405 lines
12 KiB
C++
405 lines
12 KiB
C++
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#include <fstream>
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#include <cstring>
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#include <stdio.h>
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//#include "ap_utils.h"
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#include <iostream>
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#include "calib.h"
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#include "../../globals/tbGlobals.h"
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std::vector<RgnSubPix> readSubpixDataFile(
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const char* file,
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uint16_t* validSize)
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{
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std::ifstream inputFile(file);
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std::string strLineTxt;
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int size = 0;
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std::vector<RgnSubPix> testData;
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RgnSubPix a_line;
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uint16_t validNum = 0;
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while(getline(inputFile, strLineTxt))
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{
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if (strLineTxt.empty())
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continue;
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float x;
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int y, Rid, Flag, pkValue, Sync;
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#if defined(__linux__)
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sscanf(strLineTxt.c_str(), "%f %d %d %x %d %x", &x, &y, &Rid, &Flag, &pkValue, &Sync);
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#else
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sscanf_s(strLineTxt.c_str(), "%f %d %d %x %d %x", &x, &y, &Rid, &Flag, &pkValue, &Sync);
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#endif
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if(y == 580)
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int kkk = 1;
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a_line.x = (float)x;
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a_line.y = (ap_uint<12>)y;
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a_line.rid = (ap_uint<11>)Rid;
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a_line.flag = (ap_uint<4>)Flag;
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a_line.value = (ap_uint<8>)pkValue;
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a_line.Sync = (ap_uint<2>)Sync;
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testData.push_back(a_line);
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if(x >= 0)
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validNum ++;
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}
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*validSize = validNum;
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inputFile.close();
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return testData;
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}
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struct fittingPara
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{
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float fittingPara[8];
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};
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void readFittingCalibParaFile(const char* file, std::vector<fittingPara>& fittingParas_x, std::vector<fittingPara>& fittingParas_y)
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{
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std::ifstream inputFile(file);
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std::string strLineTxt;
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std::vector<fittingPara> fittingParas;
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while(getline(inputFile, strLineTxt))
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{
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if (strLineTxt.empty())
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continue;
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float k0_x, k1_x, k2_x, k3_x, k4_x, k5_x, k6_x, k7_x;
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float k0_y, k1_y, k2_y, k3_y, k4_y, k5_y, k6_y, k7_y;
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#if defined(__linux__)
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sscanf(strLineTxt.c_str(), "%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f",
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&k0_x, &k1_x, &k2_x, &k3_x, &k4_x, &k5_x, &k6_x, &k7_x, &k0_y, &k1_y, &k2_y, &k3_y, &k4_y, &k5_y, &k6_y, &k7_y);
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#else
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sscanf_s(strLineTxt.c_str(), "%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f",
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&k0_x, &k1_x, &k2_x, &k3_x, &k4_x, &k5_x, &k6_x, &k7_x, &k0_y, &k1_y, &k2_y, &k3_y, &k4_y, &k5_y, &k6_y, &k7_y);
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#endif
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fittingPara a_para_x;
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a_para_x.fittingPara[0]= k0_x;
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a_para_x.fittingPara[1]= k1_x;
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a_para_x.fittingPara[2]= k2_x;
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a_para_x.fittingPara[3]= k3_x;
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a_para_x.fittingPara[4]= k4_x;
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a_para_x.fittingPara[5]= k5_x;
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a_para_x.fittingPara[6]= k6_x;
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a_para_x.fittingPara[7]= k7_x;
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fittingParas_x.push_back(a_para_x);
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fittingPara a_para_y;
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a_para_y.fittingPara[0]= k0_y;
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a_para_y.fittingPara[1]= k1_y;
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a_para_y.fittingPara[2]= k2_y;
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a_para_y.fittingPara[3]= k3_y;
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a_para_y.fittingPara[4]= k4_y;
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a_para_y.fittingPara[5]= k5_y;
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a_para_y.fittingPara[6]= k6_y;
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a_para_y.fittingPara[7]= k7_y;
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fittingParas_y.push_back(a_para_y);
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}
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inputFile.close();
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return;
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}
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void genCalibTestSream(
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std::vector<RgnSubPix>& subpixData,
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std::vector<fittingPara>& fittingParaX,
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std::vector<fittingPara>& fittingParaY,
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hls::stream<CalibData>& calibStream,
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int LRflag, //0-left image; 1-right image
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const Luma_frameInfo frameInfo,
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const uint16_t validDataSize)
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{
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CalibData VSync;
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Byte8 dataBuff;
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//1st:FrmNo
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dataBuff.nData[0] = frameInfo.FrmNo * 2 + LRflag;
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dataBuff.nData[1] = 0;
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VSync.Sync = 0b10;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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calibStream.write(VSync);
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//2nd:FrmNo
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dataBuff.nData[0] = frameInfo.TimeStamp;
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VSync.Sync = 0b00;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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calibStream.write(VSync);
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//3rd:encInfo
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dataBuff.nData[0] = frameInfo.encInfo;
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VSync.Sync = 0b00;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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calibStream.write(VSync);
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//4th:frmW(12bit), frmH(12bit)
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ap_uint<16> data16_1, data16_2;
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data16_1 = frameInfo.W;
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data16_2 = frameInfo.H;
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ap_uint<32> tmpData;
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tmpData(CAM4K_Y_WIDTH-1,0) = data16_1.range(CAM4K_Y_WIDTH-1,0);
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tmpData(15, CAM4K_Y_WIDTH) = 0;
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tmpData(16+CAM4K_Y_WIDTH-1, 16) = data16_2.range(CAM4K_Y_WIDTH-1,0);
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tmpData(31,16+ CAM4K_Y_WIDTH)= 0;
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dataBuff.nData[0] = (uint32_t)tmpData;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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VSync.Sync = 0b00;
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calibStream.write(VSync);
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//5th: frmX, WinNum
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int lines = (int)subpixData.size() / 2; //lines
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if(LRflag == 0)
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data16_1 = frameInfo.left_L;
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else
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data16_1 = frameInfo.right_L;
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data16_2 = (uint16_t)lines;
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tmpData(CAM4K_Y_WIDTH-1,0) = data16_1.range(CAM4K_Y_WIDTH-1,0);
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tmpData(15, CAM4K_Y_WIDTH) = 0;
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tmpData(16+CAM4K_Y_WIDTH-1,16) = data16_2.range(CAM4K_Y_WIDTH-1,0);
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tmpData(31,16+CAM4K_Y_WIDTH) = 0;
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dataBuff.nData[0] = (uint32_t)tmpData;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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VSync.Sync = 0b00;
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calibStream.write(VSync);
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//6th: frmY
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uint16_t frmY;
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if(LRflag == 0)
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{
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data16_1 = frameInfo.left_T;
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frmY = frameInfo.left_T;;
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}
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else
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{
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data16_1 = frameInfo.right_T;
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frmY = frameInfo.right_T;
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}
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data16_2 = validDataSize;
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tmpData(CAM4K_Y_WIDTH-1,0) = data16_1.range(CAM4K_Y_WIDTH-1,0);
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tmpData(15, CAM4K_Y_WIDTH) = 0;
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tmpData(16+CAM4K_Y_WIDTH-1,16) = data16_2.range(CAM4K_Y_WIDTH-1,0);
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tmpData(31,16+CAM4K_Y_WIDTH) = 0;
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dataBuff.nData[0] = (uint32_t)tmpData;
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VSync.calibK[0] = dataBuff.dData;
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VSync.calibK[1] = 0;
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VSync.Sync = 0b00;
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calibStream.write(VSync);
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//output data
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for(int i = 0; i < lines; i ++)
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{
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if(i == lines-1)
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int kkk = 1; //debug point
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RgnSubPix a_line = subpixData[i*2];
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if(a_line.y == 580)
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int kkk = 1;
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CalibData conData;
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dataBuff.fData[0] = a_line.x;
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ap_uint<32> apData32;
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apData32(CAM4K_Y_WIDTH-1, 0) = a_line.y.range(CAM4K_Y_WIDTH-1,0);
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apData32(10+CAM4K_Y_WIDTH, CAM4K_Y_WIDTH) = a_line.rid.range(10,0);
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apData32(14+CAM4K_Y_WIDTH, 11+CAM4K_Y_WIDTH) = a_line.flag(3,0);
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apData32(31,15+CAM4K_Y_WIDTH) = 0;
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dataBuff.nData[1] = (uint32_t)apData32;
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conData.calibK[0] = dataBuff.dData;
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apData32(7,0) = a_line.value.range(7,0);
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apData32(31,8) = 0;
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dataBuff.nData[0] = (uint32_t)apData32;
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dataBuff.nData[1] = 0;
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conData.calibK[1] = dataBuff.dData;
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conData.Sync = a_line.Sync;
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calibStream.write(conData);
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a_line = subpixData[i*2+1];
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dataBuff.fData[0] = a_line.x;
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apData32(CAM4K_Y_WIDTH-1, 0) = a_line.y.range(CAM4K_Y_WIDTH-1,0);
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apData32(10+CAM4K_Y_WIDTH, CAM4K_Y_WIDTH) = a_line.rid.range(10,0);
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apData32(14+CAM4K_Y_WIDTH, 11+CAM4K_Y_WIDTH) = a_line.flag(3,0);
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apData32(31,15+CAM4K_Y_WIDTH) = 0;
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dataBuff.nData[1] = (uint32_t)apData32;
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conData.calibK[0] = dataBuff.dData;
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apData32(7,0) = a_line.value.range(7,0);
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apData32(31,8) = 0;
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dataBuff.nData[0] = (uint32_t)apData32;
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dataBuff.nData[1] = 0;
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conData.calibK[1] = dataBuff.dData;
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conData.Sync = a_line.Sync;
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calibStream.write(conData);
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//Note: from K7 to K0
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for(int m = 3; m >=0 ; m --) //write k
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{
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conData.Sync = 0b00;
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Byte8 dataConv_0;
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dataConv_0.fData[0] = fittingParaX[i+frmY].fittingPara[m*2 + 1];
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dataConv_0.fData[1] = fittingParaY[i+frmY].fittingPara[m*2 + 1];
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Byte8 dataConv_1;
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dataConv_1.fData[0] = fittingParaX[i+frmY].fittingPara[m*2];
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dataConv_1.fData[1] = fittingParaY[i+frmY].fittingPara[m*2];
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conData.calibK[0] = dataConv_0.dData;
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conData.calibK[1] = dataConv_1.dData;
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calibStream.write(conData);
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}
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}
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return;
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}
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void convertSubpixCalibStreamToArray(
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hls::stream<InterpolateCalibSubpix>& streamData,
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std::vector<Luma_rgnSubpix>& arrayData,
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uint32_t* FrmNo,
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uint32_t* timeStamp,
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uint32_t* encInfo,
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uint16_t* frameROI_w,
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uint16_t* frameROI_h,
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uint16_t* frameROI_x,
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uint16_t* frameROI_y)
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{
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//1st:FrmNo
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InterpolateCalibSubpix VSync = streamData.read();
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UintFloat tmp;
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tmp.fdata = VSync.x;
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*FrmNo = (uint32_t)tmp.unData;
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//2nd:timeStamp
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VSync = streamData.read();
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tmp.fdata = VSync.x;
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*timeStamp = (uint32_t)tmp.unData;
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//3rd:encInfo
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VSync = streamData.read();
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tmp.fdata = VSync.x;
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*encInfo = (uint32_t)tmp.unData;
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//4th:frmW(12bit), frmH(12bit)
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VSync = streamData.read();
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tmp.fdata = VSync.x;
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*frameROI_w = tmp.unData & 0xffff;
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*frameROI_h = tmp.unData >> 16;
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//5th: frmX, WinNum
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VSync = streamData.read();
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tmp.fdata = VSync.x;
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*frameROI_x = tmp.unData & 0xffff;
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uint16_t winNum = tmp.unData >> 16;
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//6th: frmY
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VSync = streamData.read();
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tmp.fdata = VSync.x;
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*frameROI_y = tmp.unData & 0xffff;
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//output data
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for(int i = 0; i < winNum; i ++)
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{
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if(i == winNum-1)
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int kkk = 1; //debug point
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InterpolateCalibSubpix data_in = streamData.read();
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Luma_rgnSubpix a_pnt;
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a_pnt.x = data_in.x;
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a_pnt.y = (uint16_t)data_in.y;
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a_pnt.Rid = (uint16_t)data_in.rid;
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a_pnt.Flag = (uint8_t)data_in.flag;
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a_pnt.pkValue = (uint8_t)data_in.value;
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a_pnt.Sync = (uint8_t)data_in.Sync;
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arrayData.push_back(a_pnt);
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}
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return;
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}
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void writeSubpixCalibData(
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const char* fileName,
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std::vector<Luma_rgnSubpix>& outData)
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{
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std::ofstream sw(fileName);
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int i_max = outData.size();
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for (int i = 0; i < i_max; i++)
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{
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char data[250];
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#if defined(__linux__)
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sprintf(data, "%.2f %04d %04d %01x %02d %01x",
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outData[i].x, outData[i].y, outData[i].Rid, outData[i].Flag, outData[i].pkValue, outData[i].Sync);
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#else
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sprintf_s(data, "%.2f %04d %04d %01x %02d %01x",
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outData[i].x, outData[i].y, outData[i].Rid, outData[i].Flag, outData[i].pkValue, outData[i].Sync);
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#endif
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sw << data << std::endl;
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}
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sw.close();
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}
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int main()
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{
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setvbuf(stdout, NULL, _IONBF, 0); // _IONBF = <20><EFBFBD><DEBB>壬<EFBFBD><E5A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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TbModule currModule = TB_4_Calib;
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for(int n = 0; n < tb_group_count; n ++)
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{
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int winSize = 0;
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int fileStart = tb_groups[n].start_id;
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int fileEnd = tb_groups[n].end_id;
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for(int fi = fileStart; fi <= fileEnd; fi++)
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{
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TbPaths test_path_L;
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int rcode_L = tb_get_paths(currModule, n, fi, 0, &test_path_L);
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TbPaths test_path_R;
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int rcode_R = tb_get_paths(currModule, n, fi, 1, &test_path_R);
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TbFittingMapPaths test_fittingMap_path;
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int rcode = tb_get_fittingMap_paths(currModule, n, &test_fittingMap_path);
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Luma_frameInfo frameInfo = readParaFile(test_path_L.paras, fi);
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uint16_t vldSize_L = 0;
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std::vector<RgnSubPix> testData_L = readSubpixDataFile(test_path_L.input, &vldSize_L);
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uint16_t vldSize_R = 0;
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std::vector<RgnSubPix> testData_R = readSubpixDataFile(test_path_R.input, &vldSize_R);
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std::vector<fittingPara> fittingPara_x_L;
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std::vector<fittingPara> fittingPara_y_L;
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readFittingCalibParaFile(test_fittingMap_path.calib_fittingMap_L, fittingPara_x_L, fittingPara_y_L);
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std::vector<fittingPara> fittingPara_x_R;
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std::vector<fittingPara> fittingPara_y_R;
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readFittingCalibParaFile(test_fittingMap_path.calib_fittingMap_R, fittingPara_x_R, fittingPara_y_R);
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//gen test stream
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hls::stream<CalibData> inStream_L;
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genCalibTestSream(testData_L, fittingPara_x_L, fittingPara_y_L, inStream_L, 0, frameInfo, vldSize_L);
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hls::stream<CalibData> inStream_R;
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genCalibTestSream(testData_R, fittingPara_x_R, fittingPara_y_R, inStream_R, 1, frameInfo, vldSize_R);
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hls::stream<InterpolateCalibSubpix> outStream_L;
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calib(inStream_L, outStream_L);
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hls::stream<InterpolateCalibSubpix> outStream_R;
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calib(inStream_R, outStream_R);
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//output
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//left image
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std::vector<Luma_rgnSubpix> outData_L;
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uint32_t outFrmNo_L, outTimeStamp_L, outEncInfo_L;
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uint16_t outROI_w_L, outROI_h_L, outROI_x_L, outROI_y_L;
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convertSubpixCalibStreamToArray(
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outStream_L,
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outData_L,
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&outFrmNo_L,
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&outTimeStamp_L,
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&outEncInfo_L,
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&outROI_w_L,
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&outROI_h_L,
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&outROI_x_L,
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&outROI_y_L);
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writeSubpixCalibData(test_path_L.output, outData_L);
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//right image
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std::vector<Luma_rgnSubpix> outData_R;
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uint32_t outFrmNo_R, outTimeStamp_R, outEncInfo_R;
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uint16_t outROI_w_R,outROI_h_R, outROI_x_R,outROI_y_R;
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convertSubpixCalibStreamToArray(
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outStream_R,
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outData_R,
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&outFrmNo_R,
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&outTimeStamp_R,
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&outEncInfo_R,
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&outROI_w_R,
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&outROI_h_R,
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&outROI_x_R,
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&outROI_y_R);
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writeSubpixCalibData(test_path_R.output, outData_R);
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printf("%s ... done\n", test_path_L.input);
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}
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||
}
|
||
printf("done!\n");
|
||
}
|