1 /* 2 * cl_fisheye_handler.h - CL fisheye handler 3 * 4 * Copyright (c) 2016 Intel Corporation 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 * 18 * Author: Wind Yuan <feng.yuan@intel.com> 19 */ 20 21 #ifndef XCAM_CL_FISHEYE_HANDLER_H 22 #define XCAM_CL_FISHEYE_HANDLER_H 23 24 #include <xcam_std.h> 25 #include <interface/data_types.h> 26 #include <ocl/cl_image_handler.h> 27 #include <ocl/cl_geo_map_handler.h> 28 #include <surview_fisheye_dewarp.h> 29 30 namespace XCam { 31 32 class CLFisheyeHandler; 33 class CLFisheye2GPSKernel 34 : public CLImageKernel 35 { 36 public: 37 explicit CLFisheye2GPSKernel (const SmartPtr<CLContext> &context, SmartPtr<CLFisheyeHandler> &handler); 38 39 protected: 40 virtual XCamReturn prepare_arguments (CLArgList &args, CLWorkSize &work_size); 41 42 private: 43 SmartPtr<CLFisheyeHandler> _handler; 44 }; 45 46 class CLFisheyeHandler 47 : public CLImageHandler 48 , public GeoKernelParamCallback 49 { 50 friend class CLFisheye2GPSKernel; 51 public: 52 explicit CLFisheyeHandler (const SmartPtr<CLContext> &context, SurroundMode surround_mode, bool use_map, bool need_lsc); 53 virtual ~CLFisheyeHandler(); 54 55 void set_output_size (uint32_t width, uint32_t height); 56 void get_output_size (uint32_t &width, uint32_t &height) const; 57 58 void set_dst_range (float longitude, float latitude); 59 void get_dst_range (float &longitude, float &latitude) const; 60 void set_fisheye_info (const FisheyeInfo &info); get_fisheye_info()61 const FisheyeInfo &get_fisheye_info () const { 62 return _fisheye_info; 63 } 64 65 void set_lsc_table (float *table, uint32_t table_size); 66 void set_lsc_gray_threshold (float min_threshold, float max_threshold); 67 set_bowl_config(const BowlDataConfig bowl_data_config)68 void set_bowl_config(const BowlDataConfig bowl_data_config) { 69 _bowl_data_config = bowl_data_config; 70 } get_bowl_config()71 const BowlDataConfig &get_bowl_config() { 72 return _bowl_data_config; 73 } 74 set_intrinsic_param(const IntrinsicParameter intrinsic_param)75 void set_intrinsic_param(const IntrinsicParameter intrinsic_param) { 76 _intrinsic_param = intrinsic_param; 77 } get_intrinsic_param()78 const IntrinsicParameter &get_intrinsic_param() { 79 return _intrinsic_param; 80 } 81 set_extrinsic_param(const ExtrinsicParameter extrinsic_param)82 void set_extrinsic_param(const ExtrinsicParameter extrinsic_param) { 83 _extrinsic_param = extrinsic_param; 84 } get_extrinsic_param()85 const ExtrinsicParameter &get_extrinsic_param() { 86 return _extrinsic_param; 87 } 88 89 90 protected: 91 // derived from CLImageHandler 92 virtual XCamReturn prepare_buffer_pool_video_info ( 93 const VideoBufferInfo &input, VideoBufferInfo &output); 94 virtual XCamReturn prepare_parameters (SmartPtr<VideoBuffer> &input, SmartPtr<VideoBuffer> &output); 95 virtual XCamReturn execute_done (SmartPtr<VideoBuffer> &output); 96 97 // derived from GeoKernelParamCallback 98 virtual SmartPtr<CLImage> get_geo_input_image (NV12PlaneIdx index); 99 virtual SmartPtr<CLImage> get_geo_output_image (NV12PlaneIdx index); get_geo_map_table()100 virtual SmartPtr<CLImage> get_geo_map_table () { 101 return _geo_table; 102 } 103 virtual void get_geo_equivalent_out_size (float &width, float &height); 104 virtual void get_geo_pixel_out_size (float &width, float &height); 105 106 virtual SmartPtr<CLImage> get_lsc_table (); 107 virtual float* get_lsc_gray_threshold (); 108 109 private: get_input_image(NV12PlaneIdx index)110 SmartPtr<CLImage> &get_input_image (NV12PlaneIdx index) { 111 XCAM_ASSERT (index < NV12PlaneMax); 112 return _input [index]; 113 } get_output_image(NV12PlaneIdx index)114 SmartPtr<CLImage> &get_output_image (NV12PlaneIdx index) { 115 XCAM_ASSERT (index < NV12PlaneMax); 116 return _output [index]; 117 } 118 119 SmartPtr<CLImage> create_cl_image ( 120 uint32_t width, uint32_t height, cl_channel_order order, cl_channel_type type); 121 XCamReturn generate_fisheye_table ( 122 uint32_t fisheye_width, uint32_t fisheye_height, const FisheyeInfo &fisheye_info); 123 124 void ensure_lsc_params (); 125 XCamReturn generate_lsc_table ( 126 uint32_t fisheye_width, uint32_t fisheye_height, FisheyeInfo &fisheye_info); 127 128 129 XCAM_DEAD_COPY (CLFisheyeHandler); 130 131 private: 132 uint32_t _output_width; 133 uint32_t _output_height; 134 float _range_longitude; 135 float _range_latitude; 136 FisheyeInfo _fisheye_info; 137 float _map_factor; 138 bool _use_map; 139 uint32_t _need_lsc; 140 uint32_t _lsc_array_size; 141 float _gray_threshold[2]; // [min_gray_threshold, max_gray_threshold] 142 float *_lsc_array; 143 144 BowlDataConfig _bowl_data_config; 145 146 IntrinsicParameter _intrinsic_param; 147 ExtrinsicParameter _extrinsic_param; 148 149 SurroundMode _surround_mode; 150 151 SmartPtr<CLImage> _geo_table; 152 SmartPtr<CLImage> _lsc_table; 153 SmartPtr<CLImage> _input[NV12PlaneMax]; 154 SmartPtr<CLImage> _output[NV12PlaneMax]; 155 }; 156 157 SmartPtr<CLImageHandler> 158 create_fisheye_handler (const SmartPtr<CLContext> &context, SurroundMode surround_mode = SphereView, bool use_map = false, bool need_lsc = false); 159 160 } 161 162 #endif //XCAM_CL_FISHEYE_HANDLER_H 163 164