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/*
* cl_fisheye_handler.h - CL fisheye handler
*
* Copyright (c) 2016 Intel 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.
*
* Author: Wind Yuan <feng.yuan@intel.com>
*/
#ifndef XCAM_CL_FISHEYE_HANDLER_H
#define XCAM_CL_FISHEYE_HANDLER_H
#include <xcam_std.h>
#include <interface/data_types.h>
#include <ocl/cl_image_handler.h>
#include <ocl/cl_geo_map_handler.h>
#include <surview_fisheye_dewarp.h>
namespace XCam {
class CLFisheyeHandler;
class CLFisheye2GPSKernel
: public CLImageKernel
{
public:
explicit CLFisheye2GPSKernel (const SmartPtr<CLContext> &context, SmartPtr<CLFisheyeHandler> &handler);
protected:
virtual XCamReturn prepare_arguments (CLArgList &args, CLWorkSize &work_size);
private:
SmartPtr<CLFisheyeHandler> _handler;
};
class CLFisheyeHandler
: public CLImageHandler
, public GeoKernelParamCallback
{
friend class CLFisheye2GPSKernel;
public:
explicit CLFisheyeHandler (const SmartPtr<CLContext> &context, SurroundMode surround_mode, bool use_map, bool need_lsc, bool need_scale);
virtual ~CLFisheyeHandler();
void set_output_size (uint32_t width, uint32_t height);
void get_output_size (uint32_t &width, uint32_t &height) const;
void set_dst_range (float longitude, float latitude);
void get_dst_range (float &longitude, float &latitude) const;
void set_fisheye_info (const FisheyeInfo &info);
const FisheyeInfo &get_fisheye_info () const {
return _fisheye_info;
}
void set_lsc_table (float *table, uint32_t table_size);
void set_lsc_gray_threshold (float min_threshold, float max_threshold);
void set_stable_y_start (float y_start);
virtual float get_stable_y_start () {
return _stable_y_start;
}
void set_left_scale_factor (PointFloat2 factor);
void set_right_scale_factor (PointFloat2 factor);
virtual PointFloat2 get_left_scale_factor () {
return _left_scale_factor;
}
virtual PointFloat2 get_right_scale_factor () {
return _right_scale_factor;
}
void set_bowl_config(const BowlDataConfig bowl_data_config) {
_bowl_data_config = bowl_data_config;
}
const BowlDataConfig &get_bowl_config() {
return _bowl_data_config;
}
void set_intrinsic_param(const IntrinsicParameter intrinsic_param) {
_intrinsic_param = intrinsic_param;
}
const IntrinsicParameter &get_intrinsic_param() {
return _intrinsic_param;
}
void set_extrinsic_param(const ExtrinsicParameter extrinsic_param) {
_extrinsic_param = extrinsic_param;
}
const ExtrinsicParameter &get_extrinsic_param() {
return _extrinsic_param;
}
protected:
// derived from CLImageHandler
virtual XCamReturn prepare_buffer_pool_video_info (
const VideoBufferInfo &input, VideoBufferInfo &output);
virtual XCamReturn prepare_parameters (SmartPtr<VideoBuffer> &input, SmartPtr<VideoBuffer> &output);
virtual XCamReturn execute_done (SmartPtr<VideoBuffer> &output);
// derived from GeoKernelParamCallback
virtual SmartPtr<CLImage> get_geo_input_image (NV12PlaneIdx index);
virtual SmartPtr<CLImage> get_geo_output_image (NV12PlaneIdx index);
virtual SmartPtr<CLImage> get_geo_map_table () {
return _geo_table;
}
virtual void get_geo_equivalent_out_size (float &width, float &height);
virtual void get_geo_pixel_out_size (float &width, float &height);
virtual SmartPtr<CLImage> get_lsc_table ();
virtual float* get_lsc_gray_threshold ();
private:
SmartPtr<CLImage> &get_input_image (NV12PlaneIdx index) {
XCAM_ASSERT (index < NV12PlaneMax);
return _input [index];
}
SmartPtr<CLImage> &get_output_image (NV12PlaneIdx index) {
XCAM_ASSERT (index < NV12PlaneMax);
return _output [index];
}
SmartPtr<CLImage> create_cl_image (
uint32_t width, uint32_t height, cl_channel_order order, cl_channel_type type);
XCamReturn generate_fisheye_table (
uint32_t fisheye_width, uint32_t fisheye_height, const FisheyeInfo &fisheye_info);
void ensure_lsc_params ();
XCamReturn generate_lsc_table (
uint32_t fisheye_width, uint32_t fisheye_height, FisheyeInfo &fisheye_info);
XCAM_DEAD_COPY (CLFisheyeHandler);
private:
uint32_t _output_width;
uint32_t _output_height;
float _range_longitude;
float _range_latitude;
FisheyeInfo _fisheye_info;
float _map_factor;
bool _use_map;
uint32_t _need_lsc;
uint32_t _need_scale;
uint32_t _lsc_array_size;
float _gray_threshold[2]; // [min_gray_threshold, max_gray_threshold]
float *_lsc_array;
float _stable_y_start;
PointFloat2 _left_scale_factor;
PointFloat2 _right_scale_factor;
BowlDataConfig _bowl_data_config;
IntrinsicParameter _intrinsic_param;
ExtrinsicParameter _extrinsic_param;
SurroundMode _surround_mode;
SmartPtr<CLImage> _geo_table;
SmartPtr<CLImage> _lsc_table;
SmartPtr<CLImage> _input[NV12PlaneMax];
SmartPtr<CLImage> _output[NV12PlaneMax];
};
SmartPtr<CLImageHandler>
create_fisheye_handler (const SmartPtr<CLContext> &context, SurroundMode surround_mode = SphereView, bool use_map = false, bool need_lsc = false, bool need_scale = false);
}
#endif //XCAM_CL_FISHEYE_HANDLER_H
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