211 lines
10 KiB
C
211 lines
10 KiB
C
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/**
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********************************************************************
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* @file test_perception.c
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* @brief
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include <utils/util_misc.h>
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#include <widget_interaction_test/test_widget_interaction.h>
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#include "test_perception.h"
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#include "dji_logger.h"
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#include "dji_platform.h"
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/* Private constants ---------------------------------------------------------*/
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#define TEST_PERCEPTION_SAVE_IMAGE_MAX_NUM 10
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/* Private types -------------------------------------------------------------*/
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typedef struct {
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E_DjiPerceptionDirection direction;
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char *name;
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} T_DjiTestPerceptionDirectionName;
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/* Private values -------------------------------------------------------------*/
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static uint16_t s_perceptionImageCount = 0;
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static const T_DjiTestPerceptionDirectionName directionName[] = {
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{.direction = DJI_PERCEPTION_RECTIFY_DOWN, .name = "down"},
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{.direction = DJI_PERCEPTION_RECTIFY_FRONT, .name = "front"},
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{.direction = DJI_PERCEPTION_RECTIFY_REAR, .name = "rear"},
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{.direction = DJI_PERCEPTION_RECTIFY_UP, .name = "up"},
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{.direction = DJI_PERCEPTION_RECTIFY_LEFT, .name = "left"},
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{.direction = DJI_PERCEPTION_RECTIFY_RIGHT, .name = "right"},
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};
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/* Private functions declaration ---------------------------------------------*/
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static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
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uint32_t bufferLen);
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static int32_t DjiTest_SaveImageData(char *filePath, const uint8_t *data, uint32_t len);
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/* Exported functions definition ---------------------------------------------*/
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T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
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{
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T_DjiReturnCode returnCode;
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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T_DjiPerceptionCameraParametersPacket cameraParametersetersPacket = {0};
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USER_LOG_INFO("Perception sample start");
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DjiTest_WidgetLogAppend("Perception sample start");
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USER_LOG_INFO("--> Step 1: Init Perception module");
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DjiTest_WidgetLogAppend("--> Step 1: Init Perception module");
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returnCode = DjiPerception_Init();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Perception init failed, error code: 0x%08X", returnCode);
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goto out;
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}
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s_perceptionImageCount = 0;
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USER_LOG_INFO("--> Step 2: Get stereo camera parameters\r\n");
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DjiTest_WidgetLogAppend("--> Step 2: Get stereo camera parameters\r\n");
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returnCode = DjiPerception_GetStereoCameraParameters(&cameraParametersetersPacket);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Get stereo camera parameters failed, error code: 0x%08X", returnCode);
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goto out;
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}
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if (cameraParametersetersPacket.directionNum <= IMAGE_MAX_DIRECTION_NUM)
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for (int i = 0; i < cameraParametersetersPacket.directionNum; i++) {
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USER_LOG_INFO(" [%-05s] leftIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
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directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[0],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[1],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[2],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[3],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[4],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[5],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[6],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[7],
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cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[8]);
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USER_LOG_INFO("[%-05s] rightIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
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directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[0],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[1],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[2],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[3],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[4],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[5],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[6],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[7],
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cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[8]);
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USER_LOG_INFO("[%-05s] rotationLeftInRight = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
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directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[0],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[1],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[2],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[3],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[4],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[5],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[6],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[7],
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cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[8]);
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USER_LOG_INFO("[%-05s] translationLeftInRight = {%f, %f, %f }\r\n",
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directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
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cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[0],
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cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[1],
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cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[2]);
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osalHandler->TaskSleepMs(100);
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}
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USER_LOG_INFO("--> Step 3: Subscribe perception image\r\n");
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DjiTest_WidgetLogAppend("--> Step 3: Subscribe perception image\r\n");
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returnCode = DjiPerception_SubscribePerceptionImage(direction, DjiTest_PerceptionImageCallback);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Subscribe perception image failed, error code: 0x%08X", returnCode);
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goto out;
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}
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osalHandler->TaskSleepMs(5000);
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USER_LOG_INFO("--> Step 4: Unsubscribe perception image");
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DjiTest_WidgetLogAppend("--> Step 4: Unsubscribe perception image");
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returnCode = DjiPerception_UnsubscribePerceptionImage(direction);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Unsubscribe perception image failed, error code: 0x%08X", returnCode);
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goto out;
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}
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USER_LOG_INFO("--> Step 5: Deinit Perception module");
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DjiTest_WidgetLogAppend("--> Step 5: Deinit Perception module");
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returnCode = DjiPerception_Deinit();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Perception deinit failed, error code: 0x%08X", returnCode);
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goto out;
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}
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out:
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USER_LOG_INFO("Perception sample end");
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return returnCode;
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}
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/* Private functions definition-----------------------------------------------*/
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static int32_t DjiTest_SaveImageData(char *filePath, const uint8_t *data, uint32_t len)
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{
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FILE *fp = NULL;
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size_t size;
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fp = fopen(filePath, "w+");
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if (fp == NULL) {
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return -1;
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}
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size = fwrite(data, 1, len, fp);
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if (size != len) {
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if (fp) {
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fclose(fp);
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}
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return -1;
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}
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if (fp) {
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fclose(fp);
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}
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return 0;
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}
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static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
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uint32_t bufferLen)
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{
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char fileName[256] = {0};
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snprintf(fileName, sizeof(fileName), "./image_%s_%d.raw",
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directionName[imageInfo.rawInfo.direction].name,
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s_perceptionImageCount);
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if (s_perceptionImageCount < TEST_PERCEPTION_SAVE_IMAGE_MAX_NUM) {
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DjiTest_SaveImageData(fileName, imageRawBuffer, bufferLen);
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USER_LOG_INFO(
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"Save perception image to path: ${binary_execute_path}/image_%s_%d.raw, direction:%s, position:%d, size:%dx%d",
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directionName[imageInfo.rawInfo.direction].name,
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s_perceptionImageCount,
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directionName[imageInfo.rawInfo.direction].name,
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imageInfo.dataType,
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imageInfo.rawInfo.width,
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imageInfo.rawInfo.height);
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s_perceptionImageCount++;
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}
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}
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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