/*
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* stitcher.h - stitcher interface
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*
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* Copyright (c) 2017 Intel 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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* Author: Wind Yuan <feng.yuan@intel.com>
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* Author: Yinhang Liu <yinhangx.liu@intel.com>
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*/
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#ifndef XCAM_INTERFACE_STITCHER_H
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#define XCAM_INTERFACE_STITCHER_H
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#include <xcam_std.h>
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#include <interface/data_types.h>
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#include <vector>
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#include <video_buffer.h>
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#define XCAM_STITCH_FISHEYE_MAX_NUM 6
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#define XCAM_STITCH_MAX_CAMERAS XCAM_STITCH_FISHEYE_MAX_NUM
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#define XCAM_STITCH_MIN_SEAM_WIDTH 56
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#define INVALID_INDEX (uint32_t)(-1)
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namespace XCam {
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enum StitchResMode {
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StitchRes1080P,
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StitchRes1080P4,
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StitchRes4K
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};
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struct StitchInfo {
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uint32_t merge_width[XCAM_STITCH_FISHEYE_MAX_NUM];
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ImageCropInfo crop[XCAM_STITCH_FISHEYE_MAX_NUM];
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FisheyeInfo fisheye_info[XCAM_STITCH_FISHEYE_MAX_NUM];
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StitchInfo () {
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xcam_mem_clear (merge_width);
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}
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};
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struct ImageMergeInfo {
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Rect left;
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Rect right;
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};
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class Stitcher;
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struct CalibrationInfo {
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ExtrinsicParameter extrinsic;
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IntrinsicParameter intrinsic;
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};
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struct CameraInfo {
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CalibrationInfo calibration;
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float round_angle_start;
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float angle_range;;
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};
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class Stitcher
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{
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public:
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struct RoundViewSlice {
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float hori_angle_start;
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float hori_angle_range;
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uint32_t width;
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uint32_t height;
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RoundViewSlice ()
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: hori_angle_start (0.0f), hori_angle_range (0.0f)
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, width (0), height (0)
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{}
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};
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struct CenterMark {
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uint32_t slice_center_x;
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uint32_t out_center_x;
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CenterMark ()
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: slice_center_x (0)
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, out_center_x (0)
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{}
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};
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struct ScaleFactor {
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float left_scale;
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float right_scale;
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ScaleFactor ()
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: left_scale (1.0f)
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, right_scale (1.0f)
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{}
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};
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struct ImageOverlapInfo {
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Rect left;
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Rect right;
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Rect out_area;
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};
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struct CopyArea {
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uint32_t in_idx;
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Rect in_area;
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Rect out_area;
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CopyArea ()
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: in_idx (INVALID_INDEX)
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{}
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};
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typedef std::vector<CopyArea> CopyAreaArray;
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public:
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explicit Stitcher (uint32_t align_x, uint32_t align_y = 1);
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virtual ~Stitcher ();
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static SmartPtr<Stitcher> create_ocl_stitcher ();
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static SmartPtr<Stitcher> create_soft_stitcher ();
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bool set_bowl_config (const BowlDataConfig &config);
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const BowlDataConfig &get_bowl_config () {
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return _bowl_config;
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}
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bool set_camera_num (uint32_t num);
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uint32_t get_camera_num () const {
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return _camera_num;
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}
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bool set_camera_info (uint32_t index, const CameraInfo &info);
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bool get_camera_info (uint32_t index, CameraInfo &info) const;
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bool set_crop_info (uint32_t index, const ImageCropInfo &info);
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bool get_crop_info (uint32_t index, ImageCropInfo &info) const;
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bool is_crop_info_set () const {
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return _is_crop_set;
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}
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//bool set_overlap_info (uint32_t index, const ImageOverlapInfo &info);
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bool is_overlap_info_set () const {
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return _is_overlap_set;
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}
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//bool set_stitch_info (const StitchInfo &stitch_info);
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void set_output_size (uint32_t width, uint32_t height) {
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_output_width = width; //XCAM_ALIGN_UP (width, XCAM_BLENDER_ALIGNED_WIDTH);
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_output_height = height;
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}
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void get_output_size (uint32_t &width, uint32_t &height) const {
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width = _output_width;
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height = _output_height;
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}
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virtual XCamReturn stitch_buffers (const VideoBufferList &in_bufs, SmartPtr<VideoBuffer> &out_buf) = 0;
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protected:
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XCamReturn estimate_round_slices ();
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virtual XCamReturn estimate_coarse_crops ();
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XCamReturn mark_centers ();
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XCamReturn estimate_overlap ();
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XCamReturn update_copy_areas ();
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const CenterMark &get_center (uint32_t idx) const {
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return _center_marks[idx];
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}
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const RoundViewSlice &get_round_view_slice (uint32_t idx) const {
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return _round_view_slices[idx];
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}
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const ImageOverlapInfo &get_overlap (uint32_t idx) const {
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return _overlap_info[idx];
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}
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const ImageCropInfo &get_crop (uint32_t idx) const {
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return _crop_info[idx];
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}
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const CopyAreaArray &get_copy_area () const {
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return _copy_areas;
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}
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private:
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XCAM_DEAD_COPY (Stitcher);
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protected:
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ImageCropInfo _crop_info[XCAM_STITCH_MAX_CAMERAS];
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bool _is_crop_set;
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//update after each feature match
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ScaleFactor _scale_factors[XCAM_STITCH_MAX_CAMERAS];
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private:
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uint32_t _alignment_x, _alignment_y;
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uint32_t _output_width, _output_height;
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float _out_start_angle;
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uint32_t _camera_num;
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CameraInfo _camera_info[XCAM_STITCH_MAX_CAMERAS];
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RoundViewSlice _round_view_slices[XCAM_STITCH_MAX_CAMERAS];
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bool _is_round_view_set;
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ImageOverlapInfo _overlap_info[XCAM_STITCH_MAX_CAMERAS];
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BowlDataConfig _bowl_config;
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bool _is_overlap_set;
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//auto calculation
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CenterMark _center_marks[XCAM_STITCH_MAX_CAMERAS];
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bool _is_center_marked;
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CopyAreaArray _copy_areas;
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};
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class BowlModel {
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public:
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typedef std::vector<PointFloat3> VertexMap;
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typedef std::vector<PointFloat2> PointMap;
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typedef std::vector<int32_t> IndexVector;
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public:
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BowlModel (const BowlDataConfig &config, const uint32_t image_width, const uint32_t image_height);
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bool get_max_topview_area_mm (float &length_mm, float &width_mm);
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bool get_topview_rect_map (
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PointMap &texture_points,
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uint32_t res_width, uint32_t res_height,
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float length_mm = 0.0f, float width_mm = 0.0f);
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bool get_stitch_image_vertex_model (
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VertexMap &vertices, PointMap &texture_points, IndexVector &indeices,
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uint32_t res_width, uint32_t res_height, float vertex_height);
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bool get_bowlview_vertex_model (
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VertexMap &vertices, PointMap &texture_points, IndexVector &indeices,
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uint32_t res_width, uint32_t res_height);
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bool get_topview_vertex_model (
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VertexMap &vertices, PointMap &texture_points, IndexVector &indeices,
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uint32_t res_width, uint32_t res_height);
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private:
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BowlDataConfig _config;
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uint32_t _bowl_img_width, _bowl_img_height;
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float _max_topview_width_mm;
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float _max_topview_length_mm;
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};
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}
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#endif //XCAM_INTERFACE_STITCHER_H
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