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#pragma once
#include <array>
#include <cstddef>
#include <cstdio>
#include <libcamera/pixel_format.h>
#include <QLineF>
#include <QList>
constexpr size_t img_width = 1280;
constexpr size_t img_height = 800;
constexpr uint32_t patternSize = 16;
struct Counters
{
uint32_t timestampUs { 0 };
uint32_t measurementCounter { 0 };
int32_t encoderPosition { 0 };
};
struct Image
{
int width;
int height;
uint16_t data[img_height][img_width];
uint16_t rotated_cw[img_width][img_height];
size_t dataSize;
unsigned int stride;
libcamera::PixelFormat pixelFormat;
// float pixels[img_width];
Counters counters {};
// unsigned int measurementCounter;
// uint32_t timestampUs;
// int32_t encoderPosition;
};
struct Pixels
{
Counters counters {};
std::array<float, img_width> pixels { 0.f };
Pixels& operator+=(const Pixels& other);
Pixels& operator/=(const float divider);
};
size_t pgm_save(Image *img, FILE *outfile, bool really_save = false);
void unpack_10bit(uint8_t const *src, Image const &image, uint16_t *dest);
void unpack_16bit(uint8_t const *src, Image const &image, uint16_t *dest);
template <typename T>
T median3(const T& a, const T& b, const T& c) {
using namespace std;
return max(min(a,b), min(max(a,b),c));
}
void rotate(Image & image);
Pixels process_columns(Image & image);
QList<QLineF> pixelsToLines(const Pixels& rawProfile);
QList<QLineF> pointsToLines(const QList<QPointF>& points);
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