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/*
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* Copyright (c) 2020 Rockchip Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef __GENMESH_H__
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#define __GENMESH_H__
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#define INV_POLY_COEFF_NUM 21 /* 多项式系数个数, 最高次数(INV_POLY_COEFF_NUM-1)次 */
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enum RKALGO_LDCH_VERSION_E
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{
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RKALGO_LDCH_VERSION_0 = 0, /* old version: for rv1109，rv1126，rk356x，rk3588 */
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RKALGO_LDCH_VERSION_1 = 1, /* new version: for 1106，rk3562 */
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RKALGO_LDCH_VERSION_BUTT
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};
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/* 相机参数 */
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struct CameraCoeff
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{
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double cx, cy; /* 镜头的光心 */
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double a0, a2, a3, a4; /* 镜头的畸变系数 */
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double c, d, e; /* 内参[c d;e 1] */
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double sf; /* sf控制视角, sf越大视角越大 */
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/* level = 0时的rho-tanTheta多项式拟合 */
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int invPolyTanNum0; /* 拟合后的系数个数 */
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double invPolyTanCoeff0[INV_POLY_COEFF_NUM]; /* 多项式系数, 最高次数(INV_POLY_COEFF_NUM-1)次 */
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/* level = 0时的rho-cotTheta多项式拟合 */
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int invPolyCotNum0; /* 拟合后的系数个数 */
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double invPolyCotCoeff0[INV_POLY_COEFF_NUM]; /* 多项式系数, 最高次数(INV_POLY_COEFF_NUM-1)次 */
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/* level = 255时的rho-tanTheta多项式拟合 */
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int invPolyTanNum255; /* 拟合后的系数个数 */
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double invPolyTanCoeff255[INV_POLY_COEFF_NUM]; /* 多项式系数, 最高次数(INV_POLY_COEFF_NUM-1)次 */
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/* level = 255时的rho-cotTheta多项式拟合 */
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int invPolyCotNum255; /* 拟合后的系数个数 */
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double invPolyCotCoeff255[INV_POLY_COEFF_NUM]; /* 多项式系数, 最高次数(INV_POLY_COEFF_NUM-1)次 */
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};
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/* 生成FEC映射表相关的参数 */
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struct FecParams
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{
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int correctX; /* 水平x方向校正: 1代表校正, 0代表不校正 */
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int correctY; /* 垂直y方向校正: 1代表校正, 0代表不校正 */
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int saveMaxFovX; /* 保留水平x方向最大FOV: 1代表保留, 0代表不保留 */
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int isFecOld; /* 是否旧版FEC: 1代表是，0代表不是 */
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int saveMesh4bin; /* 是否保存meshxi,xf,yi,yf4个bin文件：1代表保存, 0代表不保存 */
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char mesh4binPath[256]; /* 保存meshxi,xf,yi,yf4个bin文件的路径 */
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int srcW, srcH, dstW, dstH; /* 输入输出图像的分辨率 */
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int srcW_ex, srcH_ex, dstW_ex, dstH_ex; /* 扩展后的输入输出分辨率 */
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double cropStepW[2000], cropStepH[2000];
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double cropStartW[2000], cropStartH[2000];
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int meshSizeW, meshSizeH;
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double meshStepW, meshStepH;
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int meshSize1bin;
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int meshSize4bin;
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unsigned short SpbNum;
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unsigned long MeshPointNumW;
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unsigned short SpbMeshPNumH;
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unsigned short LastSpbMeshPNumH;
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unsigned short *pMeshXY;
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};
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/* 生成LDCH映射表相关的参数 */
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struct LdchParams
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{
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int saveMaxFovX; /* 保留水平x方向最大FOV: 1代表保留, 0代表不保留 */
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RKALGO_LDCH_VERSION_E enLdchVersion; /* LDCH版本 */
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int saveMeshX; /* 是否保存MeshX.bin文件: 1代表保存, 0代表不保存 */
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char meshPath[256]; /* 保存MeshX.bin文件的路径 */
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int srcW, srcH, dstW, dstH; /* 输入输出图像的分辨率 */
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int meshSizeW, meshSizeH;
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double meshStepW, meshStepH;
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int mapxFixBit; /* 定点化左移位数 */
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int meshSize;
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int maxLevel;
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double *mapx;
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double *mapy;
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};
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/* =============================================================================================================================================================================== */
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/* FEC: 初始化, 根据图像输出分辨率, 计算FEC映射表的相关参数, 申请需要的buffer */
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void genFecMeshInit(int srcW, int srcH, int dstW, int dstH, FecParams &fecParams, CameraCoeff &camCoeff);
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/* FEC: 反初始化 */
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void genFecMeshDeInit(FecParams &fecParams);
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/* FEC: 预先计算的部分: 浮点未校正的小表和level=0,level=255的多项式参数 */
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void genFecPreCalcPart(FecParams &fecParams, CameraCoeff &camCoeff);
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/* FEC: 4个mesh 内存申请 */
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void mallocFecMesh(int meshSize, unsigned short **pMeshXI, unsigned char **pMeshXF, unsigned short **pMeshYI, unsigned char **pMeshYF);
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/* FEC: 4个mesh 内存释放 */
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void freeFecMesh(unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
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/*
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函数功能: 生成不同校正程度的mesh映射表, 用于ISP的FEC模块
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输入:
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1）FEC映射表的相关参数, 申请需要的buffer: FecParams &fecParams
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2）相机标定参数: CameraCoeff &camCoeff
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3）需要校正的程度: level(0-255: 0表示校正程度为0%, 255表示校正程度为100%)
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输出:
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1）bool 是否成功生成
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2）pMeshXI, pMeshXF, pMeshYI, pMeshYF
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*/
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bool genFECMeshNLevel(FecParams &fecParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
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/* =============================================================================================================================================================================== */
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/* LDCH: 初始化, 根据图像输出分辨率, 计算LDCH映射表的相关参数, 申请需要的buffer */
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void genLdchMeshInit(int srcW, int srcH, int dstW, int dstH, LdchParams &ldchParams, CameraCoeff &camCoeff);
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/* LDCH: 反初始化 */
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void genLdchMeshDeInit(LdchParams &ldchParams);
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/* LDCH: 预先计算的部分: 浮点未校正的小表和level=0,level=255的多项式参数 */
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void genLdchPreCalcPart(LdchParams &ldchParams, CameraCoeff &camCoeff);
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/* LDCH: 计算LDCH能够校正的最大程度 */
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void calcLdchMaxLevel(LdchParams &ldchParams, CameraCoeff &camCoeff);
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/*
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函数功能: 生成不同校正程度的mesh映射表, 用于ISP的LDCH模块
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输入:
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1）LDCH映射表的相关参数, 申请需要的buffer: LdchParams &ldchParams
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2）相机标定参数: CameraCoeff &camCoeff
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3）需要校正的程度: level(0-255: 0表示校正程度为0%, 255表示校正程度为100%)
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输出:
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1）bool 是否成功生成
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2）pMeshX
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*/
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bool genLDCMeshNLevel(LdchParams &ldchParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshX);
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/* =============================================================================================================================================================================== */
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/* 输出图像的ROI区域相关参数 */
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struct RoiParams
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{
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int startW; /* ROI区域的起始点 */
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int startH;
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int roiW; /* ROI区域的宽高 */
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int roiH;
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};
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/* 根据输出图像的ROI参数，对FEC mesh进行裁剪, 得到最终需求的尺寸 */
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bool cropFecMesh(FecParams &fecParams, RoiParams &roiParams, int level, unsigned short *pCropMeshXI, unsigned char *pCropMeshXF, unsigned short *pCropMeshYI, unsigned char *pCropMeshYF);
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/* 根据输出图像的ROI参数，对LDCH mesh进行裁剪, 得到最终需求的尺寸 */
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bool cropLdchMesh(LdchParams &ldchParams, RoiParams &roiParams, int level, unsigned short *pMeshX, unsigned short *pRoiMeshX);
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/* FEC: 初始化, 用于8k ---> 2个4k */
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void genFecMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
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CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
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FecParams &fecParams, FecParams &fecParams_left, FecParams &fecParams_right);
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/* LDCH: 8k ---> 2个4k */
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void genLdchMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
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CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
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LdchParams &ldchParams, LdchParams &ldchParams_left, LdchParams &ldchParams_right);
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#endif // !__GENMESH_H__
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