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xin
2026-01-08 16:00:08 +08:00
parent 7396728ea7
commit a76d4b77e9
213 changed files with 8883 additions and 7196579 deletions
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24
PSDK/samples/sample_c/module_sample/perception/test_perception.c
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@ -65,7 +65,7 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
DjiTest_WidgetLogAppend("Perception sample start");
USER_LOG_INFO("--> Step 1: Init Perception module");
DjiTest_WidgetLogAppend("--> Step 1: Init Perception module");
DjiTest_WidgetLogAppend("Step 1: Init Perception module");
returnCode = DjiPerception_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Perception init failed, error code: 0x%08X", returnCode);
@ -75,7 +75,7 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
s_perceptionImageCount = 0;
USER_LOG_INFO("--> Step 2: Get stereo camera parameters\r\n");
DjiTest_WidgetLogAppend("--> Step 2: Get stereo camera parameters\r\n");
DjiTest_WidgetLogAppend("Step 2: Get stereo camera parameters\r\n");
returnCode = DjiPerception_GetStereoCameraParameters(&cameraParametersetersPacket);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get stereo camera parameters failed, error code: 0x%08X", returnCode);
@ -95,6 +95,8 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[6],
cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[7],
cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[8]);
DjiTest_WidgetLogAppend("rcv [%-05s] leftIntrinsics ",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name);
USER_LOG_INFO("[%-05s] rightIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[0],
@ -106,6 +108,8 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[6],
cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[7],
cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[8]);
DjiTest_WidgetLogAppend("rcv [%-05s] rightIntrinsics",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name);
USER_LOG_INFO("[%-05s] rotationLeftInRight = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[0],
@ -117,16 +121,20 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[6],
cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[7],
cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[8]);
DjiTest_WidgetLogAppend("rcv [%-05s] rotationLeftInRight",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name);
USER_LOG_INFO("[%-05s] translationLeftInRight = {%f, %f, %f }\r\n",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[0],
cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[1],
cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[2]);
DjiTest_WidgetLogAppend("rcv [%-05s] translationLeftInRight\r\n",
directionName[cameraParametersetersPacket.cameraParameters[i].direction].name);
osalHandler->TaskSleepMs(100);
}
USER_LOG_INFO("--> Step 3: Subscribe perception image\r\n");
DjiTest_WidgetLogAppend("--> Step 3: Subscribe perception image\r\n");
DjiTest_WidgetLogAppend("Step 3: Subscribe perception image\r\n");
returnCode = DjiPerception_SubscribePerceptionImage(direction, DjiTest_PerceptionImageCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe perception image failed, error code: 0x%08X", returnCode);
@ -136,7 +144,7 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
osalHandler->TaskSleepMs(5000);
USER_LOG_INFO("--> Step 4: Unsubscribe perception image");
DjiTest_WidgetLogAppend("--> Step 4: Unsubscribe perception image");
DjiTest_WidgetLogAppend("Step 4: Unsubscribe perception image");
returnCode = DjiPerception_UnsubscribePerceptionImage(direction);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Unsubscribe perception image failed, error code: 0x%08X", returnCode);
@ -144,7 +152,7 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
}
USER_LOG_INFO("--> Step 5: Deinit Perception module");
DjiTest_WidgetLogAppend("--> Step 5: Deinit Perception module");
DjiTest_WidgetLogAppend("Step 5: Deinit Perception module");
returnCode = DjiPerception_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Perception deinit failed, error code: 0x%08X", returnCode);
@ -153,6 +161,7 @@ T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
out:
USER_LOG_INFO("Perception sample end");
DjiTest_WidgetLogAppend("Perception sample end");
return returnCode;
}
@ -202,6 +211,11 @@ static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo,
imageInfo.dataType,
imageInfo.rawInfo.width,
imageInfo.rawInfo.height);
DjiTest_WidgetLogAppend(
"Save image: dir:%s, pos:%d, size:%dx%d",
imageInfo.dataType,
imageInfo.rawInfo.width,
imageInfo.rawInfo.height);
s_perceptionImageCount++;
}