modules/ocl/cl_utils.cpp - platform/external/libxcam - Git at Google

 /*
  * cl_utils.cpp - CL Utilities
  *
  *  Copyright (c) 2016 Intel 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.
  *
  * Author: Wind Yuan <[email protected]>
  */

 #include "cl_utils.h"
 #include "image_file_handle.h"
 #if HAVE_LIBDRM
 #include "intel/cl_intel_context.h"
 #include "intel/cl_va_memory.h"
 #endif

 namespace XCam {

 struct NV12Pixel {
     float x_pos;
     float y_pos;

     float y;
     float u;
     float v;

     NV12Pixel ()
         : x_pos (0.0f), y_pos (0.0f)
         , y (0.0f), u (0.0f), v (0.0f)
     {}
 };

 static inline void
 clamp (float &value, float min, float max)
 {
     value = (value < min) ? min : ((value > max) ? max : value);
 }

 bool
 dump_image (SmartPtr<CLImage> image, const char *file_name)
 {
     XCAM_ASSERT (file_name);

     const CLImageDesc &desc = image->get_image_desc ();
     void *ptr = NULL;
     size_t origin[3] = {0, 0, 0};
     size_t region[3] = {desc.width, desc.height, 1};
     size_t row_pitch;
     size_t slice_pitch;

     XCamReturn ret = image->enqueue_map (ptr, origin, region, &row_pitch, &slice_pitch, CL_MAP_READ);
     XCAM_ASSERT (ret == XCAM_RETURN_NO_ERROR);
     XCAM_ASSERT (ptr);
     XCAM_ASSERT (row_pitch == desc.row_pitch);
     uint8_t *buf_start = (uint8_t *)ptr;
     uint32_t width = image->get_pixel_bytes () * desc.width;

     FILE *fp = fopen (file_name, "wb");
     XCAM_FAIL_RETURN (ERROR, fp, false, "open file(%s) failed", file_name);

     for (uint32_t i = 0; i < desc.height; ++i) {
         uint8_t *buf_line = buf_start + row_pitch * i;
         fwrite (buf_line, width, 1, fp);
     }
     image->enqueue_unmap (ptr);
     fclose (fp);
     XCAM_LOG_INFO ("write image:%s\n", file_name);
     return true;
 }

 SmartPtr<CLBuffer>
 convert_to_clbuffer (
     const SmartPtr<CLContext> &context,
     const SmartPtr<VideoBuffer> &buf)
 {
     SmartPtr<CLBuffer> cl_buf;

     SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
     if (cl_video_buf.ptr ()) {
         cl_buf = cl_video_buf;
     }
 #if HAVE_LIBDRM
     else {
         SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
         SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
         XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());

         cl_buf = new CLVaBuffer (ctx, bo_buf);
     }
 #else
     XCAM_UNUSED (context);
 #endif

     XCAM_FAIL_RETURN (WARNING, cl_buf.ptr (), NULL, "convert to clbuffer failed");
     return cl_buf;
 }

 SmartPtr<CLImage>
 convert_to_climage (
     const SmartPtr<CLContext> &context,
     SmartPtr<VideoBuffer> &buf,
     const CLImageDesc &desc,
     uint32_t offset,
     cl_mem_flags flags)
 {
     SmartPtr<CLImage> cl_image;

     SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
     if (cl_video_buf.ptr ()) {
         SmartPtr<CLBuffer> cl_buf;

         if (offset == 0) {
             cl_buf = cl_video_buf;
         } else {
             uint32_t row_pitch = CLImage::calculate_pixel_bytes (desc.format) *
                                  XCAM_ALIGN_UP (desc.width, XCAM_CL_IMAGE_ALIGNMENT_X);
             uint32_t size = row_pitch * desc.height;

             cl_buf = new CLSubBuffer (context, cl_video_buf, flags, offset, size);
         }

         cl_image = new CLImage2D (context, desc, flags, cl_buf);
     }
 #if HAVE_LIBDRM
     else {
         SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
         SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
         XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());

         cl_image = new CLVaImage (ctx, bo_buf, desc, offset);
     }
 #endif

     XCAM_FAIL_RETURN (WARNING, cl_image.ptr (), NULL, "convert to climage failed");
     return cl_image;
 }

 XCamReturn
 convert_nv12_mem_to_video_buffer (
     void *nv12_mem, uint32_t width, uint32_t height, uint32_t row_pitch, uint32_t offset_uv,
     SmartPtr<VideoBuffer> &buf)
 {
     XCAM_ASSERT (nv12_mem);
     XCAM_ASSERT (row_pitch >= width);

     VideoBufferPlanarInfo planar;
     const VideoBufferInfo info = buf->get_video_info ();
     XCAM_ASSERT ((width == info.width) && (height == info.height));

     uint8_t *out_mem = buf->map ();
     XCAM_FAIL_RETURN (ERROR, out_mem, XCAM_RETURN_ERROR_MEM, "map buffer failed");

     uint8_t *src = (uint8_t *)nv12_mem;
     uint8_t *dest = NULL;
     for (uint32_t index = 0; index < info.components; index++) {
         info.get_planar_info (planar, index);

         dest = out_mem + info.offsets[index];
         for (uint32_t i = 0; i < planar.height; i++) {
             memcpy (dest, src, width);
             src += row_pitch;
             dest += info.strides[index];
         }

         src = (uint8_t *)nv12_mem + offset_uv;
     }

     buf->unmap ();
     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 interpolate_pixel_value (
     uint8_t* stitch_mem,
     float image_coord_x, float image_coord_y,
     float &y, float &u, float &v,
     const VideoBufferInfo& stitch_info)
 {
     XCAM_ASSERT (image_coord_y < stitch_info.height && image_coord_x < stitch_info.width);

     uint8_t y00, y01, y10, y11;
     uint8_t u00, u01, u10, u11;
     uint8_t v00, v01, v10, v11;

     uint32_t x0 = (uint32_t) image_coord_x;
     uint32_t x1 = (x0 < stitch_info.width - 1) ? (x0 + 1) : x0;
     uint32_t y0 = (uint32_t) image_coord_y;
     uint32_t y1 = (y0 < stitch_info.height - 1) ? (y0 + 1) : y0;

     float rate00 = (x0 + 1 - image_coord_x) * (y0 + 1 - image_coord_y);
     float rate01 = (x0 + 1 - image_coord_x) * (image_coord_y - y0);
     float rate10 = (image_coord_x - x0) * (y0 + 1 - image_coord_y);
     float rate11 = (image_coord_x - x0) * (image_coord_y - y0);

     y00 = stitch_mem[y0 * stitch_info.strides[0] + x0];
     y01 = stitch_mem[y1 * stitch_info.strides[0] + x0];
     y10 = stitch_mem[y0 * stitch_info.strides[0] + x1];
     y11 = stitch_mem[y1 * stitch_info.strides[0] + x1];

     u00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
     u01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
     u10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
     u11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];

     v00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
     v01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
     v10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
     v11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];

     y = y00 * rate00 + y01 * rate01 + y10 * rate10 + y11 * rate11;
     u = u00 * rate00 + u01 * rate01 + u10 * rate10 + u11 * rate11;
     v = v00 * rate00 + v01 * rate01 + v10 * rate10 + v11 * rate11;

     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 map_to_specific_view (
     uint8_t *specific_view_mem, uint8_t* stitch_mem,
     uint32_t row, uint32_t col,
     float image_coord_x, float image_coord_y,
     const VideoBufferInfo& specific_view_info, const VideoBufferInfo& stitch_info)
 {
     XCAM_ASSERT (row < specific_view_info.height && col < specific_view_info.width);

     float y, u, v;

     interpolate_pixel_value (stitch_mem, image_coord_x, image_coord_y, y, u, v, stitch_info);

     uint32_t y_index = row * specific_view_info.strides[0] + col;
     uint32_t u_index = specific_view_info.offsets[1] + row / 2 * specific_view_info.strides[1] + XCAM_ALIGN_DOWN (col, 2);

     specific_view_mem[y_index] = (uint8_t)y;
     specific_view_mem[u_index] = (uint8_t)u;
     specific_view_mem[u_index + 1] = (uint8_t)v;

     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 generate_topview_map_table (
     const VideoBufferInfo &stitch_info,
     const BowlDataConfig &config,
     std::vector<PointFloat2> &map_table,
     int width, int height)
 {
     int center_x = width / 2;
     int center_y = height / 2;

     float show_width_mm = 5000.0f;
     float length_per_pixel = show_width_mm / height;

     map_table.resize (height * width);

     for(int row = 0; row < height; row++) {
         for(int col = 0; col < width; col++) {
             PointFloat3 world;
             world.x = (col - center_x) * length_per_pixel;
             world.y = (center_y - row) * length_per_pixel;
             world.z = 0.0f;

             PointFloat2 image_pos =
                 bowl_view_coords_to_image (config, world, stitch_info.width, stitch_info.height);

             map_table[row * width + col] = image_pos;
         }
     }

     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 generate_rectifiedview_map_table (
     const VideoBufferInfo &stitch_info,
     const BowlDataConfig &config,
     std::vector<PointFloat2> &map_table,
     float angle_start, float angle_end,
     int width, int height)
 {
     float center_x = width / 2;

     float focal_plane_dist = 6000.0f;

     float angle_center = (angle_start + angle_end) / 2.0f;
     float theta = degree2radian((angle_end - angle_start)) / 2.0f;
     float length_per_pixel_x = 2 * focal_plane_dist * tan (theta) / width;

     float fov_up = degree2radian (20.0f);
     float fov_down = degree2radian (35.0f);

     float length_per_pixel_y = (focal_plane_dist * tan (fov_up) + focal_plane_dist * tan (fov_down)) / height;

     float center_y = tan (fov_up) / (tan (fov_up) + tan (fov_down)) * height;

     PointFloat3 world_pos;
     float plane_center_coords[3];

     plane_center_coords[0] = focal_plane_dist * cos (degree2radian (angle_center));
     plane_center_coords[1] = -focal_plane_dist * sin (degree2radian (angle_center));
     plane_center_coords[2] = 0.0f;

     map_table.resize (width * height);

     for (int row = 0; row < height; row++) {
         for (int col = 0; col < width; col++) {
             float plane_point_coords[3];
             plane_point_coords[0] = (center_x - col) * length_per_pixel_x * cos (PI / 2 - degree2radian (angle_center)) + plane_center_coords[0];
             plane_point_coords[1] = (center_x - col) * length_per_pixel_x * sin (PI / 2 - degree2radian (angle_center)) + plane_center_coords[1];
             plane_point_coords[2] = (center_y - row) * length_per_pixel_y + plane_center_coords[2];

             float rate_xz, rate_yz;
             if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f) && XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[1], 0.0f)) {
                 world_pos.x = config.a;
                 world_pos.y = 0;
                 world_pos.z = 0;
             } else if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f)) {
                 world_pos.z = 0.0f;

                 float rate_xy = plane_point_coords[0] / plane_point_coords[1];
                 float square_y = 1 / (rate_xy * rate_xy / (config.a * config.a) + 1 / (config.b * config.b));
                 world_pos.y = (plane_point_coords[1] > 0) ? sqrt (square_y) : -sqrt (square_y);
                 world_pos.x = rate_xy * world_pos.y;
             } else {
                 rate_xz = plane_point_coords[0] / plane_point_coords[2];
                 rate_yz = plane_point_coords[1] / plane_point_coords[2];

                 float square_z = 1 / (rate_xz * rate_xz / (config.a * config.a) + rate_yz * rate_yz / (config.b * config.b) + 1 / (config.c * config.c));
                 world_pos.z = (plane_point_coords[2] > 0) ? sqrt (square_z) : -sqrt (square_z);
                 world_pos.z = (world_pos.z <= -config.center_z) ? -config.center_z : world_pos.z;
                 world_pos.x = rate_xz * world_pos.z;
                 world_pos.y = rate_yz * world_pos.z;
             }

             world_pos.z += config.center_z;

             PointFloat2 image_coord =
                 bowl_view_coords_to_image (config, world_pos, stitch_info.width, stitch_info.height);

             map_table[row * width + col] = image_coord;
         }
     }

     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 sample_generate_top_view (
     SmartPtr<VideoBuffer> &stitch_buf,
     SmartPtr<VideoBuffer> top_view_buf,
     const BowlDataConfig &config,
     std::vector<PointFloat2> &map_table)
 {
     const VideoBufferInfo top_view_info = top_view_buf->get_video_info ();
     const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();

     int top_view_resolution_w = top_view_buf->get_video_info ().width;
     int top_view_resolution_h = top_view_buf->get_video_info ().height;

     if((int)map_table.size () != top_view_resolution_w * top_view_resolution_h) {
         map_table.clear ();
         generate_topview_map_table (stitch_info, config, map_table, top_view_resolution_w, top_view_resolution_h);
     }

     uint8_t *top_view_mem = NULL;
     uint8_t *stitch_mem = NULL;
     top_view_mem = top_view_buf->map ();
     stitch_mem = stitch_buf->map ();

     for(int row = 0; row < top_view_resolution_h; row++) {
         for(int col = 0; col < top_view_resolution_w; col++) {
             PointFloat2 image_coord = map_table[row * top_view_resolution_w + col];

             map_to_specific_view (top_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, top_view_info, stitch_info);
         }
     }

     top_view_buf->unmap();
     stitch_buf->unmap();

     return XCAM_RETURN_NO_ERROR;
 }

 XCamReturn
 sample_generate_rectified_view (
     SmartPtr<VideoBuffer> &stitch_buf,
     SmartPtr<VideoBuffer> rectified_view_buf,
     const BowlDataConfig &config,
     float angle_start, float angle_end,
     std::vector<PointFloat2> &map_table)
 {
     const VideoBufferInfo rectified_view_info = rectified_view_buf->get_video_info ();
     const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();

     int rectified_view_resolution_w = rectified_view_buf->get_video_info ().width;
     int rectified_view_resolution_h = rectified_view_buf->get_video_info ().height;

     if((int)map_table.size () != rectified_view_resolution_w * rectified_view_resolution_h) {
         map_table.clear ();
         generate_rectifiedview_map_table (stitch_info, config, map_table, angle_start, angle_end, rectified_view_resolution_w, rectified_view_resolution_h);
     }

     uint8_t *rectified_view_mem = NULL;
     uint8_t *stitch_mem = NULL;
     rectified_view_mem = rectified_view_buf->map ();
     stitch_mem = stitch_buf->map ();

     for(int row = 0; row < rectified_view_resolution_h; row++) {
         for(int col = 0; col < rectified_view_resolution_w; col++) {
             PointFloat2 image_coord = map_table[row * rectified_view_resolution_w + col];

             map_to_specific_view (rectified_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, rectified_view_info, stitch_info);
         }
     }

     rectified_view_buf->unmap();
     stitch_buf->unmap();

     return XCAM_RETURN_NO_ERROR;
 }

 }
	/*
	* cl_utils.cpp - CL Utilities
	*
	* Copyright (c) 2016 Intel 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.
	*
	* Author: Wind Yuan <[email protected]>
	*/

	#include "cl_utils.h"
	#include "image_file_handle.h"
	#if HAVE_LIBDRM
	#include "intel/cl_intel_context.h"
	#include "intel/cl_va_memory.h"
	#endif

	namespace XCam {

	struct NV12Pixel {
	float x_pos;
	float y_pos;

	float y;
	float u;
	float v;

	NV12Pixel ()
	: x_pos (0.0f), y_pos (0.0f)
	, y (0.0f), u (0.0f), v (0.0f)
	{}
	};

	static inline void
	clamp (float &value, float min, float max)
	{
	value = (value < min) ? min : ((value > max) ? max : value);
	}

	bool
	dump_image (SmartPtr<CLImage> image, const char *file_name)
	{
	XCAM_ASSERT (file_name);

	const CLImageDesc &desc = image->get_image_desc ();
	void *ptr = NULL;
	size_t origin[3] = {0, 0, 0};
	size_t region[3] = {desc.width, desc.height, 1};
	size_t row_pitch;
	size_t slice_pitch;

	XCamReturn ret = image->enqueue_map (ptr, origin, region, &row_pitch, &slice_pitch, CL_MAP_READ);
	XCAM_ASSERT (ret == XCAM_RETURN_NO_ERROR);
	XCAM_ASSERT (ptr);
	XCAM_ASSERT (row_pitch == desc.row_pitch);
	uint8_t buf_start = (uint8_t )ptr;
	uint32_t width = image->get_pixel_bytes () * desc.width;

	FILE *fp = fopen (file_name, "wb");
	XCAM_FAIL_RETURN (ERROR, fp, false, "open file(%s) failed", file_name);

	for (uint32_t i = 0; i < desc.height; ++i) {
	uint8_t buf_line = buf_start + row_pitch i;
	fwrite (buf_line, width, 1, fp);
	}
	image->enqueue_unmap (ptr);
	fclose (fp);
	XCAM_LOG_INFO ("write image:%s\n", file_name);
	return true;
	}

	SmartPtr<CLBuffer>
	convert_to_clbuffer (
	const SmartPtr<CLContext> &context,
	const SmartPtr<VideoBuffer> &buf)
	{
	SmartPtr<CLBuffer> cl_buf;

	SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
	if (cl_video_buf.ptr ()) {
	cl_buf = cl_video_buf;
	}
	#if HAVE_LIBDRM
	else {
	SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
	SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
	XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());

	cl_buf = new CLVaBuffer (ctx, bo_buf);
	}
	#else
	XCAM_UNUSED (context);
	#endif

	XCAM_FAIL_RETURN (WARNING, cl_buf.ptr (), NULL, "convert to clbuffer failed");
	return cl_buf;
	}

	SmartPtr<CLImage>
	convert_to_climage (
	const SmartPtr<CLContext> &context,
	SmartPtr<VideoBuffer> &buf,
	const CLImageDesc &desc,
	uint32_t offset,
	cl_mem_flags flags)
	{
	SmartPtr<CLImage> cl_image;

	SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
	if (cl_video_buf.ptr ()) {
	SmartPtr<CLBuffer> cl_buf;

	if (offset == 0) {
	cl_buf = cl_video_buf;
	} else {
	uint32_t row_pitch = CLImage::calculate_pixel_bytes (desc.format) *
	XCAM_ALIGN_UP (desc.width, XCAM_CL_IMAGE_ALIGNMENT_X);
	uint32_t size = row_pitch * desc.height;

	cl_buf = new CLSubBuffer (context, cl_video_buf, flags, offset, size);
	}

	cl_image = new CLImage2D (context, desc, flags, cl_buf);
	}
	#if HAVE_LIBDRM
	else {
	SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
	SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
	XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());

	cl_image = new CLVaImage (ctx, bo_buf, desc, offset);
	}
	#endif

	XCAM_FAIL_RETURN (WARNING, cl_image.ptr (), NULL, "convert to climage failed");
	return cl_image;
	}

	XCamReturn
	convert_nv12_mem_to_video_buffer (
	void *nv12_mem, uint32_t width, uint32_t height, uint32_t row_pitch, uint32_t offset_uv,
	SmartPtr<VideoBuffer> &buf)
	{
	XCAM_ASSERT (nv12_mem);
	XCAM_ASSERT (row_pitch >= width);

	VideoBufferPlanarInfo planar;
	const VideoBufferInfo info = buf->get_video_info ();
	XCAM_ASSERT ((width == info.width) && (height == info.height));

	uint8_t *out_mem = buf->map ();
	XCAM_FAIL_RETURN (ERROR, out_mem, XCAM_RETURN_ERROR_MEM, "map buffer failed");

	uint8_t src = (uint8_t )nv12_mem;
	uint8_t *dest = NULL;
	for (uint32_t index = 0; index < info.components; index++) {
	info.get_planar_info (planar, index);

	dest = out_mem + info.offsets[index];
	for (uint32_t i = 0; i < planar.height; i++) {
	memcpy (dest, src, width);
	src += row_pitch;
	dest += info.strides[index];
	}

	src = (uint8_t *)nv12_mem + offset_uv;
	}

	buf->unmap ();
	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	interpolate_pixel_value (
	uint8_t* stitch_mem,
	float image_coord_x, float image_coord_y,
	float &y, float &u, float &v,
	const VideoBufferInfo& stitch_info)
	{
	XCAM_ASSERT (image_coord_y < stitch_info.height && image_coord_x < stitch_info.width);

	uint8_t y00, y01, y10, y11;
	uint8_t u00, u01, u10, u11;
	uint8_t v00, v01, v10, v11;

	uint32_t x0 = (uint32_t) image_coord_x;
	uint32_t x1 = (x0 < stitch_info.width - 1) ? (x0 + 1) : x0;
	uint32_t y0 = (uint32_t) image_coord_y;
	uint32_t y1 = (y0 < stitch_info.height - 1) ? (y0 + 1) : y0;

	float rate00 = (x0 + 1 - image_coord_x) * (y0 + 1 - image_coord_y);
	float rate01 = (x0 + 1 - image_coord_x) * (image_coord_y - y0);
	float rate10 = (image_coord_x - x0) * (y0 + 1 - image_coord_y);
	float rate11 = (image_coord_x - x0) * (image_coord_y - y0);

	y00 = stitch_mem[y0 * stitch_info.strides[0] + x0];
	y01 = stitch_mem[y1 * stitch_info.strides[0] + x0];
	y10 = stitch_mem[y0 * stitch_info.strides[0] + x1];
	y11 = stitch_mem[y1 * stitch_info.strides[0] + x1];

	u00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
	u01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
	u10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
	u11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];

	v00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
	v01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
	v10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
	v11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];

	y = y00 * rate00 + y01 * rate01 + y10 * rate10 + y11 * rate11;
	u = u00 * rate00 + u01 * rate01 + u10 * rate10 + u11 * rate11;
	v = v00 * rate00 + v01 * rate01 + v10 * rate10 + v11 * rate11;

	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	map_to_specific_view (
	uint8_t specific_view_mem, uint8_t stitch_mem,
	uint32_t row, uint32_t col,
	float image_coord_x, float image_coord_y,
	const VideoBufferInfo& specific_view_info, const VideoBufferInfo& stitch_info)
	{
	XCAM_ASSERT (row < specific_view_info.height && col < specific_view_info.width);

	float y, u, v;

	interpolate_pixel_value (stitch_mem, image_coord_x, image_coord_y, y, u, v, stitch_info);

	uint32_t y_index = row * specific_view_info.strides[0] + col;
	uint32_t u_index = specific_view_info.offsets[1] + row / 2 * specific_view_info.strides[1] + XCAM_ALIGN_DOWN (col, 2);

	specific_view_mem[y_index] = (uint8_t)y;
	specific_view_mem[u_index] = (uint8_t)u;
	specific_view_mem[u_index + 1] = (uint8_t)v;

	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	generate_topview_map_table (
	const VideoBufferInfo &stitch_info,
	const BowlDataConfig &config,
	std::vector<PointFloat2> &map_table,
	int width, int height)
	{
	int center_x = width / 2;
	int center_y = height / 2;

	float show_width_mm = 5000.0f;
	float length_per_pixel = show_width_mm / height;

	map_table.resize (height * width);

	for(int row = 0; row < height; row++) {
	for(int col = 0; col < width; col++) {
	PointFloat3 world;
	world.x = (col - center_x) * length_per_pixel;
	world.y = (center_y - row) * length_per_pixel;
	world.z = 0.0f;

	PointFloat2 image_pos =
	bowl_view_coords_to_image (config, world, stitch_info.width, stitch_info.height);

	map_table[row * width + col] = image_pos;
	}
	}

	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	generate_rectifiedview_map_table (
	const VideoBufferInfo &stitch_info,
	const BowlDataConfig &config,
	std::vector<PointFloat2> &map_table,
	float angle_start, float angle_end,
	int width, int height)
	{
	float center_x = width / 2;

	float focal_plane_dist = 6000.0f;

	float angle_center = (angle_start + angle_end) / 2.0f;
	float theta = degree2radian((angle_end - angle_start)) / 2.0f;
	float length_per_pixel_x = 2 * focal_plane_dist * tan (theta) / width;

	float fov_up = degree2radian (20.0f);
	float fov_down = degree2radian (35.0f);

	float length_per_pixel_y = (focal_plane_dist * tan (fov_up) + focal_plane_dist * tan (fov_down)) / height;

	float center_y = tan (fov_up) / (tan (fov_up) + tan (fov_down)) * height;

	PointFloat3 world_pos;
	float plane_center_coords[3];

	plane_center_coords[0] = focal_plane_dist * cos (degree2radian (angle_center));
	plane_center_coords[1] = -focal_plane_dist * sin (degree2radian (angle_center));
	plane_center_coords[2] = 0.0f;

	map_table.resize (width * height);

	for (int row = 0; row < height; row++) {
	for (int col = 0; col < width; col++) {
	float plane_point_coords[3];
	plane_point_coords[0] = (center_x - col) * length_per_pixel_x * cos (PI / 2 - degree2radian (angle_center)) + plane_center_coords[0];
	plane_point_coords[1] = (center_x - col) * length_per_pixel_x * sin (PI / 2 - degree2radian (angle_center)) + plane_center_coords[1];
	plane_point_coords[2] = (center_y - row) * length_per_pixel_y + plane_center_coords[2];

	float rate_xz, rate_yz;
	if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f) && XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[1], 0.0f)) {
	world_pos.x = config.a;
	world_pos.y = 0;
	world_pos.z = 0;
	} else if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f)) {
	world_pos.z = 0.0f;

	float rate_xy = plane_point_coords[0] / plane_point_coords[1];
	float square_y = 1 / (rate_xy * rate_xy / (config.a * config.a) + 1 / (config.b * config.b));
	world_pos.y = (plane_point_coords[1] > 0) ? sqrt (square_y) : -sqrt (square_y);
	world_pos.x = rate_xy * world_pos.y;
	} else {
	rate_xz = plane_point_coords[0] / plane_point_coords[2];
	rate_yz = plane_point_coords[1] / plane_point_coords[2];

	float square_z = 1 / (rate_xz * rate_xz / (config.a * config.a) + rate_yz * rate_yz / (config.b * config.b) + 1 / (config.c * config.c));
	world_pos.z = (plane_point_coords[2] > 0) ? sqrt (square_z) : -sqrt (square_z);
	world_pos.z = (world_pos.z <= -config.center_z) ? -config.center_z : world_pos.z;
	world_pos.x = rate_xz * world_pos.z;
	world_pos.y = rate_yz * world_pos.z;
	}

	world_pos.z += config.center_z;

	PointFloat2 image_coord =
	bowl_view_coords_to_image (config, world_pos, stitch_info.width, stitch_info.height);

	map_table[row * width + col] = image_coord;
	}
	}

	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	sample_generate_top_view (
	SmartPtr<VideoBuffer> &stitch_buf,
	SmartPtr<VideoBuffer> top_view_buf,
	const BowlDataConfig &config,
	std::vector<PointFloat2> &map_table)
	{
	const VideoBufferInfo top_view_info = top_view_buf->get_video_info ();
	const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();

	int top_view_resolution_w = top_view_buf->get_video_info ().width;
	int top_view_resolution_h = top_view_buf->get_video_info ().height;

	if((int)map_table.size () != top_view_resolution_w * top_view_resolution_h) {
	map_table.clear ();
	generate_topview_map_table (stitch_info, config, map_table, top_view_resolution_w, top_view_resolution_h);
	}

	uint8_t *top_view_mem = NULL;
	uint8_t *stitch_mem = NULL;
	top_view_mem = top_view_buf->map ();
	stitch_mem = stitch_buf->map ();

	for(int row = 0; row < top_view_resolution_h; row++) {
	for(int col = 0; col < top_view_resolution_w; col++) {
	PointFloat2 image_coord = map_table[row * top_view_resolution_w + col];

	map_to_specific_view (top_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, top_view_info, stitch_info);
	}
	}

	top_view_buf->unmap();
	stitch_buf->unmap();

	return XCAM_RETURN_NO_ERROR;
	}

	XCamReturn
	sample_generate_rectified_view (
	SmartPtr<VideoBuffer> &stitch_buf,
	SmartPtr<VideoBuffer> rectified_view_buf,
	const BowlDataConfig &config,
	float angle_start, float angle_end,
	std::vector<PointFloat2> &map_table)
	{
	const VideoBufferInfo rectified_view_info = rectified_view_buf->get_video_info ();
	const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();

	int rectified_view_resolution_w = rectified_view_buf->get_video_info ().width;
	int rectified_view_resolution_h = rectified_view_buf->get_video_info ().height;

	if((int)map_table.size () != rectified_view_resolution_w * rectified_view_resolution_h) {
	map_table.clear ();
	generate_rectifiedview_map_table (stitch_info, config, map_table, angle_start, angle_end, rectified_view_resolution_w, rectified_view_resolution_h);
	}

	uint8_t *rectified_view_mem = NULL;
	uint8_t *stitch_mem = NULL;
	rectified_view_mem = rectified_view_buf->map ();
	stitch_mem = stitch_buf->map ();

	for(int row = 0; row < rectified_view_resolution_h; row++) {
	for(int col = 0; col < rectified_view_resolution_w; col++) {
	PointFloat2 image_coord = map_table[row * rectified_view_resolution_w + col];

	map_to_specific_view (rectified_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, rectified_view_info, stitch_info);
	}
	}

	rectified_view_buf->unmap();
	stitch_buf->unmap();

	return XCAM_RETURN_NO_ERROR;
	}

	}