- 内参表格示例
2. isx031驱动
cpp
diff --git a/drivers/sensor/isx031std/inc/isx031std_setting.h b/drivers/sensor/isx031std/inc/isx031std_setting.h
index cc65f41..4452264 100644
--- a/drivers/sensor/isx031std/inc/isx031std_setting.h
+++ b/drivers/sensor/isx031std/inc/isx031std_setting.h
@@ -17,6 +17,7 @@ uint8_t ext_trig_mfp
#define FLASH_ADDR 2 // 0x00000
#define FLASH_ADDR1 1 // 0xC0000
#define FLASH_ADDR3 3 // 0xC8000
+#define FLASH_ADDR4 4 // 0x80000
enum MODE_TYPE {
HIKVISION_M24F217D4P0A2_S2R0T8E5,
@@ -32,7 +33,7 @@ enum MODE_TYPE {
LC032_M24F100D4P1A1_S0R0T8E3, // 10
SHINE_M25F200D4P1A1_S2R0T8E5, // 11
BLDCAS_M25F198D4P1A1_S2R0T8E5, // 12
- OFILM_M24F200D4P1A1_S2R7T8E3, // 13
+ OFILM_M24F200D4P0A4_S2R7T8E3, // 13
MODE_TYPE_MAX,
MODE_TYPE_NUM,
};
diff --git a/drivers/sensor/isx031std/isx031std_utility.c b/drivers/sensor/isx031std/isx031std_utility.c
index 4903fd0..9461b13 100755
--- a/drivers/sensor/isx031std/isx031std_utility.c
+++ b/drivers/sensor/isx031std/isx031std_utility.c
@@ -28,10 +28,10 @@
#define I2C_SMBUS_BLOCK_MAX 32
#endif
-#define EFL_X_ADDR_031 (0x00)
-#define EFL_Y_ADDR_031 (0x04)
-#define COD_X_ADDR_031 (0x08)
-#define COD_Y_ADDR_031 (0x12)
+#define EFL_X_ADDR_031 (0x07)
+#define EFL_Y_ADDR_031 (0x0B)
+#define COD_X_ADDR_031 (0x6F)
+#define COD_Y_ADDR_031 (0x73)
#define K1_ADDR_031 (0x1C)
#define K2_ADDR_031 (0x20)
#define P1_ADDR_031 (0xD0)
@@ -40,6 +40,32 @@
#define K4_ADDR_031 (0x30)
#define K5_ADDR_031 (0xF0)
#define K6_ADDR_031 (0xF8)
+// Ultron_W project
+#define C1_ADDR_031 (0x13)
+#define C2_ADDR_031 (0x17)
+#define C3_ADDR_031 (0x1B)
+#define C4_ADDR_031 (0x1F)
+#define C5_ADDR_031 (0x23)
+#define A1_ADDR_031 (0x2B)
+#define A2_ADDR_031 (0x2F)
+#define A3_ADDR_031 (0x33)
+#define A4_ADDR_031 (0x37)
+#define A5_ADDR_031 (0x3B)
+#define A6_ADDR_031 (0x3F)
+#define A7_ADDR_031 (0x43)
+#define A8_ADDR_031 (0x47)
+#define A9_ADDR_031 (0x4B)
+#define A10_ADDR_031 (0x4F)
+#define A11_ADDR_031 (0x53)
+#define A12_ADDR_031 (0x57)
+#define A13_ADDR_031 (0x5B)
+
+#define AFFINE_C_ADDR_031 (0x5F)
+#define AFFINE_D_ADDR_031 (0x63)
+#define AFFINE_E_ADDR_031 (0x67)
+
+#define SERIAL_NUM_ADDR_031 (0x49)
+
#define INTRIN_DATA_SIZE 58
#define STR_LEN 128
@@ -159,7 +185,7 @@ static emode_data_t emode_data[MODE_TYPE_MAX] = {
.serial_rclk_out = 0,
.rclk_mfp = 0,
},
- [OFILM_M24F200D4P1A1_S2R7T8E3] = {
+ [OFILM_M24F200D4P0A4_S2R7T8E3] = {
.serial_addr = 0x40,
.sensor_addr = 0x1a,
.serial_rclk_out = 1,
@@ -181,7 +207,7 @@ static const sensor_emode_type_t sensor_emode[MODE_TYPE_NUM] = {
SENSOR_EMADD(LC032_M24F100D4P1A1_S0R0T8E3, "0.0.1", "NULL", "NULL", &emode_data[LC032_M24F100D4P1A1_S0R0T8E3]),
SENSOR_EMADD(SHINE_M25F200D4P1A1_S2R0T8E5, "0.0.1","NULL", "NULL", &emode_data[SHINE_M25F200D4P1A1_S2R0T8E5]),
SENSOR_EMADD(BLDCAS_M25F198D4P1A1_S2R0T8E5, "0.0.1","NULL", "NULL", &emode_data[BLDCAS_M25F198D4P1A1_S2R0T8E5]),
- SENSOR_EMADD(OFILM_M24F200D4P1A1_S2R7T8E3, "0.0.1","NULL", "NULL", &emode_data[OFILM_M24F200D4P1A1_S2R7T8E3]),
+ SENSOR_EMADD(OFILM_M24F200D4P0A4_S2R7T8E3, "0.0.1","NULL", "NULL", &emode_data[OFILM_M24F200D4P0A4_S2R7T8E3]),
SENSOR_EMEND(),
};
@@ -1150,7 +1176,109 @@ static int flash_read(sensor_info_t *sensor_info, uint8_t addr,
// Address settings of the Serial NOR Flash Device
buf[0] = 0x00;
buf[1] = 0x08;
- buf[2] = 0x00;
+ buf[2] = 0x10;
+ buf[3] = 0x00;
+ // Execution of a subcommand
+ buf[4] = 0x5a;
+ buf_size = 5;
+
+ // Serial NOR Flash read request (Host -> Sensor)
+ ret = flash_i2c_write_retry(sensor_info->bus_num, sensor_info->sensor_addr,
+ reg_addr, reg_size, buf, buf_size);
+ if (ret < 0) {
+ vin_err("%s : Serial NOR FLash Read request failed\n",
+ sensor_info->sensor_name);
+ }
+ (void)usleep(10 * 1000);
+
+ // Buffer read request (Host -> Sensor)
+ while (bytes > 0) {
+ memset(buf, 0, I2C_SMBUS_BLOCK_MAX);
+ reg_size = 2;
+ memset(reg_addr, 0, reg_size);
+ reg_addr[0] = 0x00;
+ reg_addr[1] = addr + offset;
+
+ if (bytes > I2C_SMBUS_BLOCK_MAX - reg_size) {
+ buf_size = I2C_SMBUS_BLOCK_MAX - reg_size;
+ ret = flash_i2c_read_retry(sensor_info->bus_num, sensor_info->sensor_addr,
+ reg_addr, reg_size, buf, buf_size);
+ if (ret < 0) {
+ vin_err("%s : read reg_addr 0x%x for %d bytes failed\n",
+ sensor_info->sensor_name, reg_addr[1], buf_size);
+ }
+ } else {
+ buf_size = bytes;
+ ret = flash_i2c_read_retry(sensor_info->bus_num, sensor_info->sensor_addr,
+ reg_addr, reg_size, buf, buf_size);
+ if (ret < 0) {
+ vin_err("%s : read reg_addr 0x%x for %d bytes failed\n",
+ sensor_info->sensor_name, reg_addr[1], buf_size);
+ }
+ }
+ memcpy(data + offset, buf, buf_size);
+ bytes -= buf_size;
+ offset += buf_size;
+ }
+ (void)usleep(10 * 1000);
+
+ // Serial NOR Flash access lock request (Host -> Sensor)
+ ret = hb_vin_i2c_write_reg16_data8(sensor_info->bus_num,
+ sensor_info->sensor_addr, 0xFFFF, 0xF5);
+ if (ret < 0) {
+ vin_err("%s : Serial NOR FLash Access lock request failed\n",
+ sensor_info->sensor_name);
+ }
+ (void)usleep(2 * 1000);
+
+ return ret;
+}
+
+
+static int flash_read_2(sensor_info_t *sensor_info, uint8_t addr,
+ uint8_t* data, uint32_t bytes)
+{
+ int ret = 0;
+ uint8_t reg_addr[4] = {0};
+ uint8_t reg_size = 0;
+ uint8_t buf[I2C_SMBUS_BLOCK_MAX] = {0};
+ uint8_t buf_size = 0;
+ uint8_t offset = 0;
+
+ ret = flash_size_set(sensor_info);
+ if (ret < 0) {
+ vin_err("%s : Serial NOR FLash size set failed\n",
+ sensor_info->sensor_name);
+ }
+
+ // Serial NOR Flash access unlock request (Host -> Sensor)
+ ret = hb_vin_i2c_write_reg16_data8(sensor_info->bus_num,
+ sensor_info->sensor_addr, 0xFFFF, 0xF4);
+ if (ret < 0) {
+ vin_err("%s : Serial NOR FLash Access unlock request failed\n",
+ sensor_info->sensor_name);
+ }
+ (void)usleep(2 * 1000);
+
+ // Serial NOR Flash all read request (Host -> Sensor)
+ ret = hb_vin_i2c_write_reg16_data8(sensor_info->bus_num,
+ sensor_info->sensor_addr, 0xFFFF, 0xF7);
+ if (ret < 0) {
+ vin_err("%s : Serial NOR FLash Access request failed\n",
+ sensor_info->sensor_name);
+ }
+ (void)usleep(2 * 1000);
+
+ // Serial NOR Flash Read Subcommand
+ reg_addr[0] = 0x80;
+ reg_addr[1] = 0x00;
+ reg_addr[2] = 0x01;
+ reg_size = 3;
+
+ // Address settings of the Serial NOR Flash Device
+ buf[0] = 0x00;
+ buf[1] = 0x08;
+ buf[2] = 0x20;
buf[3] = 0x00;
// Execution of a subcommand
buf[4] = 0x5a;
@@ -1603,6 +1731,219 @@ ret_clear:
return ret;
}
+typedef enum {
+ WRITE_MODE_WRITE,
+ WRITE_MODE_APPEND,
+ WRITE_MODE_BINARY
+} WriteMode;
+
+static int write_to_file(const char *filepath, const char *content, WriteMode mode) {
+ if (filepath == NULL) {
+ vin_err("file path is null\n");
+ return -1;
+ }
+
+ if (content == NULL) {
+ vin_err("content is null\n");
+ return -2;
+ }
+
+ const char *open_mode;
+ switch (mode) {
+ case WRITE_MODE_WRITE:
+ open_mode = "w";
+ break;
+ case WRITE_MODE_APPEND:
+ open_mode = "a";
+ break;
+ case WRITE_MODE_BINARY:
+ open_mode = "wb";
+ break;
+ default:
+ open_mode = "w";
+ }
+
+ FILE *file = fopen(filepath, open_mode);
+ if (file == NULL) {
+ vin_err("Open file failed");
+ return -3;
+ }
+
+ int result = fprintf(file, "%s", content);
+
+ if (fclose(file) != 0) {
+ vin_err("Close file failed");
+ return -6;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief 将 BCD 码数组转换为十进制字符串
+ * @param bcd_buf 输入的 BCD 码数组
+ * @param len 数组长度
+ * @param out_str 输出字符串缓冲区
+ * @param out_size 输出缓冲区大小
+ * @param is_packed 是否为紧凑 BCD (true: 1字节存2数字, false: 1字节存1数字)
+ * @return int 成功返回输出的字符串长度，失败返回 -1
+ */
+int bcd_to_str(const uint8_t *bcd_buf, int len, char *out_str, int out_size, bool is_packed) {
+ if (!bcd_buf || !out_str || len <= 0 || out_size <= 0) {
+ return -1;
+ }
+
+ int str_idx = 0;
+
+ for (int i = 0; i < len; i++) {
+ uint8_t byte = bcd_buf[i];
+
+ if (is_packed) {
+ // --- 紧凑模式 (Packed BCD) ---
+ // 处理高4位 (十位)
+ uint8_t high = (byte >> 4) & 0x0F;
+ if (high <= 9) {
+ if (str_idx + 1 >= out_size) return -1; // 缓冲区溢出检查
+ out_str[str_idx++] = high + '0';
+ }
+
+ // 处理低4位 (个位)
+ uint8_t low = byte & 0x0F;
+ if (low <= 9) {
+ if (str_idx + 1 >= out_size) return -1;
+ out_str[str_idx++] = low + '0';
+ }
+ } else {
+ // --- 非紧凑模式 (Unpacked BCD) ---
+ // 直接使用 bcd_to_dec_single 转换整个字节
+ // 注意：非紧凑模式下，通常高4位为0或无效，只看低4位
+ // 但为了兼容你提供的函数，这里直接调用它
+ uint8_t val = bcd_to_dec_single(byte);
+
+ // 如果 val 是两位数 (例如 0x12 -> 12)，需要拆分字符
+ if (val >= 10) {
+ if (str_idx + 2 >= out_size) return -1;
+ out_str[str_idx++] = (val / 10) + '0';
+ out_str[str_idx++] = (val % 10) + '0';
+ } else {
+ if (str_idx + 1 >= out_size) return -1;
+ out_str[str_idx++] = val + '0';
+ }
+ }
+ }
+
+ // 字符串结束符
+ if (str_idx >= out_size) return -1;
+ out_str[str_idx] = '\0';
+
+ return str_idx;
+}
+
+int32_t sensor_intrinsic_params_from_flash_addr4(sensor_info_t *si,
+ sensor_intrinsic_parameter_t *sip)
+{
+ int ret = RET_OK;
+ uint8_t intrin_raw_data[308] = {0};
+ uint8_t intrin_raw_data_2[123] = {0};
+ char filepath[256] = {0};
+ char buffer[1024];
+ int result = 0;
+
+
+ ret = flash_read(si, 0x0, intrin_raw_data,
+ sizeof(intrin_raw_data));
+ if (ret < 0) {
+ vin_err("%s : flash_read failed\n", si->sensor_name);
+ }
+
+ sip->focal_u = float_trans_from_char(intrin_raw_data, EFL_X_ADDR_031);
+ sip->focal_v = float_trans_from_char(intrin_raw_data, EFL_Y_ADDR_031);
+ sip->center_u = float_trans_from_char(intrin_raw_data, COD_X_ADDR_031);
+ sip->center_v = float_trans_from_char(intrin_raw_data, COD_Y_ADDR_031);
+ sip->k1_2 = float_trans_from_char(intrin_raw_data, C1_ADDR_031);
+ sip->k2_2 = float_trans_from_char(intrin_raw_data, C2_ADDR_031);
+ sip->k3_2 = float_trans_from_char(intrin_raw_data, C3_ADDR_031);
+ sip->k4_2 = float_trans_from_char(intrin_raw_data, C4_ADDR_031);
+ sip->k14 = float_trans_from_char(intrin_raw_data, C5_ADDR_031);
+ sip->k1 = float_trans_from_char(intrin_raw_data, A1_ADDR_031);
+ sip->k2 = float_trans_from_char(intrin_raw_data, A2_ADDR_031);
+ sip->k3 = float_trans_from_char(intrin_raw_data, A3_ADDR_031);
+ sip->k4 = float_trans_from_char(intrin_raw_data, A4_ADDR_031);
+ sip->k5 = float_trans_from_char(intrin_raw_data, A5_ADDR_031);
+ sip->k6 = float_trans_from_char(intrin_raw_data, A6_ADDR_031);
+ sip->k7 = float_trans_from_char(intrin_raw_data, A7_ADDR_031);
+ sip->k8 = float_trans_from_char(intrin_raw_data, A8_ADDR_031);
+ sip->k9 = float_trans_from_char(intrin_raw_data, A9_ADDR_031);
+ sip->k10 = float_trans_from_char(intrin_raw_data, A10_ADDR_031);
+ sip->k11 = float_trans_from_char(intrin_raw_data, A11_ADDR_031);
+ sip->k12 = float_trans_from_char(intrin_raw_data, A12_ADDR_031);
+ sip->k13 = float_trans_from_char(intrin_raw_data, A13_ADDR_031);
+ sip->pp_x = float_trans_from_char(intrin_raw_data, AFFINE_C_ADDR_031);
+ sip->pp_y = float_trans_from_char(intrin_raw_data, AFFINE_D_ADDR_031);
+ sip->cam_skew = float_trans_from_char(intrin_raw_data, AFFINE_E_ADDR_031);
+
+ ret = flash_read_2(si, 0x0, intrin_raw_data_2,
+ sizeof(intrin_raw_data_2));
+ if (ret < 0) {
+ vin_err("%s : flash_read_2 failed\n", si->sensor_name);
+ }
+
+ bcd_to_str(intrin_raw_data_2 + SERIAL_NUM_ADDR_031, 8, sip->serial_num, 18, true);
+
+ // filepath = "/tmp/isx031_intrinsic_params.txt";
+ snprintf(filepath, sizeof(filepath), "/tmp/bus%d_cam%d_intrinsic_params.txt", si->deserial_index, si->deserial_port);
+ snprintf(buffer, sizeof(buffer), "SN:\n");
+ result = write_to_file(filepath, buffer, WRITE_MODE_WRITE);
+ if (result != 0) {
+ vin_err("SN title write failed\n");
+ }
+ // example SN: 2026030700009223
+ snprintf(buffer, sizeof(buffer), "%s\n", sip->serial_num);
+ result = write_to_file(filepath, buffer, WRITE_MODE_APPEND);
+ if (result != 0) {
+ vin_err("SN write failed\n");
+ }
+ snprintf(buffer, sizeof(buffer), "Intrinsic Params:\n");
+ result = write_to_file(filepath, buffer, WRITE_MODE_APPEND);
+ if (result != 0) {
+ vin_err("Intrinsic title write failed\n");
+ }
+ snprintf(buffer, sizeof(buffer), "focal_u: %f, focal_v: %f, center_u: %f, center_v: %f, c1: %f, c2: %f, c3: %f, c4: %f, c5: %f, a1: %f, a2: %f, a3: %f, a4: %f, a5: %f, a6: %f, a7: %f, a8: %f, a9: %f, a10: %f, a11: %f, a12: %f, a13: %f, affine_c: %f, affine_d: %f, affine_e: %f\n",
+ sip->focal_u, sip->focal_v, sip->center_u, sip->center_v,
+ sip->k1_2, sip->k2_2, sip->k3_2, sip->k4_2, sip->k14,
+ sip->k1, sip->k2, sip->k3, sip->k4, sip->k5,
+ sip->k6, sip->k7, sip->k8, sip->k9, sip->k10,
+ sip->k11, sip->k12, sip->k13, sip->pp_x, sip->pp_y, sip->cam_skew);
+ result = write_to_file(filepath, buffer, WRITE_MODE_APPEND);
+ if (result != 0) {
+ vin_err("Intrinsic write failed\n");
+ }
+ vin_info("Write to file %s done\n", filepath);
+
+ vin_info("Serial Number: %s\n", sip->serial_num);
+ vin_info("focal_u:%0.12f focal_v:%0.12f center_u:%0.12f center_v:%0.12f\n",
+ sip->focal_u, sip->focal_v, sip->center_u, sip->center_v);
+ vin_info("c1:%0.12f c2:%0.12f c3:%0.12f c4:%0.12f c5:%0.12f\n",
+ sip->k1_2, sip->k2_2, sip->k3_2, sip->k4_2, sip->k14);
+ vin_info("a1:%0.12f a2:%0.12f a3:%0.12f a4:%0.12f a5:%0.12f\n",
+ sip->k1, sip->k2, sip->k3, sip->k4, sip->k5);
+ vin_info("a6:%0.12f a7:%0.12f a8:%0.12f a9:%0.12f a10:%0.12f\n",
+ sip->k6, sip->k7, sip->k8, sip->k9, sip->k10);
+ vin_info("a11:%0.12f a12:%0.12f a13:%0.12f\n",
+ sip->k11, sip->k12, sip->k13);
+ vin_info("affine_c:%0.12f affine_d:%0.12f affine_e:%0.12f\n",
+ sip->pp_x, sip->pp_y, sip->cam_skew);
+
+// Register Access request (Host -> Sensor)
+ ret = hb_vin_i2c_write_reg16_data8(si->bus_num,
+ si->sensor_addr, 0xFFFF, 0x00);
+ if (ret < 0) {
+ vin_err("%s : Register Access request failed\n",
+ si->sensor_name);
+ }
+ return RET_OK;
+}
+
static int get_intrinsic_params_from_flash(sensor_info_t *si,
sensor_intrinsic_parameter_t *sip)
{
@@ -1631,6 +1972,9 @@ static int get_intrinsic_params_from_flash(sensor_info_t *si,
case FLASH_ADDR3:
ret = sensor_intrinsic_params_from_flash_addr3(si, sip);
break;
+ case FLASH_ADDR4:
+ ret = sensor_intrinsic_params_from_flash_addr4(si, sip);
+ break;
default:
return -1;
break;
@@ -1848,14 +2192,14 @@ static int32_t get_intrinsic_params(sensor_info_t *si,
break;
}
- vin_info("img_h:%d img_w:%d type:0x%x vendor:0x%x module_serial:0x%x\n",
- sip->image_height, sip->image_width, sip->cam_type, sip->vendor_id, sip->module_serial);
- vin_info("focal_u:%0.12lf focal_v:%0.12lf center_u:%0.12lf center_v:%0.12lf\n",
- sip->focal_u, sip->focal_v, sip->center_u, sip->center_v);
- vin_info("fov:%0.12lf k1:%0.12lf k2:%0.12lf p1:%0.12lf p2:%0.12lf\n",
- sip->hfov, sip->k1, sip->k2, sip->p1, sip->p2);
- vin_info("k3:%0.12lf k4:%0.12lf k5:%0.12lf k6:%0.12lf, crc_group1:%d\n",
- sip->k3, sip->k4, sip->k5, sip->k6, sip->crc_group1);
+ // vin_info("img_h:%d img_w:%d type:0x%x vendor:0x%x module_serial:0x%x\n",
+ // sip->image_height, sip->image_width, sip->cam_type, sip->vendor_id, sip->module_serial);
+ // vin_info("focal_u:%0.12lf focal_v:%0.12lf center_u:%0.12lf center_v:%0.12lf\n",
+ // sip->focal_u, sip->focal_v, sip->center_u, sip->center_v);
+ // vin_info("fov:%0.12lf k1:%0.12lf k2:%0.12lf p1:%0.12lf p2:%0.12lf\n",
+ // sip->hfov, sip->k1, sip->k2, sip->p1, sip->p2);
+ // vin_info("k3:%0.12lf k4:%0.12lf k5:%0.12lf k6:%0.12lf, crc_group1:%d\n",
+ // sip->k3, sip->k4, sip->k5, sip->k6, sip->crc_group1);
return ret;
}- sample vin
cpp
< typedef struct cam_intrinsic_parameter_s {
< uint8_t sn[40];
< double focal_u;
< double focal_v;
< double center_u;
< double center_v;
< double c1;
< double c2;
< double c3;
< double c4;
< double c5;
< double a1;
< double a2;
< double a3;
< double a4;
< double a5;
< double a6;
< double a7;
< double a8;
< double a9;
< double a10;
< double a11;
< double a12;
< double a13;
< double affine_c;
< double affine_d;
< double affine_e;
< } cam_intrinsic_parameter_t;
<
62,228d31
< // 从文件读取参数并填充到data结构体（只解析需要的参数）
< int read_cam_intrinsic_data(cam_intrinsic_parameter_t *data, const char *filename) {
< if (filename == NULL) {
< printf("get calibration file name is NULL\n");
< return -1;
< }
<
< // 打开文件
< FILE* file = fopen(filename, "r");
< if (!file) {
< printf("Failed to open calibration file: %s", filename);
< return -1;
< }
<
< // 初始化数据
< memset(data, 0, sizeof(cam_intrinsic_parameter_t));
<
< char line[256];
< char param_line[1024];
< bool found_sn = false;
< bool found_params = false;
<
< // 根据相机类型确定要查找的标签
< const char* target_label = "Intrinsic Params:";
<
< // 读取文件内容，只解析需要的部分
< while (fgets(line, sizeof(line), file)) {
< // 移除行尾的换行符
< size_t len = strlen(line);
< if (len > 0 && line[len - 1] == '\n') {
< line[len - 1] = '\0';
< }
<
< // 跳过空行
< if (line[0] == '\0') {
< continue;
< }
<
< // 解析SN（只需要一次）
< if (!found_sn && strncmp(line, "SN:", 3) == 0) {
< char* sn_start = line + 3;
< // 跳过空格
< while (*sn_start == ' ') sn_start++;
<
< // 情况1: SN在同一行，如"SN: P008GYX5825E2B001"
< if (*sn_start != '\0') {
< strncpy(&data->sn, sn_start, sizeof(data->sn) - 1);
< data->sn[sizeof(data->sn) - 1] = '\0';
< found_sn = true;
< } else {// 情况2: SN在单独一行，如文件中的格式
< // 读取下一行作为SN
< if (fgets(line, sizeof(line), file)) {
< // 移除行尾的换行符和前导空格
< len = strlen(line);
< if (len > 0 && line[len - 1] == '\n') {
< line[len - 1] = '\0';
< len--;
< }
<
< // 跳过前导空格
< int i = 0;
< while (i < len && line[i] == ' ') i++;
<
< if (i < len) { // 确保不是空行
< strncpy(&data->sn, line + i, sizeof(data->sn) - 1);
< data->sn[sizeof(data->sn) - 1] = '\0';
< found_sn = true;
< }
< }
< }
<
< // 如果已经找到参数，可以提前退出
< if (found_params) {
< break;
< }
< continue;
< }
<
< // 查找目标参数标签
< if (!found_params && strstr(line, target_label) != NULL) {
< // 读取下一行参数（使用大缓冲区，因为该行很长）
< if (fgets(param_line, sizeof(param_line), file)) {
< // 移除换行符
< len = strlen(param_line);
< if (len > 0 && param_line[len - 1] == '\n') param_line[len - 1] = '\0';
<
< // 解析参数行
< double focal_u;
< double focal_v;
< double center_u;
< double center_v;
< double c1;
< double c2;
< double c3;
< double c4;
< double c5;
< double a1;
< double a2;
< double a3;
< double a4;
< double a5;
< double a6;
< double a7;
< double a8;
< double a9;
< double a10;
< double a11;
< double a12;
< double a13;
< double affine_c;
< double affine_d;
< double affine_e;
<
< int parsed = sscanf(param_line,
< "focal_u: %lf, focal_v: %lf, center_u: %lf, center_v: %lf, c1: %lf, c2: %lf, c3: %lf, c4: %lf, c5: %lf, a1: %lf, a2: %lf, a3: %lf, a4: %lf, a5: %lf, a6: %lf, a7: %lf, a8: %lf, a9: %lf, a10: %lf, a11: %lf, a12: %lf, a13: %lf, affine_c: %lf, affine_d: %lf, affine_e: %lf",
< &focal_u, &focal_v, ¢er_u, ¢er_v, &c1, &c2, &c3, &c4, &c5, &a1, &a2, &a3, &a4, &a5, &a6, &a7, &a8, &a9, &a10, &a11, &a12, &a13, &affine_c, &affine_d, &affine_e);
<
< // if (parsed == 25) {
< if (parsed == 25) {
< // 赋值给data结构体
< data->focal_u = focal_u;
< data->focal_v = focal_v;
< data->center_u = center_u;
< data->center_v = center_v;
< data->c1 = c1;
< data->c2 = c2;
< data->c3 = c3;
< data->c4 = c4;
< data->c5 = c5;
< data->a1 = a1;
< data->a2 = a2;
< data->a3 = a3;
< data->a4 = a4;
< data->a5 = a5;
< data->a6 = a6;
< data->a7 = a7;
< data->a8 = a8;
< data->a9 = a9;
< data->a10 = a10;
< data->a11 = a11;
< data->a12 = a12;
< data->a13 = a13;
< data->affine_c = affine_c;
< data->affine_d = affine_d;
< data->affine_e = affine_e;
< found_params = true;
<
< // 如果已经找到SN，可以提前退出
< if (found_sn) {
< break;
< }
< } else {
< printf("Failed to parse params, parsed %d parameters\n", parsed);
< }
< }
< continue;
< }
<
< // 如果已经找到SN和参数，提前退出循环
< if (found_sn && found_params) {
< break;
< }
< }
<
< fclose(file);
< return 0;
< }
333,357d135
< // 读取内参
< cam_intrinsic_parameter_t intrinsic_params = {0};
< char filepath[256] = {0};
< snprintf(filepath, sizeof(filepath), "/tmp/bus%d_cam%d_intrinsic_params.txt", pipe_contex.csi_config.mipi_rx, (int)link_port);
< printf("Reading intrinsic parameters from file: %s\n", filepath);
<
< ret = read_cam_intrinsic_data(&intrinsic_params, filepath);
< if (ret != 0) {
< printf("Failed to read intrinsic parameters from file. ret = %d\n", ret);
< } else {
< printf("Intrinsic parameters read successfully:\n");
< printf("SN: %s\n", intrinsic_params.sn);
< printf("focal_u: %0.24f, focal_v: %0.24f, center_u: %0.24f, center_v: %0.24f\n",
< intrinsic_params.focal_u, intrinsic_params.focal_v,
< intrinsic_params.center_u, intrinsic_params.center_v);
< printf("c1: %0.24f, c2: %0.24f, c3: %0.24f, c4: %0.24f, c5: %0.24f\n",
< intrinsic_params.c1, intrinsic_params.c2, intrinsic_params.c3,
< intrinsic_params.c4, intrinsic_params.c5);
< printf("a1: %0.24f, a2: %0.24f, a3: %0.24f, a4: %0.24f, a5: %0.24f, a6: %0.24f, a7: %0.24f, a8: %0.24f, a9: %0.24f, a10: %0.24f, a11: %0.24f, a12: %0.24f, a13: %0.24f\n",
< intrinsic_params.a1, intrinsic_params.a2, intrinsic_params.a3, intrinsic_params.a4, intrinsic_params.a5,
< intrinsic_params.a6, intrinsic_params.a7, intrinsic_params.a8, intrinsic_params.a9, intrinsic_params.a10, intrinsic_params.a11, intrinsic_params.a12, intrinsic_params.a13);
< printf("affine_c: %0.24f, affine_d: %0.24f, affine_e: %0.24f\n",
< intrinsic_params.affine_c, intrinsic_params.affine_d, intrinsic_params.affine_e);
< }
<
537c315
< printf("hbn_vnode_getframe %d CIM failed(%d)\n", (int)ochn_id, ret);
---
> printf("hbn_vnode_getframe %d CIM failed(%d)\n", ochn_id, ret);
544c322
< (int)vin_node_handle, (int)ochn_id,
---
> (int)vin_node_handle, ochn_id,
575c353
< printf("Dump successful: %s (size: %ld)\n", dst_file, (long)sizeof(dst_file));
---
> printf("Dump successful: %s (size: %ld)\n", dst_file, sizeof(dst_file));
590c368
< char option;
---
> char option = 'a';
602c380
< break;
---
> return;