K230 DPU API Reference#
Overview#
Overview#
The DPU is mainly responsible for the depth calculation of 3D structured light and provides depth information for 3D face recognition.
Functional Description#
Binding mode calling process#
Non-binding mode calling process#
API Reference#
DPU usage#
This function module provides the following APIs:
kd_mpi_dpu_init#
Description
Initialize dpu device
Syntax
k_s32 kd_mpi_dpu_init(k_dpu_init_t *init);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
init |
Initialize the structure pointer of the dpu device. |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None.
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
None
Example
None
Related Topics
kd_mpi_dpu_delete#
Description
Delete the initialized dpu device.
Syntax
k_s32 kd_mpi_dpu_delete();
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
None |
None |
None |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
This function delete dpu needs to be called after the dpu device has been initialized.
Example
None
Related Topics
None
kd_mpi_dpu_parse_file#
Description
Parse dpu configuration parameters from the dpu configuration file.
Syntax
k_s32 kd_mpi_dpu_parse_file(const k_char *param_path, k_dpu_dev_param_t *param, k_dpu_lcn_param_t *lcn_param, k_dpu_ir_param_t *ir_param, k_dpu_user_space_t *g_temp_space);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
param_path |
The path to the configuration file |
Input |
param |
The structure pointer of dpu device parameters. The device parameters parsed from the configuration file are stored in this structure. |
Output |
lcn_param |
lcn is the structure pointer of the channel parameter. The channel parameters parsed from the configuration file are stored in this structure. |
Output |
ir_param |
ir is the structure pointer of the channel parameter. The channel parameters parsed from the configuration file are stored in this structure. |
Output |
g_temp_space |
Template map structure pointer, the first address of the template map parsed from the configuration file is stored in this structure. |
Output |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
Dpu device parameters include long-cycle parameters and short-cycle parameters.
The two channel parameters lcn_param and ir_param are a subset of the dpu device parameters. If the dpu device parameters have been configured, these two channel parameters can be ignored. If you need to change the parameters in the two channel parameter structures, you can either change the channel parameters and then call kd_mpi_dpu_set_chn_attr to make the changes take effect, or you can change the device parameters and then call kd_mpi_dpu_set_dev_attr to make the changes take effect. If only the channel parameters are changed, it is more efficient to call kd_mpi_dpu_set_chn_attr.
The template map structure contains the virtual address and physical address of the template map parsed from the configuration file, as well as the size of the template map.
Example
None
Related Topics
kd_mpi_dpu_set_dev_attr#
Description
Configure dpu device properties.
Syntax
k_s32 kd_mpi_dpu_set_dev_attr(k_dpu_dev_attr_t *attr);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
attr |
dpu device properties |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
This function can be called to configure the dpu device properties only after the dpu device is initialized.
When configuring the dpu device properties for the first time, tytz_temp_recfg and align_depth_recfg in attr should be configured as K_TRUE to enable the dpu to load the corresponding parameters. When the DPU device attributes are subsequently changed, if the corresponding long-period parameters have not changed, configuring these two members to K_FALSE can save the time for the DPU to load the long-period parameters again.
Example
None
Related Topics
kd_mpi_dpu_get_dev_attr#
Description
Get dpu device properties.
Syntax
k_s32 kd_mpi_dpu_set_dev_attr(k_dpu_dev_attr_t *attr);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
attr |
dpu device properties |
Output |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
None
Example
None
Related Topics
kd_mpi_dpu_set_ref_image#
Description
Configure dpu reference diagram.
Syntax
k_s32 kd_mpi_dpu_set_ref_image(const k_char *ref_path);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
ref_path |
Reference map path |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
You need to call this function to configure the reference map after configuring the dpu device properties.
Example
None
Related Topics
None
kd_mpi_dpu_set_processed_ref_image#
Description
Configure the dpu reference map after offline processing.
Syntax
k_s32 kd_mpi_dpu_set_processed_ref_image(const k_char *ref_path);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
ref_path |
Processed reference image path |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
You need to call this function to configure the reference image after configuring the dpu device properties. The configured reference image needs to be processed offline. Calling this function can save about 70ms compared to kd_mpi_dpu_set_ref_image.
Example
None
Related Topics
None
kd_mpi_dpu_set_template_image#
Description
Configure dpu template map
Syntax
k_s32 kd_mpi_dpu_set_template_image(k_dpu_user_space_t *temp_space);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
temp_space |
Template graph structure. |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
You need to call this function to configure the reference map after configuring the dpu device properties.
temp_space needs to be passed in as a parameter at kd_mpi_dpu_parse_file to obtain the template graph information from the configuration file.
Example
None
Related Topics
kd_mpi_dpu_start_dev#
Description
Start the dpu device
Syntax
k_s32 kd_mpi_dpu_start_dev();
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
None |
None |
None |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
None
Example
None
Related Topics
None
kd_mpi_dpu_set_chn_attr#
Description
Configure dpu channel properties
Syntax
k_s32 kd_mpi_dpu_set_chn_attr(k_dpu_chn_lcn_attr_t *lcn_attr, k_dpu_chn_ir_attr_t *ir_attr);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
lcn_attr |
Speckle plot channel properties. |
Input |
ir_attr |
Infrared image channel properties. |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
The current dpu device has two channels: 0 and 1. Specify the respective input and output channels of the speckle image and infrared image by configuring lcn_attr->chn_num and ir_attr->chn_num (if the infrared image channel is enabled).
After starting the dpu device kd_mpi_dpu_start_dev for the first time, this function should be called to configure the channel attributes. The speckle image channel must be configured, and the infrared image channel does not need to be configured if it is not enabled (configuration is NULL).
If you only need to change the attributes of a certain channel during operation, you can only pass in the structure parameters of this channel, and the parameters of another channel can be NULL. You can also pass in the parameters of two channels at the same time. If the parameters of both channels are NULL, this configuration will not take effect.
Example
None
Related Topics
kd_mpi_dpu_get_chn_attr#
Description
Get dpu channel properties.
Syntax
k_s32 kd_mpi_dpu_get_chn_attr(k_dpu_chn_lcn_attr_t *lcn_attr, k_dpu_chn_ir_attr_t *ir_attr);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
lcn_attr |
Speckle plot channel properties. |
Output |
ir_attr |
Infrared image channel properties. |
Output |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
None
Example
None
Related Topics
kd_mpi_dpu_start_chn#
Description
Start dpu channel
Syntax
k_s32 kd_mpi_dpu_start_chn(k_u32 chn_num);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
chn_num |
Channel number |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
Channel number should be 0 or 1.
Example
None
Related Topics
None
kd_mpi_dpu_stop_chn#
Description
stop dpu channel
Syntax
k_s32 kd_mpi_dpu_stop_chn(k_u32 chn_num);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
chn_num |
Channel number |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
Channel number should be 0 or 1.
Example
None
Related Topics
None
kd_mpi_dpu_send_frame#
Description
In unbound mode, sends a frame of data to the dpu.
Syntax
k_s32 kd_mpi_dpu_send_frame(k_u32 chn_num, k_u64 addr, k_s32 s32_millisec);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
chn_num |
Channel number |
Input |
addr |
Physical address to send data to |
Input |
s32_millisec |
Waiting time. When this parameter is set to -1, the blocking mode will not return until the transmission is successful; when this parameter is set to 0, the non-blocking mode will return zero immediately if the transmission is successful, and other values will be returned immediately if the transmission fails. For specific failure information, refer to dpu error code; |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
If the speckle image and infrared image channels are enabled at the same time, the infrared image and speckle image need to be strictly cross-input.
Example
None
Related Topics
None
kd_mpi_dpu_get_frame#
Description
Get a frame of data from dpu.
Syntax
k_s32 kd_mpi_dpu_get_frame(k_u32 chn_num, k_dpu_chn_result_u *result, k_s32 s32_millisec);
Parameters
Parameter Name |
Description |
Input/Output |
|---|---|---|
chn_num |
Channel number |
Input |
result |
dpu output result union, its member variables are k_dpu_chn_lcn_result_t and k_dpu_chn_ir_result_t respectively. Which member is selected as the output result of this channel is decided by the user according to the configuration of kd_mpi_dpu_set_chn_attr. |
Output |
s32_millisec |
Waiting time. When this parameter is set to -1, the blocking mode will not return until the acquisition is successful; when this parameter is set to 0, the non-blocking mode will return zero immediately if the acquisition is successful, and other values will be returned immediately if the acquisition fails. For specific failure information, refer to dpu error code; |
Input |
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
If the infrared image and speckle image are enabled at the same time, be careful to remove the output results of the two channels in time, otherwise the results in the buffer will overflow and further input will be impossible.
Example
None
Related Topics
k_dpu_chn_result_u k_dpu_chn_lcn_result_t k_dpu_chn_ir_result_t k_dpu_disp_out_t k_dpu_depth_out_t k_dpu_ir_out_t k_dpu_qlt_out_t
kd_mpi_dpu_release_frame#
Description
In unbound mode, release the obtained result.
Syntax
k_s32 kd_mpi_dpu_release_frame();
Parameters
None
Return Value
Return Value |
Description |
|---|---|
0 |
Success |
non-0 |
Failure, please refer to the error code for its value. |
Chip differences
None
Requirements
Header File: mpi_dpu_api.h
Library File: libdpu.a
Notes
This function will release the data in the buffer sequentially, with the result generated first being released first. The current dpu buffer is 3. Please release the results obtained by kd_mpi_dpu_get_frame as soon as possible after using them.
Example
None
Related Topics
None
data type#
public data type#
This module has the following data types:
k_dpu_init_t#
Description
dpu device initialization structure
definition
typedef struct {
k_u32 start_num;
k_u32 buffer_num;
} k_dpu_init_t;
member
member name |
Description |
|---|---|
start_num |
dpu device starting frame number (that is, the frame number of the first frame calculated by dpu). |
buffer_num |
The number of dpu cache buffers, at least 1 |
Notes
None
Related Data Types and Interfaces
k_dpu_dev_param_t#
Description
dpu device parameter structure.
definition
typedef struct
{
k_dpu_long_parameter_t lpp;
k_dpu_short_parameter_t spp;
} k_dpu_dev_param_t;
member
member name |
Description |
|---|---|
lpp |
dpu long period parameter structure |
spp |
dpu short period parameter structure |
Notes
When users need to change the values in long-period parameters, they should use virtual address member variables.
Related Data Types and Interfaces
k_dpu_lcn_param_t#
Description
Speckle map channel parameter structure.
definition
typedef struct {
k_u8 matching_length_left_p0;
k_u8 matching_length_right_p0;
float image_check_match_threshold;
float depth_p1;
float depth_p2;
float depth_precision;
} k_dpu_lcn_param_t;
member
member name |
Description |
|---|---|
matching_length_left_p0 |
Coarse search: disparity calculation left search range, value: 0~256, integer |
matching_length_right_p0 |
Coarse search: disparity calculation search range to the right, value: 0~256, integer |
image_check_match_threshold |
Speckle pattern quality assessment: template matching threshold, value range: 0.0~1.0, floating point type: 0.01 accuracy |
depth_p1 |
Parallax to depth: depth numerical calculation coefficient p1, value range: 0.0~50000.0, floating point type: 0.01 accuracy |
depth_p2 |
Parallax to depth: depth numerical calculation coefficient p2, value range: -5.0~100.0, floating point type: 0.01 accuracy |
depth_precision |
Parallax to depth: depth numerical precision (multiple), value range: 0.0~100.0, floating point type: 0.1 precision |
Notes
This channel structure parameter is a subset of the device structure parameters. If the device parameters have been configured and the channel parameters are the same as the device parameters, you do not need to configure the channel parameters.
Related Data Types and Interfaces
k_dpu_ir_param_t#
Description
Infrared image channel parameter structure.
definition
typedef struct {
float depth_k1;
float depth_k2;
float tz;
} k_dpu_ir_param_t;
member
member name |
Description |
|---|---|
depth_k1 |
Directly corresponds to a register. Alignment of three images: depth numerical calculation coefficient k1, value range: 2e-4~1e-2, floating point type: 1e-5 accuracy |
depth_k2 |
Directly corresponds to a register. Alignment of three images: depth numerical calculation coefficient k2, value range: 0.5~1.5, floating point type: 0.001 accuracy |
tz |
Directly corresponds to a register. Alignment of three images: projector z-direction offset (mm), value range: -5.0~5.0, floating point type: 0.001 accuracy |
Notes
This channel structure parameter is a subset of the device structure parameters. If the device parameters have been configured and the channel parameters are the same as the device parameters, you do not need to configure the channel parameters.
Related Data Types and Interfaces
k_dpu_user_space_t#
Description
The user obtains the parameters of the template graph structure.
definition
typedef struct {
k_bool used;
k_u32 size;
k_u64 phys_addr;
void *virt_addr;
} k_dpu_user_space_t;
member
member name |
Description |
|---|---|
used |
Users do not need to pay attention |
size |
The size of the template image obtained by the user |
phys_addr |
The physical address of the template map |
virt_addr |
The virtual address of the template map |
Notes
None
Related Data Types and Interfaces
k_dpu_dev_attr_t#
Description
Configure the dpu device attribute structure.
definition
typedef struct {
k_dpu_mode_e mode;
k_bool tytz_temp_recfg;
k_bool align_depth_recfg;
k_bool ir_never_open;
k_u32 param_valid;
k_dpu_dev_param_t dev_param;
} k_dpu_dev_attr_t;
member
member name |
Description |
|---|---|
mode |
dpu running mode, including bound mode and unbound mode. |
tytz_temp_recfg |
Whether to update the loaded SAD temperature compensation parameters and TyTz line compensation calculation algorithm. When this flag is K_FALSE, it indicates no update. When this flag is K_TRUE, it indicates update. |
align_depth_recfg |
Whether to update the alignment/depth calculation parameters of loading three images. When this flag is K_FALSE, it indicates no update. When this flag is K_TRUE, it indicates update. |
ir_never_open |
The vb pool is configured when the dpu device is started and is released when the dpu device is paused. Its size is initialized when the device is started, so when the device is started, space is reserved for a total of five parts: depth/parallax map, infrared output, quality detection, thickness column parallax, and initial determinant difference. Users can choose whether to enable three-image alignment through dev_param.spp.flag_align during the usage period. If there will be no infrared image output during the entire use cycle, there is no need to reserve space for the infrared image. Configuring it to K_TRUE indicates that there is no need to reserve space for infrared image output, and configuring it to K_FALSE indicates that space needs to be reserved for infrared image output. |
param_valid |
When the user configures the dpu device attribute, set this member to an arbitrary non-zero value. When the device attribute takes effect, the arbitrary value will be returned in the output result of the corresponding effective frame. |
dev_param |
dpu device parameter structure. |
Notes
When configuring the dpu device properties for the first time, tytz_temp_recfg and align_depth_recfg should be configured as K_TRUE to enable the dpu to load the corresponding parameters.
Related Data Types and Interfaces
k_dpu_chn_lcn_attr_t#
Description
Configure the speckle map channel attribute structure
definition
typedef struct {
k_u8 param_valid;
k_s32 chn_num;
k_dpu_lcn_param_t lcn_param;
} k_dpu_chn_lcn_attr_t;
member
member name |
Description |
|---|---|
param_valid |
When the user configures the speckle pattern channel attributes, set this member to an arbitrary non-zero value. When the device attribute takes effect, the arbitrary value will be returned in the output result of the corresponding effective frame. |
chn_num |
Channel number. The current DPU device has a total of two channels. The user can set this channel number to 0 or 1, and the speckle pattern channel will be input and output in the corresponding channel. If the infrared image channel is enabled, this channel number should be different from the infrared image channel number. |
lcn_param |
Speckle map channel parameters. |
Notes
None
Related Data Types and Interfaces
k_dpu_chn_ir_attr_t#
Description
Configure the infrared image channel attribute structure
definition
typedef struct {
k_u8 param_valid;
k_s32 chn_num;
k_dpu_ir_param_t ir_param;
} k_dpu_chn_ir_attr_t;
member
member name |
Description |
|---|---|
param_valid |
When the user configures the speckle pattern channel attributes, set this member to an arbitrary non-zero value. When the device attribute takes effect, the arbitrary value will be returned in the output result of the corresponding effective frame. |
chn_num |
Channel number. The current DPU device has a total of two channels. The user can set this channel number to 0 or 1, and the infrared image channel will be input and output in the corresponding channel. This channel number should be different from the speckle plot channel number. |
ir_param |
Infrared image channel parameters. |
Notes
None
Related Data Types and Interfaces
k_dpu_chn_result_u#
Description
Get the union of dpu output results
definition
typedef union {
k_dpu_chn_lcn_result_t lcn_result;
k_dpu_chn_ir_result_t ir_result;
} k_dpu_chn_result_u;
member
member name |
Description |
|---|---|
lcn_result |
Speckle map channel output result structure. k_dpu_chn_lcn_result_t |
ir_result |
Infrared image channel output result structure. k_dpu_chn_ir_result_t |
Notes
Which member the user selects as the output result needs to be selected according to the user’s own configuration. In kd_mpi_dpu_set_chn_attr, the user configures the corresponding relationship between channel number and channel type.
Related Data Types and Interfaces
k_dpu_chn_lcn_result_t k_dpu_chn_ir_result_t kd_mpi_dpu_get_frame
k_dpu_chn_lcn_result_t#
Description
dpu The structure of the output result of the speckle map channel
definition
typedef struct {
k_u32 time_ref;
k_u64 pts;
k_dpu_disp_out_t disp_out;
k_dpu_depth_out_t depth_out;
k_dpu_qlt_out_t qlt_out;
k_dpu_param_flag_t flag;
} k_dpu_chn_lcn_result_t;
member
member name |
Description |
|---|---|
pts |
Timestamp, valid in binding mode. |
disp_out |
Disparity map output result structure. |
depth_out |
Depth map output result structure. |
qlt_out |
Quality inspection output result structure. Including quality inspection results, thickness_column disparity (initial resolution) results, and initial determinant difference results. |
flag |
This structure is used to mark the frame in which the user-configured parameters take effect. The structure contains param_valid variables in k_dpu_dev_attr_t, k_dpu_chn_lcn_attr_t, and k_dpu_chn_ir_attr_t. |
Notes
None
Related Data Types and Interfaces
k_dpu_disp_out_t k_dpu_depth_out_t k_dpu_qlt_out_t kd_mpi_dpu_get_frame
k_dpu_chn_ir_result_t#
Description
dpu structure of infrared image channel output result
definition
typedef struct {
k_u32 time_ref;
k_u64 pts;
k_dpu_ir_out_t ir_out;
k_dpu_param_flag_t flag;
} k_dpu_chn_ir_result_t;
member
member name |
Description |
|---|---|
pts |
Timestamp, valid in binding mode. |
ir_out |
Infrared image output result structure. |
flag |
This structure is used to mark the frame in which the user-configured parameters take effect. The structure contains param_valid variables in k_dpu_dev_attr_t, k_dpu_chn_lcn_attr_t, and k_dpu_chn_ir_attr_t. |
Notes
None
Related Data Types and Interfaces
k_dpu_disp_out_t#
Description
The structure of the disparity map output result
definition
typedef struct {
k_bool valid;
k_u32 length;
k_u64 disp_phys_addr;
k_u64 disp_virt_addr;
} k_dpu_disp_out_t;
member
member name |
Description |
|---|---|
valid |
K_TRUE: indicates that the output result is valid; K_FALSE: indicates that the output result is invalid. |
length |
The length of the output result. |
disp_phys_addr |
Disparity map output results physical address. |
disp_virt_addr |
The disparity map outputs the resulting virtual address. |
Notes
None
Related Data Types and Interfaces
k_dpu_depth_out_t#
Description
Structure of depth map output result
definition
typedef struct {
k_bool valid;
k_u32 length;
k_u64 depth_phys_addr;
k_u64 depth_virt_addr;
} k_dpu_depth_out_t;
member
member name |
Description |
|---|---|
valid |
K_TRUE: indicates that the output result is valid; K_FALSE: indicates that the output result is invalid. |
length |
The length of the output result. |
depth_phys_addr |
The physical address of the depth map output result. |
depth_virt_addr |
Depth map output result virtual address. |
Notes
None
Related Data Types and Interfaces
k_dpu_ir_out_t#
Description
Structure of infrared image output result
definition
typedef struct {
k_bool valid;
k_u32 length;
k_u64 ir_phys_addr;
k_u64 ir_virt_addr;
} k_dpu_ir_out_t;
member
member name |
Description |
|---|---|
valid |
K_TRUE: indicates that the output result is valid; K_FALSE: indicates that the output result is invalid. |
length |
The length of the output result. |
ir_phys_addr |
The physical address of the infrared image output result. |
ir_virt_addr |
Infrared image output result virtual address. |
Notes
None
Related Data Types and Interfaces
k_dpu_qlt_out_t#
Description
Structure of quality inspection output results
definition
typedef struct {
k_bool valid;
k_u32 qlt_length;
k_u32 sad_disp_length;
k_u32 init_sad_disp_length;
k_u64 qlt_phys_addr;
k_u64 qlt_virt_addr;
k_u64 sad_disp_phys_addr;
k_u64 sad_disp_virt_addr;
k_u64 init_sad_disp_phys_addr;
k_u64 init_sad_disp_virt_addr;
} k_dpu_qlt_out_t;
member
member name |
Description |
|---|---|
valid |
K_TRUE: indicates that the output result is valid; K_FALSE: indicates that the output result is invalid. |
qlt_length |
Quality inspection output result length. |
sad_disp_length |
Thick and thin column disparity (initial resolution) output result length. |
init_sad_disp_length |
The length of the initial determinant difference output result. |
qlt_phys_addr |
The physical address of the quality inspection output result. |
qlt_virt_addr |
Quality inspection output result virtual address. |
sad_disp_phys_addr |
Thick and thin column disparity (original resolution) output results physical address. |
sad_disp_virt_addr |
Thick and thin column disparity (original resolution) output results virtual address. |
init_sad_disp_phys_addr |
The initial determinant difference outputs the resulting physical address. |
init_sad_disp_virt_addr |
The initial determinant difference outputs the resulting virtual address. |
Notes
None
Related Data Types and Interfaces
Long and short period parameter types#
This module has the following data types:
k_dpu_long_parameter_t#
Description
dpu long period parameter structure
definition
There are too many long-period parameter members, which are not shown here. You can refer to the structure k_dpu_long_parameter_t in k_dpu_comm.h in K230_SDK.
Notes
When users need to change the values in long-period parameters, they should use virtual address member variables.
Related Data Types and Interfaces
k_dpu_dev_param_t kd_mpi_dpu_parse_file kd_mpi_dpu_set_dev_attr
k_dpu_short_parameter_t#
Description
dpu short period parameter structure
definition
There are too many short-period parameter members, which are not shown here. You can refer to the structure k_dpu_short_parameter_t in k_dpu_comm.h in K230_SDK.
Notes
None
Related Data Types and Interfaces
k_dpu_dev_param_t kd_mpi_dpu_set_dev_attr kd_mpi_dpu_get_dev_attr
error code#
dpu error code#
Table 41
error code |
Macro definition |
Description |
|---|---|---|
0xa0118001 |
K_ERR_DPU_INVALID_DEVID |
Invalid device number |
0xa0118002 |
K_ERR_DPU_INVALID_CHNID |
Invalid channel number |
0xa0118003 |
K_ERR_DPU_ILLEGAL_PARAM |
Parameter error |
0xa0118004 |
K_ERR_DPU_EXIST |
DPU device already exists |
0xa0118005 |
K_ERR_DPU_UNEXIST |
DPU device does not exist |
0xa0118006 |
K_ERR_DPU_NULL_PTR |
Null pointer error |
0xa0118007 |
K_ERR_DPU_NOT_CONFIG |
DPU not configured yet |
0xa0118008 |
K_ERR_DPU_NOT_SUPPORT |
Unsupported features |
0xa0118009 |
K_ERR_DPU_NOT_PERM |
Operation not allowed |
0xa011800c |
K_ERR_DPU_NOMEM |
Failed to allocate memory, such as insufficient system memory |
0xa011800d |
K_ERR_DPU_NOBUF |
Not enough BUFF |
0xa011800e |
K_ERR_DPU_BUF_EMPTY |
BUFF is empty |
0xa011800f |
K_ERR_DPU_BUF_FULL |
BUFF is full |
0xa0118010 |
K_ERR_DPU_NOTREADY |
Device is not ready |
0xa0118011 |
K_ERR_DPU_BADADDR |
wrong address |
0xa0118012 |
K_ERR_DPU_BUSY |
DPU is in busy state |
debugging information#
Overview#
The debugging information uses the proc file system, which can reflect the current running status of the system in real time. The recorded information can be used for problem location and analysis.
File directory
/proc/
Document list
File name |
Description |
|---|---|
umap/dpu |
Record some information about the current dpu module |
debugging information#
debugging information
----------------------DPU Device Information----------------------
--------------------Pathway Switch Information--------------------
downScale: false align: false
align_ir: false align_rgbCoord: false
depthout: false denoise: false
median_p0: false median_denoise: false
median_post: false median_ir: false
check: false
----------------------Image Size Information----------------------
width_speckle: 0 height_speckle: 0
width_color: 0 height_color: 0
width_output: 0 height_output: 0
---------------------Result Length Information--------------------
sad_disp_x: 0 init_sad_disp_xy: 0
quanlity_check: 0 ir: 0
disp/depth: 0
----------------------------Frame Count---------------------------
from open to close, dpu has send 0 frames
Path selection information
parameter |
describe |
|---|---|
downScale |
Whether to coarse search and reduce resolution |
align |
Whether the three pictures are aligned |
align_ir |
Whether the infrared image is aligned |
align_rgbCoord |
Whether disparity values are aligned to the color map coordinate system |
depthout |
Whether to output depth map |
denoise |
Whether to denoise the disparity map |
median_p0 |
Whether to use coarse search median filtering |
median_denoise |
Whether to disparity denoise internal median filtering |
median_post |
Whether to disparity post-processing/three-image alignment disparity map median filtering |
median_ir |
Whether to align three images with infrared image median filtering |
check |
Whether object speckle pattern quality detection and initial search |
Image size information
parameter |
describe |
|---|---|
width_speckle |
Original speckle image/infrared image width pixel number |
height_speckle |
Original speckle image/infrared image height pixel number |
width_color |
Original color image width in pixels |
height_color |
Original color image height pixels |
width_output |
Output disparity image/depth image/infrared image width pixel number |
height_output |
Output disparity image/depth image/infrared image height pixel number |
Result length information
parameter |
describe |
|---|---|
sad_disp_x |
Thick and Thin Column Disparity (Initial Resolution) Result Length |
init_sad_disp_xy |
Initial row-column disparity output result length |
quanlity_check |
Quality test result length |
ir |
Infrared image result length |
disp/depth |
Disparity map/depth map result length |
Debugging information needs to be viewed while the DPU is running. After the DPU ends running, all current information will be reset to zero.
demo description#
dpu demo introduction#
The dpu demo implements two modes: bound and unbound. Enter /bin/sample_dpu.elf in msh to execute the non-bound mode, and it will end after running for ten frames; enter /bin/sample_dpu.elf BOUND in msh to execute the bound mode, using vvi as the simulation superior to continuously input data to the dpu, and the information will be displayed after the dpu calculation is completed.
Feature Description#
The demo includes functions such as initializing and deleting dpu, parsing parameters from configuration files, configuring device properties, configuring channel properties, starting and pausing devices, starting and pausing channels, input and output data, pipeline binding, etc.
Unbound mode#
Complete the initialization of the DPU device by calling the API, parse the parameters from the configuration file, configure the device properties according to the parsed parameters, call the API to set the reference image and template image, start the DPU device, configure the speckle image and infrared image channel properties, start the channel, input ten frames in a loop and compare the results before stopping, stop the channel, stop the device, and delete the device.
binding mode#
Complete the initialization of the dpu device by calling the API, parse the parameters from the configuration file, bind the vvi and dpu channels, configure the device properties according to the parsed parameters, call the API to set the reference image and template image, start the dpu device, configure the speckle image and infrared image channel properties, start the dpu channel, start the vvi channel, vvi serves as the simulated superior data to continuously input data to the dpu. The user enters e to stop the channel and device.
Compile and execute#
For compilation and execution, please refer to the document “K230 SDK Demo User Guide”.