321 lines
12 KiB
C
321 lines
12 KiB
C
#ifndef __DVS_APP_H__
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#define __DVS_APP_H__
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#include <stdint.h>
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#include "rk_aiq_mems_sensor.h"
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/*
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* @enum rk_dvs_format_type_t
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* @brief Specify the format of input image
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*/
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typedef enum {
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RK_DVS_PIXEL_FMT_GRAY, /**< Gray */
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RK_DVS_PIXEL_FMT_NV21, /**< NV21 */
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RK_DVS_PIXEL_FMT_NV12, /**< NV12 */
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RK_DVS_PIXEL_FMT_NUM,
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} rk_dvs_format_type_t;
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#if 0
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typedef struct sensor_vec_s {
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union {
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double v[3];
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struct {
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double x;
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double y;
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double z;
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};
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};
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} sensor_vec_t;
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typedef struct uncalib_event_s {
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union {
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double uncalib[3];
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struct {
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double x_uncalib;
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double y_uncalib;
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double z_uncalib;
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};
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};
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union {
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double bias[3];
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struct {
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double x_bias;
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double y_bias;
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double z_bias;
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};
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};
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} uncalib_event_t;
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typedef sensor_vec_t gyro_data_t;
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typedef sensor_vec_t accel_data_t;
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typedef int temperature_data_t;
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typedef struct sensor_vec_all_s {
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gyro_data_t gyro;
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accel_data_t accel;
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temperature_data_t temperature;
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} sensor_vec_all_t;
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typedef struct mems_sensor_event_s {
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uint64_t id;
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uint64_t timestamp_us;
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union {
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double data[16];
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accel_data_t accel;
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gyro_data_t gyro;
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temperature_data_t temperature;
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sensor_vec_all_t all;
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uncalib_event_t uncalib_gyro;
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uncalib_event_t uncalib_accel;
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};
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} mems_sensor_event_t;
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#endif
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struct dvsImageSize {
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int width;
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int height;
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};
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// initial params
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struct initialParams {
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rk_dvs_format_type_t image_format; // input image format
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dvsImageSize input_image_size; // input image size
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dvsImageSize output_image_size; // output image size
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int image_buffer_number; // number of image buffer
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int image_stride; // input image width width extra invalid pixels
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int auto_scaling; // output image will be upscale
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double clip_ratio_x; // clip ratio in x direction
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double clip_ratio_y; // clip ratio in y direction
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};
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struct dvsMetaData {
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int iso_speed; // iso speed
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double exp_time; // exposure time. unit: second.
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double
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rolling_shutter_skew; // unit: second. Duration between the start of exposure for the first
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// row of the image sensor,and the start of exposure for one past the
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double zoom_ratio; // zoom ratio
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uint64_t timestamp_sof_us; // sof time
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};
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// input image params
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struct imageData {
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int buffer_index; // image buffer index
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int frame_index; // image index
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int pyramid_number; // pyramid number,Range[0-4](1/2,1/4,1/8,1/16)
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int* pyramid_stride; // pyramid image stride
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uint8_t** pdata_pyramid; // pyramid image
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uint8_t* pdata_original; // original image
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dvsMetaData meta_data; // image meta data
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};
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//输出结构体
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struct meshxyFEC {
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int mesh_buffer_index; // mesh index
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int image_buffer_index; // mesh表对应图像buffer的index
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int image_index; // mesh表对应图像的index
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int is_skip; //是否跳帧，0:不跳帧;1:跳帧，跳帧时，输出的mesh表为上一帧的mesh表
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unsigned long mesh_size; // mesh表的长度
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// FEC所需的四个小表
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unsigned short* pMeshXI;
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unsigned char* pMeshXF;
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unsigned short* pMeshYI;
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unsigned char* pMeshYF;
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};
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//接口结构体
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struct dvsEngine {
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void* private_data; // dvs库所需参数
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};
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extern "C" {
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typedef int (*dvsFrameCallBackFEC)(struct dvsEngine* engine, meshxyFEC* mesh_fec);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsRegisterRemap()
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* Author: lmp
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* Description: callback function
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* Input: engine: Engine instance pointer
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* callback: callback function
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsRegisterRemap(struct dvsEngine* engine, dvsFrameCallBackFEC callback);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsPrepare()
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* Author: lmp
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* Description: Prepare dvs engine environment
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* Input: engine: Engine instance pointer
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsPrepare(struct dvsEngine* engine);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : getMeshSize()
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* Author: lmp
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* Description: get mesh size
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* Input: image_height: image height
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* image_width: image width
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* mesh_size: mesh size
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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void getMeshSize(int image_height, int image_width, int* mesh_size);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : getOriginalMeshXY()
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* Author: lmp
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* Description: get original mesh
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* Input: image_height: image height
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* image_width: image width
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* clip_ratio_x:
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* clip_ratio_y:
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* Output: meshxyFEC: mesh
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/04/08 1.0 org
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*
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*************************************************************************************************/
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void getOriginalMeshXY(int image_width, int image_height, double clip_ratio_x, double clip_ratio_y,
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meshxyFEC* pmesh_fec);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsPutImageFrame()
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* Author: lmp
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* Description: put image in dvs
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* Input: engine: Engine instance pointer
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* pimage_data: image_data
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsPutImageFrame(struct dvsEngine* engine, struct imageData* pimage_data);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsPutImageFrame()
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* Author: lmp
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* Description: put image in dvs
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* Input: engine: Engine instance pointer
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* pmesh_fec: fec mesh
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsPutMesh(struct dvsEngine* engine, struct meshxyFEC* pmesh_fec);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsPutImuFrame()
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* Author: lmp
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* Description: put imu data in dvs
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* Input: engine: Engine instance pointer
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* pimu_data: imu data
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* buff_number: imu buffer number
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsPutImuFrame(struct dvsEngine* engine, mems_sensor_event_s* pimu_data, int buff_number);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsInitFromXmlFile()
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* Author: lmp
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* Description: initialize dvs from xml
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* Input: engine: Engine instance pointer
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* path: xml path
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsInitFromXmlFile(struct dvsEngine* engine, const char* path);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsInitFromFile()
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* Author: lmp
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* Description: initialize dvs from struct
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* Input: engine: Engine instance pointer
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* init_params: initial params struct
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 17/03/31 2.0 org
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*
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*************************************************************************************************/
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int dvsInitParams(struct dvsEngine* engine, struct initialParams* init_params);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsStart()
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* Author: lmp
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* Description: start dvs
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* Input: engine: Engine instance pointer
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsStart(struct dvsEngine* engine);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsRequestStop()
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* Author: lmp
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* Description: request dvs stop
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* Input: engine: Engine instance pointer
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsRequestStop(struct dvsEngine* engine);
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/*************************************************************************************************
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* Copyright (C),2021, Fuzhou Rockchip Co.,Ltd.
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* Function name : dvsDeinit()
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* Author: lmp
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* Description: finish dvs
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* Input: engine: Engine instance pointer
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* Return: ??
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* History:
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* <author> <time> <version> <desc>
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* lmp 15/03/21 1.0 org
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*
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*************************************************************************************************/
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int dvsDeinit(struct dvsEngine* engine);
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}
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#endif // __DVS_APP_H__
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