NEW: release DJI Payload-SDK version 3.0

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/dji_perception.h

@@ -0,0 +1,167 @@
+/**
+ ********************************************************************
+ * @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
+
+/* 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;
+
+#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;
+#pragma pack()
+
+/**
+ * @bref Callback type to receive stereo camera image
+ */
+typedef void(*DjiPerceptionImageCallback)(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
+                                          uint32_t bufferLen);
+
+/* 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.
+ * @param direction: direction to specify the direction of the subscription. Ref to E_DjiPerceptionDirection
+ * @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);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_PERCEPTION_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/