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NEW: release DJI Payload-SDK version 3.4

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-04-18 21:26:50 +08:00
parent b621c93fde
commit 29109dd0db
106 changed files with 3030521 additions and 1114 deletions
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5
samples/sample_c++/module_sample/perception/test_perception.cpp
View File

@ -42,12 +42,11 @@ PerceptionSample::PerceptionSample()
returnCode = DjiPerception_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT) {
USER_LOG_ERROR("Perception feature will support on later version.");
}
throw std::runtime_error("Perception init failed");
perror("Perception init failed");
}
}
@ -57,7 +56,7 @@ PerceptionSample::~PerceptionSample()
returnCode = DjiPerception_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Perception deinit failed");
perror("Perception deinit failed");
}
}

37
samples/sample_c++/module_sample/perception/test_perception_entry.cpp
View File

@ -39,6 +39,8 @@
/* Private constants ---------------------------------------------------------*/
#define USER_PERCEPTION_TASK_STACK_SIZE (1024)
#define USER_PERCEPTION_DIRECTION_NUM (12)
#define FPS_STRING_LEN (50)
/* Private types -------------------------------------------------------------*/
typedef struct {
@ -320,6 +322,14 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
auto *pack = (T_DjiTestStereoImagePacket *) arg;
char nameStr[32] = {0};
char fpsStr[20] = "FPS: ";
int fps = 0;
double timePrev[USER_PERCEPTION_DIRECTION_NUM] = {0};
double timeNow[USER_PERCEPTION_DIRECTION_NUM] = {0};
double timeFess[USER_PERCEPTION_DIRECTION_NUM] = {0};
int count[USER_PERCEPTION_DIRECTION_NUM] = {1};
char showFpsString[USER_PERCEPTION_DIRECTION_NUM][FPS_STRING_LEN] = {0};
int i = 0;
while (true) {
osalHandler->TaskSleepMs(1);
@ -338,7 +348,7 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
pack->imageRawBuffer = NULL;
}
for (int i = 0; i < sizeof(positionName) / sizeof(T_DjiTestPerceptionCameraPositionName); ++i) {
for (i = 0; i < sizeof(positionName) / sizeof(T_DjiTestPerceptionCameraPositionName); ++i) {
if (positionName[i].cameraPosition == pack->info.dataType) {
sprintf(nameStr, "Image position: %s", positionName[i].name);
break;
@ -355,6 +365,31 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
cv::moveWindow(nameStr, (200 + (int) pack->info.rawInfo.width), 0);
}
if (i < USER_PERCEPTION_DIRECTION_NUM) {
/*! Calculate frame rate */
timeNow[i] = (double) cv::getTickCount();
if (timePrev[i] != 0) {
timeFess[i] = (timeNow[i] - timePrev[i]) / cv::getTickFrequency() + timeFess[i];
count[i]++;
}
if (timeFess[i] > 1) {
memset(&showFpsString[i][0], 0, FPS_STRING_LEN);
fps = count[i] / timeFess[i];
timeFess[i] = 0;
count[i] = 0;
sprintf(&showFpsString[i][0], "%s%d", fpsStr, fps);
}
timePrev[i] = timeNow[i];
#ifdef OPEN_CV_VERSION_3
cv::putText(cv_img_stereo, &showFpsString[i][0], cv::Point(5, 20),
CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
#endif
#ifdef OPEN_CV_VERSION_4
cv::putText(cv_img_stereo, &showFpsString[i][0], cv::Point(5, 20),
cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
#endif
}
cv::imshow(nameStr, cv_img_stereo);
cv::waitKey(1);
#else