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new/external/camera_engine_rkaiq/rkaiq/common/gen_mesh/test030.cpp

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2025-05-10 21:58:58 +08:00
/* 8kͼ--->2<><32>4kͼ<6B><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>LDCH<43>ּ<EFBFBD>У<EFBFBD><D0A3> */
void test030()
{
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;
LdchParams ldchParams;
ldchParams.saveMaxFovX = 0; /* <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> */
ldchParams.isLdchOld = 1; /* <20>Ƿ<EFBFBD><C7B7>ɰ<EFBFBD>LDCH: 1<><31><EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
ldchParams.saveMeshX = 1; /* <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> */
sprintf(ldchParams.meshPath, "../data_out/"); /* <20><><EFBFBD><EFBFBD>MeshX.bin<69>ļ<EFBFBD><C4BC>ĸ<EFBFBD>Ŀ¼ */
/* <20><>ͼ4k<34><6B><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
CameraCoeff camCoeff_left;
LdchParams ldchParams_left;
/* <20><>ͼ4k<34><6B><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> */
CameraCoeff camCoeff_right;
LdchParams ldchParams_right;
/* LDCH<43><48><EFBFBD>ز<EFBFBD><D8B2><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
genLdchMeshInit8kTo4k(srcW, srcH, dstW, dstH, margin, camCoeff, camCoeff_left, camCoeff_right, ldchParams, ldchParams_left, ldchParams_right);
/* ӳ<><D3B3><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> */
unsigned short *pMeshX = new unsigned short[ldchParams.meshSize]; /* ȫͼ */
unsigned short *pMeshX_left = new unsigned short[ldchParams_left.meshSize]; /* <20><>ͼ */
unsigned short *pMeshX_right = new unsigned short[ldchParams_right.meshSize]; /* <20><>ͼ */
/* <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 short *pImgIn = new unsigned short[srcSize * 3];
unsigned short *pImgOut = new unsigned short[srcSize * 3];
/* <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 short *pImgIn_left = new unsigned short[srcSize_left * 3];
unsigned short *pImgOut_left = new unsigned short[srcSize_left * 3];
/* <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 short *pImgIn_right = new unsigned short[srcSize_right * 3];
unsigned short *pImgOut_right = new unsigned short[srcSize_right * 3];
/* <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC> */
char srcBGRPath[256] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_full_7680x4320_08.bmp";
readRGBforLDCH(srcBGRPath, srcW, srcH, pImgIn);
char srcBGRPath_left[256] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_left_4096x4320_08.bmp";
readRGBforLDCH(srcBGRPath_left, srcW_left, srcH_left, pImgIn_left);
char srcBGRPath_right[256] = "../data_in/image/group_023_imx415_2.8mm_7680x4320_half/imx415_2.8mm_right_4096x4320_08.bmp";
readRGBforLDCH(srcBGRPath_right, srcW_right, srcH_right, pImgIn_right);
/* <20><><EFBFBD><EFBFBD>LDCHӳ<48><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 <= 255; level = level + 1)
for (int levelIdx = 0; levelIdx < 5; ++levelIdx)
{
level = levelValue[levelIdx];
printf("level = %d\n", level);
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>LDCHУ<48><D0A3> */
bool success_left = genLDCMeshNLevel(ldchParams_left, camCoeff_left, level, pMeshX_left); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>LDCHӳ<48><D3B3><EFBFBD><EFBFBD> */
LDCH_Cmodel(dstW_left, dstH_left, pImgIn_left, pImgOut_left, pMeshX_left); /* <20><><EFBFBD><EFBFBD>LDCH_Cmodel */
cv::Mat dstImgBGR_left;
ldchOut2Mat(dstW_left, dstH_left, 8, pImgOut_left, dstImgBGR_left); /* LDCH<43><48><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪcv::Mat<61><74>ʽ */
char dstBmpPath_left[256]; /* <20><><EFBFBD><EFBFBD> */
sprintf(dstBmpPath_left, "../data_out/ldch_left_%dx%d_level%03d.bmp", dstW_left, dstH_left, level);
cv::imwrite(dstBmpPath_left, dstImgBGR_left);
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>LDCHУ<48><D0A3> */
bool success_right = genLDCMeshNLevel(ldchParams_right, camCoeff_right, level, pMeshX_right); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>LDCHӳ<48><D3B3><EFBFBD><EFBFBD> */
LDCH_Cmodel(dstW_right, dstH_right, pImgIn_right, pImgOut_right, pMeshX_right); /* <20><><EFBFBD><EFBFBD>LDCH_Cmodel */
cv::Mat dstImgBGR_right;
ldchOut2Mat(dstW_right, dstH_right, 8, pImgOut_right, dstImgBGR_right); /* LDCH<43><48><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪcv::Mat<61><74>ʽ */
char dstBmpPath_right[256]; /* <20><><EFBFBD><EFBFBD> */
sprintf(dstBmpPath_right, "../data_out/ldch_right_%dx%d_level%03d.bmp", dstW_right, dstH_right, level);
cv::imwrite(dstBmpPath_right, dstImgBGR_right);
/* <20><>֤: ȫͼ<C8AB><CDBC><EFBFBD><EFBFBD>LDCHУ<48><D0A3> */
bool success_full = genLDCMeshNLevel(ldchParams, camCoeff, level, pMeshX); /* <20><><EFBFBD>ɶ<EFBFBD>ӦУ<D3A6><D0A3>level<65><6C>LDCHӳ<48><D3B3><EFBFBD><EFBFBD> */
LDCH_Cmodel(dstW, dstH, pImgIn, pImgOut, pMeshX); /* <20><><EFBFBD><EFBFBD>LDCH_Cmodel */
cv::Mat dstImgBGR_full;
ldchOut2Mat(dstW, dstH, 8, pImgOut, dstImgBGR_full); /* LDCH<43><48><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪcv::Mat<61><74>ʽ */
char dstBmpPath_full[256]; /* <20><><EFBFBD><EFBFBD> */
sprintf(dstBmpPath_full, "../data_out/ldch_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/ldch_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[] pImgIn; /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
delete[] pImgOut;
delete[] pMeshX;
genLdchMeshDeInit(ldchParams); /* <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
/* <20><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>ͷźͷ<C5BA><CDB7><EFBFBD>ʼ<EFBFBD><CABC> */
delete[] pImgIn_left; /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
delete[] pImgOut_left;
delete[] pMeshX_left;
genLdchMeshDeInit(ldchParams_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[] pImgIn_right; /* <20>ڴ<EFBFBD><DAB4>ͷ<EFBFBD> */
delete[] pImgOut_right;
delete[] pMeshX_right;
genLdchMeshDeInit(ldchParams_right); /* <20><><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */
}
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