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new/external/camera_engine_rkaiq/rkaiq/common/gen_mesh/test029.cpp

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2025-05-10 21:58:58 +08:00
/* 8kͼ--->2<><32>4kͼ<6B><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FEC<45>ּ<EFBFBD>У<EFBFBD><D0A3> */
void test029()
{
int srcW = 7680;
int srcH = 4320;
int dstW = 7680;
int dstH = 4320;
int margin = 256;
/* ȫͼ8k<38><6B><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
CameraCoeff camCoeff;
camCoeff.a0 = -4628.92834904855135391699150204658508300781250000000000;
camCoeff.a2 = 0.00008439805632153267055031026222522427815420087427;
camCoeff.a3 = -0.00000000947972529654520536345924537060744774485954;
camCoeff.a4 = 0.00000000000276046059610868196196561020719728129884;
camCoeff.cx = (srcW - 1.0) * 0.5;
camCoeff.cy = (srcH - 1.0) * 0.5;
FecParams fecParams;
fecParams.correctX = 1; /* ˮƽx<C6BD><78><EFBFBD><EFBFBD>У<EFBFBD><D0A3>: 1<><31><EFBFBD><EFBFBD>У<EFBFBD><D0A3>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3> */
fecParams.correctY = 1; /* <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> */
fecParams.saveMaxFovX = 1; /* <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> */
fecParams.isFecOld = 0; /* <20>Ƿ<EFBFBD><C7B7>ɰ<EFBFBD>FEC: 1<><31><EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
fecParams.saveMesh4bin = 0; /* <20>Ƿ񱣴<C7B7>meshxi,xf,yi,yf4<66><34>bin<69>ļ<EFBFBD>: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
sprintf(fecParams.mesh4binPath, "../data_out/"); /* <20><><EFBFBD><EFBFBD>meshxi,xf,yi,yf4<66><34>bin<69>ļ<EFBFBD><C4BC>ĸ<EFBFBD>Ŀ¼ */
/* <20><>ͼ4k<34><6B><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
CameraCoeff camCoeff_left;
FecParams fecParams_left;
/* <20><>ͼ4k<34><6B><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
CameraCoeff camCoeff_right;
FecParams fecParams_right;
/* LDCH<43><48><EFBFBD>ز<EFBFBD><D8B2><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
genFecMeshInit8kTo4k(srcW, srcH, dstW, dstH, margin, camCoeff, camCoeff_left, camCoeff_right, fecParams, fecParams_left, fecParams_right);
/* ӳ<><D3B3><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> */
unsigned short *pMeshXI, *pMeshYI; /* X, Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
unsigned char *pMeshXF, *pMeshYF; /* X, YС<59><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
mallocFecMesh(fecParams.meshSize4bin, &pMeshXI, &pMeshXF, &pMeshYI, &pMeshYF); /* ȫͼFECӳ<43><D3B3><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> */
unsigned short *pMeshXI_left, *pMeshYI_left; /* X, Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
unsigned char *pMeshXF_left, *pMeshYF_left; /* X, YС<59><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
mallocFecMesh(fecParams_left.meshSize4bin, &pMeshXI_left, &pMeshXF_left, &pMeshYI_left, &pMeshYF_left); /* <20><>ͼFECӳ<43><D3B3><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> */
unsigned short *pMeshXI_right, *pMeshYI_right; /* X, Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
unsigned char *pMeshXF_right, *pMeshYF_right; /* X, YС<59><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
mallocFecMesh(fecParams_right.meshSize4bin, &pMeshXI_right, &pMeshXF_right, &pMeshYI_right, &pMeshYF_right); /* <20><>ͼFECӳ<43><D3B3><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> */
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>buffer<65><72><EFBFBD><EFBFBD> */
/* ȫͼ */
unsigned long srcSize = (srcW * srcH) > (dstW * dstH) ? (srcW * srcH) : (dstW * dstH);
unsigned char *pImgY = new unsigned char[srcSize];
unsigned char *pImgUV = new unsigned char[srcSize];
unsigned char *pImgOut = new unsigned char[srcSize * 2];
/* <20><>ͼ */
int srcW_left = srcW * 0.5 + margin;
int srcH_left = srcH;
int dstW_left = srcW * 0.5 + margin;
int dstH_left = srcH;
unsigned long srcSize_left = (srcW_left * srcH_left) > (dstW_left * dstH_left) ? (srcW_left * srcH_left) : (dstW_left * dstH_left);
unsigned char *pImgY_left = new unsigned char[srcSize_left];
unsigned char *pImgUV_left = new unsigned char[srcSize_left];
unsigned char *pImgOut_left = new unsigned char[srcSize_left * 2];
/* <20><>ͼ */
int srcW_right = srcW * 0.5 + margin;
int srcH_right = srcH;
int dstW_right = srcW * 0.5 + margin;
int dstH_right = srcH;
unsigned long srcSize_right = (srcW_right * srcH_right) > (dstW_right * dstH_right) ? (srcW_right * srcH_right) : (dstW_right * dstH_right);
unsigned char *pImgY_right = new unsigned char[srcSize_right];
unsigned char *pImgUV_right = new unsigned char[srcSize_right];
unsigned char *pImgOut_right = new unsigned char[srcSize_right * 2];
/* <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC> */
char srcYuvPath[512] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_full_7680x4320_08.nv12";
readYUV(srcYuvPath, srcW, srcH, 0, NULL, pImgY, pImgUV);
char srcYuvPath_left[512] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_left_4096x4320_08.nv12";
readYUV(srcYuvPath_left, srcW_left, srcH_left, 0, NULL, pImgY_left, pImgUV_left);
char srcYuvPath_right[512] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_right_4096x4320_08.nv12";
readYUV(srcYuvPath_right, srcW_right, srcH_right, 0, NULL, pImgY_right, pImgUV_right);
/* <20><><EFBFBD><EFBFBD>FECӳ<43><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3> */
int level = 0; /* level<65><6C>Χ: 0-255 */
int levelValue[] = { 0,64,128,192,255 };
//for (level = 0; level <= 0; level = level + 1)
for (int levelIdx = 0; levelIdx < 5; ++levelIdx)
{
level = levelValue[levelIdx];
printf("level = %d\n", level);
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>FECУ<43><D0A3> */
bool success_left = genFECMeshNLevel(fecParams_left, camCoeff_left, level, pMeshXI_left, pMeshXF_left, pMeshYI_left, pMeshYF_left); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>FECӳ<43><D3B3><EFBFBD><EFBFBD> */
FEC_Cmodel_4bin(srcW_left, srcH_left, dstW_left, dstH_left, pImgY_left, pImgUV_left,
pMeshXI_left, pMeshXF_left, pMeshYI_left, pMeshYF_left, pImgOut_left, 0, 0, 0, 0, 0, 0); /* <20><><EFBFBD><EFBFBD>FEC */
cv::Mat dstImgBGR_left; /* <20><><EFBFBD><EFBFBD> */
NV12toRGB(pImgOut_left, dstW_left, dstH_left, dstImgBGR_left);
char dstBmpPath_left[256];
sprintf(dstBmpPath_left, "../data_out/fec_left_%dx%d_level%03d.bmp", dstW_left, dstH_left, level);
cv::imwrite(dstBmpPath_left, dstImgBGR_left);
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>FECУ<43><D0A3> */
bool success_right = genFECMeshNLevel(fecParams_right, camCoeff_right, level, pMeshXI_right, pMeshXF_right, pMeshYI_right, pMeshYF_right); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>FECӳ<43><D3B3><EFBFBD><EFBFBD> */
FEC_Cmodel_4bin(srcW_right, srcH_right, dstW_right, dstH_right, pImgY_right, pImgUV_right,
pMeshXI_right, pMeshXF_right, pMeshYI_right, pMeshYF_right, pImgOut_right, 0, 0, 0, 0, 0, 0); /* <20><><EFBFBD><EFBFBD>FEC */
cv::Mat dstImgBGR_right; /* <20><><EFBFBD><EFBFBD> */
NV12toRGB(pImgOut_right, dstW_right, dstH_right, dstImgBGR_right);
char dstBmpPath_right[256];
sprintf(dstBmpPath_right, "../data_out/fec_right_%dx%d_level%03d.bmp", dstW_right, dstH_right, level);
cv::imwrite(dstBmpPath_right, dstImgBGR_right);
/* <20><>֤: ȫͼ<C8AB><CDBC><EFBFBD><EFBFBD>FECУ<43><D0A3> */
bool success_full = genFECMeshNLevel(fecParams, camCoeff, level, pMeshXI, pMeshXF, pMeshYI, pMeshYF); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>FECӳ<43><D3B3><EFBFBD><EFBFBD> */
FEC_Cmodel_4bin(srcW, srcH, dstW, dstH, pImgY, pImgUV,
pMeshXI, pMeshXF, pMeshYI, pMeshYF, pImgOut, 0, 0, 0, 0, 0, 0); /* <20><><EFBFBD><EFBFBD>FEC */
cv::Mat dstImgBGR_full; /* <20><><EFBFBD><EFBFBD> */
NV12toRGB(pImgOut, dstW, dstH, dstImgBGR_full);
char dstBmpPath_full[256];
sprintf(dstBmpPath_full, "../data_out/fec_full_%dx%d_level%03d.bmp", dstW, dstH, level);
cv::imwrite(dstBmpPath_full, dstImgBGR_full);
/* <20><>֤: <20><>ͼFEC<45><43><EFBFBD><EFBFBD> + <20><>ͼFEC<45><43><EFBFBD><EFBFBD> ---> ƴ<>ӵ<EFBFBD>ȫͼ<C8AB><CDBC><EFBFBD><EFBFBD> */
cv::Mat dstImgBGR_stitch = cv::Mat(dstH, dstW, CV_8UC3);
dstImgBGR_left(cv::Range(0, dstH_left), cv::Range(0, dstW_left - margin)).copyTo(dstImgBGR_stitch(cv::Range(0, dstH), cv::Range(0, dstW * 0.5)));
dstImgBGR_right(cv::Range(0, dstH_left), cv::Range(margin, dstW_right)).copyTo(dstImgBGR_stitch(cv::Range(0, dstH), cv::Range(dstW * 0.5, dstW)));
char dstBmpPath_stitch[256];
sprintf(dstBmpPath_stitch, "../data_out/fec_stitch_%dx%d_level%03d.bmp", dstW, dstH, level);
cv::imwrite(dstBmpPath_stitch, dstImgBGR_stitch);
}
/* ȫͼ<C8AB><CDBC><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>ͷźͷ<C5BA><CDB7><EFBFBD>ʼ<EFBFBD><CABC> */
delete[] pImgY;
delete[] pImgUV;
delete[] pImgOut;
freeFecMesh(pMeshXI, pMeshXF, pMeshYI, pMeshYF); /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
genFecMeshDeInit(fecParams); /* <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>ͷźͷ<C5BA><CDB7><EFBFBD>ʼ<EFBFBD><CABC> */
delete[] pImgY_left;
delete[] pImgUV_left;
delete[] pImgOut_left;
freeFecMesh(pMeshXI_left, pMeshXF_left, pMeshYI_left, pMeshYF_left); /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
genFecMeshDeInit(fecParams_left); /* <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>ͷźͷ<C5BA><CDB7><EFBFBD>ʼ<EFBFBD><CABC> */
delete[] pImgY_right;
delete[] pImgUV_right;
delete[] pImgOut_right;
freeFecMesh(pMeshXI_right, pMeshXF_right, pMeshYI_right, pMeshYF_right); /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
genFecMeshDeInit(fecParams_right); /* <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
}
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