fix install scripts

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) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w, int batchsize) {
   assert(this->_engine->getNbBindings() == 2);
   // In order to bind the buffers, we need to know the names of the input and output tensors.
   // Note that indices are guaranteed to be less than IEngine::getNbBindings()
@@ -112,12 +112,12 @@ void CommonObjectDetectorCUDAImpl::_prepare_buffers(int input_h, int input_w) {
   assert(inputIndex == 0);
   assert(outputIndex == 1);
   // Create GPU buffers on device
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), kBatchSize * 3 * input_h * input_w * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), kBatchSize * kOutputSize * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), batchsize * 3 * input_h * input_w * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), batchsize * kOutputSize * sizeof(float)));
 
-  this->_cpu_output_buffer = new float[kBatchSize * kOutputSize];
+  this->_cpu_output_buffer = new float[batchsize * kOutputSize];
 }
-void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w) {
+void CommonObjectDetectorCUDAImpl::_prepare_buffers_seg(int input_h, int input_w, int batchsize) {
   assert(this->_engine->getNbBindings() == 3);
   // In order to bind the buffers, we need to know the names of the input and output tensors.
   // Note that indices are guaranteed to be less than IEngine::getNbBindings()
@@ -129,13 +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]), kBatchSize * 3 * input_h * input_w * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), kBatchSize * kOutputSize1 * sizeof(float)));
-  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[2]), kBatchSize * kOutputSize2 * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[0]), batchsize * 3 * input_h * input_w * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[1]), batchsize * kOutputSize1 * sizeof(float)));
+  CUDA_CHECK(cudaMalloc((void**)&(this->_gpu_buffers[2]), batchsize * kOutputSize2 * sizeof(float)));
 
   // Alloc CPU buffers
-  this->_cpu_output_buffer1 = new float[kBatchSize * kOutputSize1];
-  this->_cpu_output_buffer2 = new float[kBatchSize * kOutputSize2];
+  this->_cpu_output_buffer1 = new float[batchsize * kOutputSize1];
+  this->_cpu_output_buffer2 = new float[batchsize * kOutputSize2];
 }
 void deserialize_engine(std::string& engine_name, IRuntime** runtime, ICudaEngine** engine, IExecutionContext** context) {
   std::ifstream file(engine_name, std::ios::binary);
@@ -172,7 +172,8 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   std::vector<float>& boxes_h_,
   std::vector<int>& boxes_label_,
   std::vector<float>& boxes_score_,
-  std::vector<cv::Mat>& boxes_seg_
+  std::vector<cv::Mat>& boxes_seg_,
+  bool input_4k_
 )
 {
 #ifdef WITH_CUDA
@@ -183,9 +184,51 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   double thrs_nms = base_->getThrsNms();
 
   std::vector<cv::Mat> img_batch;
-  img_batch.push_back(img_);
-  // Preprocess
-  cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], input_w, input_h, this->_stream);
+  if (input_4k_)
+  {
+    if (img_.cols == 3840 && img_.rows == 2160)
+    {
+      cv::Mat patch1, patch2, patch3, patch4, patch5, patch6;
+      
+      img_.colRange(200, 1480).rowRange(0, 1280).copyTo(patch1);
+      img_.colRange(1280, 2560).rowRange(0, 1280).copyTo(patch2);
+      img_.colRange(2360, 3640).rowRange(0, 1280).copyTo(patch3);
+      
+      img_.colRange(200, 1480).rowRange(880, 2160).copyTo(patch4);
+      img_.colRange(1280, 2560).rowRange(880, 2160).copyTo(patch5);
+      img_.colRange(2360, 3640).rowRange(880, 2160).copyTo(patch6);
+      
+      img_batch.push_back(patch1);
+      img_batch.push_back(patch2);
+      img_batch.push_back(patch3);
+      img_batch.push_back(patch4);
+      img_batch.push_back(patch5);
+      img_batch.push_back(patch6);
+    }
+    else
+    {
+      throw std::runtime_error("SpireCV (106) Input image is NOT 4K (3840 x 2160)!");
+    }
+    if (with_segmentation)
+    {
+      throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
+    }
+  }
+  else
+  {
+    img_batch.push_back(img_);
+  }
+  
+  if (input_4k_)
+  {
+    // Preprocess
+    cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], 1280, 1280, this->_stream);
+  }
+  else
+  {
+    // Preprocess
+    cuda_batch_preprocess(img_batch, this->_gpu_buffers[0], input_w, input_h, this->_stream);
+  }
 
   // Run inference
   if (with_segmentation)
@@ -194,7 +237,14 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
   }
   else
   {
-    infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, kBatchSize);
+    if (input_4k_)
+    {
+      infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, 6);
+    }
+    else
+    {
+      infer(*this->_context, this->_stream, (void**)this->_gpu_buffers, this->_cpu_output_buffer, kBatchSize);
+    }
   }
 
   // NMS
@@ -208,45 +258,102 @@ void CommonObjectDetectorCUDAImpl::cudaDetect(
     batch_nms(res_batch, this->_cpu_output_buffer, img_batch.size(), kOutputSize, thrs_conf, thrs_nms);
   }
 
-  std::vector<Detection> res = res_batch[0];
-  std::vector<cv::Mat> masks;
-  if (with_segmentation)
+
+  if (input_4k_)
   {
-    masks = process_mask(&(this->_cpu_output_buffer2[0]), kOutputSize2, res, input_h, input_w);
-  }
-
-
-
-  for (size_t j = 0; j < res.size(); j++) {
-    cv::Rect r = get_rect(img_, res[j].bbox, input_h, input_w);
-    if (r.x < 0) r.x = 0;
-    if (r.y < 0) r.y = 0;
-    if (r.x + r.width >= img_.cols)  r.width = img_.cols - r.x - 1;
-    if (r.y + r.height >= img_.rows) r.height = img_.rows - r.y - 1;
-    if (r.width > 5 && r.height > 5)
+    for (size_t k = 0; k < res_batch.size(); k++)
     {
-      // cv::rectangle(img_show, r, cv::Scalar(0, 0, 255), 2);
-      // cv::putText(img_show, vehiclenames[(int)res[j].class_id], cv::Point(r.x, r.y - 1), cv::FONT_HERSHEY_PLAIN, 2.2, cv::Scalar(0, 0, 255), 2);
-      boxes_x_.push_back(r.x);
-      boxes_y_.push_back(r.y);
-      boxes_w_.push_back(r.width);
-      boxes_h_.push_back(r.height);
-
-      boxes_label_.push_back((int)res[j].class_id);
-      boxes_score_.push_back(res[j].conf);
-
-      if (with_segmentation)
+      std::vector<Detection> res = res_batch[k];
+      for (size_t j = 0; j < res.size(); j++)
       {
-        cv::Mat mask_j = masks[j].clone();
-        boxes_seg_.push_back(mask_j);
+        cv::Rect r = get_rect(img_batch[k], res[j].bbox, 1280, 1280);
+        if (r.x < 0) r.x = 0;
+        if (r.y < 0) r.y = 0;
+        if (r.x + r.width >= 1280)  r.width = 1280 - r.x - 1;
+        if (r.y + r.height >= 1280) r.height = 1280 - r.y - 1;
+        if (r.width > 3 && r.height > 3)
+        {
+          if (0 == k)
+          {
+            boxes_x_.push_back(r.x + 200);
+            boxes_y_.push_back(r.y);
+          }
+          else if (1 == k)
+          {
+            boxes_x_.push_back(r.x + 1280);
+            boxes_y_.push_back(r.y);
+          }
+          else if (2 == k)
+          {
+            boxes_x_.push_back(r.x + 2360);
+            boxes_y_.push_back(r.y);
+          }
+          else if (3 == k)
+          {
+            boxes_x_.push_back(r.x + 200);
+            boxes_y_.push_back(r.y + 880);
+          }
+          else if (4 == k)
+          {
+            boxes_x_.push_back(r.x + 1280);
+            boxes_y_.push_back(r.y + 880);
+          }
+          else if (5 == k)
+          {
+            boxes_x_.push_back(r.x + 2360);
+            boxes_y_.push_back(r.y + 880);
+          }
+          boxes_w_.push_back(r.width);
+          boxes_h_.push_back(r.height);
+
+          boxes_label_.push_back((int)res[j].class_id);
+          boxes_score_.push_back(res[j].conf);
+        }
       }
     }
   }
+  else
+  {
+
+    std::vector<Detection> res = res_batch[0];
+    std::vector<cv::Mat> masks;
+    if (with_segmentation)
+    {
+      masks = process_mask(&(this->_cpu_output_buffer2[0]), kOutputSize2, res, input_h, input_w);
+    }
+
+    for (size_t j = 0; j < res.size(); j++)
+    {
+      cv::Rect r = get_rect(img_, res[j].bbox, input_h, input_w);
+      if (r.x < 0) r.x = 0;
+      if (r.y < 0) r.y = 0;
+      if (r.x + r.width >= img_.cols)  r.width = img_.cols - r.x - 1;
+      if (r.y + r.height >= img_.rows) r.height = img_.rows - r.y - 1;
+      if (r.width > 5 && r.height > 5)
+      {
+        // cv::rectangle(img_show, r, cv::Scalar(0, 0, 255), 2);
+        // cv::putText(img_show, vehiclenames[(int)res[j].class_id], cv::Point(r.x, r.y - 1), cv::FONT_HERSHEY_PLAIN, 2.2, cv::Scalar(0, 0, 255), 2);
+        boxes_x_.push_back(r.x);
+        boxes_y_.push_back(r.y);
+        boxes_w_.push_back(r.width);
+        boxes_h_.push_back(r.height);
+
+        boxes_label_.push_back((int)res[j].class_id);
+        boxes_score_.push_back(res[j].conf);
+
+        if (with_segmentation)
+        {
+          cv::Mat mask_j = masks[j].clone();
+          boxes_seg_.push_back(mask_j);
+        }
+      }
+    }
   
+  }
 #endif
 }
 
-bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
+bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bool input_4k_)
 {
 #ifdef WITH_CUDA
   std::string dataset = base_->getDataset();
@@ -272,6 +379,11 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
   {
     throw std::runtime_error("SpireCV (104) Error loading the CommonObject TensorRT model (File Not Exist)");
   }
+  
+  if (input_4k_ && with_segmentation)
+  {
+    throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
+  }
 
   deserialize_engine(engine_fn, &this->_runtime, &this->_engine, &this->_context);
   CUDA_CHECK(cudaStreamCreate(&this->_stream));
@@ -282,12 +394,20 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_)
   if (with_segmentation)
   {
     // Prepare cpu and gpu buffers
-    this->_prepare_buffers_seg(input_h, input_w);
+    this->_prepare_buffers_seg(input_h, input_w, 1);
   }
   else
   {
-    // Prepare cpu and gpu buffers
-    this->_prepare_buffers(input_h, input_w);
+    if (input_4k_)
+    {
+      // Prepare cpu and gpu buffers
+      this->_prepare_buffers(input_h, input_w, 6);
+    }
+    else
+    {
+      // Prepare cpu and gpu buffers
+      this->_prepare_buffers(input_h, input_w, 1);
+    }
   }
   return true;
 #endif

algorithm/common_det/cuda/common_det_cuda_impl.h

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

algorithm/common_det/sv_common_det.cpp

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

include/sv_common_det.h

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

scripts/common/configs-downloading.sh

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

scripts/common/ffmpeg425-install.sh

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

scripts/common/gst-install-orin.sh

@@ -8,6 +8,7 @@ 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

@@ -8,6 +8,7 @@ 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

@@ -0,0 +1,54 @@
+#!/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

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

@@ -8,6 +8,7 @@ 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/x86-cuda/x86-opencv470-cuda-install.sh

@@ -0,0 +1,69 @@
+#!/bin/sh
+
+
+wget https://download.amovlab.com/model/deps/opencv-4.7.0.zip
+wget https://download.amovlab.com/model/deps/opencv_contrib-4.7.0.zip
+wget https://download.amovlab.com/model/deps/opencv_cache_x86-4.7.0.zip
+
+
+package_dir="."
+mkdir ~/opencv_build
+
+
+if [ ! -d ""$package_dir"" ];then
+  echo "\033[31m[ERROR]: $package_dir not exist!: \033[0m"
+  exit 1
+fi
+
+# sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
+# sudo add-apt-repository "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe"
+sudo apt update
+sudo apt install -y build-essential
+sudo apt install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+
+sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32
+sudo apt update
+sudo apt install -y libjasper1 libjasper-dev
+
+sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
+sudo apt install -y libdc1394-22-dev
+
+
+echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
+unzip  -q -o $package_dir/opencv-4.7.0.zip -d ~/opencv_build
+
+echo "\033[32m[INFO]:\033[0m unzip opencv_contrib-4.7.0.zip ..."
+unzip  -q -o $package_dir/opencv_contrib-4.7.0.zip -d ~/opencv_build
+
+echo "\033[32m[INFO]:\033[0m unzip opencv_cache_x86-4.7.0.zip ..."
+unzip  -q -o $package_dir/opencv_cache_x86-4.7.0.zip -d ~/opencv_build
+
+
+sudo rm opencv-4.7.0.zip
+sudo rm opencv_contrib-4.7.0.zip
+sudo rm opencv_cache_x86-4.7.0.zip
+
+cd ~/opencv_build/opencv-4.7.0
+mkdir .cache
+
+cp -r ~/opencv_build/opencv_cache_x86-4.7.0/* ~/opencv_build/opencv-4.7.0/.cache/
+
+mkdir build
+cd build
+
+cmake -D CMAKE_BUILD_TYPE=Release \
+      -D WITH_CUDA=ON \
+      -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

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

@@ -20,7 +20,12 @@ 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 add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32
+sudo apt update
 sudo apt install -y libjasper1 libjasper-dev
+
 sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
 sudo apt install -y libdc1394-22-dev
 

video_io/sv_video_input.cpp

@@ -79,7 +79,6 @@ void Camera::openImpl()
   else if (this->_type == CameraType::MIPI)
   {
     char pipe[512];
-    this->_cap.open(this->_camera_id);
     if (this->_width <= 0 || this->_height <= 0)
     {
       this->_width = 1280;
@@ -90,7 +89,7 @@ void Camera::openImpl()
       this->_fps = 30;
     }
 
-    sprintf(pipe, "nvarguscamerasrc framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink",this->_fps,this->_width,this->_height);
+    sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
  }
 }