183 lines
7.6 KiB
C
Executable File
183 lines
7.6 KiB
C
Executable File
/*
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* Copyright (c) 2020 Rockchip Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef __RKGENMESHVERSION_H__
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/*!
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* ==================== GENMESH VERSION HISTORY ====================
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*
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* v1.0.0
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* - date: from 2020-09-11 to 2020-09-14
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* - FEC & LDCH: Keep the max FOV in the horizontal(X direction)
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* - FEC: 1) Add "correctX" and "correctY" flag:
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a) correctX = 1, correctY = 1: correct both directions
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b) correctX = 1, correctY = 0: correct x direction
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c) correctX = 0, correctY = 1: correct y direction
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d) correctX = 0, correctY = 0: no correct
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2) Add "saveMesh4bin" flag: whether to save 4 mesh bins(meshxi,meshxf,meshyi,meshyf) or not
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a) saveMesh4bin = 1: save
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b) saveMesh4bin = 0: not save
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3) Add "mesh4binPath" : set the path for saving 4 mesh bins, for example, mesh4binPath = "../data_out/"
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when 4 mesh bins saved, the prefix file names of each group of bins are
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a) level255_both_correct_: correct both directions
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b) level255_x_correct_: correct x direction
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c) level255_y_correct_: correct y direction
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d) level255_no_correct_: no correct
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* - LDCH: 1) Add judgment: calculate the max correction capability("maxLevel") of LDCH, and divide it into 255 levels.
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so the value of level can still vary from 0 to 255 when the function is called.
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2) Add "saveMeshX" flag: whether to save mesh bin or not
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a) saveMeshX = 1: save
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b) saveMeshX = 0: not save
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3) Add "meshPath" : set the path for saving mesh bin, for example, meshPath = "../data_out/"
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* v1.0.1
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* - date: 2020-09-15
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* - LDCH: optimize the "calcLdchMaxLevel" function to reduce the cost time,
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and it takes about 160ms in PC
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* v1.0.2
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* - date: 2020-09-16
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* - LDCH: continue to optimize the "calcLdchMaxLevel" function to reduce the cost time,
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and it takes about 50ms in PC
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* v1.0.3
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* - date: 2020-09-17
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* - LDCH: continue to optimize the "calcLdchMaxLevel" function to reduce the cost time,
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and it takes about 8ms in PC
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* v2.0.0
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* - date: 2020-09-17
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* - FEC&LDCH: change to use rho-cotTheta(or rho-tanTheta) in polynomial fitting,
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and it saves some time in function "genFECMeshNLevel" and "genLDCMeshNLevel" for each level
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* - LDCH: continue to optimize the "calcLdchMaxLevel" function to reduce the cost time,
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and it only takes 4ms in PC
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* v2.0.1
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* - date: 2020-09-18
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* - FEC&LDCH: due to a bug in polynomial fitting, last version will returns error when the I/O resolutions are different,
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it has been solved in this version
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- FEC: the fixed-point number is changed from 7 to 8
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* v2.0.2
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* - date: 2020-09-23
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* - FEC&LDCH: adjust some code to facilitate branch prediction logic and reduce unnecessary memory references to improve efficiency
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* v2.0.3
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* - date: 2020-10-10
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* - FEC&LDCH: fix some small bugs
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* v2.0.4
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* - date: 2020-10-15
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* - FEC: change mesh border from (srcW-3, srcH-3) to (srcW-1, srcH-1)
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* v2.0.5
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* - date: 2020-10-28
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* - FEC: consider the case when the width and height of the output image are different from the input,
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the naming rules of mesh table are specified as(using "meshxi, level=0, input=3840x2160, output=1920x1080, both x and y direction are corrected" as an example):
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level000_1920x1080from3840x2160_both_correct_meshxi.bin
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* v3.0.0
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* - date: 2020-11-10
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* - FEC: add an option: saveMaxFovX--flag of retaining maximum FOV in X direction(horizontal direction)
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so there are 6 options when combined with correctX and correctY flags:
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correctX correctY saveMaxFovX
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1 0 (0 or 1)
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0 1 (0 or 1)
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1 1 (0 or 1)
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* - LDCH: add an option: saveMaxFovX
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users can choose whether to retain the max FOV in X direction or not.
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when saveMaxFovX=1, users choose to save max FOV in X direction and tolerate slight compression distortion in middle part.
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* v3.0.1
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* - date: 2020-11-12
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* - FEC & LDCH: add a Macro definition "INV_POLY_COEFF_NUM" to define the coefficients' number of polynomial fitting
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* - FEC: the code was test in the case when the horizontal FOV is close to 180 degrees and the result is OK.
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* v3.0.2
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* - date: 2020-11-27
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* - FEC: add an option: isFecOld--flag for different versions of FEC hardware
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isFecOld = 1: for old FEC
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isFecOld = 0: for new FEC
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* v3.0.3
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* - date: 2020-12-22
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* - LDCH: add an option: isLdchOld--flag for different versions of LDCH hardware
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isLdchOld = 1: for old LDCH
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isLdchOld = 0: for new LDCH
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* v4.0.0
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* - date: 2021-01-19
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* - genScaleMeshNLevel:
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add a new function interface: LDCH mesh(for x direction) + FEC mesh(for y direction)
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1) CameraCoeff of original resolution, e.g. 3840*2160 --> LDCH mesh --> LDCH
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2) CameraCoeff of original resolution, e.g. 3840*2160 --> 1920*1080 FEC mesh + 1920*1080 image data --> FEC
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* v4.0.1
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* - date: 2021-01-21
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* - genCropScaleMeshNLevel:
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add a new function interface: LDCH mesh(for x direction) + FEC mesh(for y direction)
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1) CameraCoeff of original resolution, e.g. 3840*2160 --> LDCH mesh --> LDCH
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2) CameraCoeff of original resolution, e.g. 3840*2160 --> crop at any position(pW,pH) to get any size, e.g. 1600*900 --> scale to 1920*1080 FEC mesh + 1920*1080 image data --> FEC
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* v4.0.2
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* - date: 2021-06-23
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* - LDCH: add genLdchMeshFixedZeroCorrect function
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* v4.0.3
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* - date: 2021-06-28
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* - LDCH: modify the last row of zero correct mesh for LDCH bug.
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* v4.0.4
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* - date: 2021-07-05
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* - LDCH: modify the middle row of mesh(minus 6 pixels) when saveMaxFovX == 1 for old LDCH bug(avoid the last pixel in the row map to the interval of [last-5, last-3]).
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valid flag: need to set isLdchOld = 1.
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* v4.0.5
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* - date: 2021-08-12
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* - LDCH: last version didnot completely solve this bug: the middle row of mesh(minus 6 pixels) when saveMaxFovX == 1 for old LDCH bug(avoid the last pixel in the row map to the interval of [last-5, last-3]).
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valid flag: need to set isLdchOld = 1.
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* v4.0.6
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* - date: 2021-08-14
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* - LDCH: consider these case:
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1.rhoMaxW < rohMaxH for old LDCH bug(avoid the last pixel in the row map to the interval of [last-5, last-3]).
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2.identity mesh between penultimate and last rows may cause old LDCH bug when interpolation.
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valid flag: need to set isLdchOld = 1.
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* v5.0.0
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* - date: 2021-09-23
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* - FEC: add function cropFecMesh:
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the mesh wiil be cropped according to the ROI parameters of the output image.
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* v5.0.1
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* - date: 2021-10-09
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* - FEC: add function genFecMeshInit8kTo4k: generate FEC mesh for 8k image ---> 2 images of 4k.
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* - LDCH: add function genLdchMeshInit8kTo4k: generate LDCH mesh for 8k image ---> 2 images of 4k.
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- FEC & LDCH: some other changes.
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*/
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#define RK_GENMESH_VERSION_REAL_V "v5.0.1"
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#define RK_GENMESH_RELEASE_DATE "2021-10-09"
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/******* DO NOT EDIT THE FOLLOWINGS *******/
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#define RK_GENMESH_VERSION_HEAD "GENMESH "
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#define RK_GENMESH_VERSION \
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RK_GENMESH_VERSION_HEAD\
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RK_GENMESH_VERSION_REAL_V
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#endif // !__RKGENMESHVERSION_H__
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