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new/external/camera_engine_rkaiq/IspFec/include_prv/genMesh.h

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2025-05-10 21:58:58 +08:00
/*
* Copyright (c) 2020 Rockchip Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef __GENMESH_H__
#define __GENMESH_H__
#define INV_POLY_COEFF_NUM 21 /* <20><><EFBFBD><EFBFBD>ʽϵ<CABD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>(INV_POLY_COEFF_NUM-1)<29><> */
enum RKALGO_LDCH_VERSION_E
{
RKALGO_LDCH_VERSION_0 = 0, /* old version: for rv1109<30><39>rv1126<32><36>rk356x<36><78>rk3588 */
RKALGO_LDCH_VERSION_1 = 1, /* new version: for 1106<30><36>rk3562 */
RKALGO_LDCH_VERSION_BUTT
};
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
struct CameraCoeff
{
double cx, cy; /* <20><>ͷ<EFBFBD>Ĺ<EFBFBD><C4B9><EFBFBD> */
double a0, a2, a3, a4; /* <20><>ͷ<EFBFBD>Ļ<EFBFBD><C4BB><EFBFBD>ϵ<EFBFBD><CFB5> */
double c, d, e; /* <20>ڲ<EFBFBD>[c d;e 1] */
double sf; /* sf<73><66><EFBFBD><EFBFBD><EFBFBD>ӽ<EFBFBD>, sfԽ<66><D4BD><EFBFBD>ӽ<EFBFBD>Խ<EFBFBD><D4BD> */
/* level = 0ʱ<30><CAB1>rho-tanTheta<74><61><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
int invPolyTanNum0; /* <20><><EFBFBD>Ϻ<EFBFBD><CFBA><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
double invPolyTanCoeff0[INV_POLY_COEFF_NUM]; /* <20><><EFBFBD><EFBFBD>ʽϵ<CABD><CFB5>, <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>(INV_POLY_COEFF_NUM-1)<29><> */
/* level = 0ʱ<30><CAB1>rho-cotTheta<74><61><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
int invPolyCotNum0; /* <20><><EFBFBD>Ϻ<EFBFBD><CFBA><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
double invPolyCotCoeff0[INV_POLY_COEFF_NUM]; /* <20><><EFBFBD><EFBFBD>ʽϵ<CABD><CFB5>, <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>(INV_POLY_COEFF_NUM-1)<29><> */
/* level = 255ʱ<35><CAB1>rho-tanTheta<74><61><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
int invPolyTanNum255; /* <20><><EFBFBD>Ϻ<EFBFBD><CFBA><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
double invPolyTanCoeff255[INV_POLY_COEFF_NUM]; /* <20><><EFBFBD><EFBFBD>ʽϵ<CABD><CFB5>, <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>(INV_POLY_COEFF_NUM-1)<29><> */
/* level = 255ʱ<35><CAB1>rho-cotTheta<74><61><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
int invPolyCotNum255; /* <20><><EFBFBD>Ϻ<EFBFBD><CFBA><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
double invPolyCotCoeff255[INV_POLY_COEFF_NUM]; /* <20><><EFBFBD><EFBFBD>ʽϵ<CABD><CFB5>, <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>(INV_POLY_COEFF_NUM-1)<29><> */
};
/* <20><><EFBFBD><EFBFBD>FECӳ<43><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>صIJ<D8B5><C4B2><EFBFBD> */
struct FecParams
{
int correctX; /* ˮƽx<C6BD><78><EFBFBD><EFBFBD>У<EFBFBD><D0A3>: 1<><31><EFBFBD><EFBFBD>У<EFBFBD><D0A3>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3> */
int correctY; /* <20><>ֱy<D6B1><79><EFBFBD><EFBFBD>У<EFBFBD><D0A3>: 1<><31><EFBFBD><EFBFBD>У<EFBFBD><D0A3>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3> */
int saveMaxFovX; /* <20><><EFBFBD><EFBFBD>ˮƽx<C6BD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FOV: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
int isFecOld; /* <20>Ƿ<EFBFBD><C7B7>ɰ<EFBFBD>FEC: 1<><31><EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
int saveMesh4bin; /* <20>Ƿ񱣴<C7B7>meshxi,xf,yi,yf4<66><34>bin<69>ļ<EFBFBD><C4BC><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
char mesh4binPath[256]; /* <20><><EFBFBD><EFBFBD>meshxi,xf,yi,yf4<66><34>bin<69>ļ<EFBFBD><C4BC><EFBFBD>·<EFBFBD><C2B7> */
int srcW, srcH, dstW, dstH; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>ķֱ<C4B7><D6B1><EFBFBD> */
int srcW_ex, srcH_ex, dstW_ex, dstH_ex; /* <20><>չ<EFBFBD><D5B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD> */
double cropStepW[2000], cropStepH[2000];
double cropStartW[2000], cropStartH[2000];
int meshSizeW, meshSizeH;
double meshStepW, meshStepH;
int meshSize1bin;
int meshSize4bin;
unsigned short SpbNum;
unsigned long MeshPointNumW;
unsigned short SpbMeshPNumH;
unsigned short LastSpbMeshPNumH;
unsigned short *pMeshXY;
};
/* <20><><EFBFBD><EFBFBD>LDCHӳ<48><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>صIJ<D8B5><C4B2><EFBFBD> */
struct LdchParams
{
int saveMaxFovX; /* <20><><EFBFBD><EFBFBD>ˮƽx<C6BD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FOV: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
RKALGO_LDCH_VERSION_E enLdchVersion; /* LDCH<43>汾 */
int saveMeshX; /* <20>Ƿ񱣴<C7B7>MeshX.bin<69>ļ<EFBFBD>: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
char meshPath[256]; /* <20><><EFBFBD><EFBFBD>MeshX.bin<69>ļ<EFBFBD><C4BC><EFBFBD>·<EFBFBD><C2B7> */
int srcW, srcH, dstW, dstH; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>ķֱ<C4B7><D6B1><EFBFBD> */
int meshSizeW, meshSizeH;
double meshStepW, meshStepH;
int mapxFixBit; /* <20><><EFBFBD>㻯<EFBFBD><E3BBAF><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> */
int meshSize;
int maxLevel;
double *mapx;
double *mapy;
};
/* =============================================================================================================================================================================== */
/* FEC: <20><>ʼ<EFBFBD><CABC>, <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>, <20><><EFBFBD><EFBFBD>FECӳ<43><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><D8B2><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>buffer */
void genFecMeshInit(int srcW, int srcH, int dstW, int dstH, FecParams &fecParams, CameraCoeff &camCoeff);
/* FEC: <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
void genFecMeshDeInit(FecParams &fecParams);
/* FEC: Ԥ<>ȼ<EFBFBD><C8BC><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>: <20><><EFBFBD><EFBFBD>δУ<CEB4><D0A3><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>level=0,level=255<35>Ķ<EFBFBD><C4B6><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
void genFecPreCalcPart(FecParams &fecParams, CameraCoeff &camCoeff);
/* FEC: 4<><34>mesh <20>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD><EFBFBD> */
void mallocFecMesh(int meshSize, unsigned short **pMeshXI, unsigned char **pMeshXF, unsigned short **pMeshYI, unsigned char **pMeshYF);
/* FEC: 4<><34>mesh <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
void freeFecMesh(unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
/*
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <EFBFBD><EFBFBD><EFBFBD>ɲ<EFBFBD>ͬУ<EFBFBD><EFBFBD><EFBFBD>̶ȵ<EFBFBD>meshӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ISP<EFBFBD><EFBFBD>FECģ<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
1<EFBFBD><EFBFBD>FECӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>buffer: FecParams &fecParams
2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: CameraCoeff &camCoeff
3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҪУ<EFBFBD><EFBFBD><EFBFBD>ij̶<EFBFBD>: level(0-255: 0<EFBFBD><EFBFBD>ʾУ<EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD>Ϊ0%, 255<EFBFBD><EFBFBD>ʾУ<EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD>Ϊ100%)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
1<EFBFBD><EFBFBD>bool <EFBFBD>Ƿ<EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2<EFBFBD><EFBFBD>pMeshXI, pMeshXF, pMeshYI, pMeshYF
*/
bool genFECMeshNLevel(FecParams &fecParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
/* =============================================================================================================================================================================== */
/* LDCH: <20><>ʼ<EFBFBD><CABC>, <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>, <20><><EFBFBD><EFBFBD>LDCHӳ<48><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><D8B2><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>buffer */
void genLdchMeshInit(int srcW, int srcH, int dstW, int dstH, LdchParams &ldchParams, CameraCoeff &camCoeff);
/* LDCH: <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
void genLdchMeshDeInit(LdchParams &ldchParams);
/* LDCH: Ԥ<>ȼ<EFBFBD><C8BC><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>: <20><><EFBFBD><EFBFBD>δУ<CEB4><D0A3><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>level=0,level=255<35>Ķ<EFBFBD><C4B6><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> */
void genLdchPreCalcPart(LdchParams &ldchParams, CameraCoeff &camCoeff);
/* LDCH: <20><><EFBFBD><EFBFBD>LDCH<43>ܹ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD> */
void calcLdchMaxLevel(LdchParams &ldchParams, CameraCoeff &camCoeff);
/*
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <EFBFBD><EFBFBD><EFBFBD>ɲ<EFBFBD>ͬУ<EFBFBD><EFBFBD><EFBFBD>̶ȵ<EFBFBD>meshӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ISP<EFBFBD><EFBFBD>LDCHģ<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
1<EFBFBD><EFBFBD>LDCHӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>buffer: LdchParams &ldchParams
2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: CameraCoeff &camCoeff
3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҪУ<EFBFBD><EFBFBD><EFBFBD>ij̶<EFBFBD>: level(0-255: 0<EFBFBD><EFBFBD>ʾУ<EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD>Ϊ0%, 255<EFBFBD><EFBFBD>ʾУ<EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD>Ϊ100%)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
1<EFBFBD><EFBFBD>bool <EFBFBD>Ƿ<EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2<EFBFBD><EFBFBD>pMeshX
*/
bool genLDCMeshNLevel(LdchParams &ldchParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshX);
/* =============================================================================================================================================================================== */
/* <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ROI<4F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
struct RoiParams
{
int startW; /* ROI<4F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
int startH;
int roiW; /* ROI<4F><49><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD> */
int roiH;
};
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ROI<4F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FEC mesh<73><68><EFBFBD>вü<D0B2>, <20>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ijߴ<C4B3> */
bool cropFecMesh(FecParams &fecParams, RoiParams &roiParams, int level, unsigned short *pCropMeshXI, unsigned char *pCropMeshXF, unsigned short *pCropMeshYI, unsigned char *pCropMeshYF);
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ROI<4F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>LDCH mesh<73><68><EFBFBD>вü<D0B2>, <20>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ijߴ<C4B3> */
bool cropLdchMesh(LdchParams &ldchParams, RoiParams &roiParams, int level, unsigned short *pMeshX, unsigned short *pRoiMeshX);
/* FEC: <20><>ʼ<EFBFBD><CABC>, <20><><EFBFBD><EFBFBD>8k ---> 2<><32>4k */
void genFecMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
FecParams &fecParams, FecParams &fecParams_left, FecParams &fecParams_right);
/* LDCH: 8k ---> 2<><32>4k */
void genLdchMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
LdchParams &ldchParams, LdchParams &ldchParams_left, LdchParams &ldchParams_right);
#endif // !__GENMESH_H__
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