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Payload-SDK/psdk_lib/include/dji_perception.h

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NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
/**
********************************************************************
* @file dji_perception.h
* @brief This is the header file for "dji_perception.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef DJI_PERCEPTION_H
#define DJI_PERCEPTION_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define IMAGE_MAX_DIRECTION_NUM 6
#define DJI_PERCEPTION_INTRINSICS_PARAM_ARRAY_NUM 9
#define DJI_PERCEPTION_ROTATION_PARAM_ARRAY_NUM 9
#define DJI_PERCEPTION_TRANSLATION_PARAM_ARRAY_NUM 3
NEW: release DJI Payload-SDK version 3.12.0
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#define DJI_PTS_NUM_PER_PKG 96
#define DJI_LIDAR_PKG_BUFFER_NUM 564
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
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/* Exported types ------------------------------------------------------------*/
/**
* @bref Perception camera direction
*/
typedef enum {
DJI_PERCEPTION_RECTIFY_DOWN = 0,
DJI_PERCEPTION_RECTIFY_FRONT = 1,
DJI_PERCEPTION_RECTIFY_REAR = 2,
DJI_PERCEPTION_RECTIFY_UP = 3,
DJI_PERCEPTION_RECTIFY_LEFT = 4,
DJI_PERCEPTION_RECTIFY_RIGHT = 5
} E_DjiPerceptionDirection;
/**
* @bref Perception camera design location
*/
typedef enum {
RECTIFY_DOWN_LEFT = 1,
RECTIFY_DOWN_RIGHT = 2,
RECTIFY_FRONT_LEFT = 3,
RECTIFY_FRONT_RIGHT = 4,
RECTIFY_REAR_LEFT = 5,
RECTIFY_REAR_RIGHT = 6,
RECTIFY_UP_LEFT = 21,
RECTIFY_UP_RIGHT = 22,
RECTIFY_LEFT_LEFT = 23,
RECTIFY_LEFT_RIGHT = 24,
RECTIFY_RIGHT_LEFT = 25,
RECTIFY_RIGHT_RIGHT = 26
} E_DjiPerceptionCameraPosition;
NEW: release DJI Payload-SDK version 3.12.0
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/**
* @bref Perception radar design location
*/
typedef enum {
RADAR_POSITION_LEFT = 0,
RADAR_POSITION_RIGHT = 1,
RADAR_POSITION_DOWN =2,
RADAR_POSITION_UP = 3,
RADAR_POSITION_FRONT = 4,
RADAR_POSITION_BACK =5,
MAX_RADAR_NUM = 6,
}E_DjiPerceptionRadarPosition;
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
#pragma pack(1)
/**
* @bref Perception camera ram image info
*/
typedef struct {
uint32_t index;
uint8_t direction;
uint8_t bpp;
uint32_t width;
uint32_t height;
} T_DjiPerceptionRawImageInfo;
/**
* @bref Perception camera image info
*/
typedef struct {
T_DjiPerceptionRawImageInfo rawInfo;
uint16_t dataId;
uint16_t sequence;
//see enum E_DjiPerceptionCamPosition
uint32_t dataType;
uint64_t timeStamp;
} T_DjiPerceptionImageInfo;
/**
* @bref Perception camera parameters
*/
typedef struct {
uint8_t direction;
float leftIntrinsics[DJI_PERCEPTION_INTRINSICS_PARAM_ARRAY_NUM];
float rightIntrinsics[DJI_PERCEPTION_INTRINSICS_PARAM_ARRAY_NUM];
float rotationLeftInRight[DJI_PERCEPTION_ROTATION_PARAM_ARRAY_NUM];
float translationLeftInRight[DJI_PERCEPTION_TRANSLATION_PARAM_ARRAY_NUM];
} T_DjiPerceptionCameraParameters;
/**
* @bref Perception camera parameters packet
*/
typedef struct {
uint32_t timeStamp;
uint32_t directionNum;
T_DjiPerceptionCameraParameters cameraParameters[IMAGE_MAX_DIRECTION_NUM];
} T_DjiPerceptionCameraParametersPacket;
NEW: release DJI Payload-SDK version 3.12.0
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/**
* @bref Perception Lidar data point info
*/
typedef struct{
float x; /*!< unit: meters */
float y; /*!< unit: meters */
float z; /*!< unit: meters */
uint8_t intensity;
uint8_t label; /*!< Noise filtering results (0: obj; 1: noise; 2: unknow; 3: not_retuen ) */
} T_DJIPerceptionLidarPoint;
/**
* @bref Perception Lidar data header of each pkg
*/
typedef struct{
uint16_t timeInterval; /*!< The point cloud sampling time (in 0.1us) */
uint16_t dotNum; /*!< Current packet data field contains the number of points This field is not valid for non-repeat scans*/
uint8_t dataType; /** dataType
*
* Bit Position (7-4) | Field Name | Description | Remarks
* ------------------ | ------------ | -------------------- | -------------------------------------------------
* 4-7 | echo_mode | Echo Mode | 0: Single echo mode
* | | | 1: Dual echo mode
* | | | 2: Triple echo mode
* | | | 3: Quadruple echo mode
* | | | 4: Quintuple echo mode
*
* Bit Position (3-0) | Field Name | Description | Remarks
* ------------------ | ------------ | -------------------- | -------------------------------------------------
* 0-3 | data_type | Data Type | 40: IMU Data
* | | | 1: Point cloud data (rectangular, 32-bit)
* | | | 2: Point cloud data (rectangular, 16-bit default)
* | | | 3: Point cloud data (spherical)
* | | | 4: Point cloud data (rectangular, 20-bit, in use)
*/
uint8_t timeType; /** timeType
* Timestamp Type | Sync Source Type | Data Format | Description
* -------------- | ------------------- | ------------- | -------------------------------------------------
* 0 | No sync source, | uint64_t | Timestamp is radar uptime, unit: ns
* | | |
* 1 | gPTP/PTP sync, | uint64_t | Timestamp is master clock source time, unit: ns
* | | |
* 2 | PPS + ns time sync | uint64_t | Unit: ns
* | | |
* 3 | PPS + UTC | uint64_t | UTC format is:
* | | struct | struct {
* | | | uint8_t year;
* | | | uint8_t mon;
* | | | uint8_t day;
* | | | uint8_t hour;
* | | | uint32_t us_offset;
* | | | };
*/
uint64_t timeStamp;
}T_DJIPerceptionLidarDataHeader;
/**
* @bref Perception Lidar data pkg
*/
typedef struct{
T_DJIPerceptionLidarDataHeader header;
T_DJIPerceptionLidarPoint points[DJI_PTS_NUM_PER_PKG];
}T_DjiPerceptionLidarDecodePkg;
/**
* @bref Perception Lidar data frame
*/
typedef struct{
uint64_t timeStampNs; /*!< Timestamp of the first point of each packet */
uint32_t frameCnt; /*!< in increasing order from zero */
uint16_t pkgNum; /*!< Number of valid pkgs per frame */
T_DjiPerceptionLidarDecodePkg pkgs[DJI_LIDAR_PKG_BUFFER_NUM];
uint32_t poseTimeMs;
uint16_t naviFlag; /** naviFlag:
* Bit Position | Field Name | Description | Remarks
* ------------ | ---------- | ------------------------------------------------ | -----------------------------------
* 0 | vel_x | Horizontal x-axis velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 1 | vel_y | Horizontal y-axis velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 2 | vel_z | Vertical velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 3 | pos_x | Horizontal x-axis position valid bit (1 valid) | 1 - valid, 0 - invalid
* 4 | pos_y | Horizontal y-axis position valid bit (1 valid) | 1 - valid, 0 - invalid
* 5 | pos_z | Vertical position valid bit (1 valid) | 1 - valid, 0 - invalid
* 6 | dwn_vz | Ground speed valid bit (1 valid) | 1 - valid, 0 - invalid
* 7 | dwn_pz | Ground elevation valid bit (1 valid) | 1 - valid, 0 - invalid
* 8 | rtk_pxy | RTK horizontal valid flag (1 valid) | 1 - valid, 0 - invalid
* 9 | rtk_pz | RTK vertical valid flag (1 valid) | 1 - valid, 0 - invalid
* 10 | gns_ll | GPS horizontal valid flag (1 valid) | 1 - valid, vertical direction always invalid
* 11 | fg_ok | FG estimate OK flag (1 valid) | 1 - valid, 0 - invalid
* 12-15 | fg_st | FG mode (4 bits) | Modes:
* | | | 0 - Random initialization
* | | | 1 - Initialization with poor compass
* | | | 2 - Initialization with good compass
* | | | 3 - Magnetic inclination compensation
* | | | 4 - Compass fix during takeoff
* | | | 5 - Compass fix in the air
* | | | 6 - Compass calibration fix
* | | | 7 - Accelerometer alignment
* | | | 8 - Speed alignment
* | | | 9 - RTK heading alignment
*/
float naviPos[3]; /*!< UAV IMU to navigation coordinate system translation vector (xyz) */
float naviQuat[4]; /*!< Quaternions from UAV IMU to navigation coordinate system */
}T_DjiLidarFrame;
/**
* @bref Radar data frame header
*/
typedef struct {
uint16_t dataLen;
uint8_t curPack; /*!< The current packet number, in the range of [1, pack_num]. */
uint8_t packNum; /*!< Total number of current circle packets, starting from 1. */
} T_DjiRadarDataHeader;
/**
* @bref Radar information structure
*/
typedef struct {
uint64_t velocity :16; /**
* Calculating the actual velocity:
*
* Actual velocity (m/s) = (Velocity - 32767) / 100
*
* Interpreting the results:
* - If the result is > 0, it indicates that the object is moving closer to the target.
* - If the result is < 0, it indicates that the object is moving away from the target.
*/
uint64_t snr :7; /*!< target SNR, in db, ranging from 0 to 127, with 0 being the null point or no echo point
(base_noise calculation base_noise = energy / snr) */
uint64_t beamAngle:10; /**
* Beam emission angle value:
* - Unit: 0.01 degrees
* - Stored range: 0~1023
* - Actual value range: [-45°, 45°]
*
* Conversion method:
* - Divide stored value x by 10
* - If x ≤ 450, the angle remains unchanged
* - If x > 450, the angle is adjusted by subtracting 90
*
* Examples:
* - Stored value of 449 yields an angle of 44.9° (449/10 = 44.9°)
* - Stored value of 451 yields an angle of -44.9° (451/10 - 90 = -44.9°)
* invalid in M400
*/
uint64_t radarType:3; /*!< Radar numbe,is invalid in M400*/
uint64_t clitterFlag:1; /*!< Flag for clutter point in planar radar: 1 indicates a clutter point, 0 indicates a valid point */
uint64_t reserved :27;
} T_DjiRadarBaseInfo;
/**
* @bref The single point data structure of millimeter wave radar
*/
typedef struct {
uint16_t azimuth; /*!
* Target azimuth in radar coordinate system:
* - Unit: 0.001 radian
* - Value range: (0 to 2π) / 0.001
* - Calculation method (azimuth/1000 - 2π)
*/
uint16_t elevation; /*!
* Target pitch angle in radar coordinate system:
* - Unit: 0.001 radian
* - Value range: (0 to 2π) / 0.001
* - Calculation method (elevation/1000 - 2π)
*/
uint16_t radius; /*!
* Target radial distance in radar coordinate system:
* - Unit: 0.01 meters
* - Value range: 0 to 65553 (in steps of 0.01 meters)
*/
uint16_t ene; /*!
* Radar target energy
* - Actual value: energy / 100
* - invalid in M400
*/
T_DjiRadarBaseInfo base_info;
}T_DjiRadarCloudUnit;
/**
* @bref Perception Radar data frame
*/
typedef struct {
T_DjiRadarDataHeader headInfo;
T_DjiRadarCloudUnit data[1];
} T_DjiRadarDataFrame;
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
#pragma pack()
/**
* @bref Callback type to receive stereo camera image
NEW: release DJI Payload-SDK version 3.12.0
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* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
*/
typedef void(*DjiPerceptionImageCallback)(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
uint32_t bufferLen);
NEW: release DJI Payload-SDK version 3.12.0
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/**
* @bref Callback type to receive radar data
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
*/
typedef void(*DjiPerceptionRadarCallback)(E_DjiPerceptionRadarPosition radarPosition, uint8_t *radarDataBuffer,
uint32_t bufferLen);
/**
* @bref Callback type to process Lidar data
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
*/
typedef void(*DjiPerceptionLidarDataCallback)(uint8_t* lidarDataBuffer, uint32_t bufferLen);
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the perception module.
* @note The interface initialization needs to be after DjiCore_Init.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_Init(void);
/**
* @brief Deinitialize the perception module.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_Deinit(void);
/**
* @brief Subscribe the raw images of both stereo cameras in the same direction. Default frequency at 20 Hz.
* @param direction: direction to specify the direction of the subscription. Ref to E_DjiPerceptionDirection
* @param callback callback to observer the stereo camera image and info.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_SubscribePerceptionImage(E_DjiPerceptionDirection direction,
DjiPerceptionImageCallback callback);
/**
* @brief Unsubscribe the raw image of both stereo cameras in the same direction.
NEW: release DJI Payload-SDK version 3.12.0
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* @param direction: direction to specify the direction of the subscription. Ref to E_DjiPerceptionDirection.
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribePerceptionImage(E_DjiPerceptionDirection direction);
/**
* @brief Get the internal and external parameters of all stereo cameras.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_GetStereoCameraParameters(T_DjiPerceptionCameraParametersPacket *packet);
NEW: release DJI Payload-SDK version 3.12.0
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/**
* @brief Subscribe the lidar data.
* @param callback: callback to observer the radar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_SubscribeLidarData(DjiPerceptionLidarDataCallback callback);
/**
* @brief Unsubscribe the lidar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribeLidarData(void);
/**
* @brief Subscribe the lidar data of the position.
* @param position: position the radar monted
* @param callback callback to observer the radar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_SubscribeRadarData(E_DjiPerceptionRadarPosition position, DjiPerceptionRadarCallback callback);
/**
* @brief Unsubscribe the lidar data of the position.
* @param position: position the radar monted
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribeRadarData(E_DjiPerceptionRadarPosition position);
NEW: release DJI Payload-SDK version 3.0 Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
#ifdef __cplusplus
}
#endif
#endif // DJI_PERCEPTION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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