1*4882a593Smuzhiyun /* 2*4882a593Smuzhiyun * Copyright (c) 2020 Rockchip Corporation 3*4882a593Smuzhiyun * 4*4882a593Smuzhiyun * Licensed under the Apache License, Version 2.0 (the "License"); 5*4882a593Smuzhiyun * you may not use this file except in compliance with the License. 6*4882a593Smuzhiyun * You may obtain a copy of the License at 7*4882a593Smuzhiyun * 8*4882a593Smuzhiyun * http://www.apache.org/licenses/LICENSE-2.0 9*4882a593Smuzhiyun * 10*4882a593Smuzhiyun * Unless required by applicable law or agreed to in writing, software 11*4882a593Smuzhiyun * distributed under the License is distributed on an "AS IS" BASIS, 12*4882a593Smuzhiyun * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13*4882a593Smuzhiyun * See the License for the specific language governing permissions and 14*4882a593Smuzhiyun * limitations under the License. 15*4882a593Smuzhiyun * 16*4882a593Smuzhiyun */ 17*4882a593Smuzhiyun 18*4882a593Smuzhiyun #ifndef __GENMESH_H__ 19*4882a593Smuzhiyun #define __GENMESH_H__ 20*4882a593Smuzhiyun 21*4882a593Smuzhiyun #define INV_POLY_COEFF_NUM 21 /* ����ʽϵ������, ��ߴ���(INV_POLY_COEFF_NUM-1)�� */ 22*4882a593Smuzhiyun 23*4882a593Smuzhiyun enum RKALGO_LDCH_VERSION_E 24*4882a593Smuzhiyun { 25*4882a593Smuzhiyun RKALGO_LDCH_VERSION_0 = 0, /* old version: for rv1109��rv1126��rk356x��rk3588 */ 26*4882a593Smuzhiyun RKALGO_LDCH_VERSION_1 = 1, /* new version: for 1106��rk3562 */ 27*4882a593Smuzhiyun RKALGO_LDCH_VERSION_BUTT 28*4882a593Smuzhiyun }; 29*4882a593Smuzhiyun 30*4882a593Smuzhiyun /* ������� */ 31*4882a593Smuzhiyun struct CameraCoeff 32*4882a593Smuzhiyun { 33*4882a593Smuzhiyun double cx, cy; /* ��ͷ�Ĺ��� */ 34*4882a593Smuzhiyun double a0, a2, a3, a4; /* ��ͷ�Ļ���ϵ�� */ 35*4882a593Smuzhiyun double c, d, e; /* �ڲ�[c d;e 1] */ 36*4882a593Smuzhiyun double sf; /* sf�����ӽ�, sfԽ���ӽ�Խ�� */ 37*4882a593Smuzhiyun 38*4882a593Smuzhiyun /* level = 0ʱ��rho-tanTheta����ʽ��� */ 39*4882a593Smuzhiyun int invPolyTanNum0; /* ��Ϻ��ϵ������ */ 40*4882a593Smuzhiyun double invPolyTanCoeff0[INV_POLY_COEFF_NUM]; /* ����ʽϵ��, ��ߴ���(INV_POLY_COEFF_NUM-1)�� */ 41*4882a593Smuzhiyun /* level = 0ʱ��rho-cotTheta����ʽ��� */ 42*4882a593Smuzhiyun int invPolyCotNum0; /* ��Ϻ��ϵ������ */ 43*4882a593Smuzhiyun double invPolyCotCoeff0[INV_POLY_COEFF_NUM]; /* ����ʽϵ��, ��ߴ���(INV_POLY_COEFF_NUM-1)�� */ 44*4882a593Smuzhiyun 45*4882a593Smuzhiyun /* level = 255ʱ��rho-tanTheta����ʽ��� */ 46*4882a593Smuzhiyun int invPolyTanNum255; /* ��Ϻ��ϵ������ */ 47*4882a593Smuzhiyun double invPolyTanCoeff255[INV_POLY_COEFF_NUM]; /* ����ʽϵ��, ��ߴ���(INV_POLY_COEFF_NUM-1)�� */ 48*4882a593Smuzhiyun /* level = 255ʱ��rho-cotTheta����ʽ��� */ 49*4882a593Smuzhiyun int invPolyCotNum255; /* ��Ϻ��ϵ������ */ 50*4882a593Smuzhiyun double invPolyCotCoeff255[INV_POLY_COEFF_NUM]; /* ����ʽϵ��, ��ߴ���(INV_POLY_COEFF_NUM-1)�� */ 51*4882a593Smuzhiyun }; 52*4882a593Smuzhiyun 53*4882a593Smuzhiyun /* ����FECӳ�����صIJ��� */ 54*4882a593Smuzhiyun struct FecParams 55*4882a593Smuzhiyun { 56*4882a593Smuzhiyun int correctX; /* ˮƽx����У��: 1����У��, 0����У�� */ 57*4882a593Smuzhiyun int correctY; /* ��ֱy����У��: 1����У��, 0����У�� */ 58*4882a593Smuzhiyun int saveMaxFovX; /* ����ˮƽx�������FOV: 1������, 0�������� */ 59*4882a593Smuzhiyun int isFecOld; /* �Ƿ�ɰ�FEC: 1�����ǣ�0������ */ 60*4882a593Smuzhiyun int saveMesh4bin; /* �Ƿ���meshxi,xf,yi,yf4��bin�ļ���1������, 0�������� */ 61*4882a593Smuzhiyun char mesh4binPath[256]; /* ����meshxi,xf,yi,yf4��bin�ļ���·�� */ 62*4882a593Smuzhiyun int srcW, srcH, dstW, dstH; /* �������ͼ��ķֱ��� */ 63*4882a593Smuzhiyun int srcW_ex, srcH_ex, dstW_ex, dstH_ex; /* ��չ�����������ֱ��� */ 64*4882a593Smuzhiyun double cropStepW[2000], cropStepH[2000]; 65*4882a593Smuzhiyun double cropStartW[2000], cropStartH[2000]; 66*4882a593Smuzhiyun int meshSizeW, meshSizeH; 67*4882a593Smuzhiyun double meshStepW, meshStepH; 68*4882a593Smuzhiyun int meshSize1bin; 69*4882a593Smuzhiyun int meshSize4bin; 70*4882a593Smuzhiyun unsigned short SpbNum; 71*4882a593Smuzhiyun unsigned long MeshPointNumW; 72*4882a593Smuzhiyun unsigned short SpbMeshPNumH; 73*4882a593Smuzhiyun unsigned short LastSpbMeshPNumH; 74*4882a593Smuzhiyun 75*4882a593Smuzhiyun unsigned short *pMeshXY; 76*4882a593Smuzhiyun 77*4882a593Smuzhiyun }; 78*4882a593Smuzhiyun 79*4882a593Smuzhiyun /* ����LDCHӳ�����صIJ��� */ 80*4882a593Smuzhiyun struct LdchParams 81*4882a593Smuzhiyun { 82*4882a593Smuzhiyun int saveMaxFovX; /* ����ˮƽx�������FOV: 1������, 0�������� */ 83*4882a593Smuzhiyun RKALGO_LDCH_VERSION_E enLdchVersion; /* LDCH�汾 */ 84*4882a593Smuzhiyun int saveMeshX; /* �Ƿ���MeshX.bin�ļ�: 1������, 0�������� */ 85*4882a593Smuzhiyun char meshPath[256]; /* ����MeshX.bin�ļ���·�� */ 86*4882a593Smuzhiyun int srcW, srcH, dstW, dstH; /* �������ͼ��ķֱ��� */ 87*4882a593Smuzhiyun int meshSizeW, meshSizeH; 88*4882a593Smuzhiyun double meshStepW, meshStepH; 89*4882a593Smuzhiyun int mapxFixBit; /* ���㻯����λ�� */ 90*4882a593Smuzhiyun int meshSize; 91*4882a593Smuzhiyun int maxLevel; 92*4882a593Smuzhiyun double *mapx; 93*4882a593Smuzhiyun double *mapy; 94*4882a593Smuzhiyun }; 95*4882a593Smuzhiyun 96*4882a593Smuzhiyun 97*4882a593Smuzhiyun /* =============================================================================================================================================================================== */ 98*4882a593Smuzhiyun 99*4882a593Smuzhiyun /* FEC: ��ʼ��, ����ͼ������ֱ���, ����FECӳ������ز���, ������Ҫ��buffer */ 100*4882a593Smuzhiyun void genFecMeshInit(int srcW, int srcH, int dstW, int dstH, FecParams &fecParams, CameraCoeff &camCoeff); 101*4882a593Smuzhiyun 102*4882a593Smuzhiyun /* FEC: ����ʼ�� */ 103*4882a593Smuzhiyun void genFecMeshDeInit(FecParams &fecParams); 104*4882a593Smuzhiyun 105*4882a593Smuzhiyun /* FEC: Ԥ�ȼ���IJ���: ����δУ����С���level=0,level=255�Ķ���ʽ���� */ 106*4882a593Smuzhiyun void genFecPreCalcPart(FecParams &fecParams, CameraCoeff &camCoeff); 107*4882a593Smuzhiyun 108*4882a593Smuzhiyun /* FEC: 4��mesh �ڴ����� */ 109*4882a593Smuzhiyun void mallocFecMesh(int meshSize, unsigned short **pMeshXI, unsigned char **pMeshXF, unsigned short **pMeshYI, unsigned char **pMeshYF); 110*4882a593Smuzhiyun 111*4882a593Smuzhiyun /* FEC: 4��mesh �ڴ��ͷ� */ 112*4882a593Smuzhiyun void freeFecMesh(unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF); 113*4882a593Smuzhiyun 114*4882a593Smuzhiyun /* 115*4882a593Smuzhiyun ��������: ���ɲ�ͬУ���̶ȵ�meshӳ���, ����ISP��FECģ�� 116*4882a593Smuzhiyun ����: 117*4882a593Smuzhiyun 1��FECӳ������ز���, ������Ҫ��buffer: FecParams &fecParams 118*4882a593Smuzhiyun 2������궨����: CameraCoeff &camCoeff 119*4882a593Smuzhiyun 3����ҪУ���ij̶�: level(0-255: 0��ʾУ���̶�Ϊ0%, 255��ʾУ���̶�Ϊ100%) 120*4882a593Smuzhiyun ���: 121*4882a593Smuzhiyun 1��bool �Ƿ�ɹ����� 122*4882a593Smuzhiyun 2��pMeshXI, pMeshXF, pMeshYI, pMeshYF 123*4882a593Smuzhiyun */ 124*4882a593Smuzhiyun bool genFECMeshNLevel(FecParams &fecParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF); 125*4882a593Smuzhiyun 126*4882a593Smuzhiyun 127*4882a593Smuzhiyun /* =============================================================================================================================================================================== */ 128*4882a593Smuzhiyun 129*4882a593Smuzhiyun /* LDCH: ��ʼ��, ����ͼ������ֱ���, ����LDCHӳ������ز���, ������Ҫ��buffer */ 130*4882a593Smuzhiyun void genLdchMeshInit(int srcW, int srcH, int dstW, int dstH, LdchParams &ldchParams, CameraCoeff &camCoeff); 131*4882a593Smuzhiyun 132*4882a593Smuzhiyun /* LDCH: ����ʼ�� */ 133*4882a593Smuzhiyun void genLdchMeshDeInit(LdchParams &ldchParams); 134*4882a593Smuzhiyun 135*4882a593Smuzhiyun /* LDCH: Ԥ�ȼ���IJ���: ����δУ����С���level=0,level=255�Ķ���ʽ���� */ 136*4882a593Smuzhiyun void genLdchPreCalcPart(LdchParams &ldchParams, CameraCoeff &camCoeff); 137*4882a593Smuzhiyun 138*4882a593Smuzhiyun /* LDCH: ����LDCH�ܹ�У�������̶� */ 139*4882a593Smuzhiyun void calcLdchMaxLevel(LdchParams &ldchParams, CameraCoeff &camCoeff); 140*4882a593Smuzhiyun 141*4882a593Smuzhiyun /* 142*4882a593Smuzhiyun ��������: ���ɲ�ͬУ���̶ȵ�meshӳ���, ����ISP��LDCHģ�� 143*4882a593Smuzhiyun 144*4882a593Smuzhiyun ����: 145*4882a593Smuzhiyun 1��LDCHӳ������ز���, ������Ҫ��buffer: LdchParams &ldchParams 146*4882a593Smuzhiyun 2������궨����: CameraCoeff &camCoeff 147*4882a593Smuzhiyun 3����ҪУ���ij̶�: level(0-255: 0��ʾУ���̶�Ϊ0%, 255��ʾУ���̶�Ϊ100%) 148*4882a593Smuzhiyun ���: 149*4882a593Smuzhiyun 1��bool �Ƿ�ɹ����� 150*4882a593Smuzhiyun 2��pMeshX 151*4882a593Smuzhiyun */ 152*4882a593Smuzhiyun bool genLDCMeshNLevel(LdchParams &ldchParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshX); 153*4882a593Smuzhiyun 154*4882a593Smuzhiyun /* =============================================================================================================================================================================== */ 155*4882a593Smuzhiyun 156*4882a593Smuzhiyun /* ���ͼ���ROI������ز��� */ 157*4882a593Smuzhiyun struct RoiParams 158*4882a593Smuzhiyun { 159*4882a593Smuzhiyun int startW; /* ROI�������ʼ�� */ 160*4882a593Smuzhiyun int startH; 161*4882a593Smuzhiyun int roiW; /* ROI����Ŀ�� */ 162*4882a593Smuzhiyun int roiH; 163*4882a593Smuzhiyun }; 164*4882a593Smuzhiyun 165*4882a593Smuzhiyun /* �������ͼ���ROI��������FEC mesh���вü�, �õ���������ijߴ� */ 166*4882a593Smuzhiyun bool cropFecMesh(FecParams &fecParams, RoiParams &roiParams, int level, unsigned short *pCropMeshXI, unsigned char *pCropMeshXF, unsigned short *pCropMeshYI, unsigned char *pCropMeshYF); 167*4882a593Smuzhiyun 168*4882a593Smuzhiyun /* �������ͼ���ROI��������LDCH mesh���вü�, �õ���������ijߴ� */ 169*4882a593Smuzhiyun bool cropLdchMesh(LdchParams &ldchParams, RoiParams &roiParams, int level, unsigned short *pMeshX, unsigned short *pRoiMeshX); 170*4882a593Smuzhiyun 171*4882a593Smuzhiyun /* FEC: ��ʼ��, ����8k ---> 2��4k */ 172*4882a593Smuzhiyun void genFecMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin, 173*4882a593Smuzhiyun CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right, 174*4882a593Smuzhiyun FecParams &fecParams, FecParams &fecParams_left, FecParams &fecParams_right); 175*4882a593Smuzhiyun 176*4882a593Smuzhiyun /* LDCH: 8k ---> 2��4k */ 177*4882a593Smuzhiyun void genLdchMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin, 178*4882a593Smuzhiyun CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right, 179*4882a593Smuzhiyun LdchParams &ldchParams, LdchParams &ldchParams_left, LdchParams &ldchParams_right); 180*4882a593Smuzhiyun 181*4882a593Smuzhiyun #endif // !__GENMESH_H__ 182