/* 8k图--->2个4k图，进行FEC分级校正 */ void test029() { int srcW = 7680; int srcH = 4320; int dstW = 7680; int dstH = 4320; int margin = 256; /* 全图8k相关参数 */ 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; /* 水平x方向校正: 1代表校正, 0代表不校正 */ fecParams.correctY = 1; /* 垂直y方向校正: 1代表校正, 0代表不校正 */ fecParams.saveMaxFovX = 1; /* 保留水平x方向最大FOV: 1代表保留, 0代表不保留 */ fecParams.isFecOld = 0; /* 是否旧版FEC: 1代表是，0代表不是 */ fecParams.saveMesh4bin = 0; /* 是否保存meshxi,xf,yi,yf4个bin文件: 1代表保存, 0代表不保存 */ sprintf(fecParams.mesh4binPath, "../data_out/"); /* 保存meshxi,xf,yi,yf4个bin文件的根目录 */ /* 左图4k相关参数 */ CameraCoeff camCoeff_left; FecParams fecParams_left; /* 右图4k相关参数 */ CameraCoeff camCoeff_right; FecParams fecParams_right; /* LDCH相关参数初始化 */ genFecMeshInit8kTo4k(srcW, srcH, dstW, dstH, margin, camCoeff, camCoeff_left, camCoeff_right, fecParams, fecParams_left, fecParams_right); /* 映射表buffer申请 */ unsigned short *pMeshXI, *pMeshYI; /* X, Y整数部分 */ unsigned char *pMeshXF, *pMeshYF; /* X, Y小数部分 */ mallocFecMesh(fecParams.meshSize4bin, &pMeshXI, &pMeshXF, &pMeshYI, &pMeshYF); /* 全图FEC映射表buffer申请 */ unsigned short *pMeshXI_left, *pMeshYI_left; /* X, Y整数部分 */ unsigned char *pMeshXF_left, *pMeshYF_left; /* X, Y小数部分 */ mallocFecMesh(fecParams_left.meshSize4bin, &pMeshXI_left, &pMeshXF_left, &pMeshYI_left, &pMeshYF_left); /* 左图FEC映射表buffer申请 */ unsigned short *pMeshXI_right, *pMeshYI_right; /* X, Y整数部分 */ unsigned char *pMeshXF_right, *pMeshYF_right; /* X, Y小数部分 */ mallocFecMesh(fecParams_right.meshSize4bin, &pMeshXI_right, &pMeshXF_right, &pMeshYI_right, &pMeshYF_right); /* 右图FEC映射表buffer申请 */ /* 输入输出图像buffer申请 */ /* 全图 */ 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]; /* 左图 */ 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]; /* 右图 */ 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]; /* 读取输入图像 */ 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); /* 生成FEC映射表并进行校正 */ int level = 0; /* level范围: 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); /* 左图进行FEC校正 */ bool success_left = genFECMeshNLevel(fecParams_left, camCoeff_left, level, pMeshXI_left, pMeshXF_left, pMeshYI_left, pMeshYF_left); /* 生成对应校正level的FEC映射表 */ 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); /* 调用FEC */ cv::Mat dstImgBGR_left; /* 保存 */ 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); /* 右图进行FEC校正 */ bool success_right = genFECMeshNLevel(fecParams_right, camCoeff_right, level, pMeshXI_right, pMeshXF_right, pMeshYI_right, pMeshYF_right); /* 生成对应校正level的FEC映射表 */ 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); /* 调用FEC */ cv::Mat dstImgBGR_right; /* 保存 */ 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); /* 验证: 全图进行FEC校正 */ bool success_full = genFECMeshNLevel(fecParams, camCoeff, level, pMeshXI, pMeshXF, pMeshYI, pMeshYF); /* 生成对应校正level的FEC映射表 */ FEC_Cmodel_4bin(srcW, srcH, dstW, dstH, pImgY, pImgUV, pMeshXI, pMeshXF, pMeshYI, pMeshYF, pImgOut, 0, 0, 0, 0, 0, 0); /* 调用FEC */ cv::Mat dstImgBGR_full; /* 保存 */ 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); /* 验证: 左图FEC结果 + 右图FEC结果 ---> 拼接的全图结果 */ 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); } /* 全图相关内存释放和反初始化 */ delete[] pImgY; delete[] pImgUV; delete[] pImgOut; freeFecMesh(pMeshXI, pMeshXF, pMeshYI, pMeshYF); /* 内存释放 */ genFecMeshDeInit(fecParams); /* 反初始化 */ /* 左图相关内存释放和反初始化 */ delete[] pImgY_left; delete[] pImgUV_left; delete[] pImgOut_left; freeFecMesh(pMeshXI_left, pMeshXF_left, pMeshYI_left, pMeshYF_left); /* 内存释放 */ genFecMeshDeInit(fecParams_left); /* 反初始化 */ /* 右图相关内存释放和反初始化 */ delete[] pImgY_right; delete[] pImgUV_right; delete[] pImgOut_right; freeFecMesh(pMeshXI_right, pMeshXF_right, pMeshYI_right, pMeshYF_right); /* 内存释放 */ genFecMeshDeInit(fecParams_right); /* 反初始化 */ }