300 lines
11 KiB
C
300 lines
11 KiB
C
/**
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********************************************************************
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* @file dji_liveview.h
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* @brief This is the header file for "dji_liveview.c", defining the structure and
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* (exported) function prototypes.
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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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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef DJI_LIVEVIEW_H
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#define DJI_LIVEVIEW_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief Liveview camera mount position.
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*/
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typedef enum {
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DJI_LIVEVIEW_CAMERA_POSITION_NO_1 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
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DJI_LIVEVIEW_CAMERA_POSITION_NO_2 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2,
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DJI_LIVEVIEW_CAMERA_POSITION_NO_3 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3,
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DJI_LIVEVIEW_CAMERA_POSITION_FPV = 7
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} E_DjiLiveViewCameraPosition;
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/**
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* @brief Image format.
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*/
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typedef enum {
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PIXFMT_NV12 = 3,
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PIXFMT_RGB_PLANAR = 4,
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PIXFMT_RGB_PACKED = 5
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} E_DjiLiveViewPixFormate;
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/**
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* @brief Liveview camera stream source.
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*/
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typedef enum {
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DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT = 0,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20_WIDE = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20_ZOOM = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20T_WIDE = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20T_ZOOM = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20T_IR = 3,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20N_WIDE = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20N_ZOOM = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_H20N_IR = 3,
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DJI_LIVEVIEW_CAMERA_SOURCE_M30_ZOOM = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M30_WIDE = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_M30T_ZOOM = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M30T_WIDE = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_M30T_IR = 3,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3E_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3T_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3D_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_IR = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_H30_ZOOM = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_H30_4K = 7,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4E_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4T_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4T_IR = 2,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4D_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4TD_VIS = 1,
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DJI_LIVEVIEW_CAMERA_SOURCE_M4TD_IR = 2,
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} E_DjiLiveViewCameraSource;
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/**
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* @brief DJI standard types of target recognition.
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*/
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typedef enum {
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DJI_LIVEVIEW_OBJ_TYPE_INVALID = 0,
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DJI_LIVEVIEW_OBJ_TYPE_UNKNOWN = 1,
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DJI_LIVEVIEW_OBJ_TYPE_PERSON = 2,
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DJI_LIVEVIEW_OBJ_TYPE_CAR = 3,
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DJI_LIVEVIEW_OBJ_TYPE_BOAT = 4,
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DJI_LIVEVIEW_OBJ_TYPE_HUMAN_FACE = 5,
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DJI_LIVEVIEW_OBJ_TYPE_BIRD = 10,
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DJI_LIVEVIEW_OBJ_TYPE_BEACON = 20,
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DJI_LIVEVIEW_OBJ_TYPE_GPS = 30,
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DJI_LIVEVIEW_OBJ_TYPE_MOVING_TARGET = 34,
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} E_DjiLiveViewTargetObjectType;
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/**
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* @brief Target Recognition Status.
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*/
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typedef enum {
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DJI_LIVEVIEW_OBJ_STATE_INVALID = 0, /*!< invalid state */
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DJI_LIVEVIEW_OBJ_STATE_TRACKED = 1, /*!< steady state following */
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DJI_LIVEVIEW_OBJ_STATE_VISION_BEACON_FUSIONED = 2, /*!< Vision beacon fusion state */
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DJI_LIVEVIEW_OBJ_STATE_AUXILIARY_TRACKED = 3, /*!< Loss of trigger source, auxiliary observation following state */
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DJI_LIVEVIEW_OBJ_STATE_NOT_CONFIDENT = 4, /*!< unstable following state */
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DJI_LIVEVIEW_OBJ_STATE_LOST_WITH_PREDICT = 5, /*!< Target lost, forecast status maintained */
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DJI_LIVEVIEW_OBJ_STATE_LOST = 6, /*!< Target Loss Status */
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DJI_LIVEVIEW_OBJ_STATE_REDETECTED = 7, /*!< Target Loss Retrieval Status */
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} E_DjiLiveViewTargetObjectState;
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/**
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* @brief Picture frame information for target recognition results
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*/
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typedef struct
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{
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uint16_t cx; /*!< X-coordinate of the center of the frame, unit: 1/10000 * screen width */
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uint16_t cy; /*!< Y-coordinate of the center of the frame, unit: 1/10000 * screen height */
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uint16_t w; /*!< Frame width, unit: 1/10000 * screen width */
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uint16_t h; /*!< Frame height, unit: 1/10000 * screen height */
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uint32_t distance; /*!< Distance in mm */
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} __attribute__((packed)) T_DjiLiveViewTarget2dBox;
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/**
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* @brief BoundingBox information for target recognition.
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*/
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typedef struct {
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uint16_t id;
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uint8_t type; /*!< type can be an enumerated value of E_DjiLiveViewTargetObjectType or a user-defined value. */
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uint8_t state; /*!< state should be of type E_DjiLiveViewTargetObjectState enumeration */
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T_DjiLiveViewTarget2dBox box;
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} __attribute__((packed)) T_DjiLiveViewBoundingBox;
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/**
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* @brief List of boundingBox information.
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*/
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typedef struct {
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uint8_t boxCount;
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T_DjiLiveViewBoundingBox boxData[1];
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} __attribute__((packed)) T_DjiLiveViewStandardMetaData;
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/**
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* @brief Image information.
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*/
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typedef struct {
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E_DjiLiveViewPixFormate pixFmt;
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uint16_t width;
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uint16_t height;
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uint32_t frameId;
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} T_DjiLiveviewImageInfo;
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/**
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* @brief Liveview camera h264 stream callback.
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*/
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typedef void (*DjiLiveview_H264Callback)(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t len);
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/**
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* @brief Liveview camera image data callback.
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*/
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typedef void (*DjiLiveview_ImageCallback)(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
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uint32_t len , T_DjiLiveviewImageInfo ImageInfo);
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/**
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* @brief Callback for handling encoded output data
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*/
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typedef void (*DjiLiveview_EncoderCallback)(const uint8_t *buf, uint32_t len);
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialize the liveview module.
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* @note Must be called after DjiCore_Init.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_Init(void);
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/**
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* @brief Deinitialize the liveview module.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_Deinit(void);
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/**
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* @brief Start the FPV or camera H264 stream from the specified position.
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* @param position: Camera position for the H264 stream output.
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* @param source: sub-camera source for the H264 stream output.
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* @param callback: Callback function in a callback thread when a new h264 frame is received
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_StartH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source,
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DjiLiveview_H264Callback callback);
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/**
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* @brief Stop the FPV or Camera H264 Stream from the specified position.
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* @param position: Camera position for the H264 stream output.
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* @param source: sub-camera source for the H264 stream output.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
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/**
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* @brief Request the intraframe Frame of camera H264 stream from the specified position.
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* @param position: Camera position for the H264 stream output.
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* @param source: sub-camera source for the H264 stream output.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_RequestIntraframeFrameData(E_DjiLiveViewCameraPosition position,
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E_DjiLiveViewCameraSource source);
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/**
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* @brief Request to get the decoded image data from the specified position.
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* @param position: Camera position for the H264 stream.
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* @param source: sub-camera source for the H264 stream.
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* @param pixFmt: Requested Image Format.
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* @param callback: Callback for handling image data.
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* @return Execution result.
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* @note This interface support on DJI manifold3.
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*/
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T_DjiReturnCode DjiLiveview_StartImageStream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source,
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E_DjiLiveViewPixFormate pixFmt, DjiLiveview_ImageCallback callback);
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/**
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* @brief Stop the decoded image data from the specified position.
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* @param position: Camera position for the H264 stream.
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* @param source: sub-camera source for the H264 stream.
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* @return Execution result.
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* @note This interface support on DJI manifold3.
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*/
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T_DjiReturnCode DjiLiveview_StopImageStream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
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/**
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* @brief Registering encoder callback handlers.
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* @return Execution result.
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* @note This interface support on DJI manifold3.
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*/
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T_DjiReturnCode DjiLiveview_RegEncoderCallback(DjiLiveview_EncoderCallback callback);
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/**
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* @brief Unregistering encoder callback handlers.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_UnregEncoderCallback();
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/**
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* @brief Encoding image into h264 streams.
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* @param buf: raw data of image.
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* @param len: length of image data.
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* @param imageInfo: information of image.
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* @param metaData: Resulting information obtained from images for target recognition.
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* @return Execution result.
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* @note If there is no need for information related to target identification, fill in NULL for metaData.
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* @note This interface needs to be used after DjiLiveview_RegEncoderCallback.
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* @note This interface support on DJI manifold3.
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*/
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T_DjiReturnCode DjiLiveview_EncodeAFrameToH264(const uint8_t *buf, uint32_t len, T_DjiLiveviewImageInfo imageInfo,
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T_DjiLiveViewStandardMetaData *metaData);
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/**
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* @brief Register user-defined target Lables
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* @param lableCount: Number of lable.
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* @param labels: lable String Array
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* @note The key-value pairs of lable and index will be recorded on the Pilot after registration
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* and will be used to parse the metaData and display the lable when rendering the boundingbox.
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* @note This interface support on DJI manifold3.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_RegUserAiTargetLableList(uint8_t lableCount,const char *labels[]);
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/**
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* @brief Unregister user-defined target Lables
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* @return Execution result.
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* @note This interface support on DJI manifold3.
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*/
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T_DjiReturnCode DjiLiveview_UnregUserAiTargetLableList();
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/**
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* @brief Transmits the result information of the target recognition to the pilot for display.
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* @param metaData: Resulting information obtained from images for target recognition.
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* @note This interface support on DJI manifold3.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiLiveview_SendAiMetaToPilot(T_DjiLiveViewStandardMetaData *metaData);
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#ifdef __cplusplus
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}
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#endif
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#endif // DJI_LIVEVIEW_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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