    
-    inputVideo.open();
-  
-    int waitTime = 10;
+    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;
+    }
 
     aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
     if (parser.has("d")) {
@@ -187,9 +158,9 @@ int main(int argc, char *argv[]) {
     vector< Mat > allImgs;
     Size imgSize;
 
-    while(1) {
+    while(inputVideo.grab()) {
         Mat image, imageCopy;
-        inputVideo.read(image);
+        inputVideo.retrieve(image);
 
         vector< int > ids;
         vector< vector< Point2f > > corners, rejected;

samples/calib/create_marker.cpp

@@ -1,255 +0,0 @@
-#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;
-    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

@@ -2,7 +2,6 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 
@@ -10,15 +9,13 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   
   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  
-  cap.setIndex(0);
-  cap.setWH(ad.image_width, ad.image_height);
-  // cap.setFps(30);
-  cap.open();  // CameraID 0
+  sv::Camera cap;
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -2,17 +2,15 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {  
   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
+  sv::Camera cap;
   // cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open();  // CameraID 0
+  cap.open(sv::CameraType::WEBCAM, 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

@@ -2,7 +2,6 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 using namespace sv;
@@ -15,11 +14,10 @@ int main(int argc, char *argv[])
   cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(cld.image_width, cld.image_height);
+  sv::Camera cap;
+  cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open(); // CameraID 0
+  cap.open(sv::CameraType::WEBCAM, 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

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

@@ -2,7 +2,6 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 
@@ -41,20 +40,19 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
 
   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(cod.image_width, cod.image_height);
-  // cap.setFps(30);
-  cap.open();  // CameraID 0
-
+  sv::Camera cap;
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
+  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/ellipse_detection.cpp

@@ -2,7 +2,6 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 
@@ -10,15 +9,13 @@ int main(int argc, char *argv[]) {
   // 实例化 椭圆 检测器类
   sv::EllipseDetector ed;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   
   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(ed.image_width, ed.image_height);
-  // cap.setFps(30);
-  cap.open();  // CameraID 0
-
+  sv::Camera cap;
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -2,17 +2,35 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include <map>
-#include "sv_camera.h"
+
+using namespace std;
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
+// 框选到的矩形
+cv::Rect rect_sel;
+// 框选起始点
+cv::Point pt_origin;
 
+// 是否得到一个新的框选区域
+bool b_renew_ROI = false;
+// 是否开始跟踪
+bool b_begin_TRACK = false;
 // 实现框选逻辑的回调函数
 void onMouse(int event, int x, int y, int, void *);
-bool isTarck = false;
-bool isStartTarck = false;
-int clickX = -1, clickY = -1;
+
+struct node
+{
+  double x, y;
+};
+node p1, p2, p3, p4;
+node p;
+double getCross(node p1, node p2, node p)
+{
+  return (p2.x - p1.x) * (p.y - p1.y) - (p.x - p1.x) * (p2.y - p1.y);
+}
+bool b_clicked = false;
+bool detect_tracking = true;
 
 // 定义吊舱
 sv::Gimbal *gimbal;
@@ -35,6 +53,27 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
+  // 实例化吊舱
+  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
+  // 使用 /dev/ttyUSB0 作为控制串口
+  gimbal->setSerialPort("/dev/ttyUSB0");
+  // 以GimableCallback作为状态回调函数启用吊舱控制
+  gimbal->open(GimableCallback);
+  // 定义相机
+  sv::Camera cap;
+  // 设置相机流媒体地址为 192.168.2.64
+  cap.setIp("192.168.2.64");
+  // 设置获取画面分辨率为720P
+  cap.setWH(1280, 720);
+  // 设置视频帧率为30帧
+  cap.setFps(60);
+  // 开启相机
+  cap.open(sv::CameraType::G1);
+
+  // 定义一个新的窗口，可在上面进行框选操作
+  cv::namedWindow(RGB_WINDOW);
+  // 设置窗口操作回调函数，该函数实现整个框选逻辑
+  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
@@ -43,117 +82,28 @@ int main(int argc, char *argv[])
   sv::CommonObjectDetector cod;
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
-  // 实例化吊舱
-  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
-  // 使用 /dev/ttyUSB0 作为控制串口
-  gimbal->setSerialPort("/dev/ttyUSB0");
-  // 以GimableCallback作为状态回调函数启用吊舱控制
-  gimbal->open(GimableCallback);
-
-  // 打开摄像头
-  sv::Camera cap(sv::CameraType::G1);
-  cap.setStream("192.168.2.64",554);
-  cap.setWH(cod.image_width, cod.image_height);
-  cap.setFps(30);
-  cap.open();  // CameraID 0
-
-  // // 定义相机
-  // sv::Camera cap;
-  // // 设置相机流媒体地址为 192.168.2.64
-  // cap.setIp("192.168.2.64");
-  // // 设置获取画面分辨率为720P
-  // cap.setWH(1280, 720);
-  // // 设置视频帧率为30帧
-  // cap.setFps(30);
-  // // 开启相机
-  // cap.open(sv::CameraType::G1);
-
-  // 定义一个新的窗口，可在上面进行框选操作
-  cv::namedWindow(RGB_WINDOW);
-  // 设置窗口操作回调函数，该函数实现整个框选逻辑
-  cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-
-
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
-  sv::TargetsInFrame lastTgts(frame_id);
   while (1)
   {
-    // 如果位标非法 则不能进行任何形式的追踪
-    if (clickX == -1 || clickY == -1)
+    if (detect_tracking == true)
     {
-      isStartTarck = false;
-      isTarck = false;
-    }
-
-    if (isStartTarck && !isTarck)
-    {
-      // 使用上一帧结果初始化追踪器
-      std::map<int, cv::Rect> inBoxList;
-
-      // 计算点击事件是否位于每个目标框内
-      for (int i = 0; i < lastTgts.targets.size(); i++)
-      {
-        int halfWidht = (lastTgts.targets[i].w * lastTgts.width) / 2;
-        int halfHeight = (lastTgts.targets[i].h * lastTgts.height) / 2;
-        int x = lastTgts.targets[i].cx * lastTgts.width;
-        int y = lastTgts.targets[i].cy * lastTgts.height;
-
-        int diffX = x - clickX;
-        int diffY = y - clickY;
-
-        if ((abs(diffX) < halfWidht) && (abs(diffY) < halfHeight))
-        {
-          std::pair<int, cv::Rect> point;
-          point.first = diffX * diffX + diffY * diffY;
-          point.second = cv::Rect(x - halfWidht, y - halfHeight, halfWidht * 2, halfHeight * 2);
-          inBoxList.insert(point);
-        }
-      }
-
-      // 取离中心点最近的目标进行跟踪
-      int min = 0X7FFFFFFF;
-      cv::Rect sel;
-      for (auto i = inBoxList.begin(); i != inBoxList.end(); i++)
-      {
-        if (i->first < min)
-        {
-          min = i->first;
-          sel = i->second;
-        }
-      }
-
-      // min被赋值则存在一个目标框与点击的点重合
-      if (min != 0X7FFFFFFF)
-      {
-        sot.init(img, sel);
-        isTarck = true;
-        printf("rect_sel Yes\n");
-      }
-      else
-      {
-        isTarck = false;
-        printf("rect_sel No\n");
-      }
-
-      isStartTarck = false;
-    }
-
-    sv::TargetsInFrame tgts(frame_id++);
-    // 读取一帧图像
-    cap.read(img);
-
-    if (!isTarck)
-    {
-      // 缩放图像尺寸用于适配检测器
+      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+      sv::TargetsInFrame tgts(frame_id++);
+      // 读取一帧图像到img
+      cap.read(img);
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-      // 进行通用目标检测
+      // 执行通用目标检测
       cod.detect(img, tgts);
+
       gimbalNoTrack();
 
-      // 向控制台输出检测结果
+      // 可视化检测结果，叠加到img上
+      sv::drawTargetsInFrame(img, tgts);
+
+      // 控制台打印通用目标检测结果
       printf("Frame-[%d]\n", frame_id);
       // 打印当前检测的FPS
       printf("  FPS = %.2f\n", tgts.fps);
@@ -174,78 +124,109 @@ int main(int argc, char *argv[])
         printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
         // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
         printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
+        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+        p2.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
+        p2.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+        p4.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+        p4.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
+        p3.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
+        p3.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
+        p.x = pt_origin.x;
+        p.y = pt_origin.y;
+        std::cout << "p.x " << p.x << "\t"
+                  << "p.y " << p.y << std::endl;
+        if (getCross(p1, p2, p) * getCross(p3, p4, p) >= 0 && getCross(p2, p3, p) * getCross(p4, p1, p) >= 0)
+        {
+          b_begin_TRACK = false;
+          detect_tracking = false;
+          // pt_origin = cv::Point(nor_x, nor_p_y);
+          // std::cout << "pt_origin  " <<nor_x<<"/t"<<nor_p_y<< std::endl;
+          rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
+          // std::cout << rect_sel << std::endl;
+          b_renew_ROI = true;
+          frame_id = 0;
+          printf("rect_sel Yes\n");
+        }
+        else
+        {
+          printf("rect_sel No\n");
+        }
       }
     }
     else
     {
-      // 缩放图像尺寸用于适配追踪器
+      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+      sv::TargetsInFrame tgts(frame_id++);
+      // 读取一帧图像到img
+      cap.read(img);
       cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-
-      // 图像追踪
-      sot.track(img, tgts);
-
-      // 吊舱追踪
-      gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
-
-      // 向控制台输出追踪结果
-      printf("Frame-[%d]\n", frame_id);
-      // 打印当前检测的FPS
-      printf("  FPS = %.2f\n", tgts.fps);
-      // 打印当前相机的视场角（degree）
-      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-      if (tgts.targets.size() > 0)
+      // 开始 单目标跟踪 逻辑
+      // 是否有新的目标被手动框选
+      if (b_renew_ROI)
       {
-        printf("Frame-[%d]\n", frame_id);
-        // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
-        printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-        // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-        printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-        // 打印 跟踪目标 的视线角，跟相机视场相关
-        printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
+        // 拿新的框选区域 来 初始化跟踪器
+        sot.init(img, rect_sel);
+        // std::cout << rect_sel << std::endl;
+        // 重置框选标志
+        b_renew_ROI = false;
+        // 开始跟踪
+        b_begin_TRACK = true;
       }
-    }
+      else if (b_begin_TRACK)
+      {
+        // 以前一帧的结果继续跟踪
+        sot.track(img, tgts);
+        gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
 
-    // 叠加目标框至原始图像
-    sv::drawTargetsInFrame(img, tgts);
+        // 可视化检测结果，叠加到img上
+        sv::drawTargetsInFrame(img, tgts);
+        // 控制台打印 单目标跟踪 结果
+        printf("Frame-[%d]\n", frame_id);
+        // 打印当前检测的FPS
+        printf("  FPS = %.2f\n", tgts.fps);
+        // 打印当前相机的视场角（degree）
+        printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+        if (tgts.targets.size() > 0)
+        {
+          printf("Frame-[%d]\n", frame_id);
+          // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
+          printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
+          // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+          printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
+          // 打印 跟踪目标 的视线角，跟相机视场相关
+          printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
+        }
+      }
+    } // end of tracking
     // 显示检测结果img
     cv::imshow(RGB_WINDOW, img);
     cv::waitKey(10);
-
-    lastTgts = tgts;
   }
-
   return 0;
 }
 
 void onMouse(int event, int x, int y, int, void *)
 {
-  // 左键点击 进入追踪模式
-  if (event == cv::MouseEventTypes::EVENT_LBUTTONDOWN)
+  if (b_clicked)
   {
-    if (!isTarck && !isStartTarck)
-    {
-      clickX = x;
-      clickY = y;
-      isStartTarck = true;
-    }
+    // 更新框选区域坐标
+    pt_origin.x = 0;
+    pt_origin.y = 0;
   }
-  // 右键点击 退出追踪模式
-  else if (event == cv::MouseEventTypes::EVENT_RBUTTONDOWN)
+  // 左键按下
+  if (event == cv::EVENT_LBUTTONDOWN)
   {
-    if (isTarck)
-    {
-      clickX = -1;
-      clickY = -1;
-      isTarck = false;
-    }
+    detect_tracking = true;
+    pt_origin = cv::Point(x, y);
   }
-  // 中键点击 归中（仅非追踪模式下有效）
-  else if (event == cv::MouseEventTypes::EVENT_MBUTTONDOWN)
+
+  else if (event == cv::EVENT_RBUTTONDOWN)
   {
-    if (!isTarck)
-    {
-      gimbal->setHome();
-    }
+    detect_tracking = true;
+    b_renew_ROI = false;
+    b_begin_TRACK = false;
+    b_clicked = true;
   }
 }
 
@@ -267,4 +248,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_landing_marker_detection.cpp

@@ -3,8 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 // #include "gimbal_tools.hpp"
-#include "sv_camera.h"
-
+#include <chrono>
 using namespace std;
 
 // 云台
@@ -34,89 +33,88 @@ void gimbalNoTrack(void)
 }
 
 int main(int argc, char *argv[])
-{ 
-  // 实例化 圆形降落标志 检测器类
-  sv::LandingMarkerDetector lmd;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+{
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-
-  // 打开摄像头
-  sv::Camera cap(sv::CameraType::G1);
-  cap.setStream("192.168.2.64", 554);
-  cap.setWH(lmd.image_width, lmd.image_height);
-  cap.setFps(30);
-  cap.open(); // CameraID 0
-
-  // // 定义相机
-  // sv::Camera cap;
-  // // 设置相机流媒体地址为 192.168.2.64
-  // cap.setIp("192.168.2.64");
-  // // 设置获取画面分辨率为720P
-  // cap.setWH(1280, 720);
-  // // 设置视频帧率为30帧
-  // cap.setFps(30);
-  // // 开启相机
-  // cap.open(sv::CameraType::G1);
+  // 定义相机
+  sv::Camera cap;
+  // 设置相机流媒体地址为 192.168.2.64
+  cap.setIp("192.168.1.64");
+  // 设置获取画面分辨率为720P
+  cap.setWH(640, 480);
+  // 设置视频帧率为30帧
+  cap.setFps(120);
+  // 开启相机
+  cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
   while (1)
   {
+   auto time1 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    for(uint j = 0; j < 60; j++)
+    {
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-    cv::resize(img, img, cv::Size(lmd.image_width, lmd.image_height));
+    //cv::resize(img, img, cv::Size(lmd.image_width, lmd.image_height));
 
     // 执行 降落标志 检测
     lmd.detect(img, tgts);
     // 可视化检测结果，叠加到img上
-    sv::drawTargetsInFrame(img, tgts);
+    //sv::drawTargetsInFrame(img, tgts);
 
     // 控制台打印 降落标志 检测结果
-    printf("Frame-[%d]\n", frame_id);
+    //printf("Frame-[%d]\n", frame_id);
     // 打印当前检测的FPS
     printf("  FPS = %.2f\n", tgts.fps);
     // 打印当前相机的视场角（degree）
-    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-    for (int i = 0; i < tgts.targets.size(); i++)
-    {
+    //printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    //for (int i = 0; i < tgts.targets.size(); i++)
+    //{
       // 仅追踪 X 类型的标靶
-      if (tgts.targets[i].category_id == 2)
-      {
-        gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
-      }
+      //if (tgts.targets[i].category_id == 2)
+      //{
+        //gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
+      //}
 
-      printf("Frame-[%d], Marker-[%d]\n", frame_id, i);
+      //printf("Frame-[%d], Marker-[%d]\n", frame_id, i);
       // 打印每个 降落标志 的中心位置，cx，cy的值域为[0, 1]
-      printf("  Marker Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
+      //printf("  Marker Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
       // 打印每个 降落标志 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-      printf("  Marker Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
+      //printf("  Marker Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
       // 打印每个 降落标志 的置信度
-      printf("  Marker Score = %.3f\n", tgts.targets[i].score);
+      //printf("  Marker Score = %.3f\n", tgts.targets[i].score);
       // 打印每个 降落标志 的类别，字符串类型，"h"、"x"、"1"、"2"、"3"...
-      printf("  Marker Category = %s, Category ID = %d\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
+      //printf("  Marker Category = %s, Category ID = %d\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
       // 打印每个 降落标志 的视线角，跟相机视场相关
-      printf("  Marker Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+      //printf("  Marker Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
       // 打印每个 降落标志 的3D位置（在相机坐标系下），跟降落标志实际半径、相机参数相关
-      printf("  Marker Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-    }
+      //printf("  Marker Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, //tgts.targets[i].pz);
+    //}
 
     // 显示检测结果img
     cv::imshow(RGB_WINDOW, img);
-    cv::waitKey(10);
+    cv::waitKey(1);
+    }
+    auto time2 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+        auto Ts = time2 - time1;
+        std::cout << "Ts = " << Ts / (1000) << "us" << std::endl;
   }
 
   return 0;
@@ -153,4 +151,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -2,14 +2,13 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
 
 using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
-                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
+void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
+                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
@@ -43,41 +42,32 @@ static const std::string RGB_WINDOW = "Image window";
 void onMouse(int event, int x, int y, int, void *);
 
 int main(int argc, char *argv[])
-{  
-  // 实例化Aruco检测器类
-  sv::ArucoDetector ad;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+{
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以gimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(gimableCallback);
-
-  // 打开摄像头
-  sv::Camera cap(sv::CameraType::G1);
-  cap.setStream("192.168.2.64",554);
-  cap.setWH(ad.image_width, ad.image_height);
+  // 定义相机
+  sv::Camera cap;
+  // 设置相机流媒体地址为 192.168.2.64
+  cap.setIp("192.168.2.64");
+  // 设置获取画面分辨率为720P
+  cap.setWH(1280, 720);
+  // 设置视频帧率为30帧
   cap.setFps(30);
-  cap.open();  // CameraID 0
-
-  // // 定义相机
-  // sv::Camera cap;
-  // // 设置相机流媒体地址为 192.168.2.64
-  // cap.setIp("192.168.2.64");
-  // // 设置获取画面分辨率为720P
-  // cap.setWH(1280, 720);
-  // // 设置视频帧率为30帧
-  // cap.setFps(30);
-  // // 开启相机
-  // cap.open(sv::CameraType::G1);
+  // 开启相机
+  cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-
+  // 实例化Aruco检测器类
+  sv::ArucoDetector ad;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像
@@ -89,8 +79,7 @@ int main(int argc, char *argv[])
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-
-    // std::cout << img.type() <<  std::endl;
+    continue;
 
     // 执行Aruco二维码检测
     ad.detect(img, tgts);

samples/demo/landing_marker_detection.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
+#include <chrono>
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -11,18 +11,20 @@ int main(int argc, char *argv[]) {
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-   // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(lmd.image_width, lmd.image_height);
-  // cap.setFps(30);
-  cap.open();  // CameraID 0
-
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(640, 480);
+  cap.setFps(60);
+  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
   while (1)
   {
+  auto time1 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    for(uint j = 0; j < 60; j++)
+    {
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
@@ -35,39 +37,43 @@ int main(int argc, char *argv[]) {
     sv::drawTargetsInFrame(img, tgts);
 
     // 控制台打印 降落标志 检测结果
-    printf("Frame-[%d]\n", frame_id);
+    //printf("Frame-[%d]\n", frame_id);
     // 打印当前检测的FPS
     printf("  FPS = %.2f\n", tgts.fps);
     // 打印当前相机的视场角（degree）
-    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    //printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
     // 打印当前输入图像的像素宽度和高度
-    printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
+    //printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
     for (int i=0; i<tgts.targets.size(); i++)
     {
-      printf("Frame-[%d], Marker-[%d]\n", frame_id, i);
+      //printf("Frame-[%d], Marker-[%d]\n", frame_id, i);
       // 打印每个 降落标志 的中心位置，cx，cy的值域为[0, 1]，以及cx，cy的像素值
-      printf("  Marker Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-        tgts.targets[i].cx, tgts.targets[i].cy,
-        int(tgts.targets[i].cx * tgts.width),
-        int(tgts.targets[i].cy * tgts.height));
+      //printf("  Marker Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
+        //tgts.targets[i].cx, tgts.targets[i].cy,
+        //int(tgts.targets[i].cx * tgts.width),
+        //int(tgts.targets[i].cy * tgts.height));
       // 打印每个 降落标志 的外接矩形框的宽度、高度，w，h的值域为(0, 1]，以及w，h的像素值
-      printf("  Marker Size (w, h) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
-        tgts.targets[i].w, tgts.targets[i].h,
-        int(tgts.targets[i].w * tgts.width),
-        int(tgts.targets[i].h * tgts.height));
+      //printf("  Marker Size (w, h) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
+        //tgts.targets[i].w, tgts.targets[i].h,
+        //int(tgts.targets[i].w * tgts.width),
+        //int(tgts.targets[i].h * tgts.height));
       // 打印每个 降落标志 的置信度
-      printf("  Marker Score = %.3f\n", tgts.targets[i].score);
+     // printf("  Marker Score = %.3f\n", tgts.targets[i].score);
       // 打印每个 降落标志 的类别，字符串类型，"h"、"x"、"1"、"2"、"3"...
-      printf("  Marker Category = %s, Category ID = %d\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
+      //printf("  Marker Category = %s, Category ID = %d\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
       // 打印每个 降落标志 的视线角，跟相机视场相关
-      printf("  Marker Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+      //printf("  Marker Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
       // 打印每个 降落标志 的3D位置（在相机坐标系下），跟降落标志实际半径、相机参数相关
-      printf("  Marker Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
+     // printf("  Marker Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
     }
     
     // 显示检测结果img
     cv::imshow("img", img);
     cv::waitKey(10);
+    }
+    auto time2 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+        auto Ts = time2 - time1;
+        std::cout << "Ts = " << Ts / (1000) << "us" << std::endl;
   }
 
   return 0;

samples/demo/multiple_object_tracking.cpp

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

samples/demo/single_object_tracking.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
+
 using namespace std;
 
 // 定义窗口名称
@@ -28,17 +28,16 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  //sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
   
- // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(sot.image_width, sot.image_height);
-  // cap.setFps(30);
-  cap.open();  // CameraID 0
-
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 4);  // CameraID 0
+ 
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_receiver_by_airborne.cpp

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

samples/demo/udp_detection_info_sender.cpp

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

samples/demo/veri.cpp

@@ -2,89 +2,44 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
+
 using namespace std;
 
-struct node
-{
-  double x, y;
-};
-
-node p1;
-
-// 框选到的矩形
-cv::Rect rect_sel;
-
-int main(int argc, char *argv[])
-{
-  // 实例化 框选目标跟踪类
+int main(int argc, char *argv[]) {  
+  // 打开摄像头
   sv::VeriDetector veri;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-
- // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(cod.image_width, cod.image_height);
+  cv::VideoCapture cap1("/home/amov/Videos/com/FlyVideo_2023-09-02_11-36-00.avi");
+  cv::VideoCapture cap2("/home/amov/Videos/com/FlyVideo_2023-09-02_11-41-55.avi");
+  // cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open();  // CameraID 0
+  //cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
-  cv::Mat img;
+
+
+  cv::Mat img1,img2;
   int frame_id = 0;
   while (1)
   {
-
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
+
     // 读取一帧图像到img
-    cap.read(img);
-    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
+    cap1.read(img1);
+    cap2.read(img2);
 
-    // 执行通用目标检测
-    cod.detect(img, tgts);
+    cv::resize(img1, img1, cv::Size(224, 224));
+    cv::resize(img2, img2, cv::Size(224, 224));
 
-    // 可视化检测结果，叠加到img上
-    sv::drawTargetsInFrame(img, tgts);
+    veri.detect(img1, img2, tgts);
 
-    // 控制台打印通用目标检测结果
-    printf("Frame-[%d]\n", frame_id);
-    // 打印当前检测的FPS
-    printf("  FPS = %.2f\n", tgts.fps);
-    // 打印当前相机的视场角（degree）
-    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-    for (int i = 0; i < tgts.targets.size(); i++)
-    {
-      printf("Frame-[%d], Object-[%d]\n", frame_id, i);
-      // 打印每个目标的中心位置，cx，cy的值域为[0, 1]
-      printf("  Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
-      // 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-      printf("  Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
-      // 打印每个目标的置信度
-      printf("  Object Score = %.3f\n", tgts.targets[i].score);
-      // 打印每个目标的类别，字符串类型
-      printf("  Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
-      // 打印每个目标的视线角，跟相机视场相关
-      printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
-      // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
-      printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
+    
 
-      if (tgts.targets[i].category_id == 2)
-      {
-        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
-        veri.detect(img, rect_sel, tgts.targets[i]);
-        // 打印每个目标的CosineSimilarity
-        printf("  CosineSimilarity Score = %.3f\n", tgts.targets[i].sim_score);
-      }
-    }
-
-    // 显示检测结果img
-    cv::imshow("img", img);
-    cv::waitKey(10);
+    // 显示img
+    // cv::imshow("img", img);
+    // cv::waitKey(10);
   }
+
   return 0;
 }

samples/demo/video_saving.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-#include "sv_camera.h"
+
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -12,12 +12,10 @@ int main(int argc, char *argv[]) {
   cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
- // 打开摄像头
-  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setIndex(0);
-  cap.setWH(cod.image_width, cod.image_height);
+  sv::Camera cap;
+  // cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open();  // CameraID 0
+  cap.open(sv::CameraType::WEBCAM, 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/video_streaming.cpp

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

samples/test/camera_fps_test.cpp

@@ -0,0 +1,34 @@
+
+#include <sv_world.h>
+#include <iostream>
+#include <string>
+#include <chrono>
+
+int main(int argc, char *argv[])
+{
+    sv::Camera cap;
+    cap.setIp(argv[1]);
+    cap.setWH(640, 480);
+    cap.setFps(60);
+    cap.open(sv::CameraType::G1);
+    
+    //cap.open(sv::CameraType::WEBCAM, 4);
+
+    cv::Mat img;
+    //auto time1,time2;
+
+    while (1)
+    {
+        auto time1 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+        //for (uint16_t i = 0; i < 120; i++)
+        //{
+            cap.read(img);
+            cv::imshow("TEST",img);
+            cv::waitKey(1);
+        //}
+        auto time2 = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+        auto Ts = time2 - time1;
+        std::cout << "read 120 count;Ts = " << Ts / (1000) << "us" << std::endl;
+        std::cout << "average FPS = " << (1000 * 1000 * 1000) / (Ts / 120) << std::endl;
+    }
+}

samples/test/gimbal_test.cpp

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

scripts/common/configs-downloading.sh

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

scripts/common/ffmpeg425-install.sh

@@ -2,7 +2,7 @@
 
 
 sudo apt install -y \
-build-essential yasm cmake libtool libc6 libc6-dev unzip wget libeigen3-dev libfmt-dev \
+build-essential yasm cmake libtool libc6 libc6-dev unzip wget libfmt-dev \
 libnuma1 libnuma-dev libx264-dev libx265-dev libfaac-dev libssl-dev
 
 root_dir=${HOME}"/SpireCV"

scripts/common/gst-install-orin.sh

@@ -8,7 +8,6 @@ sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
 sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
 sudo apt install -y gstreamer1.0-pulseaudio
 sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev
 
 sudo apt -y install autotools-dev automake m4 perl
 sudo apt -y install libtool

scripts/common/gst-install.sh

@@ -8,7 +8,6 @@ sudo apt install -y gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa
 sudo apt install -y gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 
 sudo apt install -y gstreamer1.0-pulseaudio
 sudo apt install -y gtk-doc-tools
-sudo apt install -y libeigen3-dev libfmt-dev
 
 git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
 cd gst-rtsp-server-b18

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

@@ -1,54 +0,0 @@
-#!/bin/sh
-
-
-wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
-wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
-wget https://download.amovlab.com/model/deps/opencv_cache-4.7.0.zip
-
-
-package_dir="."
-mkdir ~/opencv_build
-
-
-if [ ! -d ""$package_dir"" ];then
-  echo "\033[31m[ERROR]: $package_dir not exist!: \033[0m"
-  exit 1
-fi
-
-sudo apt update
-sudo apt install -y build-essential
-sudo apt install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-sudo apt install -y libjasper1 libjasper-dev
-sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
-sudo apt install -y libdc1394-22-dev
-
-
-echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_contrib-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_contrib-4.7.0.zip -d ~/opencv_build
-
-echo "\033[32m[INFO]:\033[0m unzip opencv_cache-4.7.0.zip ..."
-unzip  -q -o $package_dir/opencv_cache-4.7.0.zip -d ~/opencv_build
-
-
-sudo rm opencv-4.7.0.zip
-sudo rm opencv_contrib-4.7.0.zip
-sudo rm opencv_cache-4.7.0.zip
-
-cd ~/opencv_build/opencv-4.7.0
-mkdir .cache
-
-cp -r ~/opencv_build/opencv_cache-4.7.0/* ~/opencv_build/opencv-4.7.0/.cache/
-
-mkdir build
-cd build
-
-cmake -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=ON -D CUDA_ARCH_BIN=8.7 -D WITH_CUDNN=ON -D OPENCV_DNN_CUDA=ON -D WITH_CUBLAS=ON -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda -D OPENCV_ENABLE_NONFREE=ON -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.7.0/modules ..
-
-make -j2
-sudo make install
-
-cd
-sudo rm -r ~/opencv_build