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已合并
透传imu数据到AR Engine，新增标定参数 #940
wzp111创建于 6月9日
透传imu数据到AR Engine，新增标定参数 #940
已合并
wzp111创建于 6月9日
从wzp111/distributed_cameramaster合入到openharmony/distributedhardware_distributed_cameramaster
共 4 个文件变更+91-1
Mcommon/include/constants/distributed_camera_constants.h+3-1
@@ -165,12 +165,14 @@ const int32_t AR_ACC_TYPE = 2;
165const int32_t AR_GYRO_TYPE = 3;165const int32_t AR_GYRO_TYPE = 3;
166const int32_t AR_DATA_STREAM_WIDTH = 640;166const int32_t AR_DATA_STREAM_WIDTH = 640;
167const int32_t AR_MODE_TAG_OFFSET = 40;167const int32_t AR_MODE_TAG_OFFSET = 40;
168-const uint32_t UNIFORM_METADATA_LEN = 2000;168+const uint32_t UNIFORM_METADATA_LEN = 3000;
169const uint32_t AR_META_DATA_KEY = 8000;169const uint32_t AR_META_DATA_KEY = 8000;
170const uint32_t AR_MODE_ENABLE_IMU = 9;170const uint32_t AR_MODE_ENABLE_IMU = 9;
171const int32_t INT32_T_BYTE_LEN = 4;171const int32_t INT32_T_BYTE_LEN = 4;
172const int32_t UINT64_T_BYTE_LEN = 8;172const int32_t UINT64_T_BYTE_LEN = 8;
173const int32_t FLOAT_T_BYTE_LEN = 4;173const int32_t FLOAT_T_BYTE_LEN = 4;
174+const int32_t CAMERA_EXTRINSIC_NUM = 16;
175+const int32_t CAMERA_INTRINSIC_NUM = 4;
174 176 
175const std::string CHANNEL_DISCONNECTED = "disconnected";177const std::string CHANNEL_DISCONNECTED = "disconnected";
176const std::string PRODUCER = "producer";178const std::string PRODUCER = "producer";
Mservices/cameraservice/sourceservice/include/distributedcameramgr/dcameradata/dcamera_stream_data_process_producer.h+1-0
@@ -76,6 +76,7 @@ private:
76 bool SetIMUTOBuffer(const DCameraBuffer& sharedMemory, const std::shared_ptr<DataBuffer>& buffer);76 bool SetIMUTOBuffer(const DCameraBuffer& sharedMemory, const std::shared_ptr<DataBuffer>& buffer);
77 bool UnmarshalIMUData(const std::string& jsonStr, std::vector<uint8_t>& result);77 bool UnmarshalIMUData(const std::string& jsonStr, std::vector<uint8_t>& result);
78 bool UnmarshalIMUArray(cJSON *imuJsonArray, std::vector<uint8_t>& result, int32_t currentType);78 bool UnmarshalIMUArray(cJSON *imuJsonArray, std::vector<uint8_t>& result, int32_t currentType);
79+ bool UnmarshalCameraIntrin(const std::string& jsonStr, std::vector<uint8_t>& result);
79 int32_t CheckPreconditions(const std::shared_ptr<DataBuffer>& buffer);80 int32_t CheckPreconditions(const std::shared_ptr<DataBuffer>& buffer);
80 81 
81 const uint32_t DCAMERA_PRODUCER_MAX_BUFFER_SIZE = 30;82 const uint32_t DCAMERA_PRODUCER_MAX_BUFFER_SIZE = 30;
Mservices/cameraservice/sourceservice/src/distributedcameramgr/dcameradata/dcamera_stream_data_process_producer.cpp+53-0
@@ -294,6 +294,56 @@ bool DCameraStreamDataProcessProducer::UnmarshalIMUArray(cJSON *imuJsonArray,
294 return true;294 return true;
295}295}
296 296 
297+bool DCameraStreamDataProcessProducer::UnmarshalCameraIntrin(const std::string& jsonStr, std::vector<uint8_t>& result)
hobbycao
hobbycaohobbycao6月17日

解析的json要经过严格校验

likedislike
298+{
299+ cJSON *rootValue = cJSON_Parse(jsonStr.c_str());
300+ CHECK_NULL_RETURN((rootValue == nullptr), false);
301+ cJSON *extrinsicJson = cJSON_GetObjectItemCaseSensitive(rootValue, "extrinsic");
302+ CHECK_AND_FREE_RETURN_RET_LOG((extrinsicJson == nullptr || !cJSON_IsArray(extrinsicJson)), false, rootValue,
303+ "extrinsic parse fail.");
304+ int32_t extrinsicCount = cJSON_GetArraySize(extrinsicJson);
305+ CHECK_AND_FREE_RETURN_RET_LOG((extrinsicCount != CAMERA_EXTRINSIC_NUM), false, rootValue, "extrinsic size error");
306+ for (int32_t i = 0; i < extrinsicCount; i++) {
307+ cJSON *itemJson = cJSON_GetArrayItem(extrinsicJson, i);
308+ CHECK_AND_FREE_RETURN_RET_LOG(!cJSON_IsNumber(itemJson), false, rootValue,
309+ "extrinsic item parse fail.");
310+ float val = static_cast<float>(itemJson->valuedouble);
311+ uint8_t* valBytes = reinterpret_cast<uint8_t*>(&val);
312+ result.insert(result.end(), valBytes, valBytes + FLOAT_T_BYTE_LEN);
313+ }
314+ 
315+ cJSON *intrinJson = cJSON_GetObjectItemCaseSensitive(rootValue, "intrin");
316+ CHECK_AND_FREE_RETURN_RET_LOG((intrinJson == nullptr || !cJSON_IsArray(intrinJson)), false, rootValue,
317+ "intrin parse fail.");
318+ int32_t intrinCount = cJSON_GetArraySize(intrinJson);
319+ CHECK_AND_FREE_RETURN_RET_LOG((intrinCount != CAMERA_INTRINSIC_NUM), false, rootValue, "intrin size error.");
320+ for (int32_t i = 0; i < intrinCount; i++) {
321+ cJSON *itemJson = cJSON_GetArrayItem(intrinJson, i);
322+ CHECK_AND_FREE_RETURN_RET_LOG(!cJSON_IsNumber(itemJson), false, rootValue,
323+ "intrin item parse fail.");
324+ float val = static_cast<float>(itemJson->valuedouble);
325+ uint8_t* valBytes = reinterpret_cast<uint8_t*>(&val);
326+ result.insert(result.end(), valBytes, valBytes + FLOAT_T_BYTE_LEN);
327+ }
328+ 
329+ cJSON *rsTimeJson = cJSON_GetObjectItemCaseSensitive(rootValue, "rollingShutterTime");
330+ CHECK_AND_FREE_RETURN_RET_LOG((rsTimeJson == nullptr || !cJSON_IsNumber(rsTimeJson)), false,
331+ rootValue, "rollingShutterTime parse fail.");
332+ float rollingShutterTime = static_cast<float>(rsTimeJson->valuedouble);
333+ uint8_t* rollingShutterTimeBytes = reinterpret_cast<uint8_t*>(&rollingShutterTime);
334+ result.insert(result.end(), rollingShutterTimeBytes, rollingShutterTimeBytes + FLOAT_T_BYTE_LEN);
335+ 
336+ cJSON *delayCam2IMU = cJSON_GetObjectItemCaseSensitive(rootValue, "xmlGyroTimestampOffset");
337+ CHECK_AND_FREE_RETURN_RET_LOG((delayCam2IMU == nullptr || !cJSON_IsNumber(delayCam2IMU)),
338+ false, rootValue, "xmlGyroTimestampOffset parse fail.");
339+ float xmlGyroTimestampOffset = static_cast<float>(delayCam2IMU->valuedouble);
340+ uint8_t* xmlGyroTimestampOffsetBytes = reinterpret_cast<uint8_t*>(&xmlGyroTimestampOffset);
341+ result.insert(result.end(), xmlGyroTimestampOffsetBytes, xmlGyroTimestampOffsetBytes + FLOAT_T_BYTE_LEN);
342+ 
343+ cJSON_Delete(rootValue);
344+ return true;
345+}
346+ 
297bool DCameraStreamDataProcessProducer::SetIMUTOBuffer(const DCameraBuffer& sharedMemory,347bool DCameraStreamDataProcessProducer::SetIMUTOBuffer(const DCameraBuffer& sharedMemory,
298 const std::shared_ptr<DataBuffer>& buffer)348 const std::shared_ptr<DataBuffer>& buffer)
299{349{
@@ -307,6 +357,9 @@ bool DCameraStreamDataProcessProducer::SetIMUTOBuffer(const DCameraBuffer& share
307 auto eisInfo = buffer->eisInfo_;357 auto eisInfo = buffer->eisInfo_;
308 std::vector<uint8_t> imuData;358 std::vector<uint8_t> imuData;
309 imuData.reserve(UNIFORM_METADATA_LEN);359 imuData.reserve(UNIFORM_METADATA_LEN);
360+ if (!UnmarshalCameraIntrin(eisInfo.initParams, imuData)) {
361+ return false;
362+ }
310 363 
311 int32_t frameID = eisInfo.frameId;364 int32_t frameID = eisInfo.frameId;
312 uint8_t* frameIDBytes = reinterpret_cast<uint8_t*>(&frameID);365 uint8_t* frameIDBytes = reinterpret_cast<uint8_t*>(&frameID);
Mservices/cameraservice/sourceservice/test/unittest/common/distributedcameramgr/dcamera_stream_data_process_producer_test.cpp+34-0
@@ -73,6 +73,12 @@ const std::string IMU_STR = R"({
73 }73 }
74 ]74 ]
75 })";75 })";
76+const std::string CALIBRATION_STR = R"({
77+ "extrinsic": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
78+ "intrin": [1, 1, 1, 1],
79+ "rollingShutterTime": 1,
80+ "xmlGyroTimestampOffset": 1
81+ })";
76}82}
77void DCameraStreamDataProcessProducerTest::SetUpTestCase(void)83void DCameraStreamDataProcessProducerTest::SetUpTestCase(void)
78{84{
@@ -304,6 +310,15 @@ HWTEST_F(DCameraStreamDataProcessProducerTest, dcamera_stream_data_process_produ
304 buffer->eisInfo_.imuData = IMU_STR;310 buffer->eisInfo_.imuData = IMU_STR;
305 buffer->frameInfo_.rawTime = 1000000;311 buffer->frameInfo_.rawTime = 1000000;
306 ret = streamProcess->SetIMUTOBuffer(sharedMemory, buffer);312 ret = streamProcess->SetIMUTOBuffer(sharedMemory, buffer);
313+ EXPECT_EQ(ret, false);
314+ 
315+ auto buffer1 = std::make_shared<DataBuffer>(100);
316+ buffer1->eisInfo_.frameId = 1;
317+ buffer1->eisInfo_.frameTimeStamp = 1;
318+ buffer1->eisInfo_.imuData = IMU_STR;
319+ buffer1->eisInfo_.initParams = CALIBRATION_STR;
320+ buffer1->frameInfo_.rawTime = 1000000;
321+ ret = streamProcess->SetIMUTOBuffer(sharedMemory, buffer1);
307 DCameraSrcImuSensor::GetInstance().SetAREnable(TEST_DEVICE_ID, false);322 DCameraSrcImuSensor::GetInstance().SetAREnable(TEST_DEVICE_ID, false);
308 EXPECT_EQ(ret, false);323 EXPECT_EQ(ret, false);
309}324}
@@ -474,6 +489,25 @@ HWTEST_F(DCameraStreamDataProcessProducerTest, dcamera_stream_data_process_produ
474 EXPECT_EQ(ret, true);489 EXPECT_EQ(ret, true);
475}490}
476 491 
492+/**
493+ * @tc.name: dcamera_stream_data_process_producer_test_0012
494+ * @tc.desc: Verify UnmarshalCameraIntrin func.
495+ * @tc.type: FUNC
496+ * @tc.require: issue
497+ */
498+HWTEST_F(DCameraStreamDataProcessProducerTest, dcamera_stream_data_process_producer_test_0012, TestSize.Level1)
499+{
500+ std::shared_ptr<DCameraStreamDataProcessProducer> streamProcess =
501+ std::make_shared<DCameraStreamDataProcessProducer>(TEST_DEVICE_ID, TEST_CAMERA_DH_ID_0, STREAM_ID_1,
502+ DCStreamType::CONTINUOUS_FRAME);
503+ std::vector<uint8_t> result;
504+ const std::string str = "";
505+ auto ret = streamProcess->UnmarshalCameraIntrin(str, result);
506+ EXPECT_EQ(ret, false);
507+ ret = streamProcess->UnmarshalCameraIntrin(CALIBRATION_STR, result);
508+ EXPECT_EQ(ret, true);
509+}
510+ 
477/**511/**
478 * @tc.name: Start_001512 * @tc.name: Start_001
479 * @tc.desc: Verify DCameraStreamDataProcessProducer Start with CONTINUOUS_FRAME stream type.513 * @tc.desc: Verify DCameraStreamDataProcessProducer Start with CONTINUOUS_FRAME stream type.