/*
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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 __GENMESH_H__
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#define __GENMESH_H__
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#define INV_POLY_COEFF_NUM 21 /* ¶àÏîʽϵÊý¸öÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
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/* Ïà»ú²ÎÊý */
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struct CameraCoeff
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{
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double cx, cy; /* ¾µÍ·µÄ¹âÐÄ */
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double a0, a2, a3, a4; /* ¾µÍ·µÄ»û±äϵÊý */
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double c, d, e; /* ÄÚ²Î[c d;e 1] */
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double sf; /* sf¿ØÖÆÊÓ½Ç, sfÔ½´óÊÓ½ÇÔ½´ó */
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/* level = 0ʱµÄrho-tanTheta¶àÏîʽÄâºÏ */
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int invPolyTanNum0; /* ÄâºÏºóµÄϵÊý¸öÊý */
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double invPolyTanCoeff0[INV_POLY_COEFF_NUM]; /* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
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/* level = 0ʱµÄrho-cotTheta¶àÏîʽÄâºÏ */
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int invPolyCotNum0; /* ÄâºÏºóµÄϵÊý¸öÊý */
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double invPolyCotCoeff0[INV_POLY_COEFF_NUM]; /* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
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/* level = 255ʱµÄrho-tanTheta¶àÏîʽÄâºÏ */
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int invPolyTanNum255; /* ÄâºÏºóµÄϵÊý¸öÊý */
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double invPolyTanCoeff255[INV_POLY_COEFF_NUM]; /* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
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/* level = 255ʱµÄrho-cotTheta¶àÏîʽÄâºÏ */
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int invPolyCotNum255; /* ÄâºÏºóµÄϵÊý¸öÊý */
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double invPolyCotCoeff255[INV_POLY_COEFF_NUM]; /* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
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};
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/* Éú³ÉFECÓ³Éä±íÏà¹ØµÄ²ÎÊý */
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struct FecParams
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{
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int correctX; /* ˮƽx·½ÏòУÕý: 1´ú±íУÕý, 0´ú±í²»Ð£Õý */
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int correctY; /* ´¹Ö±y·½ÏòУÕý: 1´ú±íУÕý, 0´ú±í²»Ð£Õý */
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int saveMaxFovX; /* ±£Áôˮƽx·½Ïò×î´óFOV: 1´ú±í±£Áô, 0´ú±í²»±£Áô */
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int isFecOld; /* ÊÇ·ñ¾É°æFEC: 1´ú±íÊÇ£¬0´ú±í²»ÊÇ */
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int saveMesh4bin; /* ÊÇ·ñ±£´æmeshxi,xf,yi,yf4¸öbinÎļþ£º1´ú±í±£´æ, 0´ú±í²»±£´æ */
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char mesh4binPath[256]; /* ±£´æmeshxi,xf,yi,yf4¸öbinÎļþµÄ·¾¶ */
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int srcW, srcH, dstW, dstH; /* ÊäÈëÊä³öͼÏñµÄ·Ö±æÂÊ */
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int srcW_ex, srcH_ex, dstW_ex, dstH_ex; /* À©Õ¹ºóµÄÊäÈëÊä³ö·Ö±æÂÊ */
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double cropStepW[2000], cropStepH[2000];
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double cropStartW[2000], cropStartH[2000];
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int meshSizeW, meshSizeH;
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double meshStepW, meshStepH;
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int meshSize1bin;
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int meshSize4bin;
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unsigned short SpbNum;
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unsigned long MeshPointNumW;
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unsigned short SpbMeshPNumH;
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unsigned short LastSpbMeshPNumH;
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unsigned short *pMeshXY;
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};
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/* Éú³ÉLDCHÓ³Éä±íÏà¹ØµÄ²ÎÊý */
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struct LdchParams
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{
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int saveMaxFovX; /* ±£Áôˮƽx·½Ïò×î´óFOV: 1´ú±í±£Áô, 0´ú±í²»±£Áô */
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int isLdchOld; /* ÊÇ·ñ¾É°æLDCH: 1´ú±íÊÇ£¬0´ú±í²»ÊÇ */
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int saveMeshX; /* ÊÇ·ñ±£´æMeshX.binÎļþ: 1´ú±í±£´æ, 0´ú±í²»±£´æ */
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char meshPath[256]; /* ±£´æMeshX.binÎļþµÄ·¾¶ */
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int srcW, srcH, dstW, dstH; /* ÊäÈëÊä³öͼÏñµÄ·Ö±æÂÊ */
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int meshSizeW, meshSizeH;
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double meshStepW, meshStepH;
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int mapxFixBit; /* ¶¨µã»¯×óÒÆλÊý */
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int meshSize;
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int maxLevel;
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double *mapx;
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double *mapy;
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};
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/* =============================================================================================================================================================================== */
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/* FEC: ³õʼ»¯, ¸ù¾ÝͼÏñÊä³ö·Ö±æÂÊ, ¼ÆËãFECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer */
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void genFecMeshInit(int srcW, int srcH, int dstW, int dstH, FecParams &fecParams, CameraCoeff &camCoeff);
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/* FEC: ·´³õʼ»¯ */
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void genFecMeshDeInit(FecParams &fecParams);
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/* FEC: Ô¤ÏȼÆËãµÄ²¿·Ö: ¸¡µãδУÕýµÄС±íºÍlevel=0,level=255µÄ¶àÏîʽ²ÎÊý */
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void genFecPreCalcPart(FecParams &fecParams, CameraCoeff &camCoeff);
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/* FEC: 4¸ömesh ÄÚ´æÉêÇë */
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void mallocFecMesh(int meshSize, unsigned short **pMeshXI, unsigned char **pMeshXF, unsigned short **pMeshYI, unsigned char **pMeshYF);
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/* FEC: 4¸ömesh ÄÚ´æÊÍ·Å */
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void freeFecMesh(unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
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/*
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º¯Êý¹¦ÄÜ: Éú³É²»Í¬Ð£Õý³Ì¶ÈµÄmeshÓ³Éä±í, ÓÃÓÚISPµÄFECÄ£¿é
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ÊäÈë:
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1£©FECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: FecParams &fecParams
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2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
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3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
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Êä³ö:
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1£©bool ÊÇ·ñ³É¹¦Éú³É
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2£©pMeshXI, pMeshXF, pMeshYI, pMeshYF
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*/
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bool genFECMeshNLevel(FecParams &fecParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);
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/* =============================================================================================================================================================================== */
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/* LDCH: ³õʼ»¯, ¸ù¾ÝͼÏñÊä³ö·Ö±æÂÊ, ¼ÆËãLDCHÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer */
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void genLdchMeshInit(int srcW, int srcH, int dstW, int dstH, LdchParams &ldchParams, CameraCoeff &camCoeff);
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/* LDCH: ·´³õʼ»¯ */
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void genLdchMeshDeInit(LdchParams &ldchParams);
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/* LDCH: Ô¤ÏȼÆËãµÄ²¿·Ö: ¸¡µãδУÕýµÄС±íºÍlevel=0,level=255µÄ¶àÏîʽ²ÎÊý */
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void genLdchPreCalcPart(LdchParams &ldchParams, CameraCoeff &camCoeff);
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/* LDCH: ¼ÆËãLDCHÄܹ»Ð£ÕýµÄ×î´ó³Ì¶È */
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void calcLdchMaxLevel(LdchParams &ldchParams, CameraCoeff &camCoeff);
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/*
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º¯Êý¹¦ÄÜ: Éú³É²»Í¬Ð£Õý³Ì¶ÈµÄmeshÓ³Éä±í, ÓÃÓÚISPµÄLDCHÄ£¿é
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ÊäÈë:
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1£©LDCHÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: LdchParams &ldchParams
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2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
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3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
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Êä³ö:
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1£©bool ÊÇ·ñ³É¹¦Éú³É
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2£©pMeshX
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*/
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bool genLDCMeshNLevel(LdchParams &ldchParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshX);
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/* =============================================================================================================================================================================== */
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/* Êä³öͼÏñµÄROIÇøÓòÏà¹Ø²ÎÊý */
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struct RoiParams
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{
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int startW; /* ROIÇøÓòµÄÆðʼµã */
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int startH;
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int roiW; /* ROIÇøÓòµÄ¿í¸ß */
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int roiH;
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};
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/* ¸ù¾ÝÊä³öͼÏñµÄROI²ÎÊý£¬¶ÔFEC mesh½øÐвüô, µÃµ½×îÖÕÐèÇóµÄ³ß´ç */
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bool cropFecMesh(FecParams &fecParams, RoiParams &roiParams, int level, unsigned short *pCropMeshXI, unsigned char *pCropMeshXF, unsigned short *pCropMeshYI, unsigned char *pCropMeshYF);
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/* ¸ù¾ÝÊä³öͼÏñµÄROI²ÎÊý£¬¶ÔLDCH mesh½øÐвüô, µÃµ½×îÖÕÐèÇóµÄ³ß´ç */
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bool cropLdchMesh(LdchParams &ldchParams, RoiParams &roiParams, int level, unsigned short *pMeshX, unsigned short *pRoiMeshX);
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/* FEC: ³õʼ»¯, ÓÃÓÚ8k ---> 2¸ö4k */
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void genFecMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
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CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
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FecParams &fecParams, FecParams &fecParams_left, FecParams &fecParams_right);
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/* LDCH: 8k ---> 2¸ö4k */
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void genLdchMeshInit8kTo4k(int srcW, int srcH, int dstW, int dstH, int margin,
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CameraCoeff &camCoeff, CameraCoeff &camCoeff_left, CameraCoeff &camCoeff_right,
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LdchParams &ldchParams, LdchParams &ldchParams_left, LdchParams &ldchParams_right);
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#endif // !__GENMESH_H__
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