finish model manager v1

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

.gitignore

@@ -1,6 +1,13 @@
 # Distribution / packaging
 .Python
 build/
+models/
+confs/
+ZLM/
+ZLMediaKit/
+ffmpeg-4.2.5/
+nv-codec-headers/
+*.bz2
 develop-eggs/
 dist/
 eggs/
@@ -15,6 +22,11 @@ share/python-wheels/
 *.egg
 MANIFEST
 .idea/
+calib_webcam_1280x720.yaml
+calib_webcam_640x480.yaml
+sv_algorithm_params.json
+sv_algorithm_params_coco_1280.json
+sv_algorithm_params_coco_640.json
 
 # Prerequisites
 *.d

CMakeLists.txt

@@ -24,6 +24,7 @@ else()
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   elseif(PLATFORM STREQUAL "X86_INTEL")
     add_definitions(-DPLATFORM_X86_INTEL)
+    option(USE_INTEL "BUILD WITH INTEL." ON)
     option(USE_FFMPEG "BUILD WITH FFMPEG." ON)
   else()
     message(FATAL_ERROR "UNSUPPORTED PLATFORM!")
@@ -38,6 +39,10 @@ if(USE_CUDA)
   message(STATUS "CUDA: ON")
 endif()
 
+if(USE_INTEL)
+  add_definitions(-DWITH_INTEL)
+  message(STATUS "INTEL: ON")
+endif()
 
 if(USE_GSTREAMER)
   add_definitions(-DWITH_GSTREAMER)
@@ -69,14 +74,18 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f
+  ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
-    ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -139,6 +148,8 @@ file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10/
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
+file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40/*.cpp)
+list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 
@@ -184,7 +195,23 @@ if(USE_CUDA)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
 
+if(USE_INTEL)
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/intel/*.cpp)
+  list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+endif()
+
 if(USE_FFMPEG)
+  if(USE_INTEL)
+    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_intel/*.cpp)
+    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  elseif(USE_CUDA)
+    file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/x86_cuda/*.cpp)
+    list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+  endif()
   file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/ffmpeg/*.cpp)
   list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 endif()
@@ -228,10 +255,22 @@ if(USE_CUDA)  # PLATFORM_X86_CUDA & PLATFORM_JETSON
   target_link_libraries(SpireCVSeg sv_world)
 
 elseif(PLATFORM STREQUAL "X86_INTEL")  # Links to Intel-OpenVINO libraries here
+  # Intel-Openvino
+  include_directories(
+    PUBLIC /opt/intel/openvino_2022/runtime/include/
+    PUBLIC /opt/intel/openvino_2022/runtime/include/ie/
+  )
+  link_directories(
+    ${InferenceEngine_LIBRARIES}
+    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
+  )
+  
   add_library(sv_world SHARED ${spirecv_SRCS})
   target_link_libraries(
     sv_world ${OpenCV_LIBS} 
     sv_gimbal
+    ${InferenceEngine_LIBRARIES}
+    /opt/intel/openvino_2022/runtime/lib/intel64/libopenvino.so
   )
 endif()
 
@@ -290,7 +329,9 @@ target_link_libraries(EvalModelOnCocoVal sv_world)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
 add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
-target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
+target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world)
+add_executable(CreateMarker samples/calib/create_marker.cpp)
+target_link_libraries(CreateMarker ${OpenCV_LIBS})
 
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 if (NOT DEFINED SV_INSTALL_PREFIX)
@@ -309,7 +350,7 @@ if(USE_CUDA)
     RUNTIME DESTINATION bin
   )
 elseif(PLATFORM STREQUAL "X86_INTEL")
-  install(TARGETS sv_world
+  install(TARGETS sv_gimbal sv_world
     LIBRARY DESTINATION lib
   )
 endif()

README.en.md

@@ -38,9 +38,9 @@ SpireCV is an **real-time edge perception SDK** built for **intelligent unmanned
  - **Platform level**：
     - [x] X86 + Nvidia GPUs (10 series, 20 series, and 30 series graphics cards recommended)
     - [x] Jetson (AGX Orin/Xavier、Orin NX/Nano、Xavier NX)
-    - [ ] Intel CPU (coming soon)
-    - [ ] Rockchip (coming soon)
+    - [x] Intel CPU
     - [ ] HUAWEI Ascend (coming soon)
+    - [ ] Rockchip (coming soon)
 
 ## Demos
  - **QR code detection**

README.md

@@ -12,7 +12,7 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
 
 ## 快速入门
 
- - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
+ - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)（[wolai版本](https://www.wolai.com/4qWFM6aZmtpQE6jj7hnNMW)）、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
     - 需掌握C++语言基础、CMake编译工具基础。
     - 需要掌握OpenCV视觉库基础，了解CUDA、OpenVINO、RKNN和CANN等计算库。
     - 需要了解ROS基本概念及基本操作。
@@ -38,9 +38,9 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
  - **平台层**：
     - [x] X86+Nvidia GPU（推荐10系、20系、30系显卡）
     - [x] Jetson（AGX Orin/Xavier、Orin NX/Nano、Xavier NX）
-    - [ ] Intel CPU（推进中）
-    - [ ] Rockchip（推进中）
+    - [x] Intel CPU
     - [ ] HUAWEI Ascend（推进中）
+    - [ ] Rockchip（推进中）
 
 ## 功能展示
  - **二维码检测**

algorithm/common_det/cuda/common_det_cuda_impl.cpp

@@ -1,6 +1,7 @@
 #include "common_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
+#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -364,15 +365,43 @@ bool CommonObjectDetectorCUDAImpl::cudaSetup(CommonObjectDetectorBase* base_, bo
   double thrs_nms = base_->getThrsNms();
 
   std::string engine_fn = get_home() + SV_MODEL_DIR + dataset + ".engine";
+  std::vector<std::string> files;
+  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s-");
+  if (files.size() > 0)
+  {
+    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+    engine_fn = get_home() + SV_MODEL_DIR + files[0];
+  }
+
   if (input_w == 1280)
   {
-    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
+    files.clear();
+    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s6-");
+    if (files.size() > 0)
+    {
+      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+      engine_fn = get_home() + SV_MODEL_DIR + files[0];
+    }
+    else
+    {
+      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.engine";
+    }
   }
   if (with_segmentation)
   {
     base_->setInputH(640);
     base_->setInputW(640);
-    engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
+    files.clear();
+    _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", dataset + "-yolov5s-seg-");
+    if (files.size() > 0)
+    {
+      std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+      engine_fn = get_home() + SV_MODEL_DIR + files[0];
+    }
+    else
+    {
+      engine_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.engine";
+    }
   }
   std::cout << "Load: " << engine_fn << std::endl;
   if (!is_file_exist(engine_fn))

algorithm/common_det/intel/common_det_intel_impl.cpp

@@ -0,0 +1,449 @@
+#include "common_det_intel_impl.h"
+#include <cmath>
+#include <fstream>
+
+#define SV_MODEL_DIR "/SpireCV/models/"
+#define SV_ROOT_DIR "/SpireCV/"
+
+namespace sv
+{
+
+#ifdef WITH_INTEL
+  using namespace cv;
+  using namespace std;
+  using namespace dnn;
+#endif
+
+  float sigmoid_function(float a)
+  {
+    float b = 1. / (1. + exp(-a));
+    return b;
+  }
+
+  cv::Mat letterbox(cv::Mat &img_, std::vector<float> &paddings)
+  {
+    std::vector<int> new_shape = {640, 640};
+
+    // Get current image shape [height, width]
+    int img_h = img_.rows;
+    int img_w = img_.cols;
+
+    // Compute scale ratio(new / old) and target resized shape
+    float scale = std::min(new_shape[1] * 1.0 / img_h, new_shape[0] * 1.0 / img_w);
+    int resize_h = int(round(img_h * scale));
+    int resize_w = int(round(img_w * scale));
+    paddings[0] = scale;
+
+    // Compute padding
+    int pad_h = new_shape[1] - resize_h;
+    int pad_w = new_shape[0] - resize_w;
+
+    // Resize and pad image while meeting stride-multiple constraints
+    cv::Mat resized_img;
+    cv::resize(img_, resized_img, cv::Size(resize_w, resize_h));
+
+    // divide padding into 2 sides
+    float half_h = pad_h * 1.0 / 2;
+    float half_w = pad_w * 1.0 / 2;
+    paddings[1] = half_h;
+    paddings[2] = half_w;
+
+    // Compute padding boarder
+    int top = int(round(half_h - 0.1));
+    int bottom = int(round(half_h + 0.1));
+    int left = int(round(half_w - 0.1));
+    int right = int(round(half_w + 0.1));
+
+    // Add border
+    cv::copyMakeBorder(resized_img, resized_img, top, bottom, left, right, 0, cv::Scalar(114, 114, 114));
+
+    return resized_img;
+  }
+
+  CommonObjectDetectorIntelImpl::CommonObjectDetectorIntelImpl()
+  {
+  }
+
+  CommonObjectDetectorIntelImpl::~CommonObjectDetectorIntelImpl()
+  {
+  }
+
+  void CommonObjectDetectorIntelImpl::intelDetect(
+      CommonObjectDetectorBase *base_,
+      cv::Mat img_,
+      std::vector<float> &boxes_x_,
+      std::vector<float> &boxes_y_,
+      std::vector<float> &boxes_w_,
+      std::vector<float> &boxes_h_,
+      std::vector<int> &boxes_label_,
+      std::vector<float> &boxes_score_,
+      std::vector<cv::Mat> &boxes_seg_,
+      bool input_4k_)
+  {
+#ifdef WITH_INTEL
+    int input_h = base_->getInputH();
+    int input_w = base_->getInputW();
+    bool with_segmentation = base_->withSegmentation();
+    double thrs_conf = base_->getThrsConf();
+    double thrs_nms = base_->getThrsNms();
+
+    if (with_segmentation)
+    {
+      std::vector<float> paddings(3); // scale, half_h, half_w
+      this->preprocess_img_seg(img_, paddings);
+
+      infer_request.start_async();
+      infer_request.wait();
+
+      // Postprocess
+      this->postprocess_img_seg(img_, paddings, boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, boxes_seg_, thrs_conf, thrs_nms);
+    }
+    else
+    {
+      // Preprocess
+      this->preprocess_img(img_);
+
+      // Run inference
+      infer_request.start_async();
+      infer_request.wait();
+
+      // Postprocess
+      this->postprocess_img(boxes_x_, boxes_y_, boxes_w_, boxes_h_, boxes_label_, boxes_score_, thrs_conf, thrs_nms);
+    }
+
+#endif
+  }
+
+  bool CommonObjectDetectorIntelImpl::intelSetup(CommonObjectDetectorBase *base_, bool input_4k_)
+  {
+#ifdef WITH_INTEL
+    ov::Core core;
+    std::string dataset = base_->getDataset();
+    double thrs_conf = base_->getThrsConf();
+    double thrs_nms = base_->getThrsNms();
+    inpHeight = base_->getInputH();
+    inpWidth = base_->getInputW();
+    with_segmentation = base_->withSegmentation();
+
+    std::string openvino_fn = get_home() + SV_MODEL_DIR + dataset + ".onnx";
+    if (inpWidth == 1280)
+    {
+      openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_HD.onnx";
+    }
+    if (with_segmentation)
+    {
+      base_->setInputH(640);
+      base_->setInputW(640);
+      openvino_fn = get_home() + SV_MODEL_DIR + dataset + "_SEG.onnx";
+    }
+    std::cout << "Load: " << openvino_fn << std::endl;
+    if (!is_file_exist(openvino_fn))
+    {
+      throw std::runtime_error("SpireCV (104) Error loading the CommonObject OpenVINO model (File Not Exist)");
+    }
+
+    if (input_4k_ && with_segmentation)
+    {
+      throw std::runtime_error("SpireCV (106) Resolution 4K DO NOT Support Segmentation!");
+    }
+
+    if (with_segmentation)
+    {
+      this->compiled_model = core.compile_model(openvino_fn, "GPU");
+      this->infer_request = compiled_model.create_infer_request();
+    }
+    else
+    {
+      std::shared_ptr<ov::Model> model_ = core.read_model(openvino_fn);
+      ov::preprocess::PrePostProcessor Pre_P = ov::preprocess::PrePostProcessor(model_);
+      Pre_P.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
+      Pre_P.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
+      Pre_P.input().model().set_layout("NCHW");
+      Pre_P.output().tensor().set_element_type(ov::element::f32);
+      model_ = Pre_P.build();
+      this->compiled_model = core.compile_model(model_, "GPU");
+      this->infer_request = compiled_model.create_infer_request();
+    }
+    return true;
+#endif
+    return false;
+  }
+
+  void CommonObjectDetectorIntelImpl::preprocess_img(cv::Mat &img_)
+  {
+#ifdef WITH_INTEL
+    float width = img_.cols;
+    float height = img_.rows;
+    cv::Size new_shape = cv::Size(inpHeight, inpWidth);
+    float r = float(new_shape.width / max(width, height));
+    int new_unpadW = int(round(width * r));
+    int new_unpadH = int(round(height * r));
+
+    cv::resize(img_, resize.resized_image, cv::Size(new_unpadW, new_unpadH), 0, 0, cv::INTER_AREA);
+    resize.resized_image = resize.resized_image;
+    resize.dw = new_shape.width - new_unpadW;
+    resize.dh = new_shape.height - new_unpadH;
+    cv::Scalar color = cv::Scalar(100, 100, 100);
+    cv::copyMakeBorder(resize.resized_image, resize.resized_image, 0, resize.dh, 0, resize.dw, cv::BORDER_CONSTANT, color);
+
+    this->rx = (float)img_.cols / (float)(resize.resized_image.cols - resize.dw);
+    this->ry = (float)img_.rows / (float)(resize.resized_image.rows - resize.dh);
+    if (with_segmentation)
+    {
+      cv::Mat blob = cv::dnn::blobFromImage(resize.resized_image, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
+      auto input_port = compiled_model.input();
+      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
+      infer_request.set_input_tensor(input_tensor);
+    }
+    else
+    {
+      float *input_data = (float *)resize.resized_image.data;
+      input_tensor = ov::Tensor(compiled_model.input().get_element_type(), compiled_model.input().get_shape(), input_data);
+      infer_request.set_input_tensor(input_tensor);
+    }
+#endif
+  }
+
+  void CommonObjectDetectorIntelImpl::preprocess_img_seg(cv::Mat &img_, std::vector<float> &paddings)
+  {
+#ifdef WITH_INTEL
+    cv::Mat masked_img;
+    cv::Mat resized_img = letterbox(img_, paddings); // resize to (640,640) by letterbox
+    // BGR->RGB, u8(0-255)->f32(0.0-1.0), HWC->NCHW
+    cv::Mat blob = cv::dnn::blobFromImage(resized_img, 1 / 255.0, cv::Size(640, 640), cv::Scalar(0, 0, 0), true);
+
+    // Get input port for model with one input
+    auto input_port = compiled_model.input();
+    // Create tensor from external memory
+    ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blob.ptr(0));
+    // Set input tensor for model with one input
+    infer_request.set_input_tensor(input_tensor);
+#endif
+  }
+
+  void CommonObjectDetectorIntelImpl::postprocess_img_seg(cv::Mat &img_,
+                                                          std::vector<float> &paddings,
+                                                          std::vector<float> &boxes_x_,
+                                                          std::vector<float> &boxes_y_,
+                                                          std::vector<float> &boxes_w_,
+                                                          std::vector<float> &boxes_h_,
+                                                          std::vector<int> &boxes_label_,
+                                                          std::vector<float> &boxes_score_,
+                                                          std::vector<cv::Mat> &boxes_seg_,
+                                                          double &thrs_conf,
+                                                          double &thrs_nms)
+  {
+#ifdef WITH_INTEL
+    const ov::Tensor &detect = infer_request.get_output_tensor(0);
+    ov::Shape detect_shape = detect.get_shape();
+    const ov::Tensor &proto = infer_request.get_output_tensor(1);
+    ov::Shape proto_shape = proto.get_shape();
+
+    cv::Mat detect_buffer(detect_shape[1], detect_shape[2], CV_32F, detect.data());
+    cv::Mat proto_buffer(proto_shape[1], proto_shape[2] * proto_shape[3], CV_32F, proto.data());
+
+    cv::RNG rng;
+    float conf_threshold = thrs_conf;
+    float nms_threshold = thrs_nms;
+    std::vector<cv::Rect> boxes;
+    std::vector<int> class_ids;
+    std::vector<float> class_scores;
+    std::vector<float> confidences;
+    std::vector<cv::Mat> masks;
+
+    float scale = paddings[0];
+    for (int i = 0; i < detect_buffer.rows; i++)
+    {
+      float confidence = detect_buffer.at<float>(i, 4);
+      if (confidence < conf_threshold)
+      {
+        continue;
+      }
+      cv::Mat classes_scores = detect_buffer.row(i).colRange(5, 85);
+      cv::Point class_id;
+      double score;
+      cv::minMaxLoc(classes_scores, NULL, &score, NULL, &class_id);
+
+      // class score: 0~1
+      if (score > 0.25)
+      {
+        cv::Mat mask = detect_buffer.row(i).colRange(85, 117);
+        float cx = detect_buffer.at<float>(i, 0);
+        float cy = detect_buffer.at<float>(i, 1);
+        float w = detect_buffer.at<float>(i, 2);
+        float h = detect_buffer.at<float>(i, 3);
+        int left = static_cast<int>((cx - 0.5 * w - paddings[2]) / scale);
+        int top = static_cast<int>((cy - 0.5 * h - paddings[1]) / scale);
+        int width = static_cast<int>(w / scale);
+        int height = static_cast<int>(h / scale);
+        cv::Rect box;
+        box.x = left;
+        box.y = top;
+        box.width = width;
+        box.height = height;
+
+        boxes.push_back(box);
+        class_ids.push_back(class_id.x);
+        class_scores.push_back(score);
+        confidences.push_back(confidence);
+        masks.push_back(mask);
+      }
+    }
+
+    // NMS
+    std::vector<int> indices;
+    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, indices);
+    // cv::Mat rgb_mask;
+    cv::Mat rgb_mask = cv::Mat::zeros(img_.size(), img_.type());
+
+    for (size_t i = 0; i < indices.size(); i++)
+    {
+      int index = indices[i];
+      int class_id = class_ids[index];
+      cv::Rect box = boxes[index];
+      int x1 = std::max(0, box.x);
+      int y1 = std::max(0, box.y);
+      int x2 = std::max(0, box.br().x);
+      int y2 = std::max(0, box.br().y);
+
+      cv::Mat m = masks[index] * proto_buffer;
+      for (int col = 0; col < m.cols; col++)
+      {
+        m.at<float>(0, col) = sigmoid_function(m.at<float>(0, col));
+      }
+      cv::Mat m1 = m.reshape(1, 160); // 1x25600 -> 160x160
+      int mx1 = std::max(0, int((x1 * scale + paddings[2]) * 0.25));
+      int mx2 = std::max(0, int((x2 * scale + paddings[2]) * 0.25));
+      int my1 = std::max(0, int((y1 * scale + paddings[1]) * 0.25));
+      int my2 = std::max(0, int((y2 * scale + paddings[1]) * 0.25));
+      cv::Mat mask_roi = m1(cv::Range(my1, my2), cv::Range(mx1, mx2));
+
+      cv::Mat rm, det_mask;
+      cv::resize(mask_roi, rm, cv::Size(x2 - x1, y2 - y1));
+      for (int r = 0; r < rm.rows; r++)
+      {
+        for (int c = 0; c < rm.cols; c++)
+        {
+          float pv = rm.at<float>(r, c);
+          if (pv > 0.5)
+          {
+            rm.at<float>(r, c) = 1.0;
+          }
+          else
+          {
+            rm.at<float>(r, c) = 0.0;
+          }
+        }
+      }
+
+      rm = rm * rng.uniform(0, 255);
+      rm.convertTo(det_mask, CV_8UC1);
+      if ((y1 + det_mask.rows) >= img_.rows)
+      {
+        y2 = img_.rows - 1;
+      }
+      if ((x1 + det_mask.cols) >= img_.cols)
+      {
+        x2 = img_.cols - 1;
+      }
+
+      cv::Mat mask = cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC1);
+      det_mask(cv::Range(0, y2 - y1), cv::Range(0, x2 - x1)).copyTo(mask(cv::Range(y1, y2), cv::Range(x1, x2)));
+      add(rgb_mask, cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255)), rgb_mask, mask);
+
+      boxes_x_.push_back(box.x);
+      boxes_y_.push_back(box.y);
+      boxes_w_.push_back(box.width);
+      boxes_h_.push_back(box.height);
+
+      boxes_label_.push_back((int)class_id);
+      boxes_score_.push_back(class_scores[index]);
+
+      cv::Mat mask_j = mask.clone();
+      boxes_seg_.push_back(mask_j);
+    }
+
+#endif
+  }
+
+  void CommonObjectDetectorIntelImpl::postprocess_img(std::vector<float> &boxes_x_,
+                                                      std::vector<float> &boxes_y_,
+                                                      std::vector<float> &boxes_w_,
+                                                      std::vector<float> &boxes_h_,
+                                                      std::vector<int> &boxes_label_,
+                                                      std::vector<float> &boxes_score_,
+                                                      double &thrs_conf,
+                                                      double &thrs_nms)
+  {
+#ifdef WITH_INTEL
+    const ov::Tensor &output_tensor = infer_request.get_output_tensor();
+    ov::Shape output_shape = output_tensor.get_shape();
+    float *detections = output_tensor.data<float>();
+
+    std::vector<cv::Rect> boxes;
+    vector<int> class_ids;
+    vector<float> confidences;
+    for (int i = 0; i < output_shape[1]; i++)
+    {
+      float *detection = &detections[i * output_shape[2]];
+
+      float confidence = detection[4];
+      if (confidence >= thrs_conf)
+      {
+        float *classes_scores = &detection[5];
+        cv::Mat scores(1, output_shape[2] - 5, CV_32FC1, classes_scores);
+        cv::Point class_id;
+        double max_class_score;
+        cv::minMaxLoc(scores, 0, &max_class_score, 0, &class_id);
+        if (max_class_score > thrs_conf)
+        {
+          confidences.push_back(confidence);
+          class_ids.push_back(class_id.x);
+          float x = detection[0];
+          float y = detection[1];
+          float w = detection[2];
+          float h = detection[3];
+          float xmin = x - (w / 2);
+          float ymin = y - (h / 2);
+
+          boxes.push_back(cv::Rect(xmin, ymin, w, h));
+        }
+      }
+    }
+
+    std::vector<int> nms_result;
+    cv::dnn::NMSBoxes(boxes, confidences, thrs_conf, thrs_nms, nms_result);
+
+    std::vector<Detection> output;
+    for (int i = 0; i < nms_result.size(); i++)
+    {
+      Detection result;
+      int idx = nms_result[i];
+      result.class_id = class_ids[idx];
+      result.confidence = confidences[idx];
+      result.box = boxes[idx];
+      output.push_back(result);
+    }
+
+    for (int i = 0; i < output.size(); i++)
+    {
+      auto detection = output[i];
+      auto box = detection.box;
+      auto classId = detection.class_id;
+      auto confidence = detection.confidence;
+
+      float xmax = box.x + box.width;
+      float ymax = box.y + box.height;
+
+      boxes_x_.push_back(this->rx * box.x);
+      boxes_y_.push_back(this->ry * box.y);
+      boxes_w_.push_back(this->rx * box.width);
+      boxes_h_.push_back(this->ry * box.height);
+
+      boxes_label_.push_back((int)detection.class_id);
+      boxes_score_.push_back(detection.confidence);
+    }
+#endif
+  }
+
+}

algorithm/common_det/intel/common_det_intel_impl.h

@@ -0,0 +1,89 @@
+#ifndef __SV_COMMON_DET_INTEL__
+#define __SV_COMMON_DET_INTEL__
+
+#include "sv_core.h"
+#include <string>
+#include <iostream>
+#include <opencv2/dnn.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#include <string>
+#include <chrono>
+
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#endif
+
+struct Resize
+{
+  cv::Mat resized_image;
+  int dw;
+  int dh;
+};
+
+struct Detection
+{
+  int class_id;
+  float confidence;
+  cv::Rect box;
+};
+
+namespace sv
+{
+
+  class CommonObjectDetectorIntelImpl
+  {
+  public:
+    CommonObjectDetectorIntelImpl();
+    ~CommonObjectDetectorIntelImpl();
+
+    bool intelSetup(CommonObjectDetectorBase *base_, bool input_4k_);
+    void intelDetect(
+        CommonObjectDetectorBase *base_,
+        cv::Mat img_,
+        std::vector<float> &boxes_x_,
+        std::vector<float> &boxes_y_,
+        std::vector<float> &boxes_w_,
+        std::vector<float> &boxes_h_,
+        std::vector<int> &boxes_label_,
+        std::vector<float> &boxes_score_,
+        std::vector<cv::Mat> &boxes_seg_,
+        bool input_4k_);
+    void preprocess_img(cv::Mat &img_);
+    void preprocess_img_seg(cv::Mat &img_, std::vector<float> &paddings);
+    void postprocess_img_seg(cv::Mat &img_,
+                             std::vector<float> &paddings,
+                             std::vector<float> &boxes_x_,
+                             std::vector<float> &boxes_y_,
+                             std::vector<float> &boxes_w_,
+                             std::vector<float> &boxes_h_,
+                             std::vector<int> &boxes_label_,
+                             std::vector<float> &boxes_score_,
+                             std::vector<cv::Mat> &boxes_seg_,
+                             double &thrs_conf,
+                             double &thrs_nms);
+
+    void postprocess_img(std::vector<float> &boxes_x_,
+                         std::vector<float> &boxes_y_,
+                         std::vector<float> &boxes_w_,
+                         std::vector<float> &boxes_h_,
+                         std::vector<int> &boxes_label_,
+                         std::vector<float> &boxes_score_,
+                         double &thrs_conf,
+                         double &thrs_nms);
+
+#ifdef WITH_INTEL
+    int inpWidth;
+    int inpHeight;
+    bool with_segmentation;
+    float rx; // the width ratio of original image and resized image
+    float ry; // the height ratio of original image and resized image
+    Resize resize;
+    ov::Tensor input_tensor;
+    ov::InferRequest infer_request;
+    ov::CompiledModel compiled_model;
+#endif
+  };
+
+}
+#endif

algorithm/common_det/sv_common_det.cpp

@@ -8,6 +8,10 @@
 #include "common_det_cuda_impl.h"
 #endif
 
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#include "common_det_intel_impl.h"
+#endif
 
 namespace sv {
 
@@ -18,6 +22,10 @@ CommonObjectDetector::CommonObjectDetector(bool input_4k)
 #ifdef WITH_CUDA
   this->_cuda_impl = new CommonObjectDetectorCUDAImpl;
 #endif
+
+#ifdef WITH_INTEL
+  this->_intel_impl = new CommonObjectDetectorIntelImpl;
+#endif
 }
 CommonObjectDetector::~CommonObjectDetector()
 {
@@ -28,6 +36,10 @@ bool CommonObjectDetector::setupImpl()
 #ifdef WITH_CUDA
   return this->_cuda_impl->cudaSetup(this, this->_input_4k);
 #endif
+
+#ifdef WITH_INTEL
+  return this->_intel_impl->intelSetup(this, this->_input_4k);
+#endif
   return false;
 }
 
@@ -53,14 +65,23 @@ void CommonObjectDetector::detectImpl(
     boxes_label_,
     boxes_score_,
     boxes_seg_,
-    this->_input_4k
-  );
+    this->_input_4k);
+#endif
+
+#ifdef WITH_INTEL
+  this->_intel_impl->intelDetect(
+    this,
+    img_,
+    boxes_x_,
+    boxes_y_,
+    boxes_w_,
+    boxes_h_,
+    boxes_label_,
+    boxes_score_,
+    boxes_seg_,
+    this->_input_4k);
 #endif
 }
 
-
-
-
-
 }
 

algorithm/landing_det/cuda/landing_det_cuda_impl.cpp

@@ -1,6 +1,7 @@
 #include "landing_det_cuda_impl.h"
 #include <cmath>
 #include <fstream>
+#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -50,6 +51,16 @@ bool LandingMarkerDetectorCUDAImpl::cudaSetup()
 {
 #ifdef WITH_CUDA
   std::string trt_model_fn = get_home() + SV_MODEL_DIR + "LandingMarker.engine";
+  
+  std::vector<std::string> files;
+  _list_dir(get_home() + SV_MODEL_DIR, files, "-online.engine", "LandingMarker-");
+  if (files.size() > 0)
+  {
+    std::sort(files.rbegin(), files.rend(), _comp_str_lesser);
+    trt_model_fn = get_home() + SV_MODEL_DIR + files[0];
+  }
+  std::cout << "Load: " << trt_model_fn << std::endl;
+
   if (!is_file_exist(trt_model_fn))
   {
     throw std::runtime_error("SpireCV (104) Error loading the LandingMarker TensorRT model (File Not Exist)");

algorithm/landing_det/intel/landing_det_intel_impl.cpp

@@ -0,0 +1,95 @@
+#include "landing_det_intel_impl.h"
+#include <cmath>
+#include <fstream>
+
+#define SV_MODEL_DIR "/SpireCV/models/"
+#define SV_ROOT_DIR "/SpireCV/"
+
+namespace sv
+{
+
+#ifdef WITH_INTEL
+  using namespace cv;
+  using namespace std;
+  using namespace dnn;
+#endif
+
+  LandingMarkerDetectorIntelImpl::LandingMarkerDetectorIntelImpl()
+  {
+  }
+
+  LandingMarkerDetectorIntelImpl::~LandingMarkerDetectorIntelImpl()
+  {
+  }
+
+  bool LandingMarkerDetectorIntelImpl::intelSetup()
+  {
+#ifdef WITH_INTEL
+    std::string onnx_model_fn = get_home() + SV_MODEL_DIR + "LandingMarker.onnx";
+    if (!is_file_exist(onnx_model_fn))
+    {
+      throw std::runtime_error("SpireCV (104) Error loading the LandingMarker ONNX model (File Not Exist)");
+    }
+
+    // OpenVINO
+    ov::Core core;
+    std::shared_ptr<ov::Model> model = core.read_model(onnx_model_fn);
+    ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model);
+    ppp.input().tensor().set_element_type(ov::element::u8).set_layout("NHWC").set_color_format(ov::preprocess::ColorFormat::RGB);
+    ppp.input().preprocess().convert_element_type(ov::element::f32).convert_color(ov::preprocess::ColorFormat::RGB).scale({255, 255, 255}); // .scale({ 112, 112, 112 });
+    ppp.input().model().set_layout("NCHW");
+    ppp.output().tensor().set_element_type(ov::element::f32);
+    model = ppp.build();
+    this->compiled_model = core.compile_model(model, "GPU");
+    this->infer_request = compiled_model.create_infer_request();
+
+    return true;
+#endif
+    return false;
+  }
+
+  void LandingMarkerDetectorIntelImpl::intelRoiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<int> &output_labels_)
+  {
+#ifdef WITH_INTEL
+    output_labels_.clear();
+
+    for (int i = 0; i < input_rois_.size(); i++)
+    {
+      cv::Mat e_roi = input_rois_[i];
+
+      // Get input port for model with one input
+      auto input_port = compiled_model.input();
+      // Create tensor from external memory
+      ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), e_roi.ptr(0));
+      // Set input tensor for model with one input
+      infer_request.set_input_tensor(input_tensor);
+      //preprocess_img(e_roi);
+
+      // infer_request.infer();
+      infer_request.start_async();
+      infer_request.wait();
+
+      const ov::Tensor &output_tensor = infer_request.get_output_tensor();
+      ov::Shape output_shape = output_tensor.get_shape();
+      this->_p_prob = output_tensor.data<float>();
+
+      // Find max index
+      double max = 0;
+      int label = 0;
+      for (int i = 0; i < 11; ++i)
+      {
+        if (max < this->_p_prob[i])
+        {
+          max = this->_p_prob[i];
+          label = i;
+        }
+      }
+      output_labels_.push_back(label);
+    }
+
+#endif
+  }
+
+}

algorithm/landing_det/intel/landing_det_intel_impl.h

@@ -0,0 +1,37 @@
+#ifndef __SV_LANDING_DET_INTEL__
+#define __SV_LANDING_DET_INTEL__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#endif
+
+namespace sv
+{
+  class LandingMarkerDetectorIntelImpl
+  {
+  public:
+    LandingMarkerDetectorIntelImpl();
+    ~LandingMarkerDetectorIntelImpl();
+
+    bool intelSetup();
+    void intelRoiCNN(
+        std::vector<cv::Mat> &input_rois_,
+        std::vector<int> &output_labels_);
+
+#ifdef WITH_INTEL
+    float *_p_prob;
+
+    ov::Tensor input_tensor;
+    ov::InferRequest infer_request;
+    ov::CompiledModel compiled_model;
+#endif
+  };
+}
+#endif

algorithm/landing_det/sv_landing_det.cpp

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

algorithm/sot/ocv470/sot_ocv470_impl.cpp

@@ -1,6 +1,7 @@
 #include "sot_ocv470_impl.h"
 #include <cmath>
 #include <fstream>
+#include "sv_util.h"
 
 #define SV_MODEL_DIR "/SpireCV/models/"
 #define SV_ROOT_DIR "/SpireCV/"
@@ -30,9 +31,39 @@ bool SingleObjectTrackerOCV470Impl::ocv470Setup(SingleObjectTrackerBase* base_)
   std::string net = get_home() + SV_MODEL_DIR + "dasiamrpn_model.onnx";
   std::string kernel_cls1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_cls1.onnx";
   std::string kernel_r1 = get_home() + SV_MODEL_DIR + "dasiamrpn_kernel_r1.onnx";
+  
+  std::vector<std::string> files1, files2, files3;
+  _list_dir(get_home() + SV_MODEL_DIR, files1, "-online.engine", "DaSiamRPN-Model-");
+  _list_dir(get_home() + SV_MODEL_DIR, files2, "-online.engine", "DaSiamRPN-Kernel-CLS1-");
+  _list_dir(get_home() + SV_MODEL_DIR, files3, "-online.engine", "DaSiamRPN-Kernel-R1-");
+  if (files1.size() > 0 && files2.size() > 0 && files3.size() > 0)
+  {
+    std::sort(files1.rbegin(), files1.rend(), _comp_str_lesser);
+    std::sort(files2.rbegin(), files2.rend(), _comp_str_lesser);
+    std::sort(files3.rbegin(), files3.rend(), _comp_str_lesser);
+    net = get_home() + SV_MODEL_DIR + files1[0];
+    kernel_cls1 = get_home() + SV_MODEL_DIR + files2[0];
+    kernel_r1 = get_home() + SV_MODEL_DIR + files3[0];
+  }
+  std::cout << "Load: " << net << std::endl;
+  std::cout << "Load: " << kernel_cls1 << std::endl;
+  std::cout << "Load: " << kernel_r1 << std::endl;
 
   std::string backbone = get_home() + SV_MODEL_DIR + "nanotrack_backbone_sim.onnx";
   std::string neckhead = get_home() + SV_MODEL_DIR + "nanotrack_head_sim.onnx";
+  
+  std::vector<std::string> files4, files5;
+  _list_dir(get_home() + SV_MODEL_DIR, files4, "-online.engine", "NanoTrack-Backbone-SIM-");
+  _list_dir(get_home() + SV_MODEL_DIR, files5, "-online.engine", "NanoTrack-Head-SIM-");
+  if (files4.size() > 0 && files5.size() > 0)
+  {
+    std::sort(files4.rbegin(), files4.rend(), _comp_str_lesser);
+    std::sort(files5.rbegin(), files5.rend(), _comp_str_lesser);
+    backbone = get_home() + SV_MODEL_DIR + files4[0];
+    neckhead = get_home() + SV_MODEL_DIR + files5[0];
+  }
+  std::cout << "Load: " << backbone << std::endl;
+  std::cout << "Load: " << neckhead << std::endl;
 
   try
   {

algorithm/sv_algorithm_base.cpp

@@ -32,7 +32,7 @@ CameraAlgorithm::CameraAlgorithm()
   // this->_allocator = NULL;
   this->_t0 = std::chrono::system_clock::now();
 
-  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "sv_algorithm_params.json";
+  this->alg_params_fn = _get_home() + SV_ROOT_DIR + "params/a-params/sv_algorithm_params.json";
   // std::cout << "CameraAlgorithm->alg_params_fn: " << this->alg_params_fn << std::endl;
   // if (_is_file_exist(params_fn))
   //   this->loadAlgorithmParams(params_fn);
@@ -80,6 +80,12 @@ ArucoDetector::ArucoDetector()
 }
 
 
+void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
+{
+  ids_ = this->_ids_need;
+  lengths_ = this->_lengths_need;
+}
+
 void ArucoDetector::_load()
 {
   JsonValue all_value;
@@ -94,7 +100,8 @@ void ArucoDetector::_load()
   // _detector_params = aruco::DetectorParameters::create();
   _detector_params = new aruco::DetectorParameters;
   for (auto i : aruco_params_value) {
-    if ("_dictionary_id" == std::string(i->key)) {
+    if ("dictionaryId" == std::string(i->key)) {
+      // std::cout << "dictionary_id (old, new): " << _dictionary_id << ", " << i->value.toNumber() << std::endl;
       _dictionary_id = i->value.toNumber();
     }
     else if ("adaptiveThreshConstant" == std::string(i->key)) {
@@ -995,6 +1002,11 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
       if (this->_with_segmentation)
       {
         cv::Mat mask_j = boxes_seg[j].clone();
+#ifdef WITH_INTEL
+        tgt.setMask(mask_j);
+#endif
+
+#ifdef WITH_CUDA
         int maskh = mask_j.rows, maskw = mask_j.cols;
         assert(maskh == maskw);
 
@@ -1024,6 +1036,7 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
         {
           tgt.setMask(mask_j);
         }
+#endif
       }
 
       tgts_.targets.push_back(tgt);

algorithm/veri/cuda/veri_det_cuda_impl.cpp

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

algorithm/veri/cuda/veri_det_cuda_impl.h

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

algorithm/veri/intel/veri_det_intel_impl.cpp

@@ -0,0 +1,112 @@
+#include "veri_det_intel_impl.h"
+#include <cmath>
+#include <fstream>
+
+#define SV_MODEL_DIR "/SpireCV/models/"
+#define SV_ROOT_DIR "/SpireCV/"
+
+#include <iostream>
+#include <cmath>
+int BAT = 1;
+float cosineSimilarity(float *vec1, float *vec2, int size)
+{
+  // 计算向量的点积
+  float dotProduct = 0.0f;
+  for (int i = 0; i < size; ++i)
+  {
+    dotProduct += vec1[i] * vec2[i];
+  }
+
+  // 计算向量的模长
+  float magnitudeVec1 = 0.0f;
+  float magnitudeVec2 = 0.0f;
+  for (int i = 0; i < size; ++i)
+  {
+    magnitudeVec1 += vec1[i] * vec1[i];
+    magnitudeVec2 += vec2[i] * vec2[i];
+  }
+  magnitudeVec1 = std::sqrt(magnitudeVec1);
+  magnitudeVec2 = std::sqrt(magnitudeVec2);
+
+  // 计算余弦相似性
+  float similarity = dotProduct / (magnitudeVec1 * magnitudeVec2);
+
+  return similarity;
+}
+
+namespace sv
+{
+#ifdef WITH_INTEL
+  using namespace cv;
+  using namespace std;
+  using namespace dnn;
+#endif
+
+  VeriDetectorIntelImpl::VeriDetectorIntelImpl()
+  {
+  }
+
+  VeriDetectorIntelImpl::~VeriDetectorIntelImpl()
+  {
+  }
+
+  bool VeriDetectorIntelImpl::intelSetup()
+  {
+#ifdef WITH_INTEL
+    std::string onnx_model_fn = get_home() + SV_MODEL_DIR + "veri.onnx";
+    if (!is_file_exist(onnx_model_fn))
+    {
+      throw std::runtime_error("SpireCV (104) Error loading the VeriDetector openVINO model (File Not Exist)");
+    }
+
+    // OpenVINO
+    ov::Core core;
+    this->compiled_model = core.compile_model(onnx_model_fn, "GPU");
+    this->infer_request = compiled_model.create_infer_request();
+
+    return true;
+#endif
+    return false;
+  }
+
+  void VeriDetectorIntelImpl::intelRoiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<float> &output_labels_)
+  {
+#ifdef WITH_INTEL
+
+    Mat blobs;
+    blobFromImages(input_rois_, blobs, 1 / 255.0, Size(224, 224), Scalar(0, 0, 0), true, true);
+
+    auto input_port = compiled_model.input();
+    ov::Tensor input_tensor(input_port.get_element_type(), input_port.get_shape(), blobs.ptr(0));
+
+    infer_request.infer();
+
+    const ov::Tensor &label_pre = infer_request.get_output_tensor(0);
+    this->_p_prob1 = label_pre.data<float>();
+
+    const ov::Tensor &proto_pre = infer_request.get_output_tensor(1);
+    this->_p_prob2 = proto_pre.data<float>();
+
+    // Find max index
+    double max = 0;
+    int label = 0;
+    for (int i = 0; i < 576; ++i)
+    {
+      if (max < this->_p_prob1[i])
+      {
+        max = this->_p_prob1[i];
+        label = i;
+      }
+    }
+
+    float similarity = cosineSimilarity(this->_p_prob2, this->_p_prob2 + 1280, 1280);
+    
+    output_labels_.push_back(label);
+    output_labels_.push_back(similarity);
+#endif
+  }
+
+
+}

algorithm/veri/intel/veri_det_intel_impl.h

@@ -0,0 +1,41 @@
+#ifndef __SV_VERI_DET_INTEL__
+#define __SV_VERI_DET_INTEL__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#endif
+
+namespace sv
+{
+  class VeriDetectorIntelImpl
+  {
+  public:
+    VeriDetectorIntelImpl();
+    ~VeriDetectorIntelImpl();
+
+    bool intelSetup();
+    void intelRoiCNN(
+        std::vector<cv::Mat> &input_rois_,
+        std::vector<float> &output_labels_);
+
+#ifdef WITH_INTEL
+
+    float *_p_data;
+    float *_p_prob1;
+    float *_p_prob2;
+
+    ov::Tensor input_tensor;
+    ov::InferRequest infer_request;
+    ov::CompiledModel compiled_model;
+#endif
+  };
+
+}
+#endif

algorithm/veri/sv_veri_det.cpp

@@ -1,61 +1,168 @@
 #include "sv_veri_det.h"
 #include <cmath>
 #include <fstream>
+#include "gason.h"
+#include "sv_util.h"
+
 #ifdef WITH_CUDA
 #include <NvInfer.h>
 #include <cuda_runtime_api.h>
 #include "veri_det_cuda_impl.h"
 #endif
 
-
-namespace sv {
-
-
-VeriDetector::VeriDetector()
-{
-  this->_cuda_impl = new VeriDetectorCUDAImpl;
-}
-VeriDetector::~VeriDetector()
-{
-}
-
-bool VeriDetector::setupImpl()
-{
-#ifdef WITH_CUDA
-  return this->_cuda_impl->cudaSetup();
+#ifdef WITH_INTEL
+#include <openvino/openvino.hpp>
+#include "veri_det_intel_impl.h"
 #endif
-  return false;
-}
 
-void VeriDetector::roiCNN(
-  std::vector<cv::Mat>& input_rois_,
-  std::vector<int>& output_labels_
-)
+#define SV_ROOT_DIR "/SpireCV/"
+
+namespace sv
 {
-#ifdef WITH_CUDA
-  this->_cuda_impl->cudaRoiCNN(
-    input_rois_,
-    output_labels_
-  );
-#endif
-}
 
-
-
-void VeriDetector::detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame& tgts_)
-{
-  if (!_params_loaded)
+  VeriDetector::VeriDetector()
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl = new VeriDetectorCUDAImpl;
+#endif
+
+#ifdef WITH_INTEL
+    this->_intel_impl = new VeriDetectorIntelImpl;
+#endif
+  }
+  VeriDetector::~VeriDetector()
   {
-    this->_load();
-    this->_loadLabels();
-    _params_loaded = true;
   }
 
-  std::vector<cv::Mat> e_roi = {img1_, img2_};
+  void VeriDetector::_load()
+  {
+    JsonValue all_value;
+    JsonAllocator allocator;
+    _load_all_json(this->alg_params_fn, all_value, allocator);
 
-  std::vector<int> output_labels;
-  roiCNN(e_roi, output_labels);
-}
+    JsonValue veriliner_params_value;
+    _parser_algorithm_params("VeriDetector", all_value, veriliner_params_value);
+
+    for (auto i : veriliner_params_value)
+    {
+      if ("vehicle_ID" == std::string(i->key))
+      {
+        this->vehicle_id = i->value.toString();
+        std::cout << "vehicle_ID Load Sucess!" << std::endl;
+      }
+    }
+  }
+
+  bool VeriDetector::setupImpl()
+  {
+#ifdef WITH_CUDA
+    return this->_cuda_impl->cudaSetup();
+#endif
+  
+#ifdef WITH_INTEL
+    return this->_intel_impl->intelSetup();
+#endif
+    return false;
+  }
+
+
+  void VeriDetector::roiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<float> &output_labels_)
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl->cudaRoiCNN(
+        input_rois_,
+        output_labels_);
+#endif
+
+#ifdef WITH_INTEL
+    this->_intel_impl->intelRoiCNN(
+        input_rois_,
+        output_labels_);
+#endif
+  }
+
+  void VeriDetector::detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt)
+  {
+    if (!_params_loaded)
+    {
+      this->_load();
+      this->_loadLabels();
+      _params_loaded = true;
+    }
+
+    // convert Rect2d from left-up to center.
+    targetPos[0] = float(bounding_box_.x) + float(bounding_box_.width) * 0.5f;
+    targetPos[1] = float(bounding_box_.y) + float(bounding_box_.height) * 0.5f;
+
+    targetSz[0] = float(bounding_box_.width);
+    targetSz[1] = float(bounding_box_.height);
+
+    // Extent the bounding box.
+    float sumSz = targetSz[0] + targetSz[1];
+    float wExtent = targetSz[0] + 0.5 * (sumSz);
+    float hExtent = targetSz[1] + 0.5 * (sumSz);
+    int sz = int(cv::sqrt(wExtent * hExtent));
+
+    cv::Mat crop;
+    getSubwindow(crop, img_, sz, 224);
+
+    std::string img_ground_dir = get_home()  + SV_ROOT_DIR + this->vehicle_id;
+    cv::Mat img_ground = cv::imread(img_ground_dir);
+    cv::resize(img_ground, img_ground, cv::Size(224, 224));
+    std::vector<cv::Mat> input_rois_ = {crop, img_ground};
+    
+    std::vector<float> output_labels;
+#ifdef WITH_CUDA
+    roiCNN(input_rois_, output_labels);
+#endif
+
+#ifdef WITH_INTEL
+    roiCNN(input_rois_, output_labels);
+#endif
+   
+    if (output_labels.size() > 0)
+    {
+      tgt.sim_score = output_labels[1];
+    }
+  }
+
+  void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
+  {
+    cv::Scalar avgChans = mean(srcImg);
+    cv::Size imgSz = srcImg.size();
+    int c = (originalSz + 1) / 2;
+
+    int context_xmin = (int)(targetPos[0]) - c;
+    int context_xmax = context_xmin + originalSz - 1;
+    int context_ymin = (int)(targetPos[1]) - c;
+    int context_ymax = context_ymin + originalSz - 1;
+
+    int left_pad = std::max(0, -context_xmin);
+    int top_pad = std::max(0, -context_ymin);
+    int right_pad = std::max(0, context_xmax - imgSz.width + 1);
+    int bottom_pad = std::max(0, context_ymax - imgSz.height + 1);
+
+    context_xmin += left_pad;
+    context_xmax += left_pad;
+    context_ymin += top_pad;
+    context_ymax += top_pad;
+
+    cv::Mat cropImg;
+    if (left_pad == 0 && top_pad == 0 && right_pad == 0 && bottom_pad == 0)
+    {
+      // Crop image without padding.
+      cropImg = srcImg(cv::Rect(context_xmin, context_ymin,
+                                context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    else // Crop image with padding, and the padding value is avgChans
+    {
+      cv::Mat tmpMat;
+      cv::copyMakeBorder(srcImg, tmpMat, top_pad, bottom_pad, left_pad, right_pad, cv::BORDER_CONSTANT, avgChans);
+      cropImg = tmpMat(cv::Rect(context_xmin, context_ymin, context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    resize(cropImg, dstCrop, cv::Size(resizeSz, resizeSz));
+  }
 
 }
-

gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:53:43
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_crc32.h
+ * @LastEditTime: 2023-12-05 16:30:27
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
  */
 #ifndef AT10_GIMBAL_CRC32_H
 #define AT10_GIMBAL_CRC32_H

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:39:56
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.cpp
+ * @LastEditTime: 2023-12-06 10:27:59
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
  */
 #include "AT10_gimbal_driver.h"
 #include "AT10_gimbal_crc32.h"
@@ -24,13 +24,6 @@ AT10GimbalDriver::AT10GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::
     stdRxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
     stdTxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
     parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
-
-    // Initialize and enable attitude data return (50Hz)
-    // uint8_t cmd = 0XFF;
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_H, &cmd, 1);
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_L, &cmd, 1);
-    // cmd = 0X00;
-    // pack(AT10::GIMBAL_CMD_OPEN_FEEDBACK, &cmd, 1);
 }
 
 /**
@@ -84,21 +77,7 @@ void AT10GimbalDriver::convert(void *buf)
     switch (temp->head)
     {
     case AT10::GIMBAL_CMD_RCV_STATE:
-        std::cout << "Undefined old frame from AT10";
-        // AT10::GIMBAL_RCV_POS_MSG_T *tempPos;
-        // tempPos = reinterpret_cast<AT10::GIMBAL_RCV_POS_MSG_T *>(((uint8_t *)buf) + AT10_EXT_PAYLOAD_OFFSET);
-        // mState.lock();
-        // state.abs.yaw = tempPos->yawIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.roll = tempPos->rollIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.pitch = tempPos->pitchIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.rel.yaw = tempPos->yawStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.roll = tempPos->rollStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.pitch = tempPos->pitchStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
-        //                           state.abs.roll, state.abs.pitch, state.abs.yaw,
-        //                           state.fov.x, state.fov.y);
-        // mState.unlock();
-
+        std::cout << "Undefined old frame from AT10\r\n";
         break;
 
     case AT10::GIMBAL_CMD_STD:
@@ -123,15 +102,15 @@ void AT10GimbalDriver::convert(void *buf)
             state.fov.y = amovGimbalTools::conversionBigLittle(tempRcv->D1.fovY) * 0.1;
             if ((amovGimbalTools::conversionBigLittle(tempRcv->D1.camera) & 0X0003) == 0X01)
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+                state.video = AMOV_GIMBAL_VIDEO_TAKE;
             }
             else
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+                state.video = AMOV_GIMBAL_VIDEO_OFF;
             }
             updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                       state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                      state.fov.x, state.fov.y);
+                                      state.fov.x, state.fov.y, updataCaller);
             mState.unlock();
             break;
 
@@ -316,21 +295,9 @@ bool AT10GimbalDriver::parser(IN uint8_t byte)
 
 void AT10GimbalDriver::sendHeart(void)
 {
-    // uint8_t tempBuffer[72];
     uint8_t temp = 0X00;
     while (1)
     {
-        // if (!IO->isBusy() && IO->isOpen())
-        // {
-        //     bool state = false;
-
-        //     state = txQueue->outCell(&tempBuffer);
-        //     if (state)
-        //     {
-        //         IO->outPutBytes((uint8_t *)&tempBuffer,
-        //                         reinterpret_cast<AT10::GIMBAL_EXTEND_FRAME_T *>(tempBuffer)->len + AT10_EXT_PAYLOAD_OFFSET + sizeof(uint8_t));
-        //     }
-        // }
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         pack(AT10::GIMBAL_CMD_STD_HEART, &temp, sizeof(temp));
     }
@@ -363,19 +330,26 @@ void AT10GimbalDriver::stackStart(void)
     }
     std::thread sendHeartLoop(&AT10GimbalDriver::sendHeart, this);
     std::thread sendStdLoop(&AT10GimbalDriver::sendStd, this);
+
+    this->sendThreadHanle = sendStdLoop.native_handle();
+    this->sendHreatThreadHandle = sendHeartLoop.native_handle();
+
     sendHeartLoop.detach();
     sendStdLoop.detach();
 }
 
 void AT10GimbalDriver::parserLoop(void)
 {
-    uint8_t temp;
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
 
     while (1)
     {
-        if (IO->inPutByte(&temp))
+        getCount = IO->inPutBytes(temp);
+
+        for (i = 0; i < getCount; i++)
         {
-            parser(temp);
+            parser(temp[i]);
         }
     }
 }
@@ -387,7 +361,7 @@ void AT10GimbalDriver::getStdRxPack(void)
     {
         if (stdRxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
@@ -400,20 +374,25 @@ void AT10GimbalDriver::getExtRxPack(void)
     {
         if (rxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
 }
 
-void AT10GimbalDriver::parserStart(amovGimbal::pStateInvoke callback)
+void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
 {
     this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
 
     std::thread parser(&AT10GimbalDriver::parserLoop, this);
     std::thread getStdRxPackLoop(&AT10GimbalDriver::getStdRxPack, this);
     std::thread getExtRxPackLooP(&AT10GimbalDriver::getExtRxPack, this);
 
+    this->parserThreadHanle = parser.native_handle();
+    this->stackThreadHanle = getStdRxPackLoop.native_handle();
+    this->extStackThreadHandle = getExtRxPackLooP.native_handle();
+
     parser.detach();
     getStdRxPackLoop.detach();
     getExtRxPackLooP.detach();

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h

@@ -3,19 +3,17 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:28:55
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.h
+ * @LastEditTime: 2023-12-06 10:27:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __AT10_DRIVER_H
+#define __AT10_DRIVER_H
 #include "../amov_gimbal_private.h"
 #include "AT10_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __AT10_DRIVER_H
-#define __AT10_DRIVER_H
-
 class AT10GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -32,12 +30,13 @@ private:
     void sendHeart(void);
     void sendStd(void);
 
-    void parserStart(amovGimbal::pStateInvoke callback);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
     void parserLoop(void);
     void getExtRxPack(void);
     void getStdRxPack(void);
 
-    // bool getRxPack(OUT void *pack);
+    std::thread::native_handle_type sendHreatThreadHandle;
+    std::thread::native_handle_type extStackThreadHandle;
 
     bool parser(IN uint8_t byte);
     void convert(void *buf);
@@ -46,18 +45,18 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
-    uint32_t extensionFuntions(void* cmd);
+    uint32_t extensionFuntions(void *cmd);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
@@ -76,6 +75,13 @@ public:
         {
             delete stdTxQueue;
         }
+        // set thread kill anytime
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        sendHreatThreadHandle = sendHreatThreadHandle == 0 ? 0 : pthread_cancel(sendHreatThreadHandle);
+        extStackThreadHandle = extStackThreadHandle == 0 ? 0 : pthread_cancel(extStackThreadHandle);
     }
 };
 

gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp

@@ -3,7 +3,7 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:56:15
+ * @LastEditTime: 2023-11-27 16:27:18
  * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_funtion.cpp
  */
 #include "AT10_gimbal_driver.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t AT10GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     int16_t yaw, pitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -35,14 +35,14 @@ uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
 }
 
 /**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t AT10GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     int16_t speedYaw, speedPitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -66,7 +66,7 @@ uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = fabs(followSpeed.pitch * 100);
     state.maxFollow.yaw = fabs(followSpeed.yaw * 100);
@@ -110,10 +110,10 @@ uint32_t AT10GimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t AT10GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint16_t temp;
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
     {
         temp = 0x14 << 3;
     }
@@ -127,20 +127,20 @@ uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newSta
     return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
 }
 
-uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     if (targetRate == 0.0f)
     {
         uint16_t temp = 0;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
             temp = 0X08 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
             temp = 0X09 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
             temp = 0X01 << 3;
             break;
         default:
@@ -160,18 +160,18 @@ uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t AT10GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint16_t temp = 0;
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
         temp = 0X0B << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
         temp = 0X0A << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
         temp = 0X01 << 3;
         break;
     default:

gimbal_ctrl/driver/src/CMakeLists.txt

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

gimbal_ctrl/driver/src/FIFO/CMakeLists.txt

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

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp

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

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:02
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:22:46
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.h
+ * @LastEditTime: 2023-11-28 11:47:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
  */
 
 #ifndef RING_FIFO_H

gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h

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

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 11:01:25
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.cpp
+ * @LastEditTime: 2023-12-05 17:22:57
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
@@ -75,7 +75,7 @@ void g1GimbalDriver::convert(void *buf)
         state.rel.pitch = tempPos->HALL_pitch * G1_SCALE_FACTOR;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
         break;
 

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 02:31:19
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.h
+ * @LastEditTime: 2023-12-05 16:29:58
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __G1_DRIVER_H
+#define __G1_DRIVER_H
+
 #include "../amov_gimbal_private.h"
 #include "g1_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __G1_DRIVER_H
-#define __G1_DRIVER_H
-
 class g1GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,22 +28,22 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
-    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
                                 void *extenData);
 
-    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
                                 void *extenData);
     uint32_t extensionFuntions(void *cmd);
 

gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:50:30
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_funtion.cpp
+ * @LastEditTime: 2023-12-05 16:29:51
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
@@ -18,7 +18,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t g1GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_ANGLE;
@@ -32,14 +32,14 @@ uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
 }
 
 /**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t g1GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_SPEED;
@@ -59,7 +59,7 @@ uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &sp
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t g1GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / G1_SCALE_FACTOR;
     state.maxFollow.roll = followSpeed.roll / G1_SCALE_FACTOR;
@@ -100,18 +100,18 @@ uint32_t g1GimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t g1GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t temp = G1::GIMBAL_CMD_CAMERA_REC;
 
     mState.lock();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
     else
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     mState.unlock();
 
@@ -124,10 +124,10 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @param quaterion The "quaterion" parameter is a structure of type "AMOV_GIMBAL_QUATERNION_T" which
  * contains the following fields:
- * @param speed The "speed" parameter is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` and represents
+ * @param speed The "speed" parameter is of type `AMOV_GIMBAL_VELOCITY_T` and represents
  * the velocity of the gimbal. It contains three components: `x`, `y`, and `z`, which represent the
  * velocity in the respective axes.
- * @param acc The "acc" parameter is of type "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
  * acceleration of the gimbal in three dimensions (x, y, z).
  * @param extenData The extenData parameter is a void pointer that can be used to pass additional data
  * to the attitudeCorrection function. In this case, it is being cast to a float pointer and then
@@ -136,9 +136,9 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                            const AMOV_GIMBAL_VELOCITY_T &speed,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
                                             void *extenData)
 {
     G1::GIMBAL_ATT_CORR_MSG_T temp;
@@ -161,12 +161,12 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  * The function `attitudeCorrection` calculates the attitude correction for a gimbal based on the given
  * position, velocity, and acceleration values.
  *
- * @param pos The "pos" parameter is of type amovGimbal::AMOV_GIMBAL_POS_T and represents the current
+ * @param pos The "pos" parameter is of type AMOV_GIMBAL_POS_T and represents the current
  * position of the gimbal. It contains the pitch, roll, and yaw angles of the gimbal.
  * @param seppd seppd stands for "Separate Pointing Device" and it represents the velocity of the
- * gimbal in terms of pitch, roll, and yaw. It is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` which
+ * gimbal in terms of pitch, roll, and yaw. It is of type `AMOV_GIMBAL_VELOCITY_T` which
  * likely contains three float values for pitch,
- * @param acc The "acc" parameter is of type "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
  * acceleration of the gimbal in three dimensions (x, y, z).
  * @param extenData The `extenData` parameter is a void pointer that can be used to pass additional
  * data to the `attitudeCorrection` function. In this code snippet, it is assumed that `extenData` is a
@@ -174,9 +174,9 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                            const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
                                             void *extenData)
 {
     G1::GIMBAL_ATT_CORR_MSG_T temp;

gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:45:13
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_struct.h
+ * @LastEditTime: 2023-12-05 16:29:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
  */
 #ifndef G1_GIMBAL_STRUCT_H
 #define G1_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h

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

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp

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

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

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

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

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

gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h

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

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h

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

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 12:03:44
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.cpp
+ * @LastEditTime: 2023-12-05 17:23:15
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -86,7 +86,7 @@ void Q10fGimbalDriver::convert(void *buf)
         state.rel.pitch = tempPos->pitchStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
 
         break;

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-28 17:01:00
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.h
+ * @LastEditTime: 2023-12-05 16:27:45
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __Q10F_DRIVER_H
+#define __Q10F_DRIVER_H
+
 #include "../amov_gimbal_private.h"
 #include "Q10f_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __Q10F_DRIVER_H
-#define __Q10F_DRIVER_H
-
 class Q10fGimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,16 +28,16 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 14:22:57
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_funtion.cpp
+ * @LastEditTime: 2023-12-05 16:27:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t Q10fGimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_ANGLE_SPEED;
@@ -41,7 +41,7 @@ uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t Q10fGimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_SPEED;
@@ -64,7 +64,7 @@ uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / 0.1220740379f;
     state.maxFollow.roll = followSpeed.roll / 0.1220740379f;
@@ -108,25 +108,25 @@ uint32_t Q10fGimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t Q10fGimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t Q10fGimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t cmd[2] = {0X01, 0XFF};
 
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_TAKE)
     {
         cmd[0] = 0X02;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     else
     {
         cmd[0] = 0X03;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
 
     return pack(Q10f::GIMBAL_CMD_CAMERA, (uint8_t *)cmd, sizeof(cmd));
 }
 
-uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[5] = {0X00, 0X00, 0X00, 0X00, 0XFF};
     if (targetRate == 0.0f)
@@ -134,13 +134,13 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
         cmd[1] = 0XFF;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_IN:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_OUT:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_STOP:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
             break;
         default:
@@ -159,18 +159,18 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t Q10fGimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[2] = {0X00, 0XFF};
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_IN:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_OUT:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_STOP:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
         break;
     default:

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 11:51:59
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_struct.h
+ * @LastEditTime: 2023-12-05 16:27:27
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
  */
 #ifndef Q10F_GIMBAL_STRUCT_H
 #define Q10F_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

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

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h

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

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_struct.h

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

gimbal_ctrl/driver/src/amov_gimbal.cpp

@@ -1,328 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2022-10-28 11:54:11
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-17 11:57:11
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.cpp
- */
-
-// #include "amov_gimbal.h"
-#include "amov_gimbal_private.h"
-#include "g1_gimbal_driver.h"
-#include "Q10f_gimbal_driver.h"
-#include "AT10_gimbal_driver.h"
-
-#include <iostream>
-#include <thread>
-#include <map>
-#include <iterator>
-
-#define MAX_PACK_SIZE 280
-typedef enum
-{
-    AMOV_GIMBAL_TYPE_NULL,
-    AMOV_GIMBAL_TYPE_G1 = 1,
-    AMOV_GIMBAL_TYPE_G2,
-    AMOV_GIMBAL_TYPE_Q10,
-    AMOV_GIMBAL_TYPE_AT10,
-} AMOV_GIMBAL_TYPE_T;
-
-namespace amovGimbal
-{
-    typedef amovGimbal::amovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
-    typedef std::map<std::string, createCallback> callbackMap;
-    std::map<std::string, AMOV_GIMBAL_TYPE_T> amovGimbalTypeList =
-        {
-            {"G1", AMOV_GIMBAL_TYPE_G1},
-            {"Q10f", AMOV_GIMBAL_TYPE_Q10},
-            {"AT10", AMOV_GIMBAL_TYPE_AT10}};
-
-    callbackMap amovGimbals =
-        {
-            {"G1", g1GimbalDriver::creat},
-            {"Q10f", Q10fGimbalDriver::creat},
-            {"AT10", AT10GimbalDriver::creat}};
-}
-
-/* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
-// Factory used to create the gimbal instance
-class amovGimbalCreator
-{
-public:
-    static amovGimbal::amovGimbalBase *createAmovGimbal(const std::string &type, amovGimbal::IOStreamBase *_IO)
-    {
-        amovGimbal::callbackMap::iterator temp = amovGimbal::amovGimbals.find(type);
-
-        if (temp != amovGimbal::amovGimbals.end())
-        {
-            return (temp->second)(_IO);
-        }
-        std::cout << type << " is Unsupported device type!" << std::endl;
-        return NULL;
-    }
-
-private:
-    amovGimbalCreator()
-    {
-    }
-    static amovGimbalCreator *pInstance;
-    static amovGimbalCreator *getInstance()
-    {
-        if (pInstance == NULL)
-        {
-            pInstance = new amovGimbalCreator();
-        }
-        return pInstance;
-    }
-
-    ~amovGimbalCreator();
-};
-
-/**
- * This is a constructor for the amovGimbalBase class that initializes its parent classes with an
- * IOStreamBase object.
- *
- * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase, which is the base class
- * for input/output streams used by the amovGimbal class. This parameter is passed to the constructor
- * of amovGimbalBase, which is a derived class of I
- */
-amovGimbal::amovGimbalBase::amovGimbalBase(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(), amovGimbal::PamovGimbalBase(_IO)
-{
-}
-
-/**
- * The function is a destructor that sleeps for 50 milliseconds and closes an IO object.
- */
-amovGimbal::amovGimbalBase::~amovGimbalBase()
-{
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    IO->close();
-}
-
-/**
- * This function retrieves a packet from a ring buffer queue and returns a boolean value indicating
- * whether the operation was successful or not.
- *
- * @param void void is a keyword in C++ that represents the absence of a type. In this function, it is
- * used to indicate that the function does not return any value.
- *
- * @return a boolean value, which indicates whether or not a data packet was successfully retrieved
- * from a ring buffer queue.
- */
-bool amovGimbal::amovGimbalBase::getRxPack(OUT void *pack)
-{
-    bool state = false;
-    state = rxQueue->outCell(pack);
-    return state;
-}
-
-/**
- * This function sends data from a buffer to an output device if it is not busy and open.
- */
-void amovGimbal::amovGimbalBase::send(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    if (!IO->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-
-        state = txQueue->outCell(&tempBuffer);
-
-        if (state)
-        {
-            IO->outPutBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer));
-        }
-    }
-}
-
-/**
- * "If the input byte is available, then parse it."
- *
- * The function is a loop that runs forever. It calls the IO->inPutByte() function to get a byte from
- * the serial port. If the byte is available, then it calls the parser() function to parse the byte
- */
-void amovGimbal::amovGimbalBase::parserLoop(void)
-{
-    uint8_t temp;
-
-    while (1)
-    {
-        if (IO->inPutByte(&temp))
-        {
-            parser(temp);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::sendLoop(void)
-{
-    while (1)
-    {
-        send();
-    }
-}
-
-void amovGimbal::amovGimbalBase::mainLoop(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    while (1)
-    {
-        if (getRxPack(tempBuffer))
-        {
-            msgCustomCallback(tempBuffer);
-            convert(tempBuffer);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::stackStart(void)
-{
-    if (!this->IO->isOpen())
-    {
-        this->IO->open();
-    }
-    std::thread parserLoop(&amovGimbalBase::parserLoop, this);
-    std::thread sendLoop(&amovGimbalBase::sendLoop, this);
-    parserLoop.detach();
-    sendLoop.detach();
-}
-/**
- * It starts two threads, one for reading data from the serial port and one for sending data to the
- * serial port
- */
-void amovGimbal::gimbal::startStack(void)
-{
-    ((amovGimbalBase *)(this->dev))->stackStart();
-}
-
-void amovGimbal::gimbal::setParserCallback(amovGimbal::pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->updateGimbalStateCallback = callback;
-}
-
-void amovGimbal::amovGimbalBase::parserStart(pStateInvoke callback)
-{
-    this->updateGimbalStateCallback = callback;
-
-    std::thread mainLoop(&amovGimbalBase::mainLoop, this);
-
-    mainLoop.detach();
-}
-/**
- * The function creates a thread that runs the mainLoop function
- */
-void amovGimbal::gimbal::parserAuto(pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->parserStart(callback);
-}
-
-void amovGimbal::gimbal::setMsgCallback(pMsgInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->msgCustomCallback = callback;
-}
-
-amovGimbal::AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
-{
-    ((amovGimbalBase *)(this->dev))->mState.lock();
-    AMOV_GIMBAL_STATE_T temp = ((amovGimbalBase *)(this->dev))->state;
-    ((amovGimbalBase *)(this->dev))->mState.unlock();
-    return temp;
-}
-
-/**
- * Default implementation of interface functions, not pure virtual functions for ease of extension.
- */
-void amovGimbal::IamovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
-{
-    return;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalROI(const amovGimbal::AMOV_GIMBAL_ROI_T area)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::takePic(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
-{
-    return 0;
-}
-
-/**
- * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
- * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
- *
- * @param type the type of the device, which is the same as the name of the class
- * @param _IO The IOStreamBase object that is used to communicate with the device.
- * @param _self the node ID of the device
- * @param _remote the node ID of the remote device
- */
-amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
-                           uint32_t _self, uint32_t _remote)
-{
-    typeName = type;
-    IO = _IO;
-
-    dev = amovGimbalCreator::createAmovGimbal(typeName, IO);
-
-    dev->nodeSet(_self, _remote);
-}
-
-amovGimbal::gimbal::~gimbal()
-{
-    // 先干掉请求线程
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    delete dev;
-}

gimbal_ctrl/driver/src/amov_gimbal.h

@@ -1,101 +0,0 @@
-/*
- * @Description:    External interface of amov gimbals
- * @Author: L LC @amov
- * @Date: 2022-10-27 18:34:26
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:28
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.h
- */
-
-#ifndef AMOV_GIMBAL_H
-#define AMOV_GIMBAL_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <iostream>
-
-#include "amov_gimbal_struct.h"
-
-#define MAX_QUEUE_SIZE 100
-namespace amovGimbal
-{
-#define IN
-#define OUT
-#define SET
-
-    static inline void idleCallback(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                    double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                    double &fovX, double &fovY)
-    {
-    }
-    static inline void idleMsgCallback(void *)
-    {
-    }
-
-
-    // Control data input and output
-    class IOStreamBase
-    {
-    public:
-        IOStreamBase() {}
-        virtual ~IOStreamBase() {}
-
-        virtual bool open() = 0;
-        virtual bool close() = 0;
-        virtual bool isOpen() = 0;
-        virtual bool isBusy() = 0;
-        // These two functions need to be thread-safe
-        virtual bool inPutByte(IN uint8_t *byte) = 0;
-        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght) = 0;
-    };
-
-    // Device interface
-    class IamovGimbalBase
-    {
-    public:
-        IamovGimbalBase() {}
-        virtual ~IamovGimbalBase() {}
-        // functions
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
-        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
-        virtual uint32_t setGimabalHome(void);
-        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
-        virtual uint32_t takePic(void);
-        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
-        virtual uint32_t extensionFuntions(void *cmd);
-    };
-
-    class gimbal
-    {
-    private:
-        std::string typeName;
-        IOStreamBase *IO;
-
-    public:
-        // Instantiated device handle
-        IamovGimbalBase *dev;
-
-        // Protocol stack function items
-        void startStack(void);
-        void parserAuto(pStateInvoke callback = idleCallback);
-        void setParserCallback(pStateInvoke callback);
-        void setMsgCallback(pMsgInvoke callback);
-
-        AMOV_GIMBAL_STATE_T getGimabalState(void);
-
-        std::string name()
-        {
-            return typeName;
-        }
-        gimbal(const std::string &type, IOStreamBase *_IO,
-               uint32_t _self = 0x02, uint32_t _remote = 0X80);
-        ~gimbal();
-    };
-}
-#endif

gimbal_ctrl/driver/src/amov_gimbal_factory.cpp

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

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

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

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

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

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2023-05-13 10:39:20
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:30:53
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_private.h
+ * @LastEditTime: 2023-12-05 17:18:06
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_private.h
  */
 #ifndef __AMOV_GIMABL_PRIVATE_H
 #define __AMOV_GIMABL_PRIVATE_H
@@ -12,12 +12,12 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <iostream>
-
 #include <thread>
 #include <unistd.h>
 #include <mutex>
 
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
+#include "amovGimbal/amov_gimbal_c.h"
 
 #include "Ring_Fifo.h"
 #include "amov_tool.h"
@@ -28,14 +28,28 @@ namespace amovGimbal
     public:
         AMOV_GIMBAL_STATE_T state;
         std::mutex mState;
-        IOStreamBase *IO;
-        pStateInvoke updateGimbalStateCallback;
-        pMsgInvoke msgCustomCallback = idleMsgCallback;
+
+        // IO类
+        IOStreamBase *IO = nullptr;
+        // 适用于C的函数指针
+        void *inBytesCaller = nullptr;
+        pAmovGimbalInputBytesInvoke inBytes = nullptr;
+        void *outBytesCaller = nullptr;
+        pAmovGimbalOutputBytesInvoke outBytes = nullptr;
+
+        void *updataCaller = nullptr;
+        pAmovGimbalStateInvoke updateGimbalStateCallback;
+        void *msgCaller = nullptr;
+        pAmovGimbalMsgInvoke msgCustomCallback = idleMsgCallback;
 
         fifoRing *rxQueue;
         fifoRing *txQueue;
 
-        PamovGimbalBase(SET IOStreamBase *_IO)
+        std::thread::native_handle_type parserThreadHanle = 0;
+        std::thread::native_handle_type sendThreadHanle = 0;
+        std::thread::native_handle_type stackThreadHanle = 0;
+
+        PamovGimbalBase(IOStreamBase *_IO)
         {
             IO = _IO;
         }
@@ -49,9 +63,45 @@ namespace amovGimbal
             {
                 delete rxQueue;
             }
+            // set thread kill anytime
+            pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+            parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+            sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+            stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
         }
     };
 
+    // Device interface
+    class IamovGimbalBase
+    {
+    public:
+        IamovGimbalBase() {}
+        virtual ~IamovGimbalBase() {}
+
+        // non-block functions
+        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
+        virtual uint32_t setGimabalHome(void);
+        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
+        virtual uint32_t takePic(void);
+        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        virtual uint32_t extensionFuntions(void *cmd);
+
+        // block functions
+        virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        virtual bool setGimabalHomeBlock(void);
+        virtual bool setGimbalZoomBlock(float targetRate);
+        virtual bool takePicBlock(void);
+        virtual bool calibrationBlock(void);
+    };
+
     class amovGimbalBase : public IamovGimbalBase, public PamovGimbalBase
     {
     public:
@@ -68,7 +118,9 @@ namespace amovGimbal
         virtual void mainLoop(void);
 
         virtual void stackStart(void);
-        virtual void parserStart(amovGimbal::pStateInvoke callback);
+        virtual void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
 
     public:
         amovGimbalBase(IOStreamBase *_IO);

gimbal_ctrl/driver/src/amov_gimbal_realize.cpp

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

gimbal_ctrl/driver/src/amov_gimbal_struct.h

@@ -1,89 +0,0 @@
-/*
- * @Description: Common Data Structures of gimbal
- * @Author: L LC @amov
- * @Date: 2022-10-31 11:56:43
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:46
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_struct.h
- */
-
-#include <stdint.h>
-
-#ifndef __AMOV_GIMABL_STRUCT_H
-#define __AMOV_GIMABL_STRUCT_H
-
-namespace amovGimbal
-{
-    typedef void (*pStateInvoke)(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                 double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                 double &fovX, double &fovY);
-    typedef void (*pMsgInvoke)(void *msg);
-
-    typedef enum
-    {
-        AMOV_GIMBAL_MODE_LOCK,
-        AMOV_GIMBAL_MODE_NULOCK,
-    } AMOV_GIMBAL_MODE_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_VIDEO_TAKE,
-        AMOV_GIMBAL_VIDEO_OFF
-    } AMOV_GIMBAL_VIDEO_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_ZOOM_IN,
-        AMOV_GIMBAL_ZOOM_OUT,
-        AMOV_GIMBAL_ZOOM_STOP
-    } AMOV_GIMBAL_ZOOM_T;
-
-    typedef struct
-    {
-        double yaw;
-        double roll;
-        double pitch;
-    } AMOV_GIMBAL_POS_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-    } AMOV_GIMBAL_FOV_T;
-
-    typedef struct
-    {
-        AMOV_GIMBAL_MODE_T workMode;
-        AMOV_GIMBAL_VIDEO_T video;
-        AMOV_GIMBAL_POS_T abs;
-        AMOV_GIMBAL_POS_T rel;
-        AMOV_GIMBAL_POS_T maxFollow;
-        AMOV_GIMBAL_FOV_T fov;
-    } AMOV_GIMBAL_STATE_T;
-
-    typedef struct
-    {
-        uint32_t centreX;
-        uint32_t centreY;
-        uint32_t hight;
-        uint32_t width;
-    } AMOV_GIMBAL_ROI_T;
-
-    typedef struct
-    {
-        double q0;
-        double q1;
-        double q2;
-        double q3;
-    } AMOV_GIMBAL_QUATERNION_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-        double z;
-    } AMOV_GIMBAL_VELOCITY_T;
-
-} // namespace amovGimbal
-
-#endif

gimbal_ctrl/driver/src/amov_tool.h

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

gimbal_ctrl/sv_gimbal.cpp

@@ -3,11 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:37:42
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal.cpp
+ * @LastEditTime: 2023-12-05 17:33:29
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal.cpp
  */
-#include "amov_gimbal.h"
-#include "amov_gimbal_struct.h"
+#include "amovGimbal/amov_gimbal.h"
 
 #include "sv_gimbal.h"
 #include "sv_gimbal_io.hpp"
@@ -20,18 +19,42 @@ namespace sv
     std::map<std::string, void *> Gimbal::IOList;
     std::mutex Gimbal::IOListMutex;
 
-    std::map<GimbalType, std::string> gimbaltypeList =
-        {
-            {GimbalType::G1, "G1"},
-            {GimbalType::Q10f, "Q10f"},
-            {GimbalType::AT10, "AT10"}};
-
-    std::string &cvGimbalType2Str(const GimbalType &type)
+    typedef struct
     {
-        std::map<GimbalType, std::string>::iterator temp = gimbaltypeList.find(type);
+        std::string name;
+        GimbalLink supportLink;
+    } gimbalTrait;
+
+    std::map<GimbalType, gimbalTrait> gimbaltypeList =
+        {
+            {GimbalType::G1, {"G1", GimbalLink::SERIAL}},
+            {GimbalType::Q10f, {"Q10f", GimbalLink::SERIAL}},
+            {GimbalType::AT10, {"AT10", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP}},
+            {GimbalType::GX40, {"GX40", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP | GimbalLink::ETHERNET_UDP}}};
+
+    /**
+     * The function `svGimbalType2Str` converts a `GimbalType` enum value to its corresponding string
+     * representation.
+     *
+     * @return a reference to a string.
+     */
+    std::string &svGimbalType2Str(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
         if (temp != gimbaltypeList.end())
         {
-            return (temp->second);
+            return (temp->second).name;
+        }
+        throw "Error: Unsupported gimbal device type!!!!";
+        exit(-1);
+    }
+
+    GimbalLink &svGimbalTypeFindLinkType(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
+        if (temp != gimbaltypeList.end())
+        {
+            return (temp->second).supportLink;
         }
         throw "Error: Unsupported gimbal device type!!!!";
         exit(-1);
@@ -100,17 +123,29 @@ void sv::Gimbal::setNetIp(const std::string &ip)
 }
 
 /**
- * This function sets the network port for a Gimbal object in C++.
+ * The function sets the TCP network port for the Gimbal object.
  *
- * @param port The "port" parameter is an integer value that represents the network port number that
- * the Gimbal object will use for communication. This function sets the value of the "m_net_port"
- * member variable of the Gimbal object to the value passed in as the "port" parameter.
+ * @param port The parameter "port" is an integer that represents the TCP network port number.
  */
-void sv::Gimbal::setNetPort(const int &port)
+void sv::Gimbal::setTcpNetPort(const int &port)
 {
     this->m_net_port = port;
 }
 
+/**
+ * The function sets the UDP network ports for receiving and sending data.
+ *
+ * @param recvPort The recvPort parameter is the port number that the Gimbal object will use to receive
+ * UDP packets.
+ * @param sendPort The sendPort parameter is the port number used for sending data over UDP (User
+ * Datagram Protocol) network communication.
+ */
+void sv::Gimbal::setUdpNetPort(const int &recvPort, const int &sendPort)
+{
+    this->m_net_recv_port = recvPort;
+    this->m_net_send_port = sendPort;
+}
+
 /**
  * The function sets a parser callback for a gimbal device.
  *
@@ -121,25 +156,31 @@ void sv::Gimbal::setNetPort(const int &port)
 void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    pdevTemp->setParserCallback(callback);
+    m_callback = callback;
+    pdevTemp->setParserCallback(sv::Gimbal::gimbalUpdataCallback, this);
 }
 
 /**
- * The function `creatIO` creates an IO object for a gimbal device and adds it to a list of IO objects
- * if it doesn't already exist.
+ * The function `sv::Gimbal::creatIO` creates an IO object based on the specified gimbal type and link
+ * type, and returns a pointer to the created object.
  *
- * @param dev A pointer to an instance of the `Gimbal` class.
- * @param IO The parameter "IO" is a pointer to an object that represents the input/output (IO) device
- * for the gimbal. It is used to establish a connection with the gimbal and perform communication
- * operations.
+ * @param dev The "dev" parameter is a pointer to an object of type "sv::Gimbal". It is used to access
+ * the member variables of the Gimbal object, such as "m_serial_port", "m_serial_baud_rate",
+ * "m_serial_timeout", etc. These variables store information about
  *
- * @return a boolean value.
+ * @return a void pointer.
  */
 void *sv::Gimbal::creatIO(sv::Gimbal *dev)
 {
     IOListMutex.lock();
     std::map<std::string, void *>::iterator list = IOList.find(dev->m_serial_port);
     std::pair<std::string, void *> key("NULL", nullptr);
+    GimbalLink link = svGimbalTypeFindLinkType(dev->m_gimbal_type);
+
+    if ((dev->m_gimbal_link & svGimbalTypeFindLinkType(dev->m_gimbal_type)) == GimbalLink::NONE)
+    {
+        throw std::runtime_error("gimbal Unsupported linktype !!!");
+    }
 
     if (list == IOList.end())
     {
@@ -159,20 +200,35 @@ void *sv::Gimbal::creatIO(sv::Gimbal *dev)
         }
         else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_TCP)
         {
+            TCPClient *tcp;
+            tcp = new TCPClient(dev->m_net_ip, dev->m_net_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)tcp;
+            IOList.insert(key);
         }
         else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_UDP)
         {
+            UDP *udp;
+            udp = new UDP(dev->m_net_ip, dev->m_net_recv_port, dev->m_net_send_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)udp;
+            IOList.insert(key);
         }
-        else
-        {
-            std::cout << "Error: gimbal IO has opened!!!" << std::endl;
-        }
+    }
+    else
+    {
+        std::cout << "Error: gimbal IO has opened!!!" << std::endl;
     }
     IOListMutex.unlock();
 
     return key.second;
 }
 
+/**
+ * The function removes a Gimbal device from the IOList.
+ *
+ * @param dev dev is a pointer to an object of type sv::Gimbal.
+ */
 void sv::Gimbal::removeIO(sv::Gimbal *dev)
 {
     IOListMutex.lock();
@@ -180,6 +236,7 @@ void sv::Gimbal::removeIO(sv::Gimbal *dev)
 
     IOListMutex.unlock();
 }
+
 /**
  * The function opens a communication interface with a gimbal device and sets up a parser to handle
  * incoming data.
@@ -196,14 +253,16 @@ bool sv::Gimbal::open(PStateInvoke callback)
     bool ret = false;
 
     this->IO = creatIO(this);
+
     if (this->IO != nullptr)
     {
         std::string driverName;
-        driverName = sv::cvGimbalType2Str(this->m_gimbal_type);
+        driverName = sv::svGimbalType2Str(this->m_gimbal_type);
         this->dev = new amovGimbal::gimbal(driverName, (amovGimbal::IOStreamBase *)this->IO);
         amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
         pdevTemp->startStack();
-        pdevTemp->parserAuto(callback);
+        m_callback = callback;
+        pdevTemp->parserAuto(sv::Gimbal::gimbalUpdataCallback, this);
 
         ret = true;
     }
@@ -221,7 +280,7 @@ bool sv::Gimbal::open(PStateInvoke callback)
 bool sv::Gimbal::setHome()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    if (pdevTemp->dev->setGimabalHome() > 0)
+    if (pdevTemp->setGimabalHome() > 0)
     {
         return true;
     }
@@ -250,7 +309,7 @@ bool sv::Gimbal::setZoom(double x)
         return false;
     }
 
-    if (pdevTemp->dev->setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_STOP, x) > 0)
+    if (pdevTemp->setGimbalZoom(AMOV_GIMBAL_ZOOM_STOP, x) > 0)
     {
         return true;
     }
@@ -274,7 +333,7 @@ bool sv::Gimbal::setAutoZoom(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalZoom((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalZoom((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -300,7 +359,7 @@ bool sv::Gimbal::setAutoFocus(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalFocus((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalFocus((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -320,7 +379,7 @@ bool sv::Gimbal::takePhoto()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->takePic() > 0)
+    if (pdevTemp->takePic() > 0)
     {
         return true;
     }
@@ -344,21 +403,21 @@ bool sv::Gimbal::takeVideo(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_VIDEO_T newState;
+    AMOV_GIMBAL_VIDEO_T newState;
     switch (state)
     {
     case 0:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     case 1:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        newState = AMOV_GIMBAL_VIDEO_TAKE;
         break;
     default:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     }
 
-    if (pdevTemp->dev->setVideo(newState) > 0)
+    if (pdevTemp->setVideo(newState) > 0)
     {
         return true;
     }
@@ -379,13 +438,13 @@ int sv::Gimbal::getVideoState()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     int ret;
-    amovGimbal::AMOV_GIMBAL_STATE_T state;
+    AMOV_GIMBAL_STATE_T state;
     state = pdevTemp->getGimabalState();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
         ret = 1;
     }
-    else if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_OFF)
+    else if (state.video == AMOV_GIMBAL_VIDEO_OFF)
     {
         ret = 0;
     }
@@ -413,7 +472,7 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
 
     if (pitch_rate == 0.0f)
         pitch_rate = 360;
@@ -425,11 +484,11 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalFollowSpeed(temp);
+    pdevTemp->setGimabalFollowSpeed(temp);
     temp.pitch = pitch;
     temp.roll = roll;
     temp.yaw = yaw;
-    pdevTemp->dev->setGimabalPos(temp);
+    pdevTemp->setGimabalPos(temp);
 }
 
 /**
@@ -444,11 +503,11 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalSpeed(temp);
+    pdevTemp->setGimabalSpeed(temp);
 }
 
 sv::Gimbal::~Gimbal()

gimbal_ctrl/sv_gimbal_io.hpp

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

include/sv_algorithm_base.h

@@ -46,6 +46,7 @@ class ArucoDetector : public CameraAlgorithm
 public:
   ArucoDetector();
   void detect(cv::Mat img_, TargetsInFrame& tgts_);
+  void getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_);
 private:
   void _load();
   bool _params_loaded;

include/sv_color_line.h

@@ -25,7 +25,6 @@ public:
   double line_location_a2;
 
   bool is_load_parameter;
-
   std::string line_color;
 
 protected:
@@ -40,4 +39,4 @@ protected:
   void seg(cv::Mat line_area_, cv::Mat line_area_a1_, cv::Mat line_area_a2_, std::string line_color_, cv::Point &center_, int &area_, cv::Point &center_a1_, cv::Point &center_a2_);
 };
 }
-#endif
+#endif

include/sv_common_det.h

@@ -8,33 +8,36 @@
 #include <string>
 #include <chrono>
 
-
-namespace sv {
+namespace sv
+{
 
 class CommonObjectDetectorCUDAImpl;
+class CommonObjectDetectorIntelImpl;
+
 
 class CommonObjectDetector : public CommonObjectDetectorBase
 {
 public:
-  CommonObjectDetector(bool input_4k=false);
+  CommonObjectDetector(bool input_4k = false);
   ~CommonObjectDetector();
+
 protected:
   bool setupImpl();
   void detectImpl(
     cv::Mat img_,
-    std::vector<float>& boxes_x_,
-    std::vector<float>& boxes_y_,
-    std::vector<float>& boxes_w_,
-    std::vector<float>& boxes_h_,
-    std::vector<int>& boxes_label_,
-    std::vector<float>& boxes_score_,
-    std::vector<cv::Mat>& boxes_seg_
-  );
+    std::vector<float> &boxes_x_,
+    std::vector<float> &boxes_y_,
+    std::vector<float> &boxes_w_,
+    std::vector<float> &boxes_h_,
+    std::vector<int> &boxes_label_,
+    std::vector<float> &boxes_score_,
+    std::vector<cv::Mat> &boxes_seg_);
+
+  CommonObjectDetectorCUDAImpl *_cuda_impl;
+  CommonObjectDetectorIntelImpl *_intel_impl;
 
-  CommonObjectDetectorCUDAImpl* _cuda_impl;
   bool _input_4k;
 };
 
-
 }
 #endif

include/sv_gimbal.h

@@ -3,8 +3,8 @@
  * @Author: jario-jin @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:49:27
- * @FilePath: /spirecv-gimbal-sdk/include/sv_gimbal.h
+ * @LastEditTime: 2023-12-05 17:25:40
+ * @FilePath: /SpireCV/include/sv_gimbal.h
  */
 #ifndef __SV_GIMBAL__
 #define __SV_GIMBAL__
@@ -27,14 +27,26 @@ namespace sv
     G1,
     Q10f,
     AT10,
+    GX40,
   };
-  enum class GimbalLink
+  enum class GimbalLink : int
   {
-    SERIAL,
-    ETHERNET_TCP,
-    ETHERNET_UDP
+    NONE = 0x00,
+    SERIAL = 0x01,
+    ETHERNET_TCP = 0x02,
+    ETHERNET_UDP = 0x04,
   };
 
+  constexpr GimbalLink operator|(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) | static_cast<int>(b));
+  }
+
+  constexpr GimbalLink operator&(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) & static_cast<int>(b));
+  }
+
   enum class GimablSerialByteSize
   {
     FIVE_BYTES = 5,
@@ -83,6 +95,7 @@ namespace sv
     // Device pointers
     void *dev;
     void *IO;
+    PStateInvoke m_callback;
 
     // Generic serial interface parameters list & default parameters
     std::string m_serial_port = "/dev/ttyUSB0";
@@ -94,8 +107,10 @@ namespace sv
     int m_serial_timeout = 500;
 
     // Ethernet interface parameters list & default parameters
-    std::string m_net_ip = "192.168.2.64";
-    int m_net_port = 9090;
+    std::string m_net_ip = "192.168.144.121";
+    int m_net_port = 2332;
+    int m_net_recv_port = 2338;
+    int m_net_send_port = 2337;
 
     GimbalType m_gimbal_type;
     GimbalLink m_gimbal_link;
@@ -104,6 +119,14 @@ namespace sv
     static std::mutex IOListMutex;
     static void *creatIO(Gimbal *dev);
     static void removeIO(Gimbal *dev);
+
+    static void gimbalUpdataCallback(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                     double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                     double fovX, double fovY, void *handle)
+    {
+      ((Gimbal *)(handle))->m_callback(frameAngleRoll, frameAnglePitch, frameAngleYaw, imuAngleRoll, imuAnglePitch, imuAngleYaw, fovX, fovY);
+    }
+
   public:
     //! Constructor
     /*!
@@ -125,7 +148,10 @@ namespace sv
 
     // set Ethernet interface parameters
     void setNetIp(const std::string &ip);
-    void setNetPort(const int &port);
+    // set tcp port
+    void setTcpNetPort(const int &port);
+    // set udp port
+    void setUdpNetPort(const int &recvPort, const int &sendPort);
 
     // Create a device instance
     void setStateCallback(PStateInvoke callback);

include/sv_landing_det.h

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

include/sv_veri_det.h

@@ -8,10 +8,11 @@
 #include <string>
 #include <chrono>
 
-
-namespace sv {
+namespace sv
+{
 
 class VeriDetectorCUDAImpl;
+class VeriDetectorIntelImpl;
 
 class VeriDetector : public LandingMarkerDetectorBase
 {
@@ -19,18 +20,25 @@ public:
   VeriDetector();
   ~VeriDetector();
 
-  void detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame &tgts_);
+  void detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt);
 
 protected:
+  void _load();
   bool setupImpl();
   void roiCNN(
-    std::vector<cv::Mat>& input_rois_,
-    std::vector<int>& output_labels_
-  );
+    std::vector<cv::Mat> &input_rois_,
+    std::vector<float> &output_labels_);
+  void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
 
-  VeriDetectorCUDAImpl* _cuda_impl;
+  std::string vehicle_id;
+    
+  // Save the target bounding box for each frame.
+  std::vector<float> targetSz = {0, 0};  // H and W of bounding box
+  std::vector<float> targetPos = {0, 0}; // center point of bounding box (x, y)
+
+  VeriDetectorCUDAImpl *_cuda_impl;
+  VeriDetectorIntelImpl *_intel_impl;
 };
 
-
 }
 #endif

include/sv_video_base.h

@@ -90,6 +90,9 @@ public:
   double los_ay;
   //! The angle of the target in the image coordinate system,  (unit: degree) [-180, 180].
   double yaw_a;
+  
+  //! Similarity, Confidence, (0, 1]
+  double sim_score;
 
   //! Whether the height&width of the target can be obtained.
   bool has_hw;
@@ -125,6 +128,7 @@ public:
   
   bool getBox(Box& b);
   bool getAruco(int& id, std::vector<cv::Point2f> &corners);
+  bool getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs);
   bool getEllipse(double& xc_, double& yc_, double& a_, double& b_, double& rad_);
   std::string getJsonStr();
 
@@ -323,13 +327,13 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI};
+enum class CameraType {NONE, WEBCAM, V4L2CAM, MIPI, RTSP, VIDEO, G1, Q10, GX40};
 
 class CameraBase {
 public:
   CameraBase(CameraType type=CameraType::NONE, int id=0);
   ~CameraBase();
-  void open(CameraType type=CameraType::WEBCAM, int id=0);
+  void open(CameraType type=CameraType::V4L2CAM, int id=0);
   bool read(cv::Mat& image);
   void release();
   
@@ -343,10 +347,14 @@ public:
   double getSaturation();
   double getHue();
   double getExposure();
+  std::string getFourcc();
   bool isRunning();
+  void setFourcc(std::string fourcc);
   void setWH(int width, int height);
   void setFps(int fps);
   void setIp(std::string ip);
+  void setRtspUrl(std::string rtsp_url);
+  void setVideoPath(std::string video_path);
   void setPort(int port);
   void setBrightness(double brightness);
   void setContrast(double contrast);
@@ -369,12 +377,15 @@ protected:
   int _height;
   int _fps;
   std::string _ip;
+  std::string _rtsp_url;
+  std::string _video_path;
   int _port;
   double _brightness;
   double _contrast;
   double _saturation;
   double _hue;
   double _exposure;
+  std::string _fourcc;
 };
 
 
@@ -390,6 +401,16 @@ void drawTargetsInFrame(
   bool with_aruco=false,
   bool with_yaw=false
 );
+cv::Mat drawTargetsInFrame(
+  const cv::Mat img_,
+  const TargetsInFrame& tgts_,
+  const double scale,
+  bool with_all=true,
+  bool with_category=false,
+  bool with_tid=false,
+  bool with_seg=false,
+  bool with_box=false
+);
 std::string get_home();
 bool is_file_exist(std::string& fn);
 void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);

samples/SpireCVDet.cpp

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

samples/SpireCVSeg.cpp

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

samples/calib/calibrate_camera_charuco.cpp

@@ -36,6 +36,7 @@ the use of this software, even if advised of the possibility of such damage.
 #include <opencv2/imgproc.hpp>
 #include <vector>
 #include <iostream>
+#include <sv_world.h>
 #include "aruco_samples_utility.hpp"
 
 using namespace std;
@@ -58,7 +59,10 @@ const char* keys  =
         "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
         "{cd       |       | Input file with custom dictionary }"
         "{@outfile |<none> | Output file with calibrated camera parameters }"
-        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{imh      |       | Camera Image Height }"
+        "{imw      |       | Camera Image Width }"
+        "{fps      |       | Camera FPS }"
+        "{tp       |       | 1:WEBCAM, 2:V4L2CAM, 3:G1, 4:Q10, 5:MIPI, 6:GX40 }"
         "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
         "{dp       |       | File of marker detector parameters }"
         "{rs       | false | Apply refind strategy }"
@@ -107,26 +111,47 @@ int main(int argc, char *argv[]) {
 
     bool refindStrategy = parser.get<bool>("rs");
     int camId = parser.get<int>("ci");
-    String video;
+    int imW = 800;
+    int imH = 600;
+    int fps = 30;
+    int tp = 1;
 
-    if(parser.has("v")) {
-        video = parser.get<String>("v");
+    if(parser.has("imh")) {
+        imH = parser.get<int>("imh");
     }
+    if(parser.has("imw")) {
+        imW = parser.get<int>("imw");
+    }
+    if(parser.has("fps")) {
+        fps = parser.get<int>("fps");
+    }
+    if(parser.has("tp")) {
+        tp = parser.get<int>("tp");
+    }
+    sv::CameraType c_type = sv::CameraType::WEBCAM;
+    if (2 == tp)
+      c_type = sv::CameraType::V4L2CAM;
+    else if (3 == tp)
+      c_type = sv::CameraType::G1;
+    else if (4 == tp)
+      c_type = sv::CameraType::Q10;
+    else if (5 == tp)
+      c_type = sv::CameraType::MIPI;
+    else if (6 == tp)
+      c_type = sv::CameraType::GX40;
 
     if(!parser.check()) {
         parser.printErrors();
         return 0;
     }
 
-    VideoCapture inputVideo;
-    int waitTime;
-    if(!video.empty()) {
-        inputVideo.open(video);
-        waitTime = 0;
-    } else {
-        inputVideo.open(camId);
-        waitTime = 10;
-    }
+    // VideoCapture inputVideo;
+    sv::Camera inputVideo;
+    inputVideo.setWH(imW, imH);
+    inputVideo.setFps(fps);
+    inputVideo.open(c_type, camId);
+  
+    int waitTime = 10;
 
     aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
     if (parser.has("d")) {
@@ -156,9 +181,9 @@ int main(int argc, char *argv[]) {
     vector< Mat > allImgs;
     Size imgSize;
 
-    while(inputVideo.grab()) {
+    while(1) {
         Mat image, imageCopy;
-        inputVideo.retrieve(image);
+        inputVideo.read(image);
 
         vector< int > ids;
         vector< vector< Point2f > > corners, rejected;

samples/calib/create_marker.cpp

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

samples/demo/aruco_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(ad.image_width, ad.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -8,9 +8,9 @@ using namespace std;
 int main(int argc, char *argv[]) {  
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(1280, 720);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)

samples/demo/color_line_detect.cpp

@@ -11,13 +11,14 @@ int main(int argc, char *argv[])
   // 实例化 color line detection 检测器类
   sv::ColorLineDetector cld;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cld.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.setWH(cld.image_width, cld.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/common_object_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -40,19 +40,21 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
-  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/ellipse_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 椭圆 检测器类
   sv::EllipseDetector ed;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  ed.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ed.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(ed.image_width, ed.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -2,35 +2,16 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
-using namespace std;
+#include <map>
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
-// 框选到的矩形
-cv::Rect rect_sel;
-// 框选起始点
-cv::Point pt_origin;
 
-// 是否得到一个新的框选区域
-bool b_renew_ROI = false;
-// 是否开始跟踪
-bool b_begin_TRACK = false;
 // 实现框选逻辑的回调函数
 void onMouse(int event, int x, int y, int, void *);
-
-struct node
-{
-  double x, y;
-};
-node p1, p2, p3, p4;
-node p;
-double getCross(node p1, node p2, node p)
-{
-  return (p2.x - p1.x) * (p.y - p1.y) - (p.x - p1.x) * (p2.y - p1.y);
-}
-bool b_clicked = false;
-bool detect_tracking = true;
+bool isTarck = false;
+bool isStartTarck = false;
+int clickX = -1, clickY = -1;
 
 // 定义吊舱
 sv::Gimbal *gimbal;
@@ -77,33 +58,93 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
+  sv::TargetsInFrame lastTgts(frame_id);
   while (1)
   {
-    if (detect_tracking == true)
+    // 如果位标非法 则不能进行任何形式的追踪
+    if (clickX == -1 || clickY == -1)
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
+      isStartTarck = false;
+      isTarck = false;
+    }
+
+    if (isStartTarck && !isTarck)
+    {
+      // 使用上一帧结果初始化追踪器
+      std::map<int, cv::Rect> inBoxList;
+
+      // 计算点击事件是否位于每个目标框内
+      for (int i = 0; i < lastTgts.targets.size(); i++)
+      {
+        int halfWidht = (lastTgts.targets[i].w * lastTgts.width) / 2;
+        int halfHeight = (lastTgts.targets[i].h * lastTgts.height) / 2;
+        int x = lastTgts.targets[i].cx * lastTgts.width;
+        int y = lastTgts.targets[i].cy * lastTgts.height;
+
+        int diffX = x - clickX;
+        int diffY = y - clickY;
+
+        if ((abs(diffX) < halfWidht) && (abs(diffY) < halfHeight))
+        {
+          std::pair<int, cv::Rect> point;
+          point.first = diffX * diffX + diffY * diffY;
+          point.second = cv::Rect(x - halfWidht, y - halfHeight, halfWidht * 2, halfHeight * 2);
+          inBoxList.insert(point);
+        }
+      }
+
+      // 取离中心点最近的目标进行跟踪
+      int min = 0X7FFFFFFF;
+      cv::Rect sel;
+      for (auto i = inBoxList.begin(); i != inBoxList.end(); i++)
+      {
+        if (i->first < min)
+        {
+          min = i->first;
+          sel = i->second;
+        }
+      }
+
+      // min被赋值则存在一个目标框与点击的点重合
+      if (min != 0X7FFFFFFF)
+      {
+        sot.init(img, sel);
+        isTarck = true;
+        printf("rect_sel Yes\n");
+      }
+      else
+      {
+        isTarck = false;
+        printf("rect_sel No\n");
+      }
+
+      isStartTarck = false;
+    }
+
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像
+    cap.read(img);
+
+    if (!isTarck)
+    {
+      // 缩放图像尺寸用于适配检测器
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-      // 执行通用目标检测
+      // 进行通用目标检测
       cod.detect(img, tgts);
-
       gimbalNoTrack();
 
-      // 可视化检测结果，叠加到img上
-      sv::drawTargetsInFrame(img, tgts);
-
-      // 控制台打印通用目标检测结果
+      // 向控制台输出检测结果
       printf("Frame-[%d]\n", frame_id);
       // 打印当前检测的FPS
       printf("  FPS = %.2f\n", tgts.fps);
@@ -124,109 +165,78 @@ int main(int argc, char *argv[])
         printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
         // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
         printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p2.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p2.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p4.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p4.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p3.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p3.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p.x = pt_origin.x;
-        p.y = pt_origin.y;
-        std::cout << "p.x " << p.x << "\t"
-                  << "p.y " << p.y << std::endl;
-        if (getCross(p1, p2, p) * getCross(p3, p4, p) >= 0 && getCross(p2, p3, p) * getCross(p4, p1, p) >= 0)
-        {
-          b_begin_TRACK = false;
-          detect_tracking = false;
-          // pt_origin = cv::Point(nor_x, nor_p_y);
-          // std::cout << "pt_origin  " <<nor_x<<"/t"<<nor_p_y<< std::endl;
-          rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
-          // std::cout << rect_sel << std::endl;
-          b_renew_ROI = true;
-          frame_id = 0;
-          printf("rect_sel Yes\n");
-        }
-        else
-        {
-          printf("rect_sel No\n");
-        }
       }
     }
     else
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
+      // 缩放图像尺寸用于适配追踪器
       cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-      // 开始 单目标跟踪 逻辑
-      // 是否有新的目标被手动框选
-      if (b_renew_ROI)
-      {
-        // 拿新的框选区域 来 初始化跟踪器
-        sot.init(img, rect_sel);
-        // std::cout << rect_sel << std::endl;
-        // 重置框选标志
-        b_renew_ROI = false;
-        // 开始跟踪
-        b_begin_TRACK = true;
-      }
-      else if (b_begin_TRACK)
-      {
-        // 以前一帧的结果继续跟踪
-        sot.track(img, tgts);
-        gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
 
-        // 可视化检测结果，叠加到img上
-        sv::drawTargetsInFrame(img, tgts);
-        // 控制台打印 单目标跟踪 结果
+      // 图像追踪
+      sot.track(img, tgts);
+
+      // 吊舱追踪
+      gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
+
+      // 向控制台输出追踪结果
+      printf("Frame-[%d]\n", frame_id);
+      // 打印当前检测的FPS
+      printf("  FPS = %.2f\n", tgts.fps);
+      // 打印当前相机的视场角（degree）
+      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+      if (tgts.targets.size() > 0)
+      {
         printf("Frame-[%d]\n", frame_id);
-        // 打印当前检测的FPS
-        printf("  FPS = %.2f\n", tgts.fps);
-        // 打印当前相机的视场角（degree）
-        printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
-        if (tgts.targets.size() > 0)
-        {
-          printf("Frame-[%d]\n", frame_id);
-          // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
-          printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-          // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-          printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-          // 打印 跟踪目标 的视线角，跟相机视场相关
-          printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-        }
+        // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
+        printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
+        // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+        printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
+        // 打印 跟踪目标 的视线角，跟相机视场相关
+        printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
       }
-    } // end of tracking
+    }
+
+    // 叠加目标框至原始图像
+    sv::drawTargetsInFrame(img, tgts);
     // 显示检测结果img
     cv::imshow(RGB_WINDOW, img);
     cv::waitKey(10);
+
+    lastTgts = tgts;
   }
+
   return 0;
 }
 
 void onMouse(int event, int x, int y, int, void *)
 {
-  if (b_clicked)
+  // 左键点击 进入追踪模式
+  if (event == cv::MouseEventTypes::EVENT_LBUTTONDOWN)
   {
-    // 更新框选区域坐标
-    pt_origin.x = 0;
-    pt_origin.y = 0;
+    if (!isTarck && !isStartTarck)
+    {
+      clickX = x;
+      clickY = y;
+      isStartTarck = true;
+    }
   }
-  // 左键按下
-  if (event == cv::EVENT_LBUTTONDOWN)
+  // 右键点击 退出追踪模式
+  else if (event == cv::MouseEventTypes::EVENT_RBUTTONDOWN)
   {
-    detect_tracking = true;
-    pt_origin = cv::Point(x, y);
+    if (isTarck)
+    {
+      clickX = -1;
+      clickY = -1;
+      isTarck = false;
+    }
   }
-
-  else if (event == cv::EVENT_RBUTTONDOWN)
+  // 中键点击 归中（仅非追踪模式下有效）
+  else if (event == cv::MouseEventTypes::EVENT_MBUTTONDOWN)
   {
-    detect_tracking = true;
-    b_renew_ROI = false;
-    b_begin_TRACK = false;
-    b_clicked = true;
+    if (!isTarck)
+    {
+      gimbal->setHome();
+    }
   }
 }
 
@@ -248,4 +258,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_landing_marker_detection.cpp

@@ -58,7 +58,8 @@ int main(int argc, char *argv[])
   // 实例化 圆形降落标志 检测器类
   sv::LandingMarkerDetector lmd;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
@@ -144,4 +145,4 @@ void GimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang
     count = 0;
   }
   count++;
-}
+}

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -7,8 +7,8 @@ using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
-                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
@@ -67,7 +67,8 @@ int main(int argc, char *argv[])
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  ad.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像
@@ -80,6 +81,8 @@ int main(int argc, char *argv[])
     // 读取一帧图像到img
     cap.read(img);
 
+    // std::cout << img.type() <<  std::endl;
+
     // 执行Aruco二维码检测
     ad.detect(img, tgts);
 

samples/demo/landing_marker_detection.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 圆形降落标志 检测器类
   sv::LandingMarkerDetector lmd;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  lmd.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(lmd.image_width, lmd.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -9,17 +9,19 @@ int main(int argc, char *argv[]) {
   // 实例化
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   sv::MultipleObjectTracker mot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   mot.init(&cod);
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(mot.image_width, mot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -28,15 +28,15 @@ int main(int argc, char *argv[]) {
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-  // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  sot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(sot.image_width, sot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_receiver_by_airborne.cpp

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

samples/demo/udp_detection_info_sender.cpp

@@ -9,13 +9,13 @@ int main(int argc, char *argv[]) {
   // 实例化Aruco检测器类
   sv::ArucoDetector ad;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_1280x720.yaml");
   
   // 打开摄像头
   sv::Camera cap;
-  cap.setWH(640, 480);
+  cap.setWH(ad.image_width, ad.image_height);
   cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -5,41 +5,87 @@
 
 using namespace std;
 
-int main(int argc, char *argv[]) {  
-  // 打开摄像头
+struct node
+{
+  double x, y;
+};
+
+node p1;
+
+// 框选到的矩形
+cv::Rect rect_sel;
+
+int main(int argc, char *argv[])
+{
+  // 实例化 框选目标跟踪类
   sv::VeriDetector veri;
-  veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  veri.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  veri.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
 
-  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(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  sv::CommonObjectDetector cod;
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
-
-
-  cv::Mat img1,img2;
+  cv::Mat img;
   int frame_id = 0;
   while (1)
   {
+
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
-
     // 读取一帧图像到img
-    cap1.read(img1);
-    cap2.read(img2);
+    cap.read(img);
+    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-    cv::resize(img1, img1, cv::Size(224, 224));
-    cv::resize(img2, img2, cv::Size(224, 224));
+    // 执行通用目标检测
+    cod.detect(img, tgts);
 
-    veri.detect(img1, img2, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
 
-    
+    // 控制台打印通用目标检测结果
+    printf("Frame-[%d]\n", frame_id);
+    // 打印当前检测的FPS
+    printf("  FPS = %.2f\n", tgts.fps);
+    // 打印当前相机的视场角（degree）
+    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    for (int i = 0; i < tgts.targets.size(); i++)
+    {
+      printf("Frame-[%d], Object-[%d]\n", frame_id, i);
+      // 打印每个目标的中心位置，cx，cy的值域为[0, 1]
+      printf("  Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
+      // 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+      printf("  Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
+      // 打印每个目标的置信度
+      printf("  Object Score = %.3f\n", tgts.targets[i].score);
+      // 打印每个目标的类别，字符串类型
+      printf("  Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
+      // 打印每个目标的视线角，跟相机视场相关
+      printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+      // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
+      printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
 
-    // 显示img
-    // cv::imshow("img", img);
-    // cv::waitKey(10);
+      if (tgts.targets[i].category_id == 2)
+      {
+        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+        rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
+        veri.detect(img, rect_sel, tgts.targets[i]);
+        // 打印每个目标的CosineSimilarity
+        printf("  CosineSimilarity Score = %.3f\n", tgts.targets[i].sim_score);
+      }
+    }
+
+    // 显示检测结果img
+    cv::imshow("img", img);
+    cv::waitKey(10);
   }
-
   return 0;
 }

samples/demo/video_saving.cpp

@@ -9,13 +9,14 @@ int main(int argc, char *argv[]) {
   // 实例化 通用目标 检测器类
   sv::CommonObjectDetector cod;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
   
   // 打开摄像头
   sv::Camera cap;
-  // cap.setWH(640, 480);
-  // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setWH(cod.image_width, cod.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
@@ -23,7 +24,7 @@ int main(int argc, char *argv[]) {
   // 实例化视频保存类
   sv::VideoWriter vw;
   // 设置保存路径"/home/amov/Videos"，保存图像尺寸（640，480），帧频25Hz，同步保存检测结果（.svj）
-  vw.setup("/home/amov/Videos", cv::Size(640, 480), 25, true);
+  vw.setup(sv::get_home() + "/Videos", cv::Size(cod.image_width, cod.image_height), 25, true);
 
   while (1)
   {
@@ -31,7 +32,7 @@ int main(int argc, char *argv[]) {
     sv::TargetsInFrame tgts(frame_id++);
     // 读取一帧图像到img
     cap.read(img);
-    cv::resize(img, img, cv::Size(640, 480));
+    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
     // 执行通用目标检测
     cod.detect(img, tgts);

scripts/common/ffmpeg425-install.sh

@@ -17,6 +17,7 @@ cd nv-codec-headers
 git checkout n11.1.5.0
 sudo make install
 cd ..
+sudo rm -r nv-codec-headers
 
 wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
 tar -xjf ffmpeg-4.2.5.tar.bz2

scripts/common/models-downloading.sh

@@ -3,12 +3,6 @@
 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"
-
 coco_model1="COCO-yolov5s.wts"
 coco_model2="COCO-yolov5s6.wts"
 coco_model3="COCO-yolov5s-seg.wts"
@@ -46,28 +40,6 @@ if [ ! -d ${root_dir} ]; then
   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
-
 if [ ! -f ${coco_model1_fn} ]; then
   echo -e "\033[32m[INFO]: ${coco_model1_fn} not exist, downloading ... \033[0m"
   wget -O ${coco_model1_fn} ${root_server}/install/${coco_model1}

scripts/jetson/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/jetson/gst-install-orin.sh

@@ -0,0 +1,24 @@
+#!/bin/sh
+
+sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+sudo apt install -y libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
+sudo apt install -y gstreamer1.0-plugins-good gstreamer1.0-plugins-bad 
+sudo apt install -y gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc
+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 v4l-utils
+
+sudo apt -y install autotools-dev automake m4 perl
+sudo apt -y install libtool
+autoreconf -ivf
+
+git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
+cd gst-rtsp-server-b18
+./autogen.sh
+make
+sudo make install
+cd ..
+sudo rm -r gst-rtsp-server-b18
+

scripts/jetson/gst-install.sh

@@ -0,0 +1,20 @@
+#!/bin/sh
+
+sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+sudo apt install -y libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
+sudo apt install -y gstreamer1.0-plugins-good gstreamer1.0-plugins-bad 
+sudo apt install -y gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc
+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 v4l-utils
+
+git clone https://gitee.com/jario-jin/gst-rtsp-server-b18.git
+cd gst-rtsp-server-b18
+./autogen.sh
+make
+sudo make install
+cd ..
+sudo rm -r gst-rtsp-server-b18
+

scripts/jetson/opencv470-install.sh

@@ -5,7 +5,7 @@ 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
 
-
+current_dir=$(pwd)
 package_dir="."
 mkdir ~/opencv_build
 
@@ -28,6 +28,10 @@ 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
+sudo apt install -y libcurl4 build-essential pkg-config cmake libopenblas-dev libeigen3-dev \
+                    libtbb-dev libavcodec-dev libavformat-dev libgstreamer-plugins-base1.0-dev \
+                    libgstreamer1.0-dev libswscale-dev libgtk-3-dev libpng-dev libjpeg-dev \
+                    libcanberra-gtk-module libcanberra-gtk3-module
 
 
 echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
@@ -63,3 +67,4 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
+cd ${current_dir}

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

@@ -5,7 +5,7 @@ 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
 
-
+current_dir=$(pwd)
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,3 +52,4 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
+cd ${current_dir}

scripts/jetson/opencv470-jetpack511-install.sh

@@ -5,7 +5,7 @@ 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
 
-
+current_dir=$(pwd)
 package_dir="."
 mkdir ~/opencv_build
 
@@ -52,3 +52,4 @@ sudo make install
 
 cd
 sudo rm -r ~/opencv_build
+cd ${current_dir}

scripts/x86-cuda/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/x86-cuda/ffmpeg425-install.sh

@@ -0,0 +1,66 @@
+#!/bin/sh
+
+
+sudo apt install -y \
+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 v4l-utils
+
+current_dir=$(pwd)
+root_dir=${HOME}"/SpireCV"
+if [ ! -d ${root_dir} ]; then
+  echo -e "\033[32m[INFO]: ${root_dir} not exist, creating it ... \033[0m"
+  mkdir -p ${root_dir}
+fi
+cd ${root_dir}
+
+git clone https://gitee.com/jario-jin/nv-codec-headers.git
+cd nv-codec-headers
+git checkout n11.1.5.0
+sudo make install
+cd ..
+sudo rm -r nv-codec-headers
+
+wget https://ffmpeg.org/releases/ffmpeg-4.2.5.tar.bz2
+tar -xjf ffmpeg-4.2.5.tar.bz2
+cd ffmpeg-4.2.5
+export PATH=$PATH:/usr/local/cuda/bin
+sed -i 's#_30#_75#' configure; sed -i 's#_30#_75#' configure
+./configure \
+--enable-nonfree \
+--enable-gpl \
+--enable-shared \
+--enable-ffmpeg \
+--enable-ffplay \
+--enable-ffprobe \
+--enable-libx264 \
+--enable-libx265 \
+--enable-cuda-nvcc \
+--enable-nvenc \
+--enable-cuda \
+--enable-cuvid \
+--enable-libnpp \
+--extra-libs="-lpthread -lm" \
+--extra-cflags=-I/usr/local/cuda/include \
+--extra-ldflags=-L/usr/local/cuda/lib64 
+make -j8
+sudo make install
+cd ..
+
+git clone https://gitee.com/jario-jin/ZLMediaKit.git
+cd ZLMediaKit
+git submodule update --init
+mkdir build
+cd build
+cmake ..
+make -j4
+cd ..
+cd ..
+
+mkdir ZLM
+cd ZLM
+cp ../ZLMediaKit/release/linux/Debug/MediaServer .
+cp ../ZLMediaKit/release/linux/Debug/config.ini .
+cd ..
+
+cd ${current_dir}
+