WSeries_Calibration/QtCameraHardWareCopilot/ImageTailor.h

#pragma once
#include <opencv2/opencv.hpp>
#include <queue>
#include <thread>
#include <mutex>

//set a struct to record the work queue 
typedef struct WaitingTailor{
	cv::Point ptPosition;
	cv::Mat* pROI;
	unsigned char* pImage {NULL};
	int nWidth;
	int nHeight;
	int nPitch;
	std::vector<std::vector<int>>* pvvOverlap;

} WAIT_TAILOR, *LPWAITLOR;



extern std::mutex g_CurFrameMutex;
extern std::mutex g_PanoMutex;

class ImageTailor
{
	public:
	ImageTailor();
	~ImageTailor();

	//set a function to initialize the Tailor
	void Init(unsigned char* pImage, int nPanoWidth, int nPanoHeight, cv::Point cvLeftTop);

	void Init_Gpu(unsigned char* pImage,unsigned char* pImageGpu, int nPanoWidth, int nPanoHeight, cv::Point cvLeftTop);

	//set a function to calculate the stitching position
	int StitchingOnPano(cv::Point LeftTop, cv::Mat* FrameImage, std::vector<std::vector<int>>* pvvOverlap);

	//define a function to Copy the YUV I420 image 
	int StitchingOnPanoYUV(cv::Point LeftTop, unsigned char* pImage, int nWidth, int nHeight, int nPitch, std::vector<std::vector<int>>* pvvOverlap);

	int StitchingOnPanoYUV(cv::Point LeftTop,cv::Mat* FrameImage, std::vector<std::vector<int>>* pvvOverlap);

	static void TailorWordInThread(ImageTailor* pClass);

	int StitchingOnPanoYUVByGPU(cv::Point LeftTop, unsigned char* FrameImage,int nWidth,int nHeight,int nPitch, std::vector<std::vector<int>>* pvvOverlap);


	//stitching 
	int Stitching(int nPostion, cv::Mat& ROI, std::vector<std::vector<int>>* pvvOverlap);

	//set a function to Set the overlap
	void SetOverlap(std::vector<std::vector<int>>* pvvOverlap);

	//set a function to start the tailor thread
	bool StartTailorThread();

	
	bool EndTailorThread();

	void AddWorkOrderInqueue(cv::Point LeftTop, cv::Mat* FrameImage, std::vector<std::vector<int>>* pvvOverlap);

	void ClearWorkOrder();

	void AddWorkOrderInQueueGpu(cv::Point LeftTop, unsigned char* pData, int nWidth, int nHeight, int nPitch, std::vector<std::vector<int>>* pvvOverlap);

	//set a pointer to store the image,and this image has been aligned4
	unsigned char* pPanoImageBuffer;

	//另一个用于显存的图像指针
	unsigned char* pPanoImageBufferInGpu;

	//pano image width
	int nPanoWidth;
	//pano image height
	int nPanoHeight;
	//pano image pitch
	int nPanoPitch;
	//Current panoImage LeftTop position,for the situation that the leftTop is not (0,0)
	cv::Point LeftTop;

	//save overlap
	std::vector<std::vector<int>> vvOverlap;

	//work queue use by tailor thread
	std::queue<WAIT_TAILOR> qWorkQueue;
	//thread handle
	std::thread* pTailorThread;
	//thread switch
	bool bTailorThreadOut;
	//thread work status
	bool bTailorThreadWork;

	// is use yuv or not
	bool bUseYUV;
};