Stefan Klug
1784e08be3
Implement functions to allow lens dewarping based on the common lens dewarp model used e.g. by OpenCV. See https://docs.opencv.org/4.12.0/d9/d0c/group__calib3d.html for an in depth explanation of the parameters. Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com> Reviewed-by: Paul Elder <paul.elder@ideasonboard.com> Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
95 lines
2.4 KiB
C++
95 lines
2.4 KiB
C++
/* SPDX-License-Identifier: LGPL-2.1-or-later */
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/*
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* Copyright (C) 2025, Ideas on Board Oy
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*
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* DW100 vertex map interface
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*/
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#pragma once
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#include <assert.h>
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#include <cmath>
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#include <stdint.h>
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#include <vector>
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#include <libcamera/base/span.h>
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#include <libcamera/geometry.h>
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#include <libcamera/transform.h>
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#include "libcamera/internal/matrix.h"
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#include "libcamera/internal/vector.h"
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namespace libcamera {
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class Dw100VertexMap
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{
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public:
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enum ScaleMode {
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Fill = 0,
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Crop = 1,
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};
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void applyLimits();
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void setInputSize(const Size &size)
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{
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inputSize_ = size;
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scalerCrop_ = Rectangle(size);
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}
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void setSensorCrop(const Rectangle &rect) { sensorCrop_ = rect; }
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void setScalerCrop(const Rectangle &rect) { scalerCrop_ = rect; }
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const Rectangle &effectiveScalerCrop() const { return effectiveScalerCrop_; }
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void setOutputSize(const Size &size) { outputSize_ = size; }
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const Size &outputSize() const { return outputSize_; }
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void setTransform(const Transform &transform) { transform_ = transform; }
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const Transform &transform() const { return transform_; }
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void setScale(const float scale) { scale_ = scale; }
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float effectiveScale() const { return (effectiveScaleX_ + effectiveScaleY_) * 0.5; }
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void setRotation(const float rotation) { rotation_ = rotation; }
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float rotation() const { return rotation_; }
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void setOffset(const Point &offset) { offset_ = offset; }
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const Point &effectiveOffset() const { return effectiveOffset_; }
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void setMode(const ScaleMode mode) { mode_ = mode; }
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ScaleMode mode() const { return mode_; }
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int setDewarpParams(const Matrix<double, 3, 3> &cm, const Span<const double> &coeffs);
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bool dewarpParamsValid() { return dewarpParamsValid_; }
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void setLensDewarpEnable(bool enable) { lensDewarpEnable_ = enable; }
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bool lensDewarpEnable() { return lensDewarpEnable_; }
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std::vector<uint32_t> getVertexMap();
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private:
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Vector<double, 2> dewarpPoint(const Vector<double, 2> &p);
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Rectangle scalerCrop_;
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Rectangle sensorCrop_;
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Transform transform_ = Transform::Identity;
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Size inputSize_;
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Size outputSize_;
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Point offset_;
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double scale_ = 1.0;
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double rotation_ = 0.0;
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ScaleMode mode_ = Fill;
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double effectiveScaleX_;
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double effectiveScaleY_;
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Point effectiveOffset_;
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Rectangle effectiveScalerCrop_;
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Matrix<double, 3, 3> dewarpM_ = Matrix<double, 3, 3>::identity();
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std::array<double, 12> dewarpCoeffs_;
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bool lensDewarpEnable_ = true;
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bool dewarpParamsValid_ = false;
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};
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} /* namespace libcamera */
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