/*
 *  Copyright (c) 2020 Rockchip 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.
 *
 */

#ifndef __GENMESH_H__
#define __GENMESH_H__

#define INV_POLY_COEFF_NUM 21								/* ¶àÏîʽϵÊý¸öÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */

 /* Ïà»ú²ÎÊý */
struct CameraCoeff
{
	double cx, cy;											/* ¾µÍ·µÄ¹âÐÄ */
	double a0, a2, a3, a4;									/* ¾µÍ·µÄ»û±äϵÊý */
	double c, d, e;											/* ÄÚ²Î[c d;e 1] */
	double sf;												/* sf¿ØÖÆÊÓ½Ç, sfÔ½´óÊÓ½ÇÔ½´ó */

	/* level = 0ʱµÄrho-tanTheta¶àÏîʽÄâºÏ */
	int invPolyTanNum0;										/* ÄâºÏºóµÄϵÊý¸öÊý */
	double invPolyTanCoeff0[INV_POLY_COEFF_NUM];		/* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
	/* level = 0ʱµÄrho-cotTheta¶àÏîʽÄâºÏ */
	int invPolyCotNum0;										/* ÄâºÏºóµÄϵÊý¸öÊý */
	double invPolyCotCoeff0[INV_POLY_COEFF_NUM];		/* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */

	/* level = 255ʱµÄrho-tanTheta¶àÏîʽÄâºÏ */
	int invPolyTanNum255;									/* ÄâºÏºóµÄϵÊý¸öÊý */
	double invPolyTanCoeff255[INV_POLY_COEFF_NUM];		/* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
	/* level = 255ʱµÄrho-cotTheta¶àÏîʽÄâºÏ */
	int invPolyCotNum255;									/* ÄâºÏºóµÄϵÊý¸öÊý */
	double invPolyCotCoeff255[INV_POLY_COEFF_NUM];		/* ¶àÏîʽϵÊý, ×î¸ß´ÎÊý(INV_POLY_COEFF_NUM-1)´Î */
};

/* Éú³ÉFECÓ³Éä±íÏà¹ØµÄ²ÎÊý */
struct FecParams
{
	int correctX;										/* ˮƽx·½ÏòУÕý: 1´ú±íУÕý, 0´ú±í²»Ð£Õý */
	int correctY;										/* ´¹Ö±y·½ÏòУÕý: 1´ú±íУÕý, 0´ú±í²»Ð£Õý */
	int saveMaxFovX;									/* ±£Áôˮƽx·½Ïò×î´óFOV: 1´ú±í±£Áô, 0´ú±í²»±£Áô */
	int isFecOld;										/* ÊÇ·ñ¾É°æFEC: 1´ú±íÊÇ£¬0´ú±í²»ÊÇ */
	int saveMesh4bin;									/* ÊÇ·ñ±£´æmeshxi,xf,yi,yf4¸öbinÎļþ£º1´ú±í±£´æ, 0´ú±í²»±£´æ */
	char mesh4binPath[256];								/* ±£´æmeshxi,xf,yi,yf4¸öbinÎļþµÄ·¾¶ */
	int srcW, srcH, dstW, dstH;							/* ÊäÈëÊä³öͼÏñµÄ·Ö±æÂÊ */
	int srcW_ex, srcH_ex, dstW_ex, dstH_ex;				/* À©Õ¹ºóµÄÊäÈëÊä³ö·Ö±æÂÊ */
	double cropStepW[2000], cropStepH[2000];
	double cropStartW[2000], cropStartH[2000];
	int meshSizeW, meshSizeH;
	double meshStepW, meshStepH;
	int meshSize1bin;
	int meshSize4bin;
	unsigned short	SpbNum;
	unsigned long	MeshPointNumW;
	unsigned short	SpbMeshPNumH;
	unsigned short	LastSpbMeshPNumH;

	unsigned short	*pMeshXY;

};

/* Éú³ÉLDCHÓ³Éä±íÏà¹ØµÄ²ÎÊý */
struct LdchParams
{
	int saveMaxFovX;									/* ±£Áôˮƽx·½Ïò×î´óFOV: 1´ú±í±£Áô, 0´ú±í²»±£Áô */
	int isLdchOld;										/* ÊÇ·ñ¾É°æLDCH: 1´ú±íÊÇ£¬0´ú±í²»ÊÇ */
	int saveMeshX;										/* ÊÇ·ñ±£´æMeshX.binÎļþ: 1´ú±í±£´æ, 0´ú±í²»±£´æ */
	char meshPath[256];									/* ±£´æMeshX.binÎļþµÄ·¾¶ */
	int srcW, srcH, dstW, dstH;							/* ÊäÈëÊä³öͼÏñµÄ·Ö±æÂÊ */
	int meshSizeW, meshSizeH;
	double meshStepW, meshStepH;
	int mapxFixBit;										/* ¶¨µã»¯×óÒÆλÊý */
	int meshSize;
	int maxLevel;
	double *mapx;
	double *mapy;
};


/* =============================================================================================================================================================================== */

/* FEC: ³õʼ»¯, ¸ù¾ÝͼÏñÊä³ö·Ö±æÂÊ, ¼ÆËãFECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer */
void genFecMeshInit(int srcW, int srcH, int dstW, int dstH, FecParams &fecParams, CameraCoeff &camCoeff);

/* FEC: ·´³õʼ»¯ */
void genFecMeshDeInit(FecParams &fecParams);

/* FEC: Ô¤ÏȼÆËãµÄ²¿·Ö: ¸¡µãδУÕýµÄС±íºÍlevel=0,level=255µÄ¶àÏîʽ²ÎÊý */
void genFecPreCalcPart(FecParams &fecParams, CameraCoeff &camCoeff);

/* FEC: 4¸ömesh ÄÚ´æÉêÇë */
void mallocFecMesh(int meshSize, unsigned short **pMeshXI, unsigned char **pMeshXF, unsigned short **pMeshYI, unsigned char **pMeshYF);

/* FEC: 4¸ömesh ÄÚ´æÊÍ·Å */
void freeFecMesh(unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);

/*
º¯Êý¹¦ÄÜ: Éú³É²»Í¬Ð£Õý³Ì¶ÈµÄmeshÓ³Éä±í, ÓÃÓÚISPµÄFECÄ£¿é
	ÊäÈë:
	1£©FECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: FecParams &fecParams
	2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
	3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
	Êä³ö:
	1£©bool ÊÇ·ñ³É¹¦Éú³É
	2£©pMeshXI, pMeshXF, pMeshYI, pMeshYF
*/
bool genFECMeshNLevel(FecParams &fecParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);


/* =============================================================================================================================================================================== */

/* LDCH: ³õʼ»¯, ¸ù¾ÝͼÏñÊä³ö·Ö±æÂÊ, ¼ÆËãLDCHÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer */
void genLdchMeshInit(int srcW, int srcH, int dstW, int dstH, LdchParams &ldchParams, CameraCoeff &camCoeff);

/* LDCH: ·´³õʼ»¯ */
void genLdchMeshDeInit(LdchParams &ldchParams);

/* LDCH: Ô¤ÏȼÆËãµÄ²¿·Ö: ¸¡µãδУÕýµÄС±íºÍlevel=0,level=255µÄ¶àÏîʽ²ÎÊý */
void genLdchPreCalcPart(LdchParams &ldchParams, CameraCoeff &camCoeff);

/* LDCH: ¼ÆËãLDCHÄܹ»Ð£ÕýµÄ×î´ó³Ì¶È */
void calcLdchMaxLevel(LdchParams &ldchParams, CameraCoeff &camCoeff);

/*
º¯Êý¹¦ÄÜ: Éú³É²»Í¬Ð£Õý³Ì¶ÈµÄmeshÓ³Éä±í, ÓÃÓÚISPµÄLDCHÄ£¿é

	ÊäÈë:
	1£©LDCHÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: LdchParams &ldchParams
	2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
	3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
	Êä³ö:
	1£©bool ÊÇ·ñ³É¹¦Éú³É
	2£©pMeshX
*/
bool genLDCMeshNLevel(LdchParams &ldchParams, CameraCoeff &camCoeff, int level, unsigned short *pMeshX);


/* =============================================================================================================================================================================== */

/* LDCH + FEC(scale)--³õʼ»¯:
	1£©LDCHµÄͼÏñ¿í¸ß: ldchW, ldchH, Èç: 3840*2160
	2£©¶ÔÊäÈëFECµÄͼÏñ×öËõ·Å, Èç: 3840*2160 --> Ëõ·Åµ½1920*1080
	   i)×öËõ·ÅºóµÄFECµÄͼÏñ¿í¸ß: fecW, fecH
*/
void genScaleMeshInit(int ldchW, int ldchH, int fecW, int fecH, LdchParams &ldchParams, FecParams &fecParams, CameraCoeff &camCoeff1, CameraCoeff &camCoeff2);

/* LDCH + FEC(scale)--·´³õʼ»¯ */
void genScaleMeshDeInit(LdchParams &ldchParams, FecParams &fecParams);

/* LDCH + FEC(scale)--mesh ÄÚ´æÉêÇë */
void mallocScaleMesh(int ldchMeshSize, unsigned short **pLdchMeshX,
	int fecMeshSize, unsigned short **pFecMeshXI, unsigned char **pFecMeshXF, unsigned short **pFecMeshYI, unsigned char **pFecMeshYF);

/* LDCH + FEC(scale)--mesh ÄÚ´æÊÍ·Å */
void freeScaleMesh(unsigned short *pLdchMeshX, unsigned short *pFecMeshXI, unsigned char *pFecMeshXF, unsigned short *pFecMeshYI, unsigned char *pFecMeshYF);

/* LDCH + FEC(scale):
º¯Êý¹¦ÄÜ: Éú³ÉmeshÓ³Éä±í, ÓÃÓÚISPµÄLDCH(x·½Ïò)ºÍFEC(y·½Ïò)
	ÊäÈë:
	1£©LDCH&FECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: LdchParams &ldchParams, FecParams &fecParams
	2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
	3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
	Êä³ö:
	1£©bool ÊÇ·ñ³É¹¦Éú³É
	2£©LDCHÓ³Éä±í: pMeshX
	3£©FECÓ³Éä±í: pMeshXI, pMeshXF, pMeshYI, pMeshYF
*/
bool genScaleMeshNLevel(LdchParams &ldchParams, FecParams &fecParams, CameraCoeff &camCoeff1, CameraCoeff &camCoeff2, int level,
	unsigned short *pMeshX, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);

/* =============================================================================================================================================================================== */

/* LDCH + FEC(crop + scale)--³õʼ»¯:
	ÊäÈë:
	1£©LDCHµÄͼÏñ¿í¸ß: ldchW, ldchH, Èç: 3840*2160
	2£©¶ÔÊäÈëFECµÄͼÏñÏÈÔÚÈÎÒâλÖÃ(pW,pH)cropµÃµ½ÈÎÒâsize(roiW*roiH), ÔÙ×öËõ·Å, Èç: 3840*2160 --> ÔÚ(100,100)µã´¦½øÐÐcropµÃµ½(1600*900) --> Ëõ·Åµ½1920*1080
	   i)  cropµÄÆðʼµãλÖÃ: pW, pH
	   ii) cropÇøÓòµÄ¿í¸ß: roiW, roiH
	   iii)×öËõ·ÅºóµÄFECµÄͼÏñ¿í¸ß: fecW, fecH
*/
void genCropScaleMeshInit(int ldchW, int ldchH, double pW, double pH, int roiW, int roiH, int fecW, int fecH,
	LdchParams &ldchParams, FecParams &fecParams, CameraCoeff &camCoeff1, CameraCoeff &camCoeff2);

/* LDCH + FEC(crop + scale)--·´³õʼ»¯ */
void genCropScaleMeshDeInit(LdchParams &ldchParams, FecParams &fecParams);

/* LDCH + FEC(crop + scale)--mesh ÄÚ´æÉêÇë */
void mallocCropScaleMesh(int ldchMeshSize, unsigned short **pLdchMeshX,
	int fecMeshSize, unsigned short **pFecMeshXI, unsigned char **pFecMeshXF, unsigned short **pFecMeshYI, unsigned char **pFecMeshYF);

/* LDCH + FEC(crop + scale)--mesh ÄÚ´æÊÍ·Å */
void freeCropScaleMesh(unsigned short *pLdchMeshX, unsigned short *pFecMeshXI, unsigned char *pFecMeshXF, unsigned short *pFecMeshYI, unsigned char *pFecMeshYF);

/* LDCH + FEC(crop + scale):
º¯Êý¹¦ÄÜ: Éú³ÉmeshÓ³Éä±í, ÓÃÓÚISPµÄLDCH(x·½Ïò)ºÍFEC(y·½Ïò)
	ÊäÈë:
	1£©LDCH&FECÓ³Éä±íµÄÏà¹Ø²ÎÊý, ÉêÇëÐèÒªµÄbuffer: LdchParams &ldchParams, FecParams &fecParams
	2£©Ïà»ú±ê¶¨²ÎÊý: CameraCoeff &camCoeff
	3£©ÐèҪУÕýµÄ³Ì¶È: level(0-255: 0±íʾУÕý³Ì¶ÈΪ0%, 255±íʾУÕý³Ì¶ÈΪ100%)
	Êä³ö:
	1£©bool ÊÇ·ñ³É¹¦Éú³É
	2£©LDCHÓ³Éä±í: pMeshX
	3£©FECÓ³Éä±í: pMeshXI, pMeshXF, pMeshYI, pMeshYF
*/
bool genCropScaleMeshNLevel(LdchParams &ldchParams, FecParams &fecParams, CameraCoeff &camCoeff1, CameraCoeff &camCoeff2, int level,
	unsigned short *pMeshX, unsigned short *pMeshXI, unsigned char *pMeshXF, unsigned short *pMeshYI, unsigned char *pMeshYF);

#endif // !__GENMESH_H__