/*
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* Copyright (c) 2019-2022 Rockchip Eletronics Co., Ltd.
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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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#include "RkAiqAorbHandle.h"
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#include "RkAiqCore.h"
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namespace RkCam {
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DEFINE_HANDLE_REGISTER_TYPE(RkAiqAorbHandleInt);
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void RkAiqAorbHandleInt::init() {
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ENTER_ANALYZER_FUNCTION();
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RkAiqHandle::deInit();
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mConfig = (RkAiqAlgoCom*)(new RkAiqAlgoConfigAorb());
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mPreInParam = (RkAiqAlgoCom*)(new RkAiqAlgoPreAorb());
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mPreOutParam = (RkAiqAlgoResCom*)(new RkAiqAlgoPreResAorb());
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mProcInParam = (RkAiqAlgoCom*)(new RkAiqAlgoProcAorb());
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mProcOutParam = (RkAiqAlgoResCom*)(new RkAiqAlgoProcResAorb());
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mPostInParam = (RkAiqAlgoCom*)(new RkAiqAlgoPostAorb());
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mPostOutParam = (RkAiqAlgoResCom*)(new RkAiqAlgoPostResAorb());
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EXIT_ANALYZER_FUNCTION();
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}
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XCamReturn RkAiqAorbHandleInt::prepare() {
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ENTER_ANALYZER_FUNCTION();
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XCamReturn ret = XCAM_RETURN_NO_ERROR;
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ret = RkAiqHandle::prepare();
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RKAIQCORE_CHECK_RET(ret, "aorb handle prepare failed");
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RkAiqAlgoConfigAorb* aorb_config_int = (RkAiqAlgoConfigAorb*)mConfig;
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RkAiqCore::RkAiqAlgosComShared_t* sharedCom = &mAiqCore->mAlogsComSharedParams;
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CalibDbV2_Orb_t* orb =
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(CalibDbV2_Orb_t*)CALIBDBV2_GET_MODULE_PTR((void*)(sharedCom->calibv2), orb);
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if (orb) {
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aorb_config_int->orb_calib_cfg.param.orb_en = orb->param.orb_en;
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}
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RkAiqAlgoDescription* des = (RkAiqAlgoDescription*)mDes;
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ret = des->prepare(mConfig);
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RKAIQCORE_CHECK_RET(ret, "aorb algo prepare failed");
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EXIT_ANALYZER_FUNCTION();
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn RkAiqAorbHandleInt::preProcess() { return XCAM_RETURN_NO_ERROR; }
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XCamReturn RkAiqAorbHandleInt::processing() {
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ENTER_ANALYZER_FUNCTION();
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XCamReturn ret = XCAM_RETURN_NO_ERROR;
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RkAiqAlgoProcAorb* aorb_proc_int = (RkAiqAlgoProcAorb*)mProcInParam;
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RkAiqCore::RkAiqAlgosGroupShared_t* shared = nullptr;
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RkAiqCore::RkAiqAlgosComShared_t* sharedCom = &mAiqCore->mAlogsComSharedParams;
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int groupId = mAiqCore->getGroupId(RK_AIQ_ALGO_TYPE_AORB);
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if (groupId >= 0) {
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if (mAiqCore->getGroupSharedParams(groupId, shared) != XCAM_RETURN_NO_ERROR)
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return XCAM_RETURN_BYPASS;
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} else
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return XCAM_RETURN_BYPASS;
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aorb_proc_int->orb_stats_buf = shared->orbStats;
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ret = RkAiqHandle::processing();
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if (ret) {
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RKAIQCORE_CHECK_RET(ret, "aorb handle processing failed");
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}
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if (!shared->orbStats && !sharedCom->init) {
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LOGE_AORB("no orb stats, ignore!");
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return XCAM_RETURN_BYPASS;
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}
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RkAiqAlgoDescription* des = (RkAiqAlgoDescription*)mDes;
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ret = des->processing(mProcInParam, mProcOutParam);
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RKAIQCORE_CHECK_RET(ret, "aorb algo processing failed");
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EXIT_ANALYZER_FUNCTION();
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return ret;
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}
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XCamReturn RkAiqAorbHandleInt::postProcess() { return XCAM_RETURN_NO_ERROR; }
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XCamReturn RkAiqAorbHandleInt::genIspResult(RkAiqFullParams* params, RkAiqFullParams* cur_params) {
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ENTER_ANALYZER_FUNCTION();
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XCamReturn ret = XCAM_RETURN_NO_ERROR;
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RkAiqCore::RkAiqAlgosGroupShared_t* shared =
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(RkAiqCore::RkAiqAlgosGroupShared_t*)(getGroupShared());
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RkAiqCore::RkAiqAlgosComShared_t* sharedCom = &mAiqCore->mAlogsComSharedParams;
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RkAiqAlgoProcResAorb* aorb_com = (RkAiqAlgoProcResAorb*)mProcOutParam;
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if (!aorb_com) {
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LOGE_ANALYZER("no aorb result");
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return XCAM_RETURN_NO_ERROR;
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}
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if (!this->getAlgoId()) {
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RkAiqAlgoProcResAorb* aorb_rk = (RkAiqAlgoProcResAorb*)aorb_com;
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rk_aiq_isp_orb_params_v20_t* orb_params = params->mOrbParams->data().ptr();
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if (orb_params != nullptr) {
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if (sharedCom->init) {
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orb_params->frame_id = 0;
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} else {
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orb_params->frame_id = shared->frameId;
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}
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if (aorb_rk->aorb_meas.update) {
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orb_params->update_mask |= RKAIQ_ISPP_ORB_ID;
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orb_params->result.orb_en = aorb_rk->aorb_meas.orb_en;
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if (orb_params->result.orb_en) {
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orb_params->result.limit_value = aorb_rk->aorb_meas.limit_value;
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orb_params->result.max_feature = aorb_rk->aorb_meas.max_feature;
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}
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} else {
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orb_params->update_mask &= ~RKAIQ_ISPP_ORB_ID;
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}
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}
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}
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cur_params->mOrbParams = params->mOrbParams;
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EXIT_ANALYZER_FUNCTION();
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return ret;
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}
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}; // namespace RkCam
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