149 lines
6.3 KiB
C
Executable File
149 lines
6.3 KiB
C
Executable File
#ifndef _EIS_RSC_LIB_H_
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#define _EIS_RSC_LIB_H_
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#include "kwrap/type.h"
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#define PATH_NUM 2
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#define GYROSCOPE_XYZ 3
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#define ACCELEROMETER_XYZ 3
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#define DISTOR_CURVE_TABLE_NUM 257
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#define UNDISTOR_CURVE_TABLE_NUM 65
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#define QUAT_COEFF_NUM 4
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// camera intrinsic parameters
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typedef struct _CAMERA_INTRINSICS {
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double distor_center[2]; //Ex. distor_center[0] = 960.0, distor_center[1] = 540.0
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double distor_curve[DISTOR_CURVE_TABLE_NUM]; //provided by tool, for warpping image query points to apply distortion
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double undistor_curve[UNDISTOR_CURVE_TABLE_NUM]; //provided by tool, for warpping image query points to apply undistortion
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INT32 focal_length; //pixel, Ex. 1000
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ISIZE calib_img_size; //pixel, Ex. calib_img_size.w = 1920, calib_img_size.h = 1080
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} CAMERA_INTRINSICS;
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typedef enum _CAMERA_AXES {
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CAM_X = 0,
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CAM_Y = 1,
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CAM_Z = 2,
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} CAMERA_AXIS;
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typedef struct _CAMERA_AXIS_MAPPING {
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CAMERA_AXIS axis; //assign corresponding camera axis for each gyro axis
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INT32 sign; //assign axis direction for gyro axis to its corresponding camera axis, Ex. gyro X axis map to camera negative Z axis
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} CAMERA_AXIS_MAPPING;
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typedef enum _IMU_TYPE_SEL {
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GYROSCOPE = 0, //3-axes angular velocity
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GYROSCOPE_ACCELEROMETER = 1, //3-axes angular velocity and 3-axed acceleration
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} IMU_TYPE;
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typedef struct _GYROSCOPE_CONFIG {
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CAMERA_AXIS_MAPPING axes_mapping[GYROSCOPE_XYZ]; //Ex. axes_mapping[0].axis = CAM_Z, axes_mapping[0].sign = -1;
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INT32 sampling_rate; //Ex. 1000 Hz
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double unit_conv; //Ex. gyro_value/unit_conv = rad/s
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} GYROSCOPE_CONFIG;
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typedef struct _ACCELEROMETER_CONFIG {
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CAMERA_AXIS_MAPPING axes_mapping[ACCELEROMETER_XYZ]; //Ex. axes_mapping[0].axis = CAM_Z, axes_mapping[0].sign = -1;
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INT32 sampling_rate; //Ex. 1000 Hz
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double unit_conv; //not sure for now
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} ACCELEROMETER_CONFIG;
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typedef struct _EIS_RSC_OPEN_CFG {
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CAMERA_INTRINSICS cam_intrins; //camera intrinsic parameters acquired by camera calibration
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// IMU parameters
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IMU_TYPE imu_type; //Ex. imu_type = GYROSCOPE;
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GYROSCOPE_CONFIG gyro; //gyroscope configurations
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ACCELEROMETER_CONFIG accel; //accelerometer configurations
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// EIS effect parameters
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INT32 imu_sync_shift_exposure_time_threshold;
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INT32 imu_sync_shift_exposure_time_precent;
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} EIS_RSC_OPEN_CFG;
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typedef enum _LUT_SIZE_SEL {
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LUT_9x9 = 0,
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LUT_65x65 = 3,
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} LUT_SIZE_SEL;
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typedef struct _EIS_RSC_PATH_INFO {
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INT32 path_id;
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INT32 frame_latency;
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ISIZE frame_size;
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LUT_SIZE_SEL lut2d_size_sel;
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} EIS_RSC_PATH_INFO;
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typedef struct _EIS_RSC_BUF {
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UINT32 valid;
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UINT32 *lut2d_buf;
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UINT32 buf_size;
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} EIS_RSC_BUF;
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typedef struct _EIS_RSC_PROC_INFO {
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INT32 path_id;
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UINT64 frame_count;
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INT32 frame_exposure_time; //us
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INT32 *angular_rate[GYROSCOPE_XYZ]; //3-axes angular velocity
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INT32 *acceleration_rate[ACCELEROMETER_XYZ]; //3-axes acceleration
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EIS_RSC_BUF lut2d;
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} EIS_RSC_PROC_INFO;
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typedef enum _IMAGE_ROTATION_SEL {
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//counterclockwise
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ROT_0 = 0,
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ROT_90 = 1, //= -270 clockwise
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ROT_180 = 2, //= -180 clockwise
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ROT_270 = 3, //= -90 clockwise
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} IMG_ROTATE_SEL;
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typedef enum _EIS_RSC_PARAM_ITEM {
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EIS_RSC_PARAM_PATH_INFO, ///< set eis path, using EIS_RSC_PATH_INFO struct
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EIS_RSC_PARAM_FRAME_CNT_RESET, ///< frame count overflow reset
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EIS_RSC_PARAM_FRAME_RATE, ///< change frame rate for AE, using INT32
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EIS_RSC_PARAM_IMU_SAMPLE_NUM_PER_FRAME, ///< change IMU sample number of each frame, using INT32
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EIS_RSC_PARAM_ROTATE_TYPE, ///< set output image rotation type, using IMG_ROTATE_SEL enum
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EIS_RSC_PARAM_COMPEN_CROP_PERCENT, ///< compensation cropping percentage, user setting
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EIS_RSC_PARAM_UNDISTORT_OUTPUT, ///< undistort output, user setting
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EIS_RSC_PARAM_SIE_CROP_START_END_TIME, ///< set SIE crop window time
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EIS_RSC_PARAM_SIE_CROP_END_TO_VD_TIME, ///< set SIE crop end to vd time
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//debug
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EIS_RSC_PARAM_SHOW_LIB_PARAM, ///< Enable printing library parameters
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EIS_RSC_PARAM_SHOW_IMU_DATA, ///< Enable printing gyro data
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EIS_RSC_PARAM_SHOW_CAM_BODY_RATE, ///< Enable printing camera body rate(remapped gyro data)
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EIS_RSC_PARAM_SHOW_ACTUAL_FRM_CENTER_QUAT, ///< Enable printing actual frame center quaternion
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EIS_RSC_PARAM_SHOW_ACTUAL_LINE_QUAT, ///< Enable printing actual line quaternion
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EIS_RSC_PARAM_SHOW_STABLE_FRM_CENTER_QUAT, ///< Enable printing stable frame center quaternion
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EIS_RSC_PARAM_SHOW_LINE_COMPEN_QUAT, ///< Enable printing line compensation quaternion
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EIS_RSC_PARAM_SHOW_WARPING_TABLE, ///< Enable printing warping table
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EIS_RSC_PARAM_SHOW_2DLUT_CHECKSUM, ///< Enable printing 2dlut checksum
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EIS_RSC_PARAM_SHOW_EXPOSURE_TIME, ///< Enable printing exposure time
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EIS_RSC_PARAM_COMPEN_VERIF_ENABLE, ///< Enable compensation verification switch
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EIS_RSC_PARAM_DISABLE_ROLL_SHUT_CORRECT, ///< Disable rolling shutter correction
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EIS_RSC_PARAM_DISABLE_STABILIZATION, ///< Disable stabilization
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EIS_RSC_PARAM_DISABLE_WARPING_TABLE_CALCULATION,///< Disable warping table calculation
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EIS_RSC_PARAM_DISABLE_CAM_MODEL_UNDISTORT, ///< Disable camera model undistortion
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EIS_RSC_PARAM_ADJUST_GYRO_TIME_SHIFT, ///< Adjust gyro time shift with image sensor
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EIS_RSC_PARAM_ADJUST_ROLL_SHUT_READOUT_TIME, ///< Adjust rolling shutter readout time
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EIS_RSC_PARAM_ADJUST_FOCAL_LENGTH, ///< Adjust focal length
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EIS_RSC_PARAM_ADJUST_DISTORT_CENTER_X, ///< Adjust distort center X
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EIS_RSC_PARAM_ADJUST_DISTORT_CENTER_Y, ///< Adjust distort center Y
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EIS_RSC_PARAM_ADJUST_IMU_SYNC_SHIFT_EXPO_TIME_THRES, ///< Adjust IMU sync shift exposure time thres
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EIS_RSC_PARAM_ADJUST_IMU_SYNC_SHIFT_EXPO_TIME_PRECENT, ///< Adjust IMU sync shift exposure time ratio
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EIS_RSC_PARAM_SET_STABLE_TRAJECTORY_COEFF_1, ///< Set stable trajectory coeff 1
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EIS_RSC_PARAM_SET_STABLE_TRAJECTORY_COEFF_2, ///< Set stable trajectory coeff 2
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EIS_RSC_PARAM_SET_STABLE_TRAJECTORY_COEFF_3, ///< Set stable trajectory coeff 3
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ENUM_DUMMY4WORD(EIS_RSC_PARAM_ID)
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} EIS_RSC_PARAM_ID;
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BOOL eis_rsc_open(EIS_RSC_OPEN_CFG *p_open_cfg);
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BOOL eis_rsc_close(void);
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BOOL eis_rsc_process(EIS_RSC_PROC_INFO *p_proc_info);
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BOOL eis_rsc_set(EIS_RSC_PARAM_ID param_id, VOID *p_param);
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BOOL eis_rsc_get(EIS_RSC_PARAM_ID param_id, VOID *p_param);
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INT32 eis_rsc_get_2dlut_size(LUT_SIZE_SEL sz_sel);
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UINT32 eis_rsc_get_2dlut_buffer_size(LUT_SIZE_SEL sz_sel);
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VOID eis_rsc_show_configuration(VOID);
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//BOOL generate_fusion_weight_map(UINT8 *p_wt_map, ISIZE map_size, INT32 smooth_length);
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#endif
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