#ifndef __PANORAMA_STITCHINGAPP_H__
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#define __PANORAMA_STITCHINGAPP_H__
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef BUILDING_DLL
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#ifdef __GNUC__
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#define DLL_PUBLIC __attribute__ ((dllexport))
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#else
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// Note: actually gcc seems to also supports this syntax.
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#define DLL_PUBLIC __declspec(dllexport)
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#endif
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#else
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#ifdef __GNUC__
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#define DLL_PUBLIC __attribute__ ((dllimport))
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#else
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// Note: actually gcc seems to also supports this syntax.
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#define DLL_PUBLIC
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#endif
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#define DLL_LOCAL
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#endif
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#else
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#if __GNUC__ >= 4
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#define DLL_PUBLIC __attribute__ ((visibility ("default")))
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#define DLL_LOCAL __attribute__ ((visibility ("hidden")))
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#else
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#define DLL_PUBLIC
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#define DLL_LOCAL
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#endif
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#endif
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/*
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* @enum RK_PS_RETURN_STATUS
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* @brief the return status of function
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*/
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enum RK_PS_RETURN_STATUS
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{
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RK_PS_STATUS_EOF = -1, /**< error of function inside */
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RK_PS_STATUS_OK = 0, /**< run successfully */
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RK_PS_STATUS_FILE_READ_ERROR, /**< error: fail to read file */
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RK_PS_STATUS_FILE_WRITE_ERROR, /**< error: fail to write file */
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RK_PS_STATUS_INVALID_PARAM, /**< error: invalid parameter */
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RK_PS_STATUS_ALLOC_FAILED, /**< error: fail to alloc buffer */
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AVS_STATUS_BUTT /**< error: reserved fields */
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};
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/*
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* @enum RK_PS_MESH_ALPHA_SAVE_OPTION
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* @brief Specify the way of saving mesh and alpha data
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*/
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enum RK_PS_MESH_ALPHA_SAVE_OPTION
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{
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WRITE_MESH_ALPHA_BUFFER = 0, /**< write mesh and alpha in buffer */
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WRITE_MESH_ALPHA_BIN_FILE = 1, /**< write mesh and alpha as bin file */
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};
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/*
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* @enum RK_PS_LOW_FREQUENCY_LAYER_FUSE_WIDTH
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* @brief Specify the low frequency layer fuse width
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*/
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enum RK_PS_LOW_FREQUENCY_LAYER_FUSE_WIDTH
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{
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LOW_FREQUENCY_LAYER_FUSE_WIDTH_128 = 128, /**< fuse_width = 128 */
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LOW_FREQUENCY_LAYER_FUSE_WIDTH_256 = 256, /**< fuse_width = 256 */
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LOW_FREQUENCY_LAYER_FUSE_WIDTH_512 = 512, /**< fuse_width = 512 */
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};
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/*
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* @enum RK_PS_IMAGE_FORMAT
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* @brief Specify the input images format
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*/
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enum RK_PS_IMAGE_FORMAT
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{
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INPUT_FORMAT_TYPE_GRAY = 0, /**< input gray images */
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INPUT_FORMAT_TYPE_RGB = 1, /**< input rgb images */
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INPUT_FORMAT_TYPE_YUVNV12 = 2, /**< input yuv_nv12 images */
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};
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/*
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* @enum RK_PS_SAVE_MESH_ALPHA_TYPE
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* @brief Specify the save mesh and alpha data type
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*/
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enum RK_PS_SAVE_MESH_ALPHA_TYPE
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{
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SAVE_MESH_ALPHA_TYPE_GPU = 0, /**< output rk mesh alpha data for gpu(3588) */
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SAVE_MESH_ALPHA_TYPE_CMODEL = 1, /**< output rk mesh alpha data for cmodel */
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SAVE_MESH_ALPHA_TYPE_DEBUG = 2, /**< output rk mesh alpha data for debug */
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SAVE_MESH_ALPHA_TYPE_FEC = 3, /**< output rk mesh alpha data for FEC */
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};
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/*
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* @enum RK_PS_CAMERA_TYPE
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* @brief Specify the camera type
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*/
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enum RK_PS_CAMERA_TYPE
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{
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RK_PS_CAMERA_TYPE_PINHOLE, /**< camera pinhole type */
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RK_PS_CAMERA_TYPE_OMNI, /**< camera omnidirectional type */
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RK_PS_CAMERA_TYPE_FISH, /**< camera fisheye type */
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};
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/*
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* @enum RK_PS_PROJECT_TYPE
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* @brief Specify the project type
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*/
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enum RK_PS_PROJECT_TYPE
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{
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RK_PS_PROJECTION_EQUIRECTANGULAR = 0, /**< equirectangular */
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RK_PS_PROJECTION_RECTILINEAR = 1, /**< rectilinear */
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RK_PS_PROJECTION_CYLINDRICAL = 2, /**< cylindrical */
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RK_PS_PROJECTION_CUBE_MAP = 3, /**< cube_map: currently unsupported */
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};
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/*
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* @enum RK_PS_SrcOverlapPosition
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* @brief Clockwise rotation angle of overlapping area from src image to dst image
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*/
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enum RK_PS_SrcOverlapPosition
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{
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RK_PS_SrcOverlapPosition_0 = 0, /**< clockwise rotation 0 degrees */
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RK_PS_SrcOverlapPosition_90 = 1, /**< clockwise rotation 90 degrees */
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RK_PS_SrcOverlapPosition_180 = 2, /**< clockwise rotation 180 degrees */
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RK_PS_SrcOverlapPosition_270 = 3, /**< clockwise rotation 270 degrees */
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};
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/*
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* @struct RK_PS_SrcOverlapMap
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* @brief the overlap map data and position on src image
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*/
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struct RK_PS_SrcOverlapMap
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{
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char versionInfo[64];
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RK_PS_SrcOverlapPosition srcOverlapPositon[8];
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unsigned char overlapMap[15 * 15 * 8];
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};
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struct RK_PS_MeshParams
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{
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int nonoverlap_num;
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int overlap_num;
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int nonoverlap_dst_startx[2];
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int nonoverlap_dst_width[2];
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int nonoverlap_mesh_width[2];
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int nonoverlap_mesh_height[2];
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int overlap_band_num;
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int overlap_dst_startx[2];
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int overlap_dst_width[2];
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int overlap_mesh_width[2];
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int overlap_mesh_height[2];
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int overlap_alpha_width[2];
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int overlap_alpha_height[2];
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};
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/*
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* @struct RK_PS_MeshBuffer
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* @brief output buffer for mesh
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*/
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struct RK_PS_MeshBuffer
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{
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int src_width;
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int src_height;
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int dst_width;
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int dst_height;
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int mesh_step_x;
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int mesh_step_y;
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int camera_num;
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float* pmesh;
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RK_PS_MeshParams mesh_params[8];
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};
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/*
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* @struct RK_PS_AlphaBuffer
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* @brief output buffer for alpha
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*/
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struct RK_PS_AlphaBuffer
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{
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};
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/*
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* @struct RK_PS_Engine
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* @brief the internal engine instance
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*/
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struct RK_PS_Engine
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{
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RK_PS_MeshBuffer* mesh; /**< input/output-mesh buffer */
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RK_PS_AlphaBuffer* alpha; /**< input/output-alpha buffer */
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void* p;
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};
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/*
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* @struct RK_PS_InitParams
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* @brief params for initialize calibration data
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*/
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struct RK_PS_InitParams
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{
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RK_PS_MESH_ALPHA_SAVE_OPTION save_option; /**< input-specify save option */
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int camera_num; /**< input-camera numbers */
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const char* input_calib_data_path; /**< input-cameras calibration data path */
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const char* input_mask_data_path; /**< input-mask image path */
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const char* input_lut_path; /**< input-specify src LUT file path */
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const char* output_mesh_alpha_data_path; /**< output-mesh and alpha data path */
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const char* output_overlap_data_path; /**< output-overlap data path */
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int mesh_step_x; /**< input-mesh step in horizontal direction */
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int mesh_step_y; /**< input-mesh step in vertical direction */
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int fuse_width; /**< input-min width of fuse band: 128 or 256 or 512 */
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};
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/*
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* @struct RK_PS_Rotation
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* @brief rotation angle
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*/
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struct RK_PS_Rotation
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{
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int yaw100; /**< yaw data. yaw angle x 100 */
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int pitch100; /**< pitch data. pitch angle x 100 */
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int roll100; /**< roll data. roll angle x 100 */
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};
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/*
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* @struct RK_PS_SetProjectParams
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* @brief params for the specifications of the output image
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*/
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struct RK_PS_SetProjectParams
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{
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int project_type; /**< input-project type */
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int camera_num; /**< input-cameras number */
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int src_width; /**< input-input_images width */
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int src_height; /**< input-input_images height */
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int dst_width; /**< input-output stitch image width */
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int dst_height; /**< input-output stitch image height */
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int fov_x100; /**< input-output stitch image fov_x */
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int fov_y100; /**< input-output stitch image fov_y */
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int center_x; /**< input-output stitch image center_y */
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int center_y; /**< input-output stitch image center_y */
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float stitch_distance; /**< input-best stitch distance */
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int save_mesh_alpha_type; /**< input-output mesh and alpha type */
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RK_PS_Rotation ori_rotation; /**< input-output stitch image ori rotation */
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RK_PS_Rotation rotation; /**< input-output stitch image rotation */
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};
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/*
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* @struct RK_PS_FineTuningParams
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* @brief fine tuning params for every camera
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*/
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struct RK_PS_FineTuningParams
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{
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int camera_num;
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int offset_h[8];
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int offset_w[8];
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int offset_z[8];
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RK_PS_Rotation rotation[8];
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};
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/*
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* @struct RK_PS_Roi_Params
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* @brief params for roi
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*/
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struct RK_PS_RoiParams
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{
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int src_project_type; /**< input-project type */
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int src_width; /**< input-input_image width */
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int src_height; /**< input-input_image height */
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int src_fov_x100; /**< input-input_image fov_x */
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int src_fov_y100; /**< input-input_image fov_y */
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int src_center_x;
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int src_center_y;
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int dst_width; /**< input-output stitch image width */
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int dst_height; /**< input-output stitch image height */
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int dst_fov_x100; /**< input-output stitch image fov_x */
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int dst_fov_y100; /**< input-output stitch image fov_y */
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int dst_center_x; /**< input-output stitch image center_y */
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int dst_center_y; /**< input-output stitch image center_y */
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};
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/*
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* @struct RK_PS_InitBlendedImages
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* @brief params for initialize blended images
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*/
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struct RK_PS_InitBlendedImages
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{
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int camera_num; /**< input-cameras number */
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int image_format; /**< input-images format */
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int use_gain; /**< input-use gain or not(0-not use,1-use) */
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int gain_stepx; /**< input-gian step_x */
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int gain_stepy; /**< input-gian step_y */
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int input_mesh_alpha_data_type; /**< input-input mesh and alpha data type */
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const char* input_mesh_alpha_data_path; /**< input-input mesh and alpha data path */
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unsigned char* output_blended_image; /**< output-output blended image */
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};
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/* ´´½¨EngineµÄº¯Êý */
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DLL_PUBLIC int RK_PS_setEngine(struct RK_PS_Engine* engine);
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/* Éú³Émesh±íºÍalpha±íʱµÄ³õʼ»¯±ê¶¨²ÎÊýµÄº¯Êý */
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DLL_PUBLIC int RK_PS_initParams(struct RK_PS_Engine* engine, RK_PS_InitParams* params);
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/* Éú³Émesh±íºÍalpha±íʱÉèÖÃÊä³öͼÏñ¹æ¸ñµÄº¯Êý */
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DLL_PUBLIC int RK_PS_setProjectParams(struct RK_PS_Engine* engine, struct RK_PS_SetProjectParams* params);
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/* Éú³Émesh±íºÍalpha±íʱÉèÖÃÿ¸öÏà»ú×Ë̬¾«µ÷²ÎÊýµÄº¯Êý */
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DLL_PUBLIC int RK_PS_setFineTuningParams(struct RK_PS_Engine* engine, struct RK_PS_FineTuningParams* params);
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//»ñÈ¡GPUËùÐè²éÕÒ±íËùÐèµÄ×î´óbuffer
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DLL_PUBLIC int RK_PS_getMaxMeshBufferSize(struct RK_PS_Engine* engine, float* buffer_size);
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/* ͨ¹ý±ê¶¨ÎļþÉú³Émesh±íºÍalpha±íµÄº¯Êý */
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DLL_PUBLIC int RK_PS_mesh_alphaFromCalibration(struct RK_PS_Engine* engine);
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/* ͨ¹ý±ê¶¨Îļþ¼ÆËãÊäÈëͼÏñÖصþÇøÓòmaskÐÅÏ¢ */
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DLL_PUBLIC int RK_PS_srcOverlapMaskFromCalibration(struct RK_PS_Engine* engine);
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/* ͨ¹ýÖмäLUT±íÉú³Émesh±íºÍalpha±íµÄº¯Êý */
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DLL_PUBLIC int RK_PS_mesh_alphaFromProjection(struct RK_PS_Engine* engine);
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/* ͨ¹ýÓû§Ö¸¶¨µÄROI²ÎÊýÉú³ÉrectilinearУÕýµÄmesh±íµÄº¯Êý */
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DLL_PUBLIC int RK_PS_meshForRoiRectilinear(struct RK_PS_Engine* engine, RK_PS_RoiParams* roi_parmas, const char* save_mesh_path);
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/* Æ´½ÓͼÏñµÄ³õʼ»¯º¯Êý */
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DLL_PUBLIC int RK_PS_initBlendedImages(struct RK_PS_Engine* engine, struct RK_PS_InitBlendedImages* params);
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/* Æ´½ÓͼÏñº¯ÊýÖ÷º¯Êý */
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DLL_PUBLIC int RK_PS_blendedImages(struct RK_PS_Engine* engine, unsigned char** pinput_image);
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/* Îö¹¹º¯Êý */
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DLL_PUBLIC int RK_PS_destroy(struct RK_PS_Engine* engine);
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#ifdef __cplusplus
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} /* extern "C" { */
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#endif
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#endif // !__PANORAMA_STITCHINGAPP_H__
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